C4G Software Manuals Comau Robotics Instruction Handbook

C4G
CONTROL UNIT USE System Software Rel. 3.2x

Access to system (power-on, shutdown, login, logout), user interfaces, use of Teach Pendant, system controls, WinC4G, Fieldbus and I/O configuration, use of PLC software.

CR00757557_en-00/0708

The information contained in this manual is the property of COMAU S.p.A. Reproduction of text and illustrations is not permitted without prior written approval by COMAU S.p.A. COMAU S.p.A. reserves the right to alter product specifications at any time without notice or obligation.

Copyright 2003 by COMAU - Date of publication 07/2008

Summary

SUMMARY
PREFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .XV
Symbols used in the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XV Reference documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVI Modification History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVI

1.

GENERAL SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..1.1

Responsibilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1 Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.2 Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.2 Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.2 Applicability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.3 Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.4

2.

OPERATOR PANEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..2.1

Functions of Operator Panel devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1 Main switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.2 Modal selector switch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.2 Emergency stop pushbutton . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.3 USB port (optional feature) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.4 Hour meter (optional) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.4

3.

USER INTERFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..3.1

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1 TP4i/WiTP Teach Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1 Front view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2 Rear view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3 View from above . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.5 Interface on Personal Computer (WinC4G) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.5

4.

SYSTEM POWER ON AND SHUT DOWN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..4.1

Foreword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.1 System power-on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.1 System shut down . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2 Shutdown - system with Teach Pendant connected by cable (TP4i or WiTP wired) . . . . . . . 4.2 Shutdown - system with wireless Teach Pendant (WiTP wireless) . . . . . . . . . . . . . . . . . . . . 4.3

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Summary

5.

ACCESS TO THE CONTROL (LOGIN/LOGOUT) . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.1

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1 User profile. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1 Administrator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2 Default . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3 Programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3 Maintenance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3 Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3 Technology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3 Summary table of access rights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3 Logout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.5 Automatic Timed Logout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.5

6.

USE OF THE TEACH PENDANT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6.1

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1 Keys, Pushbuttons and LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.2 Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.2 Blue keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.3 Black keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.5 Other colours keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.10 Alphanumeric keypad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.11 Keys to switch on the WiTP wireless . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.13 Keys to restart the Teach Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.14 Pushbuttons and LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.14 USB port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.16 Basic information for the use of WiTP wireless . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.16 Pairing procedure between WiTP wireless Teach Pendant and C4G Control Unit . . . . . . . 6.17 Unpairing between WiTP Teach Pendant and Control Unit . . . . . . . . . . . . . . . . . . . . . . . . . 6.21 Emergency Unpairing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.22 Restart with WiTP wireless. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.23 Practical hints for the use of the WiTP wireless Teach Pendant . . . . . . . . . . . . . . . . . . . . . 6.24 Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.25 Display areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.25 Status bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.25 Messages bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.28 Left Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.29 Right Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.30 Bottom Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.31 Pages Area. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.32 Execution of commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.32 User Interface Pages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.35 General rules to navigate within the user interface and the field change. . . . . . . . . . . . . . . 6.36 Navigation Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.36 Field Editing Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.37 Dialogue and information windows. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.41 Home Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.43 Select language . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.43
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II

Summary

Login (SL) and Logout (SL/L). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.44 Login. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.44 Logout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.45 Restart. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.45 Complete (CCRC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.46 Shut-down (CCRS). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.46 Motion Page. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.47 Basic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.47 Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.47 COORD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.48 Uframe, Tool, Base. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.49 Current arm position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.49 Coop (optional feature) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.49 AUX COOP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.50 ARM COOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.51 Coop Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.52 AUX JOG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.52 Jog Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.52 ARM_LINKED. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.53 Advanced . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.53 Incremental Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.53 J-Pad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.54 Status (DAS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.54 Override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.56 Laser . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.56 Alarm Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.59 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.59 Errors (ULE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.60 Latched . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.61 Actions (ULA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.61 Prog Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.63 Prog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.64 Open (IDE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.64 Create. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.64 Save (MS + MS/C) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.64 Save data (MS). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.65 Save code (MS/C) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.65 Save variable as (MS/A). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.65 Erase from execution memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.65 Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.65 Activate (PA). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.66 Deactivate (PD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.66 Pause (PSP). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.66 Unpause (PSU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.66 Step . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.66 Load... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.67 with another .VAR (As) (ML/A) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.68 VAR only (Var) (ML/V) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.68 Another Var only (Var As) (ML/AV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.68 Convert conflicts (Conv) (ML/C) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.68 Activate (PG) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.68 Dependencies. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.68
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View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.68 Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.69 Variables (MVV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.69 Callchain (PV/C) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.70 Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.71 POS SHIFT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.71 IDE Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.75 Opening the IDE page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.75 Description of the video screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.76 IDE status lines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.76 Editor area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.77 Description of the available functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.80 Prog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.80 Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.82 PDL2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.84 Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.91 REC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.95 MOD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.95 REC key setting, nodal with $PAR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.95 Numeric keypad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.99 I/O Page. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.101 Set (SI and SO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.102 On . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.103 Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.103 Forcing (SIF... SOF...) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.103 On . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.103 Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.104 Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.104 Unforce (SIU... SOU...). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.104 Simulate (SIS... SOS...) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.104 On . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.105 Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.105 Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.105 Total . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.105 Not simulated (SIN... SON...) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.105 View (SIV... SOV...) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.105 Zoom in. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.106 Zoom out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.106 Vertical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.107 Horizontal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.107 Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.108 Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.108 Open. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.109 Close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.109 Maximize . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.109 Restore . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.109 Next . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.109 Appl Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.111 Files Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.113 File (F1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.113 Open. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.114
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Extract (FUCE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.115 Send to (FC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.115 New . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.115 Delete (FD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.115 Delete permanent (FD/P) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.116 Rename (FR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.116 Attribute (FUA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.116 Recycle bin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.116 Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.116 Select (F2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.117 Undo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.117 Cut . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.118 Copy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.118 Paste . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.118 Select all . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.118 Deselect all . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.118 Invert sel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.118 Sel prompt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.118 View (F3) (FV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.118 Small icons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.119 Big icons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.119 Details. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.119 Refresh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.119 Sort by . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.119 Utility (F4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.119 Translate (FT). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.120 Backup (FUB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.120 Restore (FUR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.120 Device Change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.120 Data Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.121 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.121 Table. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.121 Modify . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.123 Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.124 AutoApply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.125 System tables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.125 Application tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.127 Tables created by the user. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.128 Setup page. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.129 Config. Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.130 Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.133 Calib . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.134 Ieak. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.137 Mounting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.141 Presse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.142 Sik . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.142 StrokeEnd. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.148 AUX_AXES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.148 Positioners . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.149 SLIDE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.152 iPortal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.152 ReloadSw. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.154
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C4G . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.155 TP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.156 Backup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.159 Backup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.159 Restore . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.160 Device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.161 Controller (CCS). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.161 FB_TOOL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.162 Install (FUI). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.162 IO_TOOL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.162 Login . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.163 User . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.163 Startup (CCLS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.163 Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.164 ToolFrame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.166 Service Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.169 Execute (E). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.169 Sysinfo (SCV). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.170 Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.171 Multiarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.172 Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.172 TP-INT Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.175 Navigation among commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.175 Virtual Keyboard. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.176 Additional User Pages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.179

7.

SYSTEM COMMANDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7.1

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.1 Commands sent from menu on TP (TPINT page) or from WinC4G (Terminal window) . . . . . . 7.2 Command selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.2 Typing-in the characters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.3 Call-up of recently used parameters (History) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.3 Program commands sent via SYS_CALL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.3 Option /4 to view in the 40 columns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.4 Wildcard use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.4 Command options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.4 Viewing and NOPAGE option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.4 Access to the control (login). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.5 Directories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.5 Description of commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.5 CONFIGURE branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.13 Arm menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.13 Cntrler Login menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.15 Cntrler Restart menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.16 CONFIGURE CONTROLLER STARTUP (CCS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.17 CONFIGURE CONTROLLER TIME (CCT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.17
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CONFIGURE CONTROLLER VIEW (CCV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.17 Load menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.18 Save menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.20 DISPLAY branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.22 Arm menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.23 Close menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.24 Fieldbus menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.25 Input menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.25 Output menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.27 DISPLAY PROGRAM (DP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.28 DISPLAY RESPLC (DR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.28 Vars menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.29 EXECUTE command (E) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.29 FILER branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.30 FILER COPY (FC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.31 FILER DELETE (FD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.32 FILER EDIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.32 FILER PRINT (FP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.32 FILER RENAME (FR). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.33 FILER TRANSLATE (FT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.34 UTILITY ATTRIBUTE menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.34 Backup and Restore commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.35 Compressed files management commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.40 Directory management commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.41 FILER UTILITY INSTALL (FUI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.41 FILER UTILITY SEARCH (FUS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.42 FILER VIEW (FV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.42 MEMORY branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.43 MEMORY DEBUG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.43 ERASE menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.43 MEMORY LOAD (ML) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.44 MEMORY SAVE(MS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.45 MEMORY TEACH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.46 VIEW menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.46 PROGRAM branch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.48 PROGRAM ACTIVATE (PA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.48 PROGRAM DEACTIVATE (PD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.49 PROGRAM EDIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.49 PROGRAM GO (PG) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.50 ResPLC menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.51 UTILITY menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.51 STATE menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.52 TEST branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.52 PROGRAM VIEW (PV). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.56 SET branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.57 SET ARM menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.57 SET CNTRLR menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.59 SET INPUT menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.60 SET LOGIN (SL). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.64 SET OUTPUT menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.64 UTILITY branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.68 UTILITY APPLICATION (UA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.68 UTILITY COMMUNICN menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.68
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UTILITY LOG branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.71 HELPIO program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.71 Types of files available in the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.74

8.

WINC4G PROGRAM - INTERFACE TO C4G ON PERSONAL COMPUTER . . . . . . .8.1

Foreword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.1 WinC4G Activation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.2 Connection to the Robot Control Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.2 Ethernet point to point connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.2 Ethernet connection to the local network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.5 Remote connection via Internet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.5 Network configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.6 VPN configuration in Windows XP environment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.7 Connection procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.13 FTP Server mode connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.14 Remote connection by Proxy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.15 Chat Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.16 WinC4G configuration in Proxy mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.16 WinC4G configuration in Remote mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.17 Using the Chat Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.18 Disabling the Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.19 User interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.19 Tools panel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.20 The Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.20 File Translation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.21 Cause/Remedy. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.23 Errors Display and Actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.24 Files Manipulation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.25 Viewing and editing of.UDB file (optional service) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.33 Directories Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.34 Files Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.35 Output Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.36 WinC4G operating parameters set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.37 Commands Menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.38 Files Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.39 Edit Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.40 View Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.41 Manipulation Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.41 Help Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.42 Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.42 CompactFlash Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.42 How to obtain a new licence for WinC4G . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.47 Most common problems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.48

9.
VIII

BASIC PROCEDURES FOR PROGRAM DEVELOPMENT . . . . . . . . . . . . . . . . . . . .9.1

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Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.1 Diagram of steps to develop a program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.2 Programming in IDE (on TP) for a motion program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.4 Access to programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.4 Program Editing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.4 Selecting one or more text lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.5 Deleting/restoring one or more lines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.5 Move the Edit cursor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.5 Inserting a new instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.6 Commenting/Uncommenting a program line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.6 Changing an existing instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.6 Inserting/viewing /deleting variables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.7 Importing from other programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.7 Viewing a program in pages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.7 Teaching positions (insertion of a move instruction) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.8 Setup the REC key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.8 Teaching new positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.8 Changing existing positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.8 Program execution test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.9 Activating/deactivating a program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.9 Aborting the execution of an instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.9 Setting step mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.10 Move the execution cursor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.10 Inserting/removing a break point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.10 Bypassing an instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.11 Execute a temporary instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.11 Saving the program and closing IDE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.11 Executing the program in automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.12 Programming in WinC4G (on PC) of NON motion programs. . . . . . . . . . . . . . . . . . . . . . . . . . 9.12 Program Edit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.13 Data Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.14 Code Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.14 How to write Program Statements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.14 Memory Debug. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.15 Screen page structure and function keys. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.16 Screen page structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.16 Function Keys. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.17 Teaching the positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.20 Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.22 Programs Checking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.23 Commands Menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.23 Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.23 Debug . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.26 Exit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.29 New . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.29 Quit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.29 Save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.30 Save_as . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.30 Suspend . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.30 Memory Teach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.31 Memory Teach screen layout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.31
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Accessing Teach Environment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.32 Teaching Positional Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.33 Teaching a PATH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.33 Adding and Removing PATH nodes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.34 Modifying PATH node fields . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.35 Special Keys. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.36 Exiting Memory Teach Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.38 Memory management from TP4i . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.38 Display/Removal of variables in memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.38 Saving the variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.39 File management from TP4i. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.39 Viewing the list of files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.39 Saving files on XD: unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.39 Restoring backup files of a program variables or code . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.40

10. FILE MANAGEMENT BETWEEN PC AND CONTROL UNIT . . . . . . . . . . . . . . . . . .10.1

View files on PC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10.1 Delete files on PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10.1 File transfer from PC to Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10.1 File transfer from Controller to PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10.2 Automatic file transfer from Controller to PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10.2 Automatic file transfer from PC to Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10.2

11. SYSTEM OPERATING MODES AND STATES . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11.1

Foreword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.1 System operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.1 System states . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.3 HOLD status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.4 AUTO status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.4 PROGR status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.5 AUTO-T status (optional) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.5 ALARM status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.5 Stand-by function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.6

12. FB_TOOL PROGRAM FOR CONFIGURATION OF FIELDBUS . . . . . . . . . . . . . . . .12.1

FB_TOOL activation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.1 Fieldbus (F1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.2 Activate the Fieldbus function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.2 Select the required Board. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.3 Select Type of Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.3 Select the Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.4 Action . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.4 Viewing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.5
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Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.8 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.9 Completion of the operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.28 Save (F5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.28 Close (F6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.29

13. I/O CONFIGURATION PROGRAMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..13.1

IO_TOOL Program - I/O Configuration in VP2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.3 IO_TOOL activation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.3 I/O ports(F2). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.4 Activate I/O Ports function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.5 Type of port selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.5 Selection of the range of ports for operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.6 Execute the Action . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.7 Operation completion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.15 Digital or Remote I/O Groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.16 System I/O ports. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.18 DSA (F3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.22 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.23 HDIN. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.24 Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.25 Output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.26 Stroke-end . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.26 Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.27 HAND (F4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.28 VIEW (F2). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.29 Configure (F5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.30 Save (F5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.33 Close (F6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.34 IO_INST Program - I/O configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.35 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.35 Program installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.35 Used Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.35 Port_io . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.36 Fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.64 Dsa . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.96 Hand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.105 Save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.108 Quit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.109 Configuration example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.109 Complete configuration example of SIK device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.109 Complete configuration example of IEAK device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.117

14. HINTS FOR THE I/O SOFTWARE CONFIGURATION . . . . . . . . . . . . . . . . . . . . . . ..14.1

Basic principles for the I/O configuration and use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.1 Software configuration of DNP, PFP, IBC/O boards (Field bus) . . . . . . . . . . . . . . . . . . . . . . . 14.2 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.2 Internal Slave Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.3
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Master Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.6 External Slaves Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.7 $FB_INIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.10 $FB_CNFG. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.10 I/O points configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.11 Physical / logical mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.11 Configuration of Command Word from remote . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.14 I/O point status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.17 Copying I/O points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.17 Dynamic connection and disconnection method for a Field Bus network node. . . . . . . . . . . 14.21 Command Words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.21 Status Words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.22 Node connection procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.23 Node disconnection procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.24

15. PLC SOFTWARE CONFIGURATION AND USE (OPTIONAL FEATURE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15.1

Glossary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.1 Workbench configuration to map the C4G Controller I/Os. . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.2 Import of C4G Robot Control Unit information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.2 Symbols set-up to be included in a resource . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.3 Setting the information required for a project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.4 TCP/IP network configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.4 Setting the symbols to include in a resource . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.6 Setting a configuration cycle time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.7 I/O Wiring with C4G Control Unit I/O points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.7 Wiring a variable with read access to a C4G port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.9 Wiring a variable with write access to a C4G port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.10 PLC resource creation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.12 Debug mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.12 Commands available . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.13 Debug mode activation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.13 Resource control from Workbench. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.15 Inhibited commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.15 PLC software modifications on-line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.16 On-line change command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.16 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.17 Operation successful . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.18 Operation unsuccessful . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.18 Modification On-line and Debug mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.20 PLC resource download and upload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.20 Download . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.21 Conditions required for the success of the operation. . . . . . . . . . . . . . . . . . . . . . . . . . . 15.21 Available options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.21 Upload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.22 Import . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.22 Utility. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.24
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Management of PLC software on the C4G Control Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.24 Management of binary ISaGRAF files in the C4G Control Unit . . . . . . . . . . . . . . . . . . . . . 15.24 The Resplc folder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.25 Binary files management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.25 ISaGRAF binary files export . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.25 System shutdown and restart with PLC program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.26 Resplc program menu commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.26 Display Resplc command. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.29

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Preface

PREFACE
Symbols used in the manual Reference documents Modification History

Symbols used in the manual

The symbols for WARNING, CAUTION and NOTES are indicated below together with their significance. This symbol indicates operating procedures, technical information and precautions that if ignored and/or are not performed correctly could cause injuries.

This symbol indicates operating procedures, technical information and precautions that if ignored and/or are not performed correctly could cause damage to the equipment.

This symbol indicates operating procedures, technical information and precautions that it are important to highlight.

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Reference documents
This document refers to the C4G Control Unit. The complete set of manuals for the C4G consists of: Comau C4G Control Unit Technical Specifications Transport and installation Guide to integration, safeties, I/O and communications Use of Control Unit.

These manuals are to be integrated with the following documents: Comau Robot Technical Specifications Transport and installation Maintenance PDL2 Programming Language Manual VP2 - Visual PDL2 Motion programming According to the required type of application. ISaGRAF Workbench

Programming

Applications Altersys PLC programming

Modification History
In version 3.0 a new section has been added, entitled IO_TOOL Program - I/O Configuration in VP2 to describe the use of the I/O configuration software, implemented in Visual PDL2 language. In version 3.1x, the contents of section IO_TOOL Program - I/O Configuration in VP2 have been separated into the following two sections: FB_TOOL program for configuration of Fieldbus (program to manage fieldbus configuration) IO_TOOL Program - I/O Configuration in VP2 (program to manage I/O ports configuration) The following paragraphs have been added in version 3.2x: par. 5.3.1 Automatic Timed Logout on page 5-5 Tab. 6.2 - Restart events with WiTP wireless Connection between PC and Control Unit: par. 8.4.3 Remote connection via Internet on page 8-5 added

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General Safety Precautions

1.

GENERAL SAFETY PRECAUTIONS

1.1 Responsibilities
The system integrator is responsible for ensuring that the Robot and Control System are installed and handled in accordance with the Safety Standards in force in the country where the installation takes place. The application and use of the protection and safety devices necessary, the issuing of declarations of conformity and any CE markings of the system are the responsibility of the Integrator. COMAU Robotics & Service shall in no way be held liable for any accidents caused by incorrect or improper use of the Robot and Control System, by tampering with circuits, components or software, or the use of spare parts that are not originals or that have not been defined as equivalent by COMAU Robotics & Service The application of these Safety Precautions is the responsibility of the persons assigned to direct / supervise the activities indicated in the Applicability section,They are to make sure that the Authorised Personnel is aware of and scrupulously follow the precautions contained in this document as well as the Safety Standards in addition to the Safety Standards in force in the country in which it is installed. The non-observance of the Safety Standards could cause injuries to the operators and damage the Robot and Control System.

The installation shall be made by qualified installation Personnel and should conform to all national and local codes.

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1.2 Safety Precautions

1.2.1 Purpose
These safety precautions are aimed to define the behaviour and rules to be observed when performing the activities listed in the Applicability section.

1.2.2

Definitions
Robot and Control System The Robot and Control System consists of all the functions that cover: Control Unit, robot, hand held programming unit and any options. Protected Area The protected area is the zone confined by the safety barriers and to be used for the installation and operation of the robot Authorised Personnel Authorised personnel defines the group of persons who have been trained and assigned to carry out the activities listed in the Applicability section. Assigned Personnel The persons assigned to direct or supervise the activities of the workers referred to in the paragraph above. Installation and Putting into Service The installation is intended as the mechanical, electrical and software integration of the Robot and Control System in any environment that requires controlled movement of robot axes, in compliance with the safety requirements of the country where the system is installed. Programming Mode Operating mode under the control of the operator, that excludes automatic operation and allows the following activities: manual handling of robot axes and programming of work cycles at low speed, programmed cycle testing at low speed and, when allowed, at the working speed. Auto / Remote Automatic Mode Operating mode in which the robot autonomously executes the programmed cycle at the work speed, with the operators outside the protected area, with the safety barriers closed and the safety circuit activated, with local (located outside the protected area) or remote start/stop. Maintenance and Repairs Maintenance and repairs are activities that involve periodical checking and / or replacement (mechanical, electrical, software) of Robot and Control System parts or components, and trouble shooting, that terminates when the Robot and Control System has been reset to its original project functional condition.

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General Safety Precautions Putting Out of Service and Dismantling Putting out of service defines the activities involved in the mechanical and electrical removal of the Robot and Control System from a production unit or from an environment in which it was under study. Dismantling consists of the demolition and dismantling of the components that make up the Robot and Control System. Integrator The integrator is the professional expert responsible for the installation and putting into service of the Robot and Control System. Incorrect Use Incorrect use is when the system is used in a manner other than that specified in the Technical Documentation. Range of Action The robot range of action is the enveloping volume of the area occupied by the robot and its fixtures during movement in space.

1.2.3

Applicability
These Specifications are to be applied when executing the following activities: Installation and Putting into Service; Programming Mode; Auto / Remote Automatic Mode; Robot axes release; Stop distances (threshold values) Maintenance and Repairs; Putting Out of Service and Dismantling

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1.2.4

Operating Modes
Installation and Putting into Service Putting into service is only possible when the Robot and Control System has been correctly and completely installed. The system installation and putting into service is exclusively the task of the authorised personnel. The system installation and putting into service is only permitted inside a protected area of an adequate size to house the robot and the fixtures it is outfitted with, without passing beyond the safety barriers. It is also necessary to check that under normal robot movement conditions there is no collision with parts inside the protected area (structural columns, power supply lines, etc.) or with the barriers. If necessary, limit the robot working areas with mechanical hard stop (see optional assemblies). Any fixed robot control protections are to be located outside the protected area and in a point where there is a full view of the robot movements. The robot installation area is to be as free as possible from materials that could impede or limit visibility. During installation the robot and the Control Unit are to be handled as described in the product Technical Documentation; if lifting is necessary, check that the eyebolts are fixed securely and use only adequate slings and equipment. Secure the robot to the support, with all the bolts and pins foreseen, tightened to the torque indicated in the product Technical Documentation. If present, remove the fastening brackets from the axes and check that the fixing of the robot fixture is secured correctly. Check that the robot guards are correctly secured and that there are no moving or loose parts. Check that the Control Unit components are intact. If applicable, connect the robot pneumatic system to the air distribution line paying attention to set the system to the specified pressure value: a wrong setting of the pressure system influences correct robot movement. Install filters on the pneumatic system to collect any condensation. Install the Control Unit outside the protected area: the Control Unit is not to be used to form part of the fencing. Check that the voltage value of the mains is consistent with that indicated on the plate of the Control Unit. Before electrically connecting the Control Unit, check that the circuit breaker on the mains is locked in open position. Connection between the Control Unit and the three-phase supply mains at the works, is to be with a four-pole (3 phases + earth) armoured cable dimensioned appropriately for the power installed on the Control Unit. See the product Technical Documentation. The power supply cable is to enter the Control Unit through the specific fairlead and be properly clamped. Connect the earth conductor (PE) then connect the power conductors to the main switch.

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General Safety Precautions Connect the power supply cable, first connecting the earth conductor to the circuit breaker on the mains line, after checking with a tester that the circuit breaker terminals are not powered. Connect the cable armouring to the earth. Connect the signals and power cables between the Control Unit and the robot. Connect the robot to earth or to the Control Unit or to a nearby earth socket. Check that the Control Unit door (or doors) is/are locked with the key. A wrong connection of the connectors could cause permanent damage to the Control Unit components. The C4G Control Unit manages internally the main safety interlocks (gates, enabling pushbuttons, etc.). Connect the C4G Control Unit safety interlocks to the line safety circuits, taking care to connect them as required by the Safety standards. The safety of the interlock signals coming from the transfer line (emrgency stop, gates safey devices etc) i.e. the realisation of correct and safe circuits, is the responsibility of the Robot and Control System integrator.

In the cell/line emergency stop circuit the contacts must be included of the control unit emergency stop buttons, which are on X30. The push buttons are not interlocked in the emergency stop circuit of the Control Unit. The safety of the system cannot be guaranteed if these interlocks are wrongly executed, incomplete or missing. The safety circuit executes a controlled stop (IEC 60204-1 , class 1 stop) for the safety inputs Auto Stop/ General Stop and Emergency Stop. The controlled stop is only active in Automatic states; in Programming the power is cut out (power contactors open) immediately. The procedure for the selection of the controlled stop time (that can be set on ESK board) is contained in the Installation manual . When preparing protection barriers, especially light barriers and access doors, bear in mind that the robot stop times and distances are according to the stop category (0 or 1) and the weight of the robot..

Check that the controlled stop time is consistent with the type of Robot connected to the Control Unit. The stop time is selected using selector switches SW1 and SW2 on the ESK board. Check that the environment and working conditions are within the range specified in the specific product Technical Documentation. The calibration operations are to be carried out with great care, as indicated in the Technical Documentation of the specific product, and are to be concluded checking the correct position of the machine. To load or update the system software (for example after replacing boards), use only the original software handed over by COMAU Robotics & Service. Scrupulously follow the system software uploading procedure described in the Technical Documentation supplied with the specific product. After uploading, always make some tests moving the robot at slow speed and remaining outside the protected area. Check that the barriers of the protected area are correctly positioned.

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General Safety Precautions Programming Mode The robot is only to be programmed by the authorised personnel. Before starting to program, the operator must check the Robot and Control System to make sure that there are no potentially hazardous irregular conditions, and that there is nobody inside the protected area. When possible the programming should be controlled from outside the protected area. Before operating inside the Protected Area, the operator must make sure from outside that all the necessary protections and safety devices are present and in working order, and especially that the hand-held programming unit functions correctly (slow speed, emergency stop, enabling device, etc.). During the programming session, only the operator with the hand-held terminal is allowed inside the Protected Area. If the presence of a second operator in the working area is necessary when checking the program, this person must have an enabling device interlocked with the safety devices. Activation of the motors (Drive On) is always to be controlled from a position outside the range of the robot, after checking that there is nobody in the area involved. The Drive On operation is concluded when the relevant machine status indication is shown. When programming, the operator is to keep at a distance from the robot to be able to avoid any irregular machine movements, and in any case in a position to avoid the risk of being trapped between the robot and structural parts (columns, barriers, etc.), or between movable parts of the actual robot. When programming, the operator is to avoid remaining in a position where parts of the robot, pulled by gravity, could execute downward movements, or move upwards or sideways (when installed on a sloped plane). Testing a programmed cycle at working speed with the operator inside the protected area, in some situations where a close visual check is necessary, is only to be carried out after a complete test cycle at slow speed has been executed. The test is to be controlled from a safe distance. Special attention is to be paid when programming using the hand-held terminal: in this situation, although all the hardware and software safety devices are active, the robot movement depends on the operator. During the first running of a new program, the robot may move along a path that is not the one expected. The modification of program steps (such as moving by a step from one point to another of the flow, wrong recording of a step, modification of the robot position out of the path that links two steps of the program), could give rise to movements not envisaged by the operator when testing the program. In both cases operate cautiously, always remaining out of the robots range of action and test the cycle at slow speed.

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General Safety Precautions Auto / Remote Automatic Mode The activation of the automatic operation (AUTO and REMOTE states) is only to be executed with the Robot and Control System integrated inside an area with safety barriers properly interlocked, as specified by Safety Standards currently in force in the Country where the installation takes place. Before starting the automatic mode the operator is to check the Robot and Control System and the protected area to make sure there are no potentially hazardous irregular conditions. The operator can only activate automatic operation after having checked: that the Robot and Control System is not in maintenance or being repaired; the safety barriers are correctly positioned; that there is nobody inside the protected area; that the Control Unit doors are closed and locked; that the safety devices (emergency stop, safety barrier devices) are functioning; Special attention is to be paid when selecting the automatic-remote mode, where the line PLC can perform automatic operations to switch on motors and start the program.

Robot axes release In the absence of motive power, the robot axes movement is possible by means of optional release devices and suitable lifting devices. Such devices only enable the brake deactivation of each axis. In this case, all the system safety devices (including the emergency stop and the enable button) are cut out; also the robot axes can move upwards or downwards because of the force generated by the balancing system, or the force of gravity.

Before using the manual release devices, it is strongly recommended to sling the robot, or hook to an overhead travelling crane. Stop distances (threshold values) As for the stop distance threshold values for each robot type, please turn to the COMAU Robotics & Service Dept. Example: Considering the robot in automatic mode, in conditions of maximum extension, maximum load and maximum speed, when the stop pushbutton is pressed (red mushroom head pushbutton on WiTP) an NJ 370-2.7 Robot will stop completely in approx. 85 of motion, equivalent to approx. 3000 mm displacement measured on the TCP flange. Under these conditions indicated, the stoppage time of the NJ 370-2.7 Robot is 1.5 seconds. Considering the robot in programming mode (T1), when the stop pushbutton is pressed (red mushroom head pushbutton on WiTP) an NJ 370-2.7 Robot will stop completely in approx. 0.5 seconds.

Maintenance and Repairs When assembled in COMAU Robotics & Service, the robot is supplied with lubricant that does not contain substances harmful to health, however, in some cases, repeated and prolonged exposure to the product could cause skin irritation, or if swallowed, indisposition. First Aid. Contact with the eyes or the skin: wash the contaminated zones with abundant water; if the irritation persists, consult a doctor.

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General Safety Precautions If swallowed, do not provoke vomiting or take anything by mouth, see a doctor as soon as possible. Maintenance, trouble-shooting and repairs are only to be carried out by authorised personnel. When carrying out maintenance and repairs, the specific warning sign is to be placed on the control panel of the Control Unit, stating that maintenance is in progress and it is only to be removed after the operation has been completely finished - even if it should be temporarily suspended. Maintenance operations and replacement of components or the Control Unit are to be carried out with the main switch in open position and locked with a padlock. Even if the Control Unit is not powered (main switch open), there may be interconnected voltages coming from connections to peripheral units or external power sources (e.g. 24 Vdc inputs/outputs). Cut out external sources when operating on parts of the system that are involved. Removal of panels, protection shields, grids, etc. is only allowed with the main switch open and padlocked. Faulty components are to be replaced with others having the same code, or equivalent components defined by COMAU Robotics & Service.

After replacement of the ESK module, check on the new module that the setting of the stop time on selector switches SW1 and SW2 is consistent with the type of Robot connected to the Control Unit. Trouble-shooting and maintenance activities are to be executed, when possible, outside the protected area. Trouble-shooting executed on the control is to be carried out, when possible without power supply. Should it be necessary, during trouble-shooting, to intervene with the Control Unit powered, all the precautions specified by Safety Standards are to be observed when operating with hazardous voltages present. Trouble-shooting on the robot is to be carried out with the power supply cut out (Drive off). At the end of the maintenance and trouble-shooting operations, all deactivated safety devices are to be reset (panels, protection shields, interlocks, etc.). Maintenance, repairs and trouble-shooting operations are to be concluded checking the correct operation of the Robot and Control System and all the safety devices, executed from outside the protected area. When loading the software (for example after replacing electronic boards) the original software handed over by COMAU Robotics & Service is to be used. Scrupulously follow the system software loading procedure described in the specific product Technical Documentation; after loading always run a test cycle to make sure, remaining outside the protected area Disassembly of robot components (motors, balancing cylinders, etc.) may cause uncontrolled movements of the axes in any direction: before starting a disassembly procedure, consult the warning plates applied to the robot and the Technical Documentation supplied. It is strictly forbidden to remove the protective covering of the robot springs.

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General Safety Precautions Putting Out of Service and Dismantling Putting out of service and dismantling the Robot and Control System is only to be carried out by Authorised Personnel. Bring the robot to transport position and fit the axis clamping brackets (where applicable) consulting the plate applied on the robot and the robot Technical Documentation. Before stating to put out of service, the mains voltage to the Control Unit must be cut out (switch off the circuit breaker on the mains distribution line and lock it in open position). After using the specific instrument to check there is no voltage on the terminals, disconnect the power supply cable from the circuit breaker on the distribution line, first disconnecting the power conductors, then the earth. Disconnect the power supply cable from the Control Unit and remove it. First disconnect the connection cables between the robot and the Control Unit, then the earth cable. If present, disconnect the robot pneumatic system from the air distribution line. Check that the robot is properly balanced and if necessary sling it correctly, then remove the robot securing bolts from the support. Remove the robot and the Control Unit from the work area, applying the rules indicated in the products Technical Documentation; if lifting is necessary, check the correct fastening of the eye-bolts and use appropriate slings and equipment only. Before starting dismantling operations (disassembly, demolition and disposal) of the Robot and Control System components, contact COMAU Robotics & Service, or one of its branches, who will indicate, according to the type of robot and Control Unit, the operating methods in accordance with safety principles and safeguarding the environment. The waste disposal operations are to be carried out complying with the legislation of the country where the Robot and Control System is installed.

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General Safety Precautions

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Operator Panel

2.

OPERATOR PANEL
The push buttons, selector switches and communication interfaces used in normal use of the Control Unit are located on the OPM panel. Moreover, as an option, there is a service socket inside the electric cabinet. illustrates the layout of the devices. The function is described in detail in the following section Functions of Operator Panel devices.

Fig. 2.1

- Operator Panel - devices layout

C4G Control Unit

Operator panel detail

2.1 Functions of Operator Panel devices

This section gives a detailed description of the functions of the Operator Panel devices. In particular: Main switch Modal selector switch Emergency stop pushbutton

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Operator Panel Emergency stop pushbutton Hour meter (optional)

2.1.1

Main switch
Cuts out the power supply voltage to the Control Unit. See Fig. 2.2 - Main switch.

Wait at least 30 seconds before powering on again.

If the control panel door is opened and closed again, make sure that the control lever and/or the extension shaft of the main switch Q100 are in the same position (ON /OFF) to avoid causing damage to the control lever.

Fig. 2.2

- Main switch

Main switch, European version

Main switch, American version (ON position)

Main switch, American version (OFF position)

2.1.2

Modal selector switch

To select the Control Unit control mode (see Tab. 2.1 - Modal selector switch): T1 - The programming operator can carry out the editing points self-teaching, and check the programming functions. The robot moves at low speed, not more than 250 mm/s to flange centre, to tool centre point (TCP) and to any extreme tool. The operator can work inside the cell.

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Operator Panel T2 (optional) - The programmer can check the program and robot functioning at working speed. The 250 mm/s limit is not enabled. The operator can work inside the cell.

Warning! The program ALWAYS starts at low speed, and the user, if wished, CAN increase it to the working speed. If jogkeys are used, the system will AUTOMATICALLY reduce the speed to below the limit of 250 mm/s at flange centre.

When using with the status selector switch in position T2 programming control mode the operator is to be very careful, since the risks due to the faster speed of the robot cannot be solved with the normal procedures and precautions. AUTO - The operator can check the program functioning at working speed, activating the start command from the teach pendant. The operator cannot work inside the cell. REMOTE - The program running is controlled by external equipment (for example, line PLC or local control panels). The operator cannot work inside the cell.

The selector switch key can be removed in all positions.

Tab. 2.1 - Modal selector switch

Modal selector switch with position T2 (optional)

Modal selector switch, standard

2.1.3

Emergency stop pushbutton

To stop the machine immediately. When pressed it cuts out the power to the robot motors and activates the brakes. See Fig. 2.3 - Emergency stop pushbutton. It has forced opening contacts with mechanical latching. It has to be pulled to reset. According to the selection on the JP15 jumpers of the RSM board, the AUTO or REMOTE mode stop takes place: in controlled mode (class 1 as per standard EN 60204-1) immediately (class 0 as per standard EN 60204-1).

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Operator Panel In T2 or T1 mode, the stop is always immediate (class 0 as per standard EN 60204-1).

Fig. 2.3

- Emergency stop pushbutton

2.1.4

USB port (optional feature)

The USB port is used to connect an external storage device, to load and save the programs from Control Unit to PC and vice-versa. The Teach Pendant has specific controls to activate the file transfer. The device is automatically acknowledged a few seconds after insertion and can be extracted without any specific operations. To ensure correct file transfer it is not to be extracted during the transfer.

2.1.5

Hour meter (optional)

Where present, it displays the number of operating hours (in DRIVE ON) of the Controller and the Robot.

Fig. 2.4

- Hour meter (optional)

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User Interface

3.

USER INTERFACE

3.1 Introduction
The C4G Robot Control Unit, for robot manual handling, to create, modify and run programs, to modify step-by-step moves, to supply system control and monitoring functions, requires the use of the following user interfaces: TP4i/WiTP Teach Pendant Interface on Personal Computer (WinC4G)

3.2 TP4i/WiTP Teach Pendant

The C4G Robot Control Unit Teach Pendant is used to manually control the robot movements, to program it and execute and modify step by step movements, it supplies system control and monitoring functions, as well as including the safety devices (enabling device and emergency stop pushbuttons). It is user-friendly and is suitable for right-hand or left -hand use. It is able to support any system software version starting from 2.0, and includes the following components: Display graphic 6.4" TFT colour; resolution 640x480 pixel Keys Pushbuttons and LEDs USB port.

The Teach Pendant can be chosen from the following two versions: TP4i - connected by cable to the C4G Control Unit WiTP wired - connected by cable to the C4G Control Unit wireless - connection without wires (wireless) to C4G Control Unit, with WindowsCE operating system. For more detailed information regarding the Teach Pendant (TP4i and/or WiTP), see the following manuals: C4G Control Unit- Technical Specifications - par.4.7.2 Teach Pendant; C4G Control Unit - Transport and Installation - chap.6 Start-up procedure; C4G Control Unit - Maintenance - par.3.9 WiTP emergency unpairing procedure; Chap.6. - Use of the Teach Pendant. The following Fig. 3.1, Fig. 3.2 Fig. 3.5, Fig. 3.6 and Fig. 3.7 illustrate the components of TP4i Teach Pendant and, by means of user-friendly hypertext connections, give access to detailed descriptions of keys, pushbuttons, LEDs, display and communication port, available in the following Chap.6. - Use of the Teach Pendant.

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User Interface

3.3 Front view

Fig. 3.1 - TP4i front view

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User Interface

Fig. 3.2

- WiTP front view

3.4 Rear view

Fig. 3.3 - Rear view of TP4i and WiTP wired

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User Interface

Fig. 3.4

- Rear view of WiTP wireless (Reset pushbutton)

Fig. 3.5

- Rear view of TP4i and WiTP wired

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User Interface

3.5 View from above

Fig. 3.6 - View from above A

Fig. 3.7

- View from above B

For the use of the TP see the Chap. Use of the Teach Pendant

3.6 Interface on Personal Computer (WinC4G)

The Winc4g program is the interface on Personal Computer to the Robot C4G Control Unit. Groups inside a set of functions, which are: display of files in the Control Unit, the possibility to edit them, translate them into executable format (.COD) and run them, search and display of errors, possibility to issue commands to the Control Unit, conversion of existing programs as a function to new reference points.

For further details, see the Chap. WinC4G Program - interface to C4G on Personal Computer.

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User Interface

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System power on and shut down

4.

SYSTEM POWER ON AND SHUT DOWN

4.1 Foreword
This chapter describes the most frequently used procedures: System power-on System shut down

4.2 System power-on

To power on the C4G Robot Control Unit, proceed as follows: a. b. close the door (or doors) of the Robot Controller Cabinet. Check that these cables are connected: power supply cable cables X10 and X60 to the robot safety devices cable X30

Wait at least 20 seconds after a power-off before re-powering the control unit.

c.

Turn on the electric power supply by turning the main switch to ON (see Main switch in Chap. Operator Panel) Upon Control Unit activation, power is supplied to all the modules If it is wished to use the Teach Pendant, the steps to be followed depend on the type of Teach Pendant installed on the system:

d.

d.1 if it is TP4i (connected by cable), no further operations are necessary: the system activates the display, runs the initialising procedure, displays the Home Page and makes the pendant ready for use. Step e. is then carried out immediately. d.2 If the Teach Pendant is the WiTP wireless, these steps have to be followed: d.2.1 power-on the Teach Pendant (if it is off), pressing keys AUX B- and AUX B+ simultaneously (see Keys to switch on the WiTP wireless) d.2.2 place the WiTP on the docking station (if not already there) and wait for the information "system ready for pairing" d.2.3 carry out the pairing with the Control Unit (see par. 6.4.1 Pairing procedure between WiTP wireless Teach Pendant and C4G Control Unit on page 6-17).
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System power on and shut down Lastly, the system shows the Home Page and the pendant is ready for use. e. Regardless of the type of installed Teach Pendant, if robot movements are foreseen (motion program activated by the STARTUP program), it is necessary to power on the drives (see description of the DRIVE ON function in par. 6.5.1.4 Right Menu on page 6-30) and press the START key (see description of START (green) key, in par. 6.2.1.3 Other colours keys on page 6-10).

4.3 System shut down

The system can be shut down by just moving the main switch to OFF. In this case, the shut-down procedure is: a. set the system in DRIVE OFF (see DRIVE OFF function description in par. 6.5.1.4 Right Menu on page 6-30) Move the main switch to OFF (see par. 2.1.1 Main switch on page 2-2 in Chap. Operator Panel).

b.

It is in any case strongly recommended to follow the software shutdown procedure, to avoid unnecessary waste of RPU buffer battery cycles that would reduce the life of the battery. Furthermore, in the case of a system with wireless Teach Pendant, it is NECESSARY to use the software shutdown to close in consistent situations. The software shutdown is requested when the user wishes to carry out the shutdown of the Control Unit and the Teach Pendant. Before introducing the relevant command, set the DRIVEs OFF (see description of the DRIVE OFF function in par. 6.5.1.4 Right Menu on page 6-30). The command to activate the software shutdown is ConfigureControllerRestartShutdown (CCRS) and can be requested from either : Teach Pendant (TP4i or WiTP), or Personal Computer (through WinC4G program), or PDL2 program (through SYS_CALL).

According to whether the system is provided with TP wired or wireless, the shutdown procedure is the one described in the following paragraphs: Shutdown - system with Teach Pendant connected by cable (TP4i or WiTP wired) Shutdown - system with wireless Teach Pendant (WiTP wireless).

4.3.1

Shutdown - system with Teach Pendant connected by cable (TP4i or WiTP wired)
In this case (TP4i or WiTP wired), the procedure requires also the following steps: a. after approx 5 seconds the Teach Pendant display is cleared. Wait at least 10 seconds move the main switch to OFF (see par. 2.1.1 Main switch on page 2-2 in Chap. Operator Panel).
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b.

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System power on and shut down

4.3.2

Shutdown - system with wireless Teach Pendant (WiTP wireless)

WARNING - With WiTP wireless installed, it is strongly recommended to apply the following general criterion : DO NOT SHUTDOWN THE SYSTEM IF THE TEACH PENDANT IS PAIRED! This is most important to avoid misalignments between the C4G Control Unit and the WiTP wireless Teach Pendant. At the next system power-on it would be necessary to carry out an emergency unpairing, to recover the situation which has become inconsistent. Following the software shutdown request, if the WiTP is paired, before authorising the Control Unit shutdown, the system asks the user to run the unpairing. The user should proceed as follows: a. b. place the WiTP on the docking station press the pairing/unpairing pushbutton (see D key in Fig. 4.1).

Fig. 4.1

- Pairing/unpairing pushbutton

The following situations may arise: b.1 if all proceeds correctly, the system shuts down the WiTP; therefore the user can use the main switch to shut down the C4G Control Unit; b.2 the system detects a fault BEFORE the pairing/unpairing pushbutton has been pressed - the C4G Control Unit does NOT prepare for shutdown and the WiTP is

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System power on and shut down NOT shutdown. The shutdown command is aborted and the user is notified by a specific message. The situation is the same as it was before the shutdown request; b.3 the system detects a fault AFTER the pairing/unpairing pushbutton has been pressed - the C4G Control Unit shutdown is suspended, but the WiTP is unpaired and off. It is, in any case a consistent situation. The user can act on the main switch to shut down the C4G Control Unit. Note that if the unpairing is NOT performed correctly, the shutdown command is ALWAYS aborted.

During the software shutdown procedure the system waits for the unpairing request and for its completion, for a pre-set timeout. If this timeout expires, it means that one of the following situations may have occurred: WiTP does not communicate (not on docking station, too far away, there are interposed obstacles, battery low, off, etc.) - in this case, the user has to remove the cause: the pendant resumes normal communication after requesting the shutdown procedure, the user has not pressed the pairing/unpairing key; in this case, the user has to ask for the shutdown again and PRESS the pairing/unpairing pushbutton when requested by the system the unpairing procedure has not terminated correctly; the user has to find the cause and remove it.

To manage these situations, see also the C4G Control Unit Maintenance Manual, chap.4 - Help to solve problems. WARNING! If the command comes from the program (via SYS_CALL), it is a good rule to always test the final status of the SYS_CALL to manage any anomalous situations. The system asks for unpairing ONLY if the WiTP wireless is paired!

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Access to the Control (LOGIN/LOGOUT)

5.

ACCESS TO THE CONTROL (LOGIN/LOGOUT)

5.1 Introduction
To access the Control Unit, regardless of the device from which dialogue with the controller is desired (Teach Pendant or WinC4G program from PC), a Login is necessary, otherwise the only commands available are for viewing. To terminate access to the Control Unit, so that unauthorised personnel cannot enter, it is necessary to execute a Logout. If working with the Teach Pendant, the Login can be performed in one of these ways: like Login command (Softkey (F2) of the Central Menu on the TP4i Home Page, or from TP-INT Page as SetLogin command.

If working through WinC4G, the operator is asked to Login to the connection toward the Controller; the SetLogin command is in the commands menu.

5.2 User profile

Regardless of the method used, a Username and a Password must always be specified, to be acknowledged by the Controller to be interfaced; these must be defined and saved beforehand in the Controller database. There are five types of user predefined and recognised by the control unit: Administrator Default Maintenance Programmer Service Technology

They are described in the following sections. The access rights are associated to each of these categories, and enable or disable the use of a certain command, also according to the system status. On TPINT, the commands that are disabled are shown in low case and the cursor positioning with the cursor keys is disabled. The definition of these profiles is assigned to an administrator user who can declare them, after Login on the control, in the data base of the controller sending: the ConfigureControllerLoginAdd command and the associated option from TP-INT Page, or

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Access to the Control (LOGIN/LOGOUT) the Add command, using the Users softkey (F1) from Setup page, Login sub-page, on the TP4i.

Next, it is necessary to execute the ConfigureSaveAll command, from TP-INT Page, or the Save command, by means of the Config. softkey (F1) in the Setup page, on TP4i

The C4G Control Unit is delivered to the customer with the following predefined users: programmer user Username: pu Password: pu maintenance engineer user Username: mu Password: mu administrator user Username: admin Password: admin

The programmer login is the default login that is held after a Restart Cold, since it is saved as Startup Login (SetControllerLoginStartup command). If the predefined users (programmer or maintenance engineer) are not those required by the end customer, others can be defined. To do so, from the administrator user, send the ConfigureControllerLoginAdd command from TP-INT or use the Login section on the Teach Pendant Setup page.

5.2.1

Administrator
The only task of this user is to enter and/or delete the users in the data base (file .UDB) that gives access to the system; therefore many other commands are not enabled for the Administrator. Each time it is wished to add (or remove) a user level, it is necessary to perform the following steps: Enter the system as administrator user (SetLogin from TP-INT Page, or Login softkey (F2) from the Teach Pendant Home Page). If a new profile for the administrator has not been already defined, the Username admin and the Password admin are predefined in the system; to add the new user, proceed in one of these ways: from TP-INT Page, enter ConfigureControllerLoginAdd with the user profile, the Username and the Password; from the Teach Pendant, using the Add command, through the Users softkey (F1), in the Login sub-page of the Setup page, enter the user profile, the Username and the Password. to check that the insertion has taken place, proceed with one of these methods: from TP-INT Page, enter ConfigureControllerLoginView; from the Teach Pendant, select the Login sub-page on the Setup page perform the Logout to exit from the system as administrator: from TP-INT Page enter the SetLogin/Logout command, or from the Teach Pendant Home Page, with a long pressure on the Login softkey (F2) select the Logout option

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Access to the Control (LOGIN/LOGOUT) Login again entering the newly defined Username and Password, to check it has been entered correctly; Save the settings using one of these methods: from TP-INT Page, enter ConfigureSave; from the Teach Pendant, enter the Save command through the Config. softkey (F1) on the Setup page.

5.2.2

Default
The type of user to be identified is the operator running a production line. The main operations that he/she requires are to start and stop the programs, to delete alarms, manual movements, override modification, restart and shut down of the Controller.

5.2.3

Programmer
The programmer user is enabled, mainly, to execute the operations associated to the development, the verification and the setting up of the programs.

5.2.4

Maintenance
The type of user to be identified is the integrator. This user has more potential than the programmer.

5.2.5

Service
He/she also performs servicing and is a user enabled to execute operations connected to system updating, using commands for software loading and machine calibration. Access to the Control Unit with this profile, is exclusive: if a user connects to the system as Service, it will be possible to connect to the Control Unit, from other devices, only specifying the same Username and the same Password.

5.2.6

Technology
With the technology user access is allowed to some functions of the installed application, typical of that application. See the specific application manual for further information.

5.2.7

Summary table of access rights

The following table indicates the current settings regarding access rights of the above-listed predefined users. The codes in the table regarding the users are: D for Default, A for Administrator, M for Maintenance, P for Programmer and S for Service. The corresponding command from SYS_CALL is indicated in brackets.

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Access to the Control (LOGIN/LOGOUT)

COMMAND Add a login to the database (CCLA) Delete a login from the database Assign the Startup Login (CCLS) Assign the Startup program (CCS) Assign the time (CCT) Jog on an arm Modify the override (SAG). Set the active arm for the teach pendant (SAT) Disable limit switch errors (SAN) Turn Set operation on the axes (CAT) Load axis data from retentive memory (CARL) Save data in retentive memory (CARS) Arm: enable (SAE), disable (SAD), simulation (SAS), simulated state removal (SAU). Calibration of an arm (CAC) Control restart (CCRC) Control shut-down (CCRS) Load control system software (CCRR) Lock keyboard (SCK) Load configuration file .C4G (CLA,CLC) Save configuration file .C4G (CSA, CSC) Execution of an instruction (E) Delete(FD), rename (FR), translate (FT) a file Creation (FUDM), deletion (FUDD) of a directory Compressed files management (FUC.) Applications installation (FUI) Copy file from external device (FUR) Change attributes of a file (FUA) Access to Memory Debug environment (MD) Program Edit and IDE environment Load programs in memory (ML). Save in UD: (MS) Delete programs (MEP), variables (MEV), both (MEA) from memory Program activation (PA), deactivation (PD), loading and activation (PG)

PROGR A A P,M,S P,M,S M,S D,P,M,S D,P,M,S P,M,S D,P,M,S M,S M,S S S A,D,P,M,S D,P,M,S M,S M,S M,S A,P,M,S P,M,S A,P,M,S A,P,M,S A,P,M,S P,M,S P,M,S M,S P,M,S P,M,S A,P,M,S A,P,M,S A,D,P,M,S

AUTO-T A A P,M,S P,M,S M,S D,P,M,S D,P,M,S

LOCAL A A P,M,S P,M,S M,S

REMOTE A A P,M,S P,M,S M,S

D,P,M,S

D,P,M,S

M,S M,S S M,S S M,S S

A,D,P,M,S D,P,M,S M,S M,S M,S P,M,S P,M,S P,M,S P,M,S P,M,S P,M,S P,M,S M,S P,M,S P,M,S A,P,M,S A,P,M,S D,P,M,S

A,D,P,M,S D,P,M,S

A,P,M,S D,P,M,S

M,S

M,S

P,M,S P,M,S P,M,S P,M,S P,M,S P,M,S P,M,S M,S P,M,S P,M,S P,M,S P,M,S D,P,M,S

P,M,S S P,M,S P,M,S P,M,S P,M,S P,M,S M,S P,M,S P,M,S M,S M,S

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COMMAND Programs debug: temporary interruption of execution (PSP), resume execution (PSU), bypass on suspensive instruction (PSB), breakpoint insertion/deletion (PTB) Change program step (PTS) Access to Memory Teach environment (MT) Operations on Inputs (except access to privileged inputs) (Set Input ) Operations on Outputs (SetOutput) Forcing of privileged inputs (SIFP) / outputs (SOFP.) Start / interrupt a protocol (UCM., UCD), set properties of a port (UCP), or the default port (UCS Connection via modem (UCR) Access to all devices Deactivate all programs through Cntrl Y Display contents of all log files
D: A: M: P: S:

PROGR P,M,S P,M,S P,M,S

AUTO-T P,M,S P,M,S P,M,S

LOCAL P,M,S P,M,S

REMOTE

P,M,S

P,M,S P,M,S S P,M,S P,M,S S M,S S S

P,M,S P,M,S S P,M,S P,M,S S M,S S

P,M,S P,M,S S P,M,S P,M,S S S

P,M,S P,M,S

M,S M,S S S

default, the user who is defined by ConfigureControllerLoginAdd without options. Administrator, defined with ConfigureControllerLoginAdd/Admin Maintenance, defined with ConfigureControllerLoginAdd/Maintenance Programmer, defined with ConfigureControllerLoginAdd / Programmer Service, defined with ConfigureControllerLoginAdd / Service

It is also possible to store a startup login used by the Controller at each restart (ConfigureControllerLoginStartup command or Setup page on the Teach Pendant).

5.3 Logout
If working with the Teach Pendant, apply prolonged pressure to softkey F2 of the Central Menu on Home Page (see par. 6.7.2.2 Logout on page 6-45). If working with WinC4G, press the disconnection key, or use SetLogin/L from the control menu. As from system software version 3.20, there is also a special Automatic Timed Logout function, described in the next paragraph.

5.3.1

Automatic Timed Logout

This function has been implemented to prevent unauthorized persons executing potentially hazardous operations during the system processing cycle. The main purpose is that the system generates a Logout after the Teach Pendant user has remained inactive for a certain period of time. This time is linked to the keyboard activity: there is a timeout to shut down the Teach

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Access to the Control (LOGIN/LOGOUT) Pendant screen after a period of keyboard inactivity (see par. 6.5 Display on page 6-25). From that instant the time count starts, after which the system executes the automatic Logout. When a user wishes to use the Teach Pendant after an automatic Logout, it is necessary to first access again (Login). When an automatic Logout takes place, some environments carry out special operations. In particular: Files Page - the system resets the current directory to UD: Data Page - any open tables are "frozen": any modifications remain where they are at that moment (in TP memory or in Controller memory). The system informs the user with an "Insufficient Rights" message. At the next Login the message is no longer present and the table is displayed again IDE Page - the system closes the current editing session. If this operation requires viewing of the dialogue with user window (for example relating to the cursor position and modifications that have not been saved), the automatic Logout procedure is suspended until the user answers these questions.

For information on this operating configuration by the user, see Startup (CCLS) in Setup page.

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6.

USE OF THE TEACH PENDANT

6.1 Introduction
This chapter gives detailed information on how to use the Teach Pendant, both for the TP4i model (connected by cable to the C4G Control Unit) and for the WiTP model (both cable connection and wireless type).

1 - Pushbuttons 3 - Blue keys 5 - JPAD for TP4i and JPAD for WiTP 7 - Alphanumeric keypad

2 - Display 4 - Other colours keys 6 - JOG keys for TP4i and JOG keys for WiTP 8 - LEDs

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NOTE -Unless specified otherwise, the descriptions that follow are valid for both Teach Pendant models (TP4i and WiTP wired, WiTP wireless).

The following subjects are dealt with: Keys, Pushbuttons and LEDs Basic information for the use of WiTP wireless Display USB port User Interface Pages

6.2 Keys, Pushbuttons and LEDs

Keys Pushbuttons and LEDs

6.2.1

Keys
The Teach Pendant keyboard (see Fig. 3.1 and Fig. 3.2 in par. 3.2 TP4i/WiTP Teach Pendant on page 3-1) is basically arranged in the following manner: Blue keys Black keys Other colours keys Alphanumeric keypad Keys to switch on the WiTP wireless Keys to restart the Teach Pendant

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6.2.1.1

Blue keys Fig. 6.1 - Layout of blue keys for TP4i

Fig. 6.2

- Layout of blue keys for WiTP

They are divided into: Function keys The function keys are used to activate the associated softkeys belonging to the different Menus. It is possible to distinguish: Left Menu keys (L1..L6) Right Menu keys (R1..R6) Bottom Menu keys (F1..F6) General use keys They are the following keys:

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Use of the Teach Pendant SHIFT still in combination with other keys; the use changes according to the environment and the function of the key it is associated to

NOTE Note that, according to the type of Teach Pendant (TP4i/WiTP), the position of the SHIFT keys changes (see Fig. 6.3 keys highlighted in red).

Fig. 6.3

- SHIFT keys
TP4i WiTP

MORE when the softkeys of the Left Menu and/or Right Menu are more than 6, the associated MORE key allows the scrolling of them all HELP while using TP-INT Page, when this key is pressed the corresponding help screen pages are activated; in any case, for future versions the use of the HELP key will be available for other User Pages too. In some situations the simultaneous pressing of the SHIFT + HELP keys will display a pop-up window with suggestions.

Navigation keys

Page Up and Page Down keys They move the cursor respectively to the beginning and to the end of the screen page depending on the context in which they are used. Cursor keys (up arrow, down arrow, right arrow, left arrow): to move inside the screen page fields.

ESC key: returns back, cancelling the current action

ENTER key: confirms the current action

TP4i SHIFT keys (left and right): can be used in combination with other navigation keys. See NOTE about WiTP.

WiTP
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For the correct use of these keys, read carefully the Navigation Mode in par. 6.6 User Interface Pages on page 6-35

6.2.1.2

Black keys
These keys are for robot motion.

For the DRIVE ON and DRIVE OFF functions, see Enabling Device and Right Menu

According to whether the Teach Pendant is TP4i or WiTP, the black keys may differ. Therefore the two situations are described separately: TP4i WiTP

6.2.1.2.1

TP4i Fig. 6.4 - Black keys layout for TP4i

They are divided into: Motion keys STEP key- Sets continuous running mode (STEP DISABLED) on the active current arm move program. BACK key - Causes the movement backward, to the start position of the current movement, during step-by-step checking of a program.

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Use of the Teach Pendant

REC key - in editing environment, it inserts a move instruction, the declaration of the corresponding position variable to which the current arm position is assigned COORD key - selects the reference system: JOINT - joint mode. The keys are associated to each of the axes of the selected arm; any auxiliary axes, if present, follow those of the arm. Pressing one of such keys determines the movement of the corresponding axis in positive or negative direction, according to the direction indicated by the plate on the arm. BASE - linear movement mode according to the world reference frame x, y, z (the workshop reference frame). The first keys allow linear movement in the direction of the three axes of the world reference system, the next three keys allow the tool rotation around the same axes keeping the TCP position unchanged.Note that the world frame is not directly defined by any system variable; in fact, it is the robot base that is represented as to the world, through the $BASE variable TOOL - linear movement mode according to the tool reference frame x, y, z (or TCP frame).The first three keys allow linear movement in the direction of the three axes of the tool reference frame (defined by $TOOL predefined variable); the next three keys allow tool rotation around the same axes keeping the TCP position unchanged (tool work point). UFRAME - linear movement mode according to the user reference frame x, y, z (for example the set of three that describes the workpiece being machined).The first three keys allow linear movements in the direction of the three axes of the user reference frame (defined by $UFRAME predefined variable); the next three keys allow tool rotations around the same axes keeping the TCP position unchanged WR-BASE, WR-TOOL, WR-UFRAME: if pressed together with the SHIFT key, the COORD key allows passing between Cartesian movement modes (BASE, TOOL, USER) and Wrist JNT (X,Y,Z and joints of axes 4,5,6). For further information see the chapter ROBOT MOTION IN PROGRAMMING MODE of the Motion Programming Manual. +% and -%: key to change the OVERRIDE. Combined with SHIFT key the following values can be obtained SHIFT-% --> 25% SHIFT +% --> 100%

JOG keys Such keys can be used to move the robot axes. AUX keys can be configured for axes 7, 8, 9, 10, two at a time

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Use of the Teach Pendant JPAD The JPAD group allows jogging referred to the USER position. Furthermore: The two cursor keys on the left refer to moves along axis z: upward and downward movements the four keys on the right are respectively for movements along x axis (upward arrow and downward arrow) and along y axis (left arrow and right arrow). The movements along x axis are for moving away, and for approaching the user; the movements along y axis are for moving left and right, always referred to the user WARNING - For configuration with integrated Gantry with 3 linear axes, the JPAD is managed differently to normal operation. The two arrow keys on the left refer to movements of the gantry auxiliary axis configured as Z The four keys on the right refer respectively to movements of gantry auxiliary axis configured as X (up arrow and down arrow) and to movements of auxiliary axis configured as Y (LH arrow and RH arrow). The position of the user does NOT have influence on the JPAD functioning, and therefore the controls in Advanced sub-page of Motion Page DO NOT effect handling with JPAD. Gantry movement with JPAD is the same as with JOG keys AUX A - AUX B. The position of the user can be configured in the Advanced sub-page of the Motion Page. It is to be borne in mind that any move executed using JPAD is always according to user reference ($UFRAME), except for movement of Gantry with 3 linear axes, which is always a joint move.

6.2.1.2.2

WiTP Fig. 6.5 - Black keys layout for WiTP

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Use of the Teach Pendant

For the DRIVE ON and DRIVE OFF functions, see Enabling Device and Right Menu.

They are divided into: Motion keys

The functions previously activated by the STEP and REC keys, on the Teach Pendant connected via cable (TP4i), are available in IDE environment (see par. 6.11 IDE Page on page 6-75). To access the related descriptions, see: STEP function - par. Step on page 6-82 REC function - it is softkey F5 on IDE Page and the first softkey at the top left on the Virtual Keyboard of TP-INT Page.

BACK key - for the backward movement, to the starting position of the current movement, during the step-by-step verification of program. See par. Step on page 6-82, in IDE Page. COORD key - reference system selection : JOINT - joints mode. The keys are associated to each of the selected arm axes; any auxiliary axes present follow this arm. Pressing one of the keys moves the corresponding axis in the plus or minus direction according to the directions indicated by the plates on the arm. UFRAME - linear move mode according to the user x, y, z reference frame (for example the frame that describes the part under process). The first three keys are for linear movement in the direction of the three axes of the user reference system (defined by the $UFRAME variable); the next three keys are for rotation of the fixture around the same axes keeping the TCP position unchanged. BASE - linear displacement mode according to the x, y, z reference frame (the workshop reference frame). The first three keys are for linear moves in the direction of the three axes of the contour reference system; the next three keys are to rotate the fixture around the same axes keeping the TCP position unchanged. It is to be remembered that the contour frame is not defined directly by system variables, in fact it is the robot base that is represented in relation to the frame through the $BASE variable. TOOL - linear movement mode according to the tool x, y, z reference frame (or TCP frame). The first three keys are for linear moves in the direction of the three tool reference system axes (defined by the $TOOL variable); the next three keys are for fixture rotation around the same axes keeping the TCP position unchanged (tool work point). WR-BASE, WR-TOOL, WR-UFRAME: if pressed together with the SHIFT key, the COORD key allows passage between Cartesian move modes (BASE, TOOL, USER) and Wrist JNT (X,Y,Z and joints axes 4,5,6). For further information see the chapter ROBOT MOTION IN PROGRAMMING MODE of the Motion Programming Manual.

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AUX key - pressing this key increases (in circular mode) the AUX-A index, the key that moves auxiliary axis A. When pressed together with the SHIFT key (SHIFT+AUX) it increases (in circular mode) index AUX-B, the key that moves auxiliary axis B. The values of AUX-A and AUX-B are displayed on the Motion page, sub-page Coop. See par. 6.8.2 Coop (optional feature) on page 6-49. The same information is displayed in the Status bar, in the Arm field (fourth field). ARM key - corresponds to the Arm softkey of the TP4i Right Menu (see ARM (R1)). In Multiarm systems, it is used to manage the index of the main Arm and the synchronised Arm, displaying in the Status bar, in exactly the same way as by entering in the Motion Page, sub-page Basic and modifying the Arm field. The functioning is as follows: In DRIVE-OFF - pressing ARM increases in circular mode the index of the main Arm, but never altering the Arm quantity in the Status bar (if there is only one Arm, it remains one, if there are two Arms, two remain). The new value is the first valid Arm index after an increment. Pressing SHIFT+ARM increases in circular mode the index of the synchronised Arm. It is the only combination of keys able to change the quantity of Arms in the Status bar. It always passes to two Arms when there is only one Arm in the Status bar. It returns to one Arm when the index of the second Arm becomes equal to the first Arm. In DRIVE-ON - pressing ARM has two effects: - if DRIVE-ON has taken place with only 1 Arm selected ($TP_SYNC_ARM[2]=0), the Arm index is incremented, as for DRIVE-OFF; - if DRIVE-ON has taken place with 2 Arms selected, the selection is inverted for the Arm that will be moved with jog keys. For example, if there are 3 Arms and the current situation is Arm: 2<1, where Arm 2 is that moved by jog keys, pressing ARM, the index is NOT incremented (it does NOT change to 3), but the situation becomes Arm: 1<2 , i.e., the Arm moved by jog keys is now number 1. The first number displayed is always the Arm moved by jog keys. SHIFT+ARM cannot be pressed. A LONG PRESSING of the ARM key cyclically displays the possible indexes of the main Arm: when the required index is reached, releasing the key makes this choice definite. While the key is pressed, the index is displayed in brackets. When the final choice is made, the brackets disappear.

Keys +% and -% to change the OVERRIDE. Combined with the SHIFT key, the following values can be obtained: SHIFT -% --> 25% SHIFT +% --> 100% JOG keys These keys can be used to move the robot axes. The AUX keys can be configured for axes 7, 8, 9, 10, two at a time. WiTP wireless power-on keys These are keys AUX B- and AUX B+ (highlighted in red in the figure on the side) that, if pressed simultaneously, power-on the WiTP. For further information see paragraph Keys to switch on the WiTP wireless.

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Use of the Teach Pendant JPAD The JPAD group enables jog referred to the USER POSITION. More precisely: The two cursor keys on the left are for moves along axis z - upward and downward moves. The four keys on the right are for moves along axis x (up arrow and down arrow) and along axis y (LH arrow and RH arrow) respectively. Movements along axis x move away and approach in relation to the user; moves along axis y are moves to the left and to the right, always in relation to the user. WARNING - For configuration with integrated Gantry with 3 linear axes, the JPAD is managed differently to normal operation. The two arrow keys on the left refer to movements of the gantry auxiliary axis configured as Z The four keys on the right refer respectively to movements of gantry auxiliary axis configured as X (up arrow and down arrow) and to movements of auxiliary axis configured as Y (LH arrow and RH arrow). The position of the user does NOT have influence on the JPAD functioning, and therefore the controls in Advanced sub-page of Motion Page DO NOT effect handling with JPAD. Gantry movement with JPAD is the same as with JOG keys AUX A - AUX B. The position of the user can be configured on sub-page Advanced of the Motion Page. It is to be borne in mind that any move executed using JPAD is always according to user reference ($UFRAME), except for movement of Gantry with 3 linear axes, which is always a joint move.

6.2.1.3

Other colours keys

According to whether the Teach Pendant is TP4i or WiTP, the layout of these keys differs: TP4i WiTP

RESET (white) press to reset the ALARM state; if the cause that generated the alarm concerns safety devices (e.g.: TP mushroom button, external mushroom button, automatic line barrier, etc.), the alarm is not deleted until the cause has been removed. START (green) in PROGR mode it is used to execute movements (from editing/debug environment or Execute command) for all the time it is kept pressed. In LOCAL status it starts the motion program that is in READY state, waiting for this key.

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Use of the Teach Pendant HOLD (yellow) pressing this key stops all HOLDable programs and the motion for all Arms. The next time it is pressed the HOLD status is removed.

6.2.1.4

Alphanumeric keypad

TP4i

WiTP

The alphanumeric keypad operates in the same way as the most widely used standard keypads for mobile phones. Furthermore: The bottom right key (on the right of '0' key) is used to set the keypad mode. Each time this key is pressed the mode changes, in sequence, between alphabetic low case (abc) alphabetic high case (ABC) numerical (123) fixed number ('123*'); contextual information: if the context requires it, the alphanumeric keypad is set in numeric mode and it is not possible to pass over to the another mode. The current mode is displayed on the Status bar. Special characters are activated by pressing '1' key; the only special characters that can be directly entered are '-' symbol (bottom left key) and '.' symbol (bottom right key). When in high case alphabet or low case alphabet mode, pressing key 1 activates a virtual keyboard for facilitated entry of characters and symbols.

For WiTP, key '1' (see key highlighted in red in the figure) shows a serigraph that informs the user that the special characters table can be activated.

Fig. 6.6 is an example of a screen page for the use of the special characters in the IDE Page environment.

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Use of the Teach Pendant

Fig. 6.6

- Special characters - example

Three groups of characters are available: special characters high case alphabet + numbers low case alphabet + numbers shown in Tab. 6.1.

Tab. 6.1 - Groups of special characters

Window 1

Window 2

Window 3

To choose the symbol to be entered, move inside the group with the cursor keys (see Navigation keys) and confirm the choice by pressing ENTER.

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To enter the space character, select any empty soft key (i.e. that does not correspond to a symbol): the last 6 in Window 1, the last 4 in both Window 2 and in Window 3.

It is also possible to enter a string of characters in mixed mode, either through the virtual keyboard of characters and symbols from the alphanumeric keypad, or using the Template activated by the Central Menu. To pass from one window to the next or to the previous one, use the Page Up and Page Down keys (see Navigation keys). To exit, act in one of the following ways: press ESC press key 1 again.

6.2.1.5

Keys to switch on the WiTP wireless

If the Teach Pendant is the WiTP wireless type, to switch on, press the AUX B+ and AUX B- keys simultaneously, for at least 2 seconds. See Fig. 6.7. However, these keys can be released once all the Teach Pendant LEDs are alight. See par. 6.2.2 Pushbuttons and LEDs on page 6-14. It is recommended, even if not compulsory, to switch the Teach Pendant on, while it is in the docking station. However, if the WiTP wireless is switched on out of the docking station, after switching on, it is necessary to place it in its housing (docking station) run the Pairing procedure between WiTP wireless Teach Pendant and C4G Control Unit procedure.

Fig. 6.7

- WiTP wireless power-on keys

For any other information see the following manuals: C4G Control Unit - Technical Specifications; C4G Control Unit - Transport and Installation; C4G Control Unit - Maintenance.

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6.2.1.6

Keys to restart the Teach Pendant

If the Teach Pendant becomes locked in a condition from which autonomous re-enabling is not possible, or in any case a restart is necessary for other reasons, press simultaneously the four pushbuttons AUX A+, AUX A-, AUX B+ and AUX B-. See par. JOG keys on page 6-6 and par. JOG keys on page 6-9. WARNING - For TP wireless, see par. 6.4.4 Restart with WiTP wireless on page 6-23. In this case, at restart the user has to carry out the emergency unpairing procedure (see par. 6.4.3 Emergency Unpairing on page 6-22), followed by the pairing procedure of the teach pendant with the Control Unit (see par. 6.4.1 Pairing procedure between WiTP wireless Teach Pendant and C4G Control Unit on page 6-17).

6.2.2

Pushbuttons and LEDs

Pushbuttons LEDs

Fig. 6.8
TP4i

- Stop pushbutton and LED

WiTP

Pushbuttons The pushbuttons are divided into: Front pushbuttons See Fig. 6.8 that shows both versions: TP4i and WiTP. On the front face of the Teach Pendant, at the top, there is the Stop pushbutton; the operating modes are as follows: activate by pressing release by screwing (clockwise) Enabling Device On the rear of the Teach Pendant there are two pushbuttons for the Enabling Device. See Fig. 6.9.

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Fig. 6.9

- Enabling Device

The right pushbutton and the left pushbutton operate in exactly the same way. The purpose is to have an Enabling Device pushbutton for both right-hand and left-hand operators. Each of these is a three-position safety device that is to be kept pressed in the intermediate position, to allow movement in automatic or in manual mode, when the system is in Programming mode. When this pushbutton is pressed the motors are activated automatically (DRIVE ON) The type of operation for each of them is as follows: released - Drive OFF intermediate pressure - Drive ON fully pressed - Drive OFF (anti-panic) pressing both these pushbuttons at the same time is interpreted as an error by the system, therefore only one at a time is to be used. A schematic diagram of the functioning is shown in Fig. 6.10.

Fig. 6.10 - Enabling Device operating mode

1. 2. 3. 4. 5. 6.

intermediate pressure pressed fully down pressure pressure release release

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Use of the Teach Pendant LEDs There are 4 LEDs on the Teach Pendant, located on the upper part of the device. See Fig. 6.8. Their meaning (from left to right) is the following: Yellow LED - reserved Yellow LED - lit means that no NON-HOLDABLE program is active Green LED - when on it means Drive ON. During the DRIVES ON procedure, this LED flashes. The light becomes fixed when the procedure has finished Flashing Red LED - Any type of alarm (except Warning type indications).

6.3 USB port

In the upper part of the Teach Pendant there is a USB port: see Fig. 3.6 (with protection cover) and Fig. 3.7 - View from above B Fig. 3.7 (without protection cover). It is recommended to use the USB port to connect a storage device such as a Disk-on-Key one.

6.4 Basic information for the use of WiTP wireless

This paragraph describes the main characteristics of the WiTP wireless Teach Pendant, and the procedures needed to manage it. This type of pendant, as already mentioned, has a wireless connection to the Control Unit, with a docking station installed on the C4G Controller cabinet door. Without a cable it is much easier to handle with freedom of movement, The range of action is guaranteed up to 40 m (130 ft). It is powered by battery, with autonomy of 6 hours and the recharging time is 2 hours (typical values). When the charge drops below 8%, the system asks the user to place the WiTP in the docking station, otherwise it is no longer possible to use it.

To be used, the WiTP wireless pendant must be ON (see par. 6.2.1.5 Keys to switch on the WiTP wireless on page 6-13) and PAIRED with the Control Unit. The Control Unit can be changed by means of a procedure for Unpairing between WiTP Teach Pendant and Control Unit from the current Control Unit , followed by a further procedure for Pairing procedure between WiTP wireless Teach Pendant and C4G Control Unit to the new Control Unit.

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Use of the Teach Pendant

For safety reasons, the WiTP wireless software carries out severe checks on the pairing and requires certain rules to be followed by the user when using it: the WiTP teach pendant can be paired to ONLY ONE Control Unit at a time; if there are several Control Units with only one WiTP wireless, it is necessary to first unpair the C4G Controller in use, then pair the pendant to another; when the WiTP wireless is paired to a Controller, it is not possible to place it in a housing (docking station) that is not the docking station of that Controller: if this happens, the pendant is automatically unpaired and the C4G to which it was paired goes into emergency state. This situation can be reset by a procedure of Emergency Unpairing, of the Control Unit to which the WiTP wireless was paired. However, when the system is working in AUTO mode, the Teach Pendant can be unpaired, if, for example, it is wished to use it on another Controller. A detailed description follows of the procedures to be applied to manage the WiTP wireless teach pendant, as well as some further hints for use: Pairing procedure between WiTP wireless Teach Pendant and C4G Control Unit Unpairing between WiTP Teach Pendant and Control Unit Emergency Unpairing Restart with WiTP wireless Practical hints for the use of the WiTP wireless Teach Pendant for a correct interpretation of the diagnostics displayed on the WiTP wireless, when problems have occurred, see also the chapter Help to solve problems, in the C4G Control Unit-Maintenance manual.

6.4.1

Pairing procedure between WiTP wireless Teach Pendant and C4G Control Unit
This procedure, called pairing, is always necessary in situations where the user wishes to access the C4G Control Unit using a WiTP wireless Teach Pendant (see, for example par. 4.2 System power-on on page 4-1). Use the WiTP wireless supplied with the Control Un it, or in any case a teach pendant that is not paired with another C4G Control Unit. The Pairing procedure can also be carried out with the system in automatic mode. Always carry out the complete procedure. Do not leave a WiTP wireless without completing the pairing procedure. For further information regarding this procedure, see also the C4G Control Unit - Transport and Installation manual- par.6.2.

a.

Check that the antenna (indicated with letter A in Fig. 6.11) of the docking station is correctly screwed in its seat

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Fig. 6.11 - Antenna

b. c. d.

Place the WiTP wireless in its housing (docking station) on the Control Unit Make sure that the STOP pushbutton (B) is released, rotating it clockwise Switch on the WiTP wireless pressing pushbuttons AUX B+ and AUX Bsimultaneously for a few seconds (see par. 6.2.1.5 Keys to switch on the WiTP wireless on page 6-13) Wait for the teach pendant functioning tests to finish The teach pendant will show the screen page of Fig. 6.12

e. f.

Fig. 6.12 - Pairing procedure

g.

Press the Pairing Request pushbutton (indicated with letter D in Fig. 6.13) pin the lower section of the housing

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Fig. 6.13 - Pairing request pushbutton

h.

Wait for the messages and instructions on the WiTP wireless display and make the tests indicated; the message Pairing in progress appears and the LEDs are updated at the end of each connection (WiFi, System, etc.) that has been executed successfully (see Fig. 6.14).

Fig. 6.14 - Pairing in progress

i.

The procedure asks the user to press the Teach Pendant STOP pushbutton, then to reset it by rotating it clockwise (see Fig. 6.15)

If the user has allowed the timeout to expire before pressing the STOP pushbutton, or releasing it, the pairing procedure is interrupted. To execute it again, start from step a.

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Fig. 6.15 - STOP pushbutton

j.

If the result is correct, a message is shown informing that the connection has taken place. At the end of the data acquisition by the Controller, the pairing page closes automatically. The pairing has been completed.

Fig. 6.16 - End of pairing procedure

k.

The green LED alight on the docking station (indicated with the letter E in Fig. 6.17) indicates that pairing has taken place.

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Fig. 6.17 - Pairing OK

For further details regarding the ID, see C4G Control Unit - Transport and installation manual, chap. Activation procedure, par. Control Unit, Robot and teach pendant pairing check.

6.4.2

Unpairing between WiTP Teach Pendant and Control Unit

This procedure, called unpairing, is necessary when the user wishes to terminate the pairing between the C4G Control Unit and the WiTP wireless Teach Pendant. This may be, for example, when it is wished to shut down the system (see par. 4.3 System shut down on page 4-2), and pair the WiTP wireless with another Control Unit, replace it, etc. NOTE Use the WiTP wireless currently paired with the Control Unit. The UnPairing procedure can also be carried out with the system in automatic mode. a. b. Place the WiTP wireless in its housing (docking station) Press the Unpairing request pushbutton (indicated with the letter D in Fig. 6.13), in the lower section of the docking station A screen page is shown that updates the user on the current state of the unpairing procedure (see Fig. 6.18). Wait until the procedure is completed

c.

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Fig. 6.18 - Unpairing in progress

d.

The LEDs are updated at the end of every disconnection (WiFi, System, etc.) that has been executed successfully (see Fig. 6.18) When the pairing procedure page is shown again (Fig. 6.12), the unpairing has been completed Remove the teach pendant from the support. If it is NOT wished to use the teach pendant on another Control Unit, it should be shut down using softkey Shutdown TP (F3) (Fig. 6.12).

e.

f. g.

WARNING! Do not leave the WiTP wireless near any other Control Unit: the STOP pushbutton is not active, but could confuse an operator who does not know about this limitation.

6.4.3

Emergency Unpairing
This procedure is necessary in any situation where the WiTP wireless is no longer sensed by the C4G Control Unit (the teach pendant may be off, too far away to b recovered, lost, damaged, etc.). When the Control Unit is unable to "find" the Teach Pendant paired to it, the green LED shown in Fig. 6.17 flashes. This procedure is not necessary if the distance of the WiTP wireless is only temporary: when it returns into the range of action, the connection with the Control Unit reactivates automatically. Obviously it is not necessary to run the emergency unpairing procedure when the green LED is OFF: this means there is no pairing.

The Control Unit has to remain on, during the entire procedure.

a.

DO NOT insert the WiTP wireless in the docking station

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Use of the Teach Pendant b. c. d. Set the system in programming mode (status selector switch set on T1) Open the C4G cabinet door Momentarily remove connector X111 (indicated with the letter A in Fig. 6.19) from board FIA3 (located on the left wall inside the cabinet).

Fig. 6.19 - Connector X111

e. f.

Press the pairing pushbutton (indicated with the letter D in Fig. 6.13) Wait for the procedure to finish, indicated by the green LED switching off (indicated with the letter E in Fig. 6.17) on the docking station Refit connector X111 (indicated with the letter A in Fig. 6.19) on board FIA3. The Teach Pendant is ready to execute the pairing procedure.

g. h.

6.4.4

Restart with WiTP wireless

The WiTP wireless teach pendant, due to its configuration, has a management that is slightly different in some events linked to the System restart. To better understand the functioning of the WiTP wireless in the occasion of these events see the following Tab. 6.2. The following information is valid as from version 3.12 of the System Software and version 2.12 of the Teach Pendant Software.

Tab. 6.2 - Restart events with WiTP wireless

Restart events with WiTP wireless Event Restart with the 4 keys (see par. 6.2.1.6 Keys to restart the Teach Pendant on page 6-14) Behaviour Errors generation If the WiTP wireless is paired to a Controller, a connection with TP error is generated Maintains pairing status

TP restarts, but C4G no

Yes: after the restart, the teach pendant reconnects to the C4G it was paired to

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Restart events with WiTP wireless Event Restart cold command TP or WinC4G user interface Restart with rear reset pushbutton (see Fig. 3.4) Shutdown from softkey (Shutdown pushbutton in Fig. 6.12) and power on again Shutdown due to discharged battery (*) Behaviour Errors generation No connection error is generated Maintains pairing status Yes: after the restart, the teach pendant reconnects to the C4G it was paired to NO: THE TEACH PENDANT DOES NOT RECONNECT. IF BEFORE THE RESET IT WAS PAIRED, AN Emergency Unpairing OF THE C4G IS NECESSARY [Since this command is only available if the teach pendant is not paired, there is no impact on the pairing status] NO: THE TEACH PENDANT DOES NOT RECONNECT. IF BEFORE THE RESET IT WAS PAIRED, AN Emergency Unpairing OF THE C4G IS NECESSARY

C4G and TP restart

TP restarts, but C4G no

If the WiTP wireless is paired to a Controller, a connection with TP error is generated [Since this command is only available if the teach pendant is not paired, there is no connection error] If the WiTP wireless is paired to a Controller, a connection with TP error is generated

The TP shuts down and switches on again as required The TP informs the user with sufficient notification. If not returned onto the docking station in useful time, it switches off

(*) When the charge drops below 8%, the system asks the user to place the WiTP in the docking station, otherwise it is no longer possible to use it.

6.4.5

Practical hints for the use of the WiTP wireless Teach Pendant
To use the WiTP teach pendant paired to the C4G Control Unit, check the Control Unit ID. displayed on the teach pendant Home Page. Do not move with the WiTP out of the range of action, to avoid interrupting the communication and the consequent emergency stop of the cell, or system error. In any case, communication is automatically resumed when the teach pendant returns inside the range of action. When in use, check the battery charge that remains (eighth field of the Status bar); if the indicator is red, recharge, placing the teach pendant in its docking station. To have 6 hours operation autonomy, it has to be left to recharge in its housing for at least 2 hours, with the Control Unit on. when not in use, it is strongly recommended to leave the Teach Pendant in the docking station of the Controller it is paired with. If it is necessary to replace it or use it for a different Control Unit, FIRST OF ALL carry out the Unpairing between WiTP Teach Pendant and Control Unit. If the WiTP is placed on the docking station of another C4G Control Unit, or the battery is allowed to run down completely, the pairing is automatically removed. To recover it, after removing the cause, it is necessary to run the procedure for Emergency Unpairing
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Use of the Teach Pendant If communication between Control Unit and WiTP fails, and the robot has the motors running, the system generates an alarm 28936 10 Emergency stop: WiTP disconnected and the motors shut down.

For further details see the following manuals: C4G Control Unit - Technical Specifications; C4G Control Unit C4G - Transport and Installation; C4G Control Unit C4G - Maintenance.

6.5 Display
Fig. 6.20 - TP4i Teach Pendant Display

The display of TP4i Teach Pendant is a graphic 6.4" TFT colour display; resolution 640x480 pixel. After a few minutes that it is not used, the display switches off; to switch it on again just press any key.

