Comau RoboticsInstruction Handbook

C4G Software Manuals

C4G

CONTROL UNIT USESystem 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .XVSymbols used in the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XV

Reference documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVI

Modification History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVI

1. GENERAL SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..1.1Responsibilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1

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

2. OPERATOR PANEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..2.1Functions of Operator Panel devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1

Main switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.2Modal selector switch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.2Emergency stop pushbutton . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.3USB port (optional feature) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.4Hour meter (optional) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.4

3. USER INTERFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..3.1Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..4.1Foreword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.1

System power-on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.1

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

Ilb-rc-c4e-usoTOC.fm

Summary

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

User profile. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1Administrator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2Default . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3Programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3Maintenance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3Technology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3Summary table of access rights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3

Logout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.5Automatic Timed Logout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.5

6. USE OF THE TEACH PENDANT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6.1Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1

Keys, Pushbuttons and LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.2Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.2

Blue keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.3Black keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.5Other colours keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.10Alphanumeric keypad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.11Keys to switch on the WiTP wireless . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.13Keys to restart the Teach Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.14

Pushbuttons and LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.14

USB port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.16

Basic information for the use of WiTP wireless . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.16Pairing procedure between WiTP wireless Teach Pendant and C4G Control Unit . . . . . . . 6.17Unpairing between WiTP Teach Pendant and Control Unit . . . . . . . . . . . . . . . . . . . . . . . . . 6.21Emergency Unpairing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.22Restart with WiTP wireless. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.23Practical hints for the use of the WiTP wireless Teach Pendant . . . . . . . . . . . . . . . . . . . . . 6.24

Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.25Display areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.25

Status bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.25Messages bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.28Left Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.29Right Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.30Bottom Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.31Pages Area. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.32Execution of commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.32

User Interface Pages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.35General rules to navigate within the user interface and the field change. . . . . . . . . . . . . . . 6.36

Navigation Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.36Field Editing Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.37

Dialogue and information windows. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.41

Home Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.43Select language . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.43

IIlb-rc-c4e-usoTOC.fm

Summary

Login (SL) and Logout (SL/L). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.44Login. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.44Logout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.45

Restart. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.45Complete (CCRC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.46Shut-down (CCRS). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.46

Motion Page. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.47Basic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.47

Arm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.47COORD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.48Uframe, Tool, Base. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.49Current arm position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.49

Coop (optional feature) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.49AUX COOP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.50ARM COOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.51Coop Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.52AUX JOG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.52Jog Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.52ARM_LINKED. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.53

Advanced . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.53Incremental Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.53J-Pad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.54

Status (DAS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.54Override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.56Laser . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.56

Alarm Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.59Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.59Errors (ULE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.60Latched . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.61Actions (ULA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.61

Prog Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.63Prog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.64

Open (IDE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.64Create. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.64Save (MS + MS/C) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.64Save data (MS). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.65Save code (MS/C) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.65Save variable as (MS/A). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.65Erase from execution memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.65

Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.65Activate (PA). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.66Deactivate (PD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.66Pause (PSP). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.66Unpause (PSU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.66Step . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.66

Load... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.67with another .VAR (As) (ML/A) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.68VAR only (Var) (ML/V) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.68Another Var only (Var As) (ML/AV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.68Convert conflicts (Conv) (ML/C) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.68Activate (PG) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.68Dependencies. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.68

IIIlb-rc-c4e-usoTOC.fm

Summary

View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.68Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.69

Variables (MVV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.69Callchain (PV/C) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.70Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.71

POS SHIFT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.71

IDE Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.75Opening the IDE page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.75Description of the video screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.76

IDE status lines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.76Editor area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.77

Description of the available functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.80Prog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.80Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.82PDL2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.84Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.91REC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.95MOD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.95REC key setting, nodal with $PAR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.95

Numeric keypad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.99

I/O Page. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.101Set (SI and SO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.102

On . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.103Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.103

Forcing (SIF... SOF...) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.103On . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.103Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.104Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.104Unforce (SIU... SOU...). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.104

Simulate (SIS... SOS...) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.104On . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.105Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.105Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.105Total . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.105Not simulated (SIN... SON...) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.105

View (SIV... SOV...) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.105Zoom in. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.106Zoom out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.106Vertical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.107Horizontal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.107Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.108

Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.108Open. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.109Close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.109Maximize . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.109Restore . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.109Next . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.109

Appl Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.111

Files Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.113File (F1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.113

Open. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.114

IVlb-rc-c4e-usoTOC.fm

Summary

Extract (FUCE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.115Send to (FC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.115New . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.115Delete (FD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.115Delete permanent (FD/P) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.116Rename (FR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.116Attribute (FUA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.116Recycle bin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.116Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.116

Select (F2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.117Undo. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.117Cut . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.118Copy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.118Paste . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.118Select all . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.118Deselect all . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.118Invert sel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.118Sel prompt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.118

View (F3) (FV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.118Small icons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.119Big icons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.119Details. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.119Refresh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.119Sort by . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.119

Utility (F4). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.119Translate (FT). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.120Backup (FUB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.120Restore (FUR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.120Device Change. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.120

Data Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.121General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.121

Table. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.121Modify . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.123Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.124AutoApply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.125

System tables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.125Application tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.127Tables created by the user. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.128

Setup page. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.129Config. Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.130Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.133

Calib . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.134Ieak. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.137Mounting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.141Presse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.142Sik . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.142StrokeEnd. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.148

AUX_AXES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.148Positioners . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.149SLIDE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.152iPortal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.152

ReloadSw. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.154

Vlb-rc-c4e-usoTOC.fm

Summary

C4G . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.155TP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.156

Backup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.159Backup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.159Restore . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.160Device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.161

Controller (CCS). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.161FB_TOOL. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.162Install (FUI). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.162IO_TOOL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.162Login . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.163

User . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.163Startup (CCLS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.163

Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.164ToolFrame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.166

Service Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.169Execute (E). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.169Sysinfo (SCV). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.170Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.171Multiarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.172Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.172

TP-INT Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.175Navigation among commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.175Virtual Keyboard. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.176

Additional User Pages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.179

7. SYSTEM COMMANDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7.1Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.1

Commands sent from menu on TP (TPINT page) or from WinC4G (Terminal window) . . . . . . 7.2Command selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.2Typing-in the characters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.3Call-up of recently used parameters (History) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.3

Program commands sent via SYS_CALL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.3Option /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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.5CONFIGURE branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.13

Arm menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.13Cntrler Login menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.15Cntrler Restart menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.16CONFIGURE CONTROLLER STARTUP (CCS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.17CONFIGURE CONTROLLER TIME (CCT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.17

VIlb-rc-c4e-usoTOC.fm

Summary

CONFIGURE CONTROLLER VIEW (CCV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.17Load menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.18Save menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.20

DISPLAY branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.22Arm menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.23Close menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.24Fieldbus menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.25Input menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.25Output menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.27DISPLAY PROGRAM (DP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.28DISPLAY RESPLC (DR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.28Vars menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.29

EXECUTE command (E) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.29FILER branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.30

FILER COPY (FC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.31FILER DELETE (FD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.32FILER EDIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.32FILER PRINT (FP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.32FILER RENAME (FR). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.33FILER TRANSLATE (FT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.34UTILITY ATTRIBUTE menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.34Backup and Restore commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.35Compressed files management commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.40Directory management commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.41FILER UTILITY INSTALL (FUI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.41FILER UTILITY SEARCH (FUS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.42FILER VIEW (FV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.42

MEMORY branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.43MEMORY DEBUG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.43ERASE menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.43MEMORY LOAD (ML) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.44MEMORY SAVE(MS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.45MEMORY TEACH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.46VIEW menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.46

PROGRAM branch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.48PROGRAM ACTIVATE (PA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.48PROGRAM DEACTIVATE (PD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.49PROGRAM EDIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.49PROGRAM GO (PG) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.50ResPLC menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.51UTILITY menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.51STATE menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.52TEST branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.52PROGRAM VIEW (PV). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.56

SET branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.57SET ARM menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.57SET CNTRLR menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.59SET INPUT menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.60SET LOGIN (SL). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.64SET OUTPUT menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.64

UTILITY branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.68UTILITY APPLICATION (UA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.68UTILITY COMMUNICN menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.68

VIIlb-rc-c4e-usoTOC.fm

Summary

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 . . . . . . .8.1Foreword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.1