6.5.1

Display areas
On TP4i, the display can be considered as divided into 6 areas: Status bar Messages bar Left Menu Right Menu Bottom Menu Pages Area Execution of commands

6.5.1.1

Status bar Fig. 6.21 - Status bar

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Use of the Teach Pendant The status bar gives information about the system state; there are 7 alphanumeric fields on a single line that have the following meanings: The First Field indicates the system state: automatic controlled by the operator through the TP (position T2 of the state selector switch - optional), to test programs at normal speed programming local automatic remote automatic

Auto-T Progr Local Remote

The Second Field gives further information about the system state, Holdable programs and movement while programming. With the state selector switch in AUTO, REMOTE and T2 (optional) positions, that is, in the Automatic positions, its meaning is as follows: **** RUN indicates that no holdable programs are running indicates there is at least one holdable program running

With the state selector on T1, that is in programming state, the meaning is as follows: **** JOG FORW BACK indicates that no movements are in progress indicates that a manual movement is in progress indicates that a FORWARD movement is being executed indicates that a BACKWARD movement is being executed

The meaning of HOLD and ALARM does not depend on the state of the selector switch: indicates that the HOLD pushbutton is pressed and therefore the execution of holdable programs and all arm movements are stopped; it is shown on a YELLOW background indicates that the system is in alarm state (N.B.: warning messages do not change the system state) and it is shown on a RED background

HOLD

ALARM

The Third Field indicates the current value of the override percentage; if this field displays the character 'I' (e.g.: '80%(I)'), it means that the system is in incremental movement mode. The Fourth Field displays the number of the current Arm. In a Multiarm system with synchronised motion enabled, this field contains first the number of the main Arm, and then that of the SyncArm; example: A:2<1 means that Arm 2 is the main Arm and Arm 1 is the synchronised Arm). For information regarding modification of the Arm indexes (main and synchronised) see par. Motion keys on page 6-8 (ARM key for WiTP) and par. ARM (R1) on page 6-31 (for TP4i).
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Use of the Teach Pendant If there are Auxiliary axes, these refer to the first (or only) Arm indicated in the field; the sub-field marked with J indicates which auxiliary axis is assigned for jog movement, to key Aux-A and to key Aux-B respectively. If no axis is associated, a dash ('-') is displayed. In the example of the following figure (field highlighted in red) the main Arm is Arm 1 ('A:1'); keys Aux-A and Aux-B are not associated to any axis.

With a prolonged pressing of the ARM key (for WiTP) or softkey ARM-R1 (for TP4i), the index is shown in brackets. When the final choice is made, the brackets disappear. The Fifth Field displays the current management mode of the coordinates TPM Jog mode: Base Tool Joint Uframe WRIST mode: Wr-Base Wr-Tool Wr-Uframe The Sixth Field contains three sub-fields with the following information: arm status: - arm correctly configured and ready for moving turn arm requires the turn-set operation no cal arm not calibrated simu simulated arm dis arm disabled coop arm-arm cooperation (An, Am) or axis-arm (Ji, An) state of both Enabling Device and Drives 'E-' Enabling device not pressed 'ED' with green background - Enabling Device pressed 'ED' with red background - Error (e.g. both Enabling Devices pressed) ON - indicates the state of the drives (Drive ON) presence of Latched alarms: 'A' indicates that a latched alarm is present The background of this field may be: green - arm properly configured and ready to move, and Enabling Device ok yellow - Enabling Device ok and arm simulated or disabled red - error on Enabling device or arm not calibrated or requires turn set operation The Seventh Field contains two sub-fields: Alphanumeric keypad operating mode: abc -->low case alphabetical ABC --> high case alphabetical 123 --> numerical 123* --> fixed number; this is a contextual information: if the context requires it, the alphanumeric keypad is set in numeric mode and it is not possible to change to other modes. State of SHIFT key:

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Use of the Teach Pendant 'S' indicates that the SHIFT key is pressed.

If the Teach Pendant is WiTP wireless, the status bar contains an Eighth Field to display the current state of the Teach Pendant battery (see eighth field in the next figure):

When the charge drops below 8%, the system asks the user to place the WiTP in the docking station, otherwise it is no longer possible to use it.

6.5.1.2

Messages bar Fig. 6.22 - Messages bar

The displayed text includes the following information: signal code of 5 digits, which identifies each message in an unique way error/alarm severity level error/alarm message description string

Displays the last occurred alarm/error message. The background may be: green: if there is no message, this means there is no alarm/error in progress; if instead there is a message with an orange text, this means that an INFORMATIONAL message is active. The system is not in ALARM condition. blue: WARNING message. orange: this error is generated by the application process. The system is not in ALARM condition; the message only disappears when it is reset. From the Alarm Page, use the "down arrow" key to select the message then press Confirm (F1) in the Central Menu.

Fig. 6.23 - Error message reset by application

yellow: this is a PROC message

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Use of the Teach Pendant grey: the wording is black. This is a Latched message and requires an explicit consent from the user. To do so, use the "down arrow" from Alarm Page, sub-page Latched, to select the message, if necessary, remove the cause of the alarm, then press Confirm (F1).

Fig. 6.24 - LATCHED alarm reset

red: this is an ERROR/FATAL message. The system is in ALARM state (see example in Fig. 6.23).

For any further details regarding the messages management, see the related par. 6.9 Alarm Page on page 6-59

6.5.1.3

Left Menu

It is a group of softkeys that allows access to the User Interface Pages (the figures on the left show the pre-defined softkey icons).The corresponding keys are indicated with the names L1..L6, in sequence. General criteria for use of the Left Menu: if the corresponding User Page is not yet active, when the key is pressed it will be immediately displayed; if the corresponding User page is already active, when the key is pressed it will close, and the Home page will be shown on the display. The softkey corresponding to the active page is highlighted by a blue background. If there is no softkey highlighted, this means that the page currently displayed is the Home Page. If the softkey background is yellow, this means that a command associated to this softkey is being run. It will remain yellow until the operation has been completed. For information regarding navigation in the User pages, see par. 6.6 User Interface Pages on page 6-35.

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6.5.1.4

Right Menu

Local

Remote Progr Auto-T

Description This menu is dedicated to the technological commands such as the opening or closing of the grippers and the welding parameter hardware settings The corresponding keys are called R1..R6, that correspond to softkeys U1..U4 which are keys that can be programmed by the user, plus another two keys that depend on the state of the system: When the system is in Local or Remote mode, key R5 is always for the Drives on/off, as described below: Local - R5 key allows Drive ON and Drive OFF commands (toggle key); the corresponding softkey is displayed with a green background if the drives are on, otherwise with a grey background. Remote - R5 is for Drive OFF command only (Drive ON comes from the PLC); the background of the corresponding softkey is grey for Drive OFF and green for Drive ON. Progr - R5 and R6 are for T1 and T2 keys (that control tools 1 and 2, to execute switching between OPEN and CLOSE). Auto-T (optional) - R5 and R6 are not associated to any function. When one of such keys is pressed, it activates the execution of the associated command and displays the state (if the softkey is highlighted, the corresponding command is active; otherwise the command is not active). If the softkey background is yellow, this means that the associated command is in progress. It remains yellow until the execution has been completed.

If the user wishes to create a customised Right Menu, it is necessary to write a PDL2 program as described in chapter APPENDIX B - Customizations on TP4i/WiTP - par. Handling TP4i/WiTP right menu, in PDL2 Programming Language manual. If the system is Multiarm and the Teach Pendant is TP4i, one of the possible configurations of the Right Menu (accessible by pressing the right MORE key) is shown in the next figure:

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ARM (R1) to change the current Arm. It is equivalent to entering in the Basic sub-page of the Motion Page and modify the Arm field. In the same way as occurs for the ARM key of the WiTP (see par. Motion keys on page 6-5), the functioning of this softkey foresees: In DRIVE-OFF - pressing ARM (R1) increments in circular mode the index of the main Arm without changing the quantity of Arms in the Status bar (if there is only one Arm, one remains; if there are two Arms, two remain). The new value is the first valid Arm index after an increment. Pressing SHIFT+ARM (R1) increases in circular mode the index of the synchronised Arm. It is the only combination of keys that can alter the quantity of Arms in the Status bar. It always passes to two Arms when there is only one Arm in the Status bar. It returns to only one Arm when the index of the second Arm becomes equal to the first Arm. In DRIVE-ON - Pressing ARM (R1) has two effects: - if the DRIVE-ON has taken place with only 1 Arm selected ($TP_SYNC_ARM[2]=0), the Arm index is incremented, as in DRIVE-OFF; - if the DRIVE-ON has taken place with 2 Arms selected, it inverts the selection of which Arm will be moved by the jog keys. For example: if there are 3 Arms and the current situation is Arm: 2<1, where Arm 2 is that which is moved by the jog keys, pressing ARM, the index is NOT increased (it does NOT become 3), but the situation becomes Arm: 1<2, that is to say, the Arm that is moved by the jog keys is now number 1. The first number displayed is always that of the Arm moved by the jog keys. SHIFT+ARM (R1) cannot be pressed. A LONG PRESS on ARM key (R1) cyclically displays the possible indexes of the main Arm: when the required index is reached, releasing the key makes this choice definite. While the key is pressed, the index is displayed in brackets. When the final choice is made, the brackets disappear. For the use of this key for SYNCMOVE, see the NOTES TO RECORD POINTS IN MOVE..SYNCMOVE on the IDE Page.

To view all the soft keys available in the Left or the Right Menu it is necessary to use: SHIFT+MORE (left keys for the Left Menu, right keys for the Right Menu), to view the PREVIOUS soft keys MORE (left key for the Left Menu, right key for the Right Menu) to view the NEXT soft keys.

6.5.1.5

Bottom Menu

This menu is a group of 6 function keys, F1..F6, contextual to the selected item (current state and page, selected field, etc.). The shown functions correspond to the possible actions on the selected item. Usually when one of the keys F1..F6 is pressed the associated function is activated directly. If the softkey background is yellow, this means that the associated command is in progress. It remains yellow until the execution has been completed. However there are some softkeys that are associated to a pop-up sub-menu: this is indicated by a small triangle on the top left corner of the icon. For example, this is the

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Use of the Teach Pendant case of the softkey to choose the language, F1 on the Home Page. When pop-up sub-menus are opened, the first item is always pre-set. The choice of an item can be made as follows: by pressing the associated digit of the required item on the Alphanumeric keypad, or by moving in the sub-menu using cursor keys and confirming the choice with ENTER key.

It is also possible that a softkey corresponds to a function that foresees optional settings: items of this type are identified by a small icon representing a clock, in the top right corner of the softkey (e.g. key Login (F2) on Home Page). A short pressure on the key associated to one of these commands causes the function to be executed according to a default; a longer pressure causes the opening of a pop-up sub-menu for the choice of the options The pop-up window closes at any time, either because a choice has been confirmed or the ESC key has been pressed (exit that cancels any action). The meaning of the function keys is described in the corresponding User Interface Pages.

6.5.1.6

Pages Area
This is the part of the display for User Interface Pages. The active Page has a narrow blue frame that graphically links to its name shown in the top right corner; the corresponding softkey, in the Left Menu, is highlighted. Each Page refers to specific functions in a precise ENVIRONMENT (for example Motion environment, I/O environment, etc.).

Fig. 6.25 - Page Example

For a detailed description of the available pages and for any information related to their use, as well as the general internal navigation rules, see User Interface Pages section.

6.5.1.7

Execution of commands
When the user asks for the execution of a certain command, the system opens a window that contains the message Operation in progress. and this remains until the execution
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Use of the Teach Pendant is finished. While running, the Abort Softkey is available to be able to permanently interrupt the command.

Fig. 6.26 - Abort Softkey

In most cases the execution is so fast that the blue window isn't even seen by the user. According to the execution status of the command, the following situations may occur: the command has been run successfully. the system does not display any message of correct completion because this status is already obvious; the system displays a message (blue background) indicating that the command has been completed; the Close Softkey (F6) is available to exit from the command;

Fig. 6.27 - Close Softkey

the system displays a message (yellow background - see Fig. 6.28) indicating the completion of the command and the number of operations that have been skipped (with the Continue Softkey (F3)); the Close softkey (F6) is available to exit from the command.

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Fig. 6.28 - Skipped operations

It has not been possible to execute the command - the system displays a message with a yellow background, to explain to the user the problems found. The following softkeys are available: Login (F1) - if the error message is Insufficient Rights, this means that the Login has not yet been performed. The user has to press the 'Login' Softkey (F1) to do so. After the login the system will re-execute the command that was previously requested.

Fig. 6.29 - 'Login' Softkey

'Continue' - if the command consists of a sequence of several operations, it may happen that one or more cannot be executed. In this case the system stops the execution of the command and informs the user: if the user wishes to skip the current operation but to continue running those that follow, it is necessary to press the Continue Softkey (F3).

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Fig. 6.30 - Continue Softkey

Retry (F4) - if the system stops the execution of the command for any reason, the user can remove the problem then press this softkey (see Fig. 6.30): the command will be run again. Close (F6) - exits from the current command (see Fig. 6.30). In the case of a sequence of operations, it does not run the commands that follow and quits.

6.6 User Interface Pages

The purpose of this section is to give a detailed description of the pre-defined Pages available for the user, and how to use them in the User Interface. In particular information is given that regards: General rules to navigate within the user interface and the field change Dialogue and information windows Home Page Motion Page Alarm Page Prog Page IDE Page I/O Page Appl Page Files Page Data Page Setup page Service Page TP-INT Page Additional User Pages

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Use of the Teach Pendant

Note that during the description of the User pages, the codes that are shown in brackets in the titles of the commands that can be activated from the Central Menu correspond to the first parameter of the SYS_CALL that runs this command, or to a similar command that can be activated from TP-INT. Examples: CCRC, shown in the title of the Complete (CCRC) command. or CAC/L shown in the title of the Learn (CAC/L) command.

6.6.1

General rules to navigate within the user interface and the field change
The navigation within the user interface is made easier by the following keys: Cursor keys Page keys ENTER key ESC key

On the Teach Pendant, the following keys are so arranged as to be operated with the thumb of both hands: the cursor keys are controlled with the left hand, while ENTER and ESC are operated with the right hand. For further details, see par. Navigation keys on page 6-4. Within the Pages, two operating modes are available: Navigation Mode Field Editing Mode

Changing over from one mode to another is very simple (with the ENTER or ESC key). When windows have one field only available for activation by the user, the automatically activated mode is Editing. For further details about both Modes, carefully read the paragraphs Navigation Mode and Field Editing Mode.

6.6.1.1

Navigation Mode
Using the keys while surfing Navigation within the tables

To select any item in the pop-up menus, please refer to the Bottom Menu paragraph.

Note that ENTER is always operated to give a CONFIRMATION. On the contrary, ESC always causes the requested action to be CANCELLED.

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6.6.1.1.1

Using the keys while surfing

In the Navigation mode, the keys take the following meaning: Cursor keys used to focus: in any one of the four directions, within the field to be modified (in this case, the focus is pointed out by a blue frame surrounding the field and light green background): on the labels of the sub-pages: left arrow - moves to the label of the previous sub-page right arrow - moves to the label of the next sub-page arrow down - to enter to the wanted sub-page on the icon to be selected (in case of User Pages with icons). The focus is displayed as a blue frame with light green background. Page keys for paging or to scroll the pages. The keys are page up and page down and usually they act as a cursor key in an amplified up or down (line-page, units-tens movement, etc.) ENTER once the focus has been positioned, the pressure on this key causes the switching to the Field Editing Mode, which allows to modify the field contents. When the ENTER key is pressed, the white background of the field turns blue and the blue frame turns orange. ESC closes the current action and returns to the prior condition.

6.6.1.1.2

Navigation within the tables

The appearance of the tables in the user interface of TP4i is similar to the one of a calculation spreadsheet. The cell where the cursor is located is blue framed. To move from a cell to another, use the cursor keys (cursor keys and page keys). To edit the selected cell, acknowledge it with ENTER: this lets you change over to the Field Editing Mode. Note that: SHIFT+ left arrow (moves the cursor to the first cell on the left) SHIFT+ right arrow (moves the cursor to the last cell on the right)

6.6.1.2

Field Editing Mode

In editing mode of a field, the focus is always indicated by a blue frame that surrounds the field, and the field background is orange. The editing of a field changes according to the field type.

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Use of the Teach Pendant The available field types are: Spindial

The value may be directly entered through the Alphanumeric keypad. The field value may be optionally incremented or decrements by means of the following keys: Up arrow (increments the value by one step, depending on the type of value to be modified Down arrow (decrements the value by one step, depending on the type of value to be modified) Page Up (increments by one step - not that the incrementing step depends on the context) Page Down (decrements by one step - not that the incrementing step depends on the context) SHIFT+Page Up (enters the maximum permissible value) SHIFT+Page Down (enters the minimum permissible value) The management of this field is circular: if the maximum value is exceeded it returns to minimum, and vice-versa. Textbox

It is possible to type in a string through the Alphanumeric keypad; the input mode is automatically set to TEXT, therefore the Alphanumeric keypad may be used as when an SMS message is written on a normal mobile phone. Note that: SHIFT+ left arrow (moves the cursor before the first character on the left) SHIFT+ right arrow (moves the cursor after the last character on the right) Combobox

There are two possible types: pre-defined list - an item has to be chosen from the list. To open it, press the down arrow; pre-defined list + the choice can be edited directly - it is not necessary to choose from the list. First press ENTER to enter into the field editing mode; type in the
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Use of the Teach Pendant choice and confirm with ENTER; if it is preferred not to enter the choice by typing it, press the down arrow, the list will be opened and the item can be chosen from it. When a list opens, it can be scrolled using the cursor keys (next item or previous item), or the Page keys (for quicker scrolling), or SHIFT+Page (first and last item of the list). After choosing, confirm the choice by pressing ENTER Checkbox

This type of field is not associated with a specific editing mode (in fact, the mode has not to be changed and the navigation mode is kept on); to change over its value, simply move with the cursor keys and acknowledge by pressing the ENTER key. Of course, in a set of checkbox, it is possible to select more than one box at a time. Checkgroup

This type of field is equal to the previous one (Checkbox); the only difference is that here only one push-button at a time is activated: when the selection of a push-button is acknowledged, the push-button which was previously active is automatically de-selected. The cursor up and down keys and the subsequent confirmation through the ENTER key move the selection dot to the wanted item. Button

Even if, as a rule, the softkeys of the Bottom Menu, are used, in some cases Push-buttons are entered to the Page. To activate the corresponding function, simply press the ENTER key when the focus rectangle results to be placed on that Push-button. Label

It may be modified only through the softkeys of the Bottom Menu, when the focus is on that field. The background is WHITE when at least one command is associated with it in the Bottom Menu; if the background is GREY, it means that no command is associated with it in the Bottom Menu. When the background is GREY the field cannot be changed. List There are 3 different ways to view the lists (as illustrated in the examples that

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Use of the Teach Pendant follow): small icons - displays the information with a small icon large icons - displays the information with a large icon details - besides the name and the icon of each item in the list, further information is given (for example the size of the files and the date of the last change are listed). small icons large icons details

To select the required element, move with the cursor keys. For a multiple selection (where allowed) use SHIFT+ENTER. Cell of a table When allowed, the contents can be changed by pressing ENTER then using the editing function of the box (see Fig. 6.31).

Note that, if the cell can be edited in text mode, after pressing ENTER it is possible to use: SHIFT+ left arrow (moves the cursor before the first character on the left, in the cell) SHIFT+ right arrow (moves the cursor after the last character on the right, in the cell).

Fig. 6.31 - Editing a box

The following description of the User Pages concerns the various types of field: hypertext connections allow returning to this paragraph for further details about how to edit the field in question.

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6.6.2

Dialogue and information windows

When it is necessary, the system asks the user for confirmation of an operation or to enter a password, or to give information regarding the result of the required command. Therefore, some suitable windows are available, having different background colour according to the message enclosed in the window: blue - request for confirmation or information by the system

If the user does not wish to respond to the system request, press the ESC key.

yellow - system warning message red - command not run due to serious error.

In the Bottom Menu there are always the 'OK' and 'Annul' softkeys, but in some special situations, when only one of them is available

In other situations pop-up windows may appear that contain suggestions/information (tips) for the user concerning the current context. Pressing any blue key will close the window.

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Use of the Teach Pendant

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TP4i - Home page

6.7 Home Page

Fig. 6.32 - Home Page

When no User Page is active, a default screen is displayed by the Teach Pendant; this screen is called Home Page. It is associated with no key of the Left Menu, however it turns visible whenever a User Page is closed. This Page displays some information of general nature as: model of the robot corresponding to the current arm address of the Control Unit in the local network Control Unit ID current date and time Teach Pendant software version Control Unit software version

The available functions in the Bottom Menu are: Select language Login (SL) and Logout (SL/L) Restart

A detailed description of each function is given below.

6.7.1

Select language
A pop-up sub-menu opens; the languages available are: German English (UK) English (US) Spanish French Italian Portuguese Turkish

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TP4i - Home page The green background indicates the language that is about to be chosen. Once the choice has been made using the up and down arrows, confirm with ENTER, or type ESC to exit, cancelling the operation. The difference between British English and American English is in the format used for the date and the time.

Fig. 6.33 - Language choice commands

6.7.2

Login (SL) and Logout (SL/L)

With this softkey the following can be executed: Login, Logout.

6.7.2.1

Login
Brief pressure on softkey F2, allows access of authorised persons to the system; the system asks the user name and password, necessary for the login (see Fig. 6.34 - Login).

Fig. 6.34 - Login

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For further details concerning the LOGIN function, please refer to the Chap. Access to the Control (LOGIN/LOGOUT). For settings by the user, see Login on Setup page.

6.7.2.2

Logout
Prolonged pressure on softkey F2, activates the Logout procedure. As from system software version 3.20, there is also a special Automatic Logout function available (see par. 5.3.1 Automatic Timed Logout on page 5-5).

Fig. 6.35 - Logout

6.7.3

Restart
A pop-up submenu opens, as shown in Fig. 6.36 - Restart.

Fig. 6.36 - Restart

The choices that can be made are: Complete (CCRC) Shut-down (CCRS)
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TP4i - Home page

6.7.3.1

Complete (CCRC)
For a complete restart of the Control Unit. After the operator has made his selection (by pressing ENTER or through the alphanumeric keypad), the operator is prompted by the system to confirm (Fig. 6.37 - Restart - prompt):

Fig. 6.37 - Restart - prompt

Confirm with 'Ok' or exit with 'Cancel'. The acknowledgement of the command starts a count down which (see Fig. 6.38 - Restart - count down) in case of Restart, ends when both Controller and Teach Pendant restart. In case of Shutdown, once the reverse counting is complete, a message is displayed which informs the user of the possibility to power down the system.

Fig. 6.38 - Restart - count down

For further information concerning the Restart function, please refer to the Chap. System Commands.

6.7.3.2

Shut-down (CCRS)
To shut down the Control Unit. The system asks for confirmation from the user before starting the shut-down operations.

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6.8 Motion Page

This User Page manages information regarding the robot motion environment and allows the user to display and change it. It is divided into sub-pages, that can be selected through the corresponding labels Basic Coop (optional feature) Advanced Status (DAS) Override Laser

6.8.1

Basic
Fig. 6.39 - Basic sub-page

The Basic sub-page contains the following fields: Current arm (red): Arm Current coordinates system (yellow): COORD Current reference systems (green): Uframe, Tool, Base Current arm position (blue)

A detailed description of all fields follows.

6.8.1.1

Arm
Indicates which is the current arm and allows it to be changed (in the case of multiarm system). If the system is NOT multiarm, this field is read only. If the system includes the option related to synchronised moves among several arms, the page displayed is that shown in Fig. 6.40. Therefore the user can specify which is the arm synchronised (that is displayed in the SyncArm field) with the current arm (displayed in the Arm field). If the symbol - is specified in the SyncArm field, this means that there is no synchronised arm.
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Fig. 6.40 - Synchronised Arm

6.8.1.2

COORD
This field indicates the current coordinates system according to which the arm moves will be made, in manual movement and in programming. The user can choose a coordinates system that is different to the current one, selecting from the following (as shown in Fig. 6.41): for TPM JOG mode: JOINT BASE TOOL UFRAME for the WRIST mode (movement carried out to the robot wrist): WR-BASE WR-TOOL WR-UFRAME

Fig. 6.41 - Choice of coordinates system

To make the choice, the user has to open the pop-up menu, select the required item and press ENTER.

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TP4i - Motion Page

6.8.1.3

Uframe, Tool, Base

These three fields allow the selection of the reference systems to be currently used in manual movement and in programming, choosing from those stored in the Data Page tables (UFRAME, TOOL, BASE). For each of these three user fields, after opening the corresponding pop-up menu, the user has to select the required item and confirm the choice with ENTER. As an example, in Fig. 6.42, the screen page is shown that relates to the choice of the Base reference system.

Fig. 6.42 - Choice of Base - example

When choosing Uframe, or Tool or Base, for each of these reference systems the following information is displayed (in read only fields): Cartesian coordinates X, Y and Z, expressed in millimetres orienting angles A, E and R, expressed in degrees

6.8.1.4

Current arm position

This section of the Basic sub-page (light blue in Fig. 6.39) gives the current values of: ARM_POS - Cartesian position of the specified arm (expressed in millimetres for X, Y and Z, and in degrees for the orienting angles A, E and R) ARM_JNTP - joint position (expressed in degrees or in millimetres, according to the axis configuration) config - configuration string (attitude flag and multirev flag).

If the axis is NOT calibrated, or has lost the number of revolutions, these values are NOT available (and the '--' string is displayed).

6.8.2

Coop (optional feature)

This sub-page is to manage cooperative motion (for further information, see chap.7 Cooperative Motion (optional feature) in the Motion Programming manual).

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Fig. 6.43 - Coop Sub-page

The Coop sub-page has six different sections: AUX COOP ARM COOP Coop Status AUX JOG Jog Arm ARM_LINKED

A detailed description follows for each one. The four function keys of the central menu are just short-cuts to enter cooperative motion enable/disable commands (between Arm and Auxiliary Axes, or between two Arms respectively), without the need to enter into one of the two sections and select the buttons (highlighted in green in Fig. 6.45).

6.8.2.1

AUX COOP

In this section (highlighted by the red frame) the user can handle the cooperative motion between a worker (called Arm) and a positioner (called Auxiliary Axes Unit). In detail it is possible to:
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TP4i - Motion Page enable or disable the cooperative motion (ON and OFF buttons or function keys Aux ON (F1) and Aux OFF (F2) highlighted in blue), specify which is the auxiliary axis (Aux Axis field),

For positioners with several axes, it is necessary to specify one of the axes of the group (for example, if the positioner axes are 7 and 8, in the Aux Axes field either 7 or 8 must be specified). indicate the robot the positioner cooperates with (Arm field),

See also the description of the built-in procedure AUX_COOP, in chap.BUILT-IN Routines list in the PDL2 - Programming Language manual.

6.8.2.2

ARM COOP

In this section (highlighted by the red frame) the user can manage combined motion between two Arms. enable or disable the cooperative motion (ON and OFF buttons or function keys Arm ON (F1) and Arm OFF (F2) highlighted in blue), specify which are the two cooperative Arms (Arm fields),

See also the description of the built-in procedure ARM_COOP, in chap.BUILT-IN Routines list of the PDL2 - Programming Language manual.

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6.8.2.3

Coop Status

This section is read only and displays information about the state of active cooperations, for each existing Arm. For example, if the information is AUX_COOP J7,A1 it means that Arm 1 cooperates with auxiliary axis J7; if instead it is ARM_COOP A1,A2 it means that Arm 1 cooperates with Arm 2; For further information see par. 5.12 Integrated Motion in the Motion Programming Manual.

6.8.2.4

AUX JOG Fig. 6.44 - AUX JOG

In this section the user can set the Jog keys for the Axes that have an index higher than 6, regardless of whether they are Auxiliary Axes or are part of an Arm.

6.8.2.5

Jog Arm Fig. 6.45 - Jog Arm

In this section the user can change the settings of the Arm and any SyncArm, in the same way as on sub-page Basic (see par. 6.8.1.1 Arm on page 6-47).

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6.8.2.6

ARM_LINKED Fig. 6.46 - ARM_LINKED

In this section the user can activate or deactivate the pairs of Arms mechanically linked (Integrated Arms). To activate a certain chain of Arms, it is necessary to select the corresponding Checkbox. Conversely, it is necessary to de-select it if it is wished to deactivate the chain. To do so, move the focus on the checkbox field and confirm with ENTER. Softkey F5 is simply a "short cut" to select/deselect the said checkbox more quickly.

6.8.3

Advanced
Fig. 6.47 - Advanced sub-page

In the sub-page Advanced, may be modified the data concerning Incremental Jog mode use of J-Pad

A detailed list of each one of them is given below.

6.8.3.1

Incremental Jog mode

In this section it is possible to modify, in millimetres or degrees, the distance that is covered each time an axis move key is pressed (+ or -) - see JOG keys for TP4i and JOG keys for WiTP. To enable this mode, move the focusing to the Enable field and then confirm with ENTER. In this way the Linear and Angular fields can be accessed to make the opportune settings. By moving the focusing to each one of them, and confirming with ENTER, some softkeys (small, med and large) appear in the Bottom Menu which allow to enter values in this fields much quickly (Fig. 6.47).

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6.8.3.2

J-Pad
This section is divided into two parts, as can be seen in the yellow section of Fig. 6.47: Linear/Angular These fields indicate whether, using JPAD for TP4i or JPAD for WiTP, the robot makes a linear move (Linear) or a rotation (Angular). Angle For further information see also the description of the keypad of JPAD for TP4i or JPAD for WiTP. This field indicates the user position in relation to the robot; such position is pointed out by an icon on the Teach Pendant, which moves to the requested angular position, around the tale robot. When focusing on Angle, confirmed by ENTER, the Bottom Menu displays some softkeys, which help specifying the new User's position. However, the value may be modified in the Angle field directly.

Fig. 6.48 - Use of the Angle field

6.8.4

Status (DAS)
Fig. 6.49 - Status sub-page

The Status sub-page relates to the state of the arm (red) and the axes (yellow). For the state of the arm (red) the foreseen values are: Need for Unlock, Not in LOCK, Need to Resume

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TP4i - Motion Page Simulated, Unsimulated Mov. enabled, Mov. disabled DRIVE ON, DRIVE OFF - state of drives Stroke end enabled, Stroke end disabled. NOT in cooperative - Working or Positioner (plus the indication of the arm with which there is to be the cooperation). This is only present if the system contains cooperative arms On trajectory, NOT on trajectory Absolute Accuracy enabled/disabled - the machine is/is NOT kinetically offset

When navigating on these fields, in the Bottom Menu there are softkeys available, that correspond to the state selected, and allow it to be changed. For example:

Fig. 6.50 - Unlocked

For the status of the axes (yellow in Fig. 6.49), the values provided are: axis calibrated axis NOT calibrated axis NOT in Turn-set axis NOT connected, for example in the case of electric gripper change axis NOT Present

Also for the state of the axes, moving the focus on the different fields, in the Bottom Menu softkeys are shown that correspond to the state selected, and that allow changes to be made. For both the state of the arm and of the axes, under normal operating conditions, all the strings of the different fields are BLACK; otherwise in the case of an anomalous arm condition or if the calibration or Turn-set data is missing, the colour is RED.

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6.8.5

Override
Fig. 6.51 - Override sub-page

The Override sub-page contains the overall pre-defined values (red) and single joints (yellow) relating to the current arm. All the information can be changed by the user. For further details concerning the above mentioned preset variables, please look at the Manual PDL2 Programming Language, chapter PREDEFINED VARIABLES.

6.8.6

Laser

This sub-page is only present in SmartLaser systems.

Fig. 6.52 - Laser

The Laser sub-page (see Fig. 6.52) shows a graphic and numeric display of the following data: SMART LASER optical bank axes position in relation to their stroke-end (joint 3 (highlighted in red), joints 4 and 5 (highlighted in yellow) ) position of arm 1 active focal ( Power / Pointer ),

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TP4i - Motion Page nominal position that joint 3 should have to reach the current point, with focal currently inactive indication of 'cam not enabled' (see Fig. 6.54) or 'system not calibrated' states.

Moreover, in the central Menu, the following commands are available: focal change-over (commands Power (F1) and Pointer (F2)) (see example modified from Pointer to Power, using the Power key (F1), Fig. 6.53 )

Fig. 6.53 - Change of focal

arm 1 calibration (Calibrate (F3) command) E-Cam enabling (En. E-Cam (F4) command) management of linked arm (Link A2,A1 (F5) command).

Fig. 6.54 - System with E-cam not enabled

If the system is not calibrated or the cam is not enabled (see Fig. 6.54) the displays and commands for joint 3 and the active focal are inhibited (values, graph displays, focus change pushbuttons); this informs the user that the SmartLaser current status is NOT adjusted for operation. If the system is in AUTO or REMOTE mode, the only possible focal is the Power: In this case the active focal change pushbuttons are inhibited. Also the Calibration commands (F3) and Linked arm modification commands (F5) are not available, as they are potentially hazardous.

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6.9 Alarm Page

This User Page allows management of information linked to alarms/errors that have occurred in the system. It consists of 4 sub-pages, which may be selected through their corresponding labels: Alarms Errors (ULE) Latched Actions (ULA)

6.9.1

Alarms
Fig. 6.55 - Alarms sub-page

This sub-page displays the active alarms, i.e. that require confirmation from the user, and gives the following information: number of the arm order error code and severity message text date and time

The alarm code, severity and message text are displayed on the Messages bar, as long as the alarm is active. In case the message text is too long, it runs lengthwise in the Messages bar. To confirm an alarm (ULLA) it has to be selected (see Fig. 6.56): press the down arrow to move the focus on the list of alarms, then choose the alarm with the cursor keys. At this point softkeys are available in the Bottom Menu to be able to perform some operations (e.g.: Confirm, Skip, etc.). The presence of one or several softkeys, or not, depends on the selected alarm type. In particular, when the EXCL softkey is enabled, the pressure on this key enables the exclusion, for a limited time interval, of the effect of alarms such as those connected to an electrical limit switch. For further details, look ad the description of the softkey Excl, belonging to the Virtual Keyboard.

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Tp4i - Alarm Page

Fig. 6.56 - Confirmation of an alarm

6.9.2

Errors (ULE)
This is the history of alarms that have occurred (errors log) and the following information is displayed: alarm order number error code and severity message text date and time

The errors that are stored in the errors LOG file are only those that change the system state

Press on the arrow down key and confirm with ENTER to scroll throughout the entire list of errors (see Fig. 6.57).

Fig. 6.57 - List of Errors

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6.9.3

Latched
The alarms that enter into this category are described in the PDL2 Programming Language manual, in the predefined variable $LATCH_CNFG. The user shall use this sub-page to confirm the alarms set as latched, and to clear them from such status. The following information are given: alarm order number error code and severity message text date and time

To act on a specific alarm, move the focus on the list, using the down arrow, confirm with ENTER and select the required alarm, as shown in Fig. 6.58.

Fig. 6.58 - LATCHED alarm reset

In the Bottom Menu is now available the softkey 'Reset' that, once the cause for the alarm is removed, can reset it.

6.9.4

Actions (ULA)
Shows the last actions performed on the Control Unit. In order to display all of the listed actions, use the arrow down key, confirm with ENTER and scroll through the list with the arrow up or arrow down key (see Fig. 6.59).

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Fig. 6.59 - List of actions

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6.10 Prog Page

Purpose of this User Page is to handle the programs. This displays the programs loaded in the execution memory. The user can specify which programs to display using the Filter function. The following information is shown for each item displayed: Program name (32 characters of max. length) Program attribute (holdable program (HOLD), not holdable program (NO HOLD)) Program file status (already saved (SAVED), not yet saved (NOT SAVED)) Program execution state (program interrupted (HELD), program running (RUNNING), etc.) Number of the execution line Name of Owner program of the line running (the line belongs to the code of this program) program $CYCLE value program $ERROR value Program main arm Program step mode (Disabled, Statement, etc.) Directory path where the program .COD code is located Date of creation or last change of .COD Size of the program in kB Directory path where the program variables .VAR file is located Date .VAR was created or of last change

In the Bottom Menu of the Prog Page there are the following soft keys that allow the user to act on the displayed programs: Prog Execution Load... View Details POS SHIFT

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6.10.1

Prog
Fig. 6.60 - Prog commands

The available options are: Open (IDE) Create Save (MS + MS/C) Save data (MS) Save code (MS/C) Save variable as (MS/A) Erase from execution memory

A detailed list of each one of them is given below.

6.10.1.1

Open (IDE)
Opens the selected program in development and editing environment (IDE).

6.10.1.2

Create
Allows to create a new program to be edited in IDE environment. The following situations might occur: the requested program already exists in execution memory the requested program only exists as a file in UD:. The command loads it in the execution memory (ML). the requested program does not exist. The command creates a .COD file and loads it in the memory.

To open the created program, use the previously described command Open (IDE) or select the wanted program and press ENTER.

6.10.1.3

Save (MS + MS/C)

Save in UD: the code and variables of a program, from the execution memory in a file on the default device.
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See NOTE regarding the entry number in the UD: root directory.

6.10.1.4

Save data (MS)

Saves the variables of the selected program

6.10.1.5

Save code (MS/C)

Saves the code of the selected program

6.10.1.6

Save variable as (MS/A)

To save the program variables of the program in a file with a name that is different to that of the program. This option does not allow to use the asterisk.

6.10.1.7

Erase from execution memory

Contains the commands to delete a program and its variables from the execution memory. If other programs are associated to a routine or to variables of the program that is being deleted, the operation will generate an error. The functions provided are the following: Erase code and variables (MEA) - Cancels both code and variables of the selected program. Erase code only (MEP) - Cancels the code of the selected program. Erase variables only (MEV) - Cancels all variables of the selected program

6.10.2

Execution
Contains the commands to change a program status.

Fig. 6.61 - Execution Command

The available options are:

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Tp4i - Prog Page Activate (PA) Deactivate (PD) Pause (PSP) Unpause (PSU) Step

A detailed list of each one of them is given below.

6.10.2.1

Activate (PA)
To start the execution of a program. If it is a holdable program, the command sets it in READY state; press START (see Other colours keys) to start the execution. On a non-holdable program, the command has immediate effect and sets it directly into RUNNING state. Only one holdable program at a time is allowed, unless the DETACH attribute is specified in the header of the holdable programs you want to run simultaneously. Before the program may be activated, it has to be loaded in the memory (Load... ).

6.10.2.2

Deactivate (PD)
Deactivates the selected programs, which any way keep stored in the memory.

6.10.2.3

Pause (PSP)
Suspends the execution of the selected programs, setting them in PAUSED state. To continue the execution it is necessary to send the Unpause (PSU)

6.10.2.4

Unpause (PSU)
Resumes the execution of the selected programs, removing them from the PAUSED state. The program is set to the running status provided that no other program suspension condition subsists. To restart the execution of holdable programs, START has to be pressed (see Other colours keys).

6.10.2.5

Step
This menu allows to define the program execution step. It is mainly used upon the program debug. Normally, the program execution is continuous, i.e. without breaks. The execution step allows to define the moment when the program execution shall be interrupted. A new execution step is started each time the START key is pressed for holdable programs, or the RUN softkey (F1 in the central menus of the TP-INT Page) with non-holdable programs. The available commands are: Statement (PTSS) - The execution is interrupted in connection with each instruction. The protected Routines (whose body is not displayed) are run as they are a single statement; the execution of non protected Routines (whose body may be displayed) is interrupted in connection with each instruction. Disable (PTSD) - Stops the step-by step execution and from thereon the program is run in continuous mode.

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Tp4i - Prog Page Move (PTSM) - The execution is interrupted in connection with each individual movement. This is not allowed on non-holdable programs. Fly (PTSF) - For fly moves before holding the program execution. Similar to the Move option, however here the program execution does not stop after the MOVEFLY instruction. This is not allowed on non-holdable programs. Cycle (PTSC) - Defines a single cycle of the program as a step, therefore it must contain the CYCLE or BEGIN CYCLE instruction. Routine (PTSR) - Similar to the Statement step, however here the routines are run as they were single instructions.

6.10.3

Load...
According to whether the pressure is long or short, different commands can be activated: short pressure - loads into the execution memory the programs or variables files selecting them from the default device (UD:) and from the directory where they belong (corresponds to command MemoryLoad). To choose the file (program or variables file ) to load. long pressure - to specify different loading options , execute the loading and if required, activate it. A detailed description of possible options is given here below.

Fig. 6.62 - Load command

The following options are available: with another .VAR (As) (ML/A) VAR only (Var) (ML/V) Another Var only (Var As) (ML/AV) Convert conflicts (Conv) (ML/C) Activate (PG) Dependencies

A detailed list of each one of them is given below.

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6.10.3.1

with another .VAR (As) (ML/A)

Allows to load a program with a different file of variables (.VAR). For instance, Load/As of PALLET.COD with PALLET_12.VAR

6.10.3.2

VAR only (Var) (ML/V)

Loads only the selected file of variables

6.10.3.3

Another Var only (Var As) (ML/AV)

Allows only a variables file (.VAR) to be loaded, associating it to a program entry with a different name. The program entry is to be selected from the list of the existing .COD. The name of the variables file is to be chosen from the .VAR list.

This command DOES NOT load the .COD.

6.10.3.4

Convert conflicts (Conv) (ML/C)

This option is useful in case of conflicts detected during a loading operation, when they may be solved (as a conflict of array or string size).

6.10.3.5

Activate (PG)
Loads and activates the specified program.

6.10.3.6

Dependencies
As well as the requested program, it automatically loads the code and the variables of any programs that are called up by it. If these files are in different directories to the one of the loaded program, it is necessary to set the pre-defined variable $DEPEND_DIRS that contains the path for the Load command during the search.

6.10.4

View
For a full view of very long file names, using Expanded, as opposed to Compact.

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Fig. 6.63 - View command

6.10.5

Details
Allows the user to display some data related the selected program.

Fig. 6.64 - Details command

The available options are: Variables (MVV) Callchain (PV/C) Filter

A detailed list of each one of them is given below.

6.10.5.1

Variables (MVV)
Displays the variables of the selected program, with the following information (Fig. 6.65 - Remove command): name type value

In the Bottom Menu, beside the 'Close' softkey (F6), there is also the 'Remove' softkey (F1) that the user can use to remove a variable from the memory (see Fig. 6.65)
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Tp4i - Prog Page providing this is not used by other programs.

Fig. 6.65 - Remove command

6.10.5.2

Callchain (PV/C)
Displays the nesting of calls to routines for the selected program (see Fig. 6.66). The following information is given: routine name number of line where the call is made status program the routine belongs to program context (main, interrupt routine, routine).

Fig. 6.66 - Callchain command

This command can be used ONLY for active programs.

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6.10.5.3

Filter
The following options are available (see Fig. 6.64): View all (DP/F) - to view all the programs View not protected - to view only programs that are not protected View EZ - to view only programs with EZ attribute

6.10.6

POS SHIFT
With this function it is possible to move in space positions that belong to the selected program, modifying the coordinates. It is used to transfer the execution of an already stored path, acting on the positions that belong to such a path. To activate the POS SHIFT function, proceed as follows: a. select the required program

Fig. 6.67 - Program Selection

b.

press POS SHIFT (F5) - the list of the position variables is displayed (type POS and XTNDPOS) that belong to the selected program.

Fig. 6.68 - Positions selection

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Tp4i - Prog Page c. select the positions that are to be shifted (to select more than one position variable, activate the marking with SHIFT+ENTER and move with the cursor). If no position is to be shifted, press Close (F6) to exit (see Fig. 6.71). press SHIFT (F1) a window is shown in which the user has to specify the offsets on X, Y and Z (the entered values indicate how much to shift (in millimetres) along the three directions of the Cartesian coordinates system), as well as the required reference system; if only one variable has been selected, the system displays its name and the modifications are related only to such a variable (see area highlighted in red, in Fig. 6.69). Otherwise the system displays the text multiple selection and the transfer refers to all the selected position variables.

d. e.

Fig. 6.69 - Positions modification

f. g.

press Apply (F5) to save the modifications The system displays the final status of the operation: if the command has correctly terminated, the message Command executed is displayed; otherwise an error message is shown.

Fig. 6.70 - Command executed

h.

when terminated, press Close (F6) to return to the positions modification window (step e.) and carry out other modifications

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Tp4i - Prog Page i. if no other positions are to be shifted, press the Close key (F6) twice: If necessary, save the program (see NOTE and Fig. 6.71).

See NOTE regarding the entry number in the UD: root directory.

Fig. 6.71 - Program modified but not saved

NOTE The program is modified ONLY in the execution memory (Fig. 6.71, area highlighted in red)! If it is wished to make the modification permanent, the variables have to be saved (Save data (MS) command).

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6.11 IDE Page

GLOSSARY It is recommended to read the following glossary carefully, since in this paragraph the terms MODAL and NODAL are often referred to. These terms are to be understood as follows: modal - move and destination instructions (for example: MOVE TO pos1) nodal with clause ITH - settings that are only valid for the instruction where they are specified. nodal with $PAR - a type of syntax where the technological routines(relating to the applications) are on the same line as the MOVE, defining, besides the technological parameters, also those linked to tool, frame, orientation, etc. customised nodal - very compact syntax, containing in a single line all the customising required by the customer. The description of this type of instruction is not contained in the standard manual, but only in the Nodal Moves manual, handed over to the customer for whom it has been developed. Therefore it is not dealt with herein. IDE environment (Integrated Development Environment) is used to develop motion programs (programs with HOLDABLE and EZ attributes). The following paragraphs give some information concerning: Opening the IDE page Description of the video screen Description of the available functions Numeric keypad

6.11.1

Opening the IDE page

The IDE environment is used to edit a program that already exists, that is Holdable and has EZ attribute. When the IDE page activates. Through the Left Menu key, the currently active program is opened. If there is no program active, an error message is displayed.

To create a new program, use Create on the Prog Page.

If the program to be opened in IDE is not the one that is active, or if there is no program active, use this procedure: a. b. activate the Prog Page with the Left Menu key select the program to be opened. If the program is not in the loadable memory, upload it with the Load...function (F3) press ENTER to confirm (or use the Open (IDE) function). The selected program is automatically activated. If another program is active, this will be deactivated and the program asked for will be activated.

c.

At the end of this procedure the system is in IDE environment.

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When an environment different from IDE is activated, as e.g. the Prog environment, IDE enters the so-called "ghost" status: this means that the situation is frozen, to be afterwards restored when IDE is selected again. Obviously, meanwhile the program execution can go on.

6.11.2

Description of the video screen

When the IDE environment is active, the display screen of the Teach Pendant TP4i shows the following sections, which are peculiar to IDE (see Fig. 6.72): IDE status lines Editor area Dialogue window - which is only activated in certain occasions (for example in the guided insertion of new instructions).

Fig. 6.72 - IDE environment

6.11.2.1

IDE status lines

These are two areas of the display (see Fig. 6.72 in which the first is highlighted n red and the second in blue), where the following information is shown: high status window, containing name of active program (program running) name of current program (program displayed, for example it may be different to the program running if routines are called from other programs) step mode: statement - stmt (on single instruction) disable - dsbl (disabled step mode) move - move (on move instruction) fly - fly (on move in fly) cycle - cycle (on program cycle) name of active tool name of active frame if the system is executing a move instruction in an external program, the MOTION CURSOR symbol is shown, together with the name of the external

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TP4i - IDE Page program and the number of the line that contains the move instruction in progress; low status window, containing the current settings of the REC key (F5 or hardkey for TP4i).

6.11.2.2

Editor area
This is the window where the program instructions are displayed. In this window, the user can edit and debug of the active program, as well as follow its execution (see note about Displaying the currently being executed instruction). For an easy and efficient use of the editor area, the colours in which the program lines are displayed and the cursors that point them have special meanings. A detailed description follows of: Colours The different components of the program lines are displayed with different colours, as follows: comment - green, bold key word - black, bold reserved word - blue variable name - black number - blue Fig. 6.73 shows an example.

Fig. 6.73 - Editor colours area

1. 2. 3. 4. 5.

comment number key word reserved word name of variable

Cursors

Three types of cursor may be displayed: EDIT CURSOR corresponds to the instruction that may be modified by the user. The complete instruction line is highlighted with background light green - editable line. Press ENTER to enter in editing mode on the selected line yellow - line in editing mode (for further information see PDL2 function)
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TP4i - IDE Page During the editing session, the user can carry out one of these operations: change an existing program line - just position the edit cursor on the line involved and press ENTER. In this way the editing mode is deceased and it is then possible to use the Alphanumeric keypad and the Bottom Menu, commands, as described for the completion of the Statement command. Changing a MOVE instruction A particular case is to change a MOVE instruction. In this case there is the Change function, associated to key F3, which can be used to change the MOVE parameters. See Fig. 6.74. For further information on how to modify a MOVE with $PAR, see par. 6.11.3.7.3 Changing a MOVE with $PAR on page 6-99.

Fig. 6.74 - Change command

insert a new program line or a line with complex instructions - use the PDL2 command. This function makes available the templates regarding the selected instruction, and considerably facilitates the insertion into the program. delete an existing program line or instructions - use the Delete command that is part of the Selection function. EXECUTION CURSOR it is represented by an arrow and the instruction background that is a different colour according to the status of the actual instruction: if the line background is dark green, the pointed instruction is the one running; if the background is light green, the pointed instruction is the next instruction to be executed; if the background is yellow, the system is in AUTO mode and the program is in HOLD; if the system is running a protected routine, instead of the arrow that points to the instruction there will be an icon with EXT written.

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Fig. 6.75 - Execution cursor

MOTION CURSOR the move instruction that the Arm is executing; if there is no move in progress, it points to the last move instruction executed. The associated icon is that of a robot, plus integrating symbols that indicate the move status: the robot is on the trajectory but the move has not terminated

the robot has reached the final position

the robot is out of trajectory

the current move has been aborted.

Displaying the currently being executed instruction If the opened program is running, IDE displays the instructions which are currently being executed, by focusing them with the EXECUTION CURSOR. The execution may be followed by the user by looking at the cursors moving through the program instructions.

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TP4i - IDE Page When a program is opened under IDE, if the program is not running, the EXECUTION CURSOR is placed on the BEGIN statement of the 'ROUTINE call_...'.

6.11.3

Description of the available functions

The available functions in the Bottom Menu are: Prog Execution PDL2 Selection REC MOD

6.11.3.1

Prog
Allows to act on the actually open program.

Fig. 6.76 - Prog command

As can be seen in the previous Fig. 6.76, the following functions are available: Close Save (cod,var) Save all mod progs(cod,var) Save as (cod,var) Variables Import

A detailed description of each one follows. Close Close IDE: the program remains in the state it was in before the closure. If there has been a misalignment between the EDIT CURSOR and the EXECUTION CURSOR, the user is asked if the execution is to be continued from the edit cursor. It is only possible to exit from the environment if the reply is affirmative. Otherwise it is necessary to realign the cursors by hand before closing.
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TP4i - IDE Page If the program has been changed, the user is asked if it is to be saved.

See NOTE regarding the entry number in the UD: root directory.

Save (cod,var) Saves both the .COD and the .VAR for the program that is currently open, in the directory from which it was downloaded; the program remains open. Save all mod progs(cod,var) Saves all the changed programs in IDE environment. Save as (cod,var) Saves the currently open program in the specified directory (that can also be different to that where the program was loaded), changing the name; the program remains open. Variables To manage the insertion/viewing of the variables. There are three sub-functions (see Fig. 6.77): View line - Displays all the variables that are on the line indicated by the EDIT CURSOR. Delete unused - Deletes the declaration of variables not used by the program, after asking for confirmation from the user. Insert - Adds the declaration of a new variable. A dialogue window is opened, in the lower part of the screen page, where the user is asked to send the name and type of variable required, choosing from those in the list displayed.

Fig. 6.77 - Variables management commands

Import To import the declarations from another program that have the EXPORTED FROM clause and to insert them in the declarable part of the variables of the program currently open in IDE. The classes of importable declarations area: Routine Type Variable

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6.11.3.2

Execution
As already mentioned, IDE is an integrated program editing and development environment. It is most important that all the programs are carefully checked before being run in automatic mode. The Execution menu, in fact, contains commands that influence the execution of the program currently open in IDE, so as to be able to debug the program, identify any errors and make the improvements.

Fig. 6.78 - Execution commands

The following commands are available: Reset De-actuates and re-actuates the program. Deactivate De-actuates the program. Step Sets the program step execution mode. For further information see par. 6.10.2.5 Step on page 6-66 of the Prog Page. The current type of step is indicated by a tick (see example in Fig. 6.79, where the current type of step is Statement).

Fig. 6.79 - Step command

The commands available are: Statement (Single step)

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TP4i - IDE Page The execution stops after each instruction. The protected Routines (the content of which is not displayed) are executed as a single statement; the execution of non-protected Routines (where the content is visible) stops at the end of each instruction. Disable Stops the program execution in steps. Move The execution stops after each single move. It cannot be executed on non-holdable programs. Fly To execute two or more motions in fly before suspending the program execution. It is similar to the Move, but the execution does not stop after the MOVEFLY instruction. It cannot be executed on non-holdable programs. Cycle Defines a single program cycle, that has to include the CYCLE or BEGIN CYCLE instruction, as a step.

Set execution cursor Allows to move the program execution to a line different from the one actually pointed by the EXECUTION CURSOR. Move the EDIT CURSOR and send this command. Abort Aborts the execution of the current instruction. Break point Enters or removes a break point within the program (see Fig. 6.80).

Fig. 6.80 - Break Point command

The break point is positioned in connection with the EDIT CURSOR. The program execution will be broken before the line identified by the same break point. To remove a break point, simply go to the line where such point is, and use this same command. Bypass Allows the program execution to go on, in case it is waiting for the completion of a suspending instruction as WAIT FOR <condition>, DELAY <time>, etc. Immediate To run an instruction that will not be included in the body of the current program (but will have effect on the execution: for example if an assignment to a program variable is executed, the value of that variable will be actually changed).

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Fig. 6.81 - Immediate execution command

In the Bottom Menu there is the Statement function that opens a Dialogue window that contains the groups of instructions for the user to choose from. After the type of instruction has been selected, it has to be confirmed ('OK' or ENTER) so that it becomes effective. After the instruction to be executed has been chosen, press 'OK' to start the execution. With the IDE environment, as already mentioned, it is possible to see, in the Editor area, the execution of the program that is currently open (see Displaying the currently being executed instruction).

6.11.3.3

PDL2
To insert a new line of PDL2 instructions in the open program.

Fig. 6.82 - PDL2 menu

When this soft key is pressed a pop-up menu is shown (see Fig. 6.82) that enables the following functions: Empty line (1) for the rapid insertion of an empty program line. Bookmarks (2) this command inserts an empty line and opens the _PREF_ (bookmark) folder that contains the frequently used instructions, previously inserted by the user (see

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TP4i - IDE Page Add). In the _PREF_ (bookmark) folder the user can select the required instruction. The commands that allow action on the Bookmark folder are the following: Add when the user is choosing an instruction in the Groups of instructions, the Add function (F1) is enabled in the Central Menu (see Fig. 6.83).

Fig. 6.83 - Bookmarks - Add

Selecting the required instruction and pressing Add (F1), the instruction is added to the _PREF_ (bookmark) folder. Remove to cancel an instruction from the _PREF_ folder: entering into the folder and selecting the instruction to be cancelled, the Remove function (F1) is enabled in the Central Menu (see Fig. 6.84).

Fig. 6.84 - Bookmarks - Remove

When Remove (F1) is pressed, the instruction is removed from the _PREF_ folder. List of last instructions (from 3 to 10) the list of the last eight instructions used.

When the user chooses an instruction (from the Bookmarks or from the last used) it is inserted in the position following that where the EDIT CURSOR is currently positioned.

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TP4i - IDE Page When this softkey is pressed the last nine instructions used are displayed, plus 'empty line', for quicker insertion. When the user chooses the instruction, it is inserted in the position following that pointed by the EDIT CURSOR. If, among the instructions listed the one required is not there, choose 'empty line'. A new program line will be opened in the position following that pointed by the EDIT CURSOR. Note that the IDE environment allows to enter instructions in either modes: guided insertion using a Template input by means of the Alphanumeric keypad

Before describing in detail the functions available, it is necessary to introduce the concept of TEMPLATE, as well as all the information concerning its use. Template A template is a sort of mask to help the user when inserting and/or changing an instruction. It is composed of key words (inserted by the system) and variable fields (that have to be completed by the user). The key words are written in bold high case characters on a light blue background. A variable field is confined by the characters '<' and '>'; when on it, the background becomes blue. See example in Fig. 6.85.

Fig. 6.85 - Templates

To move inside the Template it is possible to use: The cursor keys (right and left)) to move one character at a time (note that the variable field is considered a single character) The Next function key (F5) to move to the next variable field (if the previous field was the last field of the template, when Next is pressed the focus is moved to the first field)

To move among the different variable fields it is highly recommended to use the Next function.

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Moving among the variable fields with the Next, key, IDE automatically updates the use mode of the Alphanumeric keypad (seventh field of the Status bar).

The functions shown in the Bottom Menu of the PDL2 function are the following Statement Variables Next

In certain situations also the following function may appear <value>

6.11.3.3.1

Statement
This instruction allows the insertion of PDL2 language instructions. A short pressure on the key corresponding to this soft key (F1), opens a dialogue window that displays the Groups of instructions from which the user can choose.

Fig. 6.86 - Statement Menu

A long pressure displays a pop-up menu (see Fig. 6.86) the same as that for the PDL2 function: Empty line (1) Bookmarks (2) List of last instructions (from 3 to 10)

Before listing the Groups of instructions available in the IDE environment, the mode to operate is described for the guided insertion of a generic instruction.

Guided insertion of a generic instruction

After the type of instruction required has been selected (through the folder Bookmarks (2), List of last instructions (from 3 to 10) or Groups of instructions), it must be confirmed ('OK' or ENTER) to provide for the insertion. Let us imagine we want to insert a new program line containing the FOR instruction. The system shows the Template for the selected instruction (in our example the FOR
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TP4i - IDE Page instruction). When all the variable fields have been completed (see the FOR template in Fig. 6.85), pressing OK or ENTER will confirm the insertion of the instruction. The system checks that the syntax is correct; if the inserted instruction is not correct, an error message is displayed. After the error has been corrected, the instruction has to be confirmed again with OK or ENTER. If the instruction is correct and complete, the insertion is terminated. Otherwise, when necessary, the system completes the instruction with further program lines. See example in Fig. 6.87, in which the system has completed the FOR instruction, adding the line ENDFOR.

Fig. 6.87 - Guided insertion of an instruction - example

The instruction (or set of instructions) now has to be inserted between the FOR line and the ENDFOR line When OK or ENTER is pressed, if the instruction is correct and complete, the insertion is terminated.

Groups of instructions
At highest level, the groups available in the dialogue window are the following: Call Commons CondExpr Flow Hand IOPort SysVar Other applications

Coop-Motion Contains templates for calls the enable/disable routines for cooperative motion between Arms and between Axes and Arm
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TP4i - IDE Page Call Contains templates for Calls to the tool, frame and base calculation routines Call_prog (call to an external program routine) sub_rout (to create a new subroutine inside the program; by default the new subroutine is created exportable). Arm ATTACH and DETACH instructions

Insert the import of the corresponding routine directly: therefore it is not necessary to declare the import. Commons Contains the template for Assignment instructions

CondExpr Contains the templates of usable conditions in the MOVE instructions elements that represent the condition value ($BIT and $DIN) elements introduced by the WITH clause

Flow Contains the templates of instructions needed to control the program execution flow: FOR GOTO IF LABEL SELECT REPEAT WHILE

State Contains the templates of instructions needed to control the program state: HOLD PAUSE UNPAUSE LOCK UNLOCK RESUME DEACTIVATE CYCLE DELAY RETURN

Hand Contains the templates of the instructions that manage the pick-up devices (grippers):

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TP4i - IDE Page CloseHand OpenHand RelaxHand

IOPort Contains the templates of instructions concerning I/O ports: Waitfor assignment of values to I/O ports (AOUT, BIT, DOUT, GOUT, TIMER, WORD) built-in regarding I/O ports (BIT_CLEAR, BIT_SET)

SysVar Contains groups of templates with predefined groups of variables and constants, for motion control: ArmOvr - for the arm Override values Fly - for moves in Fly OrnType - for the tool orientation Speed - for the speed TermType - for position accuracy in the move stop

Other applications Contains any other templates for technological instructions of the applications installed in the system. Fig. 6.88 gives an example of the SmartSearch application.

Fig. 6.88 - SmartSearchTemplates

6.11.3.3.2

Variables
To select an already existing variable to insert in the currently open program line: if the Template of an instruction is active, the selected variable is inserted into the Template, in the currently active variable field.

6.11.3.3.3

<value>
When this key is pressed, a window is activated that contains the predefined constants
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TP4i - IDE Page that are available for the selected <value> field. The user has to choose the required predefined constant and confirm with ENTER.

6.11.3.3.4

Next
Move the cursor to the next variable field of the currently active template. If the field currently pointed is the last of the line, this function moves the cursor to the first field.

Fig. 6.89 - Insertion of predefined constants

6.11.3.4

Selection
The commands available for this function are: REC setup To set the move instruction characteristics that are inserted in the program, each time the REC key is pressed. For further details see the par. 6.2.1.3 Other colours keys on page 6-10. When this function is activated, the system displays the screen page shown in Fig. 6.90.

At the opening of IDE, the REC key is set in joints modal mode, if it has not been set previously. To change this setting, either use the current REC Setup function, or activate the function directly by simultaneously pressing SHIFT+REC.

Fig. 6.90 - Command to set the REC key

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TP4i - IDE Page The user has to define the position variable type to be entered (position, jointpos, xtndpos), the trajectory (linear, circular and joints), and fly enable or disable. To do so, there are two different ways of operating: select the field to be changed and open the corresponding pop-up menu by pressing the ENTER key (see Fig. 6.91); or

Fig. 6.91 - REC key settings modification

use the Central Menu keys, to modify the Type of Move (F1), the Trajectory (F2) and the type of Variable (see Fig. 6.90, keys highlighted in red). Each time the required key is pressed, the system inserts a different setting (in circular manner). These keys act separately from the field where the focus is positioned.

Also the following functions can be set: the REC key for Synchronised Motion (software option - Motion Programming manual). To set the use of the SyncMove clause, select the related checkbox (see Fig. 6.92 - field highlighted in red); the possibility to write the move instruction on more than one line, i.e. included between the key words MOVe and ENDMOVE. To enable/disable this function, select or deselect the Multiline checkbox (see Fig. 6.92 - field highlighted in yellow).

Fig. 6.92 - SyncMove - 1

and specify the trajectory and variable to associate to the SyncMove (opening the corresponding pop-up menus, as shown in Fig. 6.93).

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NOTES TO RECORD POINTS IN MOVE..SYNCMOVE WARNING! to be able to learn the points relating to both Arms, referred by the MOVE ... SYNCMOVE, with the IDE session open on the current program, it is necessary to insert in the program, and run the instruction ATTACH Arm[n] for both the Arms involved in the MOVE ... SYNCMOVE. The execution of this instruction must take place BEFORE learning any point, otherwise, when the Arm is changed, if the Arm selected by TP4i is different to the PROG_ARM, the IDE session will be closed by the system. Example: If the program uses MOVE Arm[2] ...SYNCMOVE Arm[1], at the BEGINNING of the program it is necessary to insert the instruction ATTACH Arm[1],Arm[2].

Fig. 6.93 - SyncMove - 2

At the end, press the key OK (F5) to confirm the changes made. It is to be noted that the new settings of the REC key are NOT maintained after a system restart. To make it permanent the configurations have to be saved (using the system command 'ConfigureSaveCategoryController /Shared').

The 'Nodal..' function is provided, that can be activated with key F4, to modify the nodal configuration with $PAR of the REC key. For further information see par. 6.11.3.7 REC key setting, nodal with $PAR on page 6-95. Enable Marking Enables the marking of the lines where the EDIT CURSOR. In the central menu the following functions are shown: Cut - cuts the selected lines Copy - copies the selected lines Deselect - deactivates the marking

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Several program lines can be selected using the SHIFT+cursor combination.

Paste To paste the lines previously cut or copied, under the line that is currently pointed by the EDIT CURSOR. Undelete Enters again the program with the latest cancelled instruction, to the position where the EDIT CURSOR is placed. This operation can also be executed by pressing SHIFT+C on the alphanumeric keypad. Delete Cancels the instruction, where the l EDIT CURSOR is placed.

This operation can also be executed by pressing the C key on the alphanumeric keypad.

If the selected statement is a structured instruction (for example IF, FOR, etc.), this command will delete the whole structure, and NOT just the highlighted line. (from IF to ENDIF, from FOR to ENDFOR, from WHILE to ENDWHILE). Goto Allows to move the EDIT CURSOR to the specified position: Begin - moves the cursor to the BEGINning of the current context End - moves the cursor to the END of the current context Line - moves the cursor to the specified program line (within the current context). A Dialog window is opened to ask the user to enter the wanted line number. Comment/Uncomment To make the current instruction line a "comment" or to make it a loadable instruction by putting or removing the comment symbol ('--'). As already mentioned, the commented line is displayed in green. In the example in Fig. 6.94, line n.36 has become a comment and therefore it will not be executed.

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Fig. 6.94 - Comment command

6.11.3.5

REC
Pressing the softkey inserts: a move instruction and the declaration of the corresponding positional variable that is assigned the current arm position.

The current setting is displayed in the status line at the bottom of the IDE page, as highlighted in red in the example of Fig. 6.94. For further information regarding the setting modes of this softkey, see the following paragraphs: par. REC setup on page 6-91 and par. 6.11.3.7 REC key setting, nodal with $PAR on page 6-95. Only for the Teach Pendant connected by cable (TP4i), the function of this softkey is exactly the same as for the REC key available as hardkey (see par. Motion keys on page 6-5).

6.11.3.6

MOD
To change the coordinates value of an existing position. For this, after the softkey has been pressed, the system displays a dialogue window where the user can confirm the name of the selected variable. If the tool and frame set for the current MOVE are not those set REC setup, the system will refuse the change.

6.11.3.7

REC key setting, nodal with $PAR

Read the GLOSSARY carefully regarding the terms "nodal" and "modal".

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TP4i - IDE Page This paragraph gives information on the following subjects: Technological routines REC key setup Changing a MOVE with $PAR STARTUP program

Nodal management has been created to use the Moves with the nodal method with $PAR$, by using a set of predefined routines to set the Move characteristic parameters: speed, tool and frame, position accuracy, type of orientation. Example of Move set in nodal mode with $PAR: MOVE JOINT TO pnt0001p WITH $PAR=MP(TF(1,1),V(100),Z(COARSE)) Regarding the nodal method having a WITH clause, there are substantial differences. It is to be remembered that, in general, through the nodal method the variables are assigned temporary values that only have effect during the move executed by the Move instruction. After the move the system returns to the values assigned with the modal method. Using nodal management with $PAR, the values of the variables set by the technological routine do not have a temporary effect, but are assigned in permanent mode. BEGIN $ARM_SPD_OVR := 100 -- Arm_spd_ovr is 100 MOVE JOINT TO pnt0001p WITH $PAR=MP(TF(1,1),V(50),Z(COARSE)) -- the Move is performed with Arm_spd_ovr at 50% (set by routine V) -- Arm_spd_ovr is 50 .END Any modal assignment of a variable is ignored because the technological routines used with the Moves reassign them. It is a good programming rule not to use the modal method to assign values to variables that are also set by technological routines.

6.11.3.7.1

Technological routines
The nodal routines are contained in the HMOVE.COD file. There are three types of Move with $PAR: MOVE JOINT TO pnt0001p WITH $PAR=MP(TF(1,1),V(100),Z(COARSE)) this is the standard Move, typically used for Moves linked to Spot applications, handling or no particular type of application. MOVE LINEAR TO pnt0001p WITH $PAR=GP(TF(1,1), VL(0.2), Z(COARSE), ORN(RS_TRAJ)) used for Moves linked to sealant applications and only works on Linear Moves. MOVE JOINT TO pnt0001p WITH $PAR=AP(TF(1,1),ORN(RS_TRAJ)) used for Moves linked to arc welding applications.
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TP4i - IDE Page It can be noted that the technological routines Mp, Gp, Ap call up special functions: TF (x, y): sets tool x and frame y RTF (x, y): set the remote tool x and remote frame y V (vel): used by the Mp routine, sets the Move speed making the following assignments: $ARM_SPD_OVR:= vel $ARM_ACC_OVR:= $ARM_DEC_OVR:= vel2 DIV 100 $SPD_OPT:=SPD_CONST VL (vel): used by the Gp routine, sets the linear Move speed making the following assignments: $LIN_SPD:= vel $ARM_SPD_OVR:= $ARM_ACC_OVR:= $ARM_DEC_OVR:= 100 $SPD_OPT:=SPD_LIN Z (zone): used by the Mp and Gp routines, sets the positioning accuracy making the following assignments: $TERM_TYPE:= zone (where zone is equal to COARSE, FINE, NOSETTLE) in the case of Move no Fly $FLY_PER:= zone (where zone is an integer from 1 to 100) in the case of Move Fly if $FLY_TYPE<>FLY_CART $FLY_DIST:= zone (where zone is an integer from 1 to 100) in the case of Move Fly if $FLY_TYPE=FLY_CART ORN (type): used by the Ap and Gp routines, sets the type of orientation making the following assignments: $ORNT_TYPE:= type (where type is equal to RS_TRAJ, RS_WORLD, EUL_WORLD).

6.11.3.7.2

REC key setup

By default nodal management with $PAR sets a Move of this type: MOVE JOINT TO pnt0001p WITH $PAR=MP(TF(0,0),V(100),Z(NOSETTLE)) Therefore each time the REC key is pressed a Move of that type appears. If no Tool or Frame is initialised ('--' '--' in the IDE status lines) the user is asked to set them through the Motion Page, Basic sub-page. If it is wished to modify the parameters of the Move or change the type of technological routine, the REC key has to be set in nodal mode with $PAR. To access the nodal setting, from the REC setup key environment, press the Nodal.. (F4) softkey. The screen page shown asks the user to insert some values: Tool and Frame are always requested, whereas the other values depend on the technological routine chosen (Mp, Gp or Ap).

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Fig. 6.95 - Mp routine

If the $PAR field contains Mp (to set the MP routine), the screen page asks for the insertion of: speed (from 0 to 100) zone value (Z) (Coarse, Fine, Nosettle)

Fig. 6.96 - Gp routine

If the $PAR field contains Gp (to set the GP routine), that can only be used if the REC key is set with Linear type Move, the screen page asks for the insertion of: linear speed (from 0 to 100) zone value: if the Move is no Fly: Coarse, Fine, Nosettle if the Move is Fly an integer from 0 to 100 value of the $Ornt_Type (Rs_traj, Rs_world, Eul_world)

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Fig. 6.97 - Ap routine

If the $PAR field contains Ap (to set the AP routine), the screen page requires the insertion of: Value of the $Ornt_Type (Rs_traj, Rs_world, Eul_world

The parameters displayed in the nodal REC Setup with $PAR, regarding the TF or RTF function, are the active tool and frame at that instant (that can be seen in the IDE status lines: last and last-but-one field respectively). The set tool and frame are always automatically activated.

6.11.3.7.3

Changing a MOVE with $PAR

The type of Move can be changed through Change command (F3) in the central menu, when editing a program line that contains a MOVE instruction. The graphic interface to modify a MOVE with $PAR, is the same as that of the REC setup key command with the limitation that it is not possible to modify the type of positional variable. If a Move is changed from no Fly to Fly, IDE asks that the Zone parameter (for an MP or GP routine) passes from Coarse, Fine, Nosettle to an integer number from 0 to 100. In the same way, if changing from a Fly to a no Fly Move, IDE asks whether the positioning accuracy is to be Coarse, Fine, Nosettle. If a Gp routine is set, the Linear field is disabled.

6.11.3.7.4

STARTUP program
The Startup program runs a 'Program Go Hmove' command to load the routines needed to manage the Move with $PAR into the memory .

6.11.4

Numeric keypad
It is a function that considerably speeds up the insertion of the instructions, in particular the application technological instructions and instructions defined by the user (see PDL2 Programming Language Manual - Appendix B - Customizations on the TP) in a program opened in IDE environment. Activating this function opens a table (called Numeric keypad) that describes the

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TP4i - IDE Page association between the numeric keys and the technological instructions (see Fig. 6.98).

Fig. 6.98 - Numeric Keypad

Pressing any numeric key associated to an instruction inserts that instruction in the program. Instructions can be inserted even more quickly in IDE environment, without opening the numeric keypad, press simultaneously SHIFT + the numeric key associated to the required instruction, the system will insert this instruction in the program. For example (with reference to Fig. 6.98) if, without opening the numeric keypad the user presses simultaneously SHIFT and 2, the technological instruction Spot_init is inserted in the program. Summing up, the keys used to manage the numeric Keypad are the following: SHIFT + '1' - opens the numeric Keypad 'n' - when the numeric Keypad is open, it inserts the instruction associated to key 'n'. SHIFT + 'n' - when the numeric Keypad is NOT open, it inserts the instruction associated to key 'n'. PAGE UP / PAGE DOWN - to change the numeric Keypad page . up/down/RH/LH arrows (cursor) - for circular navigation in the numeric Keypad. ESC - closes the numeric Keypad without inserting any instruction in the program. ENTER - inserts the current instruction selected in the numeric Keypad in the program, and closes the numeric Keypad.

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TP4i - I/O Page

6.12 I/O Page

This User Page allows to handle the I/O available in the Control Unit C4G: $AIN $AOUT $BIT $DIN $DOUT $FMI $FMO $GIN $GOUT $IN $OUT $SDIN $SDOUT $WORD

The user can select the I/O class, he is interested in, by focusing on the icons displayed on the page and moving it by means of the cursor keys (see Fig. 6.99).

Fig. 6.99 - I/O page

By confirming with ENTER, a sub-page is opened, where the user is asked to enter the range of the selected input or output Enter the wanted range and acknowledge with the softkey 'OK' or the ENTER key. A range can be specified, simultaneously, with this syntax: <start port 1>..<end port 1>-<start port 2>..<end port 2 > etc. Example: 1..5-9..14 select the interval from 1 to 5 and that from 9 to14 When the screen page concerning the chosen I/Os is displayed, they can be scrolled using the cursor keys.

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Fig. 6.100 - List of required I/Os

The following information are displayed for each one of the Inputs or Outputs requested by the user: name value status description.

For further details, see the description of the function View (SIV... SOV...). In the Bottom Menu, according to the type of I/O selected, softkeys are available to operate on them and on the display windows (see List of required I/Os): Set (SI and SO) Forcing (SIF... SOF...) Simulate (SIS... SOS...) View (SIV... SOV...)

For controls Set (SI and SO), Forcing (SIF... SOF...) and Simulate (SIS... SOS...), it is possible to act either on the individual I/O or on groups, selecting the first I/O and pressing the SHIFT+ENTER keys on the last I/O of the group. Other general functions are available, which may be actuated through the key F6 Window

A detailed list of all the above mentioned softkeys is given below.

6.12.1

Set (SI and SO)

Sets the specified I/O to the required value.

This function is not available for $AIN/$AOUT.

The available options are

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6.12.1.1

On
Sets the specified I/O to the TRUE value. From SYS_CALL this operation corresponds to SYS_CALL (E,<port_name>[<port_index>]:= ON)

6.12.1.2

Off
Sets the specified I/O to the FALSE value. From SYS_CALL this operation corresponds to SYS_CALL (E,<port_name>[<port_index>]:= OFF

6.12.2

Forcing (SIF... SOF...)

This command forces the value of a certain I/O. The physical port is no longer considered and the forced value is used.

This function is not available for $AIN/$AOUT and $FMI/$FMO.

Fig. 6.101 - Forcing of an I/O port

The available options are: On Off Current Unforce (SIU... SOU...)

A detailed description of each option is given below.

6.12.2.1

On
Forces the specified I/O to the TRUE value

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6.12.2.2

Off
Forces the specified I/O to the FALSE value

6.12.2.3

Current
Forces the specified I/O to its actual value

6.12.2.4

Unforce (SIU... SOU...)

Removes the forced status for the selected I/O, and restores its original physical configuration; by turn, it may be: Current - Removes the forced status for the selected I/O, leaving the current value Total - Removes the forced status of all I/O of the selected type

6.12.3

Simulate (SIS... SOS...)

Sets a logic I/O in the simulated condition. The physical I/O is no more considered, and instead is used either the value assigned to the gateway through this command or an instruction PDL2. A simulated Input or Output may also be forced.

This function is not available for $AIN/$AOUT and $FMI/$FMO.

Fig. 6.102 - I/O port simulation

The available options are: On Off Current Total Not simulated (SIN... SON...)

A detailed description of each one of them is given below.

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6.12.3.1

On
Simulates the TRUE value for the selected input

6.12.3.2

Off
Simulates the FALSE value for the selected input

6.12.3.3

Current
Simulates the current value for the selected I/O

6.12.3.4

Total
Simulates the current value for all the I/O of the selected type.

6.12.3.5

Not simulated (SIN... SON...)

Removes the selected I/O from the simulated condition; by turn, it may be: Current - Removes the simulated status and leaves the current value Total - Removes the simulated status for all the I/O of the selected type and leaves the current value

6.12.4

View (SIV... SOV...)

Displays the selected I/O, according to the required notation (see Fig. 6.103).

For $AIN and $AOUT the value is shown in percentage.

Fig. 6.103 - Viewing of I/O ports

The commands that may be actuated through the View function (F5) allow displaying the wanted I/O. They are:

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TP4i - I/O Page Zoom in Zoom out Vertical Horizontal Format

6.12.4.1

Zoom in
Displays the wanted I/O, one per display line (seFig. 6.103). The following information is given: name ($BIT, $DIN, $DOUT, $GIN, $GOUT, $SDIN, $SDOUT, $WORD) value (ON / OFF) description status (physical, logical, virtual, forced, simulated, configured/not configured, linked (connected))

To view status, the following information can be obtained: P - physical I/O, configured and linked (connected); the value is displayed; the I/O can be simulated/forced E - physical I/O, configured and not linked (not connected); the value is not displayed as it is not significant V - virtual I/O, configured; the value is displayed; the I/O can be simulated/forced N - I/O not configured O - I/O with index out of range.

6.12.4.2

Zoom out
Displays the wanted I/O, and pools 16 of them in one display line only (see Fig. 6.104). The following information is provided for the I/O group: Name Value (with comment chosen through Format, if applicable)

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Fig. 6.104 - Zoom out

6.12.4.3

Vertical
If there are several windows open, they are displayed alongside each other in a vertical arrangement. To pass from one window to another, press ESC and move with the rh arrow or the lh arrow, according to which window is to be selected, to the right or to the left of the current window.

Fig. 6.105 - Vertical display of several windows

6.12.4.4

Horizontal
If there are several windows open, they are displayed next to each other in a horizontal arrangement. To pass from one window to another, press ESC and move with the up arrow or the down arrow according to the window to be selected, either upward or downward from the current window.

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Fig. 6.106 - Horizontal display of several windows

6.12.4.5

Format
It can only be used when the I/Os are displayed in groups of 166 (see command Zoom out). and allows to display them in the following notations (see Fig. 6.107): Binary Octal Hexadecimal Decimal

Fig. 6.107 - I/O display format

6.12.5

Window
This softkey controls several functions that manage the I/O ports display windows (see Fig. 6.108): Open Close Maximize Restore

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TP4i - I/O Page Next

6.12.5.1

Open
Opens a new display window in addition to the one or ones already active (if any). To move the focusing from a window to another, use the cursor keys. Should any I/O be selected (orange background), to change over to another window, first press ESC: the current I/O will be de-selected and then it is possible to focus on another window (through the cursor keys).

6.12.5.2

Close
Closes the current display window.

6.12.5.3

Maximize
Displays only the I/O in the current window, using the entire space available on the display screen.

6.12.5.4

Restore
Restores the previously displayed windows.

6.12.5.5

Next
When a window is displayed in Expanded mode, sending this command allows the viewing of the next window (still keeping this mode active).

Fig. 6.108 - Display windows management

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6.13 Appl Page

This page is the interface of the application package installed on the C4G Controller Unit. For example, in Fig. 6.109 the home page of the Arc Welding application package (SmartArc). For further details and/or information, please refer to the Manuals of the specific Application.

Fig. 6.109 - Main page of the Arc Welding application package

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TP4i - File Page

6.14 Files Page

The User page of File Manager (Files) allows to carry out all the operations concerning the files: copy, cancel, create and remove folders, etc. Some arrangement criteria and filters may be set through appropriate softkeys.

Fig. 6.110 - Files page

The available options are: File (F1) Select (F2) View (F3) (FV) Utility (F4)

A detailed description of each one of them is given below.

6.14.1

File (F1)
Fig. 6.111 - File command

The available options are: Open Extract (FUCE) Send to (FC)

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TP4i - File Page New Delete (FD) Delete permanent (FD/P) Rename (FR) Attribute (FUA) Recycle bin Properties

A detailed description of each one of them is given below.

6.14.1.1

Open
This command opens the file in ASCII editing mode (see Fig. 6.112)

Fig. 6.112 - Opening a file in ASCII editing

Under this environment, the softkeys available in the Bottom Menu are: File This function activates the following operations: Save - Saves the current file with the same name, keeping it open for editing. Save As - Saves the current file with a different name and/or destination, keeping it open for editing. Exit - Exits and saves the current file Quit - Exits without saving the current file.

To save the file, see NOTE regarding the entry number in the UD: root directory.

Edit Allows to move the cursor to the wanted line: select 'goto', (ENTER or 1 - see Fig. 6.113).

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Fig. 6.113 - Edit - 1 Command

A prompt screen page is displayed (see Fig. 6.114) where the user has to insert the required line number and confirm with 'Ok' (F5).

Fig. 6.114 - Edit - 2 Command

6.14.1.2

Extract (FUCE)
Extracts an individual file from a compressed file (.ZIP).

6.14.1.3

Send to (FC)
Copies the file towards the specified device.

6.14.1.4

New
Creates a new file, directory or compressed file (.ZIP).

6.14.1.5

Delete (FD)
Deletes the selected file. The file in question may be restored through the command Recycle bin, Restore command.

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6.14.1.6

Delete permanent (FD/P)

Cancels the selected file once and for all. The file cannot be recovered any more

6.14.1.7

Rename (FR)
Allows to give a file a different name.

6.14.1.8

Attribute (FUA)
Allows to assign to the selected file or to remove from it one of the following attributes: Read-only (FUAR) Hidden (FUAH) System (FUAS)

To remove an attribute, just select it again (toggle) (FUA/R).

6.14.1.9

Recycle bin
Displays the bin contents related to the selected directory. The following functions are available in the bottom menu, as shown in Fig. 6.115: Empty Empties the bin. Erase Removes the selected file from the bin and removes it irrevocably. Restore Restores the selected file and put it again in the current directory. Close Close the current window.

Fig. 6.115 - Files - Recycle bin

6.14.1.10

Properties
Displays information relating to the current storage unit (UD:) (as shown in Fig. 6.116): graphic illustration of free space and occupied space unit name available space used space unit sizes

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Fig. 6.116 - Properties

6.14.2

Select (F2)
Allows to carry out the handling operations of the displayed files (see Fig. 6.117).

Fig. 6.117 - File selection functions

The available options are: Undo Cut Copy Paste Select all Deselect all Invert sel Sel prompt

A detailed description of each one of them is given below.

6.14.2.1

Undo
Cancels the latest operation done.

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6.14.2.2

Cut
Cuts the selected files.

6.14.2.3

Copy
Copies the selected files.

6.14.2.4

Paste
Copies the previously cut or copied files to the current folder

6.14.2.5

Select all
Selects all the files included in the current folder

6.14.2.6

Deselect all
Deselects any file which was previously selected

6.14.2.7

Invert sel
Inverts the current selection (the selected files are de-selected while the non-selected ones are selected)

6.14.2.8

Sel prompt
Sets the criterion to be used to select the files. The user is asked to insert the required selection criterion, an asterisk is allowed (with key 1 on the Alphanumeric keypad).

6.14.3

View (F3) (FV)

To manage the viewing of the files and how the related icons will be displayed (see Fig. 6.118).

Fig. 6.118 - View Command

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TP4i - File Page The available options are: Small icons Big icons Details Refresh Sort by

6.14.3.1

Small icons
Allows to display the information with small-sized icons.

6.14.3.2

Big icons
Allows to display the information with large-sized icon.

6.14.3.3

Details
To view the list of files adapting or not adapting the size of the columns to the length of the information to be viewed. The choices available are: Compress - adapts the column dimension to the actual space requirement Expand - sets one fixed dimension for all columns

At times the difference between the two modes is scarcely noticeable.

6.14.3.4

Refresh
Updates the information included in the list of files. NOTE: to be sure that the displayed information is always consistent, refresh; in fact, refreshing is NOT carried out automatically since the displayed information is inactive.

6.14.3.5

Sort by
To view the list of files according to different criteria: Name - list of files displayed in alphabetical order Date - list of files displayed according to their date of modification (from top downwards, first the oldest files are displayed, followed by the most recent ones) Type - display according to type of extension.

6.14.4

Utility (F4)
Provides the user with some tools to carry out operations on the listed files. The available options are: Translate (FT)

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TP4i - File Page Backup (FUB) Restore (FUR) Device Change

6.14.4.1

Translate (FT)
Converts: a PDL2 program in ASCII sourcing code (.PDL), in a file with executable code (.COD) and vice versa; a file of variables in ASCII sourcing format (.LSV), in a file of variables with format suitable for loading in the controller (.VAR) and vice versa.

If the destination file (e.g. .COD) is already existing, the copy is saved with a different extension (as .BKC) before the new file is created. If reports or errors are detected during the conversion, they are displayed in the scrolling window and recorded in the file <file_name>.ERR. This command can also be used to convert system binary files (.C4G), into the corresponding ASCII format (.PDL).

6.14.4.2

Backup (FUB)
Copies a set of files towards the default backup device ($DFT_DV[3]). A list of Saveset names is displayed, previously entered to the Setup page, Backup, sub-page, which identify the set of files to be copied ($BACKUP_SET[8]). In order to see the matching of the Saveset name to be selected with the relevant set of files, it is recommended to open the Setup page in the Backup sub-page.

6.14.4.3

Restore (FUR)
Copies the files from the default ($DFT_DV[3]), backup device, to the restore device set on Setup page, Restore sub-page. A list is displayed, including the Saveset names previously entered to the Setup page, Restore sub-page, which identify the set of files to be restored ($RESTORE_SET[8]). In order to see the matching of the Saveset name to be selected with the relevant set of files, it is recommended to open the Setup page, Restore sub-page. Note that Savesets are stored in the preset variables.

See NOTE regarding the entry number in the UD: root directory.

6.14.4.4

Device Change
To change the device for the display of the files list. The devices allowed depend on the hardware found by the system. Access to another device may depend on whether or not the Login has been executed.