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.1

WinC4G Activation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.2

Connection to the Robot Control Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.2Ethernet point to point connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.2Ethernet connection to the local network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.5Remote connection via Internet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.5

Network configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.6VPN configuration in Windows XP environment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.7Connection procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.13

FTP Server mode connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.14Remote connection by Proxy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.15

Chat Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.16WinC4G configuration in Proxy mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.16WinC4G configuration in Remote mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.17Using the Chat Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.18Disabling the Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.19

User interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.19Tools panel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.20

The Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.20File Translation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.21Cause/Remedy. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.23Errors Display and Actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.24Files Manipulation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.25Viewing and editing of.UDB file (optional service) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.33

Directories Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.34Files Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.35Output Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.36

WinC4G operating parameters set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.37

Commands Menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.38Files Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.39Edit Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.40View Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.41Manipulation Menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.41Help Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.42Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.42CompactFlash Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.42

How to obtain a new licence for WinC4G . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.47

Most common problems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.48

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

VIIIlb-rc-c4e-usoTOC.fm

Summary

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.1

Diagram of steps to develop a program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.2

Programming in IDE (on TP) for a motion program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.4Access to programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.4Program Editing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.4

Selecting one or more text lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.5Deleting/restoring one or more lines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.5Move the Edit cursor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.5Inserting a new instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.6Commenting/Uncommenting a program line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.6Changing an existing instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.6Inserting/viewing /deleting variables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.7Importing from other programs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.7Viewing a program in pages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.7

Teaching positions (insertion of a move instruction) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.8Setup the REC key. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.8Teaching new positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.8Changing existing positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.8

Program execution test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.9Activating/deactivating a program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.9Aborting the execution of an instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.9Setting step mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.10Move the execution cursor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.10Inserting/removing a break point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.10Bypassing an instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.11Execute a temporary instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.11

Saving the program and closing IDE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.11Executing the program in automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.12

Programming in WinC4G (on PC) of NON motion programs. . . . . . . . . . . . . . . . . . . . . . . . . . 9.12Program Edit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.13

Data Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.14Code Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.14How to write Program Statements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.14

Memory Debug. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.15Screen page structure and function keys. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.16

Screen page structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.16Function Keys. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.17

Teaching the positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.20Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.22Programs Checking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.23Commands Menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.23

Command. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.23Debug. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.26Exit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.29New . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.29Quit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.29Save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.30Save_as . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.30Suspend . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.30

Memory Teach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.31Memory Teach screen layout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.31

IXlb-rc-c4e-usoTOC.fm

Summary

Accessing Teach Environment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.32Teaching Positional Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.33Teaching a PATH. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.33

Adding and Removing PATH nodes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.34Modifying PATH node fields . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.35

Special Keys. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.36Exiting Memory Teach Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.38

Memory management from TP4i . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.38Display/Removal of variables in memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.38Saving the variables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.39

File management from TP4i. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.39Viewing the list of files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.39Saving files on XD: unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.39Restoring backup files of a program variables or code . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.40

10. FILE MANAGEMENT BETWEEN PC AND CONTROL UNIT . . . . . . . . . . . . . . . . . .10.1View 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11.1Foreword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.1

System operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.1

System states . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.3HOLD status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.4AUTO status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.4PROGR status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.5AUTO-T status (optional) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.5ALARM status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.5

Stand-by function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.6

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

Fieldbus (F1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.2Activate the Fieldbus function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.2Select the required Board. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.3

Select Type of Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.3Select the Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.4

Action . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.4Viewing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.5

Xlb-rc-c4e-usoTOC.fm

Summary

Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.8Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.9Completion of the operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.28

Save (F5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.28

Close (F6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.29

13. I/O CONFIGURATION PROGRAMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..13.1IO_TOOL Program - I/O Configuration in VP2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.3

IO_TOOL activation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.3I/O ports(F2). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.4

Activate ‘I/O Ports’ function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.5Type of port selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.5Selection of the range of ports for operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.6Execute the Action . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.7Operation completion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.15Digital or Remote I/O Groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.16System I/O ports. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.18

DSA (F3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.22Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.23HDIN. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.24Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.25Output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.26Stroke-end . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.26Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.27

HAND (F4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.28VIEW (F2). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.29Configure (F5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.30

Save (F5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.33Close (F6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.34

IO_INST Program - I/O configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.35Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.35Program installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.35Used Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.35

Port_io . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.36Fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.64Dsa . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.96Hand. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.105

Save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.108Quit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.109Configuration example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.109

Complete configuration example of SIK device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.109Complete configuration example of IEAK device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.117

14. HINTS FOR THE I/O SOFTWARE CONFIGURATION . . . . . . . . . . . . . . . . . . . . . . ..14.1Basic principles for the I/O configuration and use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.1

Software configuration of DNP, PFP, IBC/O boards (Field bus) . . . . . . . . . . . . . . . . . . . . . . . 14.2Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.2

Internal Slave Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.3

XIlb-rc-c4e-usoTOC.fm

Summary

Master Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.6External Slaves Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.7

$FB_INIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.10$FB_CNFG. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.10

I/O points configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.11Physical / logical mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.11Configuration of Command Word from remote . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.14I/O point status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.17Copying I/O points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.17

Dynamic connection and disconnection method for a Field Bus network node. . . . . . . . . . . 14.21Command Words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.21Status Words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.22Node connection procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.23Node disconnection procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.24

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

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.1

Workbench configuration to map the C4G Controller I/Os. . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.2Import of C4G Robot Control Unit information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.2

Symbols set-up to be included in a resource . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.3Setting the information required for a project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.4

TCP/IP network configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.4Setting the symbols to include in a resource . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.6Setting a configuration cycle time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.7

I/O Wiring with C4G Control Unit I/O points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.7Wiring a variable with read access to a C4G port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.9Wiring a variable with write access to a C4G port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.10

PLC resource creation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.12

Debug mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.12Commands available . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.13Debug mode activation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.13Resource control from Workbench. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.15Inhibited commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.15PLC software modifications on-line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.16

On-line change command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.16Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.17Operation successful . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.18Operation unsuccessful . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.18Modification On-line and Debug mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.20

PLC resource download and upload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.20Download . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.21

Conditions required for the success of the operation. . . . . . . . . . . . . . . . . . . . . . . . . . . 15.21Available options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.21

Upload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.22Import . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.22Utility. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.24

XIIlb-rc-c4e-usoTOC.fm

Summary

Management of PLC software on the C4G Control Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.24Management of binary ISaGRAF files in the C4G Control Unit . . . . . . . . . . . . . . . . . . . . . 15.24

The Resplc folder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.25Binary files management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.25ISaGRAF binary files export . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.25

System shutdown and restart with PLC program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.26Resplc program menu commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.26Display Resplc command. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.29

XIIIlb-rc-c4e-usoTOC.fm

Summary

XIVlb-rc-c4e-usoTOC.fm

Preface

PREFACE

– Symbols used in the manual

– Reference documents

– Modification History

Symbols used in the manualThe symbols for WARNING, CAUTION and NOTES are indicated below together withtheir significance.

This symbol indicates operating procedures, technical information andprecautions that if ignored and/or are not performed correctly could causeinjuries.

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

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

XVHS-RC-C4E-0_01.fm00/0708

Preface

Reference documentsThis document refers to the C4G Control Unit.

The complete set of manuals for the C4G consists of:

These manuals are to be integrated with the following documents:

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 inVP2 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

Comau C4G Control Unit – Technical Specifications– Transport and installation– Guide to integration, safeties, I/O and

communications– Use of Control Unit.

Comau Robot – Technical Specifications– Transport and installation– Maintenance

Programming – PDL2 Programming Language Manual– VP2 - Visual PDL2– Motion programming

Applications – According to the required type of application.

Altersys PLC programming – ISaGRAF Workbench

XVIHS-RC-C4E-0_01.fm

00/0708

General Safety Precautions

1. GENERAL SAFETY PRECAUTIONS

1.1 Responsibilities

– The system integrator is responsible for ensuring that the Robot and ControlSystem are installed and handled in accordance with the Safety Standards in forcein the country where the installation takes place. The application and use of theprotection and safety devices necessary, the issuing of declarations of conformityand 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 causedby incorrect or improper use of the Robot and Control System, by tampering withcircuits, components or software, or the use of spare parts that are not originals orthat have not been defined as equivalent by COMAU Robotics & Service

– The application of these Safety Precautions is the responsibility of thepersons assigned to direct / supervise the activities indicated in the Applicabilitysection,They are to make sure that the Authorised Personnel is aware of andscrupulously follow the precautions contained in this document as well as theSafety Standards in addition to the Safety Standards in force in the country in whichit is installed.