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TP4i - Data Page

6.15 Data Page

The User Data page of the Teach Pendant allows to look at and modify all the data tables stored in the Control Unit C4G. The following tables can be managed in the Data Page: System tables Application tables Tables created by the user.

6.15.1

General information
Fig. 6.119 - Data Page

When the Data Page is opened, the list is shown of all the existing tables on the Teach Pendant display (the example in Fig. 6.119 shows only the System tables). The columns of the tables displayed in the Data Page, automatically dimension according to the information they contain.

To open the required page, select with the arrow up and down keys and confirm with 'Ok' (F5). It is now possible to move inside the table using the cursor keys and to modify the boxes in the required fields with the editing mode (press the ENTER key). During the navigation /editing within a table, the commands available in the Bottom Menu are: Table Modify Selection AutoApply

6.15.1.1

Table
These commands are used to open and close a table, save the contents, reload the previous contents, etc. (see Fig. 6.120).

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Fig. 6.120 - Table Command

The following options are available: Open Close Apply Save Reload History

6.15.1.1.1

Open
Displays a list including all of the tables. When the ENTER key is pressed, the selected table opens.

6.15.1.1.2

Close
Closes the current table. If changes have been made, the user is asked to confirm the application and the saving of the changes in the .VAR file and in the execution memory. 'Ok' (F5) to confirm and save, Cancel (F6) to close without saving. For WiTP wireless, if the TP is unpaired from the Control Unit, any open tables in Data Page will be closed by forcing.

6.15.1.1.3

Apply
Saves the applied changes in the execution memory. The table keeps open, but the changes are NOT stored in the file.

6.15.1.1.4

Save
Saves the changes in the execution memory and on file. The Table remains open.

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See NOTE regarding the entry number in the UD: root directory.

6.15.1.1.5

Reload
Reloads the value of the variables from the file.

6.15.1.1.6

History
Lists the last 6 tables open.

6.15.1.2

Modify Fig. 6.121 - Modify Command

Allows to modify the table contents. The following options are available: Insert Copy CellCopy Paste Undo All Set Active

6.15.1.2.1

Insert
Inserts a new line on the table bottom The system displays a prompt window to ask the user to enter the name of the new item.

6.15.1.2.2

Copy
Copies the previous selection according to the selection mode currently set (Selection command (F3).

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6.15.1.2.3

CellCopy
Copies the currently selected cell.

6.15.1.2.4

Paste
Overwrites the selected line or cell, according to the last content copied (using the Copy or the Copy cell command).

6.15.1.2.5

Undo All
Cancels the change in all the cells where the Apply command has not yet been applied.

6.15.1.2.6

Set Active
Sets active the line where the current cell is located. The line name is displayed bold

6.15.1.3

Selection
To set the selection mode. The following options are available: Line Invert Select all Deselect all

6.15.1.3.1

Line
Selects the current line without changing the position of the cursor.

6.15.1.3.2

Invert
Inverts the selection of the lines (the selected lines become de-selected and vice-versa).

6.15.1.3.3

Select all
Selects all of the lines

6.15.1.3.4

Deselect all
Deselects all of the lines

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6.15.1.4

AutoApply Fig. 6.122 - AutoApply mode

Edit in Auto Apply modes means to make the changes applied to the table cells (i.e. copied in execution memory) get automatically operating. This function corresponds to the softkey F4. If a table may be edited in Auto Apply mode, the function AutoApply (AutoAppli..) is enabled when the table opens (blue background on softkey F4). This mode can be disabled by pressing the key F4; the background of the corresponding softkey turn grey (see Fig. 6.123).

Fig. 6.123 - AutoApply Off

If the key F4 is pressed again, the above-mentioned mode is enabled again (blue background).

6.15.2

System tables
'System Tables' are the tables created automatically by the C4G Control software (see Fig. 6.124): BASE TOOL FRAME

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TP4i - Data Page They can be accessed directly when entering the Data Page. To select the required table, use the up and down arrow keys and press ENTER or Ok (F5).

Fig. 6.124 - System tables

As already explained in the previous paragraphs, once the table is opened, it is possible to move inside it using the cursor keys and to modify the cells entering in editing mode (pressing the ENTER key),in the required fields. The significance of the different system table columns is briefly described in the line with a blue background above the Bottom Menu. See Fig. 6.125, Fig. 6.126 and Fig. 6.127, which are given as examples.

Fig. 6.125 - Position column of the BASE table

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Fig. 6.126 - 'Arm number' column of the TOOL table

Fig. 6.127 - 'Main inertia moment of remote Frame' column

6.15.3

Application tables
Tables created by the Comau application supplier. According to the application installed there may be different tables. For example, see the following Fig. 6.128 in which the application tables are highlighted in red.

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Fig. 6.128 - SmartArc application

To select the required table, use the up and down arrow keys and press ENTER or Ok (F5). As already explained in the previous paragraphs, after the table has been opened, it is possible to move inside it using the cursor keys, and to modify the cells entering in editing mode (pressing the ENTER key), in the required fields.

6.15.4

Tables created by the user

The user, by means of PDL2 language, can create customised tables to manage in this User Page. The procedure to create them and add them to the Data Page is described in the PDL2 Programming Language Manual, Appendix B, par. User table creation from DATA environment. Once created and added to the Data Page, these tables are managed in exactly the same way as the System tables and Application tables. This means that, to select the required table, use the up and down arrow keys, then press ENTER or Ok (F5). Furthermore, as already explained in the previous paragraphs, once the table is opened, it is possible to move inside with the cursor keys and modify the cells entering in editing mode (pressing the ENTER key), in the required fields.

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6.16 Setup page

The Setup page is used to read and change the system settings (see Fig. 6.129 - Setup Page).

Fig. 6.129 - Setup Page

The Bottom Menu contains the Config. Function (F1) to operate on the Configuration files. In the Pages Area, moving on the icons with the cursor keys, the user can select the required sub-page. Eight sub-pages are available, each one corresponding to a definite setup environment, namely: Arm AUX_AXES ReloadSw Backup Controller (CCS) FB_TOOL Install (FUI) IO_TOOL Login Network ToolFrame

While operating in a sub-page, the name of that sub-page is always displayed at the top right angle of the User Page window.

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6.16.1

Config. Function
Fig. 6.130 - Config. Command

By pressing the Config. key (F1), the user can activate certain functions related to the configuration files (see Fig. 6.130): Save the configuration file (CSA) to save the changes made on the various sub-pages, regarding values of predefined configuration variables; it creates a new configuration file <$BOARD_DATA[1].SYS_ID>.C4G.

For further information about this function, see the System Commands chapter, paragraph CONFIGURE SAVE ALL (CSA).

Load the configuration file (CLA) to load the configuration values contained in file <$BOARD_DATA[1].SYS_ID>.C4G in the corresponding predefined variables.

For further information about this function, see the System Commands chapter, paragraph CONFIGURE LOAD ALL (CLA).

Save configuration of some categories (CSCx) (where 'x' is the Category to be loaded) to save in a file the values, contained in the memory, of predefined variables of certain categories and the related minor categories. When this function is selected, the system displays the screen page shown in Fig. 6.131.

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Fig. 6.131 - Configure Save Category

The user has to select the required category (Save or Load Category), opening the pop-up menu (press ENTER key) for the Category field, selecting and confirming the choice (see Fig. 6.132),

Fig. 6.132 - Category selection

and any sub-categories (Minor Category) for which the configuration is to be saved, selecting or not selecting the relevant checkbox (see Fig. 6.131). Option Rules specifies the rules that the save/load command has to use, to know which objects to save/load. For further details, see PDL2 Programming Language manual - chap.Predefined Variables List - par.$C4G_RULES: C4G Save & Load rules. The user can indicate whether it is wished to save the selected variables in the default file (and in this case only the section relating to the specified categories and minor categories will be updated), selecting item Update Configuration File action button (as shown in Fig. 6.133, highlighted in red),

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Fig. 6.133 - Default configuration file

or if it is wished to create a partial file, containing ONLY the values of the indicated category and sub-category variables. This file will then be used for partial loading of the values in memory or copied on several Controls to uniform certain initialisations. In this case the user has to select Create partial file field and specify the name of the file, confirming with ENTER. There is also the Browse key (F1) to use names of existing files and /or folders (see Fig. 6.134 - highlighted in red).

Fig. 6.134 - Partial File

For further information about this function, see the System Commands chapter, paragraph CONFIGURE SAVE CATEGORY.

Loads the configuration of some categories (CLCx) (where 'x' is the Category to be loaded) to load the values stored in a file in the predefined variables belonging to the indicated category and the related minor categories. When this function is selected, the system displays the screen page shown Fig. 6.135.

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Fig. 6.135 - Configure Load Category

As for the Save configuration of some categories (CSCx), the user can specify the required category and the minor categories of the configuration variables, as well as the Rules and the file where the values related to these variables are to be loaded (configuration file or partial file). Therefore see the Save configuration of some categories (CSCx) for the detailed description on how to proceed. For further information about this function, see the System Commands chapter, paragraph CONFIGURE LOAD CATEGORY.

6.16.2

Arm

Setup commands are available for the following environments: Calib Ieak Mounting Presse Sik StrokeEnd
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After making the required changes, to save the configuration set, press Save (F5).

6.16.2.1

Calib
Involves the availability of a set of commands allowing configuring the current arm according to the user's requirements.

To optionally change the current arm, go to the Motion Page, Basic sub-page.

The softkeys available in the Bottom Menu are: Turn Set (CAT) Calib (CAC) Ret. Mem. (Mem.Ret.) Change

6.16.2.1.1

Turn Set (CAT)

Sets the encoder revolutions counter at the motion software level. Before giving the command, the arm has to be moved to the calibration position (within an encoder turn quadrant). This command is useful in case the pre-setting has been lost, e.g. due to a reading error of the engine revolutions The system has to be in PROGR status (status selector switch on position T1) and the drives must be on and kept so during the entire turn-set operation. The data is saved automatically in NVRAM memory, in the configuration file (<$BOARD_DATA[1].SYS_ID>.C4G) and in the calibration ASCII file (<$BOARD_DATA[1].SYS_ID>_CAL<num_arm>.PDL). To activate the Turn Set procedure, press the key corresponding to the softkey Turn Set (F1). There is a 'User' option (CAT/U) to use the previously obtained User calibration position (see Fig. 6.136).

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Fig. 6.136 - Turn Set command

Through a prompt screen page, the system asks for confirmation from the user before executing the Turn Set operation.

6.16.2.1.2

Calib (CAC)
Executes a calibration procedure on the current arm, either on the whole arm or on specific axes. Before the command is sent, the arm is to be placed in the calibration position. To define the wanted axis, select it (with SHIFT/ENTER) before starting up the procedure. If all axes are selected, the entire current arm is calibrated. This command cannot be used if the selected user profile is not Service. The system has to be in PROGR status and the drives must be on and kept so for the entire calibration operation. The calibration data are automatically saved in the NVRAM memory; in the configuration file (<$BOARD_DATA[1].SYS_ID>.C4G) and in the ASCII calibration file <$BOARD_DATA[1].SYS_ID>_CAL<num_arm>.PDL. The available options, which may be actuated by holding down for long the key corresponding to softkey 'Calib' (see Fig. 6.137), are the following: Learn (CAC/L) Learns the actual position as the user calibration position ($CAL_USER). The learning procedure is executed on all the selected axes. NoSave (CAC/N) No automatic saving is performed of the file .C4G, ASCII calibration file <$BOARD_DATA[1].SYS_ID>_CAL<num_arm>.PDL and calibration data in the NVRAM memory. User (CAC/U) For the calibration position it uses that of the user obtained or assigned beforehand ($CAL_USER). Learn NoSave (CAC/LN) This is a combination of the previous options Learn (CAC/L) and NoSave (CAC/N). User NoSave (CAC/UN) This is a combination of the previous options User (CAC/U) and NoSave (CAC/N).

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TP4i - Setup Page After the wanted option has been selected, acknowledge with ENTER: a user's acknowledgement prompt message is displayed. Answer 'OK' (F5) to start the Calibration procedure; 'Cancel' (F6), to cancel.

Fig. 6.137 - Calibration commands

6.16.2.1.3

Ret. Mem. (Mem.Ret.)

Displays the commands required to load and save the arm data in the NVRAM memory. This allows to read specific data concerning the axes directly from the Controller, and to store the data peculiar to the Arm. The available commands are: Load (CARL) Loads the arm data (calibrated axes mask) and that of the separate axes (axes length, calibration values and calibration constants), from the Controller NVRAM memory. Automatic updating of the configuration file (<$BOARD_DATA[1].SYS_ID>.C4G) and calibration file (<$BOARD_DATA[1].SYS_ID>_CAL<num_arm>.PDL). After acknowledgement of the Load command, the system displays a prompt screen, asking the user to select the wanted checkboxes. can select the 'No file Checkbox (CARL/N) to disable the saving. can select the 'Load File Checkbox (CARL/L) to enable the loading of the data relating to the axes, reading it directly from the calibration file and saving the configuration file <$BOARD_DATA[1].SYS_ID>.C4G in the NVRAM memory. A .COD file is created automatically with the same name as the calibration file (<$BOARD_DATA[1].SYS_ID>_CAL<num_arm>.PDL) that is executed. Save (CARS) Saves axes data from the controller memory to the NVRAM memory and automatically updates the configuration file (<$BOARD_DATA[1].SYS_ID>.C4G) and the calibration file (<$BOARD_DATA[1].SYS_ID>_CAL<num_arm>.PDL). The user can choose whether disabling this automatic updating or not, by means of the No file (CARS/N) Checkbox.

6.16.2.1.4

Change
Allows to modify the $CAL_DATA value for the current arm. Proceed as follows: a. Select the required line, using the up and down arrows

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TP4i - Setup Page b. c. d. press ENTER or Modify (F4) to enter editing mode Make the changes needed Confirm with ENTER or cancel by pressing ESC.

6.16.2.2

Ieak
By selecting the IEAK icon (Interlock External Axes Kit), the user can manage the I/O configuration for the positioners. For further information regarding the IEAK devices, see the Guide to integration, Safeties, I/O, Communications manual.

Before configuring the related I/O signals the leak device has to be enabled on the required Arm (see Fig. 6.138). To do so, move the focus on the corresponding checkbox and press ENTER.

Fig. 6.138 - Ieak sub-page

The commands available in the SETUP environment, to manage the IEAK devices, are: Cnfg (F3) View (F4) Clr (F2) Save (F5) Close (F6)

NOTE FOR THE USER Before starting the Ieak configuration, it is advised to use the View (F4) command to know the current configuration and to avoid an accidental loss of pre-existing configurations or the execution of a configuration on an inconsistent system. If the current configuration is not correct, the user is recommended to carry out a clearing operation (with Clr (F2) command) before proceeding with the new configuration.

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6.16.2.2.1

Cnfg (F3) Fig. 6.139 - Interface selection

To configure the I/O of a Ieak device: a. select the fieldbus concerned - move the focus on the Fieldbus menu and press ENTER to open it. Choose the required Fieldbus and press ENTER (see Fig. 6.139).

a.1 If the Fieldbus is not CANBus, it is also necessary to select the board relating to the selected Fieldbus. To do so, place the focus on the second menu, press ENTER to open it, choose the required board and press ENTER again. b. Press Ok (F3) to start the configuration - the system will automatically configure the I/Os related to the IEAK device, on CanBus module number 3, at physical address 25; at the end of the configuration mapped ports $SDIN/$SDOUT and the signals associated to them are displayed (see Fig. 6.140): name and index of configured port $SDIN/$SDOUT fieldbus name For CAN the following are indicated: module number (CAN module 3) module physical address (@ 25)

For the other interfaces the number of the bit is indicated where the corresponding $SDIN or $SDOUT is mapped (for example: Bit 17) MOTOR ON (input - request to power on the motors of positioner - 1 = request, 0 = no request). It is a signal available on external device (for example on PLC, Control Panel, etc.). No MOTOR OFF (input - request to shut down table motors - 1 = no request, 0 = request). It is a signal available on external device (for example on PLC, Control Panel, etc.). No TIMER MOTOR OFF (input - signal referring to the status of the PILZ safety relay - 1 = idle (no line emergency), 0 = line emergency ). It is an internal signal, therefore it is to be configured on CANBus. This signal goes to 0 when there is an emergency from the line. In this case a timer starts (the time depends on the characteristic value of the arm) expires when the sik associated to the arm is opened.

type of signal

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SIK ON (input - status of SIK device associated to the axis of the arm corresponding to positioner - 1 = SIK closed, 0 = SIK open). It is an internal signal, therefore it is to be configured on CANBus. MOTOR ON/OFF STS (output - status of positioner - 1 = motors on, 0 = motors off). It is a signal available externally. RESTORE (output - used by the system to reset the PILZ safety relay). It is an internal signal, therefore it is to be configured on CAN.

positioner the port is assigned to (e.g.: T.R. 1). Note that it is not the number of the arm, but the order number of the positioner (e.g. Rotating Table) associated to a certain arm.

Fig. 6.140 - I/O configuration for IEAK

By pressing the Next (F6) softkey, the configuration viewing is completed with return to the main screen page of the IEAK Sub-page (Fig. 6.138). WARNING! To make the configuration permanent, the Save (F5) command has to be executed (see Fig. 6.138).

6.16.2.2.2

View (F4)
Pressing softkey View (F4), the user asks to view the current configuration; the system displays, in sequence, the $SDIN and $SDOUT ports mapped for the Arms (and related IEAK devices) in the system. The information displayed is described in item b. of par. 6.16.2.2.1 Cnfg (F3) on page 6-138. An example for two Arms, is shown in Fig. 6.141.

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Fig. 6.141 - View (IEAK configuration for two Arms)

6.16.2.2.3

Clr (F2)
To reset the pre-existing configuration of the positioners. To carry out this reset, it is necessary that at least one IEAK device is enabled on one of the Arms installed in the system. WARNING - pressing this softkey will reset ALL the configurations present, related to IEAK devices.

6.16.2.2.4

Save (F5)
When this softkey is pressed, all the current settings are saved in a permanent manner. When terminated, the system shows a message informing the user that the saving has taken place.

6.16.2.2.5

Close (F6)
Press this softkey, to exit from the IEAK devices sub-page. The system indicates the presence of any data that has not been saved (see Fig. 6.142), but the closing operation continues. It is the responsibility of the user to save before closing the configuration sub-page.

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Fig. 6.142 - Exit with unsaved modifications

6.16.2.3

Mounting
When the Mounting icon is selected, the screen page of Fig. 6.143 is displayed; here it can be declared to the system how the robot is mounted: on ceiling, on floor, on a sloped plane as to the floor, on a sloped plane as to the ceiling.

The mounting on a sloped plane is only foreseen for type NS, NM and SIX robots.

Fig. 6.143 - Mounting sub-page

To declare the type of robot Mounting, proceed as follows (see reference to screen page of Fig. 6.143): a. select the required item in the checkgroup highlighted in red (see Fig. 6.143) move the focus on to the checkbox to be selected and press ENTER to confirm; if the Mounting is SLOPED PLANE type, pass to step b.

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TP4i - Setup Page a.1 if the mounting is SLOPED PLANE TYPE, indicate the slope angle - move the focus on the spindial highlighted in green (see Fig. 6.143), change the value and confirm with ENTER; if the slope is in relation to the floor, pass to step b.; a.2 if the slope is in relation to the ceiling, select the FROM CEILING checkbox (highlighted in yellow in Fig. 6.143); b. save the configuration with the Save (F5) softkey and exit from the Mounting screen page (Close (F6) softkey).

6.16.2.4

Presse
With the selection of the PRESSES icon, the user can configure the parameters of the robots for the automation of the presses (Interpress). These parameters (see Fig. 6.144) are: weight of part to be worked on (kg) distance of part centre of gravity from the flange centre (mm).

Fig. 6.144 - Setup Interpress

6.16.2.5

Sik

For further details regarding the Sik devices, see the Guide to integration Safeties, I/O, Communications manual.

Selecting the SIK icon, the user can manage the $SDIN/$SDOUT signals for these devices. The main screen page of this function is shown in Fig. 6.145. If an Auxiliary Axis or an Arm is displayed with a green background, this means that a Sik device associated to it can be configured. For example, in Fig. 6.145, the Sik on Axis 8 of Arm 1 (highlighted in light blue) can be configured. Conversely, for Arm 2 (highlighted in yellow), the only Sik that can be configured is that of the Robot.

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Fig. 6.145 - SIK devices setup

A Sik device can be activated on auxiliary axes or on robot axes: to each Arm or Auxiliary Axis, 2 $SDIN and 2 $SDOUT are associated, reserved for the corresponding Sik. The $SDIN and $SDOUT signals for the ARMS (Robot), are included between 25 and 32, as indicated in Fig. 6.146.

Fig. 6.146 - $SDIN and $SDOUT for Robot Sik

The $SDIN and $SDOUT signals for AUXILIARY AXES, are included between 65 and 96, as indicated in Fig. 6.147.

Fig. 6.147 - $SDIN and $SDOUT for Auxiliary Axes Sik

NOTE FOR USER Before starting to configure a Sik, it is recommended to use the View (F2) command, to know the current configuration and to avoid an accidental loss of pre-existing configurations or the execution of a configuration on an inconsistent system. The Cnfg (F1) command is to be used, not only to execute an Input/Output configuration, but also to check the configuration at arm/axes level. Only if it is all as it should be, the user can proceed to configure the corresponding Inputs/Outputs, guided by the program. Conversely, if the current configuration is not correct, the user is recommended to execute a clearing operation (see par. 6.16.2.5.6 Reset of previous setup on page 6-148) before starting a new configuration.

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TP4i - Setup Page The controls available to manage the Sik devices in the SETUP environment are: Cnfg (F1) View (F2) Map (F3) Save (F5) Quit (F6)

WARNING For any operation it is wished to carry out (mapping of I/O signals, current configuration display or reset), FIRST OF ALL: a. b. set the required command (combobox highlighted in purple in Fig. 6.145) press Cnfg (F1) to confirm the setting.

In brief, the complete configuration procedure for the Sik is the following: a. b. set the required command (see previous note WARNING), press Cnfg (F1) to confirm the settings for the required command. If it is wished to configure more than one Sik device, return to step a. and carry out the other settings; check that the situation is consistent (View (F2)) and if necessary execute a Reset of previous setup, define the I/O signals that pilot the selected Sik devices (Map (F3)), save the new configuration (Save (F5)).

c.

d. e.

The display of the new configuration (View (F2)) always refers to the LAST SAVING. To view the configuration that has just been executed, FIRST it has to be saved (Save (F5)). A detailed description follows of the functions available in this SETUP sub-page.

6.16.2.5.1

Cnfg (F1)
As already mentioned, pressing this softkey serves to confirm the settings of the comboboxes highlighted in purple in Fig. 6.145. For example, in this figure, pressing Cnfg (F1) confirms that it is wished to manage the Sik associated to Auxiliary Axis 8 of Arm 1. After confirming the settings with this softkey, the system is ready to execute the required command.

6.16.2.5.2

View (F2)
By pressing this softkey the currently SAVED configuration for the selected Sik device can be viewed (see Fig. 6.148). Press softkey Next (F6) to view the entire map.

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It is to be remembered that the display (View (F2)) is always referred to the LAST CONFIGURATION SAVED (Save (F5)) !

The following information is displayed (see Fig. 6.148): number of Arm for each $SDIN / $SDOUT associated to a Sik chosen interface device (in our example Can) logic address of this device (in our example 3) associated PIN (bit number) For each $SDIN / $SDOUT not associated to any Sik, the text <-- Not Map --> is displayed.

Fig. 6.148 - Viewing of current configuration

6.16.2.5.3

Map (F3)
Press this softkey to map two $SDIN and two $SDOUT for each selected Sik on the required interface. The procedure is as follows: a. b. press the softkey Map (F3), choose the required interface board - the system gives the following information (with reference to the example in Fig. 6.149): number of Arm (A) number of any Auxiliary Axis (B) number of current operation (C) in relation to the total number of operations required (D) number of Sik (E). To select the interface, use the menu highlighted in yellow in Fig. 6.149;

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Fig. 6.149 - Choice of interface

c.

press softkey Next (F6) to access the next screen page (Fig. 6.150);

Fig. 6.150 - Choice of I/O ports for Sik

d.

Choose the index of the first $SDIN and the first $SDOUT to be associated to the selected Sik - to modify these indexes, move the focus on the spindial concerned, press ENTER to pass to editing mode (as indicated in Fig. 6.150), change the value and press ENTER again to confirm;

Always make sure that the same I/O indexes are not chosen for different Sik!

e.

press softkey ok (F3) to make the choice of indexes final. If there are more than one mapping operation, the system will show further screen page for choice (see Fig. 6.151); the user has to execute step b. again; if the mapping that has just been executed was the last (or only) request, go to step f.;

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Fig. 6.151 - Another mapping operation

f. g.

the system returns to the main screen page (Fig. 6.145). If it is wished to view the configuration that has just been executed, read carefully the description for the View (F2) command.

It is to be remembered that to make the configuration final (even if only to view it!) it MUST be saved (Save (F5) command ).

6.16.2.5.4

Save (F5)
Press this softkey to conclude the configuration operation, asking for it to be saved. The system saves the new configuration, after which it informs the user with an appropriate message (see Fig. 6.152).

Fig. 6.152 - Saving Sik configuration

Press OK (F5) to return to the main page for the Sik devices.

6.16.2.5.5

Quit (F6)
Press this softkey to exit from the Sik devices environment.

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6.16.2.5.6

Reset of previous setup

To reset the current configuration, proceed as follows: a. from the SIK Setup main screen page, select the Clear command. To do so, move the focus on the central bottom softkey combobox (highlighted in yellow in Fig. 6.153), press ENTER to open it, select the Clear function and press ENTER again to confirm. Press the Cnfg (F1) softkey to confirm the command.

b.

Fig. 6.153 - Previous setup reset

Having reset the previous configuration the start is certainly from a consistent situation.

6.16.2.6

StrokeEnd
By selecting the StrokeEnd icon, the ends of strokes of all the current arm axes can be changed (set on the Motion Page, Basic sub-page).

Fig. 6.154 - StrokeEnd sub-page

6.16.3

AUX_AXES
Selecting the AUX_AXES icon, the user can choose to configure a positioner, an integrated slide or a gantry.

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After making the required changes, to save the configuration set, press Save (F5).

According to the system configuration, the following environments may be present: Positioners (for the configuration of the positioners) SLIDE (for the configuration of the integrated slide) iPortal (for gantries configuration)

Fig. 6.155 - Setup AUX_AXES

6.16.3.1

Positioners
When the Positioners environment is selected, the screen page of Fig. 6.156 is displayed, where the following data has to be selected: Positioner - the positioner index; the C4G system can manage up to 4 positioners Type - the type of positioner to be configured. The choice is between: rotary axes perpendicular axes non perpendicular axes L axes Arm - the arm associated to the positioner to be configured.

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Fig. 6.156 - Positioners configuration

Having made the choice, press ENTER. The system displays the screen page relating to the type of positioner selected (see Fig. 6.157, Fig. 6.158, Fig. 6.159 and Fig. 6.160).

Fig. 6.157 - Rotary axis

On this screen page the user has to specify the maximum radius of the part overall dimensions [mm].

Fig. 6.158 - Perpendicular axesi

The user has to enter the following data:

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TP4i - Setup Page radii R1 and R2 of the maximum overall dimensions of the part to be machined [mm] length of 1st axis (L1) 2nd axis offset (L2)

Fig. 6.159 - Non perpendicular axesi

The user has to enter the following data: radii R1 and R2 of the maximum overall dimensions of the part to be machined [mm] length of 1st axis (L1) [mm] length of 2nd axis (L2) [mm] angle (alpha) between rotation axis of 1st axis and the vertical axis in relation to the positioner base [] 2nd axis offset [mm]

Fig. 6.160 - L axes

radii R1 and R2 of the maximum overall dimensions of the part to be machined [mm] length of 1st axis (L1) [mm] 2nd axis offset (L2) [mm]

After which, to save the configuration entered, press Save (F1). To exit from the Setup

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TP4i - Setup Page environment of the positioners, press Close (F6).

6.16.3.2

SLIDE
To configure the integrated slide, the following parameters have to be inserted (see Fig. 6.160). Height (mm) - the distance between the floor and the robot base (installed on the slide) Slide axis calibration position (mm) Positive Stroke-end and negative stroke-end (mm) Angle - the mounting angle of the robot on the slide, measured anticlockwise from the slide axis to the robot axis Xbase. Integrated - if selected, this checkbox indicates that the slide is managed by the system in integrated mode TX_RATE value - the baud rate value TX_RATE sign - the baud rate sign (Plus / Minus)

Fig. 6.161 - Integrated slide Setup

The user has to enter the required values and confirm with OK (F5). To cancel the changes made, press Close (F6) or ESC.

6.16.3.3

iPortal
In this environment the parameters can be set for the configuration of: Gantry with 3 linear axes Gantry with 2 linear axes Trans-rotary column

6.16.3.3.1

Gantry with 3 linear axes

When the gantries environment (iPortal) is selected, the screen page of Fig. 6.162 is displayed, relating to the type of Gantry installed.

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Fig. 6.162 -

iPortal - Gantry with 3 linear axes

6.16.3.3.2

Gantry with 2 linear axes

On this screen page the user has to specify the type of axis (X, Y and Z), the positive, negative stroke-ends and calibration position for each axis. It is also necessary to specify the mounting angle of the robot on the gantry, and the offset.

Fig. 6.163 - iPortal - Gantry with 2 linear axes

6.16.3.3.3

Trans-rotary column
On this screen page the user has to specify the type of axis (X, Y and Z), the positive, negative stroke-ends and calibration position for each axis. It is also necessary to specify the mounting angle of the robot on the gantry, and the offset.

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Fig. 6.164 - iPortal - Trans-rotary column

On this screen page the user has to specify the positive, negative stroke-ends and the calibration position. Also the following parameters are to be specified: robot mounting angle on column overhanging beam; robot mounting position on column (low/high); height of column [mm]; radius (from column centre to centre of robot base) [mm]; column mounting angle on slide []; column mounting offset on slide [mm].

6.16.4

ReloadSw
To load the software related to: Control Unit (C4G) Teach Pendant (TP)

As shown in Fig. 6.165, the required icon has to be pressed to have access to the related sub-page.

Fig. 6.165 - ReloadSw command

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6.16.4.1

C4G
On this sub-page it is possible to reload the system software and restart the system (see Fig. 6.166). This operation is especially useful to update system software to a new version.

Fig. 6.166 - C4G software loading

The user is allowed to load the system software from the following devices: either From Disk-On-Key (XD:) or From PC (COMP:).

6.16.4.1.1

From Disk-On-Key (XD:)

Procedure to load from Disk-On-Key: a. b. login with Maintenance profile; connect the Disk-On-Key in the USB port on the cabinet door or in port X3 of the SMP board. On the TP the following message is displayed ---- 30888-02 device XD: active; select SETUP - ReloadSw - C4G sub-page; select device XD: ; select type of loading:

c. d. e.

e.1 Full - which loads the system software and the mechanical Data File; copy the appropriate files and run an automatic Restart to make the newly installed basic software operational. Press OK (F5). e.1.1 After the Restart, select: loading device, robot family, presence of any auxiliary axes, type of robot to be installed and related serial number; e.1.2 select the required language; e.1.3 select the motion programming mode (modal, nodal) which should be modal except for a particular user customization wich means, in this context, reserved (the word nodal used here, is in no way related to mode WITH $PAR).

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TP4i - Setup Page e.1.4 Press the Save key. The system saves in the .C4G file. e.1.5 Upon termination, press the End key to execute the automatic Restart. e.2 Upgrade - which loads the new software without changing the system configuration. Press OK (F5). e.3 Data File - to change the system configuration without updating the operating system. Press OK (F5). f. Reset the Latched alarm if necessary (see par. 6.9.3 Latched on page 6-61).

WARNING: selecting the 'FULL' and 'DATA FILE' items, the .C4G file is deleted, and, after Restart, the system is put to minimum configuration. If it is intended to recover some data in the .C4G file (for example I/O configuration), before pressing OK (F5), execute a CONFIGURE SAVE CATEGORY of the required category, specifying a file name as the destination for the saving (for example IO_CONF.C4G). After loading the new software version, execute a CONFIGURE LOAD CATEGORY of the previously saved file (IO_CONF.C4G in the previous example). For further information regarding these two functions, see chapter System Commands, paragraphs CONFIGURE LOAD CATEGORY and CONFIGURE SAVE CATEGORY.

6.16.4.1.2

From PC (COMP:)
In this modality, before choosing the SETUP - ReloadSw - C4G sub-page, the described below operations are to be carried out, from step a. to step e. . a. Run the WinC4G program on PC; WinC4G has to be connected and the transfer folder has to be correctly set to search for the files to be updated. To do this, proceed with the following steps: on PC select the file transfer directory, (where the software to be loaded is installed); set the Control address (for example 172.22.178.41) in the TCP-IP box. This address can be read from the Teach Pendant Home Page; connect to the Controller with Maintenance Login profile, from the File Connect menu (or icon); to complete the procedure, use the Teach Pendant as described in the previous par. 6.16.4.1.1 From Disk-On-Key (XD:) on page 6-155, selecting the loading device COMP: instead of XD:.

b.

c.

d.

e.

6.16.4.2

TP
On this sub-page it is possible to reload the Teach Pendant software, basic software (BSP) and/or User Interface software (see Fig. 6.167).

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TP4i - Setup Page

A special case is the loading of versions prior to the TP4i software (see par. 6.16.4.2.3 Loading of TP4i software versions prior to the currently installed on page 6-158).

Fig. 6.167 - TP software loading

First of all, check the Teach Pendant BSP version on the Service Page - Sysinfo (SCV), selecting the line BSP of TP Version. If the version is different from either 2.0/18 (for TP4i) or 1.5 (for WiTP), execute the following procedure for Teach Pendant BSP loading; otherwise directly go to the User Interface software loading (SW TP) procedure.

6.16.4.2.1

Teach Pendant BSP loading

The procedure to load the Teach Pendant BSP is the following: a. b. select this sub-page (SETUP - ReloadSw - TP); select the loading device: if the Teach Pendant is TP4i, select XD: to load from disk-on-key, COMP: to load from WinC4G; if the Teach Pendant is WiTP (wired or wireless), select TX: ; select the Reload button of the TP BSP, and press ENTER to confirm; answer OK to the question asking if the user wishes to reload the BSP of the TP. After loading, a message is displayed to inform the user that the BSP has been successfully copied; DO NOT RE-START FOR WiTP, regardless of whether with or without wire, to avoid problems occurrence. If the Teach Pendant is a TP4i it has to be restarted; the user must confirm the restart command as soon as the system asks for that; load the TP software, as described in the following paragraph User Interface software loading (SW TP).

c. d.

e.

f.

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6.16.4.2.2

User Interface software loading (SW TP)

The procedure to load the TP User Interface software is as follows: a. b. select SETUP - ReloadSw - TP sub-page; select the loading device: XD: to load from disk-on-key, COMP: to load from WinC4G; select the Reload button of the TP software and press ENTER to confirm; answer OK (F5) to the question asking if the user wishes to reload the TP software. After loading, a message is displayed to inform the user that the TP software has been successfully copied; restart the Teach Pendant in the following ways:

c. d.

e.

e.1 if the Teach Pendant is a WiTP Wireless: e.1.1 unpair the WiTP e.1.2 restart the WiTP by means of the "Restart TP" button; e.1.3 shut down the C4G by means of the Controller Main Switch (this is only needed when BSP has been reloaded). e.2 If the Teach Pendant is a wired WiTP: e.2.1 if the BSP has been previously reloaded, shut down the C4G by means of the Controller Main Switch, otherwise answer affirmatively to the question about restarting the Teach Pendant. e.3 If the Teach Pendant is a TP4i: e.3.1 answer affirmatively to the question about restarting the Teach Pendant; f. check, in the Service Page - Sysinfo (SCV), that the version of the TP SW, the TP BSP and the C4G software have been properly updated.

6.16.4.2.3

Loading of TP4i software versions prior to the currently installed

This procedure, only necessary for TP4i, is used when a Teach Pendant has to be replaced with another that has a more recent software version. It is assumed that the BSP version is 2.0/18 or later (otherwise, use the standard procedure). Execute the following steps: a. Make sure that in the LD:\TP4i folder there is the libtp4i.so file (otherwise copy it from the Files Page or WinC4G, taking it from the delivered software version); select C4G (LD:/TP4i) as the device from which the software is to be loaded (see Fig. 6.168)

b.

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Fig. 6.168 - Previous version loading (sw TP4i)

c.

select the Reload button of the Teach Pendant SW (see Fig. 6.167) and press ENTER to confirm. Confirm the operation with OK (F5). After loading, a message informs the user that the procedure has been successfully completed. Restart the Teach Pendant (see par. 6.2.1.6 Keys to restart the Teach Pendant on page 6-14).

d. e.

f.

For the WiTP (both Wired or Wireless versions) use procedures Teach Pendant BSP loading and User Interface software loading (SW TP) procedures.

6.16.5

Backup
This environment is used to set the SaveSet and the Device for the Backup / Restore operations. DO NOT EXECUTE THESE OPERATIONS: to do so it is necessary to access Files Page, command Utility (F4), Backup (FUB). The following setup commands are provided for these functions: Backup Restore Device

6.16.5.1

Backup
Displays the Savesets actually defined in the system in order to carry out the backup operation (see Fig. 6.169). If the user wishes to change one or more fields of the sub-pages, the procedure is as follows:

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TP4i - Setup Page a. b. c. d. press the down arrow to move the focus on the first field press ENTER to open the field in editing mode insert the changes confirm with ENTER or cancel by pressing ESC.

Fig. 6.169 - Backup command

Every Saveset holds information concerning device, files and sub-directories to be copied towards the default backup device (which is displayed in the sub-page Device). The user can define some new Savesets, up to 8 as a maximum. The value displayed in the IDX column is the index of the predefined variable $BACKUP_SET[ ]. The string displayed in the NAME column includes the name of the Saveset that is put forward by the system during the backing-up operation carried out in the Files Page, sub-page Utility (F4) - Backup (FUB). Profile is the content of this Saveset.

6.16.5.2

Restore
Displays the Savesets actually defined in the system in order to carry out the restore operations (see Fig. 6.170).

See NOTE regarding the entry number in the UD: root directory.

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Fig. 6.170 - Restore command

Every Saveset holds information concerning device, files and sub-directories to be restored. The device available for the file reading is displayed in the sub-page Device. The user can define some new Savesets, up to 8 as a maximum. The value displayed in the IDX column is the index of the predefined variable $RESTORE_SET[ ]. The string displayed in the NAME column indicates the Saveset name that is presented by the system during the restore operation performed on the Files Page, sub-page Utility (F4) - Restore (FUR). Profile indicates the content of this Saveset.

6.16.5.3

Device
Allows to set the default device required for the backup/restore operations.

6.16.6

Controller (CCS)
On this sub-page the following operations can be carried out: Viewing/modification of the ID of the Control Unit associated to the Teach Pendant (field C4G ID in Fig. 6.171) stored in the pre-defined variable $CUSTOM_CNTRL_ID. The user can change it by moving the focus onto this field, pressing ENTER, typing the required string and confirming with ENTER; set the name of the startup program that is run every time there is a system restart (STARTUP field in Fig. 6.171). This program may be holdable or not holdable; the running of a holdable program only start when the START pushbutton is pressed. The name of the startup program is stored in the pre-defined variable $STARTUP To edit it, the user has to move the focus onto this field and press ENTER; after typing in the required string it has to be confirmed with ENTER.

If no program name is sent with this command, the contents of variable $STARTUP are reset, therefore, if the setting is saved, no startup program will be run when the Controller is activated

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Fig. 6.171 - Controller sub-page

In this sub-page it is also possible to change the date and time of the Control Unit (Hour:, Min: and Sec: fields for TIME and Day:, Month: and Year: fields for DATE in Fig. 6.171).

6.16.7

FB_TOOL
Open the configuration environment of the Fieldbuses, written in VP2 language. For further information see Chap.12. - FB_TOOL program for configuration of Fieldbus.

6.16.8

Install (FUI)
Allows to install the specified application. The user has to select the device, where the files of the software to be installed must be read (Combobox) as well as the name of the wanted application. The path of the search directory is stored in the preset variable $FUI_DIRS.

Fig. 6.172 - Install command

6.16.9

IO_TOOL
Open the configuration environment of the I/Os, written in VP2 language. For further information see Chap.13.1 - IO_TOOL Program - I/O Configuration in VP2.

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6.16.10

Login
Displays the logins actually defined in the system.

Fig. 6.173 - Login sub-page

The following information is displayed: Username Startup - flag indicating whether this login is used or not upon the system restart. Profile - user profile associated with this username

The following functions are available in the Bottom Menu: User Startup (CCLS)

6.16.10.1

User
Allows to add / cancel the configured users. To run these commands, the user must be logged with Administrator profile. The available commands are: Add (CCLA) Adds a User (Login). The operator is asked to specify Username, Password and User Identifier (User ID). Besides, the user profile has to be defined. In case the user does not give the requested information, the default privileges are used. Delete (CCLD) Cancels the selected user from the system database.

6.16.10.2

Startup (CCLS)
Enables/disables the selected login to be used upon the system restart.

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Fig. 6.174 - Setup of start Login

To get this change active, the command Save the configuration file (CSA) must be given. Only one startup Login at a time is possible.

6.16.11

Network
Relates to the network settings active on the Control Unit. The following data is displayed: network address (IP) for the SMP board mask for local network (subnet mask), for the SMP board gateway on SMP MAC address of the Ethernet ports on the system network address (IP) on SMP backplane network address (IP) on MCP backplane gateway inlet on MCP board

Fig. 6.175 - Network sub-page

The user is allows to modify only the two first fields. The other fields are read-only. To make any changes effective, run the Save the configuration file (CSA) command. Through the checkbox (highlighted in red in Fig. 6.176), the user can specify whether the DHCP function is to be used to automatically receive the IP address, the subnet

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TP4i - Setup Page mask and the gateway address, from a DHCP server. Warning: changes made on the DHCP selection are only executed at the next restart

Fig. 6.176 - Use of the DHCP function - 1

To use this function, the user has to move the focus on the checkbox and confirm with ENTER (see Fig. 6.177).

Fig. 6.177 - Use of the DHCP function - 2

In this case all the fields become read-only, therefore the network settings are managed by the system only. The use of the DHCP function requires: a DHCP server on the network sufficient rights to authorise the change of the network addresses. Further information is contained in the Guide to Integration, Safeties, I/O, Communications manual, paragraph Configuration with dynamic address (DHCP). System with SMP+ board If the system has an SMP+ board (and therefore there is NO MCP board), the data shown in the Network sub-page is only that shown in Fig. 6.178.

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Fig. 6.178 - Network sub-page for system with SMP+

The checkbox for the activation of the DHCP function is shown in Fig. 6.179 (highlighted in red); the use is the same as described previously in Fig. 6.176 and Fig. 6.177.

Fig. 6.179 - System with SMP+ - use of DHCP function

Warning: changes made on the DHCP selection are only executed at the next restart.

6.16.12

ToolFrame
Activates the TO_SET program to manage the tools. TO_SET is an environment to calculate the $TOOL, $UFRAME, $AUX_BASE values of the positioners and to configure the Conveyor, in a guided and automatic mode. It also offers the user the possibility to run the payload identification procedure (optional feature - please refer to Motion Programming manual) for a correct definition of the load parameters used.

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Fig. 6.180 - TO_SET program

Not already installed, use the Install (FUI) sub-page, selecting the TO_SET application and confirm with Install (F5). After installation the system informs the user that the TO_SET program is correctly installed and can be used. For further details concerning the use of this program, please refer to Motion Programming manual, Chapter TO-SET PROGRAM- TOOL MANAGEMENT.

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6.17 Service Page

This User Page is the starting point for the service operations. It consists of 3 sub-pages, which may be selected through their corresponding labels: Execute (E) Sysinfo (SCV) Arm Multiarm

After positioning on the desired sub-page label, to enter the fields just press the arrow down key. To change sub-page, press ESC to return to the labels and select the one that is needed. For the WiTP wireless there is a further sub-page that indicates the current state of the battery: Battery.

6.17.1

Execute (E)
Fig. 6.181 - Execute command

This sub-page is used to execute an instruction without the need to have it in the body of the PDL2 program. The following fields can be edited: Execute is a Combobox to contain the instruction to be executed. Usually this instruction is to have a brief duration, however it is possible to insert more than one instruction in this field, separating them by ';' (semi colon). To use the Execute command, proceed as follows: a. b. first of all, move the focus onto this field and confirm with ENTER press the down arrow key: a list of predefined choices is displayed, to facilitate the insertion of the instructions select and confirm with ENTER. The instruction to be executed can also be keyed in directly to activate the proper execution, press (briefly) the Exec softkey (F1) in the Bottom Menu (see Fig. 6.181).
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d.

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TP4i - Service Page During execution the '^C' softkey (F2) is available in the Bottom Menu that interrupts the execution if necessary. Context Program an option that can be activated by the Exec key (F1) (press for a long time).

It is only specified when the instruction to be executed contains references to predefined variables (preceded by $, like $CYCLE) belonging to the Program Stack category (see PDL2 Programming Language manual, chapter PREDEFINED VARIABLES LIST). If a Context Program is specified (name of a PDL2 program), the pre-defined variable will belong to it. If this program is not active, an error will be generated. If instead no Context Program is specified, the predefined variables of the program stack type will be those of the virtual EXECUTE program, that are only valid for the duration of the command.

6.17.2

Sysinfo (SCV)
Fig. 6.182 - Sysinfo sub-page

Displays the following information:

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version of the system software name of the configuration file robot model associated to each arm and number of joints present indicates whether the MCP board is the standard one or the one for Seam-Tracking startup file ($STARTUP) system identifier (SYS_ID) TCP/IP address software hour meter that indicates the number of operating hours in DRIVE ON identification of the PC currently connected to the System via WinC4G users performing the login from the Teach Pendant and from WINC4G default arm default communication gateway system default devices for the backup and for the PDL2

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TP4i - Service Page DSA-MPC software version (for each of the Arms) type of DSA-DSP (for each of the Arms) DSA-DSP version (for each of the Arms) C4G operating system version (BSP) information regarding the latest system software compilation CAN bus software version SWIM software version (slot 1 and slot 2) Fieldbus software version (slot 1 and slot 2) TP hardware version TP operating system version (BSP) TP User Interface Software version any options list of foreseen optional services, with indication whether each of them is enabled or not motor data for each Axis of each Arm.

6.17.3

Arm
Fig. 6.183 - Arm sub-page

Includes some information much more specialized than those included in the Basic sub-page of Motion Page, as far as the various axes are concerned (see Fig. 6.183). The read-only data in question are: Currents - indicates the current of the axis motor (expressed in ampere) Follow - indicates the error between the current position of the axis and the wanted one, expressed in motor revolutions Revolution - indicates the current position of the axis, expressed in motor revolutions Temperat. - indicates the temperature of the motor relating to that axis, as a percentage of the ratio between the mean value absorbed and the motor characteristics. More precisely, the formula used to calculate this datum uses the square of the motor mean current draw and the square of the characteristic of the motor itself.
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TP4i - Service Page Joints Pos. - indicates the current joints position of each axis of the current arm

The Controller mean drawn power is also displayed in KVA.

6.17.4

Multiarm
Fig. 6.184 - Multiarm sub-page

Displays the current position (in joints and in Cartesian mode) of all the axes of all the arms on the system. The maximum number of axes that can be displayed is 40.

6.17.5

Battery
This sub-page is only present if the Teach Pendant is WiTP wireless type.

Fig. 6.185 - Battery sub-page

It contains the following information: Charge status - the possible states are: Critical Critical - being charged Low Low - being charged High High - being charged.

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If there is a battery malfunction the text "Status not valid" may be displayed.

Charge remaining - percentage compared to full charge. Life - estimate of remaining duration of battery, in hours and minutes; when the battery is being charged , the field will always show "Not available". Voltage - battery voltage in Volts. Current - instantaneous input current (battery being charged) or in output (battery supplying TP) of the battery, in milliamperes (mA). It is always an absolute value. Complete available charge/discharge cycles for which maximum battery efficiency is guaranteed ; over this threshold performance could be less. Complete performed charge cycles.

When the charge drops below 8%, the system asks the user to place the WiTP in the docking station, otherwise it is no longer possible to use it.

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6.18 TP-INT Page

This page emulates the user interface of the WinC4G terminal on the Teach Pendant. Access to the TP-INT page takes place pressing the key related to the corresponding softkey in the Left Menu.

Fig. 6.186 - TP-INT Page

Exiting the TP-INT page is obtained by pressing the TP-INT softkey again. This paragraph describes the following topics in details: Navigation among commands Virtual Keyboard

6.18.1

Navigation among commands

To navigate among commands, two methods may be followed: a. by using the cursor keys to select the wanted command, then pressing ENTER to confirm or ESC to return back (without execution of the selected command); or by pressing the function key 'F1-F8' (displayed in the Bottom Menu) and then using the cursor keys to select the wanted key Fx, and finally confirming with ENTER; ESC closes the menu F1-F8.

b.

The F1-F8 menu indispensable to navigate from the TP4i in the EDITOR environments (Filer Edit, Program Edit and Memory Debug), however advised to use only from WinC4G environment. To navigate in the system menus, the use of the method described at item a. is recommended.

For the meaning and use of commands, please refer to the Chap. System Commands.

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6.18.2

Virtual Keyboard
The most frequently used keys are listed in the Bottom Menu (Run, ^C, SCRN, MOD). In TP-INT environment there is a Virtual Keyboard (abbreviated in VK) that makes available also the keys of the previous Programming Terminal Unit (PTU) that no longer exist on the current Teach Pendant (TP4i / WiTP). The VK-ON softkey, present in the Bottom Menu, enables the Virtual Keyboard.

Fig. 6.187 - Virtual Keyboard

The keys pertaining to the VK are vertically displayed on the right hand of the page, and horizontally above the Bottom Menu To navigate on the Virtual Keyboard, use the cursor keys and acknowledge with ENTER. As for any other sub-environment, when the Virtual Keyboard is active, the cursor is placed over it. To act in other fields, not pertaining to the VK (as for selecting a command, writing a text, etc.), has to be closed before pressing VK OFF.

Rec in editing environment, it inserts a move instruction, the declaration of the corresponding position variable that is assigned the current arm position. Opt to view and use the options of the selected command, where foreseen. EZ pressing this softkey activates/deactivates the EZ program. Mode switches over between CODE and DATE modes of the Edit Program. Sel the cursor is moved onto the window where a program is waiting for an input from the keyboard (e.g. READ instruction). Del calls the Delete Line command of the program editor . Cut deletes the program lines that have been selected with the Mark key.

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Copy in editor, the program lines previously selected with the Mark key are stored in a buffer. Undel calls the Undelete Line command of the program editor. Mark used in editor to select program lines. Paste in editing environment, inserts the program lines selected with Mark and Copy keys in the current cursor position. Srch searches for the first insertion of a string in the program text. S.Nxt searches for the next insertion of the string searched for, previously set by the Srch software key. Scrl interrupts/resumes the scrolling of information on the display. Char displays the characters menu. The characters menu has two levels: the first level is to select a series of characters, whereas the second level is used to select a specific character. The characters menu is active when data is being entered into the selected field. A1 and A2 keys available for the applications. Excl only active in programming mode. If the axis is taken over the electric stroke-end, an error message is displayed and the robot is set in DRIVE OFF. To exit from this situation, press the Excl key, set the system in DRIVE ON and move the axis in the opposite direction to the stroke-end. Over the bottom Menu there are:

These keys provide for an additional visual information, indicating whether the corresponding function is active or not: green light = function active, grey light = function not active. There are 8 keys, namely: Fly - in the programs editing environment, enables and disables the association of the FLY to MOVE clause picked up with the REC key Xtnd, Jntp, Pos - allow to modify the input variable type by pressing the REC key in program editing environments. According to the pressed key, variables of the following types may be selected: XTNDPOS, JNTPOS or POSITION. Circ, Lin, Jnt - allow to modify the path type in program editing and debugging environments, for the setting of the REC key. On the following pressure on the REC key, a CIRCULAR, LINEAR or JOINT clause is put in the MOVE instruction. Sync - to enable or disable the use of the SYNCMOVE, in the REC key setup (corresponds to the MemoryDebugSetupSyncEnable or MemoryDebugSetupSyncDisable command).

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Any other operation regarding the REC key setup for the SYNCMOVE, is to be executed by means of the MemoryDebugSetupSync command.

The pressure on any VK key causes the VK immediate closing. To use any VK key again, first open the VK environment (VK-ON key). Note that also pressing 'F1-F8' function key causes the immediate closing of the VK and the cursor moving to the F1 key.

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6.19 Additional User Pages

The TP4i Teach pendant software allows personalised User Pages to be added (that use screen pages created with PDL2 programs) with the related softkey in the Left Menu. To use the personalised Page, the user has to produce an XML file to specify the Page in question and to create the corresponding icon for its activation. The pre-defined name and search path for this file are: UD:\sys\pages.xml The file contents are indicated in the example below. The fixed parts that must be inserted by the user are highlighted in bold print. Line 1 2 3 4 5 6 7 8 9 10 11 </config> Note that: the <config>...</config> block (lines 2 to 11) may contain more than one <page>...</page> identification block and corresponding icon definition of a new User Page. <name>...</name> (line 4) to indicate the name of the new User Page <program-name>...</program-name> (line 6) to indicate the name of the PDL2 program within which the screens have been created. <screen-id>...</screen-id> (line 7) to indicate the ID of the screen referred to: scrn_user (default User Screen) or other screen defined by the user; in this case it is necessary to insert the name of a variable that contains the ID of the screen returned by the built-in SCRN_CREATE. This variable is to be declared in the program specified as <program-name> <icon>...</icon> to specify the name of the file that contains the icon to be associated to the new User Page. The default icon is userscreen.gif. If the user wishes to have a personalised icon, the name and search path have to be specified. </page> </options> <icon>userscreen.gif</icon> <preload>false</preload> <discard>false</discard> <?xml version="1.0"?> <config> <page> <name>Gripsel</name> <class>tpint.ScreenWindow</class> <options> <program-name>gripsel</program-name> <screen-id>scrn_user</screen-id> XML file Content

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If PDL2 applications have to be used that were created for the previous C3G Controller, also the Bottom Menu softkeys have to be reduced from 8 to 6. For further information see the PDL2 Programming Language Manual, Chap. TRANSITON FROM C3G TO C4G CONTROLLER.

Before using the icon of the personalised User Page, it is necessary that the program referring to the Page is already active. It is a good practice to insert its activation in the Startup.

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7.

SYSTEM COMMANDS

7.1 Introduction
This chapter describes the system commands available for the C4G Control Unit. The commands described can be entered from the following interfaces: PDL2 program - using the pre-defined SYS_CALL routine From PC - WinC4G program, Terminal window menu From TP - menu of commands from TPINT

The items of the commands are shown here in the most extended form, as they are seen on the WinC4G screen page. On the other hand, on the TPINT page of the Teach Pendant, they are shown in a short form: 4 characters for each command. Fig. 7.1, shows the WinC4G Terminal windows and the TPINT page of the Teach Pendant.

Fig. 7.1

- Commands window on PC (WinC4G) and on TP

(1) - TPINT page on TP4i Teach Pendanti (2) - Terminal window on WinC4G

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System Commands In particular, the following are dealt with: Commands sent from menu on TP (TPINT page) or from WinC4G (Terminal window) Program commands sent via SYS_CALL Wildcard use Command options Viewing and NOPAGE option Access to the control (login) Directories Description of commands HELPIO program Types of files available in the System.

7.2 Commands sent from menu on TP (TPINT page) or from WinC4G (Terminal window)
The following subjects are dealt with in this paragraph: Command selection Typing-in the characters Call-up of recently used parameters (History)

7.2.1

Command selection
The commands can be entered using one of these methods: using the cursor keys. Enter it using the ENTER key. After the selection, another menu of commands or a brief description of the command is displayed over the selected item. The selected command is only executed after the ENTER key has been pressed. On the PC screen and on the teach pendant, disabled or protected menu commands are shown with the first letter in low case, whereas all the commands that are available have the first letter in high case. Press the function keys (F1 - F8) on the PC keyboard or on the teach pendant to execute the corresponding command. For example, if F2 is pressed, DISPLAY from the main menu will be executed. Press the key that corresponds to the first letter of the command, only for WinC4G Terminal. For example, if D is pressed, DISPLAY from the main menu will be executed.

In some cases, after a command has been sent, prompts, called parameters, are shown that require additional information. For example, PROGRAM GO displays a prompt that requires a program name. To enter the parameters in answer to a prompt, use the alphanumeric keys of the PC keyboard or the characters menu of the teach pendant. Furthermore, for many commands it is possible to select the parameter (file, program, I/O point, etc.) from a list supplied by the system after the HELP key near the prompt is
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System Commands pressed; to scroll the list use the cursor keys and the ENTER key Besides which, for some commands, if the HELP key is pressed following the introduction of one or more characters after the prompt, only the parameters with the initials of the characters introduced will be displayed. To exit from the HELP window without selecting any parameters, press ESC. To return to the command prompt, press SHIFT ESC to return to the main menu. For files, there is also the possibility to select the name of the device to be specified together with the file name by pressing ENTER at <device> that is displayed as the first item on the list of the possible files. The answer to a parameter prompt is to be typed before pressing ENTER. To move the cursor on the answer line, the arrow keys can be used to the left or to the right. The delete key removes the character situated immediately before the cursor, whereas the arrow keys to the left and to the right if pressed together with SHIFT move the cursor to the start and to the end of the answer.

7.2.2

Typing-in the characters

On PC use the keyboard. On the TP4i Teach Pendant there is an alphanumeric keypad that functions in the same way as one of the most common standard mobile telephone keypads. In detail: The bottom right key (to the right of '0') serves to set the mode to use the keypad. Each time this key is pressed, the mode is changed, in sequence, between alphabetical, high case (ABC) alphabetical, low case (abc) numerical (123) The current mode is shown on the status bar of the TP display (last field on the right). Special characters are activated by pressing '1'; the only special characters that can be typed directly are the '-' symbol (bottom left key) and the '.' symbol (bottom right key).

7.2.3

Call-up of recently used parameters (History)

The upward arrow key is used to call the last ten parameters entered for the command category they belong to. This avoids rewriting the same parameter for several commands.

7.3 Program commands sent via SYS_CALL

The predefined PDL2 SYS_CALL routine can be used to execute most of the commands described in this chapter from the program, except those which require direct interaction with the user (for example, Program Edit). For the same reason the requests for confirmation are not displayed and the default answer for that command is assumed. The codes that are shown in brackets, next to the title of each command, are those to be specified as first parameter for the SYS_CALL. The parameters required by each command have to be specified as STRINGS (for example: SYS_CALL ('ML' , 'pippo') ).

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For further details regarding the syntax of this instruction, see the PDL2 Programming Language manual.

7.3.1

Option /4 to view in the 40 columns

The /4 option serves to format the displays so that the information shown does not exceed a width of 40 columns. This option is only available from SYS_CALL and only for those commands that, if not forwarded by teach pendant, display data that covers over 40 columns. This option can be very useful in SYS_CALL to the TP-INT Page.

7.4 Wildcard use

The wildcard (*) can be used in a parameter to substitute the beginning, the end of the entire parameter. It permits one command to act on several items. For example, MEMORY LOAD (ML) requires a program name parameter that can be substituted with a wildcard as shown below: ML * ML arc* loads all the programs loads all the programs that start with arc

For each parameter only one wildcard can be used (*arc* generates error). This character cannot be inserted inside the parameter (a*rc generates error).

7.5 Command options

For some commands there are options available. If a command has options, the code '(OPT)' is shown after the prompt that requires the last parameter. The slash (/) separates the option from the command. For example: FC/C -- FILER COPY with option CONFIRM

On TP-INT, when the Virtual Keyboard is activated and the OPT key pressed, the options are displayed that are associated to the command; on PC, this is obtained by pressing the slash key (/). To navigate among the various options, use the cursor keys, then select with the ENTER key. If an option that is already displayed is requested, the option is removed. For further information about the options, see the descriptions of the individual commands.

7.6 Viewing and NOPAGE option

The commands to view information direct the output by default to the scrolling window of the system screen on the device used; therefore: for the TP-INT page, to the window identified by LUN_TP for the WinC4G Terminal, to the window identified by LUN_CRT

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System Commands for SYS_CALL, to the window identified by LUN_TP (unless the predefined $SYS_CALL_OUT variable is changed, a copy of which exists for every PDL2 program) When the information called by a certain command occupies more than one page, the display is held at the end of the page until the user presses a key (no matter which) to show the next page of information. From WinC4G the lines can be scrolled one at a time by pressing the space bar of the PC keyboard. Commands that show more than one page of information have the /NOPAGE option used to scroll all the information without pauses at the end of the pages.

7.7 Access to the control (login)

To obtain access to the C4G Control Unit from a certain device (Teach Pendant or WinC4G program from PC), a Login is necessary, otherwise the only commands available are those for displays. A detailed description of the operations needed is contained in Chap. Access to the Control (LOGIN/LOGOUT).

7.8 Directories
The directories (up to 8 depth levels) are managed on the C4G Controller. The specification of the directory and the associated device follow the MS-DOS syntax: <name of device>:\<directory> For example: UD:\directory\filename The directory and the default device used by the commands are set in a field of the $DFT_DV variable. The default directory can be changed using the command Filer Utility Directory Change that only has effect on the device that the command is sent from (teach pendant or Personal Computer with WinC4G active). Therefore it could happen that on the teach pendant a certain default directory is set, and on the PC it is another, and so the Help shows two different directory contents (on the two different devices).

7.9 Description of commands

The menus are collected in the following branches: CONFIGURE branch DISPLAY branch EXECUTE command (E) FILER branch MEMORY branch PROGRAM branch SET branch UTILITY branch

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System Commands The following table lists all the commands available, in alphabetical order. The string of characters that, in most cases, is shown in brackets, is the code of the first parameter to be used if the corresponding command is to be sent from SYS_CALL . If the code is not displayed, the command cannot be called from SYS_CALL. Command and code for the first SYS_CALL parameter CONFIGURE ARM CALIBRATE (CAC) CONFIGURE ARM RETENTIVE MEMORY LOAD (CARL) CONFIGURE ARM RETENTIVE MEMORY SAVE (CARS) CONFIGURE ARM TURN_SET (CAT) CONFIGURE ARM VIEW_CAL (CAV) CONFIGURE CONTROLLER LOGIN ADD (CCLA) CONFIGURE CONTROLLER LOGIN DELETE (CCLD) CONFIGURE CONTROLLER LOGIN STARTUP (CCLS) CONFIGURE CONTROLLER LOGIN VIEW (CCLV) CONFIGURE CONTROLLER RESTART COLD (CCRC) CONFIGURE CONTROLLER RESTART RELOAD DATAFILE (CCRRD) CONFIGURE CONTROLLER RESTART RELOAD FULL (CCRRF) CONFIGURE CONTROLLER RESTART RELOAD UPGRADE (CCRRU) CONFIGURE CONTROLLER RESTART SHUTDOWN (CCRS) CONFIGURE CONTROLLER STARTUP (CCS) CONFIGURE CONTROLLER TIME (CCT) CONFIGURE CONTROLLER VIEW (CCV) CONFIGURE LOAD ALL (CLA) CONFIGURE LOAD CATEGORY CONFIGURE LOAD CATEGORY ARM (CLCA) CONFIGURE LOAD CATEGORY CONTROLLER (CLCC) CONFIGURE LOAD CATEGORY DSA (CLCD) CONFIGURE LOAD CATEGORY IO (CLCI) CONFIGURE LOAD CATEGORY RETENTIVE (CLCR) CONFIGURE SAVE ALL (CSA) CONFIGURE SAVE CATEGORY CONFIGURE SAVE CATEGORY ARM (CSCA) CONFIGURE SAVE CATEGORY CONTROLLER (CSCC) CONFIGURE SAVE CATEGORY DSA (CSCD) CONFIGURE SAVE CATEGORY IO (CSCI) CONFIGURE SAVE CATEGORY RETENTIVE (CSCR) DISPLAY ARM CURRENTS (DAC) DISPLAY ARM DATA (DAD)
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Command and code for the first SYS_CALL parameter DISPLAY ARM FOLLOWING (DAF) DISPLAY ARM JOINT (DAJ) DISPLAY ARM POSITION (DAP) DISPLAY ARM REVOLUTIONS (DAR) DISPLAY ARM STATUS (DAS) DISPLAY ARM TEMPERATURE (DAT) DISPLAY CLOSE ARM (DCA) DISPLAY CLOSE INPUT (DCI) DISPLAY CLOSE OUTPUT (DCO) DISPLAY CLOSE PROGRAM (DCP) DISPLAY CLOSE RESPLC (DCR) DISPLAY CLOSE SELECT (DCS) DISPLAY CLOSE TOTAL (DCT) DISPLAY CLOSE VARS (DCV) DISPLAY FIELDBUS MASTER (DFM) DISPLAY FIELDBUS SLAVE (DFS) DISPLAY INPUT AIN (DIA) DISPLAY INPUT DIN (DID) DISPLAY INPUT FMI (DIF) DISPLAY INPUT GIN (DIG) DISPLAY INPUT IN (DII) DISPLAY INPUT SYSTEM (DIS) DISPLAY OUTPUT AOUT (DOA) DISPLAY OUTPUT DOUT (DOD) DISPLAY OUTPUT FMO (DOF) DISPLAY OUTPUT GOUT (DOG) DISPLAY OUTPUT OUT (DOO) DISPLAY OUTPUT SYSTEM (DOS) DISPLAY PROGRAM (DP) DISPLAY RESPLC (DR) DISPLAY VARS BIT (DVB) DISPLAY VARS WORD (DVW) EXECUTE command (E) FILER COPY (FC) FILER DELETE (FD)
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Command and code for the first SYS_CALL parameter FILER EDIT FILER PRINT (FP) FILER RENAME (FR) FILER TRANSLATE (FT) FILER UTILITY ATTRIBUTE HIDDEN (FUAH) FILER UTILITY ATTRIBUTE READONLY (FUAR) FILER UTILITY ATTRIBUTE SYSTEM (FUAS) FILER UTILITY BACKUP (FUB) FILER UTILITY RESTORE (FUR) FILER UTILITY COMPRESS DELETE (FUCD) FILER UTILITY COMPRESS EXTRACT (FUCE) FILER UTILITY COMPRESS MAKE (FUCM) FILER UTILITY COMPRESS VIEW (FUCV) FILER UTILITY DIRECTORY CHANGE (FUDC) FILER UTILITY DIRECTORY DELETE (FUDD) FILER UTILITY DIRECTORY MAKE (FUDM) FILER UTILITY INSTALL (FUI) FILER UTILITY SEARCH (FUS) FILER VIEW (FV) MEMORY DEBUG MEMORY ERASE ALL (MEA) MEMORY ERASE PROGRAM (MEP) MEMORY ERASE VARIABLE(MEV) MEMORY LOAD (ML) MEMORY SAVE(MS) MEMORY TEACH MEMORY VIEW PROGRAM (MVP) MEMORY VIEW TYPE (MVT) MEMORY VIEW VARIABLE (MVV) PROGRAM ACTIVATE (PA)
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Command and code for the first SYS_CALL parameter PROGRAM DEACTIVATE (PD) PROGRAM EDIT PROGRAM GO (PG) PROGRAM ResPLC ACTIVATE (PRA) PROGRAM ResPLC DEACTIVATE (PRD) PROGRAM ResPLC RESTORE (PRR) PROGRAM ResPLC UTILITY PROJDIR (PRUP) PROGRAM ResPLC UTILITY SAVE (PRUS) PROGRAM ResPLC UTILITY UNLOAD (PRUU) PROGRAM ResPLC UTILITY VIEW (PRUV) PROGRAM STATE BYPASS (PSB) PROGRAM STATE PAUSE (PSP) PROGRAM STATE UNPAUSE (PSU) PROGRAM TEST BREAK INSERT (PTBI) PROGRAM TEST BREAK PURGE (PTBP) PROGRAM TEST BREAK VIEW (PTBV) PROGRAM TEST PROFILE ENABLE (PTPE) PROGRAM TEST PROFILE DISABLE (PTPD) PROGRAM TEST PROFILE RESET (PTPR) PROGRAM TEST PROFILE VIEW (PTPV) PROGRAM TEST STEP CYCLE (PTSC) PROGRAM TEST STEP DISABLE (PTSD) PROGRAM TEST STEP FLY (PTSF) PROGRAM TEST STEP MOVE (PTSM) PROGRAM TEST STEP ROUTINE (PTSR) PROGRAM TEST STEP STATEMENT (PTSS) PROGRAM TEST STEP VIEW (PTSV) PROGRAM VIEW (PV) SET ARM DISABLE (SAD) SET ARM ENABLE (SAE) SET ARM GEN_OVR (SAG) SET ARM NOSTROKE(SAN) SET ARM SIMULATE (SAS) SET ARM TP_MAIN (SAT) SET ARM UNSIMULATE
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Command and code for the first SYS_CALL parameter SET CNTRL KEY_LOCK (SCK) SET CNTRL LANGUAGE ENGLISH (SCLE) SET CNTRL LANGUAGE FRENCH (SCLF) SET CNTRL LANGUAGE GERMAN (SCLG) SET CNTRL LANGUAGE ITALIAN (SCLI) SET CNTRL LANGUAGE PORTOG (SCLP) SET CNTRL LANGUAGE SPANISH (SCLS) SET CNTRL LANGUAGE TURKISH (SCLT)

SET CONTROLLER VIEW (SCV) SET CONTROLLER WIN_CLEAR (SCW) SET INPUT FORCE AIN (SIFA) SET INPUT FORCE DIN (SIFD) SET INPUT FORCE FMI (SIFF) SET INPUT FORCE GIN (SIFG) SET INPUT FORCE IN (SIFI) SET INPUT FORCE TOTAL (SIFT) SET INPUT NOTSIMULATE AIN (SINA) SET INPUT NOTSIMULATE DIN (SIND) SET INPUT NOTSIMULATE FMI (SINF) SET INPUT NOTSIMULATE IN (SINI) SET INPUT NOTSIMULATE TOTAL (SINT) SET INPUT SIMULATE AIN (SISA) SET INPUT SIMULATE DIN (SISD) SET INPUT SIMULATE FMI (SISF) SET INPUT SIMULATE IN (SISI) SET INPUT SIMULATE TOTAL (SIST) SET INPUT UNFORCE AIN (SIUA) SET INPUT UNFORCE DIN (SIUD) SET INPUT UNFORCE FMI (SIUF) SET INPUT UNFORCE GIN (SIUG) SET INPUT UNFORCE IN (SIUI) SET INPUT UNFORCE TOTAL (SIUT) SET INPUT VIEW AIN (SIVA) SET INPUT VIEW DIN (SIVD)
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Command and code for the first SYS_CALL parameter SET INPUT VIEW FMI (SIVF) SET INPUT VIEW GIN (SIVG) SET INPUT VIEW IN (SIVI) SET INPUT VIEW SYSTEM (SIVS) SET LOGIN (SL) SET OUTPUT FORCE AOUT (SOFA) SET OUTPUT FORCE DOUT (SOFD) SET OUTPUT FORCE FMO (SOFF) SET OUTPUT FORCE GOUT (SOFG) SET OUTPUT FORCE OUT (SOFO) SET OUTPUT NOTSIMULATE AOUT (SONA) SET OUTPUT NOTSIMULATE DOUT (SOND) SET OUTPUT NOTSIMULATE FMO (SONF) SET OUTPUT NOTSIMULATE GOUT (SONG) SET OUTPUT NOTSIMULATE OUT (SONO) SET OUTPUT NOTSIMULATE TOTAL (SONT) SET OUTPUT SIMULATE AOUT (SOSA) SET OUTPUT SIMULATE DOUT (SOSD) SET OUTPUT SIMULATE FMO (SOSF) SET OUTPUT SIMULATE GOUT (SOSG) SET OUTPUT SIMULATE OUT (SOSO) SET OUTPUT SIMULATE TOTAL (SOST) SET OUTPUT UNFORCE AOUT (SOUA) SET OUTPUT UNFORCE DOUT (SOUD) SET OUTPUT UNFORCE FMO (SOUF) SET OUTPUT UNFORCE GOUT (SOUG) SET OUTPUT UNFORCE OUT (SOUO) SET OUTPUT UNFORCE TOTAL (SOUT) SET OUTPUT VIEW AOUT (SOVA) SET OUTPUT VIEW DOUT (SOVD) SET OUTPUT VIEW FMO (SOVF) SET OUTPUT VIEW GOUT (SOVG) SET OUTPUT VIEW OUT (SOVO) SET OUTPUT VIEW SYSTEM (SOVS) UTILITY APPLICATION (UA)
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Command and code for the first SYS_CALL parameter UTILITY COMMUNICN DISMOUNT (UCD) UTILITY COMMUNICN MOUNT C4G_Int (UCMC) UTILITY COMMUNICN MOUNT Modem (UCMM) UTILITY COMMUNICN MOUNT 3964R (UCM3) UTILITY COMMUNICN PORT_CHAR (UCP) UTILITY COMMUNICATION REMOTE ACCEPT (UCRA) UTILITY COMMUNICATION REMOTE CONNECT (UCRC) UTILITY COMMUNICATION REMOTE DISCONNECT (UCRD) UTILITY COMMUNICATION SET_DEF (UCS) UTILITY COMMUNICATION VIEW (UCV) UTILITY LOG ACTION (ULA) UTILITY LOG ERROR (ULE) UTILITY LOG LATCH ACKNOWLEDGE (ULLA) UTILITY LOG LATCH VIEW (ULLV)

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7.9.1

CONFIGURE branch
A description of these subjects follows: Arm menu Cntrler Login menu Cntrler Restart menu Load menu Save menu

7.9.1.1

Arm menu
The ARM menu displays a menu of commands to configure the arm.

7.9.1.1.1

CONFIGURE ARM CALIBRATE (CAC)

Runs a calibration procedure on the whole arm or on specific axes of the arm. Before the command is sent, the arm must be placed in calibration position. If the arm number is not specified, the default arm indicated on the prompt is used, whereas the number of the axis must always be specified. To indicate a complete arm, use the wildcard (*). This command is only allowed in PROGR state by Service user profile. The system has to be in PROG status and the drives must be on. The calibration data is automatically saved in NVRAM, in the configuration file (<$BOARD_DATA[1].SYS_ID>.C4G) and in the calibration file <$BOARD_DATA[1].SYS_ID>_CAL<arm_num>.PDL. Options: /Learn stores the current robot position as the user calibration position ($CAL_USER). The axis number is asked for, so as to allow the learning of the position ($CAL_USER) axis by axis. /Nosave disables the automatic saving of the configuration file, the calibration file and the calibration data in the NVRAM memory; /User for the user calibration position the system uses that learnt or assigned previously ($CAL_USER). CAC <arm_num><axis_num> CAC/L <arm_num><axis_num> CAC/N <arm_num><axis_num> CAC/U <arm_num><axis_num>

Syntax:

7.9.1.1.2

CONFIGURE ARM RETENTIVE MEMORY LOAD (CARL)

Loads the data into memory that relates to the arm (calibrated axes mask) and to the separate axes (length of axes, calibration values and calibration constants) contained in the NVRAM retentive memory of the controller and automatically updates the configuration file (<$BOARD_DATA[1].SYS_ID>.C4G) and the calibration file (<$BOARD_DATA[1].SYS_ID>_CAL<arm_num>.PDL). This command is only allowed in PROGR or AUTO-T state by Maintenance or Service user profile. Options: /Loadfile loads the data relating to the axes from the calibration

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System Commands file and automatically saves it in the configuration file and in the NVRAM memory. The command creates .COD file with the same name as the calibration file (<$BOARD_DATA[1].SYS_ID> _CAL<arm_num>.PDL) and executes it. /Nofile disables the automatic saving of the calibration and configuration files. Syntax: CARL <arm_num> CARL/L <arm_num> CARL/N <arm_num>

7.9.1.1.3

CONFIGURE ARM RETENTIVE MEMORY SAVE (CARS)

SAVE command stores the data regarding the axes from the Controller memory to the NVRAM memory and automatically updates the configuration file <$BOARD_DATA[1].SYS_ID>.C4G and the ASCII calibration file <$BOARD_DATA[1].SYS_ID>_CAL<arm_num>.PDL. This command is allowed by Maintenance or Service user profiles. Options: Syntax: /Nofile disables the automatic saving of the data in the calibration and configuration files. CARS <arm_num> CARS/N <arm_num>

7.9.1.1.4

CONFIGURE ARM TURN_SET (CAT)

Sets the counting of the encoder turns in the movement software. Before entering the command, the arm must be placed in calibration position (within an encoder dial turn). This command is useful if the pre-set is lost, for example following a motor revolutions reading error. If the arm number is not specified, the default arm is used, whereas the number of the axis must always be specified. To indicate all the arm axes, use the wildcard (*). To run this command the system must be in PROG status and power to the drives must be on. Options: Syntax: /User uses the user calibration position previously learnt or assigned. CAT <arm_num> <axis_num> CAT/A <arm_num> <axis_num> CAT/U <arm_num> <axis_num>

7.9.1.1.5

CONFIGURE ARM VIEW_CAL (CAV)

Displays the calibration constants. Options: Syntax: /4 Useful from SYS_CALL to TP-INT Page (see Option /4 to view in the 40 columns) CAV <arm_num> CAV/4 <arm_num>

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7.9.1.2

Cntrler Login menu

This menu allows operation on the controller database relating to the login profiles that can be used on the system.

7.9.1.2.1

CONFIGURE CONTROLLER LOGIN ADD (CCLA)

Adds a Login to the system database. A user identification, the Username and Password have to be specified. It is advised to always specify, using the options associated to the command, the required user profile. Otherwise a default profile will be assigned with a restricted number of operations enabled. This command is only allowed to a user who has the Admin profile. Options: /Administ assigns the Administrator level to the login definition /Maintain assigns the Maintenance level to the login definition /Programmr assigns the Programmer level to the login definition /Service assigns the Service level to the login definition /Technology allows access to some functions of the application installed, as a function to the application itself. See the application manual for further details. CCLA <UserID><Username><Password><PasswordAgain> CCLA/Administ <UserID><Username><Password><PasswordAgain> CCLA/Maintain <UserID><Username><Password><PasswordAgain> CCLA/Programmr <UserID><Username><Password><PasswordAgain> CCLA/Service <UserID><Username><Password><PasswordAgain>

Syntax:

7.9.1.2.2

CONFIGURE CONTROLLER LOGIN DELETE (CCLD)

Deletes the user specified as parameter from the Controller database. This command is only allowed to a user who has the Admin profile. Syntax: CCLD <Username>

7.9.1.2.3

CONFIGURE CONTROLLER LOGIN STARTUP (CCLS)

Is to be used to have access to the control after a restart (Restart). This command is only allowed to Programmer, Maintenance and Service users. Options: /Reset allows the deletion of the login to be used at the start of the Control. To make this deletion effective, use ConfigureSave (All or Category Controller) CCLS <UserID> <Password> CCLS/R <UserID> <Password>

Syntax:

7.9.1.2.4

CONFIGURE CONTROLLER LOGIN VIEW (CCLV)

Displays the Logins that are currently defined in the system. The information given is: Username, the number of active Logins with that Username, and the associated access rights. Syntax: CCLV

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System Commands

7.9.1.3

Cntrler Restart menu

This menu allows the Controller to be restarted in different modes without cutting out the power supply. A program can be run before the Restart command is completed. To do this, enter the name of the program to be run in the predefined $RESTART variable. The $RESTART_MODE variable contains instead a number that indicates the restart mode in which this program will be considered : 0 for Cold, 1 for shutdown, 2 for reload; if the variable is equal to -1, the program will not be run. The system waits until the program remains deactivated for a maximum time indicated in the variable $TUNE[4].

7.9.1.3.1

CONFIGURE CONTROLLER RESTART COLD (CCRC)

Restarts the system software and clears the memory. It is very useful if the system has been altered by the user. the activation of the command is preceded by the display of a confirm prompt. After the command has been executed the system I/Os ($SDIN [n] / $SDOUT [n]) are updated to the current situation. For the user I/Os ($DIN [n]/ $DOUT [n]), the output status is reset and the inputs are updated to the current system situation. The PDL2 holdable/non holdable programs are deactivated and deleted from the execution memory. Syntax: CCRC

7.9.1.3.2

CONFIGURE CONTROLLER RESTART RELOAD

Restarts and reloads the system software. The command is very useful to update the system software to a new version. The activation of the command is preceded by the display of a confirm prompt. It is necessary to have the software of the control, stored on CD-ROM or on Disk-on-key, to download to the Controller. If it is on CD-ROM, it is necessary to connect to the Controller with the WINC4G program. Access is for a Service and Maintenance type user profile. The individual commands to load the software are described below; to have further details on the complete software loading procedure, see the chapter SYSTEM SOFTWARE UPDATING in the C4G Control Unit Maintenance Manual.

7.9.1.3.3

CONFIGURE CONTROLLER RESTART RELOAD DATAFILE (CCRRD)

Assigns the values in the machine characterization file (<$BOARD_DATA[1].SYS_ID>.PDL) to the system variable in the execution memory, copying and running the SETUP1.PDL program. It also runs a saving of the configuration file <$BOARD_DATA[1].SYS_ID>.C4G. Syntax: CCRRD

7.9.1.3.4

CONFIGURE CONTROLLER RESTART RELOAD FULL (CCRRF)

Loads the system software and the machine characterization file (<$BOARD_DATA[1].SYS_ID>.PDL), copying and running the INITIAL.PDL program. Syntax: CCRRF

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System Commands

7.9.1.3.5

CONFIGURE CONTROLLER RESTART RELOAD UPGRADE (CCRRU)

Updates the system software, copying and running the SETUP0.PDL program. Syntax: CCRRU

7.9.1.3.6

CONFIGURE CONTROLLER RESTART SHUTDOWN (CCRS)

Before cutting out the main switch of the Controller this command can be entered for the explicit saving of data that is otherwise automatically saved by the system if there is a voltage drop. This avoids using the battery to power the system while saving the data, thus lengthening the battery life. The command is useful for those who usually shut down the control at set times (for example at the end of the day). Syntax: CCRS

7.9.1.4

CONFIGURE CONTROLLER STARTUP (CCS)

Sets the name of the program that is run automatically at every controller restart. This program, referred to as "startup", may be either holdable or non holdable type; the execution of a holdable program only starts when the START button is pressed. Startup program name is stored in the $STARTUP variable. If this command is sent without specifying the name of the program, the $STARTUP variable is assigned a null string. Syntax: CCS <program_name>

7.9.1.5

CONFIGURE CONTROLLER TIME (CCT)

Sets the time (HH:MM:SS) and the date (DD-MM-YY) according to the specified parameters. The month is indicated with a numeric value (1-12). This command can be used by a user with maintenance and service profile. Syntax: Example: CCT <hour> <date> CCT 13:00:00 01-01-97 13hours (1 p.m.) of January 1st

7.9.1.6

CONFIGURE CONTROLLER VIEW (CCV)

Displays: the system software version the arrangement of the hardware boards the configuration of the CAN network (identification string, nodes present, software version) total number of arms type of machine and number of joints for each arm the flag indicating whether the arm is offset information, such as software version and type of interfacing (Master, Slave) regarding field networks (Profibus, DeviceNet and Interbus) information regarding the SWIM board (number of boards, software version) only if present in the Controller rack

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System Commands name of configuration file; name of electric gripper, if present, and the arm/axis it is associated to; state of the Controller local memory where the system file is installed (UD: and relevant sub-directories) date and time.

The screen page is the same that appears when the control is switched on. Options: Syntax: /4 Useful from SYS_CALL to TP-INT Page (see Option /4 to view in the 40 columns) CCV

7.9.1.7 7.9.1.7.1

Load menu CONFIGURE LOAD ALL (CLA)

Assigns to the predefined variables in memory the values stored in a configuration file that may be the default file, <$BOARD_DATA[1].SYS_ID>.C4G, or another file specified in the associated parameter. If no parameter is specified, the values will be read from the <$BOARD_DATA[1].SYS_ID>.C4G file and assigned to the predefined variables in memory. The system is to be in PROGR state with the drives off. The user profile can only be Maintenance and Service. From SYS_CALL the parameter 'CL', that previously corresponded to ConfigureLoad, is interpreted as 'CLA' (to maintain the compatibility with the old PDL2 programs written on the C3G controller). Options: Syntax: /Rules - $C4G_RULES, manual PDL2 Language, chap. Predefined Variables List CLA <file_name> CLA/R <file_name> <rules> Programming

7.9.1.7.2

CONFIGURE LOAD CATEGORY

Assigns the values stored in the configuration file (<$BOARD_DATA[1].SYS_ID>.C4G) or in the file specified as parameter to this command and previously created through a CONFIGURE SAVE CATEGORY to the predefined variable belonging to the category indicated. The file, if specified, is searched for in the currently selected directory. Otherwise the search is made in the system directory (UD:\SYS). The variables that do not belong to the indicated category are ignored. Syntax: CLCx <filename> --where x is the Load Category ,

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System Commands

MINOR CATEGORY Besides the Load Category, available as COMMAND, there is a Minor Category, available as OPTION for each of the predefined variables. In the paragraphs that follow, for each ConfigureLoadCategory and ConfigureSaveCategory command, the Minor Categories provided are listed. For further information, and above all, to know whether a certain variable will be loaded or saved sending a ConfigureLoadCategory or ConfigureSaveCategory command, see the PDL2 Programming Language manual, chapter Predefined Variables List, item Minor Category (minor category of Load Category) in the table regarding the variable involved. For example: $SENSOR_ENBL belongs to the Arm Load Category) and to the Sensor Minor Category. Therefore reference will be made to the ConfigureSaveCategoryArm and ConfigureSaveCategoryArm/Sensor commands (or ConfigureLoadCategoryArm and ConfigureLoadCategoryArm/Sensor).

CONFIGURE LOAD CATEGORY ARM (CLCA)

Load the variables that have Arm as Load Category. See previous note regarding MINOR CATEGORY. Options: /Auxiliary /Calibrate /Collision /Configure /Conveyor /Chain /Rules - $C4G_RULES, manual PDL2 Language, chap. Predefined Variables List /Sensor Syntax: CLCA <file_name>

Programming

CONFIGURE LOAD CATEGORY CONTROLLER (CLCC)

Loads the variables that have Cntrl as the Load Category. See previous note regarding MINOR CATEGORY. Options: /Conveyor /Environ /Flow /Parameter /Rules - $C4G_RULES, manual PDL2 Language, chap. Predefined Variables List /Shared /Unique /Vars Syntax:
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Programming

CLCC <file_name>

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System Commands

CONFIGURE LOAD CATEGORY DSA (CLCD)

Loads the variables that have Dsa as the Load Category. See previous note regarding MINOR CATEGORY. Options: /Rules - $C4G_RULES, manual PDL2 Language, chap. Predefined Variables List Syntax: CLCD <file_name> CLCD/R <file_name> <rules> Programming

CONFIGURE LOAD CATEGORY IO (CLCI)

Loads the variables that have Input/output as the Load Category. See previous note regarding MINOR CATEGORY. Options: /Applicatn /Configure /Fieldbus /Hand /Rules - $C4G_RULES, manual PDL2 Language, chap. Predefined Variables List /Swim Syntax: CLCI <file_name>

Programming

CONFIGURE LOAD CATEGORY RETENTIVE (CLCR)

Loads the variables that have Retentive as the Load Category. See previous note regarding MINOR CATEGORY. Options: /Rules - $C4G_RULES, manual PDL2 Language, chap. Predefined Variables List Syntax: CLCR <file_name> CLCR/R <file_name> <rules> Programming

7.9.1.8 7.9.1.8.1

Save menu CONFIGURE SAVE ALL (CSA)

Creates a new configuration file with the predefined variable values according to the data currently in the system memory . The file name and extension are, by default, <$BOARD_DATA[1].SYS_ID>.C4G and the file is saved in the UD:\SYS system directory .If another file name is specified, this is stored by default in the current directory. From SYS_CALL the 'CS' parameter, that in the past corresponded to ConfigureSave, is interpreted as 'CSA' (to maintain compatibility with old PDL2 programs written on C3G). Syntax: CSA <file_name>

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System Commands

7.9.1.8.2

CONFIGURE SAVE CATEGORY

To save in a file the stored values of predefined variables belonging to the indicated category. The user may need to: Create a file containing ONLY the values of variables of the indicated category. This file will be used for partial loading of the values in the memory (CONFIGURE LOAD CATEGORY) or it will be copied on several controls to unify certain initialisations. The name of the file is to be specified in the command and it is to be different to the name of the <$BOARD_DATA[1].SYS_ID>.C4G configuration file. The directory, if not specified, will be the one currently selected on the device the command is sent from and the file extension will be .C4G. Save data of the category indicated in the global configuration file (<$BOARD_DATA[1].SYS_ID>.C4G). In this case only the section containing the variables of the pre-selected category will be updated; the values of the other variables in the file will remain unaltered. To do this, the command must be sent without specifying the name of the file. CSCx <filename> --where x is the Load Category

Syntax:
,

See MINOR CATEGORY note.

The ConfigureSaveCategory command, if executed on a .C4G file created with a software version prior to that loaded, is allowed, providing the variables of the category involved have not changed in either number or size.

CONFIGURE SAVE CATEGORY ARM (CSCA)

Saves the values of the variables that have Arm as the Load Category. See previous note regarding MINOR CATEGORY. Options: /Auxiliary /Calibrate /Collision /Configure /Conveyor /Chain /Rules - $C4G_RULES, manual PDL2 Language, chap. Predefined Variables List /Sensor Syntax: CSCA <file_name>

Programming

CONFIGURE SAVE CATEGORY CONTROLLER (CSCC)

Saves the values of the variables that have Cntrl as the Load Category. See previous note regarding MINOR CATEGORY. Options:
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System Commands /Conveyor /Environ /Flow /Parameter /Rules - $C4G_RULES, manual PDL2 Language, chap. Predefined Variables List /Shared /Unique /Vars Syntax: CSCC <file_name>

Programming

CONFIGURE SAVE CATEGORY DSA (CSCD)

Saves the values of the variables that have Dsa as the Load Category. See previous note regarding MINOR CATEGORY. Options: /Rules - $C4G_RULES, manual PDL2 Language, chap. Predefined Variables List Syntax: CSCD <file_name> CSCD/R <file_name> <rules> Programming

CONFIGURE SAVE CATEGORY IO (CSCI)

Saves the values of the variables that have Input/output as the Load Category. See previous note regarding MINOR CATEGORY. Options: /Applicatn /Configure /Fieldbus /Hand /Rules - $C4G_RULES, manual PDL2 Language, chap. Predefined Variables List /Swim Syntax: CSCI <file_name>

Programming

CONFIGURE SAVE CATEGORY RETENTIVE (CSCR)

Saves the values of the variables that have Retentive as the Load Category. See previous note regarding MINOR CATEGORY. Opzioni: /Rules - $C4G_RULES, manual PDL2 Language, chap. Predefined Variables List Syntax: CSCR <file_name> CSCR/R <file_name> <rules> Programming

7.9.2

DISPLAY branch
The DISPLAY branch displays a menu of commands that open viewing windows with

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System Commands information that is continually updated until the DisplayClose command is sent. Several windows can be opened at the same time. In the case of SYS_CALL the DISPLAY commands direct the display by default to the Terminal window shown by the WINC4G program (if connected). If instead it is desired to direct the output to the TPINT, the /T option has to be specified, that is only available from SYS_CALL and not from the commands menu. A description of these subjects follows: Arm menu Close menu Fieldbus menu Input menu Output menu Vars menu

7.9.2.1

Arm menu
The ARM menu contains a menu of commands for the display of information regarding the specified arm.

7.9.2.1.1

DISPLAY ARM CURRENTS (DAC)

Displays the currents of the axis motors in amperes. Syntax: DAC <arm_num>

7.9.2.1.2

DISPLAY ARM DATA (DAD)

Displays the data regarding the arm interpolator. Syntax: DAD <arm_num>

7.9.2.1.3

DISPLAY ARM FOLLOWING (DAF)

Displays the axis following errors in bit units. Syntax: DAF <arm_num>

7.9.2.1.4

DISPLAY ARM JOINT (DAJ)

Displays the current position target of each axis, in degrees. Syntax: DAJ <arm_num>

7.9.2.1.5

DISPLAY ARM POSITION (DAP)

Displays the current Cartesian position target, indicating the x,y,z location, the Eulero angles and the configuration string; the values of the joints (in mm, for translating axes, or in degrees for rotating axes) of the auxiliary component in a system with auxiliary axes. Syntax: DAP <arm_num>

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7.9.2.1.6

DISPLAY ARM REVOLUTIONS (DAR)

Displays the number of motor revolutions. Syntax: DAR <arm_num>

7.9.2.1.7

DISPLAY ARM STATUS (DAS)

Displays the current status of the arm (calibrated, in lock, etc.), the number of joints that form the arm, the co-operative movement and the state of the auxiliary axes (connected, enabled, disabled). It is also indicated whether the robot is along the programmed path (On Trajectory). Syntax: DAS <arm_num>

7.9.2.1.8

DISPLAY ARM TEMPERATURE (DAT)

Displays the temperatures of the axis motors as percentage of the maximum temperature allowed for the motor. Syntax: DAT <arm_num>

7.9.2.2

Close menu
The CLOSE menu removes the DISPLAY windows from the screen.

7.9.2.2.1

DISPLAY CLOSE ARM (DCA)

Closes all the windows opened with the DISPLAY ARM command. Syntax: DCA

7.9.2.2.2

DISPLAY CLOSE INPUT (DCI)

Closes all the windows relating to the inputs. Syntax: DCI

7.9.2.2.3

DISPLAY CLOSE OUTPUT (DCO)

Closes all the windows relating to the outputs. Syntax: DCO

7.9.2.2.4

DISPLAY CLOSE PROGRAM (DCP)

Closes the window related to the active PDL2 programs. Syntax: DCP

7.9.2.2.5

DISPLAY CLOSE RESPLC (DCR)

Closes the DISPLAY window related to the PLC environment. Syntax: DCR
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System Commands

7.9.2.2.6

DISPLAY CLOSE SELECT (DCS)

Allows the operator to select the display window to be closed. Syntax: DCS

7.9.2.2.7

DISPLAY CLOSE TOTAL (DCT)

Closes all the windows opened by DISPLAY commands. Syntax: DCT

7.9.2.2.8

DISPLAY CLOSE VARS (DCV)

Closes all the windows opened with the DISPLAY VAR commands. Syntax: DCV

7.9.2.3

Fieldbus menu
The FIELDBUS menu displays the state of the Fieldbus Master and Slave boards. In detail, for each board: NOCNFG: indicates that the board is not configured RUNNING: indicates that the communication is active STOPPED: indicates that the communication is not active

If there is no Fieldbus board, no Display is opened.

7.9.2.3.1

DISPLAY FIELDBUS MASTER (DFM)

Displays the information regarding the boards declared as MASTER regarding the field buses supported (Interbus, Profibus and DeviceNet). Syntax: DFM

7.9.2.3.2

DISPLAY FIELDBUS SLAVE (DFS)

Displays the information regarding the boards declared as SLAVE regarding the field buses supported (Interbus, Profibus and DeviceNet). Syntax: DFS

7.9.2.4

Input menu
With the INPUT menu the state of the inputs can be viewed, both those defined by the user and those of the system . A string set by the user can be associated to the displayed inputs, that is shown as HELP information (from TPINT on TP4i or on PTU) pressing the SEL key and moving to the right and to the left with the cursor along the variable values. To assign the descriptions to the input points, use the HELPIO program contained in the Controller software CD-ROM. The system input HELP strings are always present. The HELP program can be seen in the last paragraph of this chapter.

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System Commands

7.9.2.4.1

DISPLAY INPUT AIN (DIA)

Displays the values of the analog inputs defined by the user ($AIN), in decimal format. If the value is forced, it is shown in red instead of blue on the WinC4G screen, whereas on the TPINT page of the TP4i it is shown in negative. Several indexes can be specified in the parameter for the command: to indicate different indexes, use dashes (-) to separate them; to indicate an interval between indexes, use two dots (..). Syntax: Example: DIA <string_of_numbers> DIA 1 DIA 1- 2 - 4..7

7.9.2.4.2

DISPLAY INPUT DIN (DID)

Displays the values of the digital inputs defined by the user ($DIN), where 1 = TRUE and 0 = FALSE. If one of these values is forced, an F (forced to false) or a T (forced to true) is shown instead of 0 or 1. If a number of input is typed, a series of digital inputs is displayed. Syntax: Example: DID DID 1

7.9.2.4.3

DISPLAY INPUT FMI (DIF)

Displays the values of flexible multiple inputs ($FMI) defined by the user, in hexadecimal format. Several indexes can be specified in the parameter for the command: to indicate different indexes, use dashes (-) to separate them; to indicate an interval between indexes, use two dots (..). Syntax: Example: DIF <indexes> DIF 1- 2 - 4..7

7.9.2.4.4

DISPLAY INPUT GIN (DIG)

Displays the values of groups of inputs defined by the user ($GIN) as decimal values. If the value is forced, it is displayed in red on the WinC4G screen, instead of in blue, whereas on the TPINT page of TP4i it is shown in negative. Syntax: DIG

7.9.2.4.5

DISPLAY INPUT IN (DII)

Displays the values of the privileged digital inputs defined by the user ($IN), where 1 = TRUE and 0 = FALSE.If one of these values is forced, an F (forced to false) or a T (forced to true) is shown instead of 0 or 1. If a number of input is typed, a series of digital inputs is displayed. Syntax: Example: DII DII 1

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System Commands

7.9.2.4.6

DISPLAY INPUT SYSTEM (DIS)

Displays the digital inputs defined in the system ($SDIN). By pressing the SEL key direct access is obtained to the display window, with a help associated to each separate bit. To move with the cursor along the bits use the LH and RH arrow keys, to change module use the UP and DOWN arrow keys. By pressing the SEL key on the selected input a help can be obtained that describes the significance of the bit. Syntax: DIS

7.9.2.5

Output menu
The OUTPUT menu displays the state of the outputs defined by the user and of the system. A string set by the user can be associated to the displayed outputs, that is shown as HELP information (from TPINT on TP4i or on PTU) pressing the SEL key and moving to the right and to the left with the cursor along the variable values. To assign the descriptions to the output points, use the HELPIO program contained in the Controller software CD-ROM. The system output HELP strings are always present. The HELPIO program program can be seen in the last paragraph of this chapter.

7.9.2.5.1

DISPLAY OUTPUT AOUT (DOA)

Displays the values of the analog outputs ($AOUT), in decimal format. Forced values, are shown in red on the WinC4G screen, and in negative on the TPINT page of the TP4i. Several indexes can be specified in the parameter for the command: to indicate different indexes, use dashes (-) to separate them; to indicate an interval between indexes, use two dots (..). Syntax: Example: DOA <string_of_numbers> DOA 17 DOA 17-18-25..27

7.9.2.5.2

DISPLAY OUTPUT DOUT (DOD)

Displays the values of the digital outputs defined by the user ($DOUT), where 1 = TRUE and 0 = FALSE. If one of these values is forced, an F (forced to false) or a T (forced to true) is displayed instead of 0 or 1. When a number of output is typed, a set of digital outputs is displayed. Syntax: Example: DOD DOD 17

7.9.2.5.3

DISPLAY OUTPUT FMO (DOF)

Displays the values of flexible multiple outputs ($FMO) defined by the user, in hexadecimal format. Several indexes can be specified in the parameter for the command: to indicate different indexes, use dashes (-) to separate them; to indicate an interval between indexes, use two dots (..). Syntax: DOF <indexes>

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System Commands Example: DOF 17-18-25..27

7.9.2.5.4

DISPLAY OUTPUT GOUT (DOG)

Displays the values of the output groups ($GOUT) defined by the user, in decimal format. Forced values are shown in red on the WinC4G screen, and in negative on the TPINT page of theTP4i. Syntax: DOG

7.9.2.5.5

DISPLAY OUTPUT OUT (DOO)

Displays the values of the privileged digital outputs defined by the user ($OUT), where 1 = TRUE and 0 = FALSE. If one of these values is forced, an F (forced to false) or a T (forced to true) is shown, instead of 0 or 1. If a number of output is typed a series of digital outputs is displayed. Syntax: Example: DOO DOO 17

7.9.2.5.6

DISPLAY OUTPUT SYSTEM (DOS)

Displays the digital outputs defined by the system ($SDOUT). By pressing the SEL key, direct access is obtained to the display window, with a help associated to each separate bit. To move with the cursor along the bits, use the LH and RH arrow keys, to change the module use the UP and DOWN arrow keys. By pressing the SEL key on a selected output a help is obtained that describes the significance of the bit. Syntax: DOS

7.9.2.6

DISPLAY PROGRAM (DP)

PROGRAM displays information about the active PDL2 programs. A particular program name can be specified. It is also possible to insert a wildcard in the program name. If no parameter is given, the information is displayed regarding all the activated programs. The information shown is the same as for the PROGRAM VIEW (PV) command. Options: Syntax: /Full will display also all the programs with protected code, that are not usually displayed. DP <program_name>

7.9.2.7

DISPLAY RESPLC (DR)

The information related to PLC resource are shown: Resource name Resource identifier Cycle time (ms) Number of performed cycles Time for executing the latest cycle
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System Commands Maximum time for executing a scanning State of the resource (Running, Stop, etc.) DR

Syntax:

7.9.2.8

Vars menu
The VARS menu contains the commands to display current values of the memory arrays commonly used by programs that use the $BIT and $WORD variables. A string set by the user can be associated to the displayed variables, that is shown as HELP information (from TPINT on TP4i or on PTU) pressing the SEL key and moving to the right and to the left with the cursor along the variable values. To assign the descriptions to the output points, use the HELPIO program contained in the Controller software CD-ROM. The HELP strings are always active on the TP4i, in the 'Description' column.

7.9.2.8.1

DISPLAY VARS BIT (DVB)

Displays $BIT, where 1 = TRUE and 0 = FALSE, according to 2 different displays: Several indexes can be specified in the parameter for the command: To indicate different indexes, separate them with dashes (-); The maximum number of $BIT that can be displayed at the same time is 4 (for the Teach Pendant) and 11 (for WINC4G). For example: "DISPLAY VAR BIT" "1-35-100" displays the value of $BIT[1], $BIT[35] and $BIT[100]. To indicate an interval between indexes, use two dots (..).A maximum of 16 bits (on Teach Pendant) and 32 bits (for WINC4G) can be displayed at the same time. "DISPLAY VAR BIT" "1..15" displays all the $BIT having an index from 1 to 15. DVB

Syntax:

7.9.2.8.2

DISPLAY VARS WORD (DVW)

Displays the value of a $WORD in decimal format. Several indexes can be specified in the parameter for the command: to indicate different indexes, use dashes (-) to separate them; to indicate an interval between indexes, use two dots (..). Options: Syntax: /Hex displays the data in hexadecimal format /Binary displays the data in binary format DVW <string_of_numbers>

7.9.3

EXECUTE command (E)

With the EXECUTE command a PDL2 instruction can be executed from commands level. This type of execution is also called immediate execution, because the instructions have to be short and not locking (for example to assign a value to a predefined variable). The first parameter is the instruction to be executed. If the instruction refers to program variables, the name of the program they belong to has to be specified in the second parameter.

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System Commands Options: /Context is available in the prompt of the second parameter. It is specified ONLY when the instruction contains references to predefined variables (preceded by $, such as $CYCLE) that belong to the "Program Stack" category (see PDL2 Programming Language Manual, chapter PREDEFINED VARIABLES LIST); the /Context option indicates that the predefined variable will be that of the program indicated as second parameter. If this option is not used, the program stack type predefined variables will be those of the virtual EXECUTE program, that only have life for the duration of the command. When this option is used the program specified as parameter must be active, otherwise an error will be generated. E instruction <program_name> E 'I:=10' 'pippo' - Assigns the value 10 to variable i of program pippo. The program pippo must be loaded in memory. E WRITE($ERROR,NL) pippo Value 0 will be shown E/C WRITE($ERROR, NL) pippo The value of pippo $ERROR will be shown

Syntax: Example:

The following instructions cannot be used with the EXECUTE command: WAIT CONDITION ENABLE CONDITION DISABLE CONDITION PURGE CONDITION

The program variables cannot be declared and created with this command. The execution can be deactivated by pressing ^C. To execute instructions that require movements, the following rules are valid: the Robot Controller Cabinet status selector switch is to be set for programming all movements are executed at safe reduced speed the enabling device is to be kept pressed during the movement execution START is to be kept pressed to maintain the movement press HOLD to interrupt the movement (this movement can be resumed by pressing START)

7.9.4

FILER branch
The FILER branch displays a menu of file management commands. For most FILER commands it is necessary to indicate as parameters the file names, devices, name and extension: dv:file_name.ext The name of the device can be formed by one to four characters followed by the colon (:) symbol. Some commands are only operative with certain devices. For further details, see the individual commands. The filename can be from 1 to 256 characters, that may be letters, digits and subscripts
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System Commands (_). However, if the file is to contain a program name, the maximum size for the name is 32 characters. The extension starts with a dot (.) and consists of three characters that can be letters, digits and subscripts (_). For a complete list of foreseen system software extensions, see par. 7.11 Types of files available in the System on page 7-74.

Some commands are only operative on certain devices. For details, see the individual commands. NOTE In the UD root directory : there is a limitation to the maximum number of entries (512). This is due to the FAT-16 formatting of the compact flash. A file name longer than 8 characters occupies more than one entry in the FAT (File Allocation Table). The problem does NOT exist in subdirectories, where the maximum entry limit is higher (more than 65000). If there is an excessive occupation of the root directory, it is advised to use file names with a maximum of 8 characters, or to work in subdirectory. Furthermore, it is advised to periodically delete the .BK* files in a permanent manner. Besides the individual commands, the following are also described: UTILITY ATTRIBUTE menu Backup and Restore commands Compressed files management commands Directory management commands

7.9.4.1

FILER COPY (FC)

COPY command creates copies of files. No change is made to the original file. Specify the source file and the destination file. For the extensions and the file names a wildcard can be used.

See NOTE regarding the entry number in the UD: root directory.

It is advised to use FILER UTILITY BACKUP and FILER UTILITY RESTORE (instead of FILER COPY) if all the files from the default backup device ($DFT_DV[3], usually XD: or COMP:) are to be copied to the commands default device ($DFT_DV[2], usually UD:) and vice-versa. Options: /Confirm requires confirmation before the copying of each file. /Overwrite rewrites the existing files without displaying the confirm prompt. FC <source_file> <dest_file>

Syntax:

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System Commands

7.9.4.2

FILER DELETE (FD)

Removes the files from the user device. It is asked to specify the files. For the extensions and the filenames the wildcard can be used. If no device is specified, the default device is used. The user is asked for confirmation before each file is deleted. If the command is sent without the /Permanent or /Cleanup option, the files are not permanently deleted and can therefore be recovered with the /Undelete option. Options: /Cleanup empties the bin containing the previously deleted files /Noconfirm does not ask the user for confirmation before deletion. /Permanent deletes the files permanently. /Undelete allows the recovery of a file that has been deleted (providing the /Permanent option has not been used when deleting the file). FD <file_name>

Syntax:

7.9.4.3

FILER EDIT
The EDIT command calls the ASCII editor of the files. This can be used to create or to edit ASCII files on the user disk (UD:).

See NOTE regarding the entry number in the UD: root directory.

A parameter is required for the filename. The wildcard cannot be used. Only the user disk UD: can be used as device. If no extension is specified, the extension .PDL is used. The command cannot be used if the IDE page on TP4i, the MEMORY DEBUG and PROGRAM EDIT functions or the EZ environment are active. This command is not allowed from SYS_CALL. Syntax: FE <file_name>

7.9.4.4

FILER PRINT (FP)

To display the contents of a file on the screen (WInc4g Terminal or TP-INT screen page) or on another file. The destination device may consist of the Teach Pendant monitor or the PC, a file, communication port or a window defined by the user. If no destination device is specified, the device from which the command has been sent will be used. The name of the start file is required as parameter. For the extension and file name the asterisk can be used. If no device is specified, the default device is used ($DFT_DV[2]). The Filer Print command is used to view the contents of binary files: .COD or .BCK program files; .VAR or .BKV variable files; files in the system directories (.C4G configuration files, .LBE error log files, .LBA action log files). It is assumed that all the other files are in ASCII format. The command is also a means to convert binary files to the corresponding ASCII format. In the case of a Filer Print command for a .VAR file to an .LSV file or for a .COD to a
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System Commands .PDL, a back-up file is created with extension .BKL and .BKP respectively for that .LSV file. If no destination device is specified, the file is printed on the video. If a .COD file contains checksum errors or other damaged data and it is not possible to recover a backup copy of the same file, with FILER PRINT the program can be converted to an ASCII file to save in the user disk (UD:).

See NOTE regarding the entry number in the UD: root directory.

The ASCII file can then be edited to correct the instructions and corrupted identifiers that are distinguished by three question-marks (???). At the end, use FILER TRANSLATE to convert the file again to a file with .COD extension. As from system software version 3.20, further information can be printed, using the option /Property. Standard attributes (Property) associated to the files are the following: drawn up by file creation date version host where file was created. /Full prints a variables file without shortening the names of the identifiers contained (variables, programs, routines and data classes). /List generates a listing file (.LIS) from a .COD or .BKC file. The listing file gives the name of the program and the line number at the side of each PDL2 instruction. /Overwrite Overwrite rewrites the old copy of the corresponding file without asking for confirmation of the user. /Nopage /Range to print the lines of a file between the serial and final line specified as additional parameters. /Property to print the file properties (drawn up by, date of creation, version, device where it was created). FP <file_name> <dest_device> FP/L <file_name> <dest_device> FP/N <file_name> <dest_device> FP/R <file_name> <dest_device> <start_line><end_line> FP/P <file_name> <dest_device>

Options:

Syntax:

7.9.4.5

FILER RENAME (FR)

RENAME changes the name and/or extension of an existing file. It is necessary to specify as parameters the original file (source) and the new file (destination). A wildcard can be used for the extension. If no device is specified for the source file, the default device is used. It is not possible to specify different devices for the source file and the destination file. If a new file already exists, before the original file is renamed, a prompt is displayed asking for confirmation. Renaming of a program file (.COD or .BKC) is not allowed if the new name is present as

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System Commands identifier inside the file. This type of error is only detected when the program is loaded. Options: /Confirm displays a confirm prompt before each file is renamed. /Overwrite rewrites the existing files without displaying any confirm prompt. FR <source_file> <dest_file>

Syntax:

7.9.4.6

FILER TRANSLATE (FT)

TRANSLATE command converts: a PDL2 program, from ASCII source code (.PDL) to an executable code (.COD) and vice versa a variables file in source ASCII format (.LSV), to a variables file in format to be loaded on the Controller (.VAR) and vice versa. system binary files (.C4G, .LBE, .LBA) in the corresponding ASCII format (.PDL, .LOG, .ACT).

The name of the source code file is required. In the name of the start file the asterisk can be used. As device it is possible to specify only the user disk UD:.

See NOTE regarding the entry number in the UD: root directory.

If the extension is not given, the .PDL extension is used. If the destination file (for example .COD) already exists, the back-up copy is saved changing the extension (for example .BKC) before the creation of the new file. If indications or errors are found during the conversion, these are displayed in the scrolling window and recorded in the <file_name>.ERR file. Options: /Back converts a .COD file to a .PDL file.It is the same as the Filer Print command of a .COD file to a .PDL. /Confirm asks the user for confirmation before the conversion of each file. /List generates a listing file (.LIS) and can only be used with the /BACK option. /Variables converts a variables .LSV ASCII file in a .VAR file. When used with the /BACK option, it converts a .VAR variables file to the corresponding .LSV with ASCII format. /Output redirects the file on another directory. FT <file_name>

Syntax:

7.9.4.7

UTILITY ATTRIBUTE menu

Contains the commands to change the file attributes. Access is allowed to "Maintenance" or "Service" user profile.

7.9.4.7.1

FILER UTILITY ATTRIBUTE ARCHIVE (FUAA)

To set/remove the attribute archived ('a') to a file.

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System Commands Options: Syntax: /Reset deletes attribute archived ('a') to the specific file. FUAA <file_name> FUAA/R <file_name>

7.9.4.7.2

FILER UTILITY ATTRIBUTE HIDDEN (FUAH)

Sets the hidden attribute to a file that therefore will not be displayed on the user disk UD:. With this attribute set, the file, if a .COD, can however be loaded in the execution memory (Memory Load). Options: Syntax: /Reset deletes the hidden attribute. FUAH <file_name> FUAH/R <file_name>

7.9.4.7.3

FILER UTILITY ATTRIBUTE READONLY (FUAR)

Sets the read only attribute to a file. When this attribute is set, the file cannot be edited or deleted. Options: Syntax: /Reset deletes the read only attribute. FUAR <file_name> FUAR/R <file_name>

7.9.4.7.4

FILER UTILITY ATTRIBUTE SYSTEM (FUAS)

Sets the system attribute for a file. When set, this attribute prevents file deletion. Options: Syntax: /Reset deletes the system attribute. FUAS <file_name> FUAS/R <file_name>

7.9.4.8

Backup and Restore commands

For better understanding of the difference between a simple file copy (FilerCopy) and a backup or restore operation appropriately organised, follow the recommendations listed below: always make sure that the execution memory and the UD: device are aligned (presence or not of saved programs or data), before starting any type of backup or restore operation; always execute a ConfigureSaveAll (before a backup) and a ConfigureLoadAll (after a restore) to restore the same work conditions, based on.C4G file, after a Restart; plan periodic backups, possibly at night;

possibly use the.LST files created during the backups, when it is useful to compare several backups with each other to see possible differences; compress the backup in a.ZIP file. Execute the restore decompressing the.ZIP file.

If WinC4G acts as server for the Controller, the configuration of the backup and restore operations requires that the NETx: devices are set correctly. This can be done by entering sub-page FTP Users Configuration. The system allows definition of a Username and a Password for the user requesting the operation, for each NETx: device, and the base Directory for backup and restore operations. When these operations are
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System Commands required, the specified user has to be already defined and logged on the Controller. The NET_C checkbox indicates that the parameters associated to it will be used to automatically configure the different $NET_C system variables (see PDL2 Programming Language manual - chap.Predefined Variables List). Therefore it is not necessary that the user sets them.

Fig. 7.2

- FTP Users Configuration

7.9.4.8.1

FILER UTILITY BACKUP (FUB)

Copies the files from the directory selected when executing the command to the default backup device ($DFT_DV[3]). If no file is specified, all the files of the current directory are copied.

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System Commands

NOTES FOR BACKUP / RESTORE As from system software version 3.20, it is possible to obtain the backup and restore of files contained in a certain device (UD:, LD:, VD:, TD:), keeping the original structure of the directories and selecting them according to: a date, whether they have already been saved in a backup or not, whether they are newer, whether they belong to a certain directory or saveset. The backup can be sent to a USB key (XD: or TX:), including subdirectory, COMP: (device WinC4G), NETx: (device client FTP), TD: . At each backup (for example. FUB/T * NET8), a <$SYS_ID>.LST file is created on the specified device, in the specified base directory, containing the information related to the backup operation. Information regarding several backups is inserted at the bottom of the file. At each backup operation, these files are updated. Example: ################################################## # Backup created 05-MAY-08 16:17:00 # Backup appended 05-MAY-08 16:44:40 # Backup appended 05-MAY-08 16:48:57 # Backup appended 05-MAY-08 16:49:55 UD:\box.pdl@02-04-07 11:24:08 UD:\brac_7ax1.cod@14-03-07 14:32:48 UD:\brac_7ax1.pdl@14-03-07 14:32:44 UD:\brev_002_r2.cod@13-11-07 10:18:16 UD:\brev_002_r2.lsv@19-11-07 13:34:44 UD:\brev_002_r2.pdl@12-11-07 18:54:44 UD:\brev_002_r2.var@16-11-07 11:30:20 When a file is copied in a backup, it is "marked" by attribute a. To be able to use these functions, there are the following options: For Backup /After /Increment /To For Restore /After /From /Newer described further on. Options: /Saveset is used to specify a predefined saveset that indicates where the files are to be copied from.The saveset is to be set beforehand in an element of the predefined variable $BACKUP_SET[1]. If, for example, $BACKUP_SET[1] is set as set1| UD:\dir1\*.*/s, by sending the command with the /Saveset option and parameter set1, all the files will be copied that are contained in UD:\dir1 and the relative sub-directories. /After copies from Controller files that are more recent than a certain date. To specify date or count of days a sign can be

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System Commands indicated that has the meaning of "before" or "after" the date or count of days indicated below. Examples: -1 means all files before 00 of today; -18/06/08 means files before 18/06/08; 18/06/08 means files EQUAL and AFTER that date. /Increment copies all files that have NOT been saved in previous backups (the system uses the 'a' attribute that indicates "file already archived"). /To copies on a device that is not the default ($DFT_DV[3]). The required directory can be specified on this device. Example: FUB/T * TX:\MyBackupFolder

A saveset name can be indicated instead of a file name. The saveset has to be previously specified in the corresponding sub-page Backup of Setup page or in an element of array $BACKUP_SET (see PDL2 Programming Language manual - Chap.Predefined Variables). In this way, using a single command it is possible to execute the backup of files from different devices or directories, files with a certain name, include the subdirectories, exclude some files. The following switches are also provided to set the value of $BACKUP_SET: /A (=After) to execute the backup of created/modified files AFTER a certain date /U (=Unset) not to set attribute 'a' for a certain file /I (=Incremental) to execute the backup of files that have not been previously saved only (without 'a' attribute) /S (=Subdirectories) to include subdirectories /X (=eXclude) to exclude files from the backup At present the following predefined Savesets are available: $BACKUP_SET[1] : "All|"TTS_USER_DEV"\\*.*/s" $BACKUP_SET[7] : "Today|"TTS_USER_DEV"*.*/s/a0" $BACKUP_SET[8] : "Inc|"TTS_USER_DEV"*.*/s/i" Syntax: Examples: FUB <file_name> FUB/S <saveset_name> FUB * XD:r026 copies in subdirectory r026 of device XD: FUB/A0 executes backup of today's files FUB/A-1 executes backup of files from yesterday FUB/I * executes backup of files not yet saved in a previous backup FUB/T * NET8: executes backup on another device

7.9.4.8.2

FILER UTILITY RESTORE (FUR)

The RESTORE command allows to copy files from default backup device to the default device. Both devices are part of the predefined variable $DFT_DV and can be set via PDL2 assignment statement.

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System Commands

See NOTE regarding the entry number in the UD: root directory.

See NOTES FOR BACKUP / RESTORE.

Options:

/Configure allows the recovery of the old configuration file that, after being copied with the extension .C4O, is loaded on the control. This is followed by Configure Save All. /Saveset to specify a predefined saveset that indicates where the files are to be taken from to be copied. The saveset is to be set beforehand in an element of the predefined $RESTORE_SET. For example, if it is required to refer to the contents of the $RESTORE_SET[2]variable, set to value set1|UD:\dir1\*.*, the command is to be sent specifying the parameter as set1. /After copies files that are more recent than a certain date. It is useful for the restore of files from a certain date, for example, today. To specify date or count of days a sign can be indicated that has the meaning of "before" or "after" the date or count of days indicated below. Examples: 0 signifies files as from today -1 means all files before 00 of today; -18/06/08 means files before 18/06/08; 18/06/08 signifies files OF THAT DATE and AFTER IT. /From copies files that are on a device different to the default ($DFT_DV[3]). The source directory can be specified on this device. /Newer executes the restore of the files that are more recent than the previous backup.

A saveset name can be indicated instead of a file name. The saveset has to be previously specified in the corresponding sub-page Restore of Setup page or in an element of array $RESTORE_SET (see PDL2 Programming Language manual - Chap.Predefined Variables). The following switches are also provided to set the value of $RESTORE_SET: /A (=After) to execute restore of files that are more recent than the date stored in LST file /N (=Newer) to execute restore of files that are more recent than those of.LST file /S (=Subdirectories) to include subdirectories /X (=eXclude) to exclude files from restore Syntax: Examples:
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FUR <file_name> FUR/S <saveset_name> FUR executes restore of all files, from backup, and leaves the

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System Commands archive bit not set FUR/A-1 executes restore of new files, up to yesterday FUR/F executes restore from a device different to previous backup FUR/N executes restore of new files FUR *.cod executes restore of all files with extension .cod FUR/S executes restore, including subdirectories FUR/S all executes restore of ALL savesets

7.9.4.9 7.9.4.9.1

Compressed files management commands FILER UTILITY COMPRESS DELETE (FUCD)

Deletes a file from a compressed archive (.ZIP) Syntax: FUCD <archive_name> <file_name>

7.9.4.9.2

FILER UTILITY COMPRESS EXTRACT (FUCE)

Extracts the files contained in a compressed archive (.ZIP). The files extracted from the archive will have the same attributes as the source file used to create the archive. Syntax: FUCE <archive_name> <file_name>

7.9.4.9.3

FILER UTILITY COMPRESS MAKE (FUCM)

Creates a compressed file archive (.ZIP). Options: /after only files with a date later than that specified are included in the archive /before only files with a date prior to that specified are included in the archive. /nodirpath The specification of the directories folder is not included in the archive. /refresh The archive is updated with the files that have been changed after the creation of the said archive . /subdir Files contained in subdirectories are also included. FUCM <archive_name> <file_name>

Syntax:

7.9.4.9.4

FILER UTILITY COMPRESS VIEW (FUCV)

Lists the files contained in a compressed archive (.ZIP). As from system software version 3.20, further information can be viewed, using /Property option. Standard attributes (Property) associated to compressed files are the following: drawn up by file creation date version host where file was created. /bare displays only the file name and not the other detailed
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Options:

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System Commands information. /Property displays file properties (drawn up by, date of creation, version, device where it was created) Syntax: FUCV <archive_name> <file_name> FUCV/B <archive_name> <file_name> FUCV/P <archive_name> <file_name>

7.9.4.10

Directory management commands

The DIRECTORY branch displays a menu of commands to operate on the structure of the directories on the user disk UD:.

7.9.4.10.1

FILER UTILITY DIRECTORY CHANGE (FUDC)

To position on the desired directory specifying the name. For example, to have access to the directory UD:\pippo, the following command has to be sent FUDC pippo starting from the root of the user disk UD:. To return to the upper directory level, the parameter has to be specified as .. . To return to the root the parameter has to be specified as \. This command is not allowed from SYS_CALL. To change the directory from PDL2 program, use the predefined routine DIR_SET. Syntax: FUDC <directory_name>

7.9.4.10.2

FILER UTILITY DIRECTORY DELETE (FUDD)

To delete the specified directory. Options: Syntax: /Noconfirm eliminates the confirm prompt FUDD <directory_name> FUDD/N <directory_name>

7.9.4.10.3

FILER UTILITY DIRECTORY MAKE (FUDM)

To create a new directory starting from the current position in the directories structure. Syntax: FUDM <directory_name>

7.9.4.11

FILER UTILITY INSTALL (FUI)

To install a certain application program executing all the necessary operations in automatic mode: identification of the backup device to copy the files from ($DFT_DV[6] equivalent to a default COMP:), copy of the application installation file on the user disk UD: and its activation. The parameter requested is the name of the application installation file (for example IO_INST.COD for the IO Configuration application) that can also be selected by pressing the HELP key of the prompt that requests the installation file name. The predefined variable $FUI_DIRS contains the path of the directories where the search is made for the application to be installed. Syntax: FUI <installation_file>

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System Commands If the application is to be installed using Ethernet, first of it is necessary configure correctly all the predefined variables with $NET_ prefix that contain the references of the HOST where the desired application files are installed. For further details regarding the Ethernet network configuration, see the PDL2 Programming Language Manual for the description of the predefined $NET_xx. variables.

7.9.4.12

FILER UTILITY SEARCH (FUS)

Can be used to find a string inside a file on the user disk UD:. To run this operation the file has to be specified and the string to be searched for. For the file a wildcard can be used. Syntax: Example: FUS <file_name string_searched_for> FUS '*.COD' '$DOUT'

7.9.4.13

FILER VIEW (FV)

The VIEW command displays the contents of the disk specified (UD: by default) in the directory currently selected on the device from which the command is sent. For each file the date of creation, the size in bytes, the attributes, the name and the extension are displayed. If the file has a Readonly or System attribute this is indicated by the letter r or s accordingly. To know the attributes of a file from the PDL2 program, use the predefined FL_STATE routine. One or more files can be specified as parameter. If no parameter is specified, all the files are listed. At the bottom of the list of files the total number of files contained in the selected directory is indicated, with the number of bytes occupied. Also the size, in bytes, of the disk UD: is indicated, with the number of bytes occupied and the number that are free. Options: /After - after a date: 1=yesterday; 0=today /Bare shows the list of the file names, hiding the information regarding the date and the occupation /Deleted Displays only the deleted files (in a non-permanent mode) /Length displays the required list of files starting from the smallest to the largest /Modified shows the list of the required files starting from that with the oldest changes to the most recent/Nopage /Subdir displays also the list of the files in the sub-directories /Unsort Does not set in order FV <file_name> FV/D <file_name> FV/L <file_name> FV/M <file_name> FV/N <file_name> FV/S <file_name> FV/U <file_name>

Syntax:

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System Commands

7.9.5

MEMORY branch
The MEMORY branch displays the commands to manage the programs and variables in the execution memory of the programs. Besides the individual commands, also the following are described: ERASE menu VIEW menu

7.9.5.1

MEMORY DEBUG
The DEBUG command calls the editor in view mode and debugs the program, that has to be already loaded in the execution memory. This function allows the programmer to carry out these operations: change the current instruction being run change the position variables display the program running display interaction between programs change parameters that control the execution, such as break-point step, insertion of points change a program text (only if loaded with /FULL option).

If the program has been loaded with the /FULL option, the text can also be changed. Programs loaded with the /PERMANENT option, only available from SYS_CALL, cannot be used in MEMORY DEBUG. The command requires the parameter with the name of the program. To use this command the control must not be in FATAL state.DEBUG cannot be used if the commands FILER EDIT, PROGRAM EDIT or MEMORY TEACH are active, or if the IDE environment is active. This command is not allowed from SYS_CALL. Syntax: MD <program_name>

7.9.5.2

ERASE menu
A menu of commands to delete data and programs from the memory. A wildcard can be used for the names of the programs and the variables. Before starting to delete, all the programs display a confirm prompt.

7.9.5.2.1

MEMORY ERASE ALL (MEA)

Deletes the code and the variable of the program specified. Options: Syntax: /Noconfirm eliminates the confirm prompt. MEA <program_name>

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System Commands

7.9.5.2.2

MEMORY ERASE PROGRAM (MEP)

Deletes the part of the code referring to the specified program. If PROGRAM VIEW is already active, MEP cannot be used. Options: /Noconfirm eliminates the confirm prompt. Syntax: MEP <program_name>

7.9.5.2.3

MEMORY ERASE VARIABLE(MEV)

Deletes one or more variables of the specified program and not referred by a loaded program. The name of the variable has to be specified as a parameter. Options: Syntax: /Noconfirm eliminates the confirm prompt. MEV <program_name> <variable_name>

7.9.5.3

MEMORY LOAD (ML)

The LOAD command is used to load the program codes (.COD) and the variable files (.VAR) in the execution memory from the default storage device (UD), It is asked to specify as parameter the name of the program to be loaded; the asterisk can be used. If a program does not have a data file (.VAR), the variables are created in memory during the loading. A program cannot be loaded when it is in program ready, paused or running condition. If it is not possible to load the program due to damage to the data contained in the .COD file, recover a backup copy of the same file (.BKC) or translate the program into ASCII format using the FILER TRANSLATE command. Next, edit the ASCII file obtained and correct the damaged instructions and identifiers, that are distinguished by three question marks ("???"). Once the corrections have been made, reconvert the file to a .COD file using the FILER TRANSLATE command. Options: /As, to load programs with a different data file (.VAR), specified as a parameter. Asterisks cannot be used with this option. /Convert converts, where possible, conflicts between data file and the program /Depend automatically loads the code and the variables of the programs referred in the program code specified as parameter to MEMORY LOAD. If the referred files are in different directories the predefined variable $DEPEND_DIRS has to be set, that contains the path that the Load command will use in the search. /Full loads the entire program with the related comments and empty lines. If a program has been loaded with the /FULL, option it can be edited in the MEMORY DEBUG environment and saved. The programs that have the EZ attribute in the heading are automatically loaded with the /FULL option. /Nosavevars disables the saving of the variables (or VAR) when MEMORY SAVE is executed on this program. This option is only available if used together with the internal SYS_CALL routine. /Variables loads only the data file of the specified program. /Permanent loads the program code in the memory in permanent
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System Commands mode, not permitting deletion. The code uses less memory because of the optimizing of the loading process. To recover the memory, the control has to be restarted. This option is only available if used together with the internal SYS_CALL routine. Syntax: ML <program_name> ML/A <data-file program_name> ML/F <program_name>

7.9.5.4

MEMORY SAVE(MS)
The SAVE command saves the file containing the code or the variables of a program that is loaded in memory. If no option is specified, the command saves by default only the program variables, creating a new .VAR file with the name of the program. The directory where the file of variables is saved is (in the order indicated here below): the one from where the .VAR was originally loaded; if no .VAR file was loaded, the directory from where the .COD file was loaded; if no .COD was loaded, the directory which is currently selected on the device from where the save command is issued (programming unit, Terminal of WinC4G, currently selected directory in case of SYS_CALL).

The MemoryViewProgram command is useful to check which file and directory have been used to load the code and the variables of a program.

Issue the /Code option to save the code. If there is already another data or program file with the same name, this will be renamed and it will be assigned a .BKV or .BKC extension . If data have not been loaded with /Nosavevar option, variables of this program will not be saved. Options: /As allows the saving of the program code or data in a file with the name indicated in the second parameter. The asterisk cannot be used with this option. /Code saves the code of a program (instead of the variables), loaded with the /FULL option and if it has been modified since when it was loaded. /Dirorig saves the file of variables with the same name and directory used while loading. /Overwrite if the file already exists in the user disk, it is replaced without the display of the confirm prompt. /Total (only from SYS_CALL). MS <program_name> MS/A <program_name> <file_for_saving> MS/C <program_name> MS/D <program_name> MS/O <program_name> MS/T <program_name>

Syntax:

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System Commands

7.9.5.5

MEMORY TEACH
The TEACH command is used to change the position variable values in the execution memory and to act on the nodes of a PATH. It is only allowed from Teach Pendant. This environment allows the operator to carry out these operations: assign a physical position of the robot to a position variable change position variable values create, delete and change the data of a PATH.

It is necessary to specify as a parameter the name of the program where the variables are to be learnt. The program must be loaded in the memory, but not active. TEACH cannot be used at the same time as the commands PROGRAM EDIT (DATA mode), MEMORY DEBUG or IDE environment, or if the system is in FATAL state. It is not allowed from SYS_CALL. Syntax: MT <program_name>

7.9.5.6

VIEW menu
VIEW menu is used to have access to a commands menu to display the contents of the memory. All MEMORY VIEW commands support the /NOPAGE option.

7.9.5.6.1

MEMORY VIEW PROGRAM (MVP)

Displays the information regarding the programs loaded and the data regarding the occupation of the memory as described here below: program name program attributes (H=hold, N=nohold, A=attach, D=detach) name of data file (.VAR) used for loading (- indicates not loaded from a file) occupation of the program code (.COD) (0 indicates not loaded) and number of lines size of data (0 indicates not loaded) and number of variables date and time of creation of the .COD file and the .VAR file loaded in memory for this program. To obtain this information the /Full option is needed. a symbol indicating whether the instructions or the variable loaded have been changed in the memory, but not saved on the user disk. Entering this command by WINC4G or by SYS_CALL, the symbol is displayed next to the size of the code and the size of the variables. If instead the command is sent from the teach pendant, also the /Full option has to be entered. The following symbols are used: S indicates that the program code or variables have been saved * indicates that the program code or the variables have been changed, but not saved - indicates that the program code or the variables have not been loaded into the memory P indicates that the program code has been loaded by SYS_CALL with the /Nosavevars option.

As from system software version 3.20, further information can be viewed, using /Property option. Standard attributes (Property) associated to the files are the following:
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System Commands drawn up by file creation date version host where file was created. /Full displays all the information referring to the program. /Nopage /4 Useful from SYS_CALL to TP-INT Page (see Option /4 to view in the 40 columns) /Property displays program properties (drawn up by, date of creation, version, host where it was created). MVP <program_name> MVP/F <program_name> MVP/N <program_name> MVP/4 <program_name> MVP/P <program_name>

Options:

Syntax:

7.9.5.6.2

MEMORY VIEW TYPE (MVT)

Displays the type of data (TYPE declarations in the programs loaded in memory) defined by the user, as follows: name of type of data (TYPE) size in bytes counter of references from part of programs or variables to this type of data number of fields type of structure (record or node) description of the fields (information on the name and type of data of each field).

The type of data defined by the user are global in the system. However they remain in the memory as long as there is a program loaded or referring variables of a program. If no type of parameter is specified, the information is displayed regarding all the types loaded. The asterisk can be used. Options: Syntax: /Nopage MVT <type_name>

7.9.5.6.3

MEMORY VIEW VARIABLE (MVV)

Displays the information regarding the variables loaded, as follows: name of variable type of variable references counter (number of programs loaded that refer to that variable) status (private, exported, local routine) value.

If the name of the program or of the variable are not specified as parameters, the information is displayed regarding all the loaded variables. A wildcard can be used instead of the name of the variable or the program.

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System Commands The data class variables type STRING or ARRAY, where an asterisk was used in the declaration and for which the real size has not been declared, are displayed with size 0. Options: /Nopage /Full displays the complete names of the variables, without shortening because of their length. MVV <program_name> <variable>

Syntax:

7.9.6

PROGRAM branch
PROGRAM branch displays a menu of commands used to develop and run the programs. Besides the individual commands, the following are also described: ResPLC menu UTILITY menu STATE menu TEST branch

7.9.6.1

PROGRAM ACTIVATE (PA)

The effect of the ACTIVATE command depends on the holdable/non-holdable attribute of the program specified as parameter: Activating a holdable program, it is put in ready state. To run it, press the START button. Activation of a non-holdable program sets it directly in running state. If a holdable program is already active on an arm and one of the programs has the DETACH attribute specified, a prompt will be displayed to confirm whether two or more programs are to remain active on the same arm. If a holdable program is still active and the DETACH attribute is specified, a message will be displayed indicating that the arm is already DETACHED. Before it can be activated, the program has to be loaded into the memory. The asterisk cannot be used. The control must not be in FATAL state. The following options, except the ARGUMENT option, can be used to activate the program with a step other than the default step. See the indications regarding PROGRAM TEST STEP to have the exact significance of each step. The ARGUMENT option is used to specify a parameter to pass to the program, when it is activated. This parameter is automatically saved in the predefined variable $PROG_ARG, and can be used at will within the program. Options: /Argument - to pass a parameter to a program when it is activated /Cycle /Disable /Fly /Move /Routine /Statement PA <program_name>

Syntax:

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7.9.6.2

PROGRAM DEACTIVATE (PD)

DEACTIV command deactivates the programs that are in running, ready, paused or unpaused status. After they have been deactivated the programs remain in the memory, but the execution cannot continue. To do so, PROGRAM ACTIVATE has to be used. The program to be deactivated is specified as a parameter. The asterisk can be used inside the parameter to deactivate more than one program. The control must not be in FATAL state. Options: Syntax: /Confirm displays the confirm prompt before the program deactivation. PD <program_name>

All active programs can be deactivated by PD * or CTRL Y (^Y). CTRL Y can be emitted regardless of the level of menu that is active and is only valid if the mode that is active is PROG and there is no protection active. Protected programs cannot be deactivated by this command, to deactivate them it is necessary to use the instruction or the action of PDL2 DEACTIVATE.

7.9.6.3

PROGRAM EDIT
The EDIT command is an integrated programming environment that allows the programmer to edit, learn points and check PDL2 programs by executing them.

For further information see Chap. Basic procedures for Program development.

The program editor uses the files containing the codes of the PDL2 programs (.COD) stored in the user disk (UD:). The name of the program is used as parameter and it is not possible to use a wildcard. When it is called, the editor tries to enter by default in DATA mode. The programs can be edited in DATA mode only when the status selector switch is set to T1 and the program is not active. If it is not possible to enter in DATA mode, the program is opened in CODE mode, that allows the programmer to change the program instructions, but not to execute the verification or the learning of variables. The CODE mode has to be used to make changes in the declarations section of a program. In CODE mode any program can be edited, whether activated or loaded. If it is not possible to load the program due to damage to the data contained in the file, recover a backup copy of the same file or convert it to an ASCII file using the FILER PRINT command. This command is not allowed from SYS_CALL. The EDIT command cannot be used when the control is in FATAL state; the same applies in cases where the FILER EDIT, MEMORY DEBUG or PROGRAM EDIT (DATA or CODE mode) commands are active or when the IDE environment is enabled. The use of the PROGRAM EDIT command with the MEMORY TEACH command active is possible in CODE mode, but not in DATA mode.

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System Commands Options: /Code calls up the editing in CODE mode, allowing the programmer to edit the program instructions, but it is not possible to execute learning or program verification. CODE is to be used to make changes in the declaration section of a program. While in CODE mode, it is possible to edit any program, even if it is activated or loaded. PE <program_name>

Syntax:

7.9.6.4

PROGRAM GO (PG)
GO command loads and activates the specified program. It is a combination of the MEMORY LOAD and PROGRAM ACTIVATE commands. If a holdable program is already active on an arm and one of the programs has the DETACH attribute, a prompt will be displayed to confirm whether two or more programs are to remain active on the same arm. If a holdable program is still active and the DETACH attribute is not specified, a message will be displayed indicating that the arm is already ATTACHED. If the program is already active the programmer is asked if it is to be deactivated. If the program is already loaded and the .COD file belongs to a more recent version than that which is loaded, the operator will be asked whether the new version is to be loaded. The asterisk cannot be used. The command cannot be used when the control is in FATAL state. For a holdable program, the first program move is executed at reduced speed; this also happens for the first move after the CTRL C (^C) key has been pressed or if the MEMORY DEBUG cursor has been moved. This safety function that reduces the speed can be disabled by setting the opportune bits in the predefined variable $PROG_CNFG. To establish whether a move is executed at reduced speed, see the predefined variable $SAFE_ENBL. If it is not possible to load the program due to damage to the data contained in the file, recover a backup copy of the same file or convert it to an ASCII file using the FILER PRINT command. For further information regarding this procedure see the section relating to the FILER PRINT command. The following options, except for the Update and Argument, can be used to activate the program with a step that is not the default step. See the description of the PROGRAM TEST STEP command. UPDATE option disables the question to the user, if the program to be activated is already loaded and/or active in memory and in the user disk there is a more recent version. The ARGUMENT option is used to specify a parameter to pass to the program, when it is activated. This parameter is automatically saved in the predefined variable $PROG_ARG, and can be used at will within the program. Options: /Argument - to pass a parameter to a program when it is activated /Cycle /Disable /Fly /Move
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System Commands /Routine /Statement /Update: replaces the program in the memory, even if active, loading the new copy from the user disk and activating it. Syntax: PG <program_name>

7.9.6.5

ResPLC menu
The ResPLC branch contains the PLC interfacing commands.

7.9.6.5.1

PROGRAM ResPLC ACTIVATE (PRA)

Starts the PLC resource execution. Options: Syntax: /Restart restarts the execution of the resource /Single_scan executes a single resource scan PRA <resource_name>

7.9.6.5.2

PROGRAM ResPLC DEACTIVATE (PRD)

Disables the execution of the PLC resource. Syntax: PRD <resource_name>

7.9.6.5.3

PROGRAM ResPLC RESTORE (PRR)

Restores the PLC resource. Syntax: PRR <resource_name>

7.9.6.6 7.9.6.6.1

UTILITY menu PROGRAM ResPLC UTILITY PROJDIR (PRUP)

Selects the default directory for the PLC resource. Syntax: PRUP <directory_name>

7.9.6.6.2

PROGRAM ResPLC UTILITY SAVE (PRUS)

Saves the PLC resource. Syntax: PRUS <resource_name>

7.9.6.6.3

PROGRAM ResPLC UTILITY UNLOAD (PRUU)

Deletes the resource of memory. Syntax: PRUU <resource_name>

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7.9.6.6.4

PROGRAM ResPLC UTILITY VIEW (PRUV)

Views information about the PLC environment: resource name name of the project present on the controller (for example UD:\RESPLC) project directory resource number dimension in bytes of the resource file resource execution modality cycle time. PRUV <resource_name>

Syntax:

7.9.6.7

STATE menu
The STATE menu displays the commands to change the execution state of an active program.

7.9.6.7.1

PROGRAM STATE BYPASS (PSB)

Allows the programmer to skip the current instruction when checking the program. This is useful if the program is suspended, for example waiting for a certain condition to be verified. BYPASS cannot be used when the control is in FATAL state. Syntax: PSB <program_name>

7.9.6.7.2

PROGRAM STATE PAUSE (PSP)

Changes the program state from running to paused. Both holdable and non holdable programs are set in paused state. The asterisk can be used in the program name. The command cannot be used when the control is in FATAL state. Options: Syntax: /Confirm displays the confirm prompt before setting the programs in paused state. PSP <program_name>

7.9.6.7.3

PROGRAM STATE UNPAUSE (PSU)

Continues the execution of the paused program. Holdable programs are set in ready state and resume execution when START is pressed. Non holdable programs are set to running state. The asterisk can be used for the program name. The command cannot be used when the control is in FATAL state. Syntax: PSU <program_name>

7.9.6.8

TEST branch
The TEST branch displays the menu with the commands to Debug a program without
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System Commands being inside an editor environment. TEST cannot be used when the control is in FATAL state. A description of these subjects follows: Break menu PROFILE menu STEP menu

7.9.6.8.1

Break menu
BREAK menu displays a commands used to set and use the break points in a program. A break point is a point inside the program where the execution stops, setting the program in ready. To resume the program, press RUN. For holdable programs a START is also necessary. The BREAK commands can be used for any loaded program, including programs currently active. The break points are numbered automatically by the system.

PROGRAM TEST BREAK INSERT (PTBI)

Inserts a break point. The break points inserted have immediate effect. The required parameters are the name of a program and the line number; that must correspond to an executable code. The break takes place on the specified line number, before the instruction is executed. If no line number is specified, an error message is displayed. Options: /Label to specify a label instead of the line number. /Routine to specify a routine name instead of the line number.

Both the /LABEL and /ROUTINE options are to be used to specify a label inside a routine.

Syntax:

PTBI <program_name> <line_number> PTBI/L <program_name> <label> PTBI/R <program_name> <routine_name> PTBI/LR <program_name> <routine_name> <label> PTBI/RL <program_name> <routine_name> <label>

PROGRAM TEST BREAK PURGE (PTBP)

Removes the break points from inside a program. The break point has to be specified, or a wildcard can be used to remove all the break points. Syntax: PTBP <brk_pt_num> <program_name>

PROGRAM TEST BREAK VIEW (PTBV)

Displays a list of break points. A wildcard can be used to specify the name of a program. Options: Syntax:
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/Nopage /PTBV <program_name>

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7.9.6.8.2

PROFILE menu
PROFILE menu displays a menu of commands to control the performance regarding the time the CPU is occupied by active programs. This information is useful when several programs are executed simultaneously.

PROGRAM TEST PROFILE DISABLE (PTPD)

Disables the performance calculation. If PROFILE is already disabled, a warning is displayed. Syntax: PTPD

PROGRAM TEST PROFILE ENABLE (PTPE)

Enables the performance calculation. The CPU time calculation starts as soon as PROFILE is enabled. Syntax: PTPE

PROGRAM TEST PROFILE RESET (PTPR)

Resets the information related to the service calculations. Syntax: PTPR

PROGRAM TEST PROFILE VIEW (PTPV)

Displays the information on the performance: PROFILE starting time PROFILE duration (time lapsed since its enabling) PROFILE state (enabled or disabled) following information for each active program: program name, CPU time used, percentage of CPU time used.

If during the PROFILE enabling an EXECUTE command has been sent, also the calculations on the service related to its execution will be displayed, identified by the program name "E". The performance calculations listed near the program named Free indicate the CPU time not used by the programs or by EXECUTE. Options: Syntax: /4 Useful from SYS_CALL to TP-INT Page (see Option /4 to view in the 40 columns) PTPV

7.9.6.8.3

STEP menu
The STEP menu displays the commands that allow the execution step of a certain program to be changed. A step defines how many instructions are to be executed at a time. As each step is completed, the program is set in READY state. To resume execution a START is needed for holdable programs, or RUN for the non holdables. To set the execution step, the program name has to be specified (asterisk is allowed)
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System Commands and it must be already loaded in memory. When a program step is changed while running, the new step will come into effect immediately after the execution of the current instruction.

PROGRAM TEST STEP CYCLE (PTSC)

Defines the step as a single cycle inside the program. The program must contain the CYCLE or BEGIN CYCLE instruction. Syntax: PTSC <program_name>

PROGRAM TEST STEP DISABLE (PTSD)

Restores the program continuous execution mode and disables the previously set execution step. The asterisk can be used to specify a program. Syntax: PTSD <program_name>

PROGRAM TEST STEP FLY (PTSF)

Executes two movements in fly before suspending the running of the program. Defines the step as a single movement: it is similar to PTSM, but the execution does not stop after MOVEFLY. It cannot be used on non-holdable programs. Syntax: PTSF <program_name>

PROGRAM TEST STEP MOVE (PTSM)

Defines a step as a single movement. It cannot be used on non-holdable programs. Syntax: PTSM <program_name>

PROGRAM TEST STEP ROUTINE (PTSR)

Defines the step as one instruction at a time, except that the routines are executed as if they were a single instruction. Syntax: PTSR <program_name>

PROGRAM TEST STEP STATEMENT (PTSS)

Defines the step as a single instruction. Syntax: PTSS <program_name>

PROGRAM TEST STEP VIEW (PTSV)

Displays the step associated to a program. The program name can be specified with a wildcard, otherwise all the steps regarding all the programs will be displayed. Options: Syntax: /Nopage PTSV <program_name>

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7.9.6.9

PROGRAM VIEW (PV)

VIEW command is used to displays the following information regarding active programs together with these values: program name; program attributes; arm number; priority; primary state (running, in hold, suspended); number of the line that is executed and program the line belongs to; error number; CPU time - is the time, in seconds, during which the program has been actually interpreted by the PDL2 programs interpreter. number of cycles.

A wildcard can be used for the program name. The command cannot be used when the control is in FATAL state or when MEMORY ERASE PROGRAM is active. Options: /Chain displays the nesting of the calls to routines routine name program the routine belongs to line number execution context (main program, program routine, routine exported by another program, call to routine from CONDITION, private) state /Full displays further information, such as: program attribute arm number priority stack dimension (StSz) stack currently used (StUd); maximum percentage of stacks used so far by the program (StMax) program current state (running, held, suspended) reason why the execution has been suspended number of line being executed and program it belongs to date and time when the program was activated breakpoints in the program code step execution mode number of condition managers (CONDITION) defined and list of them (those enabled, locally or globally, are marked with a wildcard) number of errors on which the predefined ERR_TRAP_ON routine is active predefined variable values in the Program Stack category and for which a copy exists for each program nesting of the routine calls CPU time, in seconds, actually occupied by the PDL2 programs interpreter to interpret the current program. /Nopage
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System Commands /4 Useful from SYS_CALL to TP-INT Page (see Option /4 to view in the 40 columns) /Wide (only from SYS_CALL) Displays some information in full length (for example owner program name of the line), in relation to the default mode. Syntax: PV <program_name>

7.9.7

SET branch
A description of these subjects follows: SET ARM menu SET CNTRLR menu SET INPUT menu SET OUTPUT menu

7.9.7.1

SET ARM menu

ARM menu displays a menu of commands used to set a certain state of the arm.

7.9.7.1.1

SET ARM DISABLE (SAD)

Disables the DRIVE ON function for an arm, the errors generated when the encoder cables are not connected to the robot, the indications of the drive failure; it is only allowed when the system is in PROGR or ALARM state and when the power supply to the drives is off. The arm remains disabled until it receives a SetArmEnable command, regardless of any repowering that may be executed. The SetArmDisable command is usually used when it is necessary to perform repair operations on a certain arm. After the operations have been carried out, the system may still report the presence of some errors because a hardware component has remained blocked. To remove these alarms it is necessary to restart the Controller. For systems that have more than one arm, it is necessary to specify the arm number as a parameter. To indicate all the arms an asterisk can be used. Syntax: SAD <arm_num>

7.9.7.1.2

SET ARM ENABLE (SAE)

Enables the DRIVE ON function for an arm. This command can only be used when the system is in PROGR state, with the drives power supply disabled. For systems with several arms, the number of the arm is to be specified as a parameter. To indicate all the arms a wildcard can be used. Syntax: SAE <arm_num>

7.9.7.1.3

SET ARM GEN_OVR (SAG)

Assigns the value specified in the parameter to the $GEN_OVR variable. This command can be used to increase or decrease the value of $GEN_OVR. If the command is entered from WINC4G or from SYS_CALL, and the system is in PROGR mode, the value can only be decreased.

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System Commands Options: /Increment sets the increase/decrease default unit used to update the current value of $GEN_OVR when the %+ and %keys of the teach pendant are used to change the value. The default value is 5. SAG <value> SAG/I <value> <unit_incr/decr>

Syntax:

7.9.7.1.4

SET ARM NOSTROKE(SAN)

For the temporary disabling of the limit switches set for a certain arm. With the limit switches disabled the robot can only be moved manually and therefore the system has to be in PROGR state. The limit switches are automatically reset when the system is in AUTO or HOLD, when the drives power supply is disabled or when the arm referred by the Teach Pendant is changed. For systems with several arms the number of the arm must be indicated as a parameter. The asterisk can be used to indicate all the arms. Syntax: SAN <arm_num>

7.9.7.1.5

SET ARM SIMULATE (SAS)

To run programs simulating the movements without actually moving the arm. All the movement calculations are executed just the same. This command can only be sent with the power to the drives off (DRIVE OFF). After the arm has been set in the simulated state, the drives can be powered, after setting the status selector switch on PROGRAMMING and moving the robot manually. The command requires an arm as a parameter and can be used to: test programs without moving the arm; establish approximate cycle times; check the program logic. SAS <arm_num>

Syntax:

7.9.7.1.6

SET ARM TP_MAIN (SAT)

Sets the default arm (usually set at 1) for movement by teach pendant. It requires the arm as a parameter. Requires the arm as a parameter. To use this command, in PROG, the power supply to the drives must be off. This command is not possible if it is introduced by WINC4G or by SYS_CALL. The command is only enabled in LOCAL and REMOTE states, even with DRIVE ON. The command is not allowed if it is inserted from WINC4G or SYS_CALL with the Teach Pendant connected (or disconnected while the system is in PROGR state). It is also disabled when EZ is active. Syntax: SAT <arm_num>

7.9.7.1.7

SET ARM UNSIMULATE

Deactivates simulation on the arm. This command requires the arm as a parameter and it is to be sent with the drives power supply disabled (DRIVE OFF). Syntax: SAU <arm_num>

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System Commands

7.9.7.2 7.9.7.2.1

SET CNTRLR menu SET CNTRL KEY_LOCK (SCK)

Prevents unauthorised use of the menu in the Terminal window on WinC4G or the TP-INT page on TP4i. To use this command a password is necessary. The screen remains locked and asks for the password to remove this condition and resume access to the commands menu. Syntax: SCK password

7.9.7.2.2

SET CNTRL LANGUAGE ENGLISH (SCLE)

To set English language on the Controller. The command has immediate effect as soon as it is sent. Syntax: SCLE to select English

7.9.7.2.3

SET CNTRL LANGUAGE ITALIAN (SCLI)

To set Italian language on the Controller. The command has immediate effect as soon as it is sent. Syntax: SCLI

7.9.7.2.4

SET CNTRL LANGUAGE FRENCH (SCLF)

To set French language on the Controller. The command has immediate effect as soon as it is sent. Syntax: SCLF

7.9.7.2.5

SET CNTRL LANGUAGE GERMAN (SCLG)

To set German language on the Controller. The command has immediate effect as soon as it is sent. Syntax: SCLG

7.9.7.2.6

SET CNTRL LANGUAGE SPANISH (SCLS)

To set Spanish language on the Controller. The command has immediate effect as soon as it is sent. Syntax: SCLS

7.9.7.2.7

SET CNTRL LANGUAGE PORTOG (SCLP)

To set Portuguese language on the Controller. The command has immediate effect as soon as it is sent. Syntax: SCLP

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7.9.7.2.8

SET CNTRL LANGUAGE TURKISH (SCLT)

To set Turkish language on the Controller. The command has immediate effect as soon as it is sent. Syntax: SCLT

7.9.7.2.9

SET CONTROLLER VIEW (SCV)

Displays the current default values for the following: default arm default port for communications default system device current time and date default backup device default PDL2 device $GEN_OVR current increment startup file system identifier ($BOARD_DATA[1].SYS_ID) users who have logged in from Teach Pendant and possibly from WINC4G software hour meter: number of operating hours in DRIVE ON DSA-DSP, DSA-MPC, BSP versions TCP/IP address version number of the TP4i version number of the system software and date of compilation optional system software functions enabled for this Control (predefined variable $CNTRL_OPTIONS[1]) /4 Useful from SYS_CALL to TP-INT Page (see Option /4 to view in the 40 columns) SCV

Options: Syntax:

7.9.7.2.10

SET CONTROLLER WIN_CLEAR (SCW)

Deletes the information shown in a window. Syntax: SCW <window_name>

7.9.7.3

SET INPUT menu

SET INPUT menu contains commands for handling the inputs. The FORCE, SIMULATE and UNFORCE commands are not allowed if they are not issued from the teach pendant and the state is T1 or T2. A description of these subjects follows: SET INPUT FORCE branch SET INPUT NOTSIMULATE branch
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System Commands SET INPUT SIMULATE branch SET INPUT UNFORCE branch SET INPUT VIEW branch

7.9.7.3.1

SET INPUT FORCE branch

FORCE command forces the value of a certain input. The physical input is no longer considered and the forced value is used. The operator can choose through a sub-menu whether to force analog (AIN), digital (DIN), privileged digital (IN), flexible multiples (FMI) or group (GIN) inputs. To indicate the input to be forced it is necessary to specify the index. The asterisk cannot be used. As value to be forced it is possible to indicate: T: TRUE (ON) F: FALSE (OFF) C: the input will be forced to its current physical state.

After selecting the appropriate value, press ENTER. A digital input that is part of a group of inputs has to be forced as a group and not as a separate digital input. This command is not allowed if sent by WINC4G or by SYS_CALL with the teach pendant not on the RCC (Robot Controller Cabinet).

SET INPUT FORCE AIN (SIFA)

Syntax: SIFA <index_num> <forced_value>

SET INPUT FORCE DIN (SIFD)

Syntax: SIFD <index_num> <forced_value>

SET INPUT FORCE FMI (SIFF)

Syntax: SIFF <index_num> <forced_value>

SET INPUT FORCE GIN (SIFG)

Syntax: SIFG <index_num> <forced_value>

SET INPUT FORCE IN (SIFI)

Syntax: SIFI <index_num> <forced_value>

SET INPUT FORCE TOTAL (SIFT)

Syntax: SIFT

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7.9.7.3.2

SET INPUT NOTSIMULATE branch

Removes a logic input from the simulated condition. To indicate the input, the index has to be specified. The asterisk cannot be used.

SET INPUT NOTSIMULATE AIN (SINA)

Syntax: SINA <index_num>

SET INPUT NOTSIMULATE DIN (SIND)

Syntax: SIND <index_num>

SET INPUT NOTSIMULATE FMI (SINF)

Syntax: SINF <index_num>

SET INPUT NOTSIMULATE IN (SINI)

Syntax: SINI <index_num>

SET INPUT NOTSIMULATE TOTAL (SINT)

Syntax: SINT

7.9.7.3.3

SET INPUT SIMULATE branch

Sets a logic input in the simulated condition. The physical input is no longer considered and the value assigned to the port through this command or a PDL2 instruction is used. A simulated input can also be forced (SetInputForce command). The operator can choose through the sub-menu, whether to simulate analog (AIN), digital (DIN), privileged digital (IN) inputs or flexible multiples (FMI). To indicate the input, the index has to be specified. The asterisk cannot be used.

SET INPUT SIMULATE AIN (SISA)

Syntax: SISA <index_num> <simulated value>

SET INPUT SIMULATE DIN (SISD)

Syntax: SISD <index_num> <simulated value>

SET INPUT SIMULATE FMI (SISF)

Syntax: SISF <index_num> <simulated value>

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SET INPUT SIMULATE IN (SISI)

Syntax: SISI <index_num> <simulated value>

SET INPUT SIMULATE TOTAL (SIST)

Syntax: SIST

7.9.7.3.4

SET INPUT UNFORCE branch

Returns a forced logic input to the original physical configuration. The command acts on analog inputs (AIN), digital inputs (DIN), privileged digital inputs (IN), flexible multiple inputs (FMI) or group inputs (GIN). The asterisk cannot be used.

SET INPUT UNFORCE AIN (SIUA)

Syntax: SIUA <index_num>

SET INPUT UNFORCE DIN (SIUD)

Syntax: SIUD <index_num>

SET INPUT UNFORCE FMI (SIUF)

Syntax: SIUF <index_num>

SET INPUT UNFORCE GIN (SIUG)

Syntax: SIUG <index_num>

SET INPUT UNFORCE IN (SIUI)

Syntax: SIUI <index_num>

SET INPUT UNFORCE TOTAL (SIUT)

Syntax: SIUT

7.9.7.3.5

SET INPUT VIEW branch

Displays the forced inputs. The operator can choose through the sub-menu, whether to display the forced analog (AIN), digital (DIN), privileged digital (IN), flexible multiples (FMI) or group (GIN) inputs. If a group of inputs is forced, all the corresponding digital inputs will be displayed as forced from the moment the SIVD command is used.

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SET INPUT VIEW AIN (SIVA)

Syntax: SIVA

SET INPUT VIEW DIN (SIVD)

Syntax: SIVD

SET INPUT VIEW FMI (SIVF)

Syntax: SIVUF

SET INPUT VIEW GIN (SIVG)

Syntax: SIVG

SET INPUT VIEW IN (SIVI)

Syntax: SIVI

SET INPUT VIEW SYSTEM (SIVS)

Syntax: SIVS

7.9.7.4

SET LOGIN (SL)

To login on the Controller. The user identification (Userid) and the Password have to be entered. The user has to declare beforehand the user profile to be used to access the Controller, through the ConfigureControllerLoginAdd command sent by a user with Administrator profile. This command is not allowed from SYS_CALL. Options: /Logout allows the user currently using the Controller to logout from the device where the command is entered.

With regard to Logout, as from System Software version 3.20, there is also a function available called "Automatic Logout". For further details see par. 5.3.1 Automatic Timed Logout on page 5-5. Syntax: SL <username><password>

7.9.7.5

SET OUTPUT menu

OUTPUT menu contains commands for handling the outputs. The FORCE, SIMULATE and UNFORCE commands are not allowed if they are not issued from the teach pendant and the state is T1 or T2.

7.9.7.5.1

SET OUTPUT FORCE branch

FORCE command simulates the outputs. The forced value is used by the program and

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System Commands assigned to the physical output. Any assignment to the forced outputs will not change the physical outputs or the program execution. It is not possible to change the value of the forced outputs until the forced state is removed by UNFORCE. The operator can choose whether to force the analog (AOUT), digital (DOUT), privileged digital (OUT), flexible multiples (FMO) or group (GOUT) outputs. To indicate the output to be forced, the index has to be specified. The asterisk cannot be used. As value to be forced it is possible to indicate: T: TRUE (ON) F: FALSE (OFF) C: the output will be forced to its current physical state.

Select the appropriate value and press ENTER. A digital output that is part of a group has to be forced as group and not as a single digital output.

SET OUTPUT FORCE AOUT (SOFA)

Syntax: SOFA <index_num> <forced_value>

SET OUTPUT FORCE DOUT (SOFD)

Syntax: SOFD <index_num> <forced_value>

SET OUTPUT FORCE FMO (SOFF)

Syntax: SOFF <index_num> <forced_value>

SET OUTPUT FORCE GOUT (SOFG)

Syntax: SOFG <index_num> <forced_value>

SET OUTPUT FORCE OUT (SOFO)

Syntax: SOFO <index_num> <forced_value>

7.9.7.5.2

SET OUTPUT NOTSIMULATE branch

Removes the logic output from simulated condition. The physical output state is not interfered with. To indicate the output to be forced, the index has to be specified. The asterisk cannot be used.

SET OUTPUT NOTSIMULATE AOUT (SONA)

Syntax: SONA <index_num>

SET OUTPUT NOTSIMULATE DOUT (SOND)

Syntax:
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SET OUTPUT NOTSIMULATE FMO (SONF)

Syntax: SONF <index_num>

SET OUTPUT NOTSIMULATE GOUT (SONG)

Syntax: SOSG <index_num> <simulated value>

SET OUTPUT NOTSIMULATE OUT (SONO)

Syntax: SONO <index_num>

SET OUTPUT NOTSIMULATE TOTAL (SONT)

Syntax: SONT

7.9.7.5.3

SET OUTPUT SIMULATE branch

Sets the logic output in simulated condition. The physical output is no longer updated and the value assigned to the port through this command or by a PDL2 instruction is used. A simulated output can also be forced by SetOutputForce. The operator can choose through the sub-menu, whether to simulate analog (AOUT), digital (DOUT), privileged digital (OUT), flexible multiples (FMO) or group (GOUT) outputs. To indicate the output to be forced, the index has to be specified. The asterisk cannot be used. To see whether an output is simulated, enter SetOutputView.

SET OUTPUT SIMULATE AOUT (SOSA)

Syntax: SOSA <index_num> <simulated value>

SET OUTPUT SIMULATE DOUT (SOSD)

Syntax: SOSD <index_num> <simulated value>

SET OUTPUT SIMULATE FMO (SOSF)

Syntax: SOSF <index_num> <simulated value>

SET OUTPUT SIMULATE GOUT (SOSG)

Syntax: SOSG <index_num> <simulated value>

SET OUTPUT SIMULATE OUT (SOSO)

Syntax: SOSO <index_num> <simulated value>

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SET OUTPUT SIMULATE TOTAL (SOST)

Syntax: SOST

7.9.7.5.4

SET OUTPUT UNFORCE branch

Removes the forced value from an output. The physical state of the output is not changed. The operator can choose whether to reconfigure the analog (AOUT), digital (DOUT), privileged digital (OUT), flexible multiples (FMO) or group (GOUT) outputs. To indicate the output to be forced, the index has to be specified. The asterisk cannot be used.

SET OUTPUT UNFORCE AOUT (SOUA)

Syntax: SOUA <index_num>

SET OUTPUT UNFORCE DOUT (SOUD)

Syntax: SOUD <index_num>

SET OUTPUT UNFORCE FMO (SOUF)

Syntax: SOUF <index_num>

SET OUTPUT UNFORCE GOUT (SOUG)

Syntax: SOUG <index_num>

SET OUTPUT UNFORCE OUT (SOUO)

Syntax: SOUO <index_num>

SET OUTPUT UNFORCE TOTAL (SOUT)

Syntax: SOUT

7.9.7.5.5

SET OUTPUT VIEW branch

Displays the forced outputs. The operator can choose whether to display analog (AOUT), digital (DOUT), privileged digital (OUT), flexible multiples (FMO) or group (GOUT) outputs. If a group of outputs is forced, all the corresponding digital outputs are displayed as forced from the moment the SOVD command is used.

SET OUTPUT VIEW AOUT (SOVA)

Syntax: SOVA

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SET OUTPUT VIEW DOUT (SOVD)

Syntax: SOVD

SET OUTPUT VIEW FMO (SOVF)

Syntax: SOVUF

SET OUTPUT VIEW GOUT (SOVG)

Syntax: SOVG

SET OUTPUT VIEW OUT (SOVO)

Syntax: SOVO

SET OUTPUT VIEW SYSTEM (SOVS)

Syntax: SOVS

7.9.8

UTILITY branch
A description of these subjects follows: UTILITY COMMUNICN MOUNT menu UTILITY COMMUNICN REMOTE menu

7.9.8.1

UTILITY APPLICATION (UA)

This command activates the EZ application if this is already installed. This command is not available from SYS_CALL. Syntax: UA

7.9.8.2

UTILITY COMMUNICN menu

Includes the commands to manage the communication devices (serial ports and network devices) to the Controller. The description of these commands/menus follows: UTILITY COMMUNICN DISMOUNT (UCD) UTILITY COMMUNICN MOUNT menu UTILITY COMMUNICN PORT_CHAR (UCP) UTILITY COMMUNICN REMOTE menu UTILITY COMMUNICATION SET_DEF (UCS) UTILITY COMMUNICATION VIEW (UCV)

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7.9.8.2.1

UTILITY COMMUNICN DISMOUNT (UCD)

Disconnects the currently activated protocol on a communication device. Syntax: UCD <comm_port>

7.9.8.2.2

UTILITY COMMUNICN MOUNT menu

Contains commands for the installation of different communication protocols to be activated on a certain communication device. If this is not specified, the default command ($DFT_DV[8]) will be used.

UTILITY COMMUNICN MOUNT C4G_Int (UCMC)

Activates the communication protocol to the WINC4G program that can be activated on PC. Before typing this command on the control, make sure that the program has been started on the PC and that the connection with the C4G Controller is set correctly. To terminate this type of communication with the PC send the UTILITY COMMUNICN DISMOUNT (UCD) command. Syntax: UCMC <port_name>

UTILITY COMMUNICN MOUNT Modem (UCMM)

This "mount" command reserves the use of the specified serial communication port for the modem. For the modem configuration, the predefined variables $MDM_INT and $MDM_STR are available. To release the port use the UTILITY COMMUNICN DISMOUNT (UCD) command. Syntax: UCMM <port_name>

UTILITY COMMUNICN MOUNT 3964R (UCM3)

Installs the 3964 R protocol on the port specified as parameter. Options: /APPL reserved to start the protocol for a specific application. /lowpri lowers the priority of the server that manages the communication on the C4G side UCM3 <port_name>

Syntax:

7.9.8.2.3

UTILITY COMMUNICN PORT_CHAR (UCP)

Used to set the characteristics of a communication device. For example for the serial port the following characteristics can be set: Baud rate: 110, 300, 1200, 2400, 4800, 9600, 19200, 38400 baud Bit/characters: 7, 8 bit Stop bit: 1, 1.5 or 2 bit Parity: none, odd, even Readahead buffer presence

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System Commands Ahd Size: size of readahead buffer) 0 4096 with steps of 128 (e.g: 0-128-256-...). Only present when the buffer is present. Protocol: none, XON/XOFF Character management: none, ASCII, passall, ASCII + passall

The command displays a window containing the current settings. The right-hand and left-hand arrow keys can be used to select the different characteristics. To pass to the next characteristic, press the ENTER key, or the right, left arrow keys. With the upward and downward arrow keys values can be selected for the selected characteristic. After setting the required values for the characteristics, press PREV/TOP. The CTRL C (^C) key interrupts the UtilityCommunicnPort_char command. If changes have been made, the user is asked if the parameters are to be saved. This command is not allowed from SYS_CALL. Syntax: UCP <port_name>

7.9.8.2.4

UTILITY COMMUNICN REMOTE menu

This menu enables the remote connection via PPP protocol to a modem.

UTILITY COMMUNICATION REMOTE ACCEPT (UCRA)

Accepts a remote connection (passive connection). It requires the name of the device to which it is to be connected as a parameter. Syntax: UCRA <remote_device>

UTILITY COMMUNICATION REMOTE CONNECT (UCRC)

Makes the connection to a remote device (active connection). As a parameter it requires the name of the remote device to which it is to be connected. A Username and a Password must also be specified. Options: Syntax: /DIAL to specify a telephone number. A Username and a Password must also be specified. UCRC <remote_device>

UTILITY COMMUNICATION REMOTE DISCONNECT (UCRD)

Closes the Controller connection to a remote device. It requires the name of the remote device as parameter. Syntax: UCRD <remote_device>

7.9.8.2.5

UTILITY COMMUNICATION SET_DEF (UCS)

Assigns the port specified as parameter to the predefined variable $DFT_DV [5]. It will be used as default communication port . To use this command, neither memory nor system protections are to be active. Syntax: UCS <port_name>

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7.9.8.2.6

UTILITY COMMUNICATION VIEW (UCV)

Displays the characteristics of a communication device. Options: /Nopage /4 Useful from SYS_CALL to TP-INT Page (see Option /4 to view in the 40 columns) UCV <port_name>

Syntax:

7.9.8.3

UTILITY LOG branch

LOG command is used to have access to a commands menu that displays the significant events recorded by the system (errors and actions taken by the user).

7.9.8.3.1

UTILITY LOG ACTION (ULA)

Shows the last actions carried out on the Controller. The requested parameter indicates the number of actions to show. If not specified, 20 actions will be shown. Options: Syntax: /Nopage ULA <num_actions>

7.9.8.3.2

UTILITY LOG ERROR (ULE)

Shows the last errors that have occurred on the Controller. The required parameter indicates the number of errors to be shown. If not specified, 20 errors will be shown. Options: Syntax: /Nopage ULE <num_err>

7.9.8.3.3

UTILITY LOG LATCH ACKNOWLEDGE (ULLA)

Acknowledges the latched alarms. This command has to be used to confirm an alarm that is defined as "latched" (that requires confirmation from the user before it can move the robot). The alarms of this category are described in the PDL2 Programming Language Manual under the predefined variable $LATCH_CNFG. Syntax: ULLA <alarm>

7.9.8.3.4

UTILITY LOG LATCH VIEW (ULLV)

Displays the "latched" alarms, i.e. those which have not yet received confirmation from the user before the robot can be moved. Syntax: ULLV <alarm>

7.10 HELPIO program

This paragraph illustrates the HELPIO program for the assignment of the Help strings to the Inputs and Outputs configured in the system. These strings are then displayed by the TP4I interface (Input /Output page ) and by the DISPLAY INPUT/OUTPUT/VARS
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System Commands commands of the TP-INT page and the WinC4G Terminal. This program is contained in the Controller software CD-ROM and can be used as a suggestion for the compilation of the help strings. To assign the Help strings the user has to: Use the HELPIO.PDL program, inserting the calls to the help and helpbw routines with the opportune strings. The HELPIO.PDL program can be edited on either the PC or on the control. To proceed with the creation of the HELPIO.COD file and copy it on the control. To copy the HELPIO2.COD file, that is protected and cannot be read or changed. Runs the HELPIO program.

To make the strings effective after each start of the Controller, the activation has to be inserted in the STARTUP program, bearing in mind that also the HELPIO2 have to be present in the UD: user disk. -- This example program illustrates how the HELP strings have to -- be compiled to display in the DISPLAY INPUT / OUTPUT commands. PROGRAM helpio NOHOLD -- DOES NOT change the value of these constants CONST bit = 1 din = 2 dout = 3 gin = 4 gout = 5 word = 6 word_bit = 7 ain = 8 aout = 9 app_in = 10 -- $IN app_out = 11 -- $OUT -- Routine to load the data needed for the functioning -- of the service ROUTINE ru_init BEGIN ERR_TRAP_ON(39960) SYS_CALL('mea', 'helpio2') SYS_CALL('ml', 'helpio2') ERR_TRAP_OFF(39960) END ru_init --------To call this HELP routine to assign a string to display in correspondence to one of these ports: $BIT, $DIN, $DOUT, $GIN, $GOUT, $WORD, $AIN, $AOUT, $IN, $OUT The first parameter is an INTEGER that indicates the type of input/output required: use the constants indicated in the heading of this program: BIT, DIN, DOUT, GIN, GOUT, WORD, AIN, AOUT, APP_IN and APP_OUT. The second parameter is an INTEGER and indicates

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-- the InputOutput index. The third parameter indicates the -- Help string to assign to each element. ROUTINE help(ai_io,ai_nd_name:INTEGER;as_help:STRING) FROM helpio2 EXPORTED

-- To call this routine to assign a Help string to -- a bit of a $WORD. -- The first parameter is the predefined constant WORD_BIT that -- indicates the bit of a $WORD". -- The second parameter is the index of the $WORD (for example, -- 6 for $WORD[6]) -- The third parameter is the number of the bit in the $WORD -- (for example 4 for bit 4 of $WORD[6]) -- The fourth parameter is the Help string for the bit of $WORD -- (for example, the fourth bit of $WORD[6]') ROUTINE help_bw(ai_io, ai_nd_name, ai_wbit : INTEGER; as_help : STRING) EXPORTED FROM helpio2

BEGIN -- main program -- Removes the comment from this instruction if it is wished to -- load the Helpio2 program in memory from this program -- ru_init ----The following instructions are only examples of how to assign a Help string to a port. Can be used as a suggestion to complete the required strings by the person who develops the user interface help(bit, 10, 'bit 10 gripper open') help(bit, 11, 'bit 11 gripper closed') help(din, 4, 'body arrived') help(dout, 10, 'current required') help_bw(word_bit, 5, 3, 'bit 3 of word 5') help(gin, 1, 'input group 1') help(ain, 4, 'are ain 4') help(aout, 7, 'are aout 7') help(app_in, 2, 'first $in tested') help(app_out, 6, 'first $out tested') END helpio

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7.11 Types of files available in the System

Backup extension (where applicable) .BKA .BKB .BKC .BKE .BKG .BKL .BKM .BKP .BKU .BKV .BKW .BKX not foreseen

Extension

Description

.ACT .LBA .COD .LBE .LOG .LSV .XML .PDL .UDB .VAR .VPS .LVP .ZIP

Single file containing list of actions executed on Controller (ASCII format of .LBA files) Binary file containing list of actions executed on Controller PDL2 program code, in binary format. It can be edited in IDE environments, Program Edit, Memory Debug Binary file containing list of errors detected on Controller FileLOG file, for example ACTION.LOG and ERROR.LOG ASCII version of .VAR file eXtensible Markup Language type file, used to define additional syntaxes on Controller ASCII version of a PDL2 program User Data Base type file that contains all permitted User Profiles Binary file containing variables of a program Source file for VP2.Builder ASCII version of VP2 file Compressed file Binary file containing system configuration. It can be loaded or saved in the system memory using Config. Function, from Setup page (and the corresponding ConfigureLoad and ConfigureSave commands from WinC4G and TP-INT; for further information, see CONFIGURE branch, Load menu and Save menu).

.C4G

.BK4

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8.

WINC4G PROGRAM - INTERFACE TO C4G ON PERSONAL COMPUTER

8.1 Foreword
This chapter contains the information concerning the WinC4G program that represents the interface on Personal Computer, to Robot Control Unit C4G. In detail, it describes: WinC4G Activation Connection to the Robot Control Unit User interface WinC4G operating parameters set-up Commands Menu Most common problems

8.2 Overview
The Winc4g program is a Windows style interface on PC to C4G Control Unit. It contains several functions: display of files installed on the robot; possibility to translate in executable form (.COD) and edit them; errors search and display; possibility to open a Terminal window to directly forward commands onto the Control Unit; conversion of already existing programs as a function to new reference points.

WinC4G is contained in the system software CD-ROM. It can run on Microsoft Windows 2000, NT and XP operating systems. It is to be installed on the PC invoking setup.exe program that is in the directory of such a program. There are two types of licences for the WINC4G program: basic licence full licence: also enables the handling operations of the file (mirror and linear/rotational shift functions, verification of axes, tool and frame updating), that can be selected from the Handling menu, access from Remote by Proxy and Compact Flash management (copy from and to Compact Flash control including the partitions),

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WinC4G Program - interface to C4G on Personal Computer that can be selected using the File Compact Flash. To pass from a basic licence to a complete licence, follow the steps contained in the paragraph How to obtain a new licence for WinC4G.

8.3 WinC4G Activation

To activate it, just select Winc4g.exe by clicking on the file or its correnponding link.
WinC4G can also be started from the commands prompt. Choose the directory that contains WinC4G program and enter WinC4G characters. The program will start the application using the default Properties file (.WCI). To start the application using a specific .wci file, add the access path (associated or complete) to the .wci file (for example WinC4G c:\line\model1)

8.4 Connection to the Robot Control Unit

The PC connection to the Robot Control Unit is based on the TCP/IP protocol. The connection modes are the following: Ethernet connection to the local network Ethernet point to point connection Remote connection via Internet FTP Server mode connection

After the connection has been made, start WinC4G program (par. 8.3 WinC4G Activation on page 8-2) and open the Properties Window (Fig. 8.35 - Properties Window). In the Connections section, select the required connection between the following ones: TCPIP, for Ethernet and enter the IP address of the SMP board installed on the Control Unit to which connection is to be made; direct, for connection with serial line, specifying the PC communication port.

It is also necessary to correctly set the other parameters in the Properties Window (Fig. 8.35 - Properties Window), described in par. 8.6 WinC4G operating parameters set-up on page 8-37. To activate the connection, select File/Connect. You will be asked to enter the Username and the Password that are to be already defined on the Control Unit by means of the ConfigureControllerLoginAdd command. If the connection is successful, the user can access the Robot Control Unit opening the Terminal window, display the errors list, etc. On the C4G Control the communication protocol to WinC4G is automatically installed on the Ethernet communication channel To disconnect from the Control Unit, enter File/Disconnect that will close the connection to the robot and the Terminal window (if open).

8.4.1

Ethernet point to point connection

The Ethernet cable is to be crossed class 5 and is to be connected (with no HUB or Switch network connection device) onto the PC Ethernet port and on Ethernet X5 port
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WinC4G Program - interface to C4G on Personal Computer of the RPU-SMP board. The connection can also be executed immediately. A local network between PC and Control Unit is to be created. From PC select the Properties field of the Internet protocol entering the PC network settings. To do so, select the Start menu, choose Settings, Network and network connections, Connection to LAN local network; select the Properties and Internet protocol key (TCP/IP) (see Fig. 8.1).

Fig. 8.1

- Connection to LAN local network

In the Internet Protocol properties: the IP address has to have an address on the same Control Subnet. Example -if the Control has the address 172.22.121.9, in the IP address field 172.22.121.5 can be specified. the Subnet Mask must be set to the same value as on the Control. If in doubt, contact the net administrator. the predefined Gateway is to remain empty.

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WinC4G Program - interface to C4G on Personal Computer

Start the WinC4G program (par. 8.3 WinC4G Activation on page 8-2) and open the Properties window to set the field related to the type of connection (see Fig. 8.2):

Fig. 8.2

- Enter connection type

a. b.

select TCP/IP as connection type in the address field specify that of the Control Unit for the connection. If this address is not known, read the IP address from the Home Page of the TP4i Teach Pendant (or from the TP-INT page, through the SetControllerView command).

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8.4.2

Ethernet connection to the local network

If the Control Unit is already connected to an Ethernet network, it will only be necessary: connect also the PC to the network from WinC4G, access the Properties window and enter the address of the Control as the IP address connect to the Control, selecting File Connect command.

8.4.3

Remote connection via Internet

To connect the Controller using Internet, the following equipment is necessary: PC with Windows 2000 operating system, or later (NT and 95/98 may not function) cable to connect PC to Controller: USB-Ethernet cable or crossed Ethernet cable if Controller Ethernet connection is available device to connect to PC.

From Remote side, another PC is necessary to connect to remote Controller. This PC must be visible by Internet. The layout of the connections described above is shown in Fig. 8.3:

Fig. 8.3

- Remote connection via Internet

The following topics are now described in detail: Network configuration VPN configuration in Windows XP environment Connection procedure.

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8.4.3.1

Network configuration
To reach the Controller, remote PC, local PC and C4G have to be "informed" on how to send/receive packages on the network. For example (see Fig. 8.4): the Remote PC is connected to Internet with address 1.2.3.4; the Local PC is connected to Internet with address 10.1.2.3 (dynamically assigned by ISP, in most cases a private address); the Local PC is connected to the Controller with address 192.168.1.1; the Controller is connected to the Local PC with address 192.168.1.2 .

Fig. 8.4

- Example of network configuration

Note that in the configuration of Fig. 8.4, the Internet infrastructure is not aware of the sub-network existing between Local PC and Controller (192.168.1.0), therefore the Remote PC is not able to send/receive packages on address 192.168.1.2. For this reason a direct connection is necessary between Remote PC and Local PC. This direct connection can be obtained connecting the two PCs via Virtual Private Network (VPN=Virtual Private Network). With VPN, the Remote PC and Local PC are connected as if on the same network (hence the term VPN). The above description is illustrated in Fig. 8.5:

Fig. 8.5

- Connection via Virtual Private Network

Note that now Local PC and Remote PC have addresses on the same sub-network.
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WinC4G Program - interface to C4G on Personal Computer To complete the installation, the Remote PC has to "know" how to reach the Controller and vice-versa. This is feasible by just executing a direct "route add" on the two machines. On Remote PC: "routeAdd 192.168.1.2 90.1.1.2" On Controller: DV4_CNTRL #5 equivalent to "routeAdd 90.1.1.1 192.168.1.1

8.4.3.2

VPN configuration in Windows XP environment

Remote PC configuration (server VPN) Local PC configuration (client VPN).

Note: during the description of the procedures that follow, it is assumed that the PC has Windows XP operating system installed and that the user has Administrator privileges.

8.4.3.2.1

Remote PC configuration (server VPN)

The Remote PC is to be configured as VPN server. The procedure is as follows: a. b. c. open the Control Panel from Start menu, open Network Connections, click on Create a new connection (highlighted in red in Fig. 8.6).

Fig. 8.6

- Create a new connection

d. e.

click Next in the first dialogue window that appears. In the next dialogue window, select Set up an advanced connection and press Next (see Fig. 8.7)

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Fig. 8.7

- Advanced connection installation

f.

In the new dialogue window select Accept incoming connections and press Next (see Fig. 8.8).

Fig. 8.8

- Accept incoming connections

g. h.

In the next window, deselect all items present on the screen page and press Next. In the next window select item Allow virtual private connections and press Next (see Fig. 8.9).

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Fig. 8.9

- Allow virtual private connections

i.

In the next window, select (and/or if necessary add) Windows users who have permission to connect to the machine using VPN. This login information must also be known to the Local PC users, when wishing to connect. Press Next. (see Fig. 8.10).

Fig. 8.10 - User Authorisations

j.

In the next dialogue window, select Internet Protocol (TCP/IP) and click on Properties; on the screen page of Fig. 8.11, select items Allow callers to access my local area network and Specify TCP/IP addresses

k.

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Fig. 8.11 - Properties

l.

Deselect item Allow callers to access my local area network and insert a range of TCP/IP addresses that are not in conflict with its own IP address. Press "OK" then press Next. On the next screen page (see Fig. 8.12) press Finish to complete the configuration.

m.

Fig. 8.12 - Completion of configuration VPN server

Note: only one server instance at a time can be active on the machine.

8.4.3.2.2

Local PC configuration (client VPN)

The Local PC is to be configured as client VPN. It is also necessary to enable the IP forwarding: this requires manual modification of the system register and machine restart. To do this, read the note below very carefully.

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IP forwarding enable WARNING! wrong use of the system register editor can cause serious problems that could require reinstallation of the operating system. The use of the system register editor is at the risk and peril of the user. In Windows XP, IP forwarding is deactivated by default. To activate it, the procedure is as follows: a. Start the system register editor (Regedit.exe). b. In the system register editor, find the following key: HKEY_LOCAL_MACHINE\SYSTEM\CurrentControlSet\Services\Tcpip\Parameters c. Set the following register value: Value name: IPEnableRouter Type of value: REG_DWORD Value data: 1 A value equal to 1 permits IP forwarding for all network connections installed and used by the computer. d. Close the system register editor. The Local PC configuration procedure is as follows: a. b. c. d. e. open the Control Panel from Start menu, open Network Connections, click on Create a new connection (highlighted in red in Fig. 8.6), click Next in the first dialogue window that appears. In the next dialogue window, select Connect to the network at my workplace and press Next (see Fig. 8.13)

Fig. 8.13 - Connect to the network at my workplace

f.

In the new dialogue window select Virtual Private Network connection and press Next (see Fig. 8.14).

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Fig. 8.14 - VPN connection

g.

The next window asks for the Connection Name: type in a name at will and press Next.

Fig. 8.15 - Connection Name

h.

The next window asks for the internet or intranet address of the VPN server for the connection. Insert this information and press Next (see Fig. 8.16).

Fig. 8.16 - VPN server selection

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WinC4G Program - interface to C4G on Personal Computer i. In the next screen page select the required item, according to whether the connection may be used by all or has been created for user personal use only. Press Next. On the next screen page (see Fig. 8.17) press Finish to complete the configuration.

j.

Fig. 8.17 - Completion of configuration VPN client

The connection is ready to be activated. When connected (see par. 8.4.3.3 Connection procedure on page 8-13), the system displays the following screen page (Fig. 8.18):

Fig. 8.18 - Connection

Type Username and Password then press Connect.

8.4.3.3

Connection procedure
Remote PC side Local PC side.

8.4.3.3.1

Remote PC side
From Remote PC side, the system manager shall carry out these operations:

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WinC4G Program - interface to C4G on Personal Computer a. b. c. connect to Internet, if not already connected Launch VPN server When the Local PC is connected, add a route to the Controller, via VPN server, with the command DOS "route add 192.168.1.2 90.1.1.2". Insert the Controller IP address (in this example 192.168.1.2), Username and Password.

d.

Connection should be active. WinC4G, Ping, FTP can be used for local connection.

8.4.3.3.2

Local PC side
From Local PC side, the system manager shall carry out these operations: a. b. enable IP forwarding (as described in note IP forwarding enable) connect Local PC to Controller. In our example we suppose that the Controller IP address is 192.168.1.2 and the Local PC IP address is 192.168.1.1. A route to the Remote PC has to be added on the Controller. In our example the command will be: DV4_CNTRL(5, '90.1.1.1', '192.168.1.1'). Connect to Internet ask Remote PC manager for IP address of the PC address on Internet and launch client VPN give the Remote PC manager the Controller IP address (in our example 192.168.9.2), Username, and Password.

c.

d. e.

f.

After connection, delete the route previously added using command DV4_CNTRL(6, '90.1.1.1', '192.168.1.1').

8.4.4

FTP Server mode connection

WinC4G can interface to a C4G controller in FTP server mode. This function can be useful in some software installation situations and when interfacing with the C4G controller in FTP client mode. The configuration of this function is through the Properties Window (activated from the Files Menu). Through this window the user can: enable/disable the server. By default is it DISABLED. To enable the function, select the "Always enabled" checkbox. Note that before using this command at least one FTP server has to be specified. choose whether the FTP server will accept connections only from the C4G Controller set in the Connection Address box. The default is ONLY FROM THIS (C4G). If the option "From any machine" is selected, the FTP Server will accept connections from other machines or Controllers. to configure the Users table (activated by the "Users" softkey in the Properties Window see Fig. 8.19) that defines the users to whom access is allowed. A maximum of 10 users is possible For each user it is necessary to specify:
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WinC4G Program - interface to C4G on Personal Computer whether enabled or disabled user's name basic directory this is the home directory when the customer connects to the server password NET_C - For restore functioning, with WinC4G that acts as server for the Controller, the NETx: devices (with 'x' that ranges from 1 to 9) have to be correctly configured. This means that for each NETx: device to be used, it is necessary to define a user's name and a password (of FTP server that requires the operation) and the basic directory to be used for the restore. Obviously, when the restore operation is requested, the specified user has to be already defined and have already accessed the Controller (login). If checkbox NET_C is selected for a certain user, that FTP server on the PC is authorised to communicate with the C4G.

The first two users are predefined and for them only the home directory can be set. The FTP server enables/disables when Apply is pressed in the Properties Window.

Fig. 8.19 - FTP Users Configuration

8.4.5

Remote connection by Proxy

To facilitate the work of the Service Engineers, WinC4G has two different operating modes: Proxy WinC4G : the local WinC4G acts as "mediator" to the Control Unit Remote WinC4G : the Remote WinC4G connects to the Proxy WinC4G to access the Control Unit services.

In this way the two users (local WinC4G and remote WinC4G) can use the terminal of the same Control Unit simultaneously; the output is repeated on both the Terminal Windows. In this way, the local user can see the operations performed by the remote user and vice-versa (as can be seen in the next figure).

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8.4.5.1

Chat Service
The Remote WinC4G and the Proxy WinC4G are connected by a chat type of system that enables real time communication between local and remote users. Each user has to specify his/her nickname for the chat.

8.4.5.2

WinC4G configuration in Proxy mode

To be able to use this function it is necessary to be in possession of the full licence:.

WinC4G Proxy mode can be selected providing no other terminal connection is active. It is configured by the "Remote Access" command from the Tools menu (or through the corresponding key on the Toolbar). The following dialogue window is shown:

Enable: Enables the WinC4G Proxy mode Allow screen disable: authorises the blacking out of the local terminal by the remote user. Chat user name: name of user for the chat system. Remote WinC4G address: Remote PC IP address. If this field is set, the Controller configuration is run automatically by Local PC. As a consequence of connection with Controller, the Route (Route Add) is established on the Controller to Remote PC and IP redirection (forwarding) is enabled. The Proxy service will be active at the next terminal connection to the Control Unit.

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8.4.5.3

WinC4G configuration in Remote mode

On the other PC, the remote mode for WinC4G can be selected with the 'Remote' key in the Properties window of the Files menu. When this key is pressed, the following dialogue window is displayed:

Enable: enables WinC4G Remote mode Auto Configure: enables automatic configuration of Remote PC with C4G Controller, executing the following operations: Addition of Route, on Remote PC, to arrive to Controller through Local PC Addition of Route, on Controller, to communicate with Remote PC, through Local PC Enabling of IP redirection (forwarding) on Local PC.

NOTE Local PC is to be connected and communicating with Controller, when connection with Remote PC is requested. Upon termination of connection, the route add, on Remote PC and on Controller, is removed. Moreover, on Local PC, the FTP server is to be active, with checkbox Allow Proxy Auto Config selected (see Fig. 8.20). Interface: Selection of available network interfaces Remote WinC4G address: address of Remote WinC4G that is acting as Proxy. Remote PC IP address. If this field is set, the Controller configuration is run automatically by Local PC. Upon connection, the RouteAdd on Controller to Remote PC is automatically executed and IP forwarding is enabled. Chat user name: name of user for the chat system.

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Fig. 8.20 - Proxy Proxy self-configuration

When the terminal connection is activated, the Remote WinC4G is connected to the Proxy WinC4G.

8.4.5.3.1

Auto Config
The Remote PC, Local PC and Controller configuration, can be executed in three different modes: Manual - the Manual configuration is that described above and requires that the user inserts the route add, IP re-addressing, etc. by hand. Semi-Manual : Specified Proxy - Semi-manual means that the configuration on Local PC and on Controller is run automatically by the Local PC. However, the user has to supply the Remote PC IP address manually. Completely automatic - means that the configuration of all three devices is executed by WinC4G by a command from Remote PC. To select the completely automatic configuration mode, the following have to be enabled: Local PC - Enable Remote Access Local PC - Enable FTP server and option Consenti Auto Config Proxy (Fig. 8.20) Remote PC - Remote mode enabled with option Auto Config and correct interface selected Note that the Local PC has to be connected to the Controller and Teach Pendant has to be active, before the Remote PC can perform the necessary configuration.

Obviously, Completely automatic mode is the most convenient, but it is based on the need that the Local PC is active on its FPT server and permits "any machine" to connect, which may not be possible or opportune.

8.4.5.4

Using the Chat Window

When a terminal connection is made, a Chat Window is opened on the Output Panel on both the Proxy WinC4G and the Remote WinC4G.

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The "Chat message" area displays the messages sent by the two users. Each line indicates the time and the sender of the messages. The "Input text" area is used to type the message to be sent. The "Invia" key is used to send the message written in the "Input text" area. The message can also be sent by pressing ENTER on the keyboard.

8.4.5.5

Disabling the Terminal

If this has been allowed by the Proxy WinC4G during configuration of the Proxy mode ('Authorise disable'), Remote WinC4G can black out the Terminal window on Proxy WinC4G, using the "Disable Remote" function of the Tools menu (or with the corresponding key on the Toolbar). The system will indicate that disabling has taken place by means of a message in the Chat window.

8.5 User interface

The WinC4G interface consists of four main panels (see Fig. 8.21 - User interface panels) each of which can contain one or more windows with information for the user. To move between the panels, the (CTRL + Tab) keys are used; to move among the windows of a certain panel, the (CTRL+Alt+Tab) keys are used.

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Fig. 8.21 - User interface panels

1. 2. 3. 4.

Directories Panel Files Panel Tools panel Output Panel

8.5.1

Tools panel
The Tools panel is the main panel of the application. It is in this area that most of the information is displayed. Several application functions may be present on this panel. The possible windows are: The Terminal displays the information that is on the Control Unit video File Translation window where the user can display and translate the programs Cause/Remedy window where the user can read the cause of a certain error and find a possible solution to the problem Errors Display and Actions window where the user can highlight and put in order the errors and actions generated by the Control Unit Files Manipulation window that groups together operations for verification and/or variable values conversion (.VAR) Window Viewing and editing of.UDB file (optional service) to read and modify user profiles defined in UDB file (optional service).

To close a window on the Tools Panel, send the Close command from the File menu.

8.5.1.1

The Terminal
This is the direct interface with the Robot Control Unit in much the same way as that of the Teach Pendant on the TP-INT Page.
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WinC4G Program - interface to C4G on Personal Computer To send arm data display commands, to activate/deactivate file management, editing programs (see Description of commands). When transferring files from PC to Control Unit, it is important to set the directory to be used on PC side. To do so, operate on the Properties Window. It is also possible to set, still through the Properties Window, the directory that the program will use to transfer the files from or to the selected device on the Control Unit. The size of the font can be set through the Properties Window; selecting Automatic mode, the font used by the program will be as extensive as possible to adapt to the screen. To open the Terminal Window (Fig. 8.22 - TheTerminal), it is necessary to first connect to the Control Unit, then open the Terminal (with the Open Terminal command from the View menu or from the corresponding key in the Toolbar). If another PC is already connected to the same Control Unit, it will not be possible to open the Terminal and a message informing the user will be displayed on the screen. Connection with WinC4G can be to several Robot Control Units of the same PC, activating the WinC4G program several times; but, as already stated, only one terminal can be active on a single Control Unit. The Guide/Significance of Terminal keys menu displays the correspondence of the keys between the PC keyboard and some editing functions foreseen by the Control Unit, in Program Edit and Memory Debug environments and on the Terminal pages.

Fig. 8.22 - TheTerminal

8.5.1.2

File Translation
The Translation Window (Fig. 8.25 - Translation Window) is used to display, to translate and edit the most part of the files installed on the robot, that is, the files: .PDL, .COD, .LSV, .VAR, .C4G and their back-up copies (.BKP, .BKV..). To open a binary file, from the Files panel, select the name of the file required and send the Open command from the File menu. Otherwise it is possible to click twice on the

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WinC4G Program - interface to C4G on Personal Computer name of the file to open it directly. As from system software version 3.20, further information regarding binary files can be viewed. Standard attributes (Property) associated to the files are the following: drawn up by file creation date version host where file was created.

When the file is opened, also the Properties are displayed. Another mode to view Properties of a file is to click with the mouse right-hand key on the name of the files involved, and select Property Notes (see Fig. 8.23).

Fig. 8.23 - Notes regarding Properties

This viewing also functions on a multiple selection of files, as shown in Fig. 8.24.

Fig. 8.24 - Multiple selection

If a binary file is opened (.COD, .VAR or .C4G), this is converted to ASCII, a format that can be read by the user. If errors are found during the translation, these are displayed to the user and the operation is interrupted. In such cases it is best to check that the file is not corrupt, and that it has been generated using a translator software version that is compatible with that used by the application (i.e. lower or same version). The .C4G files can be displayed, edited but not reconverted to binary format (.C4G).

Fig. 8.25 - Translation Window

The files can be translated from Binary to ASCII, selecting the required .COD file and entering the Translate command from the Edit menu. In this way a .PDL file is created that the user can open in the Translations Window. With the same command (Translate
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WinC4G Program - interface to C4G on Personal Computer from the Edit menu) it is possible to ask for the translation from ASCII to binary: in this way the system creates a new .COD file and saves the previous version in a .BKC file.

See NOTE regarding the entry number in the UD: root directory.

Possible translation errors will be displayed in the Output Window. The only exception is the .C4G file that cannot be translated and saved in ASCII, but can only be displayed. Since the PDL2 language is continually evolving, the translator is subject to version updating. When necessary the translator version number to be used has to be set again in the Properties Window in the C4G Library Version box. The number to be specified is to correspond to the c4g<v_xx> file that is part of the WinC4G installation. The application must the be closed and opened again to load the new library of functions.

8.5.1.3

Cause/Remedy
The Cause/Remedy Window (Fig. 8.26 - Cause/Remedy Window) is used to find information on the cause of a certain error and how to solve the problem. The user has to specify the number of the error and enter Find. The application looks for the error in file with the extension .CRD indicated in the Properties Window at the Select .CRD key. The files containing all the errors and their causes and solutions are divided by language and are called: ROBMSGI.CRD - Italian ROBMSGE.CRD - English ROBMSGF.CRD - French ROBMSGD.CRD - German ROBMSGP.CRD - Portuguese ROBMSGS.CRD - Spanish

To these, those of the applications can be added if they are distributed. Through this dialogue box a .CRD file can be added or removed (for example one that is connected to a specific application) to the error list. The maximum number of CRD files that can be selected is 10. The user can customize the comments associated to a certain error through the Add Comment key on the Cause/Remedy page. A dialogue box is opened to enter a text that will be displayed with that error. This text will be saved in the specified .ZIP file that has been entered in the Properties Window, in the User Texts Archive box. The display of the User Text can be enabled or disabled through the checkbox.

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Fig. 8.26 - Cause/Remedy Window

From Winc4G all the C4G errors contained in the selected ROB*.CRD file can be saved in a file or printed as a list .This operation requires a few minutes. The related commands are File Print All and File Save All as. It is indispensable that these commands be sent when the Cause/Remedy page in the Properties Window Properties Window, is active.

8.5.1.4

Errors Display and Actions

The contents of the binary files (.LBE and .LBA) with the list of the errors that have occurred on the Control Unit and the actions taken by the user and recorded on the Control Unit can be viewed. To do so, send the appropriate command from the View menu : 'View Errors from Robot' and 'View Actions from Robot'; the contents of all the error and action files in the LOG system directory can be viewed as a list . The errors list is displayed in the Errors and Actions Window, shown in Fig. 8.27 - Errors and Actions Window. This list can be in the order of the dates, error numbers, seriousness of the error, message order number. It is possible to open simultaneously both the errors and actions files and, in this case, the contents are shown in a manner to correlate the sequence of the actions with the occurrence of the errors. There is an error screening mechanism that allows the user to narrow down the range of data display on the basis of an interval of time, the error number, seriousness of the error, etc. The filter setting can be activated from the Edit Menu or the right-hand key of the PC Mouse.

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Fig. 8.27 - Errors and Actions Window

8.5.1.5

Files Manipulation
If it is wished to be able to have all files handling functions, It is necessary to have software option WinC4G Full. For the Comau codes of the options, see the C4G Control Unit Technical Specifications manual - par. Software Options. The Manipulation menu contains features that check and convert the values stored in a .VAR file. The functions are: check that the positional values stored in a .VAR are included in the range of the stroke end limits (Axis check). modification to positional values stored in a .VAR, based on new values of $TOOL and $UFRAME predefined variables (Tool and Frame update) linear shift of positional values stored in a .VAR. (Linear Shift). linear shift and shift in the orientation of positional values stored in a .VAR (Linear Rotation). mirror referred to a plane (Mirror). modification to positional values stored in a .VAR basing on changes to calibration data (Calibration). modification to positional values stored in a .VAR after modifications to the robot kinematics (Sysdata adjust). modification of positional values stored in a .VAR after a wrong Turn Set operation (Turn difference).

In the Manipulation menu the Settings page allows to define the properties which are common to the pages shown in the Manipulation menu (see Fig. 8.31 - File Manipulation settings).

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Fig. 8.28 - File Manipulation Window

The parameters which the user must insert before executing one of the listed above functions are grouped in different areas (as an example, see Fig. 8.28 - File Manipulation Window): Original files area: the user must select (via the PC or Rob text box), either on the PC or on UD: controller device, the files that are needed as input to the execution of the selected function. The files must be binary and not ASCII because the manipulation functions do not work on ASCII format. The files of interest are: the configuration file (.C4G), the (.VAR) file containing the values of the Tools and of the Frames, the user program files (.COD and .VAR). Output files area: the user must select the name of the .VAR file to create as result of the operation. New files area: the user must specify if needed, the new files to use in the operation as an alternative to the files specified in the Original files area. This window is only active for the Tool and Frame update, Calibration, Sysdata adjust pages. Modal - Nodal with $PAR - these flags indicate which types of motion instructions are executed or not by the system: an instruction in which $PAR is used, as for example MOVE TO p1 $PAR=tf(1,2) it is taken into consideration by the system if the Nodal with $PAR flag is selected; and instruction of the type MOVE TO p1 preceded by atool(1) aframe(2) it is only handled if the Modal flag is selected. Data related to the Base: the user must specify in these text boxes the values which define the cartesian coordinates of the position to be used as $BASE if the conversion must consider a $BASE that is different from the one defined in the .C4G configuration file.

It is possibile to perform the conversion operation considering the whole .COD file or a section of it; in this case the starting (Lines from: ) and ending (to: ) lines must be specified. Otherwise the whole file will be computed.

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WARNING! The application does not carry out the operation until all the required parameters are specified.

Please note that: the application will not perform the operation until all requested parameters are specified the setting for a specific operation can be saved in a file and reused in successive commands. This avoids the need to enter the parameters each time the operation is repeated. Use the Import box to choose a .WCF file already present; the path will be asked for to take the file. Use the Export box to save a file with the required settings in a certain directory. A file will be created with the .WCF extension.

For all the functions of the Manipulation menu, input parameters to be ALWAYS specified are: System file: name of the .C4G file. Tool file: name of the .VAR file containing the tool values used by the program (for example UD:\DATA\TT_TOOL.VAR). Frame file: name of the .VAR file containing the frame values used by the program (for example UD:\DATA\TU_FRAME.VAR). Variable file: name of the .VAR file of the user program to be converted. Program file: name of the .COD file of the user program to be converted.

Other parameters could be needed depending on the operation to be performed. Here below the features belonging to the Manipulation menu are described in further details: Axis check Tool and Frame update Linear Shift Linear Rotation Mirror Calibration Sysdata adjust Turn difference

8.5.1.5.1

Axis check
This operation allows to check that a particular axis does not overcomes the foreseen limits during the operations performed by a program on a specific robot. Axis: it is the axis on which the check must be done. Range from .. to: contains the real values (degrees/axis) defining the limits, for the specified axis, which should not be overcome in the positional variables of the program. For example from 0.0 to 30.0 for axis 1.

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WinC4G Program - interface to C4G on Personal Computer In case some limits are overcome, in formational messages are displayed in the output window of WInC4G.

8.5.1.5.2

Tool and Frame update

This operation modifies the positional values of an existing program basing on new values of the tool and/or frame.

Fig. 8.29 - Tool and Frame update

New files: name of the files containing the new values of the tool and the frame to be used in the conversion of the user program. Both parameters must be specified; if the conversion only concernes the tool, the frame file specification must be the same inputted in the Originale Files area (and viceversa). Output file: the user must define the name of the .VAR file to create, containing the positional data modified basing on new tool and frame values.

8.5.1.5.3

Linear Shift
This operation performs a linear translation of the positions of an existing program.

P1 - starting position Q1 - end position

Start and end positions: the user must specify the X,Y,Z coordinates of the two points which define the distance to use in the translation.

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P1 and Q1 may NOT belong to the trajectory.

Output file: the user must define the name of the .VAR file to create after the conversion applied by the translation.

8.5.1.5.4

Linear Rotation
This operation performs a roto-translation of positions inside an existing program.

Fig. 8.30 - Linear Rotation

Px - starting positions Qx - end positions

Start and end positions: the user must provide three starting positions and three ending positions which define 2 planes. A linear translation from the first final position is performed first; then the orientation relative to the final plane is considered.

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P1 and Q1 may NOT belong to the trajectory.

Output file: the user must define the name of the .VAR file to create, containing the positional data modified accordingly to the roto-transation defined by the shift operation.

8.5.1.5.5

Mirror
Mirror functions are similar to the Shift operations, but include a simmetric transformation related to a plane. The X-Z plane of the robot is the default plane. If the operation has to consider a different plane, it should be defined in the Edit boxes identified with Mirror Plane.

1 - Mirror Plane

Orientation: this box must be checked when the orientation has to be considered during the symmetric transformation. Otherwise the transformation will only be related to X, Y, Z values. Mirror Plane: the X-Z plane of the robot is defined by default. For using another plane, please define the coordinates in these edit boxes. Joint Position: mirror is applied by default to positional variables of POSITION and XTNDPOS data type. If also JOINTPOS should be involved, this check box should be marked. In case of JOINTPOS, Mirror function is only applied to the values of axis 4 and 6 of the robot. Output file: the user must define the name of the .VAR file to create, containing the positional data modified accordingly to the simmetric transformation required. Note: multiturn flags, if any, will be automatically inverted by the mirror function. For example, WS T2:-2 becomes WS T2:+2.

8.5.1.5.6

Calibration
This operation is used for correcting a program in case the variable which stores the calibration constant changes. New files: the user must specify the name of the .C4G configuration file, which contains the calibration values ($CAL_DATA[axis]) to use in the conversion of the .VAR. Output file: the user should define the name of the .VAR file to create after the conversion of the positional data basing on the new calibration constant.

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8.5.1.5.7

Sysdata adjust
This operation must be used for correcting a file of variables in respect to a new robot kinematics. New files: specify the new .C4G configuration file to use during the conversion. Output file: the user has to define the name of the .VAR file to create, containing the positional data modified accordingly to the new kinematics.

8.5.1.5.8

Turn difference
This operation must be done, after a wrong Turn Set operation, for correcting the number of turns of a specific axis and for generating a new file of variables. The user must specify the axis that is subject to the modification and the turns difference to apply to the positional data of the program. In order to do that the robot must be moved to the calibration position (MOVE TO $CAL_SYS); the number of turns must be read on the programming unit (Revolution information in the Service page); the axis must be moved in correspondence of the reference heel; the motor turns information must be read. Execute the difference of the integer side only. Insert the computed value in the Difference field. If the difference value is negative, the Negative difference checkbox must be selected. Output file: the user must define the name of the .VAR file to create, containing the positional data modified accordingly to the requested correction of the number of turns.

8.5.1.5.9

Dialogue box for File Manipulation settings

The Settings dialogue box (Fig. 8.31 - File Manipulation settings) is opened by the Settings option from the Manipulation Menu; it is used to set the level of information that is generated during manipulation operations on the files and to define where the files recording the actions are to be stored (Log File). If the boxes of the Log File and the Debug File are labelled, it will be possible to specify where these files are to be created.

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Fig. 8.31 - File Manipulation settings

The following information available for the user to choose from to see in the log file: Wrong movement lines. This option displays in the log file the movement lines on which the data conversion generates an error. Correct movement lines. This option displays in the log file the movement lines that have been converted correctly. Line number display. This option allows the application to add the line number next to each movement instruction that is written in the log file. Variable Name. With this option the application adds the name of the variable to the log message to inform the user which variable has been manipulated. Variable Value. With this option the application adds the value of the manipulated variable to the log message. Joints position. This option adds the position of the joints in the message generated for the manipulation of a movement instruction. Tool and Frame Value. With this option the Tool and Frame values can be viewed in the log file where an instruction has been manipulated. Error message.

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WinC4G Program - interface to C4G on Personal Computer This option enables the display of error messages that have been generated during the manipulation of an instruction. Tool and Frame value. The data referring to the Tool and the Frame is added in the log file. Statistics. The summarized data on the operation executed (for example, the number of changed instructions) is added to the log file.

8.5.1.6

Viewing and editing of.UDB file (optional service)

With this new function, clicking on the.UDB file (or.BKU) displayed on Winc4g file listing (on PC or on Control), it is possible to read the user profiles defined in it and if necessary modify them. However, it is not possible to read the UserId and the Password.

Fig. 8.32 - .UDB file viewing

If WinC4G Full is installed, it is also possible to create a new user profile to be stored in the UDB, sending the New command from the right-hand key.

Fig. 8.33 - Addition of a new user

First a window is shown that, as first screen page, displays the default profile with the operations enabled for the profile, corresponding to the different states of the system (see Fig. 8.33). If it is wished to modify the characteristics of the new user profile to be created, in relation to the default, this can be done by selecting one of the standard profiles provided by the system (Administ, Service, Maintain, Programmr, Technology) or one which has been completely customised. It is possible to act on the checkboxes shown in Fig. 8.33, enabling/disabling the various operations available.

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Fig. 8.34 - User profile properties window

8.5.2

Directories Panel
The Directories panel (see Fig. 8.21 - User interface panels) shows the structure of the PC and the Control Unit directories (for the latter, if the connection via Ethernet is active). Only the directories on the devices are displayed, NOT the files they contain. The Directories panel has one or two windows according to whether the connection to the Robot Control Unit is active or not. If the connection on the Control is not active, only one window is visible, that indicates the disks present on the PC with the related directories. If instead the connection is active, the structure of the directories on the UD: disk of the robot Control Unit is shown. The display can be updated using the "Display Update list of files" command.

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The list of the devices is read once only, during connection. If devices are added or removed during the connection (for example Disk-on-Key on the Control Unit or Windows network drives on PC), the Directories Panel will not be updated with these devices. To run the list of devices refresh, close the current session and reconnect.

8.5.3

Files Panel
The Files panel (see Fig. 8.21 - User interface panels) shows the list of the files contained in the device or folder that has been selected on the Directories panel. For each file the information is shown relating to the name, type, size and date of change. The items can be set in order according to one of these categories. As from system software version 3.20, further information can be viewed (Properties) relating to the files, clicking with the mouse right-hand key and selecting Property Notes. Standard attributes (Property) associated to the files are the following: drawn up by file creation date version host where file was created.

The files can be opened by clicking on the name of the relevant file (in the open file also the Properties are displayed); and they can be closed through the Close command in the Files menu (or by the related key in the Toolbar). To open several files, they can be selected by highlighting them and subsequently sending the Open File command from the menu, or from the tool bar, or clicking with the mouse right-hand key. If one of the selected files is not acknowledged, it will be ignored. There is also the drag and drop function that the user can use to: "drag" a file from Windows Explorer to the file edit/view window. The file will be opened or transferred to the selected directory. The transfer operation to the Controller, in some cases, could require a few seconds. "drag" a file or a directory from the files panel or the Directories Panel to Windows Explorer. In this case, the file/directory will be transferred from the selected directory to the local file system.

A file selected from the file panel can be protected by clicking with the mouse right-hand key on the name displayed in the panel and sending the "Protect" command.

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A password is asked for when removing the protection ("Unprotect").

The same operation can also be carried out from the Tools menu ("Protect" and "Unprotect").

8.5.4

Output Panel
The Output panel (see Fig. 8.21 - User interface panels) displays the messages that an application generates to the user. The main use is to show the result of the program files translation, such as .PDL and .LSV, including the translation errors and messages coming from the file manipulation operations. To open this Panel, use "Show Output Window" in the View menu; to close it, use "Close Output Window" from the same menu. The output panel contains five windows. The first displays the messages generated during the translation with indication of the files translated and the results of the translation. The second window shows the errors found in the last translation. Clicking twice on an error opens the file on the line where the error has been found. The third window displays the messages generated by the FTP server. The fourth window is used for chatting, if WinC4G is connected as Remote or as Proxy (see Remote connection by Proxy).

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8.6 WinC4G operating parameters set-up

The Properties Window (Fig. 8.35 - Properties Window) that is used to set the operating parameters of the WinC4G application is of particular importance. It is activated from the Files Menu, selecting Properties.

Fig. 8.35 - Properties Window

File Transfer Directory It is used by the Terminal window during the file list transfer/display operations from and to the connected PC (FilerCopy, FilerView, etc.). User Texts Archive It is a compressed file that stores the comments added by the user regarding the single error messages in the Cause/Remedy window. It is a .ZIP file. .Crd file It allows the addition and the removal of a .crd file to/from the list of files where the search is to be made for the cause and remedy of the errors from the Controller . The files may be in any device on the network, not necessarily in the PC where the application is running; there could be an application slow-down if the files are on a server. Import Path (1 - Fig. 8.35) To translate PDL programs that contain the IMPORT clause, read the declarations regarding the variables, the types and imported routines, in the files where they are contained. If the Controller is connected, by default the files opened by Winc4g are translated on-line: if on PC, sent to the Controller via FTP server, translated then copied again on the destination device. This has the advantage of not having to worry too much about the machine configuration, since the robot is already operational and well configured. If instead checkbox "Allways Translate off-line" (3 - Fig. 8.35) is selected from the Properties window, library c4gx_xx.dll will be used that is part of the WInc4g program installation (also if ON-line). For translation off-line, all the necessary files, in particular.CODs containing the declarations are to be installed on the PC in a location defined in the Properties window in the text checkbox Import Path. If this route is not set, the WinC4G will

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WinC4G Program - interface to C4G on Personal Computer check the variable of C4G_IMPORT environment, that is to be previously set on PC. For example, define: C4G_IMPORT=%CRC_HOME%\user\include The advantage of off-line translation is that programs can be edited and translated without requiring the robot; however, all the necessary programs are to be available on PC. Grammar File (2 - Fig. 8.35) Checkbox Grammar File is only used when the system is CUSTOMISED NODAL type (see GLOSSARY in par. IDE Page). It contains the indication of the directory, on PC, where the file containing the syntax is to be read. If this checkbox is not set, the Winc4g program will go to search for the definition of the C4G_GRAMMAR environment variable. Dimens Font of the Terminal It determines the size of the character Font in the Terminal windows. The changes take place when the Apply button is pressed. By setting the Automatic value, the application sets the largest font as to the size of the screen. The font cannot be less than 8pt. C4G library version It indicates the version of the C4G translator library that will be used to translate the binary files (.COD, .VAR, .C4G). If the specified version is not among those provided, the WinC4G program will search for a previous version library. The selected version is possibly to be the same or a higher version than the software on the control where it is to be connected. Otherwise, the translation operation may not function correctly since the data in the binary files may not be acknowledged. Save and Load The user can save and load the properties of the WinC4G program. In this way the properties linked to a specific Robot Control Unit connection can be set just once and subsequently referenced through Load.

FTP server To enable the FTP server for use (see FTP Server mode connection). This is useful in certain software installation situations After the information regarding the selected library has been changed, the WinC4G program has to be started again so that the change becomes effective.

8.7 Commands Menu

This section describes the controls and the effects they have. Information is given regarding these Menus: Files Menu Edit Menu View Menu Manipulation Menu Help Menu Tools

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8.7.1

Files Menu
New Opens a new page to write a file in ASCII. This file can be saved and if required, translated. Open Opens a file that already exists. If the file is binary, it is translated into ASCII for the editing. Close Closes the active window in the TOOL Panel. If a .COD or .VAR file is currently open, this command automatically starts the translation process before saving. The Cause/Remedy Window cannot be closed. Close All Closes all the open windows in the Tool Panel except the Cause/Remedy page. Save Saves the contents of the active window in the Tool Panel in the folder where it was opened. If this window has been opened by New, the Save with Name Window will automatically be opened. Save on PC Saves the contents of the active window in the Tool Panel in a folder that can be selected on the PC. Save on Robot Saves the contents of the active window in the Tool Panel in a folder that can be selected by the user on the Robot Control Unit. Save All with name If the active page is the Cause and Remedy, the list of all the messages and related Cause/Remedy can be saved in a messages.txt file. The description of the messages will be in the language selected relating to the .CRD file (see .Crd file). Connect Allows the user to connect to the desired robot Control, accessing the Directories panel and activating the Terminal Window. Upon connection, Login is requested. The reference database to find the UserName and the Password is that on the Robot Control Unit to which the connection is made. Disconnect Closes the connection with the Robot Control Unit. Also the Terminal Window is closed (if open) and the user cannot execute any action that requires connection to the Control Unit. Delete To delete the file currently selected in the File Panel. Print Prints the contents of the window in the foreground on the Tool Panel. Print all Prints all that is displayed in the active window. Page set-up To set the printing modalities to be applied for the page to be printed. Properties Opens Properties.

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WinC4G Program - interface to C4G on Personal Computer Compact Flash Contains the sub-menu to manage the Compact Flash. See par. 8.7.7 CompactFlash Management on page 8-42 Quit Closes the application.

8.7.2

Edit Menu
Undo Cancels the last operation executed in the window in the foreground of the Tool Panel. Cut Copies the selected text in the clipboard and deletes it from the open window of the Tool Panel. Copy Copies the text contained in the clipboard, where the cursor is positioned, in the active window of the Tool Panel. Paste Copies the contents of the clipboard where the cursor is positioned in the active window in the Tool Panel. Select all Selects the whole text of the file opened and active in the Tool Panel. Search To search for and/or replace an identifier in the text of the open file of the Tools panel. The following search functions are provided: Find - find the first occurrence of a certain string. Find next - find the next occurrence of the previously inserted string . Replace - replaces the string that was previously inserted with another specified string. Go to line - to position on a certain line in the text. Translate Translates the file that is in the active window in the Tools panel, into the corresponding binary format. If there are errors, these are displayed in the Output Panel in the errors window. Filter Activates a filter in the Cause/Remedy Window, to limit the number of errors shown. The filter is linked to a timeout, the severity of the error, the code, the counter or the text. Hide selection To temporarily hide the display of information previously selected in the errors and actions window. Show All To resume the complete display of the information hidden in the errors and actions window, after the Hide command was sent. Modify Log File heading To modify the heading of an actions or errors records file. Add/Remove Log File To add or remove a file in the errors and actions display (View Menu)
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WinC4G Program - interface to C4G on Personal Computer Add Comment To add a comment to an error displayed in the cause and remedy window.

8.7.3

View Menu
Tool Bar Activates and deactivates the Tool Bar. Status Bar Activates and deactivates the Status Bar Open Terminal Opens the Terminal Window if the user is connected to the Control Unit. View robot errors The files are opened that contain the error records (.LBE). View robot actions The files are opened that contain the action records (.LBA). Next Error Displays the next translation error. Update files list Updates (refresh) the list of files in the File Panel. Clear Output Window Removes the current information from the Output Window in the Output Panel. Show Output Window Displays the Output Window. Close Output Window Hides the Output Window.

8.7.4

Manipulation Menu

To have access to these functions it is necessary to own the full licence:.

The options of this menu are described in detail in par. 8.5.1.5 Files Manipulation on page 8-25. Axes verification Tool / Frame Updating Linear shift Linear rotation Mirror Calibration Adjustment to system data Difference in turns Settings

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8.7.5

Help Menu
Meaning of terminal keys Opens the dialogue box that describes the keys correspondence between the PC keyboard and some editing functions of the Control Unit, in Program Edit and Memory Debug environments and in the Terminal page. Registration To be used to obtain a new WinC4G licence. Information about Winc4g Opens the window that gives a general overview of the application.

8.7.6

Tools
Protect: to protect the file selected in the Files panel. A Password has to be specified. Unprotect: to unprotect (remove the protection) of the file selected in the Files Panel. The user has to enter the Password that was specified when the request was made to protect the file Accept remote: allows the WinC4G configuration in Proxy mode Disable Remote: disables the WinC4G configuration in Proxy mode.

8.7.7

CompactFlash Management
The Winc4g program can access a CompactFlash to save and copy data from and to the Personal Computer (PC). This is possible from the CompactFlash branch belonging to the File menu. This function has been added to the File menu to allow a physical copy of the contents of the Compact Flash belonging to C4G Controller SMP or MCP board, (if present). The purpose is to be able to transfer the contents of C4G Controller Compact Flash on to another C4G Controller keeping the original partitioning of the memory (the standard Windows applications read the partitions but do not allow copying). The C4G CompactFlash contains three partitions that can be identified on the Controller with devices UD:, PD: and LD: (for SMP) and with M0UD:, M0PD: and M0LD: (for MCP). The description is given below of a complete procedure to have access to the C4G CompactFlash through the Winc4g program. A normal PCMCIA adapter for CompactFlash is needed, that is easily found on the market. Insert the CompactFlash in the PCMCIA adapter. a. b. Insert the adapter in the specific compartment of the PC. The computer will detect the presence of the device and will display a corrensponding message (the first time it acknowledges a CompactFlash device) or it will just display "Removable disk" in Windows Explorer. When this item is selected, the contents of the LD partition will be displayed. This is because Windows does not foresee partitions in CompactFlash devices, therefore it displays only one.

c.

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WinC4G Program - interface to C4G on Personal Computer d. The files that the user most probably wants to select are however those that contain the PDL2 programs and the associated data; therefore, to have access to the contents of other CompactFlash partitions, it is necessary to create a back-up disk. This new peripheral, called RamDisk, will be a volatile memory and will be deleted each time the PC is switched off or re-started. It is therefore advisable to complete the operations described here below, before switching off/restarting the Controller. In the CD that contains the system software, there is a file named c4grd.sys. Check the exact directory where it is installed, because it will be used during the following procedure. To install the new peripheral, select Add/Remove Hardware Wizard from Start Settings Menu Control Panel. Select "Add/Troubleshoot a device".

e.

f.

g.

Fig. 8.36 - Add/Troubleshoot a device

h. i.

The system starts searching for the new device. As soon as such a device has been found, select "Add a new device".

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Fig. 8.37 - Add a new device

j.

Answer No, I want to select the hardware from a list when asked "Do you want Windows to search for your New Hardware?".

Fig. 8.38 - No automatic Hardware search

k.

Then select "Other Devices"

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Fig. 8.39 - Other devices

l.

Select "Disk Driver" and, with "Browse", identify the c4grd.inf file, (distributed with the Software CD). By clicking on such a file, a COMAU Ramdisk is identified as the hardware device model.

Fig. 8.40 - COMAU Ramdisk Drive

m.

Proceed with "Next", "Next" and "Finish" to complete the installation.

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Fig. 8.41 - End of installation

n. o. p.

Restart the machine. From My Computer, the new item is identified by the term Ramdisk (B:). Once the back-up Ramdisk device has been created, it is possible to interface with the CompactFlash.

Fig. 8.42 - CompactFlash Menu

q. r.

Activate WinC4G and, from the File menu, select CompactFlash. Connect the CompactFlash entering the name of the device associated to it (for example B:). This name can be read from My Computer under the term Ramdisk.

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WinC4G Program - interface to C4G on Personal Computer s. Close My Computer or in any case check that the cursor is not focussed on the floppy disk or the Ramdisk. It is now possible to use the specific commands of CompactFlash File section.

t.

The "Backup Disk to image file" option copies the whole content of the CompactFlash to the Ramdisk. The "Restore Disk from image file" option copies the whole content of the Ramdisk in the CompactFlash. It is also possible to copy a whole CompactFlash partition to the Ramdisk ("Copy partition to Ramdisk") or the content of the Ramdisk to a specific partition of the CompactFlash ("Copy Ramdisk to Partition"). Every copy operation to the Ramdisk overwrites the whole content of the Ramdisk. Therefore, before executing a copy, it is recommended to transfer the data contained in the Ramdisk onto a hard disk of the PC (for example in a C: directory). Once the interfacing operations with the CompactFlash have been completed, the Hardware peripheral has to be disconnected by selecting Unplug or Eject Hardware) from the corresponding icon on the PC Applications bar.

8.8 How to obtain a new licence for WinC4G

To obtain a new licence for WinC4G contact COMAU technical service. Before doing so, make a note of the MAC address of the PC from which the WinC4G is to be run. Proceed as follows: a. from WinC4G, select the Help Menu and 'Insert the log-in code. If this box does not contain any number, open a commands prompt window, from the Windows start-up window and send ipconfig/all; read the number of the physical address. b. c. contact COMAU Technical Service supplying this address. COMAU will send an ASCII file containing the access word to the function. Open the file with any Editor, select the whole file content, copy it, insert it in the window where it is indicated to insert the licence password; confirm by pressing Record and check that the files Handling menu and Compact Flash management menu are enabled.

d. e. f. g.

After recording, it is important that the PC hardware configuration (network boards, Ethernet interface) does not undergo variations.

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8.9 Most common problems

This section describes the most common problems that the user may come up against when operating with WinC4G and what to do to solve the problems. The time displayed in the error list or in the files list is different to that read on the C4G Control. WinC4G manages the 'time in WinC4G' information coming from the connected C4G as Greenwich Mean Time. Therefore, asking for the errors list or reading the files list from the Files Panel, the information regarding the time may be different to that read directly on the control through the Teach Pendant. If, for example, a PC with an Italian Windows version connects, through WinC4G, to a C4G control with Italian time, the time read is displayed with the difference of an hour; an error that takes place on the control at 20.05 will be shown in the error list with the time of 21.05. It is therefore necessary to inform your PC that the time read has a certain offset as to Greenwich. For an Italian PC an hour must be added. In the case of an Italian PC connected to a control in Detroit, it is necessary to subtract 6 hours. The environment variable to be set on your advanced / environment variables) is TZ. PC (Start / Settings / system /

For an Italian PC connected to an Italian control, TZ must be set to GMT+1:00 (GMT is Greenwich Mean Time). The application is closed immediately showing a window that states that the application has not been able to load a specific DLL. This happens when the DLLs (wcres.dll) containing information on the menus have not been found by the application. The DLLs must be in the same directory as the .exe file. Check that the DLL is in the correct position. The application starts but a window informs the user that a C4G???.DLL cannot be loaded. This message is repeated until there is a generic message that informs that the translator DLL cannot be loaded. The application starts but most of the operations are disabled. The problem arises because the DLL specified in the Fig. 8.35 - Properties Window is not in the same directory as the Winc4g.exe file. To solve the problem, open the Properties Window, in the C4G box, library version, and specify a translator library version that is in the same directory as WinC4G.EXE or add the required DLL to the directory containing WinC4G.EXE. The application replies stating that the selected message cannot be found or that some messages have not been found. This may happen when the user enters a wrong number on the Troubleshooting page or when opening log files. Both these actions search for the error texts in the .CRD files indicated by the user in the Properties Window with the Select .CRD file button. Several files with the extension .CRD can be added/removed to/from the list used for the search. The Terminal window remains blank (black) The application is unable to open the Robot Control Unit window. This happens when someone else is already connected to the Robot Control Unit with a Terminal window opened by another WinC4G. In fact, several connections are allowed to the
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WinC4G Program - interface to C4G on Personal Computer robot but only one Terminal can be active. To open the Terminal it is therefore necessary that the user who is already connected closes that Terminal session. When attempting to connect to the Control Unit the application replies with the message "Impossible to connect with the server" Should it be impossible to connect to the server, there could be a conflict problem between DHCP and proxy Server. To check this, try connecting to the Control Unit with the ftp command from the Controls Prompt and from Internet Explorer. If the first command functions and the second one fails, it is necessary to disable the use of a server proxy in the settings of the local network (LAN). Furthermore before starting Winc4g, check that the settings for the Server Proxy are correct for the network it is connected to. Upon connection the error "Authorisations not available for the password" This happens when the user has made a Login with a Password that is not compatible with the users database defined in the system. That is to say, the combination of Login and Password is not foreseen by the Controller that the user is connecting to. Upon connection or the Set Login command sent from the terminal, the error "Exclusive Login" is returned This error occurs when a user is working on the Controller with a right to exclusive access, i.e. that does not permit the use of the system by other devices. It is necessary to Logout from other devices that are not the one required for connection and, if necessary, to also delete the Startup Login. Upon connection, or when a file is selected from the Files Panel, a message is displayed that indicates "Conflict between Controller and Translator versions To solve this problem, it is necessary that the translator DLL, indicated in the C4G box Library version in the Properties Window is greater than or equal to the Controller version. Attempting to connect to the Control Unit, the application replies with the message "The computer is not connected to the network" To solve this problem, open the Internet Explorer, go to the Files menu and deselect "Not in line".

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Basic procedures for Program development

9.

BASIC PROCEDURES FOR PROGRAM DEVELOPMENT

9.1 Introduction
Programs used on the C4G Controller are written in PDL2 programming language. There are several methods to create such programs, depending on the programmer and the required application. Basically, there are two environments for creating a PDL2 program: IDE environment - this is a development environment used to develop motion programs on the Teach Pendant. For any further details, see the Chap. Use of the Teach Pendant, par. 6.11 IDE Page on page 6-75. In IDE environment the position teaching functionality is integrated. editor environment - this is a development environment used to develop programs from WinC4G, typically for programs that are NOT motion programs, it is composed, in its turn of two environments: PROGRAM EDIT, used to write the program instructions and to teach the variables; MEMORY DEBUG, used to check and set-up the program. It can also be used to write a program directly in the execution memory.

The third environment MEMORY TEACH, is only available on the Teach Pendant and, at present, it is the only environment that allows the teaching of position data for a PATH type variable. A detailed description follows for: Diagram of steps to develop a program Programming in IDE (on TP) for a motion program Programming in WinC4G (on PC) of NON motion programs Memory Teach Memory management from TP4i File management from TP4i.

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Basic procedures for Program development

9.2 Diagram of steps to develop a program

An example follows of a PDL2 program that calls up the LOCAL routine, or is IMPORTED from external programs or defined in it and declared EXPORTABLE: PROGRAM main -- local variables declaration VAR pnt0001j, pnt0002j, pnt0003j, fuori_ingombro : JOINTPOS FOR ARM[1] -- declaration of routines imported from other programs ROUTINE call_l_sgr EXPORTED FROM l_sgr -- routine imported from l_sgr ROUTINE help EXPORTED FROM gest_tasti -- routine imported from gest_tasti -- declaration of local routines to main program ROUTINE selez -- local routine to main program VAR lun : INTEGER -- local variable to selez routine BEGIN WIN_CLEAR(WIN_CLR_ALL, 'tp2:') OPEN FILE lun ('tp2:', 'w') ....... CLOSE FILE lun help -- calls help routine, imported from gest_tasti END selez ROUTINE evac_perdita_vuoto -- local routine to main program BEGIN ..... END evac_perdita_vuoto ROUTINE times -- local routine to main program BEGIN ..... END times -- start of main program body BEGIN ............................. CONDITION[1] : WHEN $DIN[5]- DO times -- called to times local routine ENDCONDITION ............................. selez -- called to imported routine selez (that in turn calls -- imported help routine) ............................. l_sgr -- called to imported routine l_sgr ............................. END main

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Basic procedures for Program development An example follows of l_sgr program definition to which main program refers: PROGRAM l_sgr EZ, STACK = 2048 -- declaration of local variables to l_sgr program VAR raggio, altezza, larghezza_s : REAL inizio_ciclo, p1, p2, p3, p4 : POSITION pnt0001p, pnt0002p, pnt0003p, pnt0004p, pnt0005p, pnt0006p, pnt0013p : POSITION -- declaration of variables imported by gest_tasti diametro_p, diametro_s_finitura, altezza_bordo : REAL EXPORTED FROM gest_tasti -- declaration of local variable to l_sgr program cont : INTEGER -- declaration of variables imported by gest_tasti n_passate_fondo : INTEGER EXPORTED FROM gest_tasti velocita_b_l_sgr, velocita_f_l_sgr : INTEGER EXPORTED FROM gest_tasti -- routine declaration defined in l_sgr program and exported outside ROUTINE init_motion EXPORTED FROM l_sgr -- definition of routine init_motion ROUTINE init_motion BEGIN ............. END init_motion -- routine declaration defined in l_sgr program and exported outside ROUTINE call_l_sgr EXPORTED FROM l_sgr -- definition of routine call_l_sgr ROUTINE call_l_sgr BEGIN ............. init_motion -- called to init_motion ............. MOVE LINEAR TO pnt0003p MOVE LINEAR TO pnt0004p ............. END call_l_sgr -- l_sgr program body BEGIN CYCLE call_l_sgr -- called to call_l_sgr WAIT FOR $FDIN[21] END l_sgr The recommended steps for program development are as follows: a. write the program (using IDE or Program Edit), i.e. write code, define new routines, define variables and teach motion position values; if the nodes of a PATH (in IDE or Memory Teach) are to be stored;

b.

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Basic procedures for Program development c. execute the program and check that it is correct, using the Debug commands (present in both IDE and Program Edit). With these commands, you can modify execution mode (one instruction at a time, continuously, etc.), examine the values of the variables, modify the code of the program (including the declaration part of the variables). You can also tests movements at low speed; once you are satisfied with program functioning, you can try and run this in a mode that increasingly resembles effective functioning in production (IDE OR Memory Debug environment). When the status selector switch is set on T2 (AUTO-T) or AUTO, the move instructions are executed at real speed (in PROGR state, they are executed at low speed for safety reasons); at this point, the program is ready to be run in automatic mode. To start the program, use Program Go system command and press START (green) key. To complete the operations, save the variables and the code of the developed program.

d.

e.

f.

See NOTE regarding the entry number in the UD: root directory.

9.3 Programming in IDE (on TP) for a motion program

Before operating in IDE environment, read with attention the contents of the paragraph Description of the video screen, Chap. Use of the Teach Pendant.

Access to programs Program Editing Teaching positions (insertion of a move instruction) Program execution test Saving the program and closing IDE Executing the program in automatic mode.

9.3.1

Access to programs
The IDE environment is used to edit already existing motion programs. See the par. 6.11.1 Opening the IDE page on page 6-75, IDE Page.

9.3.2

Program Editing
Let us now look at how to proceed to execute the main program editing functions: Selecting one or more text lines Deleting/restoring one or more lines
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Basic procedures for Program development Move the Edit cursor Inserting a new instruction Commenting/Uncommenting a program line Changing an existing instruction Inserting/viewing /deleting variables Importing from other programs Viewing a program in pages.

9.3.2.1

Selecting one or more text lines

a. b. press the Selection function key (F4) from the main menu of the IDE Page in the pop-up menu that is opened by the system, choose the Enable Marking function and move in the editing area with the cursor keys, to execute marking there are 3 functions in the central menu

c.

c.1 to cut the selected part of the text, use the Cut - cuts the selected lines command (F1) c.2 to copy the selected part of the text, use the Copy - copies the selected lines command (F2) c.3 to cancel the marking, choose Deselect - deactivates the marking (F3) d. to insert (paste) the previously cut or copied part of the text, use the Paste function in the pop-up menu.

9.3.2.2

Deleting/restoring one or more lines

To delete the line pointed by the EDIT CURSOR, proceed as follows: a. b. press the Selection function key (F4) from the main menu of the IDE Page in the pop-up menu that is opened by the system, choose the Delete function;

Restoring what has been deleted: a. b. press the Selection function key (F4) in the pop-up menu that is opened by the system, choose the Undelete function; the text is inserted underneath the current position of the EDIT CURSOR.

9.3.2.3

Move the Edit cursor

To move the EDIT CURSOR, the easiest way is to use the cursor keys; if it is wished to move it to a specific position, proceed as follows: a. b. press the Selection function key (F4) from the main menu of the IDE Page in the pop-up menu that is opened by the system, choose the Goto function

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Basic procedures for Program development b.1 choose either the BEGIN instruction, or the END instruction or indicate a precise line number. If it has been decided to indicate a line number, the system opens a dialogue window; check that the Alphanumeric keypad is in '123' mode and insert the required number, confirming with 'OK' (F5) or ENTER

9.3.2.4

Inserting a new instruction

a. b. press the PDL2 function key (F3) from the main menu of the IDE Page the system shows the last 9 instructions used, plus the Empty Line option

b.1 if the required instruction is in the list, select it and confirm with ENTER: it will be inserted under the line currently pointed by the EDIT CURSOR. Continue with step b.3 b.2 if it is not in the list, choose 'Empty Line' to open a new program line under that where the EDIT CURSOR is pointing. Insert the new instruction using one of these two methods: b.3 guided insertion, with the aid of a (Template): press the Statement function key (F1). Templates are not available for all types of instructions (see par. Groups of instructions on page 6-88). For a detailed explanation of this mode, see par. Guided insertion of a generic instruction on page 6-87; continue with step c. b.4 direct insertion from the Alphanumeric keypad. c. Regardless of the chosen method, confirm with ENTER. The system will check the inserted program line and indicate any errors.

9.3.2.5

Commenting/Uncommenting a program line

a. b. press the Selection function key (F4) in the pop-up menu that is opened by the system, choose the Comment/Uncomment function. This softkey acts as a toggle key: each time it is pressed it reverses the current state.

9.3.2.6

Changing an existing instruction

a. Position the EDIT CURSOR on the line involved and press ENTER: this gives access to the editing mode use the Alphanumeric keypad pad or the commands of the Bottom Menu, in the same way as described to complete the Statement command.

b.

Special case: Changing a MOVE instruction.

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Basic procedures for Program development

9.3.2.7

Inserting/viewing /deleting variables

To insert a new variable in the line of the program currently pointed by the EDIT CURSOR, proceed as follows: a. b. c. press the Prog softkey (F1) from the main menu of the IDE Page Select the Variables function The system opens a dialogue window for the user to enter the name and type of variable required, choosing from the list displayed, or typing it in directly from the Alphanumeric keypad. after making the changes, confirm with ENTER.

d.

Viewing the variables used in a line of the program: a. b. c. d. position the EDIT CURSOR on the required program line press the Prog softkey (F1) from the main menu of the IDE Page select the Variables, function from the main menu of the IDE Page in the pop-up menu that is opened by the system, choose View line. A dialogue window is opened with a list of all the variables used in that line.

It is also possible to delete the declaration of the unused variables: a. b. c. press the Prog softkey (F1) from the main menu of the IDE Page select the Variables function from the main menu of the IDE Page in the pop-up menu that is opened by the system, choose Delete unused.

9.3.2.8

Importing from other programs

To import declarations with the EXPORTED FROM clause from another program: a. b. c. press the Prog softkey (F1) from the main menu of the IDE Page select the Import function according to the item to be imported, one or two dialogue windows are displayed. To import Variables and Routines there are two dialogue windows; for Types there is only one. The user has to answer the questions then press ENTER to confirm.

9.3.2.9

Viewing a program in pages

To view a program page by page, use the Page Up and Page Down keys.

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Basic procedures for Program development

9.3.3

Teaching positions (insertion of a move instruction)

In the IDE environment positional variables can be assigned the current arm position, inserting also the associated move instructions and corresponding declarations of these positional variables in the program code. The basic needs about teaching positions are as follows: Setup the REC key Teaching new positions Changing existing positions

9.3.3.1

Setup the REC key

If, before recording a new position it is wished to change the REC key settings: a. b. press the Selection function key (F4) from the main menu of the IDE Page in the pop-up menu that is opened by the system, choose the REC setup function and follow the instructions of the system. The user can choose the type of position variable the trajectory fly or non fly

It is also possible to change the configuration of the nodal REC key with $PAR, pressing the Nodal (F1) softkey. For further details, see the par. 6.11.3.7 REC key setting, nodal with $PAR on page 6-95.

9.3.3.2

Teaching new positions

After the REC key has been setup, proceed as follows: a. position the EDIT CURSOR on the program line under which the new MOVE instruction is to be inserted move the robot with the Jog keys to the position to be recorded press the REC key. This operation inserts a MOVE instruction and the declaration of the positional variable used by the MOVE into the program. For MOVE with $PAR, all the nodal parameters are also inserted.

b. c.

9.3.3.3

Changing existing positions

If the contents of an existing positional variable are to be changed, proceed as follows: a. move the EDIT CURSOR onto the MOVE instruction where the positional variable is to be changed move the robot to the new position, by means of the Jog keys press the MOD function key (F6) from the main menu of the IDE Page the system shows a dialogue window in which a list of line positional variables is displayed
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b. c. d.

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Basic procedures for Program development e. the user has to select the variable involved and confirm the change with ENTER or cancel it with ESC.

If, for the current MOVE, tool and frame settings are different than those currently set for the REC setup, the system displays an alarm message. It is up to the user to make the suitable changes.

9.3.4

Program execution test

This paragraph describes some of the commands that influence the execution of the program currently opened in IDE, so as to be able to debug, identify any errors and make improvements. Activating/deactivating a program Aborting the execution of an instruction Setting step mode Move the execution cursor Inserting/removing a break point Bypassing an instruction Execute a temporary instruction

In IDE environment, with Step Disabled, the execution of the program that is currently open can be observed in the Editor area. For further information, see Displaying the currently being executed instruction.

9.3.4.1

Activating/deactivating a program
The program currently open in IDE is always the ACTIVE one. To restart it after making changes, proceed as follows: a. b. press the Execution function key (F2) from the main menu of the IDE Page in the pop-up menu that is opened by the system, choose the Reset function (item 1).

In this way the program is deactivated, then reactivated. To deactivate the program only, proceed as follows: a. b. press the Execution function key (F2) from the main menu of the IDE Page in the pop-up menu that is opened by the system, choose the Deactivate function (item 2)

9.3.4.2

Aborting the execution of an instruction

To abort the execution of the current instruction: a. press the Execution function key (F2) from the main menu of the IDE Page

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Basic procedures for Program development b. in the pop-up menu that is opened by the system, choose the Abort function (item 5).

To continue to run the program from the instruction following that which has been aborted, press START.

9.3.4.3

Setting step mode

Usually the program execution is continuous, i.e. without interruption. The step execution serves to define the moment when the execution pauses, a new step is started each time the START key is pressed. To set the step mode, proceed as follows: a. b. press the Execution function key (F2) from the main menu of the IDE Page in the pop-up menu that is opened by the system, move to the Step function (item 3) from the new list opened by the system, choose the mode. The following modes are possible: Statement (Single step) Disable Move Fly Cycle

c.

9.3.4.4

Move the execution cursor

Moving the execution of the program to a line that is not that pointed by the EXECUTION CURSOR: a. b. c. move the EDIT CURSOR onto the program line to be executed press the Execution function key (F2) from the main menu of the IDE Page in the pop-up menu that is opened by the system, choose the Set execution cursor function (item 4).

9.3.4.5

Inserting/removing a break point

A break point is an interruption in the execution. To insert a break point: a. position the EDIT CURSOR on the line before the one where the break point is to be inserted press the Execution function key (F2) from the main menu of the IDE Page in the pop-up menu that is opened by the system, choose the Break point function.

b. c.

To remove a breakpoint, perform the same operations used for the insertion.

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Basic procedures for Program development

9.3.4.6

Bypassing an instruction
To continue running the program when there is an instruction waiting to be completed (example: WAIT FOR, DELAY, etc.), the Bypass command can be used: a. b. press the Execution function key (F2) from the main menu of the IDE Page in the pop-up menu that is opened by the system, choose the Bypass function (item 7).

9.3.4.7

Execute a temporary instruction

To execute an instruction that will not be included in the body of the current program, proceed as follows: a. b. c. press the Execution function key (F2) from the main menu of the IDE Page in the pop-up menu that is opened by the system, choose the Immediate function in the central menu there is the Statement function that opens a dialogue window to insert the instruction required.

c.1 Select the instruction and press ENTER to confirm the choice c.2 the instruction can also be typed in, using the Alphanumeric keypad d. to confirm the execution of the chosen instruction, press 'OK'.

9.3.5

Saving the program and closing IDE

See NOTE regarding the entry number in the UD: root directory.

To save the.COD and .VAR of the program open in IDE: a. b. press the Prog function key (F1) from the main menu of the IDE Page in the pop-up menu that is opened by the system, choose the Save (cod,var) function (item 2). The saved program remains open in IDE.

To save all the modified programs in IDE environment: a. b. press the Prog function key (F1) from the main menu of the IDE Page in the pop-up menu that is opened by the system, choose the Save all mod progs(cod,var) function (item 3).

To close the IDE environment: a. b. press the Prog function key (F1) from the main menu of the IDE Page in the pop-up menu that is opened by the system, choose the Close function (item 1).

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9.3.6

Executing the program in automatic mode

It is advised to only run programs that after thorough checking (debugging), are considered able to operate correctly. If the program has not been debugged before execution, it could cause personal injury and damage to the equipment. a. Check the following points before running programs in automatic mode:

a.1 the program is to have been thoroughly checked (debugged) and deemed able to operate correctly a.2 there must be no-one in the working area, and this is to be without obstructions a.3 all the safety protections are to be installed and in perfect working order a.4 all other specific conditions relating to the application and the installation are to be thoroughly checked and deemed able to operate correctly b. c. d. press the HOLD (yellow) key set the status selector switch to AUTO (or REMOTE) set the required speed override and step mode, enter any useful break points; using the commands described in the par. 9.3.4 Program execution test on page 9-9. press the START (green) key to run the program (in the step mode set).

e.

In IDE environment, the execution of the program that is currently open can be observed in the Editor area. For further information see Displaying the currently being executed instruction.

9.4 Programming in WinC4G (on PC) of NON motion programs

The following paragraphs describe these items: Program Edit Memory Debug Screen page structure and function keys Teaching the positions Execution Programs Checking Commands Menu

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Basic procedures for Program development

9.4.1

Program Edit
PROGRAM EDIT is a complete environment for program development from which it is possible to: write instructions; check their syntax so that no separate compilation step is required; teach program position data; check correctness of the instructions and of the variables taught; perform movement instructions at low speed.

The user is suggested to work on a PC, by means of WINC4G Terminal function, since an alphanumeric keyboard is available, unless just minor modifications are to be made to an already existing program. In this case, the Teach Pendant could be enough. PROGRAM EDIT operates on two file types: a file with extension .COD in which the program code is held; a file with extension .VAR in which the variables (motion position or not) associated to this program are held.

They are the files that the operator loads in the execution memory during automatic execution. To enter such an environment, send PROGRAM EDIT command from the system command menu, followed by the name of the program to be edited; if working from WinC4G, the command is in the Terminal Window; if working from TP4i open the TP-INT page. The name of the program has to be typed in, or it can be selected from the list of existing programs that is displayed when the SHIFT and HELP keys are pressed simultaneously If the program(.COD file) already exists, it will be entirely displayed and the file of variables for that program (.VAR), if present, will be loaded in the execution memory. Otherwise, the program will contain only the basic instructions that are always present in a PDL2 program (PROGRAM, BEGIN, END). On exiting the PROGRAM EDIT environment, the code of the program is stored in a file with the same name as the program with extension .COD. If some of the positional variables have been taught or modified, prompts will be displayed to establish whether the variables are to be saved from the execution memory to the .VAR file.

See NOTE regarding the entry number in the UD: root directory.

Note that, if the answer given is no, the variables remain in the memory with their value at that moment and can still be restored using the MEMORY SAVE system command. PROGRAM EDIT features two functioning modes: DATA or CODE. The active mode is shown on the status line at the bottom of the screen.

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9.4.1.1

Data Mode
In such an operating mode, the user is allowed to: write and modify the program instructions in the section between BEGIN and END statements of the program. Therefore, in this mode, it is not possible to modify the part containing the declaration of constants, types, variables and procedures; teach positional variables pressing REC key or modify the value of existing variables pressing MOD key; debug the program; run the program.

When working in DATA mode, program instructions are directly connected to the variables loaded in the execution memory. This means it is possible to teach the positions and run the program from inside the editor environment. If the /CODE option is not specified on invoking the PROGRAM EDIT command, DATA mode is enabled automatically. However, if one of the following conditions is not met, the program will be opened in CODE mode in any case: the program must not be running at the same time; if it is a motion program (no attributes, or HOLD or EZ attributes), the state selector must be set to PROGR; the MEMORY TEACH environment must not be active at the same time on another device.

To move from DATA mode to CODE mode, press MODE key. Note that if the program has been run in DATA, it is de-activated while changing to CODE.

9.4.1.2

Code Mode
CODE mode is used to write and modify program statements. Any section of the program can be written and/or modified regardless the program attribute, the position of state selector, the current status of the program (loaded or not in the execution memory, active or not). However, it is not possible to run the program or to debug it. It is advised to use this mode when it is wished to modify the program body at the same time as the automatic execution of the same program (in the previous version).

9.4.1.3

How to write Program Statements

As already described above, to write statements between BEGIN and END statements of the program, it is allowed to use either CODE or DATA mode. Instead, to write the declaration part, (including the body of the routines defined in it), it has to be in CODE mode. While entering and/or modifying statements, the program editor checks the syntax and if any error is detected, the user is immediately warned by an error message. If possible, the editor tries to automatically correct the error or asks the user to correct it. If automatic correction is not possible, the ~ERROR marker is associated to the wrong statement. Such a marker can be removed as soon as the error is fixed. The program editor handles multi-line statements such as IF..ELSE.. ENDIF,

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Basic procedures for Program development WHILE..ENWHILE, FOR..ENDFOR, as single units. For example, if WHILE $DIN[1] DO is written, the editor automatically provides the ENDWHILE statement line. If the WHILE line is deleted, the editor automatically deletes the entire WHILE..ENDWHILE statement (the entire statement can be restored using the UNDEL key). The editor manages spacing and the use of upper case letters in predefined mode, regardless how the statements are introduced. Also, it sticks the starting line and the ending line of multi-line the statements to be on separate lines. Declaration statements (CONST, VAR, TYPE and ROUTINE), WHEN and SYNCMOVE clauses also start on new lines.

9.4.2

Memory Debug
Memory Debug command provides an environment in which it is possible to debug the program in order to trace any errors and to make improvements. It is extremely important to check all programs carefully before running these automatically. This environment has many similarities with Program Edit with which it shares many commands and keys. However, whereas Program Edit operates on the .COD file in the User Directory, Memory Debug acts on the program loaded in the execution memory. Before the Memory Debug environment is entered, the program must be loaded by means of Memory Load command. Debugging operations can be carried out such as step-by-step execution of the program, insertion of breakpoints, interruption of execution and restart from a different point. It is also possible to display the current values of the variables. For the above operations, use the commands under the Debug item of the editor menu. Usually, Memory Debug calls the editor of the program only with display function; there are however methods of use that make it possible to modify statements, although with certain restrictions compared with PROGRAM EDIT. To do this, the program must be loaded specifying the /FULL option with the Memory Load command before invoking Memory Debug. As far as modifying positional variables, the same applies as indicated above for PROGRAM EDIT. MOD key must be used to modify position variables. However, note that REC key is enabled on insertion of movement statements only if the program has been loaded with the /FULL option. It is recommended to use such an environment specially when movements are to be tested at effective speed. This is only possible with the status selector switch in AUTO or T2 position, otherwise the speed will be reduced for safety reasons. From the MEMORY DEBUG environment, it is possible to: debug program statements; save and modify positional variables; run program statements; perform movements at normal (or reduced) speed; edit program code (only if loaded with the /FULL option).

If MEMORY DEBUG is entered when the program is not active, move the cursor to the required statement and press RUN key, to start the program execution. If MEMORY DEBUG is entered when the program is active and running, ^C key must be pressed at the same time to get the control. This causes the program to be
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Basic procedures for Program development interrupted and the cursor to be moved to the next statement. Pressing RUN key, execution is restarted from the statement which the cursor currently points to. To exit MEMORY DEBUG environment without interrupting execution, press SHIFT+ESC keys. If the program is running, the command menu must be used to exit the environment. When exiting MEMORY DEBUG environment, if some variables have been modified, the user is asked whether or not they are to be saved,. If so, a new .VAR file is created containing the values currently in memory. Otherwise, such values remain in memory until the related variables are erased from memory.

See NOTE regarding the entry number in the UD: root directory.

Furthermore, when exiting MEMORY DEBUG environment, any breakpoint and the currently set step type remain in the program. To remove them, it is necessary to use the commands of the Program Test submenu in system commands.

9.4.3

Screen page structure and function keys

Screen page structure Function Keys

9.4.3.1

Screen page structure

Fig. 9.1 illustrates the screen structure of PROGRAM EDIT and MEMORY DEBUG. The following sections are shown: the system status window (top of the screen) which displays information about system status, the selected arm, the current override; the scroll window (centre) which shows the program being edited; the editor status window (bottom); the commands menu window (bottom). the execution window (see Fig. 9.2)

The editor status window displays the following information: program name; mode: DATA or CODE for PROGRAM EDIT environment, DBUG for MEMORY DEBUG environment; cursor position (line, column); scroll direction along the program text used by the specific keys for this function (up arrow or down arrow); in Program Edit (and ONLY in Program Edit): write mode currently active (I for Insert and O for Overwrite); errors counter (E:); currently set step type (S:). This information is displayed only in DATA or DBUG.

In the editor commands menu, enabled commands start with a capital letter. To perform

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Basic procedures for Program development a certain command, press the corresponding function keys. Note that unlike the system menu commands, entering the first letter of the command does not cause its execution. Information messages and prompts are displayed in a window that is overlapped with the editor window, in the screen top. When entering the editor, the cursor is placed at the end of BEGIN instruction in the main scroll window.

Fig. 9.1

- Program Editor screen layout

9.4.3.2

Function Keys
This section describes the meaning of the keys available, on both the Teach Pendant Virtual Keyboard and on WinC4G, for the PROGRAM EDIT and MEMORY DEBUG environments. From WinC4G open Guide, then select Meaning of Terminal keys to find the correspondence with the description of the keys. From TP4i it is necessary to activate the Virtual Keyboard to find the correspondence of these keys.

In any case it is not advised to activate Program Edit from the Teach Pendant. The ideal device to activate Program Edit is the PC, using the WinC4G program. On the other hand, if a motion program is to be developed from the Teach Pendant, it is strongly recommended to use the IDE environment (see par. 6.11 IDE Page on page 6-75). String searching SRCH software key is used to find the first occurrence of a string in the program text in the direction which is currently set and displayed in the status window (upward or downward). S.NXT software key moves the cursor to the next occurrence of the required string (previously set by SRCH software key) using the current direction set by the cursor key (up or down) as the direction for the search. Selecting a text MARK software key activates marking feature which is used to highlight a program section to be copied to another area or deleted, starting from the current cursor position

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Basic procedures for Program development and selected by means of the cursor key. If marking is activated when the cursor is inside a multi-line statement, it will be restricted to inside such a statement. This means that the cursor cannot be moved before the beginning and after the end of the multi-line statement. If marking starts from the beginning of a multi-line statement, pressing down arrow key causes the whole multi-line statement to be selected. The same applies if marking starts from the ending statement of a multi-line instruction (for example ENDMOVE, ENDWHILE, etc.), when up arrow key is pressed. Marking a WHEN or ANDMOVE clause, pressing down arrow key, causes the entire clause to be selected. COPY software key copies the program section selected by MARK software key in a temporary memory area. The selected program section is not modified. The selected lines remain saved in the temporary memory until the next COPY or CUT command (software key). They can therefore be inserted in the text of the program several times by means of the PASTE software key. CUT software key removes the selected part of the program from the text, although it remains in memory until next CUT or COPY software key is pressed. PASTE software key inserts the contents which have previously been saved by means of CUT or COPY software keys, after current line. The only exception is if the cursor is on column 0 or 1. In such a situation, they are inserted before current line. Deleting a line DEL software key deletes the line on which the cursor is currently positioned. The deleted lines remain internally stored until the next delete operation. Deletion of the first line of a multiple instruction deletes the entire instruction, Any instruction ending a multiple instruction (for example ENDMOVE, ENDWHILE, etc.) cannot be deleted. Deletion of a WHEN, ELSE, or ANDMOVE clause causes the entire clause to be deleted. Deletion of a ROUTINE instruction, if not used in the rest of the program, causes the entire routine to be deleted. Declaration instructions (VAR, CONST, ROUTINE, etc.) cannot be deleted if the element is used in the program. UNDEL key inserts the last deleted line (with DEL key) after current instruction. The only exception is when the cursor is on column 0. In this case, the line is inserted before current line. Page by page displaying Using PAGE key, it is possible to scroll the whole program body. A program section of a size equal to the scrolling window is then displayed each time PAGE key is pressed. The program is scrolled in the currently set direction indicated on the editor status line. The blue PageUp and PageDown keys are available on the Teach Pendant, to the left of function keys F1..F6, as shown in the following figure.

Changing the Editor Mode Using MODE software key it is possible to change from Data mode to Code mode and vice versa while in Program Edit environment. It is always possible to change from Data to Code but in some cases may not be permitted switching from Code to Data: this happens in case of incompatibility between program code and data loaded in the
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Basic procedures for Program development execution memory. For example, if in the program a TYPE declaration exists with the same name of a type loaded in the execution memory but with different fields, it is not possible to switch from Code to Data and an error message is then displayed. Moreover, before switching from Code to data, all requirements, indicated in the Data mode section of current chapter on DATA, must be complied with. Selecting a Screen Using SCRN software key, it is possible to switch between editor, system and user screens. This is useful when checking the program output towards a certain screen. Accessing help HELP key displays information about the meaning of function keys of the current menu level. Executing a Program RUN software key activates the program execution, starting from the line on which the cursor is positioned. It is active in DATA or DBUG mode only. Refer to par. 9.4.5 Execution on page 9-22 for further details. Cursor keys Up, down, left and right arrow keys can be used to move the cursor anywhere along the text of the program. If one of such keys is pressed together with SHIFT key, the cursor moves to the beginning of the program (up arrow), to the end of the program (down arrow), to the current line start (left arrow) or to the current line end (right arrow). The up and down arrows also determine the direction of the Search command (SRCH and S.NEXT software keys) and the scrolling of the pages. Up and Down arrow keys are used to call parameters specified by the user in previously invoked commands. Function keys associated to the Commands menu F1...F8 keys (on the Teach Pendant TP-INT page they are present as softkeys) can also be used to issue the corresponding command in the currently displayed editor menu. Such commands are fully explained in par. 9.4.7 Commands Menu on page 9-23. Commands that cannot be used in current editor mode are displayed in lower case; the enabled ones always start with a capital letter. Teach keys Teach Pendant REC and MOD software keys allow to teach positional variables in DATA or DBUG mode. They can be used when editing the program both from the Teach Pendant and from the Terminal Function of WinC4G program. Refer to par. 9.4.4 Teaching the positions on page 9-20 for further information. Motion keys Teach Pendant START and BACK keys are used to perform program movements, while working in DATA or DBUG mode both from the Teach Pendant and from the Terminal Function of WinC4G tool. During execution of a MOVE instruction, START key must be held pressed until the movement is accomplished. BACK key is used to move the arm back along the same trajectory. The movement is interrupted as soon as START or BACK keys are released. On reaching the final point of the movement, START key must be released and then pressed again to complete the execution of the MOVE instruction. BACK key can be

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Basic procedures for Program development pressed again to perform the same movement in backwards direction. Functions connected to the CNTRL key The following key combinations are acknowledged by the editor: ^G deletes the character the cursor points to; ^A (on TP4i only) allows to switch from Insert to Overwrite mode and vice versa. In Insert mode, the text part is written starting from the cursor current position. In Overwrite mode, the new text replaces the characters the cursor points to. The currently active mode is shown on the editor status line (I or O); ^C deletes the currently active operation in the editor environment. For example, display operation or motion execution.

To send one of these functions from the Teach Pendant it is necessary to: a. b. c. d. e. f. close the Virtual Keyboard, select 'F1..F8' with function key F5 of the TP4i activate the alphanumeric menu with the CHAR software key select 'symb' (F8) select 'cntrl' (F8) select the required function.

Whereas from the WinC4G program keyboard, press the CTRL key and at the same time the alphabetic character linked to the control sequence to be sent (G or C).

9.4.4

Teaching the positions

In editor environment the current arm position can be assigned to positional variables, inserting if necessary the move instructions associated to it in the program code. This possibility is allowed in MEMORY DEBUG only if the program has already been loaded with the MEMORY LOAD/FULL command. To teach the positions the Teach Pendant has to be used, although the editor may be open on another device. If in Program Edit, Data Mode must be set. The user is allowed to teach the following position types: JOINTPOS - current axes position of the arm (in degrees); POSITION - Cartesian position defined by three Cartesian coordinates (X,Y,Z), orientation (E1, E2, E3) and associated configuration (CNFG); XTNDPOS - arm position with more than six axes consisting of a Cartesian position for the machine and joints positions for the auxiliary axes.

For further information on the positional variables meaning, refer to the PDL2 Programming Language Manual. Move the cursor to the program section between BEGIN and END, to perform teaching. When REC key on the Teach Pendant is pressed, a move instruction is inserted in the program and the current position of the robot is saved in a variable whose declaration is automatically inserted in the declaration section of the program (between PROGRAM and BEGIN statements).
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Basic procedures for Program development The saved variable type and the inserted move instruction type depend on the REC key current setting. This is obtained through the branch of DEBUG SETUP (STUP on TP4i) commands of the editor menu. The declaration of the variable saved using REC key is implicitly inserted in the declaration section of the program (between PROGRAM and BEGIN statements). The name of the inserted variable is pnt000xt, where 000x is the variable identification number, t is a letter that is used to identify the data type and may be: 'p' for POSITION, 'j' for JOINTPOS and 'x' for XTNDPOS variables (such as pnt0001j, pnt0002p, pnt0003x, , etc.). 'pnt' prefix can be modified using the editor menu (DEBUG SETUP VARIABLE NAME). If the variable type is JOINTPOS or XTNDPOS, for which an arm number must be specified, the currently selected arm number on the Teach Pendant is inserted in the variable declaration. If REC key setting is not modified, the inserted MOVE instruction will be: MOVE TO pnt0001j Fly type movement can be associated to a MOVE instruction, possibly together with an indication of the trajectory. For example: MOVEFLY JOINT TO pnt0002j ADVANCE Note that, in the case of circular movement, for example: MOVE CIRCULAR TO pnt0003j VIA pnt0002j the current arm position is then assigned to the VIA point (pnt0002j), while the destination of the movement is declared but not set to any value yet. Now, the arm can be jogged to reach the required final position, answering yes to the displayed prompt: in such a way the current position of the arm is assigned to the destination variable of the MOVE statement. To read the value of the positional variable, move the cursor to any instruction referring to it and activate the Debug Variable View command from the editor commands menu. It is important to consider how each position is used by the program and to choose the best method to teach it. If the program uses different values from the default values for $BASE or $TOOL, make sure that such values are set before teaching. Otherwise, when the program is running, the positions are different (shifted) from the point at which they were taught. MOD software key is used to assign the current arm position to an already existing positional variable in the program. Move the editor cursor to an instruction that refers to such a variable before pressing MOD software key. If several positional variables are displayed on the line, the user is asked to specify which one is to be modified. For modification of JOINTPOS or XTNDPOS variables, the selected arm on the Teach Pendant must match the one previously associated to the variable; otherwise, an error is detected. MOD software key can also be used to dynamically modify the destination of the current movement of the program. To do this, MOD key must be pressed while executing a movement from the program opened in editor mode. This will cause the value associated to the destination of the movement to be modified and the trajectory to be changed. To check the movement along the new trajectory, use BACK and START keys for back and forward movements along a new trajectory. If the current movement is circular (CIRCULAR), both VIA point and end point can be modified. In this case, both the destination and the VIA point must be saved.

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Basic procedures for Program development

Note that any adjustment of VIA point orientation will result in a short movement to bring the tool orientation back into the correct position, according to the new trajectory the next time the BACK or START keys are pressed. Note that REC and MOD software keys are disabled when the system is in AUTO state.

9.4.5

Execution
In Date or Debug mode, the program can be edited and also run. RUN key is used to activate execution starting from the instruction on which the cursor is positioned when the key is pressed. Execution can then be interrupted pressing ^C (TP4i) or Ctrl C (WinC4g) keys. In this case, any movements in progress are deleted. The programmer can move the cursor to the point in which starting the execution, thus bypassing those instructions that are not to be performed. This is possible provided that the restrictions tied to the context of the current instruction are complied with, i.e.: the context cannot be changed. For example, if the program execution is interrupted inside a routine, the cursor cannot be positioned outside the routine; the cursor cannot be positioned on the declaration section of the program; the context for executing CONDITION, MOVE, and OPEN FILE statements, cannot be changed. If, for example, the program execution is interrupted at a WHEN clause, the cursor must remain inside the CONDITION statement; the cursor cannot be directly moved in the middle of a CONDITION, MOVE or OPEN FILE statement without first of all performing such statements; RETURN or END statement must be performed before exiting a ROUTINE.

The DEBUG PROGRAM CONTINUE command can be used to continue execution from the point in which this was interrupted regardless the cursor current position. During execution of the program, a red window, called execution window (shown in Fig. 9.2), is overlapped on the editor window showing execution data such as the current line, the name of the program to which it belongs to, program status.

Fig. 9.2

- Execution window

When this window is active, the normal program writing and modification process is not enabled. It is not possible therefore to move the cursor and modify instructions as long as the execution is in progress. When the execution window is displayed in the lower part of the screen, at the editor status window, this indicates that movements have been forwarded but not yet performed. This may happen, for example, after interpretation of a movement with the ADVANCE clause to which pressing of the key has not yet been applied. While the execution window is displayed, the destination and trajectory of the current movement can be modified pressing MOD key, as described in the previous section. When a MOVE statement is performed, START key must be held down in order to perform the movement. BACK key can be used to move the arm back along the same trajectory. The movement is interrupted when START or BACK key is released.
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9.4.6

Programs Checking
Checking (debugging) a program consists in tracing problems tied to program behaviour during execution and fixing them. In DATA and DBUG mode, the commands present under the Dbug command of the editor can be used to check execution from inside the editor through: setting breakpoints; setting up statements execution modes (step); displaying variables; executing the program.

Such commands are described in detail in the par. 9.4.7 Commands Menu on page 9-23. In some cases, it could be necessary to modify the values of positional variables or statements. Both operations can be performed in DATA or DBUG mode (if /FULL has been specified when MEMORY LOAD the Program). It is not possible to modify multi-line CONDITION, MOVE or OPEN FILE statements if the statement being executed is located inside. To debug interrupt routines (ISR) associated to movements, it is recommended to use step mode (STEP), set to FLY or MOVE. If STMT (Statement) mode has been set, the interrupt routine will be performed one instruction at a time starting from the first time in which the user restarts execution. It will therefore be necessary to press the START key for each move.

9.4.7

Commands Menu
This section describes the available commands in the editor menu, starting from the first level and illustrating each sub-menu. A list of the commands is attached at the end of current chapter. To simplify reading, the displayed menus when the editor is active on WinC4G terminal are indicated below. On the Teach Pendant, each menu item is the same but abbreviated to four characters for reasons of space on the screen.

9.4.7.1

Command
COMMAND displays a set of editor commands such as those for scrolling the program, automatic inserting of instructions, deleting unused variables, etc.

9.4.7.1.1

Goto
GOTO displays a menu of commands to move the cursor to the specified place in the program. This provides a quick way to move through large programs. The current direction used for this command (up or down) is displayed on the status line. The direction can be changed by pressing up or down key.

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Begin moves the cursor to the next or previous BEGIN statement; End moves the cursor to the next or previous END statement; Error moves the cursor to the next or previous error; Label moves the cursor to the specified label; Line moves the cursor to the specified line Routine moves the cursor to the next or previous ROUTINE statement.

9.4.7.1.2

Import
IMPORT displays a menu of commands to automatically insert declaration statements from other programs loaded in the execution memory. This allows the program to share data and routines from other programs. This command is available in DATA mode of Program Edit, or DBUG mode of Memory Debug; in this case the program has to be loaded with the /FULL option. When importing variables or routines, the owning program name is requested. Asterisk ('*') can be used for routine, type, and variable name prompts, however, wildcards cannot be used for program name prompts.

All inserts declarations for all exported (EXPORTED clause) variables and routines from the specified program. Any user-defined data types (TYPE) in any programs loaded in execution memory will also be imported, when the command is issued. Routine inserts declarations for the specified exported (EXPORTED clause) routines from the specified program. Any data types (TYPE) for these routines will also be imported. Type inserts in the program declarations for any user-defined data types (TYPE) and already loaded in memory when the command is issued. Notice that it is not prompted to specify the name for a program, because data types are not related to a program, even if their declaration has to be contained in the name of the program that uses them. To view data types loaded in the system, issue the Memory View Type from system commands menu. Variable inserts declarations for the specified exported (EXPORTED clause) variables from the specified program. Any user-defined data types (TYPE) for that program will also be imported.

9.4.7.1.3

Rename
RENAME changes an identifier throughout a program. The editor checks that a reserved word of the language has not been specified, and in such a case, returns the error. The cursor must be in the correct context, meaning it must be in the main program to change global identifiers, in a routine to change identifiers local to that routine. RENAME command is available in DATA mode but will only be permitted if no other programs currently loaded in memory are linked to the item being renamed. The Rename command is not available from the MEMORY DEBUG environment.
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9.4.7.1.4

Retrans
This command retranslates all error lines in a program and is useful when the program is modified in order to solve the error cases. Those lines still containing errors will remain marked with the ~ERROR~ notation. This command can be used in the MEMORY DEBUG environment only if the program was loaded with the /FULL option.

9.4.7.1.5

Statement
STATEMENT displays a menu of commands to automatically insert PDL2 statements and reserved words into the program; it is not allowed in the MEMORY DEBUG environment unless the program was loaded with the /FULL option. The user selects the type of statement from the command menu keys. Once the statement has been selected the user will be prompted for the appropriate data. For example, if the user selects a MOVE statement the editor will prompt for the destination. The new statement is inserted in the program based on the column of the current cursor position. If the cursor is in column 0 the new statement is inserted before the current line. Otherwise, it is inserted after the current line. Reserved words are added at the current cursor position. A space is included before and after the reserved word.

Arm displays a menu of arm control statements. This menu includes the CANCEL, HOLD, LOCK, UNLOCK, and RESUME statements; Flow displays a menu of flow control statements. This menu includes the DELAY, FOR, GOTO, IF, REPEAT, and WHILE statements as well as menu choices to insert a statement to increment or decrement a variable; I/O displays a menu of input and output statements. This menu includes menu choices to add statements that: test value of $AIN[n], assign a value to $AOUT[n], test value or WAIT FOR for a $DIN[n], PULSE, test, turn ON, turn OFF, or invert $DOUT[n], OPEN, CLOSE or RELAX a hand, set $TIMER[n], WRITE data to the screen; Move Move displays a menu of basic motion statements. Each menu choice inserts a MOVE TO statement with the corresponding options indicated by the menu labels; Program displays a menu of statements for the control of program status containing the ACTIVATE, DEACTIVATE, EXIT CYCLE, PAUSE, UNPAUSE, RETURN, SEMAPHORE SIGNAL and SEMAPHORE WAIT statements; Sys_arm displays a menu of arm predefined variable assignment statements. This menu includes options to assign $ARM_SPD_OVR, $BASE, $LIN_SPD, $JNT_OVR, $ROT_SPD, $TOL_FINE, $TOL_COARSE and $TOOL; Sys_prog displays a menu of program predefined variable assignment statements. This menu includes options to assign $MOVE_TYPE, $ORNT_TYPE,

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Basic procedures for Program development $SPD_OPT, $PROG_ACC_OVR, $PROG_DEC_OVR, $PROG_SPD_OVR and $TERM_TYPE; Words displays a menu of PDL2 reserved words. There are further submenus. When the menu item is completely in upper case, that reserved word will be inserted into the program at the current cursor position. Menu items in upper and lower case indicate further submenus.

9.4.7.1.6

Unused
UNUSED removes variable declarations that are no longer referenced by the program. The user will be prompted for verification before each variable declaration is removed. This command is only available in the MEMORY DEBUG environment if the program was loaded with the /FULL option. From the PROGRAM EDIT, this command is available in both DATA and CODE mode. If this command is issued in DATA or DBUG mode, an attempt will be made to delete the variable from memory. If the variable is referenced by other programs currently loaded in memory, the variable will not be deleted. If this command is issued in CODE mode, the variables in memory are not removed. Therefore, issuing a MEMORY SAVE command later will cause the variables to be saved in the variable file by UNUSED command. When this variable file is reloaded, the removed variables will be loaded into memory, but the variable declarations will not exist in the program code. To remove the variables from memory and the variable file (.VAR), remove all the programs from memory that reference to the variables using MEMORY ERASE PROGRAM command. Then erase all the unreferenced variables from memory using the MEMORY ERASE VARIABLES command. When such operations are complete, the only variables left in memory will be the ones required by the program. To remove the variables from the variable file, save them from memory to the file using MEMORY SAVE command.

See NOTE regarding the entry number in the UD: root directory.

9.4.7.2

Debug
DEBUG displays a menu of commands to debug the program being edited. This command is only available in DATA or DBUG modes.

9.4.7.2.1

Break
BREAK displays a menu of commands to set up and use break points in a program. A break point is a point in the program at which its execution will stop. When a break point is reached, execution stops and the execution window is removed. Now is possible to perform operations on the program text such as editing or modifying execution step or display of the value of a variable.

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Basic procedures for Program development Insert inserts a break point on the line where the cursor is positioned. Break points are displayed in the program as follows, where 'n' indicates the break point number: ~BP n~ Break points cannot be inserted in a declaration section, on a BEGIN statement, or after the END of the program. Only one break point can be inserted on a line; Purge removes a break point from the program. If the line containing the cursor has a break point, that break point is purged. Otherwise the editor prompts for a break point number. The asterisk character (*) can be used to specify all break points. If a line containing a break point is deleted, the point is automatically removed; View displays a list of the break points in the program.

9.4.7.2.2

Follow
FOLLOW is used to highlight the line that is currently in execution. This functionality, that helps the user to follow the sequence of the steps executed by the program, causes the execution to slow down in comparison with normal running in automatic mode, so that the instruction can be read. The time lapsing between one display and the next can be configured by changing the value of the predefined variable $TUNE[20].

9.4.7.2.3

Program
PROGRAM displays a commands menu to control program execution during debugging.

Continue continues program execution from the point at which it stopped, unlike RUN key which executes the program from the current cursor position; Deactiv deactivates the program; Restart deactivates the program if it is active and then activates it from the beginning of the program; Set_exec changes the next statement to be executed without executing the statement. The scoping rules mentioned for the key apply to this command also; View displays the program current status.

9.4.7.2.4

Step
STEP displays a menu of commands to select a step type for step execution of the program. The current step type is displayed on the status line in DATA or DBUG mode. After each step, program execution stops (similar to a break point).

Cycle selects the cycle step type. Execution is interrupted each time a cycle runs. Cycle means all the statements contained between the CYCLE and END statements of the program. This type of execution requires the CYCLE statement in the program;

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Basic procedures for Program development Disable disables the current step mode setup (for example Statement) and restores the continuous execution mode in which the program runs unless an END statement or a breakpoint is encountered or because of an operation by the user (for example pressing ^C key). For the move instructions, with Disable mode, it is not necessary to press the START key and the messages are not displayed that inform the user when the end point is reached; Fly selects fly type step mode. Execution of the program is interrupted at the end of each movement unless the movement is a MOVEFLY statement in which case it is interrupted at the end of the next movement so that it is possible to check correctness of the continuous movement. Application of this mode to programs not containing move statements (i.e. with the NOHOLD attribute) is not permitted; Move selects the move step type. Execution stops after each MOVE statement. Application of this mode to programs not containing move statements (i.e. with the NOHOLD attribute) is not permitted; Routine selects the routine step type. Execution stops after each statement, but routines are executed as a single statement; Statement selects the statement step type. Execution stops after each statement. Statements of local routines are executed one-by-one. External routines are executed as if they were single statements. This is the default step type.

9.4.7.2.5

Setup
SETUP displays a menu of commands to set up the MOVE statement and variable declaration to be inserted by the Teach Pendant REC key This setup information will be remembered between edit sessions. This means that, exiting the editor environment, the information is not lost and is used the next time the editor environment is enabled.

Fly selects a MOVEFLY statement; Nofly selects a MOVE TO statement; Sync displays a menu of commands to set up the SYNCMOVE statement:

Disable removes the selection of the SYNCMOVE statement, Enable selects the SYNCMOVE statement, Traj displays a menu containing the choices: CIRCULAR, LINEAR, and JOINT, Variable displays a menu of commands to set up the variable name, the type (JOINTPOS, POSITION, XTNDPOS) to be used in the SYNCMOVE statement;

Traj displays a menu with CIRCULAR, LINEAR, and JOINT trajectories that can be selected; Variable displays a menu to select the name and the type (JOINTPOS, NODE, POSITION, and XTNDPOS) of the variable to be used in the move statements. The name (NAME) consists of a prefix with three letters, pnt, followed by four figures and a letter (p = POSITION, j = JOINTPOS, x = XTNDPOS). For example pnt0001p, pnt0002j, pnt0003x. The initial prefix of the variable can be modified. In the case of multi-arm systems, the arm associated to the JOINTPOS and
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Basic procedures for Program development XTNDPOS variables is that currently selected by the system. In the case of NODE; the user is asked to specify the name of the type to which the node belongs; View displays the current setup of the MOVE statement and variable to be inserted in the program by pressing REC key.

9.4.7.2.6

Variable
VARIABLE displays information about a specified variable including its data type, the number of programs that reference it, and its current value. A series of asterisks (***) indicates the variable is uninitialized. If the line containing the cursor references any variables, those variables are automatically displayed. If instead there is no variable at the position of the cursor, the editor asks the user to specify the name of the variable that is to be displayed.

9.4.7.3

Exit
EXIT saves the edited program in a file and exits the editor. The file is saved with the name of the program and with the .COD extension.

See NOTE regarding the entry number in the UD: root directory.

If the Memory Debug environment was being used, an additional prompt will be displayed for all programs modified during this editing session. If a previous copy of the file exists, it is renamed using a .BKC extension, creating a backup copy of the program. If positional variables have been taught using Teach Pendant REC and MOD keys, positional variables, the editor will prompt the user to save these changes to the variable file. Variables are saved to a .VAR file. If a previous copy of the file exists, it is renamed using a .BKV extension, thus creating a backup copy of the data. If variable data for other programs has been modified, a prompt will be displayed for each one. If any programs or variables remain unsaved after the editing environment has been exited, a warning message will be displayed. Use the MEMORY SAVE command to save any remaining modified programs or variables.

9.4.7.4

New
NEW command can be used to open a new program in the editor environment and to quit the program being worked on so far. This command is useful in that the user can select program sections using CUT and COPY software keys, and then insert them in another program simply pressing PASTE software key. If the old program being abandoned has been modified but not saved, the user will be alerted and always asked whether to proceed. In this case the modifications will be lost. Also, if the new program does not exist yet, the user is prompted to specify whether a new program is to be created.

9.4.7.5

Quit
QUIT exits the editor without saving the edited program or variables. If any programs or variables have been changed, the editor will prompt for confirmation before quitting.

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Basic procedures for Program development Note that, as far as the variables, the prompt is displayed only if they have been modified using REC or MOD keys of the Teach Pendant. If the variable values have been modified using assignment instructions with the RUN key, the user is not asked to confirm the saving. The message indicates that a save has not been performed; however the situation can still be restored using the commands of the system menu under the MEMORY SAVE item. Exiting the PROGRAM EDIT environment, it will be possible to restore only the variables by sending the MEMORY SAVE command. Exiting the MEMORY DEBUG environment, if the program has been loaded with the /FULL option, it will also be possible to save the code with the MEMORY SAVE/CODE command.

See NOTE regarding the entry number in the UD: root directory.

9.4.7.6

Save

See NOTE regarding the entry number in the UD: root directory.

SAVE saves the edited program in a file without exiting the editor. The program name displayed on the status line and a .COD extension are used. If a previous copy of the file exists, it is renamed using a .BKC extension, creating a backup copy of the program. This command is typically used to periodically save changes to the program as it is being edited. The Save command is only allowed in the MEMORY DEBUG environment if the program was loaded with the /FULL option.

9.4.7.7

Save_as

See NOTE regarding the entry number in the UD: root directory.

SAVE_AS saves the edited program in a file without exiting the editor using a program name specified by the programmer. If a previous copy of the file exists with that name, the programmer is prompted to confirm the save. If the programmer responds with a yes, the original file is renamed using a .BKC extension, creating a backup copy, and the edited program is saved using the specified name and a .COD extension. This command is typically used to save a new version of a program without changing the name of the original program. The SAVE_AS command is not allowed in the MEMORY DEBUG environment unless the program was loaded with the /FULL option.

9.4.7.8

Suspend
SUSPEND temporarily interrupts the editor to return to the system command menu. After one system command has been executed, control returns to the editor.

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9.5 Memory Teach

This environment is only available from the Teach Pendant (TP-INT Page).

The MEMORY TEACH environment assigns the current arm position to positional variables (POSITION, XTNDPOS, JOINTPOS, arrays of this type or PATH nodes). It is also useful to add nodes to a PATH. To do this, it is necessary that the program is provided with such variables or the declarations of them. Memory Teach screen layout Accessing Teach Environment Teaching Positional Data Teaching a PATH Special Keys Exiting Memory Teach Environment

The MEMORY TEACH environment is used to teach positional variables of the POSITION, JOINTPOS, XTNDPOS (also ARRAY of this type) and PATH type. .VAR file such variables belong to, is automatically loaded in memory when MEMORY TEACH command is issued from the Teach Pendant; a .VAR file is created when exiting MEMORY DEBUG environment. It is also possible to operate on the .VAR file in the case in which a program (.COD file) associated to it does not exist. This may be useful, for example, in case in which the same sequence of move statements is to be used to perform operations on different objects. In this case, a single program (.CODE file) can be used that will be loaded with different files of variables (.VAR) using MEMORY LOAD/AS command according to the points to be reached. Possible actions of MEMORY TEACH environment are as follows: assignment of the physical position of the arm to a positional variable; modification of the current value of a positional variable; creation, deletion and modification of the standard fields of the node for PATH type variables. Note that this possibility is present only in the MEMORY TEACH environment. The editor environments do not manage teaching of the PATH.

From this environment, it is not possible to create, delete or rename positional variables.

9.5.1

Memory Teach screen layout

The screen page displayed in the MEMORY TEACH environment comprises: a status window, in the top part of the screen, identical to that which is displayed in the system screen and which provides information such as system status, the currently selected arm, the three reference values used for jog movements, the override set for the movement;

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Basic procedures for Program development a scroll window which displays different information case by case according to the level of the environment being used. Initially, it will contain a list of the positional variables and then the value of the variable selected; a window of the commands menu from which it is possible to send commands and/or select values to be assigned to the variables; a window, which is displayed when necessary to show user messages or prompts.

9.5.2

Accessing Teach Environment

The best conditions to activate MEMORY TEACH environment are as follows: TP-INT Page active on Teach Pendant set the state selector to T1 or T2; press DRIVE ON button on the Teach Pendant; Select the Memory Teach command from the Teach Pendant menu using function keys F1..F8.

The name of the program is asked for, and can be sent by pressing the HELP key, that displays the list of files present in the User Directory, and selecting the required program with the cursor keys followed by ENTER. Then, the command searches for the file with that name and .COD and .VAR extension, in the whole User Directory. If neither of the two file exists, an error is displayed. If there is only the .COD file, once this has been loaded, the variables (positional, if present) declared in the program in the .VAR section will be present in the memory. As there is no associated .VAR, these variables will not have been initialized and their value will be displayed with a set of asterisks (****). If the .VAR file exists, the variables will be loaded with the values stored in that file. When entering Memory Teach environment, the main screen page of the teach menu is displayed as shown in Fig. 9.3 - Main Page of the Teach Environment.

Fig. 9.3

- Main Page of the Teach Environment

The variable name is shown in the left-most column, while its type is shown in the middle column. To the far right is the attribute of each variable. The variable type can be one of many (JOINTPOS, POSITION, XTNDPOS, ARRAY OF, PATH OF). The asterisk (*) in the attribute column means that the variable is uninitialized. An M denotes that the variable has been modified, and if the variable has a NOSAVE attribute, an N will appear in that column. If the variable is a PATH, the type (NODEDEF) specified in the declaration section of
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Basic procedures for Program development this PATH in the program to which it belongs will be displayed to the right of the name. In the example given in Fig. 9.3 - Main Page of the Teach Environment, the NODEDEF types are weld1 and weld2. The number of nodes currently in each path is denoted in the brackets after each variable type. The notation [0] indicates that, at the moment, the variable does not have any node. The highlighted variable shows the current location of the cursor of Memory Teach. The example shown in Fig. 9.3 - Main Page of the Teach Environment pos1. Note that if the variable name is longer than twelve characters, the Memory Teach environment displays only the first twelve characters on the screen.

9.5.3

Teaching Positional Data

To assign the position of the robot to a certain variable, move the cursor (using up and down arrows) to the positional variable that is to be taught. Jog the robot to the required physical location and press MOD key. This will cause a pop-up window to come up asking to confirm current modification. To read the current value of a positional variable, go to the Main Page and press ENTER key on the selected variable. The positional data of the variable and the current position of the robot are displayed.

Fig. 9.4

- Variable value and arm current position

Teaching can also be carried out from this screen page using MOD software key. It is also possible to move to the previous or next variable using up and down keys. To return to the initial screen page for teaching, press ESC key.

9.5.4

Teaching a PATH
In the main page in which the variables are listed, move the cursor to the PATH variable to be taught (using the arrow up and down keys). If this variable does not contain any node yet, a prompt is displayed asking the user to press the key so that a node is inserted (Fig. 9.5 - PATH initialization). Jog the robot to the desired starting point of the path and press REC key.

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Fig. 9.5

- PATH initialization

Once the first node of the PATH has been set, the related screen page will also show the current values of the other standard fields for that node, as shown in Fig. 9.6 - Displaying a PATH node.

Fig. 9.6

- Displaying a PATH node

To continue teaching the path, jog the robot to the next position and press REC key. This will insert a new node after the first. Repeat such an operation until PATH nodes teaching is completed. Associated data fields can be set from the Teach Pendant (see later sections). If at any time the user wants to re-teach a node, use the cursor keys to highlight the required node, jog the robot to the desired position and press MOD software key. At the end of all teaching nodes and setting nodes fields operations, press ESC key to go back to the MEMORY TEACH Main Page.

9.5.4.1

Adding and Removing PATH nodes

In MEMORY TEACH environment it is also possible to insert or delete a PATH node. To insert a node simply use the cursor keys to position the cursor upon the node before the place you want to insert the new node. Jog the robot to the desired position and press REC key. The new node will be inserted after the highlighted node and a message will inform about the operation. The node fields for the new node will be copied from previous node. To delete a node, simply place the cursor on the node to be deleted and then press DEL key (from Virtual Keyboard).

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9.5.4.2

Modifying PATH node fields

Each node of a PATH consists of a set of fields specified when defining the node type (NODEDEF). There are predefined standard node fields as well as user-defined node fields. The standard fields are described in the PDL2 Programming Language and are: $CNFG_CARE $JNT_MTURN $MAIN_POS $ORNT_TYPE $SEG_FLY $SEG_FLY_TRAJ $SEG_REF_IDX $SEG_TOL $SING_CARE $WEAVE_NUM $COND_MASK $LIN_SPD $MAIN_XTND $ROT_SPD $SEG_FLY_DIST $SEG_FLY_TYPE $SEG_TOOL_IDX $SPD_OPT $WEAVE_TYPE $COND_MASK_BACK $MAIN_JNTP $MOVE_TYPE $SEG_DATA $SEG_FLY_PER $SEG_OVR $SEG_WAIT $TURN_CARE

$SEG_STRESS_PER $SEG_TERM_TYPE

The user-defined fields may be of any type and are to be located in the declaration of the node immediately after the standard fields. The fields defined by the user cannot be modified from MEMORY TEACH environment. Standard fields values are displayed on the Teach Pendant beside each node. Assuming, for example, that we have a NODEDEF declaration containing $MAIN_POS, $MOVE_TYPE, $SPD_OPT and $SEG_TERM TYPE standard fields, the matching values for each PATH node will be displayed beside the node as shown in Fig. 9.7 - Node fields screen.

Fig. 9.7

- Node fields screen

The cursor keys will allow to move through the node fields. The highlighted field is the cursor current position. The name of the highlighted field is displayed on the bottom line of the Teach Pendant. In Fig. 9.7 - Node fields screen, JNT (JOINT) value is highlighted for the first PATH node $MOVE_TYPE field. If there are several standard fields, that don't all fit in the screen, simply press right arrow key to reveal the others. To modify the value of a node data field, highlight the desired field and press ENTER key. This will switch the bottom line to display the optional values or a prompt for the new value. As far as previous example, pressing ENTER key while highlighting JNT value,

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Basic procedures for Program development causes the Pendant to display all $MOVE_TYPE options. Any of the options can be selected by pressing the corresponding function key. This will change the value for that particular node. Note that the node fields of a new node are set to the values of the previous node. This is the default behaviour.

9.5.5

Special Keys
The functions of the keys to be used while teaching always depends on the currently displayed screen page on the Teach Pendant monitor. First of all, let us consider the main page of the MEMORY TEACH environment (Fig. 9.3 - Main Page of the Teach Environment).

UP ARROW DOWN ARROW SHIFT + UP ARROW SHIFT + DOWN ARROW PageUp and PageDown

Selects the previous variable in the list (unless already at the top of the list) and sets the page direction flag to up. Selects the next variable in the list (unless already at the bottom of the list) and sets the page direction flag to down. Selects the first variable in the list. Selects the last variable in the list. Scroll the page cursor upward or downward. If the currently selected variable is a JOINTPOS, POSITION or XTNDPOS type, its value can be modified from this screen by means of MOD key. A prompt is displayed for a confirmation, and then the result of the operation will be displayed. An "M" attribute is then assigned to such a variable. The function keys allow execution of the available commands on the menu line (EXIT, QUIT, SAVE commands). It causes the selected variable data to be displayed. If the variable is of PATH type, the list of PATH nodes is then displayed, otherwise, the positional data is displayed. Here follows the keys description when the PATH node Teach Screen is active (Fig. 9.8 - Node Teach Page).

MOD software key

F1, F2, F3 ENTER

Fig. 9.8

- Node Teach Page

UP ARROW

Selects the previous variable in the list (unless already at the first element of the list) and sets the page direction flag to up.

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DOWN ARROW

Selects the next variable in the list (unless already at the last element of the list) and sets the page direction flag to down. Selects the standard field of the current node. If the current selected field is the first one, then the node number is selected. The node number corresponds to the main destination field ($MAIN_POS, $MAIN_JNTP or $MAIN_XTND). Selects the standard field of the current node. Selects the first node in the list (number 1). Selects the last node in the list. Selects the first standard field in a node. Selects the last standard field in a node. The PAGE key scrolls the page cursor upward or downward. If the node type definition contains a main destination field ($MAIN_POS, $MAIN_JNT or $MAIN_XTND) then the value can be modified with the MOD software key. A prompt is displayed for a confirmation and then the results are shown. This is used to insert a new node after the currently selected node. The new node field values are then copied from the selected node and the new node becomes the current one. If the node contains a main destination, it will be initialized with the current robot position.

LEFT ARROW

RIGHT ARROW SHIFT + UP ARROW SHIFT + DOWN ARROW SHIFT + LEFT ARROW SHIFT + RIGHT ARROW PageUp and PageDown

MOD software key

REC

DEL (from Virtual Keyboard) It deletes the currently selected node. If the currently selected field is not the main destination position ($MAIN_POS, $MAIN_JNTP, $MAIN_XTND), ENTER key allows the user to modify a field value. If it is pressed when the selected field is a node number and there is a main destination field ($MAIN_POS or $MAIN_JNTP or $MAIN_XTND), the positional data for such a node is displayed. They are used once a field of a standard node has been selected to perform a modification operation on it (ENTER key). The lower line of the Teach Pendant displays a menu of allowed values for that field which can be selected using the function keys. Used to enter numerical values in the predefined fields of the nodes. Press ENTER key after typing in the value. If the value is out of range, it will not be accepted and a different value is required. If it is pressed while entering a field value, the operation will be aborted and the field will remain unchanged. If it is pressed while displaying the node list, the screen will return to the Teach Environment main menu screen. One more screen with special key options is the one where the positional variable is fully displayed (Fig. 9.9 - Position Full Display Page). Such a screen is displayed when ENTER key has been pressed either on a positional variable, when in the main Teach Environment Main Page, or on a node destination field, when in the PATH Teach Page. Data are in world coordinate form.

ENTER

F1, F2, F3 (from Virtual Keyboard)

Alphanumeric keypad

ESC

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Fig. 9.9

- Position Full Display Page

UP ARROW DOWN ARROW MOD software key ESC

Displays previous variable, ARRAY or node. Displays the next variable, ARRAY or node. Modifies the variable value, node field or ARRAY element using current robot arm position. Goes back to the previous screen (PATH teach or main menu teach).

9.5.6

Exiting Memory Teach Environment

Use SAVE command to save taught data without exiting the MEMORY TEACH environment. A .VAR file with the same name of the program, is created.

See NOTE regarding the entry number in the UD: root directory.

EXIT command to quit teach environment saving taught data; QUIT command to exit without saving. As data remain in execution memory until first delete operation, it is possible to perform a save operation also after a QUIT, by means of a MEMORY SAVE.

9.6 Memory management from TP4i

Display/Removal of variables in memory Saving the variables

9.6.1

Display/Removal of variables in memory

From Prog Page, to view the selected program variables, it is necessary to: a. b. press the Details softkey (F6) from the main menu in the pop-up menu that is opened by the system, choose the Variables (MVV) function.

To remove a variable during the display of the selected program variables (just described) there is the Remove softkey (F1). This operation is only possible if the
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Basic procedures for Program development variable is not used by other programs.

9.6.2

Saving the variables

See NOTE regarding the entry number in the UD: root directory.

From IDE Page, the variables can only be saved simultaneously with the code. The following steps are necessary: a. b. press the Prog softkey (F1) from the main menu of the IDE Page in the pop-up menu that is opened by the system, choose the Save (cod,var) function. The system saves the .COD and the .VAR for the program that is currently open.

Instead, from Prog Page, it is possible to act in this way: a. b. press the softkey Prog softkey (F1) from the main menu of the Prog Page in the pop-up menu that is opened by the system, choose one of these functions: Save (MS + MS/C) to save both .COD and .VAR Save data (MS) to save the variables only Save variable as (MS/A) to save the variables with a file name that is different to that of the program. The user is asked to insert the name of the .VAR file. Confirm with 'OK' or ENTER.

9.7 File management from TP4i

To manage the files on the TP4i Teach Pendant, the user has the Files Page. Viewing the list of files Saving files on XD: unit Restoring backup files of a program variables or code

9.7.1

Viewing the list of files

a. If on Home Page or one of the first 6 User pages, press the MORE key to display the icons of the next User Pages press the Files Page softkey (L1). Entering the Files Page, all the files of the current directory are displayed. The way of viewing the files can be changed using the View (F3) (FV) softkey (F3).

b.

9.7.2

Saving files on XD: unit

a. b. From the Files Page, press the File (F1) softkey (F1) in the pop-up menu that is opened by the system, choose the Send to (FC) function

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Basic procedures for Program development c. select the device required and confirm with ENTER.

9.7.3

Restoring backup files of a program variables or code

To restore files for which a backup has been made, proceed as follows: a. b. press the Utility (F4) softkey (F4) in the main menu of the Files Page in the pop-up menu that is opened by the system, choose the Restore (FUR) function. a list of Saveset names is shown, previously set in the Setup page Restore sub-page, that identify the group of files to be restored. Select the required Saveset and press ENTER The system displays a confirmation prompt message before starting the restore. The user has to confirm with OK (F5) or cancel the operation with Cancel (F6).

c.

d.

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File management between PC and Control Unit

10.

FILE MANAGEMENT BETWEEN PC AND CONTROL UNIT

This chapter describes the procedures to delete, view and transfer files through the PC. To operate it is necessary to use the WINC4G program, that has to be installed on the PC. After installing the program, activate the terminal connection to WINC4G and from the system/keyboard menu type the commands indicated in the procedures. The following procedures are described here: View files on PC Delete files on PC File transfer from PC to Controller File transfer from Controller to PC Automatic file transfer from Controller to PC Automatic file transfer from PC to Controller

10.1 View files on PC

a. By opening the Properties window from WINC4G, the selected directory for files transfer can be viewed/changed. Type FV (Filer, View): <COMP:(FILE_NAME)> and press the ENTER key on the PC. The selected file will be displayed.

b.

10.2 Delete files on PC

a. By opening the Properties window from WINC4G, the selected directory for files transfer can be viewed/changed. Type FD (Filer, Delete): <COMP:(FILE_NAME)> and press the ENTER key on the PC.

b.

10.3 File transfer from PC to Controller

a. By opening the Properties window from WINC4G, the selected directory for files transfer can be viewed/changed. Type FC (Filer, Copy): <COMP:(FILE_NAME)> and press the ENTER key on the PC; this message will be displayed: Name of destination file

b.

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File management between PC and Control Unit c. Enter the name of the destination file, <UD:(FILE_NAME)> and press the ENTER key on the PC; after the operation this text will be displayed: Done The contents between round brackets can be omitted.

See NOTE regarding the entry number in the UD: root directory.

10.4 File transfer from Controller to PC

a. By opening the Properties window from WINC4G, the selected directory for files transfer can be viewed/changed. Type FC (Filer, Copy): <UD:(FILE_NAME)> and press the ENTER key on the PC; this message will be displayed: Name of destination file c. Enter the name of the destination file, <COMP:(FILE_NAME)> and press the ENTER key on the PC; after the operation this text will be displayed: Done The contents between round brackets can be omitted.

b.

10.5 Automatic file transfer from Controller to PC

Type FUB (Filer, Utility, Backup). This command saves the files specified by the currently selected Controller directory in the backup device (XD: or COMP:). The directories and their contents are not copied. To copy from different directories it is necessary to use the /Saveset option.

10.6 Automatic file transfer from PC to Controller

Type FUR (Filer, Utility, Restore). This command copies the files coming from an external device (XD: or COMP:) in the directory currently selected on UD:.

See NOTE regarding the entry number in the UD: root directory.

The directories and their contents are not copied.

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System operating modes and states

11.

SYSTEM OPERATING MODES AND STATES

11.1 Foreword
This chapter describes the following: System operating modes System states Stand-by function

11.2 System operating modes

The C4G Robot Control Unit can operate in four different modes that can be selected through the status selector switch on the Robot Controller Cabinet (RCC): Auto T (status selector switch in position T2 - optional feature)

programming (T1),

local automatic (AUTO) and

remote automatic (REMOTE).

Local automatic mode (AUTO) is used to execute production programs; as they contain instructions for the robot movement, to be able to start it is necessary to press
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System operating modes and states the START key on the Teach Pendant. The status selector switch must be set on AUTO. Active TOOL, BASE and FRAME cannot be changed when working in AUTO. The Automatic remote mode (REMOTE) is the same as Automatic local mode (AUTO), but the commands (for example the start) are sent from a remote device (for example a PLC). The state selector switch must be set to the REMOTE position. Active TOOL, BASE and FRAME cannot be changed when working in REMOTE. The Programming mode (T1) is used to create and verify programs The robot moves, for safety reasons, are run at a lower speed than in automatic mode (maximum robot speed allowed in programming is 250 mm/s on the flange centre). In Auto T mode (T2 - optional feature) the system runs as in Programming mode (T1), except that the program testing can be executed at working speed. If, in T2, the jog keys are used, the system will automatically reduce the speed to less than 250 mm/s. Note When the status selector switch is set to T2, the system generates a latched alarm that prevents the entry to the actual T2 status, even if allowing to switch the drives on. No movements are allowed (nor the manual one) until the latched alarm is not acknowledged. To enable this optional mode, the user has then to confirm the message. The latched alarm described above is automatically reset if the selector switch is moved to another state, but it resumes as soon as there is a return to T2. T2 status is only enabled when the user confirms the latched alarm. At this point the user is free to run motion programs keeping either the START key or the enabling device pressed. The speed can be increased at will up to 100%, hence bringing the robot to its maximum speed (the same speed that can be reached in automatic mode). When the status selector switch is set on position T1 (or T2 - optional service), the programs can be developed using editor environment and the spots can be taken from the Teach Pendant moving the robot manually with the motion keys; the programs can be set up using the debug tools of the system. In programming mode, the execution of a move instruction requires that the operator presses the START key and the enable device on the Teach Pendant. When the status selector switch has been set on T1, or T2 or AUTO, the system is under the control of the operator. When the selector is set on REMOTE, the system is under remote control (for example from PLC). Active TOOL, BASE and FRAME cannot be changed when working in REMOTE. Before any operation can be executed that requires movement, the drives must be powered: if the state selector switch is in either T1 or T2 (optional) position, press in the intermediate position the Teach Pendant Enabling Device, to power ON the drives; tho switch them OFF and activate brakes on all axes controlled by the Control Unit, just release the Teach Pendant Enabling Device, if the state selector switch is in AUTO position, press the R5 softkey (Teach Pendant right menu - it means DRIVE ON when in AUTO state), to power ON the drives; to switch them OFF and activate brakes on all axes controlled by the Control Unit, press the R5 softkey again (Teach Pendant right menu - now it means DRIVE OFF).
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System operating modes and states Active TOOL, BASE and FRAME cannot be changed when working in AUTO. if the state selector switch is in REMOTE position, DRIVEs ON and OFF are remote controlled. A detailed description follows of all the possible system states.

11.3 System states

The system status depends mainly on: the status selector switch on the Robot Controller Cabinet (RCC) the DRIVE ON, DRIVE OFF and HOLD keys on the Teach Pendant system alarm

Transition from one state of the system to another is also influenced by the enable device on the Teach Pendant. The Control Unit may be in one of these conditions: HOLD status: the robot is gradually decelerated until the stopping point is reached; movement is suspended and also the execution of the movement program (holdable). When there are all the necessary conditions to exit from the HOLD status, the system returns to the previous state (programming or automatic), but to continue to execute the movement program it is necessary to press START. AUTO status: this is usually used to execute production programs that control the robot movements (status selector switch positioned on AUTO or REMOTE or T2). Active TOOL, BASE and FRAME cannot be changed when working in AUTO or REMOTE. PROGR status: the robot can be moved manually using the jog keys or executing program instructions (from editor environment or by EXECUTE). In the latter case, in order that the movement be executed, the START key and the enabling button have to be kept pressed. A special sub-status is AUTO-T status (optional) that, besides having all the characteristics of the PROGR status, allows the program to be run at working speed. This is an OPTIONAL status.

If the controlled stop function class 1 (EN 60204-1) is active, the power cut-out (opening of the power contactor) may take place with a delay that ranges from a minimum of 1 second to a maximum of 2 seconds. With the status selector switch positioned on T1 or T2, the power cut-out is immediate (EN 60204-1, class 0 stop). ALARM status: this status is entered when there is a system alarm. According to how serious the error is, the system takes different actions, such as suspending the program execution, deactivation of the drives, etc. A situation may occur where the alarm cannot be reset, therefore the drives cannot be switched on.

The current system status is displayed on the first status line of the Teach Pendant (or in the Terminal window of tool WINC4G on PC). The figure shows a simplified diagram of the actions that determine the system change-over from one state to another.

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System operating modes and states

Fig. 11.1 - Simplified diagram of the system states

1. 2. 3. 4.

Status selector switch on T1 + HOLD released HOLD or DRIVES OFF or selector switch change HOLD or DRIVES OFF or selector switch change Status selector switch on AUTO or REMOTE or T2 + HOLD released Note: To perform transient 4 also the enabling device key has to be pressed

11.3.1

HOLD status
The safety rules to be complied to when operating with the Control Unit have been studied so that the system enters the HOLD status every time a change is made in the operating mode, passing for instance from LOCAL to PROGR mode. To exit from the HOLD status to enable a certain operating mode, there must be all the required safety conditions. A typical example is when the operator brings the status selector switch to PROGR to work near the robot, holding the Teach Pendant to carry out learning operations for the points. In PROGR or AUTO-T, exiting from HOLD can be obtained by pressing START, this is controlled by the system and therefore is active when an instruction or a movement program is executed. When the START key is released again the system returns to HOLD status. When entering the HOLD status, the corresponding HOLD key on the Teach Pendant is considered as pressed. Further pressure on the key causes the system to exit from HOLD status. If the HOLD status has been caused by pressing the DRIVE OFF key on the Teach Pendant, the DRIVE OFF and HOLD keys must be pressed again to exit from HOLD status. and then the DRIVE ON key to re-power the drives.

11.3.2

AUTO status
To have the system in AUTO status, the status selector switch on the Robot Control Cabinet must be set on AUTO or REMOTE. Active TOOL, BASE and FRAME cannot be changed when working in AUTO or REMOTE.

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System operating modes and states In AUTO status, to start programs ready for execution, press the START key on the Teach Pendant or activate the START input from remote device. Conditions that change the system status from AUTO to HOLD are: status selector switch changed to another position; DRIVE OFF or HOLD pressed; system alarm.

To return to AUTO, bring the selector switch back to the required position, and press again the previous buttons (DRIVE OFF and/or HOLD). To continue the movement program execution, press START after making sure that the drives are powered (DRIVE

11.3.3

PROGR status
PROGR status is active when: the status selector switch is set to T1.

In this state the robot can be moved manually, using the jog keys on the Teach Pendant. It is also possible to run programs from IDE environment (see IDE Page in Use of C4G Control Unit manual) to check that they are correct and if necessary make changes. Movements are at slow speed.

11.3.4

AUTO-T status (optional)

This status is active when: status selector switch is set to (T2) and latched alarm confirmed (see Note).

In this status the movements can be run, at full speed, from the Teach Pendant, requiring that the START key, together with the enabling device, is kept pressed by the operator to execute the move. The system passes from AUTO_T status to HOLD status when: the Enabling Device is released by the operator. This also causes the stop of the move, that can be resumed by pressing the Enabling Device again. The second line of the status window will ask for this pushbutton to be pressed. the status selector switch is changed to any other position the HOLD key is pressed, or the START key is released.

11.3.5

ALARM status
The system enters ALARM status when an alarm is generated. An error message is displayed on the second status line of the system screen and the associated LED, next to the ALARM key on the Teach Pendant, lights up. There are different conditions that can generate an alarm and the action to be taken to exit from ALARM status and bring the system back to the previous state vary according to how serious the error is.

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System operating modes and states

11.4 Stand-by function

The purpose of the Stand-by function is to cut down the current consumption when the robot is stationary. The function is automatically activated when the Control Unit is in local automatic or remote automatic mode and after the robot has remained stationary for a time defined by variable $TUNE [27];this function activates the motor brakes to keep the static position of the robot. The value of variable $TUNE [27], set by COMAU, is 120 seconds; if this variable is set to 0 the function is deactivated. The Stand-by function is automatically deactivated at the first request to start movement again (START, RESUME) from the system. The system Stand-by status is displayed in the status bar of the Teach Pendant. To display the state of a single arm, read this status on the Status sub-page, the Motion page on TP4i/WiTP or send the DisplayArmStatus (DAS) command. The safety precautions are to be scrupulously observed regarding this operating condition of the Controller.

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FB_TOOL program for configuration of Fieldbus

12.

FB_TOOL PROGRAM FOR CONFIGURATION OF FIELDBUS

12.1 FB_TOOL activation

This program, in Visual PDL2, and therefore with an efficient graphic interface, is used for the configuration, viewing and resetting of fieldbus and CAN modules, on the C4G Control Unit. The FB_TOOL program is always present and available on the Teach Pendant. To use it, proceed as follows: a. b. c. access Setup page, on the Teach Pendant select the icon FB_TOOL (see Fig. 12.1) confirm with ENTER.

Fig. 12.1 - FB_TOOL activation

NOTE FOR USER Before starting any type of configuration, it is advised to view the current configuration, to know and avoid involuntary loss of pre-existing configurations or the execution of a configuration on an inconsistent system. Only if all is as it should be, the user, guided by the program, can continue and configure the Fieldbus. Otherwise, if the current configuration is not correct, the user is recommended to carry out a cleaning operation before proceeding with the new configuration.

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FB_TOOL program for configuration of Fieldbus

Fig. 12.2 - FB_TOOL - Home page

As can be seen in Fig. 12.2, on the Home Page of the FB_TOOL program, the following functions are available: Fieldbus (F1) Save (F5) Close (F6)

12.2 Fieldbus (F1)

With this function it is possible to configure, view and reset the Fieldbus boards (DeviceNet, Profibus and Interbus) and the CAN modules. To use, proceed as follows: a. b. Activate the Fieldbus function Select the required Board

b.1 Select Type of Board b.2 Select the Channel c. Action:

c.1 Viewing c.2 Reset c.3 Configuration d. Completion of the operation

12.2.1

Activate the Fieldbus function

Press Fieldbus (F1) softkey, to open a menu (see Fig. 12.3) and have access to the Boards sub-pages.

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FB_TOOL program for configuration of Fieldbus

12.2.2

Select the required Board

If it is wished to operate on DeviceNET, ProfiBUS or InterBUS, select one of the two FBP1/FBP2 boards. If instead it is intended to operate on a CanBUS module, select choice n4 (see Fig. 12.3).

Fig. 12.3 - Fieldbus or CanBUS selection

This gives access to the sub-page involved. If CanBUS has been chosen, it is possible to pass directly to operate on it (par. 12.2.3 Action on page 12-4).

12.2.2.1

Select Type of Board

If a Fieldbus board has been selected, the sub-page presented by the program is as shown in Fig. 12.4.

Fig. 12.4 - Fieldbus Board management

The first operation to be carried out is to choose the Type of Board: ProfiBUS DeviceNET InterBUS.

To do so, move the focus on Board type field and press ENTER to open the menu (see
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FB_TOOL program for configuration of Fieldbus Fig. 12.5).

Fig. 12.5 - Type of board

Make the choice and confirm with ENTER.

12.2.2.2

Select the Channel

It is now necessary to specify whether it is wished to operate on the Master channel or the Slave channel of the selected Fieldbus board (see Fig. 12.6).

Fig. 12.6 - Channel

Move the focus on Channel field, press ENTER to open the menu, select the required item and confirm with ENTER.

12.2.3

Action
After establishing which boards have been chosen and (where applicable) the type and channel, the required action can be carried out. The following actions are possible: d.1 Viewing d.2 Reset

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FB_TOOL program for configuration of Fieldbus d.3 Configuration

12.2.3.1

Viewing
By pressing Show (F2) softkey, the current configuration of the Board and the selected channel can be viewed (in Fig. 12.7 the screen page is shown relating to a CanBUS module).

Fig. 12.7 - Viewing

For the Master Channel, the following information is supplied by the program: Master enabled/disabled - indicates whether the Master functions, related to that fieldbus, are enabled or not. Device address - the physical address of the selected fieldbus, on the associated network. This data is not foreseen for InterBUS and CanBUS Status $WORD, Command $WORD - are addresses chosen by the user. Enable alarms after reset - indicates whether this function is active; if it is, resetting an alarm generated by a network problem, this alarm is generated again by the system itself Baud Rate - the network baud rate, related to the selected fieldbus (data not foreseen for InterBUS) Current Nodes - indicates how many Nodes, belonging to the selected fieldbus network, have been configured.

For further information regarding the displayed data for Master, see par. 12.2.3.3.1 Master on page 12-10

To exit from the screen page, press OK (F6).

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FB_TOOL program for configuration of Fieldbus

WARNING! If it is wished to also view the configuration of the Nodes associated to a certain fieldbus, proceed as follows: press Configure (F5) softkey in the fieldbus selection sub-page (see Fig. 12.4) press Nodes (F2) softkey (highlighted in red in the figure on the side)

select the Node of the configuration to be viewed (highlighted in green in the figure on the side), press ENTER, insert the appropriate index and confirm with ENTER; press SHOW (F3) softkey (highlighted in yellow in the figure on the side), press OK (F6) to exit from the displayed screen page.

For the Slave Channel, the following information is common to all fieldbuses: Slave enabled/disabled - indicates the Slave enable/disable (see further details in par. 12.2.3.3.2 Slave on page 12-23) Remote controlled - indicates whether the C4G is configured as Slave or has to be "remote controlled" User bytes number - total of user input bytes (those in output are the same number) Total Input bytes, Total Output bytes - total of user bytes (+ 2 bytes for system signals if C4G is configured as primary) Signal mapping - I/O transfer by $DIN/$DOUT or by $WORD System/user $WORD index - if the Slave has signals mapped on $WORD, they are the indexes of the system $WORD in Input and in Output, as well as user $WORD in Input and in Output Byte swap - indicates whether the user wishes to invert high bytes with low bytes or not.

Also the following specific information is displayed for:

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FB_TOOL program for configuration of Fieldbus DeviceNET Slave

Fig. 12.8 - DeviceNET Slave viewing

Physical ID - Slave address on network it is associated to Baud Rate - network baud rate (obviously it has to be the same as set for its Master) Serial Number/Vendor ID/Product Code - codes used by the Master to identify the Slave on its associated network.

ProfiBUS Slave

Fig. 12.9 - ProfiBUS Slave viewing

Physical ID - address of Slave on the associated ProfiBUS network ID Slave Profibus C4G - Slave identification number (for C4G it is 2031) PLC data transfer type - indicates the mode (BYTE or WORD) used to exchange data between Slave (for example C4G) and its Master (for example PLC).

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FB_TOOL program for configuration of Fieldbus InterBUS Slave

Fig. 12.10 - InterBUS Slave viewing

Network type - Indicates whether the Interbus board cable is in copper or optic fibre. Baud Rate - the baud rate on the network associated to the Slave

For further information regarding the displayed data for Slave, see par. 12.2.3.3.2 Slave on page 12-23.

12.2.3.2

Reset Fig. 12.11 - Reset

As shown in Fig. 12.11, there are 2 possible reset commands: Reset Board (F1) (highlighted in red in Fig. 12.11): completely resets (=restores the default values) the board configuration data structure, both for the Master interface and that of the Slave (in example in Fig. 12.11 resets both Profibus Master and Profibus Slave). Reset FB (F4) (highlighted in yellow in Fig. 12.11): resets (=restores the default values) only the configuration data of the Channel selected by the user, therefore either the Master or the Slave, but NOT both.

With the presence of these two softkeys, having a pre-existing configuration, it is

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FB_TOOL program for configuration of Fieldbus possible to reset everything or keep a part (in the example in Fig. 12.11, pressing Reset FB (F4) only the Profibus Master is reset, whereas pressing Reset Board (F1) also the Slave is reset). When the user asks for a reset, the program asks for confirmation, as shown in the example in Fig. 12.12.

Fig. 12.12 - Reset confirmation

The possible choices are: OK (F4) - to confirm the reset Cancel (F6) - to cancel the reset request.

For CanBUS there is a single reset command: Reset FB (F4) that resets the entire CAN module (highlighted in red in Fig. 12.13).

Fig. 12.13 - CanBUS reset

12.2.3.3

Configuration
Before starting to Configure a fieldbus, read with attention the NOTE FOR USER at the beginning of this chapter. To configure the board and Channel required, press Configure (F5) softkey (highlighted in red in Fig. 12.14).

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FB_TOOL program for configuration of Fieldbus

Fig. 12.14 - Fieldbus configuration

According to the Channel selected, there are 2 situations: Master Slave

For CanBUS only the Master exists.

12.2.3.3.1

Master
To configure a Master fieldbus, proceed as follows: a. b. General data modification Configuration of any Nodes and/or Removal of one or more Nodes

General data modification Fig. 12.15 - Master configuration

The system shows a screen page regarding the current configuration of the selected Master (example in Fig. 12.15). In any fieldbus selected, the user can change the following fields:
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FB_TOOL program for configuration of Fieldbus Master enabled - by means of this field it is possible to define whether the network of the selected Master is enabled at the start. Press ENTER to open the menu, select the required item and confirm with ENTER. Command $WORD - it is the $WORD index that contains the Master network management commands. The user has to supply the start index of a block containing 5 $WORD (4 used and one free) to reserve for this function. Press ENTER, insert the value and confirm with ENTER. For further information see par. 14.4.1 Command Words on page 14-21. Status $WORD - it is the $WORD index that contains the information regarding the state of the Master network. The user has to supply the start index of a block containing 5 $WORD (4 used and one free) to reserve for this function. The program suggests an address that follows immediately after the control $WORD (for example, if the control $WORDs start at address 30, for the status $WORDs the program suggests 35 as starting address (30+5)). Press ENTER, insert the value and confirm with ENTER. For further information see par. 14.4.2 Status Words on page 14-22.

NOTE REGARDING THE $WORD INDEX The Program presents some default indexes which can, however, be changed by the user, and the Program checks there is no overlaying. But, bearing in mind that the status $WORD and control $WORD indexes are to be UNIQUE in the whole system (for example, it is not possible to have the same index for control $WORDs of a DeviceNET and those of a CanBUS!), the choice is to be made with attentive accuracy. The same is valid also for the user $WORDs! Enable alarms after reset - the user can ask that, following the reset of an alarm generated by a network problem, this alarm is generated again by the system. However this function is automatically disabled when the system is in Progr mode (position T1 of the status selector switch), allowing the motors to start with a partially functioning network.

It is also possible to set the following data, only for the Masters DeviceNET and ProfiBUS: Device address - to define the physical address of the Master on its associated network. Permitted addresses depend on type of network. To change this field, move the focus onto it, press ENTER, insert the new value and confirm again with ENTER. Baud Rate - To set the baud rate on the network associated to the Master. Move the focus on this field and press ENTER to open a menu that shows the possible values from which the user can choose. Position on a value and press ENTER, to confirm the choice.

Configuration of any Nodes

It is also possible to associate one or more Nodes to each Master, and configure them. It is to be noted that, regarding the CAN modules, there is always a system module fixed on the Node of address 7, but besides the user module, another optional system module can be added on the Node of address 8.

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FB_TOOL program for configuration of Fieldbus

Removal of one or more Nodes For any type of fieldbus selected, if it is wished to remove one or more configured Nodes, select the Logic ID of the Node to be removed (press ENTER, insert the opportune index and confirm with ENTER) and press Remove (F2) softkey (highlighted in red in the figure on the side). If there are several Nodes to be removed, repeat the operation described for each one.

Let us now see how to configure a new Node or modify the configuration of an existing Node. First press Nodes (F2) softkey in the main screen page of the chosen Master (this softkey is highlighted in red in Fig. 12.15). On the screen page presented by the program, (see example in Fig. 12.16), select the Logic address of the Node to be associated to the Master (press ENTER, insert the appropriate index and confirm with ENTER). The Logic Address is the index used in the PDL2 programs to access the data concerning this Node. Example: if the Logic Address is18,the data of the corresponding device can be found in $FBP_TBL[<board_no>].FB_MA_SLVS[18,<xxx>]

For the CanBUS it is

<board_no> = 4

Fig. 12.16 - Node selection

To select the required Logic Address, press ENTER, modify the Logic ID field and press ENTER again to confirm. Press SET (F1) softkey (highlighted in red in Fig. 12.16) to continue the configuration of the selected Node.
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FB_TOOL program for configuration of Fieldbus Since there are many differences in the Node setting, according to the type of fieldbus a separate description follows of the data to be inserted/modified for each of them: Data regarding DeviceNET nodes Data regarding ProfiBUS nodes Data regarding InterBUS nodes Data regarding CanBUS nodes

The method for navigation inside the screen pages that guide the user when setting the Nodes is not influenced by the type of fieldbus chosen. With regard to this, read the following note with attention before continuing. Functions available in Central Menu, when setting up a Node: <<Back (F4) - to return to the previous screen page keeping the modifications made on the current page; Cancel (F5) - to cancel all the modifications made on the current screen page; Next>> (F6) - to access the next screen page; END (F6) - to conclude the Node setting. Data regarding DeviceNET nodes

Fig. 12.17 - DeviceNET nodes

For DeviceNET (see Fig. 12.17), the following data is required: Logical address - logic address that has just been selected (see Fig. 12.16) Physical address - the Node address associated to the Master. Not to be confused with the Logic Address, although the two values may be the same: if, for example the Logic Address is 18, the Physical Address could be any, from 1 to 63. For example 25. To insert the required value, press ENTER, change and press ENTER to confirm. Configuration type - to set the type of configuration required, open the menu pressing ENTER, select the required item and press ENTER to confirm; on DeviceNET there are two possible types of Node configuration: EDS - the configuration data is contained in a file with extension .eds, already present in UD:\. When EDS, is chosen, the program displays field EDS file name, to insert the name of the file that contains the configuration data. Move the focus on the field, press ENTER, insert the name and conform with

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FB_TOOL program for configuration of Fieldbus ENTER (see es. in Fig. 12.18). If the file specified is not found, the system indicates an error.

Fig. 12.18 - .eds file

Also when the .eds file is used for the Node configuration, it is still necessary to continue in the screen pages, to set some data manually: Device enabled at startup, I/O mapping on, Byte swap, COMAU application device. With regard to this, see the Manual configuration description below. Manual - the configuration values are entered manually by the user, guided by FB_TOOL program screen pages; the following data has to be inserted: Device enabled at startup - to define the Node status at the start: the Master only connects the Nodes that are declared enabled at the start. If one or more of them are not present, an error is generated. The Nodes that are not enabled are NOT searched for on the network. However, it is always possible to enable and disable them later. To enable/disable a NODE, press ENTER to open the menu, select the required choice (TRUE=enabled, FALSE=disabled) and confirm with ENTER. I/O mapping on - to choose whether to configure the I/O with $DIN/$DOUT or using the $WORD variables. To modify the current field, press ENTER to open the menu, select $DIN/$DOUT or $WORD and confirm with ENTER.

The default value for this field is $DIN/$DOUT.

$WORD index - if the I/O configuration is on $WORD, it is necessary to also supply the start index of the user $WORDs to start from for the copying. Before choosing this index read the NOTE REGARDING THE $WORD INDEX VERY CAREFULLY. To modify this field (when it is enabled), press ENTER, insert the required value and confirm with ENTER.

If the copying is on $DIN/$DOUT, this field is disabled.

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FB_TOOL program for configuration of Fieldbus Input/Output Byte number - If the copying is on $DIN/$DOUT, this field is disabled. Press ENTER, insert the required value and confirm with ENTER. Byte swap - to specify whether it is wished to invert high bytes with low bytes. Press ENTER to open the menu, choose TRUE (=invert) or FALSE (=do NOT invert) and confirm with ENTER.

Fig. 12.19 - DeviceNET - Applications

COMAU application device - To specify whether the Node being configured is managed by an application supplied by COMAU. To do so, press ENTER to open the menu, choose TRUE and confirm with ENTER. In this case, the program enables Applications (F2) softkey (highlighted in red in Fig. 12.19) to be able to select the Application involved. When the Applications (F2) is pressed, the program shows a screen page (see Fig. 12.20) with the list of all the applications provided, from which the user has to select one (press ENTER, insert the required index (Selection field), confirm with ENTER and press OK (F6) to return to the previous screen page (see Fig. 12.19) ). The program will now show, as Application associated to the Node, the COMAU Application that has just been chosen.

Fig. 12.20 - DeviceNET - COMAU Application choice

Vendor ID, Device Type, Product Code - They are ID codes of the module associated to the current Node, the ID number, the type of device and the product code respectively. To insert each of these 3 data manually, move the focus on the field involved, press ENTER, insert the

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12-15

FB_TOOL program for configuration of Fieldbus required value (read carefully the NOTE ON MODULE ID CODES) and confirm with ENTER. NOTE ON MODULE ID CODES Note that the module ID codes are to be inserted in HEXADECIMAL format (this is the format in which they are interpreted by the program)! Polling management - Enables the user to manage the polling time (see POLLING NOTE). To enable the management, move the focus on this field (highlighted in red in Fig. 12.21), press ENTER to open the menu, choose TRUE and confirm with ENTER. The Polling cycle field can be modified.

POLLING NOTE Generally, on DeviceNET, the I/O modules only transfer data when there are variations; this mode is called Change Of State (COS). The analog modules have to be updated in continuation and therefore transfer data in cycles (polling). The management of the polling time is therefore NECESSARY for the analog modules!

Fig. 12.21 - Polling Time Management and Quick Connect Attribute

Polling cycle - the duration of the polling cycle (see POLLING NOTE). To change it, when it is enabled, move the focus, press ENTER, insert the required time and confirm with ENTER. Quick Connect management - allows the user to access the Quick Connect function (see QUICK CONNECT NOTE). To enable the management, move the focus on this field (highlighted in yellow in Fig. 12.21) press ENTER to open the menu, choose TRUE and confirm with ENTER. The Quick Connect attribute field can be modified.

QUICK CONNECT NOTE Some DeviceNET modules have a function called Quick Connect used to cut down the connection time to the Node network. If the selected Node is associated to a module that has this function, it can be used. Quick Connect attribute - the user has to enter the service code to enable the Quick Connect function (see QUICK CONNECT NOTE). To do so, press ENTER, insert the required code and confirm with ENTER.

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FB_TOOL program for configuration of Fieldbus Data regarding ProfiBUS nodes

Fig. 12.22 - ProfiBUS nodes

The following data is provided for ProfiBUS (see Fig. 12.22): Logical address - logic address that has just been selected (see Fig. 12.16) Physical address - the significance and the use of this field are absolutely identical to the description for par. Data regarding DeviceNET nodes on page 12-13, therefore, see this section. Configuration type - to set the type of configuration required, open the menu pressing ENTER, select the required item and press ENTER to confirm; on ProfiBUS there are two possible types of Node configuration:

Fig. 12.23 - .gsd file

GSD - the configuration data is contained in a file with extension .gsd, already present in UD:\. When GSD, is chosen, the program displays field GSD file name, to insert the name of the file that contains the configuration data. Move the focus on the field, press ENTER, insert the name and conform with ENTER (see Fig. 12.23). If the file specified is not found, the system indicates an error. Press Next>>, the program shows a screen page (see Fig. 12.24) that lists the possible configurations.

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FB_TOOL program for configuration of Fieldbus

Fig. 12.24 - Configurations possible with .gsd file

The user has to associate one of the available types of configuration to the required module. To do so, using Fig. 12.24 for reference, move the focus on the field highlighted in red, press ENTER, insert the required value, confirm with ENTER; then move the focus on the field highlighted in yellow, press ENTER, insert the Logic ID of the Node being configured and confirm with ENTER. Press Insert (F2) softkey to make the choice operational. Also when the .gsd file is used, some data has to be entered manually: Device enabled at startup, I/O mapping on, Byte swap, COMAU application device. With regard to this, see the Manual configuration description below. Manual - the configuration values are entered manually by the user, guided by FB_TOOL program screen pages; the following data has to be inserted: ID module - it is a number that univocally identifies the module on the selected Node. Press ENTER, insert the required value and press ENTER to confirm. Device enabled at startup - the significance and the use of this field are absolutely identical to the description for par. Data regarding DeviceNET nodes on page 12-13, therefore, see this section. I/O mapping on - the significance and the use of this field are absolutely identical to the description for par. Data regarding DeviceNET nodes on page 12-13, therefore, see this section. $WORD index - the significance and the use of this field are absolutely identical to the description for par. Data regarding DeviceNET nodes on page 12-13, therefore, see this section. Input/Output Byte number - the significance and the use of this field are absolutely identical to the description for par. Data regarding DeviceNET nodes on page 12-13, therefore, see this section. Byte swap - the significance and the use of this field are absolutely identical to the description for par. Data regarding DeviceNET nodes on page 12-13, therefore, see this section. Data transfer mode - the setting of this field depends on the setting of the Slave. Indicates whether the Master intends exchanging data with the Slave, in Word or in Byte. For further information see also par. Data regarding ProfiBUS Slave on page 12-26.

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FB_TOOL program for configuration of Fieldbus

Fig. 12.25 - ProfiBUS - Applications

COMAU application device - To specify whether the Node being configured is managed by an application supplied by COMAU. To do so, move the focus on the field, press ENTER, choose TRUE and confirm with ENTER. In this case, the program enables the Applications (F2) softkey (highlighted in red in Fig. 12.25) to be able to select the Application involved. Pressing Applications (F2) softkey, the program shows a screen page with the list of all the applications provided, the same as that displayed for DeviceNET (see Fig. 12.20). To use it, see the description in par. Data regarding DeviceNET nodes on page 12-13. Config. string - a data that can be obtained from the .gsd file, referring to the configuration of the I/O module on the Node User parameters - a data that can be obtained from the .gsd file, referring to the configuration of the I/O module on the Node.

Data regarding InterBUS nodes

Fig. 12.26 - InterBUS nodes

The following data is required for InterBUS (see Fig. 12.26): Logical address - logic address that has just been selected (see Fig. 12.16) Physical address - the Node address associated to the Master. Not to be confused with the Logic Address, although the two values may be the same: if, for example the Logic Address is 18, the Physical Address could be any, from 1 to 63. For example 25.

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12-19

FB_TOOL program for configuration of Fieldbus To insert the required value, press ENTER, change the data and press ENTER again to confirm. Configuration type - to set the type of configuration required, open the menu pressing ENTER, select the required item and press ENTER to confirm; this field specifies whether the Node on InterBUS is an: I/O module - to exchange Input/Output data, or BK module - to create branches on the Interbus network and NOT to exchange data. Device enabled at startup - the significance and the use of this field are absolutely identical to the description for par. Data regarding DeviceNET nodes on page 12-13, therefore, see this section. Device Group - to specify whether the current Node is on branch 1 or branch 2. The field can only be modified when the Node is not active at the start. Press ENTER, insert the required value and press ENTER to confirm. Device Level - to specify the current Node position in relation to the Master, i.e. how many branches have to be crossed before reaching the Master. If it is 0, this means that between the Node and the Master there is no branching. To change it, press ENTER, insert the required value and confirm with ENTER. ID module - it is a number that univocally identifies the module on the selected Node. Press ENTER, insert the required value and press ENTER to confirm. Length Code - it is a plate data of the device associated to the current Node. For further information see the specific documentation of this device. To modify this field, press ENTER, insert the required value and confirm with ENTER. I/O mapping on - the significance and the use of this field are absolutely identical to the description for par. Data regarding DeviceNET nodes on page 12-13, therefore, see this section. $WORD index - the significance and the use of this field are absolutely identical to the description for par. Data regarding DeviceNET nodes on page 12-13, therefore, see this section. Input/Output Byte number - the significance and the use of this field are absolutely identical to the description for par. Data regarding DeviceNET nodes on page 12-13, therefore, see this section. Byte swap - the significance and the use of this field are absolutely identical to the description for par. Data regarding DeviceNET nodes on page 12-13, therefore, see this section. COMAU application device - the significance and the use of this field are absolutely identical to the description for par. Data regarding DeviceNET nodes on page 12-13, therefore, see this section.

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FB_TOOL program for configuration of Fieldbus Data regarding CanBUS nodes

Fig. 12.27 - CanBUS nodes

The following data is provided for CanBUS (see Fig. 12.27): Logical address - logic address that has just been selected (see Fig. 12.16) Physical address - the significance and the use of this field are absolutely identical to the description for par. Data regarding DeviceNET nodes on page 12-13, therefore, see this section. Configuration type - to set the type of configuration required, open the menu pressing ENTER, select the required item and press ENTER to confirm.

Fig. 12.28 - Type of Configuration

On CanBUS there are two possible types of Node configuration: COMAU - to select predefined COMAU module. From the screen page accessed specifying COMAU as Type of configuration (see Fig. 12.29), the TYPE of device can be chosen (press ENTER to open the list, select the required device and confirm with ENTER), specifying which wires of the connector are to be configured as Output (OUTPUT enable - move the focus on the required checkbox and press ENTER to enable the corresponding output: if the checkbox is already selected, pressing ENTER disables the relevant output).

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FB_TOOL program for configuration of Fieldbus

Fig. 12.29 - COMAU - choice of Device and Output enabling

After the modifications to this screen page have been completed, press END (F6) to terminate the configuration of the current Node and return to the first screen page (see Fig. 12.16). Generic - the configuration values are entered manually by the user, guided by FB_TOOL program screen pages; the following data has to be inserted: Device enabled at startup - the significance and the use of this field are absolutely identical to the description for par. Data regarding DeviceNET nodes on page 12-13, therefore, see this section. Vendor ID, Device Type, Product Code - the significance and the use of those fields are absolutely identical to the description for par. Data regarding DeviceNET nodes on page 12-13, therefore, see this section. I/O mapping on - the significance is absolutely identical to the description for par. Data regarding DeviceNET nodes on page 12-13, therefore, see this section.

For CanBUS, this field is read only, because the copying is ALWAYS by $DIN/$DOUT: it is therefore set by the Program and CANNOT be modified by the user. Input/Output Byte number - the significance and the use of this field are absolutely identical to the description for par. Data regarding DeviceNET nodes on page 12-13, therefore, see this section. Byte swap - the significance and the use of this field are absolutely identical to the description for par. Data regarding DeviceNET nodes on page 12-13, therefore, see this section. After completing all the fields of the page, press Next>> to access the next page (SDO configuration).

Users who are not skilled experts are never to attempt to change values on this page.

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Fig. 12.30 - SDO configuration

SDO - it is a page where the user can set some configuration parameters that will be used at the start. These parameters are to be inserted in sequence: only when a parameter configuration is completed, it is possible to access the next. the Index field can contain hexadecimal values between 0 and FFFF; the Subindex field can contain hexadecimal values between 0 and FF; the Lenght field contains the length of the Datum in bytes: possible values are only 1, 2 and 4; the Data field contains the value of the parameter ( in hexadecimal). To change them, move the focus on each one, insert the required value and press ENTER to confirm. When all the values have been inserted, press SET (F1) softkey (red in Fig. 12.30). If the data is not correct, the program emits an error message and is ready to receive new data. When an SDO has been configured correctly, the message "SDO added" is displayed and the next SDO becomes available. At the end of the SDO configuration, press END (F6) (highlighted in blue in Fig. 12.30) to end the configuration of the current Node and return to the first screen page (see Fig. 12.16).

12.2.3.3.2

Slave

Only the Slave interface of the fieldbuses allows system remote control, i.e. to enter DRIVE ON/OFF, START, HOLD commands by remote control .

With this choice the C4G Control Unit can be configured as Slave module of a DeviceNET, ProfiBUS or InterBUS network. The parameters inserted by the user for the Slave, have to be consistent with the configuration of its Master.
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FB_TOOL program for configuration of Fieldbus The Master can be: the Control Unit Master

an external device (for example a PLC). The configuration of the Slave Channel is by means of two screen pages. The user has to complete the fields required and proceed by pressing Next>> (F6) softkey to access the second screen page; after the second screen page has also been completed, press END (F6) softkey, to terminate the Slave configuration, the control returns to the main fieldbus configuration page (see Fig. 12.4). The data in the two screen pages, that are common to all three types of fieldbus, is the following: Slave disabled - indicates the disabling/enabling of the Slave. This data is especially significant when the Slave is remote controlled (Slave configured as primary). In this case, if the Slave is DISABLED, the system does not send the commands coming from PLC, but, however, does activate the NOT_HOLD and NOT_DRVOFF, so that the motors can be switched on even if the application on PLC is still being developed and/or is not yet operational.. To enable/disable the Slave, press ENTER to open the menu, make the required selection (TRUE=disabled, FALSE=enabled) and confirm with ENTER. Remote controlled - indicates whether the C4G is configured as Slave or not. In this case the first two input bytes are control bytes and the first two output bytes are status bytes. The significance of each bit inside the two control bytes and the two status bytes is described by the predefined variables, $SYS_INP_MAP and $SYS_OUT_MAP respectively. In particular the output status bits shall be reserved for the system and mapped on the $SDOUT ports . If the C4G is remote controlled, the Slave has the significance of Primary slave, if there are several Slaves in the system. If, instead the Slave is NOT configured as Primary, all the bytes from and to the fieldbus are available for the user. No byte is reserved by the system. In this case, the Slave has the significance of Secondary. To set the required configuration, press ENTER to open the menu, make the required selection (TRUE=Primary, FALSE=Secondary) and confirm with ENTER. Byte swap - indicates whether the user wishes to make inversion between high bytes and low bytes. Move the focus on the field, press ENTER, make the required selection and confirm with ENTER. User bytes number - the number of user input bytes (for output the number is the same) Total Input bytes, Total Output bytes - total number of bytes exchanged in input (or in output): number of user bytes + 2 system bytes if the Slave is configured as Primary. Signal mapping - allows the user to choose whether to make the I/O transfer through $DIN/$DOUT or use the $WORD variables. To modify this field, press ENTER to open the menu, select $DIN/$DOUT or $WORD and confirm with ENTER.

The default value for this field is $WORD.

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FB_TOOL program for configuration of Fieldbus $WORD index $WORD system/user input/output - if the I/O configuration is on $WORD, it is necessary to also supply the $WORD index to start from. If the total number of Input (or Output) bytes is less than, or equal to 16, the system reserves a group of 8 $WORD for the Outputs and 8 $WORD for the Inputs, and will use the necessary part of the quota. For example, if the total number of bytes is 10 and the index of the first $WORD is 100, the Output data will reside from $WORD[100] to $WORD[104], whereas those in Input will reside from $WORD[108] to $WORD[112]. On the other hand, if the total number of bytes is greater than 16, the system reserves a group of 16 $WORD for Outputs and 16 $WORD for Inputs, with the same allocation logic. Before choosing the index of the $WORD to start from, read VERY CAREFULLY the NOTE REGARDING THE $WORD INDEX. According to whether the Slave is Primary or Secondary: Primary Slave - the user has to specify the system $WORD index in Output: the other 3 indexes are automatically assigned by the program to reduce as far as possible $WORD overlaying situations . Secondary Slave - The user has to specify the user $WORD start index in Output: the user $WORD index in Input is assigned automatically by the program for the reason already described.

If the copying is on $DIN/$DOUT, these fields are disabled.

To insert the required index (when enabled), move the focus onto it, press ENTER, insert the required value and confirm with ENTER. There is some data that is specific to the type of fieldbus selected, as described in the following paragraphs: Data regarding DeviceNET Slave Data regarding ProfiBUS Slave Data regarding InterBUS Slave

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FB_TOOL program for configuration of Fieldbus Data regarding DeviceNET Slave

Fig. 12.31 - DeviceNET Slave configuration

Physical address - it is the address of the Slave on the associated DeviceNET network. To insert the required value, press ENTER, change the data and press ENTER again to confirm. Vendor ID, Product Code - Slave identification codes, the ID number and the product code respectively. These values are read only. Serial Number - this value univocally identifies the Slave, if on the DeviceNET network there is more than one device of the same type. To insert the value move the focus onto the field, press ENTER, insert the required value (read carefully the NOTE ON MODULE ID CODES) and confirm with ENTER. Baud Rate - the baud rate on the network associated to the Slave. To change this field, open the menu by pressing ENTER, select the required item and press ENTER to confirm.

Data regarding ProfiBUS Slave

Fig. 12.32 - ProfiBUS Slave configuration

Physical address - it is the address of the Slave on the associated ProfiBUS network.

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FB_TOOL program for configuration of Fieldbus ProfiBUS Slave ID - it is a code that univocally identifies the Slave on the Profibus network. For C4G it is 2031. WORD/BYTE Data transfer - the setting of this Slave field depends on how its Master has been configured; for example, if the Master is set to transfer 8 input bytes and the Slave transfers a total of 16 input bytes, this field will be set as WORD; if the Master has been set to transfer 16 input bytes, this field will be set as BYTE.

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Fig. 12.33 - InterBUS Slave configuration

Network type - Indicates whether the Interbus board cable is in copper or optic fibre. Baud Rate - the baud rate on the network associated to the Slave. To change this field, open the menu by pressing ENTER, select the required item and press ENTER to confirm.

12.2.3.4

Completion of the operation

To complete the required action, press the END (F6) softkey to return to the start screen page (see Fig. 12.14).

12.3 Save (F5)

Fig. 12.34 - Save (F5) function

By pressing the SAVE (F5) key (see Fig. 12.34) the current Fieldbus configuration is permanently saved . Asking the program to save, the current parameter settings are stored in the .C4G file. To proceed with the saving, the program shows the screen page in Fig. 12.35, where the user has to specify whether the configuration is really to be saved.

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Fig. 12.35 - Save confirmation

The replies possible are the following: Ok (F4) - confirm saving of current configuration. Cancel (F6) - cancel the command.

If the reply is affirmative, in the UD: folder the following files are created: COMACFG1.PDL: contains the network configuration on CAN DPMACFG1.PDL: contains the Profibus Master configuration on board 1 DPMACFG 2.PDL: contains the Profibus Master configuration on board 2 DPSLCFG1.PDL: contains the Profibus Slave configuration on board 1 DPSLCFG 2.PDL: contains the Profibus Slave configuration on board 2 DNMACFG1.PDL: contains the DeviceNet Master configuration on board 1 DNMACFG 2.PDL: contains the DeviceNet Master configuration on board 2 DNSLCFG1.PDL: contains the DeviceNet Slave configuration on board 1 DNSLCFG 2.PDL: contains the DeviceNet Slave configuration on board 2 IBMACFG1.PDL: contains the Interbus Master configuration on board 1 IBMACFG2.PDL: contains the Interbus Master configuration on board 2 IBSLCFG1.PDL: contains the Interbus Slave configuration on board 1 IBSLCFG2.PDL: contains the Interbus Slave configuration on board 2

The program translates them and runs them so that the choices made become operational. With the creation of these files, the user always has a track of the current configurations available.

See NOTE regarding the entry number in the UD: root directory.

12.4 Close (F6)

The Close command quits the FB_TOOL program, but first it asks for further confirmation from the user.
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I/O Configuration Programs

13.

I/O CONFIGURATION PROGRAMS

This chapter describes in detail the programs supplied to the user for the configuration, viewing and resetting of I/O, HAND Ports and I/O points on DSA. The following programs are available: IO_TOOL Program - I/O Configuration in VP2 that has been written in Visual PDL2 language (see specific manual VP2-Visual PDL2), to be used on the Teach Pendant; IO_INST Program - I/O configuration - for use in WinC4G environment on Personal Computer.

If the user wishes to load system software version 3.0, starting from a 2.3x or 2.4x version, it is not possible to maintain the configuration of the CAN modules without making a conversion of the configuration data.

WARNING! If the user wishes to use the IO_INST program, it is necessary to use that of version 2.51 and NOT that of previous versions as they are no longer compatible.

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13.1 IO_TOOL Program - I/O Configuration in VP2

13.1.1 IO_TOOL activation
This program is in Visual PDL2, therefore with an efficient graphic interface, it is used for the configuration, viewing and resetting of input/output, DSA, HAND relating to the Arms, on the C4G Control Unit. The IO_TOOL program is always present and available on the Teach Pendant. To use it, proceed as follows: a. b. c. enter the Setup page, on the Teach Pendant select the icon IO_TOOL (see Fig. 13.1) confirm with ENTER.

Fig. 13.1 - IO_TOOL activation

NOTE FOR THE USER Before starting any type of configuration, it is advised to view the current configuration to know it and to avoid an accidental loss of pre-existing configurations or the execution of a configuration on an inconsistent system. Only if all is as it should be, the user, guided by the program, can proceed with the configuration of the corresponding Input/Output. Conversely, if the current configuration is not correct, the user is recommended to carry out a clearing operation before proceeding with the new configuration.

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Fig. 13.2 - IO_TOOL - Home page

As can be seen in Fig. 13.2, the following functions are available on the Home Page of the IO_TOOL, program: I/O ports(F2) DSA (F3) HAND (F4) Save (F5) Close (F6)

13.1.2

I/O ports(F2)
Through this subpage it is possible to associate certain physical events to the digital Input/Output ($DIN and $DOUT), analog ($AIN and $AOUT), flexible ($FMI and $FMO) and remote ($IN and $OUT) ports. It is also possible to group sets of consecutive digital or remote I/O ports (groups) and construct the image of the system word (system). The aim is to configure one or more I/O ports associating a connection to each one with the physical or virtual image of the input or output data, or to remove previously configured ports. To operate on the I/O ports, proceed as follows. a. b. c. d. Activate I/O Ports function. Type of port selection. Selection of the range of ports for operation. Execute the Action:

d.1 Configuration. d.2 Release. e. Operation completion.

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13.1.2.1

Activate I/O Ports function

Press the function key I/O PORTS(F2), as shown in Fig. 13.3.

Fig. 13.3 - I/O Ports(F2)

The system opens a menu where the user has to indicate whether it is wished to operate on: Input ports (1), or Output ports (2).

13.1.2.2

Type of port selection Fig. 13.4 - Type of I/O port

After the choice has been made between INPUT and OUTPUT, press ENTER or the LH arrow to open the submenu shown in Fig. 13.4, where the type of port required can be selected:
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Digital (1) Analog (2) Groups (3) Flex (4) Remote (5) System (6)

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IO_TOOL Program - I/O Configuration in VP2

For Digital, Analog, Flex and Remote ports regardless of the type of I/O required, the use of the screen pages that manage them is the same. Therefore a detailed description is given of the user interface generic use (to facilitate the description, the screen pages for Digital Inputs are used): for all types of I/O ports (except groups of ports), the procedure to be followed is the same. In the pages that follow, any differences are indicated for each type of port foreseen. The Groups category is dealt with separately, since the procedure for this differs considerably in relation to the other categories. See par. 13.1.2.6 Digital or Remote I/O Groups on page 13-16. Also the System category is dealt with separately (see par. 13.1.2.7 System I/O ports on page 13-18) since it is substantially different to the other categories.

13.1.2.3

Selection of the range of ports for operation Fig. 13.5 - I/O ports subpage

1. 2. 3. 4. 5.

Index of first I/O selected Index of first physical I/O selected Range of selected I/Os List of I/Os with their configuration (read-only) List of selected fieldbus physical I/Os

To select the port for operation, it is necessary to specify: index of first port to be operated on (field no.1 in Fig. 13.5) the quantity (Range) of ports starting from the first (field no.3 in Fig. 13.5)

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WARNING! The Range is only to be specified for DIGITAL, ANALOG and REMOTE. ports For FLEX ports it is necessary to specify the number of bits that compose the port (see field highlighted in yellow in the figure on the side).

The selected ports are displayed immediately in red in the specific area (field number 4 in Fig. 13.5). Note that the I/O ports that belong to the specified range are always IN SEQUENCE. The list of the selected I/Os (those where operations are taking place) is always displayed IN RED (see Fig. 13.5), whereas the ports displayed IN BLACK are to be considered as not selected, i.e. ports on which AT THAT MOMENT no operation is taking place. For example, in Fig. 13.5 operations are taking place on ports from 1 to 5 (see fields no.1 and no.3), therefore the system displays these ports in RED (see field no.4). As can be seen, the remaining ports are displayed in BLACK.

NOTE - Obviously if it is intended to act on only one I/O port. the Range field (no.3 in Fig. 13.5) is to be set with value 1!

13.1.2.4

Execute the Action

Once the port or the range for operation has been established, the required action can be carried out: e.1 Configuration e.2 Release

13.1.2.4.1

Configuration
This command is used to configure, that is to say, to associate the selected port or group of ports to certain physical or virtual events. Before starting to prepare a configuration, read with care the NOTE FOR THE USER at the beginning of the chapter.

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If the ports to be configured are Outputs the user can ask that, following a powerup, they maintain the status they had before the Control shut-down: to do this, it is necessary to enable the retentive Output checkbox (highlighted in yellow in the figure on the side), moving the focus onto it and confirming with ENTER.

The user has to act differently according to what is to be configured Virtual ports or Physical ports.

Virtual ports
To configure virtual I/O ports it is necessary to distinguish between: Digital or Remote Analog or Flex

Digital or Remote The Remote type ports ($IN and $OUT) are available for the user starting from 411. The use is exactly the same as for the Digital ports.

Fig. 13.6 - Virtual ports (Digital and Remote) - 1

By pressing Virtual (F1) it is possible to make direct selection of the start value (Virt=1 or Virt=0) to be assigned to the selected ports (see Fig. 13.6), i.e. the value that the port will assume at the Control start.

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Fig. 13.7 - Virtual ports (Digital and Remote) - 2

The new value is immediately displayed next to the name of the selected port, preceded by the text Virtual = (see Fig. 13.7). Analog or Flex To configure analog or Flex ports as virtual, proceed as follows (for convenience screen pages referring to analog inputs are used): a. b. c. Enable Value field Change value Assign value to the selected port

Fig. 13.8 - Enable Value field

Before After

When Virtual (F1) is pressed, this enables the Value field (white background, as shown in Fig. 13.8 - After), to assign to these ports the value that they shall assume at the Control start.

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IO_TOOL Program - I/O Configuration in VP2

Fig. 13.9 - Change value

Press ENTER, insert the new value and confirm with ENTER (see Fig. 13.9).

Fig. 13.10 - Assign value to the selected port

Press Bind (F3) to assign it the range variables. The new value is immediately displayed next to the selected port, preceded by the text Virtual = (see Fig. 13.10).

Physical ports

!It is to be remembered that it is NOT POSSIBLE to configure a PHYSICAL I/O port if the related Fieldbus module has not been PREVIOUSLY configured. Therefore, before starting to configure PHYSICAL I/O ports, it is always NECESSARY to check that the related Fieldbus module has already been configured, and if it has not, carry out the configuration as described in par. 12.2 Fieldbus (F1) on page 12-2. The number of ports that can be configured on a physical device depends on the number of user bytes that have been indicated when the device was configured Regardless of the type of port required by the user, to configure it as a physical port, press PHYSICAL I/O (F4). With this function the screen page can be opened to select the required fieldbus (see Fig. 13.11).
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Fig. 13.11 - PHYSICAL I/O selection

Proceed as follows: a. Board selection

a.1 Fieldbus selection a.2 Channel selection b. c. d. e. Choose NODE Choose first bit PHYSICAL I/O selection completion Associate PHYSICAL I/O and I/O ports

Board selection On the PHYSICAL I/O selection page, press ENTER to open the menu for the Board field, choose the required board (Fig. 13.12) and confirm with ENTER.

Fig. 13.12 - Board Selection

Fieldbus selection If a Fieldbus board has been selected, choose the required Fieldbus type (see Fig. 13.13) and then also the Channel (see par. Channel selection on page 13-12).

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Fig. 13.13 - Fieldbus selection

If instead a CanBUS is selected, it is not necessary to select the channel, and therefore pass directly to par. Choose first bit on page 13-13. Channel selection The user has to select the required channel, choosing between MASTER and SLAVE, in the menu that opens when ENTER is pressed (see Fig. 13.14). After selecting the channel, press ENTER to confirm.

Fig. 13.14 - Channel selection

Choose NODE Regardless of the board or Fieldbus that has been chosen, the user must now indicate the logic ID of the NODE where the I/O port (or ports) is/are to be mapped. To do so, it is necessary to act on the NODE Logic ID field (field highlighted in green in Fig. 13.15): Press ENTER, insert the required value and confirm with ENTER.

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Fig. 13.15 - Choice of Node

The program displays the information regarding the chosen node (see Fig. 13.15): the physical ID (yellow), the number of bits configured for the node (red), the list of the bytes and bits associated to it (blue). For the Digital and Remote ports, the physical image of the data on Fieldbus or on CanBUS is in fact an array of bits. It is grouped, for the users convenience as array of bytes (the next figure shows an example of connection between $DIN ports and physical images of the inputs coming from Fieldbus).

Choose first bit The user has to indicate which is the first bit to start from to map the selected I/O ports. To change this value, move the focus onto the field highlighted in green in Fig. 13.16, Press ENTER, insert the required value and press ENTER to confirm. PHYSICAL I/O selection completion After all the selections have been made for the PHYSICAL I/Os required, press OK (F6) (see Fig. 13.16 - yellow), to confirm and return to the I/O ports screen page.

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Fig. 13.16 - Confirm PHYSICAL I/O selection

Associate PHYSICAL I/O and I/O ports Having returned to the I/O ports screen page, check and if necessary change the following data: first port index range index of physical bit to start from to associate, in sequence, all the selected ports.

Fig. 13.17 - Physical I/Os association

Press Bind (F3) (see Fig. 13.17 - yellow) to connect the selected ports to the physical I/Os. The program immediately displays the new configuration (see example in Fig. 13.18). In our example, $DIN[1], $DIN[2] and $DIN[3] have been connected with the first three bits of the first byte of Node 2 associated to the DeviceNET of the FBP1 board. For the analog ports, the fieldbus node number and the associated physical byte are displayed for each port; for the Flex ports the fieldbus node number, the first physical bit and the length of the Flex. are displayed

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Fig. 13.18 - Final configuration

Note that if the range of ports requested is more than the number of configured physical bits, at the moment of association only the selected physical bits are taken into consideration, and the excess I/O ports are not mapped.

13.1.2.4.2

Release
With this command a single I/O port or a group of them (in sequence) can be removed. When Release (F2) is pressed, the selected ports (displayed in red) are released, i.e. they are no longer associated to any physical or virtual channel (see Fig. 13.19).

Fig. 13.19 - I/O ports release

Before After

13.1.2.5

Operation completion
After the operation has been completed, the user can exit from the I/O ports subpage, using END (F6). The new configuration is saved in the execution memory. If the user wishes to save it permanently (in the configuration files), it is necessary to press SAVE (F5) (see par. 13.1.5 Save (F5) on page 13-33)

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13.1.2.6

Digital or Remote I/O Groups

This type of port is chosen when it is decided to operate on groups of CONTIGUOUS Digital or Remote ports For this category the IO_TOOL program provides the following actions: Definition of a new group Removal of an existing group.

13.1.2.6.1

Definition of a new group

The steps required to define the new grouping are the following: a. Select the index of the group to be created (see field highlighted in yellow in Fig. 13.20). If no configuration is displayed for this index it means that it is available. Press Port type (F4) (highlighted in blue in Fig. 13.20) to define the type of ports to be grouped in the group selected in step a.

b.

Fig. 13.20 - I/O groups

c.

the program shows the screen page in Fig. 13.21, where the type of I/O ports have to be chosen to be inserted in the selected group. In the Port selection field the choice can be made between DIN or DOUT IN or OUT

Warning - the ports to be grouped have first to be mapped!

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Fig. 13.21 - Selection of type of port for the group

To select the type of port required, press ENTER to open the menu, choose the appropriate item and confirm with ENTER. d. Continue, selecting the index of the first port of the group (the field is highlighted in red in Fig. 13.21); Press ENTER, insert the required value and confirm with ENTER; insert the Range of ports to be grouped (field highlighted in blue in Fig. 13.21). Press ENTER, change the value and confirm with ENTER. If it is wished to associate also a second set of I/O ports to the group, press the 2nd SET softkey (F2), to enable the use of the specific fields (index of first port and Range, also for the second set). Continue to set these fields (as in steps d. and e.). If the set configuration is correct, the OK softkey (F6) appears in the Central Menu screen page as in Fig. 13.21. Press it to return to the Groups page (see Fig. 13.20). The program displays a summarising screen page of the ports to be grouped (in RED the ports of the first set, in BLUE the ports of the second set). Check that the group index is set correctly (field highlighted in yellow in Fig. 13.20) and press Bind (F3) to make the set group operational. In the list on the left the structure of the newly created group is displayed (see example in Fig. 13.22).

e.

f.

g. h.

i.

j.

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Fig. 13.22 - Group configuration completion

k.

Press END (F6) to return to the main page (see Fig. 13.2).

13.1.2.6.2

Removal of an existing group

To remove a group of previously configured I/O ports, proceed as follows: a. select the relevant group (field highlighted in yellow in Fig. 13.20) press ENTER, insert the group index and confirm with ENTER. Press Release (F2) (highlighted in green in Fig. 13.20); the selected group returns to be available for future use.

b.

13.1.2.7

System I/O ports

This section is used to construct the image of the system WORD (first 16 bits of the physical image of data coming from fieldbus) according to the requirements of the customer.

It is only enabled if there is a Fieldbus Slave configured as primary.

Accessing this section, the screen page presented by the IO_TOOL program is that shown in Fig. 13.23.

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IO_TOOL Program - I/O Configuration in VP2

Fig. 13.23 - System I/O

It displays the current configuration of the system WORD (highlighted in red in Fig. 13.23) and the list of the $SDIN/$SDOUT (highlighted in yellow in Fig. 13.23). WARNING - To select the different fields on the system WORD and on the list of $SDIN/$SDOUT, it is strongly advised to ONLY use the Sel BIT and Sel SDIN (or Sel SDOUT) softkeys , and NOT the ENTER key. In this way movements are greatly facilitated. Otherwise it would be necessary to press ENTER or ESC several times. The following operations are possible: Associate a new $SDIN/$SDOUT Remove a $SDIN/$SDOUT Restore default values

Associate a new $SDIN/$SDOUT To associate a new $SDIN or $SDOUT to the system WORD, proceed as follows: a. b. move the focus on the bit of the system WORD that is to be modified press the Sel BIT (F1) softkey, the field related to this bit is now highlighted (see Fig. 13.23) move the focus on tthe $SDIN/$SDOUT to be associated to the bit selected in step a. press Sel SDIN (F2) (or Sel SDOUT (F2) if operating on Output ports). The port of the chosen system will now be highlighted (see Fig. 13.24)

c.

d.

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Fig. 13.24 - $SDIN (or $SDOUT) selection

e.

when a selection has been made in both lists, the program enables Bind (F3) (highlighted in red in Fig. 13.24). Press it to make the association of the system port to the system WORD bit active (as shown in Fig. 13.25).

Fig. 13.25 - Bit-$SDIN/$SDOUT association

Remove a $SDIN/$SDOUT To remove a $SDIN or $SDOUT from the system WORD, proceed as follows: a. b. move the focus on the bit to be released (in the system WORD) press Sel BIT (F1). The bit is now highlighted (see Fig. 13.26)

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Fig. 13.26 - Removal of a $SDIN/$SDOUT from the system WORD

c.

the selection of a bit to which a $SDIN/$SDOUT is associated enables Release (F4); press it to definitely remove the association between that bit and the $SDIN/$SDOUT. The final result is shown in Fig. 13.27.

Fig. 13.27 - $SDIN/$SDOUT removed

Restore default values If it is wished to restore the default values for the system WORD, proceed as follows: a. b. press Default (F5) give affirmative answer (OK (F4)), to the question asked by the program (see Fig. 13.28). The IO_TOOL tool will reconfigure the system WORD, using the default values.

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Fig. 13.28 - Default

To exit from the system ports management environment, press END (F6).

13.1.3

DSA (F3)
This section is used to manage (configure, view) all the I/O points of the DSA board. To have access to it, in the IO_TOOL main page there is DSA (F3) (see Fig. 13.29).

Fig. 13.29 - DSA (F3)

Press this key to open the screen page shown in Fig. 13.30. If there is more than one DSA board in the system, there is DSA1 (F1) (see Fig. 13.30), to access the configuration of one board rather than the other.

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Fig. 13.30 - Management of I/O points on DSA

In this page the user can manage: Alarms HDIN Input Output Stroke-end Brakes

WARNING! To CONFIRM the settings inserted for I/O points on DSA, at the end of configuration operations, remember to always press SET (F4). Otherwise the set configuration will NOT be saved. Pressing END (F6) closes the section regarding DSA and returns to the main screen page of the IO_TOOL. program A description follows of the procedures to follow to manage the above mentioned I/O points.

13.1.3.1

Alarms
This section (highlighted in red in Fig. 13.31) is used to activate and deactivate the robot Alarm and the air Alarm. To make the required choice, move the focus on to it (OFF or ON) and press ENTER to confirm. An activated alarm is shown in green.

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Fig. 13.31 - Alarms activation/deactivation

13.1.3.2

HDIN
This section is used to specify if and how it is required to act on the $HDIN configuration. Move the focus on the field highlighted in red in Fig. 13.32 and press ENTER to open the menu.

Fig. 13.32 - $HDIN management

Choose which $HDIN is to be configured or if it is wished to disable the configuration (see Fig. 13.33).

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Fig. 13.33 - Choice of $HDIN

Confirm by pressing ENTER again. Move the focus to the next field (highlighted in yellow in Fig. 13.32) and press ENTER to open the menu; to choose on which front the selected HDIN is to be configured: falling edge ("front 1--> 0") or rising edge ("front 0-->1") of the signal (see Fig. 13.34).

Fig. 13.34 - $HDIN configuration

Make the required choice and confirm by pressing ENTER again.

13.1.3.3

Input
Each DSA card has 4 available Inputs. This section is used to enable them, moving the focus on the corresponding checkbox (highlighted in red in Fig. 13.35) and confirming with ENTER.

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Fig. 13.35 - Management Input1..Input4

Selecting a certain Input, the corresponding spindial is enabled, so that the user can specify what is in the index of the $DIN port to be associated to that Input. To do so, move the focus, press ENTER to be able to edit the field, type in the required index and confirm by pressing ENTER again. If the Input selected is the first, the system asks the user whether it is wished to map all the inputs in sequence. If the answer is affirmative (OK (F4)), all four Inputs are automatically mapped in sequence, starting from the index inserted for Input 1

13.1.3.4

Output
Each DSA card has 2 available Outputs. This section allows their configuration. The user has to specify which Output is to be configured, moving the focus on the corresponding checkbox (highlighted in red in Fig. 13.36) and confirming with ENTER.

Fig. 13.36 - Output1 and Output2 management

In the same way as for the Inputs, when one of the two checkboxes is selected, the program enables the corresponding spindial, so that the user can specify which is the $DOUT port is to be associated to that Output. To do so, move the focus, press ENTER to be able to edit the field, insert the required index and confirm pressing ENTER again.

13.1.3.5

Stroke-end
This section (highlighted in red in Fig. 13.37) manages the electrical stroke-ends
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IO_TOOL Program - I/O Configuration in VP2 configuration. With the IO_TOOL program the stroke_ends can be activated/deactivated.

Fig. 13.37 - Stroke-end management

To operate on the individual stroke-end, move the focus on the corresponding checkbox (see Fig. 13.38) and select or deselect it as required, pressing ENTER.

Fig. 13.38 - Stroke-end enable/disable

In the example of Fig. 13.38, pressing the ENTER key will disable stroke-end 1.

13.1.3.6

Brakes
This section is used to manage the configuration of the auxiliary axis brakes. With the IO_TOOL program these brakes can be activated/deactivated.

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Fig. 13.39 - Brakes management

To operate on the brake of a single axis, move the focus on the corresponding checkbox (see Fig. 13.39) and select or deselect it as required, pressing ENTER.

13.1.4

HAND (F4)
To manage Hand 1 and Hand 2 relating to the Arms in the system, press HAND (F4) (highlighted in red in Fig. 13.40) in the main screen page.

Fig. 13.40 - HAND (F4)

Pressing this key opens the screen page of Fig. 13.41.

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Fig. 13.41 - Hand 1 and Hand 2 management

The user has to select the Arm and Hand to operate on. To do so, move the focus on the field to be modified, press ENTER to enter editing mode, make the modification and press ENTER again to confirm. The following functions are available for the user: VIEW (F2) Configure (F5)

To exit from the section relating to the HANDS press END (F6) to return to the IO_TOOL main page.

13.1.4.1

VIEW (F2)
When VIEW (F2) is pressed, the IO_TOOL program shows the current configuration for the selected Hand and Arm (see Fig. 13.42). The information displayed depends on the current operating mode of the HAND (for further information see par. 13.1.4.2 Configure (F5) on page 13-30).

Fig. 13.42 - ARM and HAND viewing

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13.1.4.2

Configure (F5)
To configure the HAND of an Arm, it is necessary to first specify the required operating mode: move the focus on the 'Operating mode' field, press ENTER to open the menu, make the choice and press ENTER again to confirm. The possible choices are (see Fig. 13.43): One Dual Pulse Step

Fig. 13.43 - HAND operating mode

According to the operating mode chosen, the user has to enter different settings. They are described in the relevant sub-paragraphs. Regardless of the operating mode chosen, when the user has entered all the necessary settings, press END (F6) to confirm and terminate the configuration.

13.1.4.2.1

One
To configure the Hand with a single output line.

The choice of operating mode One displays the screen page shown in Fig. 13.44.

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Fig. 13.44 - HAND - One

The user has to supply the following information: specify whether the Open Hand signal has to be TRUE (positive logic), or FALSE (negative logic); specify whether to map the Hand output on a $DOUT port or on a $WORD; if the choice is $DOUT (as in the example of Fig. 13.44), specify the index of the port where the output is to be mapped [1..512]; if the choice is $WORD, besides the port index [21..512] specify the index of the bit inside the word [1..16].

13.1.4.2.2

Dual
To configure the Hand with two output lines.

The choice of the Dual operating mode displays the screen page of Fig. 13.45.

Fig. 13.45 - HAND - Dual

The information to be supplied by the user is the same as for the One operating mode (to which reference is made), but for both Outputs.
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13.1.4.2.3

Pulse
To configure the Hand in Pulse mode, with two output lines.

The choice of the Pulse operating mode displays the screen page of Fig. 13.46.

Fig. 13.46 - HAND - Pulse

The information to be supplied by the user is the same as for the Dual operating mode (to which reference is made), but it is now necessary to also specify the duration of the impulse (between 10 and 10000 ms), in the Time field (highlighted in red in Fig. 13.46).

13.1.4.2.4

Step
To configure the Hand in Step mode, with two output lines.

The choice of the Step operating mode displays the screen page of Fig. 13.47.

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Fig. 13.47 - HAND - Step

The information to be supplied by the user is the same as for the Dual operating mode (to which reference is made), but it is now necessary to specify also the time interval between one step and the next (between 10 and 10000 ms), in the Time field (highlighted in red in Fig. 13.47).

13.1.5

Save (F5)
Fig. 13.48 - Save function (F5)

Press SAVE (F5) (highlighted in red in Fig. 13.48) to permanently save the current configuration of the Inputs/Outputs. When it is requested to save the program, the current parameter settings are stored in the file .C4G. To save, the program shows the screen page in Fig. 13.49, where the user has to specify whether the request is confirmed or not.

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Fig. 13.49 - Confirmation of saving

The following answers are possible: Ok (F4) - confirm saving of current configuration. Cancel (F6) - cancel the command.

If the answer is affirmative, in the UD folder the following file is created: IOSET.PDL: contains the configuration of the CAN, the ports $DIN/$DOUT, $GIN/$GOUT and $AIN/$AOUT

The program translates it and executes it to make the choices operational. By creating this file, the user always has available a track of the current configuration.

See NOTE regarding the entry number in the UD: root directory.

13.1.6

Close (F6)
The Close command quits the IO_TOOL program after asking for confirmation from the user.

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13.2 IO_INST Program - I/O configuration

13.2.1 Introduction
This program is used for the configuration, viewing and resetting of the configuration itself, of the inputs/outputs, of the field buses and of the CAN modules on the C4G Control Unit. Below all the necessary information is given for the execution of this configuration program. The following matters are dealt with: Program installation Used Commands Configuration example

13.2.2

Program installation
To install the program it is necessary to: a. b. c. connect the PC to the C4G Controller and run the WinC4G program. from WinC4G select the directory into which the files have been transferred. since the name of the installation program is IO_INST.COD, run the Filer Utility Install IO_INST command from WinC4G.

The opportune files will be automatically copied from PC and the program will be run on WinC4G. The program can only be run on WinC4G (therefore on PC) and not on the Teach Pendant.

13.2.3

Used Commands
This program operates in a manner similar to the command language menu. The menu is displayed on the bottom part of the screen page (see Fig. 13.50 - IO_INST - Home page). The selections can be made through either the function keys or the cursor keys confirmed by the ENTER key. When the user, through a screen page, has to choose or enter a value, it may happen that the system displays the possible answer: these are choices or values RECOMMENDED by the system and in any case the user can change them if wished.

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NOTES FOR THE USER Before starting the configuration of any Input/Output, Field bus, CAN module, it is recommended to use the Visual command (where available) to be aware of the current configuration and to avoid the unintentional loss of pre-existing configurations or the execution of a configuration on an inconsistent system. The Configure command is to be used, not only to execute an Input/Output configuration, but also to check the configuration regarding the arms/axes. This is especially important in the case of Sik and Ieak configurations. Only when this is as it should be, the user can start to configure the corresponding Inputs/Outputs, guided by the program itself. On the other hand, if the current configuration is not correct, the user is strongly recommended to carry out a cleaning operation before starting a new configuration.

Fig. 13.50 - IO_INST - Home page

The commands used refer to these topics: Port_io Fieldbus Dsa Hand Save Quit

13.2.3.1

Port_io

Through this branch of the menu the $DIN and $DOUT Input/Output ports can be associated to the $GIN and $GOUT port groups, to the $AIN and $AOUT analog ports, to the $SDIN and $SDOUT system variables and to the $FMI and $FMO flexible ports, and certain physical events. Above all one of the following possible choices has to be selected: Input Output

13.2.3.1.1

Input

As can be seen in the previous figure, the following commands are available: Din
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IO_INST Program - I/O configuration Gin Sdin Ain Fmi Remote IN

Din
The target is to create or remove one or more $DIN ports and associate a connection to each one with the physical image of the input data.

As can be seen in the previous figure, the user can make the following choices: Configure Clear

A detailed description follows for each function: Configure To configure the $DIN ports. If there is more than one port, they will be allocated in sequence. The program asks some questions concerning the ports to be configured:

Physical Port, Virtual Port. To define the $DIN port to be configured, as physical port or virtual port. If Virtual Port has been chosen, the following requests are displayed:

Number of input points to be configured [1 .. 512] - quantity of virtual input points to be configured,

First $DIN index - first $DIN of the virtual ports group to be configured

Virtual Port starting value [0 .. 1] - value the virtual port assumes at the Control start (0 or 1). If instead Physical Port has been chosen, the program asks for the type of fieldbus where the inputs are to be mapped:

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Fig. 13.51 - Types of fieldbus

According to the type of fieldbus chosen, the following situations may occur: CAN module Other interfaces (Profibus, DeviceNet, Interbus, Ethernet/IP, DSA)

The required Fieldbus module has to be configured beforehand.

CAN module

First of all the order number of the required CAN module is asked for.

The program asks how many ports are to be mapped (the number of configurable $DIN depends on the type of CAN module selected).

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IO_INST Program - I/O configuration The system asks for the index of the first (or the only) $DIN to be connected. If the selected port is already connected, it is asked whether it is to be overwritten. According to whether a system I/O module or a user I/O module has been chosen, the following questions are asked:

for the system I/O module

for the user I/O module.

In both cases, upon termination the connection made is displayed. Other interfaces

If a master has been selected (Profibus, DeviceNet or Interbus), the order number of the required slave module is asked for.

The program asks how many ports are to be mapped (the number of $DIN that can be configured depends on the number of user Bytes indicated when configuring the slave or the slave node of the master). The system asks for the index of the first (or the only) $DIN to be connected. If the selected port is already connected, it is asked whether it is to be overwritten.

The data image coming from the Fieldbus is, in fact, a bit array. It is arranged, for the convenience of the user, as a byte array. The user has to specify the byte and the bit that define the start position (in the physical image) starting from which all the $DIN input
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IO_INST Program - I/O configuration ports will be connected in sequence, in 1:1 mode. The next figure is a connection example between $DIN ports and physical image of inputs coming from the Fieldbus.

Clear To reset previous $DIN ports configuration and $GIN groups formed by $DIN ports. The configuration can be reset from an individual port or from all of them.

If Single is chosen, the user is asked which port is to be deleted.

If All is chosen, the system asks for confirmation then makes the reset.

Gin
This command groups together contiguous $DIN ports.

The following commands are available: Configure View Clear

Choosing one of these, a screen page is displayed that lists the $GIN groups (from 1 to 32) with the relevant sets of $DIN.
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Configure To configure a $GIN group. The program asks the following questions, in this order:

Group number [1..32] - number of group to be configured.

Number of ports belonging to first range - number of $DIN ports to group together in the first set.

First $DIN index - index of first $DIN port of the set.

Do you need a second set? (N/Y) The program now asks if also the second set available is to be configured. If an affirmative answer is given, the same questions will be asked as before, relating however to the second set.

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IO_INST Program - I/O configuration After the configuration has terminated, a summarising screen page is displayed showing the configured $GIN group(s). View When this command is chosen, the screen page is shown that lists all the configured $GIN groups. Clear To reset one at a time the configuration of $GIN input groups. The program asks the following questions for each one:

Group number [1 .. 32] This is the number of the group to be reset.

The reset takes place without any further confirmation requests.

Sdin
This command is used to construct the system word image (irst 16 bits of the physical image of the data coming from the fieldbus) according to the users requirements. It is only enabled if a Fieldbus Slave is configured as primary. When run, a screen page is displayed on the screen in which

on the left the current significance of the system word bit is shown, on the right, but only as a help for the user, the significance of the $SDIN ports is shown

The standard setting can be changed, answering these questions:

Bit in system $WORD [1 .. 16] The program asks for the insertion of the system word bit number that is to be modified.

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IO_INST Program - I/O configuration The user has to specify the operation to be made on the selected bit: it can be cleared (C) or associated to a port (A) If it is chosen to clear it, the program makes the deletion and terminates the command. If it is chosen to associate a port to the selected bit, the program asks these questions:

if there is a primary slave configured to word, the following question is asked: Port type $SDIN/$DIN (S/D) ? To choose whether to associate a digital $DIN output or a $SDIN port to the previously indicated bit.

The program then asks for the index of the port to associate to the bit: $SDIN[145..153]

If the slave is configured to word the port may be $DIN, and in this case the range is [1..512]

and, subsequently, the question Do you want to invert the port status? To know whether the user wants to invert the bit value. The program makes the bit/port association and terminates the command

In this IO_INST version the analog ports can only be configured on analog CAN modules.

Ain
The target is to create or remove one or more $AIN ports and associate a connection to each one with the physical image of the input data.

The user can make the following choices: Configure Clear

Configure To configure one or more $AIN ports

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IO_INST Program - I/O configuration Number of $AIN to be configured [1 .. 64] The system asks for the insertion of the number of $AIN ports to be configured .

Index of the first $AIN [1 .. 64] to insert the index of the first (or only) $AIN to be configured

Physical Port, Virtual Port. To define the $AIN port to be configured, as physical port or virtual port.

If Virtual Port has been chosen, the value is asked for that will be assumed by the port at the Control start (from 0 to 65535).

If a Physical Port has been chosen, the type of field bus is asked for, where the $AIN port (or ports) is/are to be mapped . According to the type of field bus chosen, the following situations are possible: CAN module Other interfaces (Profibus, DeviceNet, Interbus, Ethernet/IP, DSA)

CAN module The analog I/Os can be mapped on free channels of the configured digital/analog CAN modules. First of all the order number of the required CAN module is requested. First of all the order number of the required CAN module is requested. Obviously, the selected CAN module must be analog type. The program asks how many ports are to be mapped (the number of $AIN that can be configured depends on the type of CAN module selected). The index of the first (or only) $AIN to be connected then has to be inserted. If the selected port is already connected, the user is asked if it is to be overwritten. Next the user has to specify starting from which channel (i.e. of the 8 analog I/Os on the selected CAN module) the $AIN ports being configured are to be connected
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IO_INST Program - I/O configuration After all the operations required by the program have been performed, a map is displayed that shows the association between the 8 analog input channels of the selected CAN, and the analog ports associated to it. Other interfaces For the configuration on other interfaces (DeviceNet, Profibus, Interbus and Ethernet/IP, DSA), see the explanations for $DIN (see Other interfaces in the paragraph relating to the $DIN), since the procedure is exactly the same. Clear To reset the previous $AIN ports configuration.

It is possible to reset the configuration of a single port or all of them .

If Single is chosen, it is asked which port is to be deleted.

If instead All has been chosen, the system asks for confirmation then makes the reset.

Fmi
The target is to create, display or remove one or more $FMI ports and associate each one to a connection with the physical image of the input data. The user can make the following choices:

As can be seen in the previous figure, the user can make the following choices: Configure View Clear

Configure The $FMI ports can only be configured if the physical images transmission takes place through digital ports, that is to say, not using the $WORD. They cannot be configured on CAN modules. To configure an $FMI port. The program asks the following questions, in this order:

Port index (FMI/FMO) [1..32] Asks for the number of the port to be configured.

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Physical Port, Virtual Port To define the $FMI port to be configured, as physical port or virtual port. If Virtual Port, has been chosen, the following questions are asked:

Number of bits that compose the field

port initial value (from -21473999 to +2147399935).

If instead Physical Port is chosen, it is asked on which type of fieldbus the $FMI ports are to be mapped:

The required Fieldbus module has to be configured beforehand.

The program asks on which Fieldbus board the required interface is present. Two Fieldbus boards can be configured and used.

The program asks how many bits compose the $FMI port to be configured, and subsequently:

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If a master has been selected (Profibus, DeviceNet or Interbus), the order number of the required slave module is asked for

View

Then from which byte and which bit to start to copy the datum.

When this command is chosen, a screen page is displayed that lists the configured $FMI ports. Clear To reset, one at a time, the $FMI ports configuration.

Remote IN
With this command a defined range of $IN and $OUT can be configured/reset. The user can configure the byte and bit of the signals exchanged with the PLC, using
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IO_INST Program - I/O configuration the same $DIN ports procedure.

As can be seen in the previous figure, the user can make the following choices: Configure Clear

A detailed description follows for each function: Configure To configure the $IN ports. If there is more than one port, they are allocated in sequence. The program asks some questions regarding the ports to be configured:

Physical port or virtual port. To define the $IN ports to be configured, as physical ports or virtual ports. If Virtual Port has been chosen, the following requests are displayed:

Number of input points to be configured [1 .. 102] - quantity of virtual inputs to be configured

Index of first $IN - first $IN of the virtual ports group to be configured. The $IN available are those with an index from 411 to 512. Virtual port initial value [0 .. 1] - value assumed by the virtual port at the start of the Control (0 or 1). If instead Physical Port has been chosen, the program asks on which type of fieldbus the inputs are to be mapped:

Fig. 13.52 - Fieldbus Type

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IO_INST Program - I/O configuration According to the type of field bus chosen, the following situations are possible: CAN module Other interfaces (Profibus, DeviceNet, Interbus, Ethernet/IP, DSA)

The required Fieldbus module has to be configured beforehand.

CAN module

First of all the order number of the required CAN module is asked for.

The program asks how many ports are to be mapped (the number of $IN that can be configured depends on the type of CAN module selected).

The system asks for the index of the first (or only) $IN to be connected. If the port selected is already connected, the user is asked if it is to be overwritten.

After the user has inserted the PIN index, the system displays the connection made. Other interfaces For the configuration on other interfaces (DeviceNet, Profibus, Interbus and Ethernet/IP, DSA), see the explanations for the $DIN (see Other interfaces in the paragraph relating to the $DIN),since the procedure is exactly the same. Clear To reset the previous $IN configuration. It is possible to reset the configuration of a single port or of all of them.

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IO_INST Program - I/O configuration If Single is chosen the user is asked which port is to be deleted. If instead the choice is All, the system asks for confirmation then makes the reset.

13.2.3.1.2

Output

As can be seen in the previous figure, the following commands are available: Dout Gout Sdout Aout Fmo Remote OUT

Dout
The target is to create or remove one or more $DOUT ports and associate a connection to each one with the physical image of the input data.

As can be seen in the previous figure, the user can make the following choices: Configure Clear

A detailed description follows for each function: Configure To configure $DOUT ports. If the ports are more than one, they will be allocated in sequence. The program asks some questions concerning the ports to be configured:

Physical Port, Virtual Port. To define the $DOUT port to be configured, as physical port or virtual port. The following question is then displayed:

Retentive Output? (Y/N) The user is to indicate whether the output is to maintain the status that it had before a Control shut-down, following a powerup. Then, if virtual port has been chosen, the following questions are asked:

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Number of input points to be configured [1 .. 512] - quantity of virtual input points to be configured,

Index of first $DOUT - first $DOUT of the virtual port group that is to be configured

Virtual Port starting value [0 .. 1] - value the virtual port assumes at the Control start (0 or 1). If instead Physical Port has been chosen, the program asks on which type of fieldbus the output is to be mapped, and also in the same way for a multiple configuration (see Fig. 13.53).

Fig. 13.53 - Fieldbus Type

According to the chosen type of fieldbus, the following situations may occur: CAN module Other interfaces (Profibus, DeviceNet, Interbus, Ethernet/IP, DSA)

The required Fieldbus module has to be configured beforehand.

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IO_INST Program - I/O configuration CAN module

First of all the order number of the required CAN module is asked for.

The program asks how many ports are to be mapped (the number of configurable $DOUT depends on the type of CAN module selected).

The system asks for the index of the first (or only) $DOUT port to be connected. If the selected port is already connected, it is asked whether it is to be overwritten. According to whether a system I/O module or a user I/O module has been chosen, the following questions are asked:

for the system I/O module

for the user I/O module

In both cases, the system asks if the outputs are to be mapped in increasing or decreasing order.

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Upon termination the performed binding is displayed (the previous screen page shows an example where the outputs are mapped in decreasing order) Other interfaces

If a master has been selected (Profibus, DeviceNet or Interbus), the order number of the required slave module is asked for.

The program asks how many ports are to be mapped (the number of $DOUT that can be configured depends on the number of user Bytes indicated when configuring the slave or the slave node of the master).

The system asks for the index of the first (or only) $DOUT port to be connected. If the selected port is already connected, it is asked whether it is to be overwritten.

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The image of the data prepared for the Fieldbus is, in fact, an array of bits. It is grouped, for the user's convenience, as an array of bytes. The user has to specify the byte and the bit that define the start position (in the physical image) starting from which all the $DOUT output ports will be connected in sequence, in 1:1 mode. The next figure shows an example of connection between output physical image to Fieldbus and $DOUT ports.

Clear To reset the previous configuration of $DOUT ports and $GOUT groups consisting of $DOUT ports. It is possible to reset the configuration of a single port or all of them.

If Single is chosen the user is asked which port is to be deleted.

If instead All has been chosen, the system asks for confirmation then makes the reset.

Gout
This command is used to operate on groups of contiguous $DOUT ports.

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IO_INST Program - I/O configuration The following commands are available: Configure View Clear

Choosing one of these, a screen page is displayed that lists the $GOUT groups (from 1 to 32) with the relevant sets of $DOUT.

Two sets can be associated to each group. Configure To make the configuration of a $GOUT group. The program asks the following questions, in this order:

Group number [1..32] - number of group to be configured.

Retentive Output. The user is to indicate whether it is wished that the outputs maintain the status they had before a Control shut-down following a powerup.

Number of ports belonging to first range - number of $DOUT ports to group together in the first set.

First $DOUT index - index of first $DOUT port of the set.

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IO_INST Program - I/O configuration Do you need a second set? (N/Y) The program now asks if also the second set available is to be configured. If an affirmative answer is given, the same questions will be asked as before, relating however to the second set.

After the configuration has terminated, a summarising screen page is displayed showing the configured $GOUT group(s). View When this command is chosen, a screen page is displayed that lists the configured $GOUT groups. Clear To reset one at a time the configuration of $GOUT input groups.

The program asks the following questions for each one: Group number [1..32] This is the number of the group to be reset.

The reset takes place without any further confirmation requests.

Sdout
This command is used to build the system word image (first 16 bits of the data physical image to the fieldbus) according to the users requirements. It is only enabled if a Fieldbus Slave is configured as primary. When run, the following screen page is displayed:

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where the current meaning of the system $WORD bit is shown on the left half screen, the meaning of the $SDOUT ports is shown on the right half screen, but only as a help for the user.

The standard setting of the system $WORD can be changed, answering these questions:

Bit in system $WORD [1..16] The program asks for the insertion of the system word bit number that is to be modified.

The user has to specify the operation to be made on the selected bit: it can be cleared (C) or associated to a port (A) If it is chosen to clear it, the program makes the deletion and terminates the command. If it is chosen to associate a port to the selected bit, the program asks these questions:

Do you want an input or an output (I/O)? The user has to specify whether an input or an output port is to be associated to the selected bit. If there is a primary slave configured to word, the following question is asked: Port type SDOUT/DOUT (S/D)? To choose whether to associate a digital $DOUT port or a $SDOUT port to the previously indicated bit.

The program then asks for the index of the port to be associated to the bit: $SDIN or $DOUT, range [1..160]

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If the slave is configured as word, the port may be $DIN/$DOUT, and in this case the range is [1..512]

and, subsequently, the question Do you want to invert the port status? to know whether the user wants to invert the bit value The program makes the bit/port association and terminates the command.

Aout
The target is to create or remove one or more $AOUT ports and associate a connection to each one with the physical image of the output data.

The user can make the following choices: Configure Clear

Configure To configure one or more $AOUT ports. The program asks the following questions:

Physical Port, Virtual Port. To define the $AOUT port to be configured, as physical port or virtual port.

Retentive Outputs? (N/Y) The user is to indicate whether the output is to maintain the status that it had before a Control shut-down, following a powerup If virtual port has been chosen, the following questions are asked: Number of $AOUT to be configured [1 .. 64] - quantity of virtual outputs to be configured, Index of first $AOUT - first $AOUT of the virtual ports group to be configured Virtual Port starting value [0 .. 65535] - value the virtual port assumes at the Control start (from 0 to 65535). If physical port has been chosen, the user is asked the type of field bus the $AOUT ports (or ports) are to be mapped on . According to the type of field bus chosen, the following situations are possible: CAN module Other interfaces (Profibus, DeviceNet, Interbus, Ethernet/IP, DSA)

CAN module The analog I/Os can be mapped on the free channels of the configured digital/analog

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IO_INST Program - I/O configuration CAN modules. First of all the order number of the required CAN module is asked for. The program asks how many ports are to be mapped (the number of $AOUT that can be configured depends on the type of CAN module selected). The index then has to be entered of the first (or only) $AOUT to be connected. If the port selected is already connected, the user is asked if it is to be overwritten. Subsequently the user has to specify starting from which channel (i.e. of the 8 analog I/Os on the selected CAN module ) the $AOUT ports that are being configured are to be connected. Finally a screen page is shown on the screen that shows the configuration that has been prepared. After all the operations required by the program have been executed, a map is displayed that shows the association between the 8 analog output channels of the selected CAN and the associated analog ports. Other interfaces For the configuration on other interfaces (DeviceNet, Profibus, Interbus, Ethernet/IP and DSA), see the explanations for the $DOUT (see Other interfaces in the paragraph related to the $DOUT), since the procedure is exactly the same. Clear To reset the previous $AOUT ports configuration.

It is possible to rest the configuration of a single port or all of them.

If Single is chosen the user is asked which port is to be deleted.

If instead All has been chosen, the system asks for confirmation then makes the reset.

Fmo
The target is to create, display or remove one or more $FMO ports and associate a connection to each one with the physical image of the input data. The user can make the following choices:

As can be seen in the previous figure, the user can make the following choices: Configure View Clear

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IO_INST Program - I/O configuration Configure The $FMO ports can only be configured if the physical images transmission takes place through digital ports, that is to say, not using the $WORD. They cannot be configured on CAN modules. To configure an $FMO port. The program asks the following questions, in this order:

Port index FMI/FMO [1..32] Asks for the number of the port to be configured.

Physical Port, Virtual Port. To define the $FMO port to be configured, as physical port or virtual port. If Virtual Port, has been chosen, the following questions are asked:

Number of bits that compose the field

port initial value (from -2147399936 to +2147399935).

If instead Physical Port is chosen, it is asked on which type of fieldbus the $FMO ports are to be mapped:

The required Fieldbus module has to be configured beforehand.

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The program asks on which Fieldbus board the required interface is present. Two Fieldbus boards can be configured and used.

The program asks how many bits compose the $FMO port to be configured, and subsequently:

If a master has been selected (Profibus, DeviceNet or Interbus), the order number of the required slave module is asked for;

View

then from which byte and which bit to start to copy.

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IO_INST Program - I/O configuration When this command is chosen a screen page is displayed listing the configured $FMO ports. Clear To reset, one at a time, the $FMO ports configuration.

Remote OUT
With this command a defined range of $OUT can be configured / reset. The user can configure the byte and bit of the signals exchanged with the PLC, using the same procedure as for the $DOUT ports.

As can be seen in the previous figure, the user can make the following choices: Configure Reset

A detailed description follows for each function: Configure To configure the $OUT ports. If there is more than one port, they will be allocated in sequence. The program asks some questions relating to the ports to be configured:

Physical port or virtual port. To define the $OUT ports to be configured, as physical ports or virtual ports.

The user is asked to specify whether the outputs are to maintain the status they had before the Control was shut down, following a powerup.

If virtual port has been chosen, the following requests are made: Number of output points to be configured [1 .. 102] - quantity of virtual outputs to be configured

Index of first $OUT - first $OUT of the virtual ports group to be configured. The $OUTs available are those with an index from 411 to 512. Initial value of virtual port [0 .. 1] - value assumed by the virtual port at the start of the Control (0 or 1).

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IO_INST Program - I/O configuration If instead physical port has been chosen, the program asks on which type of fieldbus the inputs are to be mapped:

Fig. 13.54 - Fieldbus Type

According to the chosen type of fieldbus, the following situations are possible: CAN module Other interfaces (Profibus, DeviceNet, Interbus, Ethernet/IP, DSA)

The required Fieldbus module has to be configured beforehand.

CAN module First of all the order number of the required CAN module is asked for.

The program then asks how many ports are to be mapped (the number of $OUT that can be configured depends on the type of CAN module selected).

The system asks for the index of the first (or the only) $OUT to be connected. If the selected port is already connected, the user is asked if it is to be overwritten. After the user has entered the PIN index, the system displays the connection made. Other interfaces For the configuration on other interfaces (DeviceNet, Profibus, Interbus and Ethernet/IP, DSA), see the explanation for the $DOUT (see Other interfaces in the paragraph relating to the $DOUT), since the procedure is exactly the same. Reset To reset the previous $OUT configuration. It is possible to reset the configuration of a single port or all of them.
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IO_INST Program - I/O configuration If Single is chosen the user is asked which port is to be deleted. If All has been chosen, the system asks for confirmation then makes the reset.

13.2.3.2

Fieldbus

Through this branch of the menu the configuration and/or the display of the fieldbus and the CAN modules can be executed.

As can be seen in the previous figure, the following commands are available: Can DeviceNet Profibus Interbus Ethernet Clear

13.2.3.2.1

Can
To make the configuration of the CAN modules. It is therefore possible to define how many modules are present in the CAN network and the addresses. Besides the fixed system module, with address 7, an optional system module can be added at address 8 to manage remote I/Os (8 fixed inputs and 8 inputs/outputs) and to map digital I/Os (16), and another 5 user modules to map the $DIN/$DOUT (16 input, 16 I/O).

As can be seen in the previous figure, the user can make the following choices: Configure View Add Modules Remove Module

Configure
To configure the CAN modules. Once a CAN network has been configured, if the Configure CAN command is run again, the program asks whether it is wished to reconfigure the network (see Reconfigure). The program deletes the previous configuration and allows a new one to be executed.

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Fig. 13.55 - Reconfigure

The configuration (or re-configuration) of the CAN modules is described in detail further on. The following questions are asked:

How many user can modules are present? [1..5] To define the number of modules of the CAN network that the user wishes to configure.

CAN module address x [8..99] To define the physical address of the module in the CAN network. Address 8 refers to the optional system CAN module.

CAN Module Type [1..2] To define whether the CAN module is digital and it is located in the C4G control (1) if it is a digital/analog CAN module (2). Obviously this question is not asked for the module with address 8, since this is a system address and therefore present inside the control.

In the analog CAN modules up to 8 analog input channels and 8 analog output channels are possible. These channels can be configured, in preset groups of 4 channels each: first group - four analog input channels [1..4] second group - four analog input channels [5..8] third group - four analog output channels [1..4] fourth group - four analog output channels [5..8]

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The user is asked to specify, for each group, the voltage range to be applied. A screen page is displayed summarising the configuration executed, with the number of modules and their addresses.

View
Displays the CAN modules with their addresses.

After the user has specified the index of the required module, the system displays it.

Add Modules
To add one or more CAN modules to the pre-existing configuration. The system displays the current configuration and asks some questions:

How many user CAN modules do you want to add? The number of CAN network modules that the user wishes to add to the previous configuration can be specified.

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IO_INST Program - I/O configuration For each of the modules to be added, the user has to specify the address

and the type of CAN. The system displays the new configuration.

Remove Module
To remove a CAN module.

The system shows the current configuration of the CAN modules and asks the user to specify which module is to be removed. The deletion takes place without any further request for confirmation.

13.2.3.2.2

DeviceNet

With this choice it is possible to operate on the DeviceNet modules. The selections allowed are: Dvnet_mst (DeviceNet Master) Dvnet_sl (DeviceNet Slave)

Dvnet_mst
To operate on DeviceNet Master modules.

The user can make the following choices:

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Configure View Add Node

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IO_INST Program - I/O configuration Remove Node Modify

Configure To configure the DeviceNet Master module and relevant slave modules, defining the network addresses, the communication baud rate and the number of bytes sent to the I/Os. Once a DeviceNet Master network has been configured, if the 'ConfiguraDeviceNetMaster' command is run again, the program asks if all the network is to be reconfigured, or whether to just enable or disable the pre-existing network. In the first case the program deletes the previous configuration and allows a new one to be executed; in the second case, the program asks if the previously configured network is to be enabled or disabled. This is valid for all types of field bus and is described for the Profibus, in the paragraph Reconfiguration/Enable/Disable).

First of all the user has to specify whether board 1 or board 2 is required. After the choice has been made, the following questions are asked:

Net address [1..63] To define the physical address, on the network, of the Master DeviceNet

Baud Rate [1..3] To set the baud rate on the DeviceNet network. The system displays the possible values.

Starting address of command $WORD (CMD) [21..508] The program asks for the $WORD address that contains the network management commands. A start index of a block of 5 $WORDs has to be given, to be reserved for this function.
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Starting address of status $WORD (STS) [21..508] The program asks for the $WORD address that contains the information concerning the network status. The user has to give the start index of a block of 5 $WORDs, to be reserved for this function. The system proposes an address that immediately follows the command $WORD (eg.: if the command $WORDs started at address 30, for the status $WORDs the system suggests 35 as the start address).

NOTE: the user can choose addresses as desired, but it must be guaranteed that the space reserved for the command $WORDs does NOT interfere with that reserved for the status $WORDs

Alarm activation after reset? (Y/N) - The system asks whether the user, after the reset of an alarm generated by a network problem, wishes this alarm to be generated again by the system itself. In any case, this mechanism is automatically disabled in the Programming mode (T1), allowing the motors to be powered on even with the network only partly operational.

After the master configuration has been completed, the program asks several questions for the configuration of each separate slave:

Number of slave modules to configure [0..32] Up to 32 slave modules can be configured. If the user specifies 0, this means that only general parameters are to be inserted and that the slaves will be added later.

Logical address [1..32]: it is the logic address of the individual slave, that is to say, the index used in the PDL2 programs to have access to data that concerns the separate device. Example: if the logic address is 18, the data of the corresponding device is found in $FBP_TBL[<num_board>].FB_MA_SLVS[18,<xxx>]

Physical address [1..63] To set the physical address, on the network, of the individual slave. This is not to be confused with the logic address, although the two values may be the same. With reference to the example above, the device at logic address 18 may have any physical address from 1 to 63: for example, 25.

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Configuration with file .eds? Through this command the module can be configured using the data present on its configuration file. If YES is chosen, the program asks for the name of the .eds file related to the module to be configured (obviously this file has to be already loaded on UD:\). Indicate the name of the file (the extension is not necessary). In this way the Vendor ID, the Device Type, the Product Code and the default input/output bytes are set automatically. Subsequently only some of the questions given below will be asked for the completion of the configuration.

The questions marked with (*) will NOT be asked.

If instead it is decided NOT to configure the module by .eds, file, the program will proceed with the manual configuration, asking all the following questions (including those marked with (*)).

Is the module enabled at startup? (Y/N) To define the status of the slave module at the start. The Master connects only the modules that are declared as present ("enabled") at the start. If one or more of them are not present, an error is detected. The modules declared not enabled will not be searched for on the network; by means of an opportune command, it will be possible to subsequently connect them and disconnect them.

I/O Copy on $DIN/$DOUT or $WORD? (D/W) To choose whether to make the I/Os configuration with $DIN/$DOUT or by using the $WORD variables. In the latter case the user $WORD start address is asked for, to be copied. (*) Vendor ID [1..999999]. A slave has an identification number that defines its type. This value is to match with the value contained in the module configuration file (.eds file). (*) Device Type. A slave has a number that defines the type of Device. This value has to match with the value contained in the module configuration file (.eds file). (*) Product code This code must coincide with the value contained in the module '.eds' configuration file.

(*) Number of Input bytes of the module [0..32] in input to the module.

To define the number of Bytes

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(*) Number of Output bytes of the module [0..32] To define the number of Bytes in output from the module.

Bytes swap? (N/Y) The program asks if the inversion is to be made between high bytes and low bytes

Do you want to change polling time? (N/Y) With this question the program asks if the polling time is to be managed. Generally, on DeviceNet, the I/O modules transfer the data only when there are changes; this modality is called Change Of State (COS). The analog modules need to be continually updated and therefore transfer the data in cycles (polling). The answer to this question must be affirmative for the analog modules.

In the case of affirmation, the program asks for the insertion of a time between 10 and 1000 milliseconds. This function is essential for analog DeviceNet modules.

Do you want to handle the quick connect option? (N/Y) Some DeviceNet modules have a function called quick connect to cut down the connection times of the module to the network. If an affirmative answer is given, the program asks for the insertion of the quick connect attribute for the enabling. Before giving an affirmative answer to this question, check that the module has this function and that the attribute is known. This attribute is simply a service code that enables the quick connect function.

User $WORD starting address for copying. Be very careful that there are no overlaid blocks.

Does the Comaus application handle the module? The user is asked whether the slave module that is being configured is managed by an application supplied by Comau. If it is, the system displays the applications available and asks the user to indicate which is the relevant one.

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The system shows the final screen page referring to the configuration executed.

View Displays the module DeviceNet Master configuration.

First of all it is asked to specify board 1 or board 2. Then, the possible choices are: General Slaves

A description follows of each one. General Displays the module DeviceNet master General configuration.

Slaves Displays the configuration of the configured slave modules.

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IO_INST Program - I/O configuration The following question is asked:

Slave module number: (MOD) [0 .. x] - the choice of 0 allows a summarising view of all the configured slave modules. The choice of 'x' (where 'x' is the number of the configured slave module) allows access to a more detailed display of a specific module.

Add Node To add a node to a previously configured DeviceNet Master.

First of all the user has to specify on which board the node is to be added.

How many slaves do you want to add? The user must specify the number of slaves to be added to the current configuration. (new-24) For each slave to be added, the program asks the user to enter the data needed for its configuration. Upon termination the new configuration is displayed.

Remove Node To remove a node from a previously configured DeviceNet Master. First of all the user has to specify on which board this DeviceNet is installed.

The program displays the current list of slave modules and asks the user to indicate which is the slave module to be removed. Removal takes place after confirmation from the user. Modify To change the configuration of a DeviceNet board .

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IO_INST Program - I/O configuration Upon request from the user, the following can be changed: general configuration - the modification of the general configuration is the same as the DeviceNet Master configuration (from Net address [1..63] onwards). a single slave - the system shows the data (from Logical address [1..32]: it is the logic address of the individual slave, that is to say, the index used in the PDL2 programs to have access to data that concerns the separate device. onwards) for the modification of the single slave; the user can modify each one.

Dvnet_sl
To configure the C4G Control as slave module of a DeviceNet line. From this point onwards, the C4G Control Unit, as slave module, will just be called slave. The parameters that will be entered by the user are to be consistent with the configuration made on the master side. The master may be Control Unit master, or an external device (for example a PLC).

The user can make the following choices: Configure View Enable Disable Modify

Configure To configure the C4G Control Unit as slave module of an DeviceNet network. Hereinafter, the C4G Control Unit as slave module, will simply be called slave. The parameters that will be entered by the user must be consistent with the configuration executed on the master side. The master may be The Control Unit master, or An external device (for example a PLC)

First of all the user has to specify whether it is wished to configure a slave module that is on the FBP 1 board or on the FBP 2 board. After the choice has been made, the following questions are asked:

Node address (MAC ID) [1..63] To enter the address of the slave on the network. This address is to coincide with the master network configuration.

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IO_INST Program - I/O configuration Serial number This information is used by the master to acknowledge the device on the network, at diagnostic level. It is not vital for system operation. It is a good practice to have it coincide with the Control serial number.

Baud Rate To declare the baud rate on the network, that has been set on the master.

Total number of bytes exchanged [2..32] The user is to specify how many bytes in all have been exchanged: n user bytes +2 system bytes. Only the input bytes are to be specified, since the number of output bytes will be equal.

Is C4G under remote control? (Y/N) The Control Unit is usually controlled by the master especially through the DRIVE OFF/ON, START and HOLD commands. If an affirmative answer is given to this question, the function is enabled and the first two input bytes automatically assume command significance and the first two output bytes assume status significance. The significance of each bit within the two command bytes and the two status bytes is described through the predefined variables, which are, $SYS_INP_MAP and $SYS_OUT_MAP. In particular the status bits, in output, will be reserved for the system and will be mapped on the $SDOUT ports. If the Control Unit is under remote control, the slave assumes the significance of primary slave, should there be several slaves in the system. If a negative answer is given, all the bytes from and to the DeviceNet are available for the user. The system does not reserve any datum. The slave assumes the significance of secondary slave.

Map fieldbus Slave on DIN/DOUT? (Y/N) To choose whether to make the I/O transfer through $DIN/$DOUT or by using the $WORD variables. In the latter case the $WORD start address is asked for, to be copied [21..512] and care must be taken that there are no overlaid blocks.
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IO_INST Program - I/O configuration If the total number of input bytes (that is the same as the number of output bytes) is less than or equal to 16, the system reserves a group of 8 $WORDs for the outputs and 8 $WORDs for the inputs, of which only the necessary part of the quota will be used. For example, if the total number of bytes is 10 and the index of the first $WORD is 100, the output data will reside from $WORD[100] to $WORD[104], whereas the inputs will be from $WORD[108] to $WORD[112]. On the other hand, if the total number of bytes is greater than 16, the system will reserve a group of 16 $WORDs for the outputs and 16 $WORDs for the inputs, with the same allocation logic.

Bytes swap (N/Y): The program asks if the inversion is to be made between high bytes and low bytes.

Configuration example using $WORDs:

View Displays the module DeviceNet Slave configuration. The system asks whether the slave module (C4G) is on board 1 or board 2.

Enable To enable the C4G Controller as slave. When the user sends this command, the
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IO_INST Program - I/O configuration following messages are shown:

Disable To disable the C4G Controller, as slave. When the user sends this command, the following message is shown:

Modify To change the C4G slave parameters. First of all the user has to specify whether it is on board 1 or board 2. The program shows all the parameters of the C4G slave, previously configured, and allows the modification of each one.

13.2.3.2.3

Profibus

With this choice it is possible to operate on the Profibus modules. As seen in the previous figure, the possible selections are: Prof_mst Prof_sl

Prof_mst
To operate on Profibus Master modules.

The user can make the following choices: Configure View Add Node Remove node Modify

Configure To configure the Profibus Master module and the relevant slave modules, defining the network addresses, the baud rate and the number of bytes for the I/Os.

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Once a Profibus Master network has been configured, if the 'ConfiguraProfibusMaster' command is run again, the program asks if all the network is to be reconfigured , or whether to just to enable or disable the pre-existing network. In the first case the program deletes the previous configuration and allows a new one to be executed; in the second case the program asks whether the previously configured network is to be enabled or disabled . This is valid for all types of field bus and is described in the paragraph Reconfiguration/Enable/Disable). First of all the user must specify whether the field bus is to be configured on board 1 or on board 2.

After the choice has been made, the following questions are asked:

Net address [1..3] To define the physical address of the Profibus Master on the network.

Baud Rate Profibus Master [1..13] To set the baud rate on the Profibus network. The system displays the possible values.

Starting address of command $WORD (CMD) [21..508] The program asks for the $WORD address that contains the network management commands. A start index of a block of 5 $WORDs has to be given, to be reserved for this function.

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IO_INST Program - I/O configuration Starting address of status $WORD (STS) [21..508] The program asks for the $WORD address that contains the information concerning the network status. The user has to give the start index of a block of 5 $WORDs, to be reserved for this function. The system proposes an address that immediately follows the command $WORD (eg.: if the command $WORDs started at address 30, for the status $WORDs the system suggests 35 as the start address).

NOTE: the user can choose addresses as desired, but it must be guaranteed that the space reserved for the command $WORDs does NOT interfere with that reserved for the status $WORDs

Alarm activation after reset? (Y/N) - The system asks whether the user, after the reset of an alarm generated by a network problem, wishes this alarm to be generated again by the system itself. In any case, this mechanism is automatically disabled in the Programming mode (T1), allowing the motors to be powered on even with the network only partly operational.

After the master configuration has been completed, the program asks several questions for the configuration of each separate slave:

Number of slave modules to configure [1..32] Up to 32 slave modules can be configured. If the user specifies 0, this means that only the general parameters are to be inserted and the slaves will be added later.

Logical address [1..32]: it is the logic address of the individual slave, that is to say, the index used with PDL2 programs to have access to the data concerning the separate device. Example: if the logic address is 27, the data of the corresponding device can be found in $FBP_TBL[<num_board>].FB_MA_SLVS[27,<xxxx>].

Physical address [4..125] To set the physical address, on the network, of the individual slave. This is not to be confused with the logic address, although the two values may be the same. With reference to the above example, the device at logic address 27 can have any physical address, from 4 to 125: for example 15.

Configuration with file .GSD? (Y/N) Through this command the module can be configured using the data present on its configuration file.

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IO_INST Program - I/O configuration If YES is chosen, the program asks for the name of the .gsd file relating to the module to be configured (obviously this file must already be loaded on UD:\). Indicate the name of the file (the extension is not necessary). The screen will display the configurations possible: after the opportune choices have been made, the program will configure the module. Through the configuration program it is also possible to view and modify the User Parameters of the module in the .gsd file. Next some questions will be asked to complete the configuration (module identification and input/output bytes are already set automatically by the .gsd file)

In the case of configuration with .gsd file, the questions marked with (*) will NOT be asked.

If instead it is decided NOT to configure the module by .gsd file, the program will proceed with the manual configuration, asking all the following questions (including those marked with (*))

(*) Module Identifier A slave has an identification number that defines its type. This value is to be the same as that declared for the module that is being configured.

Is the module enabled at startup? (Y/N) To define the status of the slave module at the start. The Master connects only the modules that are declared as present ("enabled") at the start. If one or more of them are not present, an error is detected. The modules declared not enabled will not be searched for on the network; by means of an opportune command, it will be possible to subsequently connect them and disconnect them.

(*) Transfer PLC data in WORD or Byte? (W/B) The program asks whether the slave, in its configuration, will exchange data in Word or in Byte; the current choice is to coincide with the preset modalities on the slave.

I/O Copy on $DIN/$DOUT or $WORD? (D/W) To choose whether to make the I/O transfer through $DIN/$DOUT or by using the $WORD variables. In the latter case the $WORD start address is asked for, to be copied [21..512] and care must be taken that there are no overlaid blocks.

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IO_INST Program - I/O configuration (*) Number of input bytes in the module [0..32] To define the number of Bytes in input to the module.

(*) Number of output bytes in the module [0..32] To define the number of Bytes in output from the module.

Bytes swap? (N/Y) The program asks if the inversion is to be made between high bytes and low bytes.

Does the Comaus application handle the module? The user is asked whether the slave module that is being configured is managed by an application supplied by Comau. If it is, the system displays the applications available and asks the user to indicate which is the relevant one.

After all the slave modules required by the user have been configured, the system displays a summarising screen for the Profibus Master.

Reconfiguration/Enable/Disable

If the selected Profibus Master has been previously configured: The program asks whether or not it is to be reconfigured.

If it is to be reconfigured, the system asks for confirmation then proceeds with the questions needed for the reconfiguration

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IO_INST Program - I/O configuration But first of all asks whether the corresponding $DIN/$DOUT are to be deleted.

If the field bus is not to be reconfigured, the system will ask whether the Profibus Master network is to be enabled or disabled.

View Displays the module Profibus Master configuration.

First of all it is asked to specify board 1 or board 2. Then, the possible choices are: General Slaves

General Displays the Profibus General Master module configuration.

Slaves Displays the configuration of the configured slave modules.

The following question is asked: Slave module number: (MOD) [0 .. x] - the choice of 0 allows a summarising view of all the configured slave modules. x is the number of slave files configured. A choice other than 0 gives access to more detailed viewing of the module specified by the user.

Add Node To add a node to a previously configured Profibus Master.

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First of all the user has to specify on which board the node is to be added.

How many slaves do you want to add? The user has to specify the number of slaves to be added to the current Profibus Master configuration. For each slave to be added, the program asks the user to enter the data needed for its configuration. Upon termination the new configuration is displayed.

Remove node To remove a node from a previously configured Profibus Master. First of all it is necessary that the user specifies on which board the Profibus is installed.

The program displays the current list of slave modules and asks the user to indicate which slave module is to be removed. Removal takes place after confirmation from the user. Modify To change the configuration of a Profibus Master board.

Upon request from the user, the following can be changed: general configuration - the modification of the general configuration is the same as the Profibus Master configuration (from Net address [1..63] onwards a single slave - the system presents the configuration data of the slave (starting from Logical address [1..32]: it is the logic address of the individual slave, that is to say, the index used in the PDL2 programs to have access to data that concerns the separate device.) and the user can change them.

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Prof_sl
To operate on the Profibus Slave modules.

The user can make the following choices: Configure View Enable Disable Modify

Configure To configure the C4G Control Unit as slave module of an Profibus network. Hereinafter, the C4G Control Unit as slave module, will simply be called slave. The parameters that will be entered by the user must be consistent with the configuration executed on the master side. The master may be the Control Unit master, or an external device (for example a PLC).

First of all the user has to specify whether it is wished to configure a slave module that is on the FBP 1 board or on the FBP 2 board. After the choice has been made, the following questions are asked:

Node address (MAC ID) [3..125] To set the address on the slave network. This address must coincide with the master network configuration.

Total number of bytes exchanged [2..32] The user has to specify how many bytes in all have been exchanged: n user bytes + 2 system bytes. Only the input bytes have to be specified, because the number of output bytes will be equal.

Is C4G under remote control? (Y/N) The Control Unit is usually controlled by the master especially through the DRIVE OFF/ON, START and HOLD commands. If an affirmative answer is given to this question, the function is enabled and the first two input bytes automatically assume command significance and the first two output bytes assume status significance. The significance of each bit within the two command bytes and the two status bytes is described through the predefined variables, which are, $SYS_INP_MAP and $SYS_OUT_MAP. In particular the status bits, in output, will be reserved for the system and will be mapped on the $SDOUT ports. If the Control Unit is under remote control,

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IO_INST Program - I/O configuration the slave assumes the significance of primary slave, should there be several slaves in the system. If a negative answer is given, all the bytes from and to the DeviceNet are available for the user. The system does not reserve any datum. The slave assumes the significance of secondary slave.

Map fieldbus Slave on DIN/DOUT? (Y/N) To choose whether to make the I/O transfer through $DIN/$DOUT or by using the $WORD variables. In the latter case the $WORD start address is asked for, to be copied [21..512] and care must be taken that there are no overlaid blocks. If the total number of input bytes (that is the same as the number of output bytes) is less than or equal to 16, the system reserves a group of 8 $WORDs for the outputs and 8 $WORDs for the inputs, of which only the necessary part of the quota will be used. For example, if the total number of bytes is 10 and the index of the first $WORD is 100, the output data will reside from $WORD[100] to $WORD[104], whereas the inputs will be from $WORD[108] to $WORD[112]. On the other hand, if the total number of bytes is greater than 16, the system will reserve a group of 16 $WORDs for the outputs and 16 $WORDs for the inputs, with the same allocation logic.

Transfer PLC data in WORD or Byte? (W/B) The answer to this question depends on how the Master has been configured; for example, if the Master has been configured to transfer 8 input words and the Slave transfers a total of 16 input bytes, the question must be answered with Word; if the Master has been configured to transfer 16 input bytes, the answer is to be Byte.

Bytes swap? [N/Y] The program asks if the inversion is to be made between high bytes and low bytes.

Does the Comaus application handle the module? The user is asked whether the slave module that is being configured is managed by an application supplied by Comau. If it is, the system displays the applications available and asks the user to indicate which is the relevant one.

View Displays the module Profibus Slave configuration

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Enable To enable the C4G Controller, as slave. When the user sends this command, the following message is shown:

Disable To disable the C4G Controller, as slave. When the user sends this command, the following message is shown:

Modify To change the C4G slave parameters.

First of all the user has to specify whether it is on board 1 or board 2. The program shows all the previously configured parameters of the C4G slave, and allows each of them to be changed.

13.2.3.2.4

Interbus

With this choice it is possible to operate on the Interbus modules. The selections allowed are: Ibus_mst Ibus_sl
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Ibus_mst
To operate on Interbus Master modules and the associated slave modules, defining the network addresses and the number of Bytes for the I/Os, and to display the current configuration.

The user can make the following choices: Configure View Add node Remove node Modify

Configure To configure the Interbus Master module and the associated slave modules, defining the network addresses, the baud rate and the number of Bytes for the I/Os. After an Interbus Master network has been configured, if the 'ConfiguraInterbusMaster' command is run again, the program asks if all the network is to be reconfigured , or whether to just to enable or disable the pre-existing network. In the first case the program deletes the previous configuration and allows a new one to be executed; in the second case, the program asks if the previously configured network is to be enabled or disabled. This is valid for all types of field bus and is described for the Profibus, in the paragraph Reconfiguration/Enable/Disable. First of all the user has to specify whether the field bus is to be configures on board 1 or board 2.

After the choice has been made, the following questions are asked:

Starting address of command $WORD (CMD) [21..508] The program asks for the $WORD address that contains the network management commands. A start index of a block of 5 $WORDs has to be given, to be reserved for this function.

Starting address of status $WORD (STS) [21..508] The program asks for the $WORD address that contains the information concerning the network status. The user has to give the start index of a block of 5

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IO_INST Program - I/O configuration $WORDs, to be reserved for this function. The system proposes an address that immediately follows the command $WORD (eg.: if the command $WORDs started at address 67, for the status $WORDs the system suggests 72 as the start address). NOTE: the user can choose addresses as desired, but it must be guaranteed that the space reserved for the command $WORDs does NOT interfere with that reserved for the status $WORDs

Alarm activation after reset? (Y/N) - The system asks whether the user, after the reset of an alarm generated by a network problem, wishes this alarm to be generated again by the system itself. In any case, this mechanism is automatically disabled in the Programming mode (T1), allowing the motors to be powered on even with the network only partly operational.

After the master configuration has been completed, the program asks a series of questions for the configuration of the slaves:

Number of slave modules to configure [1..32] Up to 32 slave modules can be configured. If the user specifies 0, it means that only general parameters are to be entered and the slaves will be added later.

Logical address [1..32] it is the logic address of the individual slave, that is to say, the index used with PDL2 programs to have access to data that concerns the separate device. Example: if the logic address is 22, the data of the corresponding device will be found in $FBP_TBL[<num_board>].FB_MA_SLVS[22,<xxxx>].

Physical address [1..32] To set the physical address, on the network, of the individual slave. This is not to be confused with the logic address, although the two values may be the same. With reference to the above example, the device at logic address 22 may have any physical address, from 1 to 32: for example 15. Is it a BK module? (Y/N) The program asks if the module to be configured is a bk module, that is, a module that does not exchange data, but serves to create branches on the Interbus network. Module Identifier Slave has an identification number that defines the type. This value must be the same as that declared for the module being configured.

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IO_INST Program - I/O configuration Length code [1..65535] It is a plate datum for the slave module. For further information see the specific documentation of the slave device used.

Is the module enabled at startup? (Y/N) To define the status of the slave module at the start. The Master connects only the modules that are declared as present ("enabled") at the start. If one or more of them are not present, an error is detected. The modules declared not enabled will not be searched for on the network; by means of an opportune command, it will be possible to subsequently connect them and disconnect them.

I/O Copy on $DIN/$DOUT or $WORD? (D/W) To choose whether to make the I/O transfer through $DIN/$DOUT or by using the $WORD variables. In this case, the $WORD start address is then asked for, to be copied.

Number of input bytes in the module [1..32] To define the number of Bytes in input to the module.

Number of output bytes in the module [1..32] To define the number of Bytes in output from the module.

When inserting the $WORD starting address for copying [21..512] care must be taken that there are no overlaid blocks. Bytes swap? (N/Y) The program asks if the inversion is to be made between high bytes and low bytes

Device Level? [0..15] The position of the module as to the master, i.e., how many branches have to be crossed to reach the master. If there are no branches, enter 0.

On which branch do you want to configure this module? [1..2] The program asks if the module is on branch 1 or 2. Obviously, this question is only asked if the module is not active at the start.

View Displays the module Interbus Master configuration

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IO_INST Program - I/O configuration First of all it is asked to specify board 1 or board 2. Then, the possible choices are: General Slaves

General Displays the module Interbus Master General configuration.

Slaves Displays the configuration of the configured slave modules. The following question is asked: Slave module number: (MOD) [0 .. 1] - the choice of 0 allows a summarising view of all the configured slave modules. Choice 1 allows access to a more detailed display.

Add node To add a node to a previously configured DeviceNet Master.

First of all the user has to specify on which board the node is to be added.

How many slaves do you want to add? The user has to specify the number of slaves to be added to the current configuration. (new-24) For each slave to be added, the program, asks the user to enter the data needed for the configuration. Upon termination the new configuration is displayed.

Remove node To remove a node from a previously configured Interbus Master. First of all it is necessary that the user specifies on which board the Interbus module is installed.

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The program displays the current list of slave modules and asks the user to indicate which slave module is to be removed . Removal takes place after confirmation from the user. Modify To change the configuration of an Interbus board.

Upon request from the user, the following can be changed: general configuration - the modification of the general configuration is the same as the Interbus Master configuration (from Starting address of command $WORD (CMD) [21..508] onward). a single slave - the system presents the data (from Logical address [1..32] onward) for the single slave modification; user can change each of them.

Ibus_sl
To operate on Interbus Slave module.

The user can make the following choices: Configure View Enable Disable Modify

Configure To configure the C4G Control Unit as slave module of an Interbus network. Hereinafter, the C4G Control Unit as slave module, will simply be called slave. The parameters that

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IO_INST Program - I/O configuration will be entered by the user must be consistent with the configuration executed on the master side. The master may be The Control Unit master, or An external device (for example a PLC).

First of all the user has to specify whether it is wished to configure a slave module that is on the FBP 1 board or on the FBP 2 board. If bit 25 of $FB_CNFG[<fbp_num>,3] is set at 1, this means that the field bus board has an optic interface. In this case the user is asked to specify the baud rate (choice between 500kB and 2MB). After the choice has been made, the following questions are asked:

Total number of bytes exchanged [2..32] The user has to specify how many bytes in all have been exchanged: n user bytes + 2 system bytes. Only the input bytes have to be specified, because the number of output bytes will be equal.

Is C4G under remote control? The Control Unit is usually controlled by the master especially through the DRIVE OFF/ON, START and HOLD commands. If an affirmative answer is given to this question, the function is enabled and the first two input bytes automatically assume command significance and the first two output bytes assume status significance. The significance of each bit within the two command bytes and the two status bytes is described through the predefined variables, which are, $SYS_INP_MAP and $SYS_OUT_MAP. In particular the status bits, in output, will be reserved for the system and will be mapped on the $SDOUT ports. If the Control Unit is under remote control, the slave assumes the significance of primary slave, should there be several slaves in the system. If a negative answer is given, all the bytes from and to Interbus are available for the user. The system does not reserve any datum. The slave assumes the significance of secondary slave.

Map fieldbus Slave on DIN/DOUT? (Y/N) To choose whether to make the I/O transfer through $DIN/$DOUT or by using the $WORD variables. In the latter case the $WORD start address is asked for, to be copied [21..512] and care must be taken that there are no overlaid blocks. If the total number of input bytes (that is the same as the number of output bytes) is less than or equal to 16, the system reserves a group of 8 $WORDs for the outputs and 8 $WORDs for the inputs, of which only the necessary part of the quota
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IO_INST Program - I/O configuration will be used. For example, if the total number of bytes is 10 and the index of the first $WORD is 100, the output data will reside from $WORD[100] to $WORD[104], whereas the inputs will be from $WORD[108] to $WORD[112]. On the other hand, if the total number of bytes is greater than 16, the system will reserve a group of 16 $WORDs for the outputs and 16 $WORDs for the inputs, with the same allocation logic.

Bytes swap? [N/Y] The program asks if the inversion is to be made between high bytes and low bytes

View Displays the module Interbus Slave configuration.

Enable To enable the C4G Controller as slave. When the user sends this command, the following message is shown:

Disable To disable the C4G Controller as slave. When the user sends this command, the following message is shown:

Modify To change the parameters of the C4G slave.

First of all the user has to specify whether it is on board 1 or board 2.

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IO_INST Program - I/O configuration The program shows all the previously configured parameters of the C4G slave, and allows each of them to be changed.

13.2.3.2.5

Ethernet
To operate on the Ethernet Slave module, using the following commands: Configure View Enable Disable Modify

Configure
To configure the Ethernet Slave module, defining the number of user signals (Byte) for the I/Os. The following questions are asked:

Total number of bytes exchanged [2..32] The user has to specify how many bytes in all have been exchanged: n user bytes + 2 system bytes. Only the input bytes have to be specified, because the number of output bytes will be equal.

Is C4G under remote control? (Y/N) The Control Unit is usually controlled by the master especially through the DRIVE OFF/ON, START and HOLD commands. If an affirmative answer is given to this question, the function is enabled and the first two input bytes automatically assume command significance and the first two output bytes assume status significance. The significance of each bit within the two command bytes and the two status bytes is described through the predefined variables, which are, $SYS_INP_MAP and $SYS_OUT_MAP. In particular the status bits, in output, will be reserved for the system and will be mapped on the $SDOUT ports. If the Control Unit is under remote control, the slave assumes the significance of primary slave, should there be several slaves in the system. If a negative answer is given, all the bytes from and to Ethernet are available for the user. The system does not reserve any datum. The slave assumes the significance of secondary slave.

Map fieldbus Slave on DIN/DOUT? (Y/N) To choose whether to make the I/O transfer through $DIN/$DOUT or by using the $WORD variables. In the latter case the $WORD start address is asked for, to be copied and care must be taken that there are no overlaid blocks.

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IO_INST Program - I/O configuration If the total number of input bytes (that is the same as the number of output bytes) is less than or equal to 16, the system reserves a group of 8 $WORDs for the outputs and 8 $WORDs for the inputs, of which only the necessary part of the quota will be used. For example, if the total number of bytes is 10 and the index of the first $WORD is 100, the output data will reside from $WORD[100] to $WORD[104], whereas the inputs will be from $WORD[108] to $WORD[112]. On the other hand, if the total number of bytes is greater than 16, the system will reserve a group of 16 $WORDs for the outputs and 16 $WORDs for the inputs, with the same allocation logic.

Bytes swap? [N/Y] The program asks if the inversion is to be made between high bytes and low bytes.

View
Displays the configuration of the Ethernet Slave module, as shown in the example of the next figure:

Enable
To enable the Ethernet Slave module. When the user sends this command, the following message is displayed:

Disable
To disable the Ethernet Slave module. When the user sends this command, the following message is displayed:

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Modify
To change the parameters of the Ethernet Slave module.

First of all the user has to specify whether it is on board 1 or board 2. The program shows all the previously configured slave parameters and allows each of them to be changed.

13.2.3.2.6

Clear

To reset the previous Fieldbus module configurations. It is always advised to run this command when a Fieldbus is to be configured, to avoid problems with previous configurations arising. Before executing the operation, the system asks for confirmation from the user.

13.2.3.3

Dsa
For the I/O points on DSA, some settings can be modified and some I/O ports can be configured.

The configuration program allows the configuration of: Alarms Output Hdin Stroke Brakes Sik Ieak

13.2.3.3.1

Alarms

Manages the activation and deactivation of the robot alarm and the air alarm. The program asks whether the robot alarm or the air alarm is to be configured, and whether to activate or deactivate it.
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13.2.3.3.2

Output

Manages the configuration of output 1 and output 2. The user is asked to specify which output is to be configured and whether to set it on direct mode or HDOUT.

The program initially asks whether to enable the output and whether it is preferred in direct mode or HDOUT.

13.2.3.3.3

Hdin
For the HDIN configuration, the system displays the possible choices

The program shows a screen with the possible choices.

13.2.3.3.4

Stroke

Manages the electrical stroke-ends configuration. They are disabled for each axis by default. Through the program the stroke_ends can be activated/deactivated. The program asks which axis is to be enabled or disabled.

13.2.3.3.5

Brakes

Manages the brakes configuration. They are enabled for each axis by default. Through the program the brakes can be activated/deactivated. The program asks which axis is to be enabled or disabled.

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13.2.3.3.6

Sik
Manages the configuration and the display of the signals $SDIN/$SDOUT relating to the sik devices. A Sik device can be activated on either the auxiliary axes or the robot axes. The IO_INST program manages 4 arms and 4 auxiliary axes for each arm: 2 $SDIN and 2 $SDOUT are associated to each arm or auxiliary axis, reserved for the related Sik. The signals $SDIN and $SDOUT for the arms, are within the range of 25 and 32, according to the diagram in Fig. 13.56.

Fig. 13.56 - $SDIN and $SDOUT for Robot Sik

Signals $SDIN and $SDOUT for the auxiliary axes, are within the range of 65 and 96, according to the diagram in Fig. 13.57.

Fig. 13.57 - $SDIN and $SDOUT for Sik on auxiliary axes

The following description gives the details of the functions provided by the IO_INST program for the management of the Sik.

The possible commands are: Configure Visual. Clear

First of all the program displays the sik devices present. NOTE FOR THE USER Before starting the configuration of a Sik, it is recommended to use the Visual command to be aware of the current configuration and to avoid the unintentional loss of pre-existing configurations or the execution of a configuration on an inconsistent system. The Configure command is to be used, not only to execute an Input/Output configuration, but also to check the configuration regarding the arms/axes. . Only when this is as it should be, the user can start to configure the corresponding Inputs/Outputs, guided by the program itself. On the other hand, if the current configuration is not correct, the user is strongly recommended to carry out a cleaning operation before starting a new configuration.

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Configure
The purpose of this operation is to connect the physical image of the sik axes signals with the corresponding $SDIN and $SDOUT. Before configuring the I/O signals, the Sik device has to be enabled on the SETUP page of the Teach Pendant (par. 6.16.2.5 Sik on page 6-142) and consulted the Guide to Integration, Safeties, I/O, Communications manual.

The program displays the arms and the related Sik, then asks which arm is to be configured,

and then on which fieldbus the $SDIN/$SDOUT ports are to be mapped. The sik axes can be configured on CAN modules, DeviceNet Master, Profibus Master and Interbus Master. If it is wished to configure the Sik on the CAN module, the address 26 is advised. Before starting the Sik configuration the required fieldbus must be configured.

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IO_INST Program - I/O configuration If the selected Fieldbus is NOT CAN, the user must indicate on which board the required module is contained (board 1 or board 2)

and the number of the slave module, if any. As already stated, for each axis two $SDIN and two $SDOUT are configured.

The program asks for the number of the pin to start from: the two signals will then be mapped close to each other. The program suggests the pin foreseen by the physical connections performed by Comau (from 1 to 31 for $SDIN signals and from 32 to 18 for $SDOUT signals). If the user has changed these connections, the new number has to be inserted. The same takes place for the $SDOUT ports:

The program asks for the number of the pin to start from, to map the $SDOUT ports. Also for the $SDOUT ports, the two signals will be mapped close to each other . HARDWARE-SOFTWARE MAPPING STANDARD It is strongly recommended to follow the hardware-software mapping standard suggested by the tool itself, that regarding the assignment of the pins, is based on the following logic: increasing order of Arm and, for each Arm, pairs of Sik Robot I/O plus pairs of Sik auxiliary axes I/O Example: cell with Arm1 (Robot) -> $SDIN[25] and $SDIN[26], $SDOUT[25] and $SDOUT[26] - Pin 1, 2 Arm1 (AUX 7) -> $SDIN[65] and $SDIN[66], $SDOUT[65] and $SDOUT[66] - Pin 3, 4 Arm1 (AUX 8) -> $SDIN[67] and $SDIN[68], $SDOUT[67] and $SDOUT[68] - Pin 5, 6 Arm2 (Robot) -> $SDIN[27] and $SDIN[28], $SDOUT[27] and $SDOUT[28] - Pin 7, 8 This management is compatible with previous versions but it is not binding. However its use guarantees the repeatability and expandability of the configuration that is translated into a more accurate maintainability and management.. Upon termination, the configuration obtained is displayed. The following figure shows a configuration example with one arm and one auxiliary axis.

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Visual.
If Visual is chosen, the program asks which arm is to be viewed. A screen is then displayed listing the signals relating to the sik axes with the corresponding position on the Fieldbus chosen for the configuration. In the examples shown in the figures that follow, the configurations display respectively the configuration relating to an arm (in fact signals $SDIN and $SDOUT are between 25 and 32) and the configuration relating to an auxiliary axis (in fact signals $SDIN and $SDOUT are between 65 and 96).

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Clear
If Reset is chosen the sik axes of a certain arm are deleted. The program asks for which ARM the configuration is to be deleted. Before starting the deletion a confirming prompt is displayed.

13.2.3.3.7

Ieak
Through this submenu the I/O configuration for rotary tables can be managed, with the Ieak option (Interlock External Axes Kit). The maximum number of arms (and therefore of rotary tables) that can be managed is 4. Before configuring the I/O signals, the Ieak device has to be enabled on the SETUP page of the Teach Pendant.

The following commands are available: Configure View Reset

NOTE FOR THE USER Before starting the configuration of a leak, it is recommended to use the Visual command to be aware of the current configuration and to avoid the unintentional loss of pre-existing configurations or the execution of a configuration on an inconsistent system. The Configure command is to be used, not only to execute an Input/Output configuration, but also to check the configuration regarding the arms/axes. Only when this is as it should be, the user can start to configure the corresponding Inputs/Outputs, guided by the program itself On the other hand, if the current configuration is not correct, the user is strongly recommended to carry out a cleaning operation before starting a new configuration.

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Configure

The user has to indicate the field bus to be used for the configuration of the rotary tables defined by the system. According to the type of field bus chosen, the following situations are possible, which are differ from each other: CAN CAN Other interfaces (Profibus, DeviceNet, Interbus)

The user is asked to enter the number of the CAN module required, from those currently configured. Having received this information, the system configures the I/Os relating to the rotary tables on the specified CAN module. To check the configuration executed, use the View command.

Other interfaces As an example, configuration on the Interbus module is described. The system uses the previously configured Interbus slave module, to map the I/Os
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IO_INST Program - I/O configuration relating to the external signals available. Vice-versa, the internal signals are always to be configured on a CAN module; if these signals have already been configured on a CAN module, this module is taken automatically by the system.

If the internal signals have never been configured, the system displays the configured CAN modules and the user has to specify which is to be used.

Next the user is asked for the bytes to be used to start the mapping, respectively the $SDIN ports and the $SDOUT ports, relating to the rotary tables. At the end of the configuration, the system displays the mapped $SDIN ports, as shown in figure:

and the $SDOUT ports:

A detailed description follows for each of the items displayed:

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name and index of the configured port (e.g.: $SDOUT[41]). name of field bus (e.g.: Interbus). The following are also indicated for the CAN: module number (e.g.: Sys CAN Module 3) module physical address (e.g.: @ 25)

For the other interfaces the number of the bit is indicated where the corresponding $SDIN or $SDOUT is mapped (e.g.: Bit 17) MOTOR ON (input - request for table motors on - 1=request, 0=no request). It is a signal available externally (for example on PLC, Control Panel, etc.). No MOTOR OFF (input - request for table motors off - 1=no request, 0=request). It is a signal available externally (for example on PLC, Control Panel, etc.). No TIMER MOTOR OFF (input - signal relating to the state of the PILZ safety relay - 1=idle (no line emergency), 0=emergency from the line. It is an internal signal, therefore configured on CAN. This signal is at 0 when there is an emergency from the line. In this case a timer trips (the time depends on the arm characteristics) time-out when the sik associated to the arm opens. SIK ON (input - status of SIK device associated to the axis of the arm corresponding to the rotary table - 1=SIK closed, 0=SIK open). It is an internal signal, therefore configured on CAN. MOTOR ON/OFF STS (output - table status - 1=motors on, 0=motors off). It is a signal available externally. RESTORE (output - used by the system to reset the PILZ safety relay). It is an internal signal, therefore configured on CAN.

type of signal:

rotary table to which the port is assigned (e.g.: T.R. 1). It is to be noted that it is not the number of the arm, but the order number of the table associated to a certain arm.

View
When the user asks to view the rotary table configuration, the system displays in sequence the $SDIN ports and the $SDOUT ports, as shown in the two previous figures.

Reset
To reset the pre-existing configuration, relating to rotary tables. The system performs the reset without any further questions to the user

13.2.3.4

Hand
Through this branch of the menu the Hand 1 and Hand 2 for one of the Arms in the control can be configured.

The program configures the Hand on the active ARM. If it is wished to configure on
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IO_INST Program - I/O configuration another Arm, the Arm has to be changed from the Teach Pendant. Possible commands are: Configure View

13.2.3.4.1

Configure
To configure one of the two Hands associated to a certain Arm.

When this command is selected, the system presents another menu where the Hand to be configured can be indicated.

Once it has been decided which Hand is to be configured, the program presents a new menu in which the way to configure it can be indicated. The possible modes are: One Dual Pulse Step Clear

One
To configure the Hand with only one output line.

The program asks the following questions:

Map the Hand on $DOUT or $WORD? Through this command it can be decided whether to map the Hand output on a $DOUT variable or on a $WORD. If the first choice is made, the program asks for the index of the $DOUT port where the output is to be mapped [1..512]; for the second choice the program asks for the index of the $WORD where the output is to be mapped [21..512] and the index of the bit [1..16].

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Open hand Output 1(T/F) The program now asks to indicate whether the signal corresponding to Open Hand is to be TRUE (therefore in positive logic), or FALSE (in negative logic).

Dual
To configure the Hand with two output lines.

The program will ask the same questions as for the One, mode, but obviously they will be made for both the Output 1 line and for the Output 2 line.

Pulse
To configure the Hand in Pulse mode with two output lines.

The program will ask the same questions as for the Dual mode, and it will also ask for the impulse duration (between 10 and 10000 ms).

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Step
To configure the Hand in Step mode with two output lines.

The program will ask the same questions as for the Dual mode, and will also ask for the time interval (between 10 and 10000 ms) between one step and the next.

Clear
To reset the previous configurations for the Hand indicated.

The operation is only executed after confirmation has been received from the user.

13.2.3.4.2

View
To view the configuration of one of the two Hands of a certain Arm.

13.2.4

Save
This command stores the current settings of the parameters in the .C4G file.

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IO_INST Program - I/O configuration The command creates the following files in UD: : IOSET.PDL: contains the configuration of the CAN, of the $DIN/$DOUT , $GIN/$GOUT and $AIN/$AOUT ports DPMACFG1.PDL: contains the configuration of the Profibus Masters on board 1 DPMACFG 2.PDL: contains the configuration of the Profibus Masters on board 2 DPSLCFG1.PDL: contains the configuration of the Profibus Slave on board 1 DPSLCFG 2.PDL: contains the configuration of the Profibus Slave on board 2 DNMACFG1.PDL: contains the configuration of the DeviceNet Master on board 1 DNMACFG 2.PDL: contains the configuration of the DeviceNet Master on board 2 DNSLCFG1.PDL: contains the configuration of the DeviceNet Slave on board 1 DNSLCFG 2.PDL: contains the configuration of the DeviceNet Slave on board 2 IBMACFG1.PDL: contains the configuration of the Interbus Master on board 1 IBMACFG2.PDL: contains the configuration of the Interbus Master on board 2 IBSLCFG1.PDL: contains the configuration of the Interbus Slave on board 1 IBSLCFG2.PDL: contains the configuration of the Interbus Slave on board 2

It translates them and executes them to make the choices operative. By the creation of these files, the user always has a track of the current configurations.

See NOTE regarding the entry number in the UD: root directory.

13.2.5

Quit
The Quit command quits the I/O Configuration Tool (IO_INST) program, asking whether or not it is to be deleted from UD:.

13.2.6

Configuration example
Complete configuration example of SIK device Complete configuration example of IEAK device

13.2.6.1

Complete configuration example of SIK device

The configuration example described in this paragraph refers to a Sik device, for Auxiliary Axis 8 of Arm 1.

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The possibility to configure a Sik device on a certain Arm and on a certain Axis, depends on the characterization file: the user is recommended to check the current configuration, by means of the ConfigureControllerView command from WinC4G (as shown in Fig. 13.58, Fig. 13.59, Fig. 13.60 and Fig. 13.61), or using Service Page, SysInfo sub-page, from the Teach Pendant (see Fig. 13.62). If the current configuration is not the required one, please contact Comau Robotics. To view the current configuration from WinC4G, proceed as follows: a. Send Configure (F1) command.

Fig. 13.58 - ConfigureControllerView command - 1

b.

Choose Cntrler (F2).

Fig. 13.59 - ConfigureControllerView command - 2

c.

Choose View (F5).

Fig. 13.60 - ConfigureControllerView command - 3

d.

Read the string referred to the configuration file - the system displays the configuration, at Arm and Auxiliary Axes level (see string highlighted in red in Fig. 13.61).

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Fig. 13.61 - ConfigureControllerView command - 4

WARNING! It is up to the user to check whether it corresponds to the actual system. In case of misalignment, please contact Comau.

If instead it is wished to use the Teach Pendant, choose the SysInfo sub-page from Service Page (Fig. 13.62 highlighted in red).

Fig. 13.62 - Service Page - SysInfo

We shall now describe the steps to be carried out for the complete configuration of a Sik device. Our example starts from a system where the Fieldbus for the Sik configuration has NOT been configured. It is recommended to check the current situation of the required fieldbus and of the Sik device, before starting the configuration. This is advised in order to start from a consistent situation. If necessary reset the previous configurations. a. Required Fieldbus configuration - on the main screen page of IO_INST, issue the Fieldbus (F2) command, as shown in Fig. 13.63.

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Fig. 13.63 - Fieldbus configuration

b.

Choice of FieldbusType - from the possible choices offered by the program, select the required Fieldbus: in our example (see Fig. 13.64) it is wished to use a Can (F1) module.

Fig. 13.64 - Choice of Fieldbus Type

c.

Addition of Can module - send the Add.Mod (F3) command, as shown in Fig. 13.65.

Fig. 13.65 - Can module addition

d.

Physical address - on the screen page shown in Fig. 13.66, enter the network address of the I/O module to be configured. For the Sik device on Can Bus, it is suggested to use address 26.

Fig. 13.66 - I/O module physical address

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For any further information about the choice of the network address (physical), see the Integration guidelines, Safeties, I/O, Communications Manual - Par. Interfacing with CAN Network and parallel I/O. e. The program displays the logical address, the physical address and the chosen module type (see Fig. 13.67). Press ENTER to continue.

Fig. 13.67 - Address and type display

f.

DSA configuration - this starts the true configuration stage of the Sik device. From the main IO_INST screen page, send the DSA (F3) command, as shown in Fig. 13.68.

Fig. 13.68 - DSA configuration

g.

Access to the section relating to Sik - enter the Sik (F6) command, as shown in Fig. 13.69.

Fig. 13.69 - Sik command

h.

Sik configuration - from the different functions shown on the screen page in Fig. 13.70, choose Configure (F1).

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Fig. 13.70 - Sik configuration

i.

The program indicates the Arm on which it is possible to configure a Sik device (see Fig. 13.71 (ACTIVE)). It is up to the user to check this information is correct. If the check is successful, press ENTER.

Fig. 13.71 - Active Arm

WARNING! If the active Arm is NOT the one where it is wished to configure the Sik, this means that the configuration file is not consistent with the actual situation. In this case, suspend the procedure and contact Comau. j. Choice of Fieldbus - insert the identification (from 1 to 4) of the Fieldbus where the Sik device is to be configured. In our example, the choice is CAN Bus (ID '1') (see Fig. 13.72, fields highlighted in red). Press ENTER.

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Fig. 13.72 - Choice of Fieldbus

k. l.

Press ENTER again to continue. $SDIN mapping - The program displays the current hardware-software mapping, i.e. the current configuration of the Sik (see Fig. 13.73). Before continuing, read with attention the note concerning the HARDWARE-SOFTWARE MAPPING STANDARD. If all the PINS are available, choose PIN 1 to associate the two SDIN (see field highlighted in red Fig. 13.73). Press ENTER.

Fig. 13.73 - $SDIN mapping

It is very important not to create overlaying at PIN level, during the configuration! It is therefore always advised to check the current mapping before deciding which PINS to associate to the two SDIN and to the two SDOUT. m. $SDOUT mapping - If available, choose PIN 32 to associate the two SDOUT (see field highlighted in red in Fig. 13.74). Press ENTER.

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Fig. 13.74 - $SDOUT mapping

n.

Final configuration display - the program displays the configuration prepared for the Sik (see Fig. 13.75). Press ENTER.

Fig. 13.75 - Configuration prepared

o.

Save new configuration - from main screen page, send the Save (F5) command, as shown in Fig. 13.76.

Fig. 13.76 - Save configuration

p.

The system asks the user for confirmation before saving (see Fig. 13.77). Answer Y and press ENTER.

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Fig. 13.77 - Prompt for Save operation

q.

The system displays a message to inform that saving has taken place (see Fig. 13.78). Press ENTER to return to main screen page.

Fig. 13.78 - Saving executed

r.

Exit from IO_INST - after Sik has been configured, to exit from the IO_INST program send the Quit (F6) command, as shown in Fig. 13.79.

Fig. 13.79 - Exit from IO_INST - 1

s.

Enter a negative answer to the displayed question (see Fig. 13.80), to exit without deleting IO_INST from UD: .

Fig. 13.80 - Exit from IO_INST - 2

13.2.6.2

Complete configuration example of IEAK device

The configuration example described in this paragraph refers to a IEAK device, for

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IO_INST Program - I/O configuration Arm 1, Axis 8. The possibility to configure a Ieak device on a certain Arm depends on the characterization file: the user is recommended to check the current configuration using the ConfigureControllerView command from WinC4G (as shown in Fig. 13.81, Fig. 13.82, Fig. 13.83 and Fig. 13.84), or using Service Page, SysInfo sub-page, on the Teach Pendant (see Fig. 13.85). If the current configuration is not the required one, please contact Comau Robotics. To view the current configuration from WinC4G, proceed as follows: a. Send Configure (F1) command.

Fig. 13.81 - ConfigureControllerView command - 1

b.

Choose Cntrler (F2).

Fig. 13.82 - ConfigureControllerView command - 2

c.

Choose View (F5).

Fig. 13.83 - ConfigureControllerView command - 3

d.

Read the string referring to the configuration file - the system displays the configuration, at Arm and Auxiliary Axes level (highlighted in red in Fig. 13.84).

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Fig. 13.84 - ConfigureControllerView command - 4

WARNING! It is up to the user to check whether it corresponds to the actual system. In the case of misalignment, contact Comau.

If instead it is wished to use the Teach Pendant, call the SysInfo sub-page from Service Page (Fig. 13.85 highlighted in red).

Fig. 13.85 - Service Page - SysInfo

We shall now describe the steps to be carried out for the complete configuration of a Ieak device. Our example starts from a system where the Fieldbus for the Ieak configuration has NOT been configured. It is recommended to check the current situation of the required fieldbus and of the Ieak device before starting the configuration. This is advised so as to start from a consistent situation. If necessary reset the previous configurations. a. Required Fieldbus configuration - on the main screen page of IO_INST, send the Fieldbus (F2) command, as shown in Fig. 13.86.

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Fig. 13.86 - Fieldbus configuration

b.

Choice of type of Fieldbus - from the possible choices offered by the program, select the required Fieldbus: in our example (see Fig. 13.87) it is wished to use a Can (F1) module.

Fig. 13.87 - Choice of module Type

c.

Addition of Can module - send the Add.Mod (F3) command, as shown in Fig. 13.88.

Fig. 13.88 - Adding Can module

d.

Physical address - on the screen page shown in Fig. 13.89, enter the network address of the I/O module to be configured. For the Ieak device on Can Bus, it is suggested to use address 25.

Fig. 13.89 - I/O module physical address

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For any further information related to the choice of the network address (physical), see the Integration guidelines, Safeties, I/O, Communications Manual Par. 5.3 Interfacing with CAN Network and parallel I/O. e. The program displays the logic address, the physical address and type of module chosen (see Fig. 13.90). Press ENTER to continue.

Fig. 13.90 - Address and type display

f.

DSA configuration - this starts the true configuration stage of the Ieak device. From the main IO_INST screen page, send the DSA (F3) command, as shown in Fig. 13.91.

Fig. 13.91 - DSA configuration

g.

Access to the section related to Ieak - enter the Ieak (F7) command, as shown in Fig. 13.92.

Fig. 13.92 - IEAK command

h.

Ieak configuration - from the different functions shown on the screen page in Fig. 13.93, choose Configure (F1).

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Fig. 13.93 - Ieak configuration

i.

Choice of Fieldbus - the program indicates the Arm on which a rotating Table is present in the configuration file (see Fig. 13.94). It is the task of the user to check that this information is correct.

WARNING! If the Arm rerelated to the rotating Table is NOT the one where it is wished to configure the Ieak, this means that the configuration file is not consistent with the actual situation. Suspend the procedure and contact Comau. Specify on which interface the I/O related to the Ieak are to be managed. In our example CAN Bus has been chosen (highlighted in red in Fig. 13.94). Make the choice and press ENTER.

Fig. 13.94 - Choice of Fieldbus

j.

Chosen interface display - the program displays the logic address, the physical address and module Type (see Fig. 13.95); press ENTER again to continue.

Fig. 13.95 - Fieldbus display

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IO_INST Program - I/O configuration k. $SDIN/$SDOUT mapping - The program automatically maps the four $SDIN and two $SDOUT needed to manage the Ieak, and displays the final configuration (see Fig. 13.96). Press ENTER to continue.

Fig. 13.96 - Configuration executed

l.

Save new configuration - from main screen page, send the Salva (F5) command, as shown in Fig. 13.97.

Fig. 13.97 - Save configuration

m.

The system asks the user for confirmation before saving (see Fig. 13.98). Give an affirmative reply (Y) and press ENTER.

Fig. 13.98 - Request to confirm saving

n.

The system displays a message to inform that saving has taken place (see Fig. 13.99). Press ENTER to return to main screen page.

Fig. 13.99 - Saving executed

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IO_INST Program - I/O configuration o. Exit from IO_INST - after Ieak has been configured, to exit from the IO_INST program send the Quit (F6) command, as shown in Fig. 13.100.

Fig. 13.100- Exit from IO_INST - 1

p.

To exit without deleting IO_INST from UD: , answer N to the displayed question (see Fig. 13.101), .

Fig. 13.101- Exit from IO_INST - 2

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14.

HINTS FOR THE I/O SOFTWARE CONFIGURATION

This chapter describes: Basic principles for the I/O configuration and use Software configuration of DNP, PFP, IBC/O boards (Field bus) I/O points configuration Dynamic connection and disconnection method for a Field Bus network node.

14.1 Basic principles for the I/O configuration and use

The I/O boards (DNP, PFP, IBC/O, C4G-DI3 and ADI) are to be configured with the speed parameters and communication characteristics, according to the type of board: Software configuration of DNP, PFP, IBC/O boards (Field bus)

To use the I/O in PDL2 programming language the physical I/O points have to be matched to the usable PDL2 language variables by the I/O points configuration: Physical / logical mapping Configuration of Command Word from remote I/O point status.

To allow the I/O transit through the network without using PDL2 instructions it is necessary to execute Copying I/O points. All configurations set through the values in the System Variable have to be saved in the .C4G configuration file using CONFIGURE SAVE ALL (from the TP in the Setup page, par. 6.16.1 Config. Function on page 6-130); subsequently to make it operative, a system restart is necessary (from Teach Pendant , in the Home Page: Restart - par. 6.7.3.1 Complete (CCRC) on page 6-46).

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14.2 Software configuration of DNP, PFP, IBC/O boards (Field bus)

14.2.1 Overview
The numbering of the FBP boards installed depends on the physical position of the board. The board installed farthest to the left is named as board index 1, the second board if installed is named with index 2. This index allows access to the table $FBP_TBL[<number_FBP>] that contains the configuration data of that board. Board furthest on the left = board 1 = index 1, therefore the configuration table is $FBP_TBL[1] Second board installed after the furthest on the left = board 2 = index 2, therefore the configuration table is $FBP_TBL[2]

The types of fieldbuses, called protocols, that are available on the Robot controller are coded with the following numbering <Protocol>: Profibus = 2 Interbus = 3 DeviceNet = 4

These indexes allow direct access to the following system variables: $FB_INIT[<number_FBP>,<Protocol>] $FB_CNFG[<number_FBP>,<Protocol>] and are also used to select the protocol: $FBP_TBL[<number_FBP>].FB_TYPE = 2 - Profibus $FBP_TBL[<number_FBP>].FB_TYPE = 3 - Interbus $FBP_TBL[<number_FBP>].FB_TYPE = 4 - DeviceNet The type of protocol defined in $FBP_TBL is to correspond to the type of board detected inside the controller; that is to say, if the Profibus is declared on board N 1, $FBP_TBL[1].FB_TYPE = 2, inside the controller, as first FBP board farthest to the left, there must be a C4G-PFP. Generally the connections on the fieldbuses are MASTER-SLAVE type. This means that there is typically a device which acts as MASTER and one or more devices that act as SLAVE. The master is responsible for the network management and to activate communications. The task of the slave is to update the I/O point images connected to it. The $FBP_TBL table is logically divided into three sections: Internal Slave Configuration. The internal slave is the same C4G that acts under the control of a PLC Master functioning as cell controller. Master configuration. An example, the master like any other participant on the network has a univocal network address that identifies it. External Slave(s) Configuration. The external slaves are devices connected to the C4G controller that acts as MASTER.

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Hints for the I/O software configuration However, it is possible to configure the internal C4G slave as part of an external slave of the C4G Master section. This means that the C4G Master controls itself as Slave.

14.2.1.1

Internal Slave Configuration

The Internal Slave configuration is defined by: $FBP_TBL[<number_FBP>].FB_SL_INIT[1..20] This variable is an ARRAY of integers. The following table shows the significance of each element. If the variable assumes different significances according to the protocol, this is clearly underlined.

Tab. 14.1 - Common settings

Pos. array [1] Bit 1 Description General configuration options for internal slave. If set to 1, it indicates that the protocol is enabled. If set to 0, the controller assumes that there is no slave section present. To make the setting operational, the configuration has to be saved (Configure, Save, All) after which the controller has to execute a cold restart (restart cold). If set to 1, it allows logical disconnection of the controller from the remote PLC even if the communication is active. Only the outputs are updated, not the inputs. This function is dynamically active and does not require a controller restart to make it active. Reserved If set to 0, the copy of the Input/Output images is executed on $DINs and $DOUTs. If set to 1, the copy of the images is executed using $WORDs, as it was implemented on the C3G controller. Reserved Reserved Reserved If set to 1, the controller sends the data to the remote PLC with no exchange of adjacent bytes. If set to 0, the exchange takes place. This function allows the consistent use of devices that apply a different standard to represent the data (little-endian, i.e. INTEL, big-endian, i.e. MOTOROLA). Reserved Reserved Specific settings according to the type of bus: Tab. 14.3 - Settings for Profibus field bus Tab. 14.2 - Settings for DeviceNet field bus Tab. 14.4 - Settings for Interbus-S field bus Reserved

3 4

5 7 9 10

16..11 32..20 [2..9] -

[10..20]

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Tab. 14.2 - Settings for DeviceNet field bus

Pos. array [1] [2] Bit No specific information. Baud Rate 1: 125 Kbit 2: 250 Kbit 3: 500 Kbit Network address. Valid addresses are in the range 0..63. Vendor ID Product Code Number of user bytes exchanged with Master PLC. The slave C4G exchanges a number of inputs equal to the number of outputs. Reserved $WORD block starting index. The index is only necessary if bit 4 of the first element is set to 1. Controller Serial Number Reserved Description

[3] [4] [5] [6]

[7] [8] [9] [10..20]

Tab. 14.3 - Settings for Profibus field bus

Pos. array [1] Bit 5..1 6 Description Specific configuration options for Profibus See Tab. 14.1 - Common settings If set to 1, it indicates that the remote PLC intends to manage the C4G slave as a unit that exchanges data having a size of 16 bits (word, 2 bytes). If set to 0, the C4G is seen as a unit that exchanges data with a size of 8 bits (bytes). See Tab. 14.1 - Common settings If set to 1 the consistency is enabled on the entire block of transferred data. If set to 0 consistency is not guaranteed. See Tab. 14.1 - Common settings If set to 0, the C4G slave is seen by the remote PLC as a device with an input and an output module. Otherwise the C4G slave is seen as a device with a certain number of Input and Output modules. These bits contain the number of modules Reserved Network address. Valid addresses are in the range 3..126 Slave ID. The number that identifies the C4G controller on profibus.

7 8 16..9 19..17

[2] [3] [4]

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Tab. 14.3 - Settings for Profibus field bus (Continued)

Pos. array [5] Bit Description If the slave has been divided into modules, see bits 17,18,19 of the first element, it contains the code of their composition. Every module consists of 5 bits Number of data managed by the module. If the PLC is configured in bytes (see bit 6 of element [1]), this is the number of bytes, if the PLC is configured in words, this is the number of words. A maximum number of 6 modules can be declared. Module 1 occupies the bits from 30 to 26, module 2 from 25 to 21 and so forth. If set to 1 it is an input module, if set to 0 it is an output module. Number of user bytes exchanged with Master PLC. The C4G slave exchanges a number of inputs equal to the number of outputs. Reserved $WORD block starting index. The index is only necessary if bit 4 of the first element is set to 1. Reserved Reserved

4..1

5 [6] -

[7] [8] [9] [10..20]

Tab. 14.4 - Settings for Interbus-S field bus

Pos. array [1] [2] [3] [4] [5] [6] Bit No specific information. Reserved Reserved Device ID code. Product Code Number of user bytes exchanged with Master PLC. The C4G slave exchanges a number of inputs equal to the number of outputs. Reserved $WORD block starting index. The index is only necessary if bit 4 of the first element is set to 1. reserved Description

[7] [8] [9..20]

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14.2.1.2

Master Configuration
The Master configuration is defined by: $FBP_TBL[<number_FBP>].FB_MA_INIT[1..20] This variable is an ARRAY of integers. The following table shows the significance of each element. If the variable assumes different significances according to the protocol, this is clearly underlined.

Tab. 14.5 - Common settings

Pos. array [1] Bit 1 Description General configuration options for the master If set to 1, it indicates that the protocol is enabled. If set to 0, the controller assumes that there is no master section present. To make the setting operational, the configuration has to be saved (Configure, Save, All) after which the controller has to execute a cold restart (restart cold). If set to 1, a network restart is performed after each status transition (except the passage in programming) if a fault on the network has been previously detected. In programming state it is possible to act on the robot even with the network operating partially. If set to 0 (default), the system does not restart the network in automatic mode at each change of status. This is particularly useful in the case of the Interbus-S network, since an automatic latching of the disconnected nodes is not foreseen. Baud Rate. Master network address. Reserved. Command $WORD block starting index. The node index used by these commands has to be specified in the third $WORD following this. These are the possible commands to the master: Network Start (bit 1 set to 1) Network Stop (bit 2 set to 1) Node Reset (bit 3 set to 1) (only for DeviceNet) Node Start (bit 4 set to 1) Node Stop (bit 5 set to 1). Status Words block starting index, that indicates the status of the previously sent command. When the command has been executed, the corresponding bit is set to 1. The bit is set to 0 when the command is deleted. By raising the request bits (Command Words) the system sends the funtionality in execution and raises the corresponding bit in the request status (command word +1). The end of the functionality is indicated by setting to 0 in the request status (command word +1) and raising the bit in the result word (command word +2). At this point the success of the functionality can be checked by checking the status word. If there is an error, the error code is indicated in the error word (status word +1). Reserved.

[2] [3] [4] [5]

[6]

[20..7]

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Tab. 14.6 - DeviceNet

Pos. array [2] Baud Rate 1: 125 Kbaud 2: 250 Kbaud 3: 500 Kbaud Description

Tab. 14.7 - Profibus

Pos. array [2] Baud Rate: 1: 9600 baud 2: 19200 baud 3: 31250 baud 4: 45450 baud 5: 93750 baud 6: 187.5 Kbaud 7: 375 Kbaud 8: 500 Kbaud 9: reserved 10: 1.5 Mbaud 11: 3 Mbaud 12: 6 Mbaud 13: 12 Mbaud. Description

Tab. 14.8 - Interbus

Pos. array [2] Description Baud Rate. The Baud Rate is automatically determined by the system. Therefore this element does not have to be configured.

14.2.1.3

External Slaves Configuration

The external slaves configuration is defined by: $FBP_TBL[<number_FBP>].FB_MA_SLVS[1..32,1..16] This variable is an ARRAY of integer ARRAYS. Up to 32 slaves can be declared. Each slave is declared in: $FBP_TBL[<number_FBP>].FB_MA_SLVS[<indice_slave>,1..16] Therefore the index of the slave has to be indicated when configuring input/output

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Hints for the I/O software configuration images. There is no connection between the slave declaration index and the network address. The declaration index is a logic information. The following table shows the significance of each element. If the variable assumes different significances according to the protocol, this is clearly underlined.

Tab. 14.9 - Common settings

Pos. array [1] Bit 1 2 3 4 Description General configuration options for the external slave Reserved. Reserved. Reserved. If set to 0, the copy of the Input/Output images is executed on the $DINs and on the $DOUTs. If set to 1, the copy of the images is executed using $WORDs, as it was implemented on the C3G controller. If set to 0 the node is active as soon as the master is connected with it. If set to 1, the node is only activated by an explicit command to the master. Reserved. If set to 0, the controller sends the data to the remote PLC with no exchange of adjacent bytes. If set to 1, the exchange takes place. This function allows the consistent use of devices that apply a different standard to represent the data (little-endian, i.e. INTEL, big-endian, i.e. MOTOROLA). Reserved. Number of input bytes exchanged with the master. Network address. Code management commands application. Reserved. $WORD block starting index. The index is only necessary if bit 4 of the first element is set to 1. Number of output bytes exchanged with the master.

7 10

32..11 [2] [3] [6] [7] [8] [9] -

Tab. 14.10- DeviceNet

Pos. array [4] [5] [7] Vendor Id. Product code. Product Type. Description

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Tab. 14.11- Profibus

Pos. array [1] Bit 6 Description Specific configuration options for Profibus external slave If set to 1, it indicates that the slave envisages to be managed by the C4G master as a unit that exchanges data with a size of 16 bits (word, 2 bytes). If set to 0, the slave is seen as a unit that exchanges data with a size of 8 bits (bytes). If set to 1 the consistency is enabled on the entire block of transferred data. If set to 0 consistency is not guaranteed. Node ID. Contains the configuration bytes as they are set in the standard Profibus configuration file ('<name>.GSD') typical of each slave. The least significant byte is a counter of the bytes that follow. Contains an extension of the previous field. Contains the parameter setting bytes as they are set in the standard Profibus configuration file ('<name>.GSD') typical of each slave. The least significant byte is a counter of the bytes that follow. Contains an extension of the previous field.

8 [4] [10] -

[11] [12]

[16..13]

Tab. 14.12- Interbus

Pos. array [4] [5] Node ID code. Data length code. Description

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14.2.2

$FB_INIT
A system variable with matrix structure. $FB_INIT[<number_FBP>,<Protocol>] This variable is set by the user and/or by the configuration tool. The variable is a mask of bits, with the following significance: Bit 7..1 10..8 Reserved Contains the coded request to manage the command word: 0 The internal slave interface is primary 2 The internal slave interface is secondary 3 The internal slave interface has not yet been defined 7 The internal slave interface is primary, but does not use the command word. Reserved Set by the system when the interface is primary. Reserved If set to 1, at the next restart the system will execute an automatic updating of the firmware of the FBP board or board having this protocol Reserved Description

11 12 23..13 24 32..25

14.2.3

$FB_CNFG
A system variable with matrix structure. $FB_CNFG[<number_FBP>,<Protocol>] This variable is set by the system according to the options detected. Bit 6..1 7 11..8 12 22..13 23 24 25 29..26 30 32..31 Reserved The interface has been configured correctly. Reserved Set by the system when the interface is primary. Reserved The slave interface has been configured correctly. The master interface has been configured correctly. Optic interface for FBP Interbus board [3] Reserved An FBP board with this protocol has been found inside the control. Reserved Description

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14.3 I/O points configuration

14.3.1 Physical / logical mapping
The following types of I/O points are to be configured before being able to become operational: $DIN $DOUT $GIN $GOUT $AIN $AOUT $FMI $FMO Each one requires a configuration. The configuration has to define: whether the I/O point is a physical or a virtual I/O point. If it is virtual, the logic value that is to be set at the controller start If it is a physical I/O point: the fieldbus where it is present must be declared. the device on the field bus that it belongs to must be declared the physical position on the device it corresponds to must be declared if it is an analogical I/O point, the full scale value must be declared.

Each of the above-mentioned types is matched to a system variable that contains the configuration for each point: $CIO_DIN $CIO_DOUT $CIO_GIN $CIO_GOUT $CIO_AIN $CIO_AOUT $CIO_FMI $CIO_FMO For example: $DOUT[17] will have its configuration contained in $CIO_DOUT[17,1..6]. To configure the I/O ports, use either the IO_TOOL Program - I/O Configuration in VP2 or the IO_INST Program - I/O configuration. To configure the Fieldbus on which I/Os are later mapped, use the FB_TOOL program for configuration of Fieldbus.

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Hints for the I/O software configuration Each $CIO_DIN/DOUT/AIN/AOUT element is structured as follows:

Tab. 14.13Pos. array [1]

$CIO_DIN/DOUT/AIN/AOUT/FMI/FMO structure

Bit 2..1 Configuration options

Description

Can assume the following significances: 0 - I/O point not configured 1 - Physical I/O point 2 - Virtual I/O point. Reserved. Type of fieldbus where this I/O point is installed: 0 - None 1 - CAN Bus 2 - Profibus-DP Master 3 - Profibus-DP Slave 4 - DeviceNet Master 5 - DeviceNet Slave 6 - Interbus-S Master 7 - Interbus-S Slave 8 - DSA CPU 9 - Reserved Reserved. Only for $SDOUT. A PDL2 program can write. Only for retentive $DOUT / $AOUT. Reserved. Reserved Only for $FMI/FMO. Indicates the number of bits to be taken from the data sequence in input (FMI) or in output (FMO). The index of the first bit is contained in the field [3] from bit 17 to bit 32. Minimum value is 1, maximum 32. Reserved. Index: contains the index of the I/O point being configured. Usually it coincides with the $CIO_xxx index, even if there is no logic relationship.

8..3 12..9

13 14 15 16 23..17 30..24

32..31 [2] -

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Tab. 14.13Pos. array [3]

$CIO_DIN/DOUT/AIN/AOUT/FMI/FMO structure (Continued)

Description Bus declaration: in this element the data is declared that regards the specific Bus. For each type of bus this field has a specific value: Index of node in $FBP_TBL[ ].FB_MA_SLVS[<index>,...]. In fact, this identifies the device that this I/O point belongs to Index of FBP where the master is installed that controls the node this I/O point belongs to Index of physical bit in the sequence of data that belongs to the node. Reserved. Index of FBP where the slave is installed that this I/O point belongs to. Index of physical bit in the sequence of data that belongs to the node. Index of node in $FBP_TBL[ ].FB_MA_SLVS[<index>,...]. In fact, this identifies the device that this I/O point belongs to. Index (4) of $FBP_TBL table reserved for the CAN Net Master. Index of the physical bit in the sequence of data belonging to the node. Virtual value: if the I/O point is a virtual point, this is the value 0..1 that the point assumes when the system starts. Reserved. Reserved

Bit -

Valid for Profibus Master, DeviceNet Master, Interbus Master 8..1 16..9 32..17

Valid for Profibus Slave, DeviceNet Slave, Interbus Slave 8..1 16..9 32.17

Valid for Can Bus Digital I/O 8..1 16..9 32..17 [4] [5] [6] -

The input and output groups may consist of one or two homogeneous groups of contiguous digital I/O points. The size of a group is 16 bits. For example:

$GIN[3]

$DIN[11..2]

$DIN[29..23]

Each $CIO_GIN/GOUT element is structured in the following manner:

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Tab. 14.14Pos. array [1] Bit 8..1

$CIO_GIN/GOUT structure
Description Group index. The group index does not necessarily coincide with the $CIO_GIN/GOUT index. Type of I/O digital points that are part of the group. For input groups, code 1 has to be set for the $DINs, for the output groups code 2 has to be set for the $DOUTs. For retentive $GOUT. Reserved. Number of digital points that are part of the first group. Number of digital points that are part of the second group. Starting index of the first I/O point that is part of the first group. Starting index of the first I/O point that is part of the second group

14..9

15 16 24..17 32..25 [2] 16..1 32..17

In the example, the size of the first group is 6 (from 23 to 29), the size of the second group is 10 (from 2 to 11), the starting index of the first group is 23, the starting index of the second group is 2, the type of group is $DIN, therefore 1, the group index is 3: $CIO_GIN[1,1] := 0x0A060103 $CIO_GIN[1,2] := 0x00020017

14.3.2

Configuration of Command Word from remote

The system has 16 input bits and 16 output bits available to control the system in AUTOMATIC/REMOTE condition. Generally the input command word is a command from the PLC to the controller, whereas the output command word is a status of the controller to the line PLC. The input and output command word must belong to an internal slave. The first 16 bits of data in input to the controller are reserved for the input command word, whereas in output from the controller the first 16 bits are reserved for the output command word. There are two system variables that can connect each bit of the command word to the system inputs group, $SDIN to the system outputs group $SDOUT. The variables are: $SYS_INP_MAP[1..16,1..2] for inputs $SYS_OUT_MAP[1..16,1..2] for outputs

16

15

14

13

12

11

10

$SYS_INP_MAP[16,xxx]

$SYS_INP_MAP[1,xxx]
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Hints for the I/O software configuration The structure is as follows:

Tab. 14.15Pos. array [1] Bit

$SDIN / $SDOUT structure

Description Index of $SDIN or $SDOUT matched to the command word bit. If set to 1, it indicates whether port $SDIN/$SDOUT is to be inverted in copy phase. Reserved. Reserved. Type of port. It must be set to 1 for $DIN, 2 for $DOUT, 9 for $SDIN, 10 for $SDOUT. Reserved.

16..1 17 32..18

[2]

8..1 16..9

32..17

For $SYS_INP_MAP where $SDIN is used, the range of allowed indexes is from 145 to 154 that are the system inputs reserved for remote interfacing. The internal slave that imports/exports the data from and for the command words is declared primary slave. Therefore when configuring the primary slave it must be explicitly declared that it is to handle the system command words (1 in input and 1 in output). Since the command word is composed of 16 bits, 2 bytes, they are to be cumulated to the number of user bytes to be transferred. Some examples: Primary interface + 4 user bytes. This means that the internal slave will transfer from and to the PLC, 6 bytes in input and 6 bytes in output. Primary interface + 14 user bytes. This means that the internal slave will transfer from and to the PLC, 16 bytes in input and 16 bytes in output. If the PLC is configured to WORD, it will therefore exchange 8+8 words with the C4G controller.

Since the association is free between the position of the bit in the command word and the $SDIN/SDOUT indexes, the user can freely construct the profile of the command word.

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Hints for the I/O software configuration The C4G system proposes its profile for compatibility with the C3G controller that couples:

Tab. 14.16-

C4G comparison with C3G

C3G Signal

C4G Input $SYS_INP_MAP[1,...] $SYS_INP_MAP[2,...] $SYS_INP_MAP[3,...] $SYS_INP_MAP[4,...] $SYS_INP_MAP[5,...] $SYS_INP_MAP[6,...] $SYS_INP_MAP[7,...] $SYS_INP_MAP[8,...] $SYS_INP_MAP[9,...] $SYS_INP_MAP[10,...] Output $SYS_OUT_MAP[1,...] $SYS_OUT_MAP[2,...] $SYS_OUT_MAP[3,...] $SYS_OUT_MAP[4,...] $SYS_OUT_MAP[5,...] $SYS_OUT_MAP[6,...] $SYS_OUT_MAP[7,...] $SYS_OUT_MAP[8,...] $SYS_OUT_MAP[9,...] $SYS_OUT_MAP[16,...]

$SDIN[145] $SDIN[146] $SDIN[147] $SDIN[148] $SDIN[149] $SDIN[150] $SDIN[151] $SDIN[152] $SDIN[153] $SDIN[154] $SDOUT[145] $SDOUT[146] $SDOUT[147] $SDOUT[148] $SDOUT[149] $SDOUT[150] $SDOUT[151] $SDOUT[152] $SDOUT[153] $SDOUT[160]

Drive ON Not drive off Start Not Hold U1 U2 U3 U4 Cancel Alarm Safety Speed Not Alarm Drives-on / not drives-off Start / not hold in running Remote Teach enable (DRI.ON+T1/T2) U1 U2 U3 U4 Heart Bit

In practice, the system proposes a profile 1:1 between the position of the bits in the command word and the sequence of the $SDIN/$SDOUT starting from index 145. To know the significance of the $SDIN/$SDOUT see the PDL2 manual.

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14.3.3

I/O point status

An I/O point, when created, can be declared as: physical, i.e. an actual external image exists virtual, i.e. an actual external image does not exist. The I/O point is only an image in the memory.

In its turn a physical I/O point can assume the status: Normal Status Forced Status Simulated Status

The normal status corresponds to normal management of the I/O point. Its logic image in input is updated according to the actual external image and its actual image in output is updated according to the value that its logic image assumes. Therefore it is not generally possible to write a value on an input in its normal state. The status of an I/O point can be changed using the commands from the robot controller menu, or by recalling them through the opportune SYS_CALL() from PDL2. If an input forced status is set, regardless of its physical image value, the value read is that to which the input has been forced. If an output forced status is set, its physical image will be set to the forced value and any access from PDL2 will not change the physical image. If an input simulated status is set, it is as if there were the disconnection of the connection with the updating of its physical image. Thus the input assumes the value it was assigned when its status was changed. Since the physical updating is 'disconnected' it is now possible to assign a value to the input, through PDL2. In this case, it changes its image to all effects. If an output simulated status is set, it is as if there were the disconnection of the connection with the updating of its physical image. Its physical image is, so to say, frozen at the value that it had just before the change of status, whereas its logic image assumes the current value set by command or by PDL2. The read value is the logic image. The forced and simulated states do not reciprocally exclude each other and they can co-exist together.

14.3.4

Copying I/O points

The system integrates a copying mechanism to transfer the value of an I/O point to another without the need of a PDL2 program to make the copy. It is therefore an automatic mechanism. The copying frequency is 10 msec. To have the mechanism operational the following system variable has been provided: $CIO_CROSS[1..64,1..6] It is possible to copy 64 items. The variable structure is:

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Tab. 14.17- $CIO_CROSS structure

Pos. array [1] [2] Bit 25 Operation If set to 1, the copy operation is to be made inverted. Type of source port: $DIN 1 /*DIG*/ $DOUT 2 /*DIG*/ $GIN 3 /*AN*/ $GOUT 4 /*AN*/ $AIN 5 /*AN*/ $AOUT 6 /*AN*/ $BIT 7 /*DIG*/ $WORD 8 /*AN*/ $SDIN 9 /*DIG*/ $SDOUT 10 /*DIG*/ $FDIN 11 /*DIG*/ $FDOUT 12 /*DIG*/ 16..1 24..17 32..25 [4] [5] 16..1 24..17 32..25 Source port index: Port index. Position of bit 1..16. Reserved. Type of destination port Destination port index Port index. Position of bit 1..16. Reserved. Description

[3]

If the destination foresees a digital input, it is necessary that this has been declared virtual or is simulated, otherwise the operation is not possible. Analog values can be copied between each other, and the same applies for digital values. It is possible to assign a bit with an analog value (e.g. bit 3 of $WORD[100]) to a digital value, and also to assign a digital value to an analog value bit (e.g. $DOUT[24] := BIT_TEST($WORD[100],12,ON) It is not possible to use as a destination a $AIN/$FDIN/$GIN/$SDIN/$FDOUT/$SDOUT.

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Tab. 14.18- Destinations that ARE / ARE NOT allowed

Source

SDOUT

FDOUT

DOUT

GOUT

AOUT

WORD

SDIN

FDIN

DIN

GIN

AIN

BIT

OUT

FMI N N N N N N N N N N N N N N Y Y

DIN DOUT GIN GOUT AIN AOUT Destination BIT WORD SDIN SDOUT FDIN FDOUT IN OUT FMI FMO

Y Y N N N N Y Y N N N N Y Y Y Y

Y Y N N N N Y Y N N N N Y Y Y Y

Y Y N Y N N N Y N N N N Y Y Y Y

Y Y N N N N N Y N N N N Y Y Y Y

N N Y Y N Y N N N N N N N N Y Y

N N Y Y N Y N N N N N N N N Y Y

Y Y N N N N Y Y N N N N Y Y Y Y

Y Y N N N N Y Y N N N N Y Y Y Y

Y Y N N N N Y Y N N N N Y Y Y Y

Y Y N N N N Y Y N N N N Y Y Y Y

Y Y N N N N Y Y N N N N N N Y Y

Y Y N N N N Y Y N N N N N N Y Y

Y Y N N N N Y Y N N N N Y Y Y Y

Y Y N N N N Y Y N N N N Y Y Y Y

Example: PROGRAM ccross NOHOLD VAR i : INTEGER NOSAVE ROUTINE ru_cio_set(ai_entry, ai_src_port, ai_src_index, ai_src_bit, ai_dst_port, ai_dst_index, ai_dst_bit : INTEGER; ab_negate :BOOLEAN) BEGIN $CIO_CROSS[ai_entry, 1] := 0 $CIO_CROSS[ai_entry, 6] := 0 IF ab_negate THEN BIT_SET($CIO_CROSS[ai_entry, 1], 25) ELSE BIT_CLEAR($CIO_CROSS[ai_entry, 1], 25) ENDIF $CIO_CROSS[ai_entry, 2] := ai_src_port $CIO_CROSS[ai_entry, 3] := ai_src_index OR (ai_src_bit SHL 16) $CIO_CROSS[ai_entry, 4] := ai_dst_port $CIO_CROSS[ai_entry, 5] := ai_dst_index OR (ai_dst_bit SHL 16) END ru_cio_set

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FMO N N N N N N N N N N N N N N Y Y

IN

Hints for the I/O software configuration

BEGIN FOR i := 0 TO 15 DO -- $WORD[200+I] := $WORD[100+I] ru_cio_set(i + 1, 8, 100 + i, 0, 8, 200 + i, 0, FALSE) ENDFOR FOR i := 16 TO 23 DO -- $DIN[1..8] := bit_test($WORD[100+I],I,ON) ru_cio_set(i + 1, 8, 100 + i, i - 15, 1, i - 15, 0, FALSE) ENDFOR FOR i := 24 TO 31 DO -- $DOUT[1..8] := bit_test($WORD[100+I],I,ON) ru_cio_set(i + 1, 8, 100 + i, i - 23, 2, i - 23, 0, FALSE) ENDFOR FOR i := 32 TO 47 DO -- $WORD[200+I] := $WORD[100+I] ru_cio_set(i + 1, 8, 100 + i, 0, 8, 200 + i, 0, FALSE) ENDFOR FOR i := 48 TO 63 DO -- IF BIT_TEST($WORD[100+I],I,ON) THEN -BIT_SET($WORD[200+I],I) -- ELSE -BIT_CLEAR($WORD[200+I],I) -- ENDIF ru_cio_set(i + 1, 8, 100 + i, i - 47, 8, 200 + i, i - 47, FALSE) ENDFOR END cross

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14.4 Dynamic connection and disconnection method for a Field Bus network node
The Control Unit can manage the dynamic connection and disconnection of a node when it is the Master channel of its field bus board that controls the slave nodes. Field buses with DeviceNet and Profibus-DP protocol allow the removal of a node in any position of the network, whereas the removal of a node with Interbus-S protocol excludes all the nodes downstream of the one removed. The Master channel configuration requires: 4 consecutive words for the configuration of the Command Words 4 consecutive words for the configuration of the Status Words.

14.4.1

Command Words
To send commands to the network, the Master channel uses 4 consecutive command words. During the configuration the index of the first word is required, the others are assigned automatically. To configure the I/O ports, use either the IO_TOOL Program - I/O Configuration in VP2 or the IO_INST Program - I/O configuration. To configure the Fieldbus on which I/Os are later mapped, use the FB_TOOL program for configuration of Fieldbus.

Tab. 14.19- Command Words used for the dynamic connection and disconnection of the node
Word Use Bits used Bit 1: Start communication Bit 2: Stop communication Bit 3: Reset node (valid on DeviceNet or CAN Bus) Bit 4: Start node Bit 5: Stop node Bit 6: Reset alarms on all network nodes (valid on Interbus-S) Bit 7..16: Reserved -

Type of command requested, typically referred to the node indicated in the IV word

II III IV

The command in execution can be viewed The command can be viewed after execution Node logic address to which the command is to be sent

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14.4.2

Status Words
To know the status of a node, the Master channel uses 4 consecutive words. During the configuration the index of the first word is required, the others are assigned automatically. To configure the I/O ports, use either the IO_TOOL Program - I/O Configuration in VP2 or the IO_INST Program - I/O configuration. To configure the Fieldbus on which I/Os are later mapped, use the FB_TOOL program for configuration of Fieldbus.

Tab. 14.20- Status words used to know the status of a node

Word Use Bits used Bit 1..4: Reserved Bit 5: If at 1, the master is active and manages the network I/Os Bit 6: If at 1, master successfully configured. Bit 7..16: Reserved

Master status

II

Error code generated by a command that has not been executed correctly by the master: 48653: Master network already active 48654: Master network already stopped 48655: Impossible to reset the node 48656: Node already connected 48657: Node already removed from the network Status of nodes with logic address from 1 to 16. Each bit identifies the status of a node: False (0) = node disconnected True (1) = node connected. Status of nodes with logic address from 17 to 32. Each bit identifies the status of a node: False (0) = node disconnected True (1) = node connected.

III

Bit 1: Status of logic node 1 Bit 2: Status of logic node 2 Bit 3: Status of logic node 3 Bit 4: Status of logic node 4 ..... Bit 16: Status of logic node 16 Bit 1: Status of logic node 17 Bit 2: Status of logic node 18 Bit 3: Status of logic node 19 Bit 4: Status of logic node 20 ..... Bit 16: Status of logic node 32

IV

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14.4.3

Node connection procedure

Step 1

Step 1

Enter the logic address in the variable: $WORD[$FBP_TBL[idx*].FB_MA_INIT[5] + 3]

Step 2 Reset stop node Set start node

BIT_CLEAR($WORD[$FBP_TBL[idx*].FB_MA_INIT[5]], 5)

Step 2

BIT_SET($WORD[$FBP_TBL[idx*].FB_MA_INIT[5]], 4)

Step 3 Wait for the status of the connected node (through the network status bit mask) if the logic address of the node is < 17 $WORD[$FBP_TBL[idx*].FB_MA_INIT[6] + 2] if the logic address of the node is> 16 $WORD[$FBP_TBL[idx*].FB_MA_INIT[6] + 3] Step 5: Connection has taken place successfully.

Step 3

N
Reset start node:

Step 5

BIT_CLEAR($WORD[$FBP_TBL[idx*].FB_MA_INIT[5]], 4)

End

Reset start node in the word of the commands executed: BIT_CLEAR($WORD[$FBP_TBL[idx*].FB_MA_INIT[5]+2], 4) Reset address of logic node: $WORD[$FBP_TBL[idx*].FB_MA_INIT[5] + 3] Step 4 Wait: The value of the errors word is not 0 (the master has generated an anomaly during the connection) TIME-OUT (can be set by the user) Step 6: Connection has not taken place

Step 4

N Step 6

Reset start node: Reset start node in the word of the commands executed: Reset address of logic node:

BIT_CLEAR($WORD[$FBP_TBL[idx*].FB_MA_INIT[5]], 4)

BIT_CLEAR($WORD[$FBP_TBL[idx*].FB_MA_INIT[5]+2], 4) $WORD[$FBP_TBL[idx*].FB_MA_INIT[5] + 3]

* idx: ai_board_idx that is to say, the number of the board according to the position occupied in the RPU module slot.

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14.4.4

Node disconnection procedure

Step 1

Step 1

Enter the logic address in the variable: $WORD[$FBP_TBL[idx*].FB_MA_INIT[5] + 3]

Step 2 Reset start node Set stop node

BIT_CLEAR($WORD[$FBP_TBL[idx*].FB_MA_INIT[5]], 4)

Step 2

BIT_SET($WORD[$FBP_TBL[idx*].FB_MA_INIT[5]], 5)

Step 3 Wait for the status of the disconnected node (through the network status bit mask) if the logic address of the node is < 17 $WORD[$FBP_TBL[idx*].FB_MA_INIT[6] + 2] if the logic address of the node is > 16 $WORD[$FBP_TBL[idx*].FB_MA_INIT[6] + 3] Step 5: Connection has taken place successfully.

Step 3

N
Reset stop node:

Step 5

BIT_CLEAR($WORD[$FBP_TBL[idx*].FB_MA_INIT[5]], 5)

End

Reset stop node in the word of the commands executed: BIT_CLEAR($WORD[$FBP_TBL[idx*].FB_MA_INIT[5]+2], 5) Reset address of logic node: $WORD[$FBP_TBL[idx*].FB_MA_INIT[5] + 3] Step 4 Wait: The value of the errors word is not 0 (the master has generated an anomaly during the connection) TIME-OUT can be set by the user) Step 6: Connection has not taken place

Step 4

N Step 6

Reset stop node Reset stop node in the word of the commands executed: Reset address of logic node:

BIT_CLEAR($WORD[$FBP_TBL[idx*].FB_MA_INIT[5]], 4)

BIT_CLEAR($WORD[$FBP_TBL[idx*].FB_MA_INIT[5]+2], 4) $WORD[$FBP_TBL[idx*].FB_MA_INIT[5] + 3]

* idx: ai_board_idx that is to say, the number of the board according to the position occupied in the RPU module slot

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15.

PLC SOFTWARE CONFIGURATION AND USE (OPTIONAL FEATURE)

15.1 Glossary
Resource - PLC program. Target - environment in which the PLC resource is executed: in simulation from Workbench it is the PC; in practice it is the C4G Control Unit. POU - PLC resources: program function function blocks

15.2 Introduction
The PLC environment consists of two types of software: integrated development environment (Workbench ISaGRAF) on PC, to write and test PLC type programs run-time environment on the C4G Control Unit, to run PLC type programs.

The PLC software is an OPTIONAL FEATURE. To be able to use it, it is necessary to have: Workbench ISaGRAF (software package and hardware key) software run-time on C4G (run-time licence and enabled software option) This chapter describes all the operations required to use the existing PLC programs on the C4G Control Unit The following subjects are dealt with: Workbench configuration to map the C4G Controller I/Os PLC resource creation Debug mode PLC resource download and upload Management of PLC software on the C4G Control Unit

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15.3 Workbench configuration to map the C4G Controller I/Os

To allow a PLC resource to use the C4G Controller I/O points, it is necessary to operate as described in the paragraphs that follow: Import of C4G Robot Control Unit information Setting the information required for a project I/O Wiring with C4G Control Unit I/O points

15.3.1

Import of C4G Robot Control Unit information

a. Decompress the compressed file (in executable format) containing the files with the information on the C4G I/Os in a directory on your PC (TARGET_C4G.ZIP) import the description of the I/Os, as indicated in Fig. 15.1 - Import I/O description:

b.

Fig. 15.1 - Import I/O description

c.

Select the VXW_TARGET_COMAU_L_ALL.TXT file in the directory where the files have been decompressed (see Fig. 15.2 - Select the VXW_TARGET_COMAU_L_ALL.TXT file):

Fig. 15.2 - Select the VXW_TARGET_COMAU_L_ALL.TXT file

d.

press the icon associated to the Link architecture environment to have access to the environment. select the resource and press on the window title with the mouse right-hand key: select the Properties item (see Fig. 15.3 - Properties):
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Fig. 15.3 - Properties

f. g.

choose the Target/Code sub-page, shown in Fig. 15.4 (label highlighted in yellow) select COMAU_C4G for the Target field (highlighted in red in Fig. 15.4)

Fig. 15.4 - Target/Code

15.3.1.1

Symbols set-up to be included in a resource

h. To use the Workbench to debug the PLC resource, press Options. (highlighted in green in Fig. 15.4) select Complete Table (highlighted in blue in Fig. 15.12) and press OK to confirm.

i.

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Fig. 15.5 - Complete Table

j. j.1 j.2

appropriately set all the fields of the screen page in Fig. 15.4 - Target/Code: Do NOT select the Code for simulation field select the following fields: TIC code Embed Symbol Table Embed Zip Source press OK to confirm.

j.3

15.3.2

Setting the information required for a project

To be able to fully interact with the C4G certain options have to be set. The following procedures are described: TCP/IP network configuration Setting the symbols to include in a resource Setting a configuration cycle time

15.3.2.1

TCP/IP network configuration

Communication between Workbench and C4G is exclusively via the TCP/IP network. For this purpose the settings described in the following points have to be executed: a. press the icon associated to the Link architecture environment to have access to the environment Select the resource and press on the window title with the mouse right-hand key: select the Properties item (see Fig. 15.3 - Properties) select ETCP as Network, and set the value 10000 as TimeOut: (see Fig. 15.6 - Network):

b.

c.

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Fig. 15.6 - Network

d.

press the icon associated to the Hardware architecture environment to have access to the environment press the mouse right-hand key in an area of the environment where there is no configuration present and choose Insert Network: (see Fig. 15.7 - Insert Network):

e.

Fig. 15.7 - Insert Network

f.

choose ETCP as Network (see Fig. 15.8 - ETCP) and press OK:

Fig. 15.8 - ETCP

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PLC software configuration and use (optional feature) g. with the left-hand key press on bus ETCP, and keep pressed

and extend the connection created toward the configuration: (see Fig. 15.9 - Connection):

Fig. 15.9 - Connection

h.

If the connection has been successful, for the IPAddress, insert the IP address of the C4G where the optional function of Software PLC is to be used (as shown in Fig. 15.10 - IP address) and press OK:

Fig. 15.10 - IP address

15.3.2.2

Setting the symbols to include in a resource

In order to use the Workbench to debug the PLC program, the following operations are to be performed: a. press the icon associated to the Link architecture environment to have access to the environment select the resource and press on the window title with the mouse right-hand key: select the Properties item (see Fig. 15.3 - Properties) tick the items as shown in Fig. 15.11 - Set symbols:

b.

c.

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Fig. 15.11 - Set symbols

d.

press Options.. and select Complete Table(as shown in Fig. 15.12 - Complete Table); then press OK.

Fig. 15.12 - Complete Table

15.3.2.3

Setting a configuration cycle time

The C4G Control Unit has an I/O refresh time of 10ms: as a consequence, the cycle time resolution of a PLC resource is the same time. If the user sets a value that is not a multiple of 10ms, the C4G will automatically correct the inserted cycle time to the higher integer multiple of 10ms.

15.3.3

I/O Wiring with C4G Control Unit I/O points

The C4G I/O ports can be distinguished in two types: input or output. In the case of C4G input ports ($DIN, $IN, $GIN, $AIN and $SDIN), a device has been created for each one that allows access to a certain type of port. In the case of C4G output ports ($DOUT,$GOUT, $AOUT) or generic ports ($BIT and $WORD), it has to be assessed whether this port is to be read or is to be written: to read,

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PLC software configuration and use (optional feature) the associated device has the prefix R_; otherwise it is W_. There are also privileged read only C4G ports ($OUT and $SDOUT), for these, the notes for the C4G output ports apply. Tab. 15.1 - Correlation between I/O and devices summarises the correlation between C4G I/O ports and the Workbench device.

Tab. 15.1 - Correlation between I/O and devices

C4G port $AIN $AOUT $AOUT $BIT $BIT $DIN $DOUT $DOUT $FDIN $FDOUT $FDOUT $GIN $GOUT $GOUT $IN $OUT $SDIN $SDOUT $WORD $WORD Read Read Write Read Write Read Read Write Read Write Read Read Read Write Read Read Read Read Read Write Access Type IEC 61131 DINT DINT DINT BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL DINT DINT DINT BOOL BOOL BOOL BOOL DINT DINT AIN R_AOUT W_AOUT R_BIT W_BIT R_BIT R_DOUT W_DOUT R_FDIN W_FDOUT R_FDOUT GIN R_GOUT W_GOUT IN R_OUT SDIN R_SDOUT R_WORD W_WORD Device ISaGRAF

(*) Only available on system software versions 2.53 and 2.48, and later.

Important: a device implemented on the C4G is an interval of contiguous ports of the same type, that share the same options between them.

A detailed description follows of the procedures for: Wiring a variable with read access to a C4G port Wiring a variable with write access to a C4G port

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15.3.3.1

Wiring a variable with read access to a C4G port

An example below illustrates how to associate a $BIT port to a BOOL type variable; the procedure is the same for any port with read access. a. Press the icon associated to the I/O Wiring environment to have access to the environment press the icon associated to the Add Device command to add a category of ports; if the project for the dialogue with the C4G Control Unit has been configured correctly, the window shown in Fig. 15.13 - Add device - in will open:

b.

Fig. 15.13 - Add device - in

c.

select drv_c4g: rbit: R_BIT(* *), insert the number of channels belonging to the device (in this case 2) in Number of channels and press OK in the Unwired variables window, the BOOL type variables that have not yet been connected to a physical port will be shown, with Read attribute and Direction: Input, inserted in the Dictionary environment (see Fig. 15.14 - Unwired variables - in:)

d.

Fig. 15.14 - Unwired variables - in

e.

therefore a device will be available with two channels mapped on $BIT in read; it is then necessary to configure the device. A read device has a Start parameter, that determines the starting point for a certain category of C4G ports, starting from which the device involved is mapped. In this example the device configuration is opened with a double click on the tree structures until the Start: parameter is displayed (see Fig. 15.15 - Start - in):

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Fig. 15.15 - Start - in

f.

by default the Start parameter is set to 1 (which means it is assumed that The device we are configuring will be mapped on $BIT[1] and on $BIT[2]"); if it is wished to change the value, click twice on Start and enter the required value in the window that is shown in Fig. 15.16 - Change value - in:

Fig. 15.16 - Change value - in

g.

after configuring the device as required, pass to the association as described in the ISaGRAF Workbench manual.

15.3.3.2

Wiring a variable with write access to a C4G port

An example is shown to describe how to associate a $DOUT port to a BOOL type variable; the procedure is the same for any port with write access: a. press the icon associated to the I/O Wiring environment to have access to the environment press the icon associated to the Add Device command to add a category of ports; if the project for the dialogue with the C4G Control Unit has been configured correctly, the window shown in Fig. 15.17 - Add Device - out will open:

b.

Fig. 15.17 - Add Device - out

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PLC software configuration and use (optional feature) c. select drv_c4g: woodcut: W_DOUT(* *) and press OK; insert the number of channels belonging to the device (in this case 1) in Number of channels and press OK in the Unwired variables window (see Fig. 15.18 - Unwired variables - out) the BOOL type variables that have not yet been connected to a physical port will be shown, with Write attribute and Direction: Output, inserted in the Dictionary environment.

d.

Fig. 15.18 - Unwired variables - out

e.

therefore a device will be available with one channel mapped on $DOUT in write; it is then necessary to configure the device. A write device has a Start parameter, that determines the starting point for a certain category of C4G ports, starting from which the device involved is mapped. In this example the device configuration is opened with a double click on the tree structures until the Start: parameter is displayed (as shown in Fig. 15.19 - Start - out):

Fig. 15.19 - Start - out

f.

by default the Start parameter is set to 1 (which means it is assumed that The device we are configuring will be mapped on $DOUT[1]); if it is wished to change the value, click twice on Start and enter the required value in the window that is shown in Fig. 15.20 - Change value - out:

Fig. 15.20 - Change value - out

g.

for the output ports there is a second parameter that can be set by the user, this is the Hold parameter. If it is set to TRUE, when the PLC resource deactivates, the output will be held at the last value it assumed; otherwise the output port will be reset. after configuring the device as required, pass to the association as described in the ISaGRAF Workbench manual.

h.

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15.4 PLC resource creation

ISaGRAF Workbench allows the User to create PLC resource by using the language which better fits to his needs. It supports all of the standard IEC 61131-3 languages, such as: SFC Sequential Function Chart - it divides the process cycle into a number of well-defined steps, separated by transitions. The other languages are used to describe the actions performed within the steps and the logical conditions for the transitions. Parallel processes can easily be described using SFC. FBD Function Block Diagram - it is a graphical language which allows the User to build complex procedures by taking existing function blocks from the ISaGRAF Library, and wiring them together on screen. LD Ladder Diagram - it is one of the most familiar methods of representing logical equations and simple actions. Contacts represent input arguments, and coils represent output results. ISaGRAFs LD editor provides the best compromise between high-level graphic capabilities and easy-to-use programming. ST Structured Text - it is a high level structured Pascal-like language, but more intuitive to the automation engineer. It is primarily useful to implement complex procedures that cannot be easily expressed with graphical languages. IL Instruction List - it is a low-level Boolean language, similar to the simple textual PLC languages, at the register level. FC Flow Chart - it is an easy-to-read decision diagram where actions are organized in a graphic flow controlled by binary decisions. Actions and tests can be programmed in LD, ST or IL.

Additionally, for ultimate power and flexibility, the Workbench supports C user programs written respecting some rules. ISaGRAF Library In addition to the IEC 61131-3 standard languages and flow chart, the ISaGRAF Workbench includes a library with more than 60 ready-to-use function blocks. For further information, please refer to the ISaGRAF Workbench Manual (either on Workbench CD or on www.isagraf.com site).

15.5 Debug mode

This paragraph describes the Debug mode of the PLC resource that runs on the C4G Control Unit, through ISaGRA Workbench on PC. With the Debug mode the user can monitor the PLC resource that is running on the C4G Controller, observing the value of the variables, the flow of the resources, the execution speed, etc. from PC.
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PLC software configuration and use (optional feature) In this mode it is also possible to control the resource directly from the PC, connected via the network to the robot controller. Commands available Debug mode activation. Resource control from Workbench. Inhibited commands PLC software modifications on-line

15.5.1

Commands available
Start: runs the execution of the resource. Stop: stops the execution of the resource. Start from Code saved on Target: runs the execution of the resource from the code in the Target memory Clean Stored Code: removes the resource code from the Target memory. Diagnosis: accesses the Diagnostics window that displays general information and the state of the selected resource. Refresh Status: updates the resource status information on the Workbench status bar. Real Time/Cycle to Cycle: to pass from one mode to another for the resource execution on the Target: real time or continuous cycle and one cycle at a time. Execute one cycle: runs one cycle of the resource in Cycle to Cycle mode. Change Cycle timing: to change the cycle execution time of the resource.

15.5.2

Debug mode activation.

The procedure to activate and execute the Debug mode is as follows: a. Select the resource from Link Architecture or Hardware environment (the same as for Setting the symbols to include in a resource)

b.

From the workbench main menu select the Debug submenu, then select Debug from the list displayed:

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c.

the Debug mode is now active and the monitored resource is seen as follows:

Fig. 15.21 - Debug mode active

d.

the resource is seen in one of these states: READY: the resource is ready to receive commands. STOP: the resource is not running on the Target. RUN: the resource is running on the Target. To execute one of the Commands available.

e.

e.1 To run the execution of the resource, select the Start command from the Debug menu: the resource will be executed on the Target and its state will become RUN.

e.2 To stop the execution of the resource select the Stop command from the Debug menu: the resource will be stopped on the Target and its state will become STOP (as shown in Fig. 15.21). e.3 To execute the code installed on the target, select the Start command from Code saved On Target.

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PLC software configuration and use (optional feature) e.4 To delete the resource code from the Target memory, for example to reload it later after making changes, select the Clear Stored Code command e.5 To view the state of the resource that is on the Target and to monitor the value of some variables, select the Diagnosis command. e.6 To change the execution mode of the resource on the Target, while this is running, select the Real Time/Cycle to Cycle command. e.7 To run resource on the Target for one cycle only, first change the mode to Cycle To Cycle as described in step e.6, then select the Execute one Cycle command. e.8 To change the cycle execution time of the resource on the Target, select the Change Cycle Timing command. A Pop-up window will be displayed, where the new time value in seconds can be entered.

15.5.3

Resource control from Workbench.

With Debug mode the resource that is running on the Robot Control can be observed, but also and above all it can be controlled from a remote work station. Many of the commands that are available on the Target from the Program/Resplc menu are also in the PC side Debug mode. Generally, it is not necessary to interact with the same resource on the same robot controller from both sources at the same time. This means that it is possible to do so, but the consistency of the information of the resource on the robot controller with that which is displayed on the PC through Workbench is not always guaranteed. In some cases, since there is no mutual exclusion mechanism between these two possible command sources, it is the user who has to have the foresight to use only one source at a time. This type of approach could cause a condition like that shown below:

In practice, if the resource is to be monitored/controlled from PC, it is necessary to only interact with the Robot controller, and hence with the resource itself, only and exclusively through the Workbench commands.

15.5.4

Inhibited commands
At all times the ISaGRAF Workbench makes certain operations available only after specific action from the user. Thus, for example, if the Debug mode is activated, but the resource has not been

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PLC software configuration and use (optional feature) selected from the Link Architecture page, the commands Start, Stop, etc., cannot be selected because the application does not know on which resource it should act, in the case where there is more than one. The appearance of the resource changes when it is selected, as can be seen by the selection colour blue, in the resource item window.

The entire Workbench interface has been studied to work on more than one resource at a time, therefore each time it is wished to operate on one of them, it must first be selected. The same happens when, for example, the resource code is to be changed in the DGE editor: it may be that certain commands are not found, because the Debug mode has been activated, that automatically excludes the other. For further information, see the ISaGRAF Workbench manual, available off-line using the Help command from the Workbench main menu, or via Web, on the Altersys official site at the URL address: "http://www.isagraf.com".

15.5.5

PLC software modifications on-line

The PLC programs developed and complied to convert them in a single binary format by means of the Workbench, have to be transferred onto the C4G Control Unit, by TCP/IP from Workbench. During the control on the execution, the resource can be changed without the need to stop and start again from the beginning: this function is called MODIFICATION ON-LINE. On-line change command Example Operation successful Operation unsuccessful Modification On-line and Debug mode.

15.5.5.1

On-line change command

This command is only available via Workbench and only functions if the PLC resource to be changed on-line is running; if it is in stand-by, the command is not available. Therefore if a resource is running, it is possible to start from a certain situation in it, and make the modification; after the recompilation, it is possible to download on the C4G Control only the difference deltas between the previous and the current situations, thus speeding up the process and avoiding the interruption of the resource.execution.
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15.5.5.2

Example
a. On the Controller, a resource named TEST is running;

b.

the resource is sent into execution (with the related programs it contains) either from Workbench or from C4G (Start command);

c.

the required changes are made, using Workbench: these may be an addition / removal of a variable or a variation in the previous logic constructions; if there are no changes, upon Workbench updating it will state that it is not possible because it would be useless; press the pushbutton project; on the Workbench toolbar to regenerate the whole

d.

e.

select the resource from the Link Architecture or Hardware Architecture page.

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PLC software configuration and use (optional feature) f. Select the On-line change command from the Debug menu

g.

Press the pushbutton

on the Workbench toolbar to update

h. i.

on-line the resource and the programs correlated to it; choose the change mode from the three available (see next figure).

15.5.5.3

Operation successful

15.5.5.4

Operation unsuccessful
Possible problems: The On-line change command is not possible because no changes have been made to the resource to be updated. This situation occurs also when the resource has in effect been changed, but it has not been recompiled with the Project/Build Resource command. To solve this problem, recompile the resource correctly.

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The On-line change command is not possible because there is no communication with the Target. Proceed as described below:

a.

check that the IP address assigned to the configuration is in effect the same as that of the Controller to be reached. check that the PC and the Target are both connected to the network, and that both are reachable. check that the Target is on and functioning. check that in the resource properties, connection on ETCP has been selected, as follows

b.

c. d.

The Modification On-line functionality is not available because it is necessary to first load the complete project or just the resource. This request is usually due to a change made in the characteristics of the project involved, that, for example, has involved the property windows of the resource/configuration/project

The On-line change command is not possible because the Modification On-line functionality is not present. This error condition should never arise because, by default, this functionality is always present and activated on the C4G Controller. Should this happen, the problem lies in the use of a system software that does not support this functionality.

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PLC software configuration and use (optional feature) Solution: update the system software version if the Modification On-line functionality is to be enabled and call the On-line change command.

The On-line change command is not possible since the resource code that is running on the Controller is different to that on the PC, displayed in Workbench. The binary files do not correspond (CHECKSUM error). This condition can occur when a project configuration parameter has been changed on Workbench side, such as, for example, the target IP address on the network, or when the code versions of the resource on the Target and on the PC do not coincide. In this case the user has to use the Download command to reload the resource on the Target.

15.5.5.5

Modification On-line and Debug mode.

The functionality described so far represents a very useful and powerful tool, since it makes it possible to test the PLC resource directly in field. Each modification made to the resource code can be made immediately available and activated on the Controller, being able in this way to reach the best solution. In the meanwhile the resource continues to run undisturbed on the target. This functionality is only available when the resource is not being debugged on the Robot controller. This means that if the debug has been already activated from Workbench selecting Debug in the Debug menu, the resource cannot be changed from the editor environment, because the function keys are no longer enabled to insert new contacts/instructions. Nor is it possible to remove entire instructions or parts of them. In conclusion, a resource that has not been changed will not be updated on the target using the Modification On-Line functionality. To be able to make changes on a resource, the debug mode has to be stopped, if it has already been activated.

15.6 PLC resource download and upload

This paragraph describes the PLC resource loading mode from and to the ControllerC4G, using the ISaGRAF Workbench Download Upload

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PLC software configuration and use (optional feature)

15.6.1

Download
With this command a PLC resource can be loaded on the Robot controller from a PC connected on the network, to the Controller. This mode can be selected from the main menu of the Workbench, choosing Download. The following window is displayed:

Conditions required for the success of the operation. Available options

15.6.1.1

Conditions required for the success of the operation.

First the following conditions have to be met for this command: The code must first be generated through the project compilation or the single resource. This can be obtained using the Build commands in the main menu of Workbench. The PLC software option must be enabled on the Robot controller, so that the project configuration hander can receive the code. The PC, where the Workbench is installed, is to be connected to the Robot controller via the network, via ETCP-IP on Ethernet, that is the standard network used by ISaGRAF.

Every time a download operation is executed, the Workbench checks the consistency between the resource image on the Controller and that of the resource still to be loaded. It also checks the consistency of the resource configuration.

15.6.1.2

Available options
After the Download command has been selected, a selection window is opened that offers the following choices: Start after download, indicates that the PLC resource will be downloaded and then promptly executed on the Controller. Save after download, indicates that the resource code, after it has been loaded on the Controller, will be automatically saved in memory

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PLC software configuration and use (optional feature)

If no resource is selected from the selection window, the download command will be executed just the same, and the Workbench will indicate the success of the operation, even if nothing has actually been transferred. If, following the Start command, sent with Start after download or with the C4G system command ProgramResPLCActivate, the resource does not start, this means that at the moment of execution there has been an error displayed on the C4G controller, that, according to the importance, may have completely compromised the entire PLC software environment on the controller. An error of this type is always accompanied by the message 31756-12: Initialising of PLC system level failed (xxx) where xxx is the real origin of the problem, that can usually be traced to a wrong I/O configuration on the Robot controller. This means that the resource has been wrongly configured on the Workbench side, or there are errors in the logic of the resource.

15.6.2

Upload
The resource code can also be uploaded from the Controller, or from another project in the PC, where the Workbench is installed, or from any other host accessible via network. This process is called UPLOAD, and is divided into two distinct sub-processes: Import command Export command.

The description of these subjects follows: Import Utility

15.6.2.1

Import
The Import command can be selected from File in the main menu of Workbench, and when it is selected another pop-up menu is shown that contains two sub-items, both of which can be selected: PLC definition. Resource.

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PLC software configuration and use (optional feature) The use of PLC definition has already been widely dealt with in the par. 15.3.1 Import of C4G Robot Control Unit information on page 15-2, therefore we shall consider potential of the Import/Resource command. This command allows the user to import one or more PLC resources to his/her PC, in any ISaGRAF project, whether it is new or already existing, either from a target, such as the robot controller, or from another ISaGRAF project. In this way the user can have on his own PC the code of the resource that is running on a Robot controller, in particular the code of this resource and all its characteristics can be edited/ changed/ copied. After a PLC resource has been uploaded it can be integrated into another project, changed, compiled and loaded onto the same Robot controller or onto another that has the PC software. The selection of Resource, as follows, starts a guided procedure in which the user has to first choose where the resource is to be taken from, whether from a target in the network or from a project file. If taken from a target, the user is to make sure that his project on PC contains at least one configuration (a resource item on the Hardware Architecture page) with the same IP address selected, identical to the controller from which the code involved is to be imported. After this, the next step can be executed, in which the resources on the target that has been effectively reached in the network will be offered. After the resource involved has been selected, it can be loaded on the PC by pressing the Upload button.

At the end of the guided Upload procedure, the imported resource will be displayed in the current project, exactly as if it were created on the PC. In this condition the user can use it in exactly the same way as any other resource. If instead the user decides to upload the resource from another project, the guided procedure will ask the user to select the binary file of the resources of that project, from the tree structure of the directories and the files containing the selected host. The binary file has the extension .rxf.

If the binary file with this extension is not in the related folder of the project involved, this means that this is the first Export command for the resource (s) of that project that has been executed. In this condition it is necessary to: close the current project (A) open the project from which the resource (B) is to be uploaded select the resource involved and execute the Export command close project B reopen project A where the Import is to be made
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PLC software configuration and use (optional feature) After the file has been chosen, when the upload key is pressed, the resource will be automatically imported in the current project.

15.6.2.2

Utility
This functionality is one of the most powerful of Workbench, since it allows the recovery of the PLC resource code, so that it can be shared by several users and different projects in different PCs. It is important to underline that with this tool, it is not possible to import a complete project, but only the resource item

This implies that a resource takes with it also a configuration that represents the specific context in which it could be executed. In practice, it is recommended to always import and export resources from and to projects of the same type, i.e. having a configuration that unites them. If a resource is imported from a particular target with a particular configuration, in a project on a PC with a different configuration, the user will have to make changes to allow the management of this resource in a different context. For example, a resource that runs on a controller configured to use system 100 $DOUT cannot be compiled and thus managed in a project on a PC that does not provide at least all those I/O points. In conclusion, this method to copy resources and the possibility of their duplication on robot controllers is an alternative to that which is described in the par. 15.7.1.3 ISaGRAF binary files export on page 15-25, but is certainly more dynamic and flexible than the latter.

15.7 Management of PLC software on the C4G Control Unit

This section describes how the user can interact directly with the PLC resources, using a classical commands menu interface, currently available in WinC4G (on Personal Computer) and in TP-INT Page (on TP4i teach pendant). Management of binary ISaGRAF files in the C4G Control Unit System shutdown and restart with PLC program Resplc program menu commands Display Resplc command

15.7.1

Management of binary ISaGRAF files in the C4G Control Unit

The entire ISaGRAF environment created and configured off-line through the Workbench, consists of a variable number of binary files, that contain all the information related to the PLC program or programs. These files are of different types and sizes and do not have extensions.

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PLC software configuration and use (optional feature) The significance is as follows: ISPffe0d: hardware and ISaGRAF project configuration file. ISPxxx03: resources configuration file. IDSxxx01: resource symbols file. ISPxxx01: resource POUs file.

The xxx field identifies the resource by the number. For further information on the ISaGRAF binary files, see the documentation contained in the ISaGRAF Workbench manual. The Resplc folder Binary files management ISaGRAF binary files export

15.7.1.1

The Resplc folder

All the ISaGRAF binary files are saved (on C4G) in the Resplc system folder in UD:. This folder is created by default by the system, and any workbench that connects to the C4G Control Unit will always send the files to this memory location. From these files the system extracts all the information regarding the PLC programs, searching for them in this folder. This means that a different arrangement of these files on the C4G Control Unit, will have no effect on the PLC environment: this will be have in exactly the same way as if no resource were loaded.

15.7.1.2

Binary files management

These files are not to be edited and then modified in environments other than Workbench; therefore in the C4G Control Unit they must always be visible, and the user shall not change the name, the extension or the contents. Any action of this kind will jeopardise the correct PLC software management and therefore of the PLC program or programs, generating unexpected results caused by error conditions that, according to the damage caused, will not be recoverable except by the reloading of the entire PLC environment (binary files) and restarting the system.

15.7.1.3

ISaGRAF binary files export

The descriptions given in the previous section do not mean that the user cannot manage these files directly. As for any file, these files can be copied. Using the system commands for file management, i.e., FilerCopy, ISaGRAF binary files can be copied/moved from one Control Unit to another, also restoring the Resplc folder in the Control Unit that does not have it. This operation is very simple, but it must be remembered that each ISaGRAF project contains its own definition of the target on which it is to be loaded. This means that each PLC resource contained in the resource will refer to precise physical points of the C4G Control Unit, as described in par. 15.3.3 I/O Wiring with C4G Control Unit I/O points on page 15-7 of this chapter. It is therefore most important that the user is very careful when exporting ISaGRAF files from one C4G Control Unit to another, making sure that the I/O configuration is identical.

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PLC software configuration and use (optional feature) A transfer to a C4G Control Unit that does not have the same configuration could cause errors regarding the mapping of the inputs/outputs and it would not be possible to manage the PLC programs without first updating the configuration involved. Every export of ISaGRAF files from one Control Unit to another, in any case always requires a machine restart after the transfer has taken place, using the RestartCold command.

15.7.2

System shutdown and restart with PLC program

To restart the system after a shutdown, the PLC program is NOT automatically restored. This means that the user has to manage the restart acting at start-up level (see par. 6.16.6 Controller (CCS) on page 6-161 or par. 7.9.1.4 CONFIGURE CONTROLLER STARTUP (CCS) on page 7-17); in this way it is ensured that the PLC program will always be restarted automatically, both for restart cold and after a shutdown. If the start-up program does not exist (no program name in $STARTUP variable), proceed as follows: a. create a PDL2 program like the one indicated here PROGRAM start_myplc NOHOLD VAR power_up : BOOLEAN ROUTINE call_myplc BEGIN SYS_CALL('PRA', 'MYPLC') END call_myplc BEGIN call_myplc CONDITION[1] : WHEN POWERUP DO call_myplc ENDCONDITION ENABLE CONDITION[1] END start_myplc This program is only an example: if it is wished to customise it for different management of the POWERUP event, see Chapter 8 - CONDITION HANDLERS par.8.3.5 System Events, in PDL2 Programming Language manual b. enter the name of this program (start_myplc in the previous example) in the $STARTUP variable (see par. 6.16.6 Controller (CCS) on page 6-161 or par. 7.9.1.4 CONFIGURE CONTROLLER STARTUP (CCS) on page 7-17) save the new set-up.

c.

Otherwise, if a Startup program already exists, add the condition and its routine instructions to this program.

15.7.3

Resplc program menu commands

The C4G user can interact directly with the PLC program or programs loaded in the Control Unit, using the commands of the Resplc menu. (sent by Teach Pendant through
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PLC software configuration and use (optional feature) the TP-INT Page). This is a system sub-menu of the Program command. Fig. 15.22 contains the diagram relating to it:

Fig. 15.22 - Resplc sub-menu

A list follows of the commands belonging to this menu. For each of these, except for the Projdir, command, the user has to indicate as parameter the name of the resource to command. The current resource name is displayed by the help, which is always active. A detailed description is now given of all the Resplc menu commands: Activate Deactivate Restore Utility

15.7.3.0.1

Activate
With this command a PLC resource can be activated and run. The selected resource is not loaded in memory, the program is just started and the instructions are performed. There are two options available: Restart - re-starts the execution of a resource, regardless of its current mode. This option also acts on the memory, deleting and loading the image of the selected resource. Singlcan - sets the Cycle to Cycle mode to the selected resource. Forces the execution of one cycle only, for that resource. When the command containing this option is sent, the resource will be run and automatically stopped at the end of the cycle.

Every subsequent Activate command without this option will start the resource in run-time mode, which is the default for this command.

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PLC software configuration and use (optional feature)

15.7.3.0.2

Deactivate
This command is used to deactivate a PLC resource, stopping the execution. Furthermore, after stopping the instruction, it deletes the selected resource from the memory.

15.7.3.0.3

Restore
With this command the PLC resource can be loaded into memory. It is a fundamental action since it precludes the correct management of the resource. After a deactivation or before an activation, the Restore command must always be sent.

15.7.3.0.4

Utility
With this command access is obtained to the Resplc menu sub-menu, that contains other commands dedicated to the PLC environment, on the C4G Control Unit. These are: Projdir Save Unload View

Projdir
This command is used to enter the PLC project folder that is to be managed by the C4G Control Unit. With Projdir it is possible to select a folder that is not UD:\Resplc, which is the default folder. This command has been implemented to permit multi-project management. Since this first PLC software version is single-project, and above all, to avoid wrong and useless settings, its use will not at the moment have any effect and the PLC environment will always search for the ISaGRAF project files in the default folder.

Save
This file saves the code and configuration of the selected resource in the relevant ISaGRAF binary files It serves to make the changes made to a resource permanent, both regarding the code and the configuration (e.g.: cycle time) of the said resource.

Unload
This command is used to delete the image of the resource previously loaded in memory.

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PLC software configuration and use (optional feature) It is useful to delete resource information that has been stored previously, and then update the relevant image in the memory.

View
This command is used to view the information regarding the selected resource that is present in the C4G Control Unit. The information is displayed on the WINC4G system windows and on the TP-INT. Tab. 15.2 - Information displayed by View contains a detailed description of each one.

Tab. 15.2 - Information displayed by View

Information Resource name Project name Configuration name Project directory Resource number POUs number Resource file size Resource code type Resource mode displays the name of the resource displays the name of the project belonging to the resource displays the name of the configuration belonging to the resource displays the name of the C4G folder that contains the ISaGRAF binary files (for this first version it has to be UD:\Resplc\) displays the number of the selected resource displays the number of POUs in the project (programs+functions+function blocks) displays the dimension of the selected resource configuration binary file type of code of the selected resource mode of the selected resource. It may be one of the following: Mode No stored Stored Ready to Run Run in real time Run in cycle to cycle Run with breakpoint encountered Fatal error Cycle time Description No resource available Resource loaded Resource ready to be started Resource started in continuous cycle real-time mode Resource activated in cycle to cycle mode: one cycle execution Resource activated with at least one breakpoint Resource in fatal state Numeric value 0 1 2 3 4 5 -1 Description

Cycle time of the selected resource, in milliseconds

15.7.4

Display Resplc command

Besides the commands it is also possible to view, on the system display, the activated PLC resource, exactly like a common PDL2 program. The command to be used is DisplayResplc (blocks with yellow background):

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PLC software configuration and use (optional feature)

This command gives the following information:

Tab. 15.3 - Displayed information

Information Resource name Number Cycle time Cycles Curr. Time Max. Time State active resource name active resource number resource cycle time, in milliseconds number of cycles executed by the resources resource current execution time resource execution maximum time measured resource execution mode. This may be one of the following: 1. RUNNING RT resource in Run in real-time mode 2. RUNNING CC resource in Run in cycle-to-cycle mode 3. STOPPED RT resource in Stop in real-time mode 4. STOPPED CC resource in Stop in cycle-to-cycle mode Description

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