– The non-observance of the Safety Standards could cause injuries to the operatorsand damage the Robot and Control System.

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

1-1ge-0-0-0_01.FM07/1007

General Safety Precautions

1.2 Safety Precautions

1.2.1 Purpose

These safety precautions are aimed to define the behaviour and rules to be observedwhen performing the activities listed in the Applicability section.

1.2.2 Definitions

Robot and Control SystemThe Robot and Control System consists of all the functions that cover: Control Unit,robot, hand held programming unit and any options.

Protected AreaThe protected area is the zone confined by the safety barriers and to be used for theinstallation and operation of the robot

Authorised PersonnelAuthorised personnel defines the group of persons who have been trained and assignedto 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 inthe paragraph above.

Installation and Putting into ServiceThe installation is intended as the mechanical, electrical and software integration of theRobot and Control System in any environment that requires controlled movement ofrobot axes, in compliance with the safety requirements of the country where the systemis installed.

Programming ModeOperating mode under the control of the operator, that excludes automatic operationand allows the following activities: manual handling of robot axes and programming ofwork cycles at low speed, programmed cycle testing at low speed and, when allowed,at the working speed.

Auto / Remote Automatic ModeOperating mode in which the robot autonomously executes the programmed cycle at thework speed, with the operators outside the protected area, with the safety barriersclosed and the safety circuit activated, with local (located outside the protected area) orremote start/stop.

Maintenance and RepairsMaintenance and repairs are activities that involve periodical checking and / orreplacement (mechanical, electrical, software) of Robot and Control System parts orcomponents, and trouble shooting, that terminates when the Robot and Control Systemhas been reset to its original project functional condition.

1-2ge-0-0-0_01.FM

07/1007

General Safety Precautions

Putting Out of Service and DismantlingPutting out of service defines the activities involved in the mechanical and electricalremoval of the Robot and Control System from a production unit or from an environmentin which it was under study.Dismantling consists of the demolition and dismantling of the components that make upthe Robot and Control System.

IntegratorThe integrator is the professional expert responsible for the installation and putting intoservice of the Robot and Control System.

Incorrect UseIncorrect use is when the system is used in a manner other than that specified in theTechnical Documentation.

Range of Action The robot range of action is the enveloping volume of the area occupied by the robotand 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

1-3ge-0-0-0_01.FM07/1007

General Safety Precautions

1.2.4 Operating Modes

Installation and Putting into Service

– Putting into service is only possible when the Robot and Control System has beencorrectly and completely installed.

– The system installation and putting into service is exclusively the task of theauthorised personnel.

– The system installation and putting into service is only permitted inside a protectedarea 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 undernormal robot movement conditions there is no collision with parts inside theprotected area (structural columns, power supply lines, etc.) or with the barriers. Ifnecessary, limit the robot working areas with mechanical hard stop (see optionalassemblies).

– Any fixed robot control protections are to be located outside the protected area andin 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 couldimpede or limit visibility.

– During installation the robot and the Control Unit are to be handled as described inthe product Technical Documentation; if lifting is necessary, check that the eye-bolts are fixed securely and use only adequate slings and equipment.

– Secure the robot to the support, with all the bolts and pins foreseen, tightened tothe torque indicated in the product Technical Documentation.

– If present, remove the fastening brackets from the axes and check that the fixingof the robot fixture is secured correctly.

– Check that the robot guards are correctly secured and that there are no moving orloose parts. Check that the Control Unit components are intact.

– If applicable, connect the robot pneumatic system to the air distribution line payingattention to set the system to the specified pressure value: a wrong setting of thepressure 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 usedto form part of the fencing.

– Check that the voltage value of the mains is consistent with that indicated on theplate of the Control Unit.

– Before electrically connecting the Control Unit, check that the circuit breaker on themains is locked in open position.

– Connection between the Control Unit and the three-phase supply mains at theworks, is to be with a four-pole (3 phases + earth) armoured cable dimensionedappropriately for the power installed on the Control Unit. See the productTechnical Documentation.

– The power supply cable is to enter the Control Unit through the specific fairlead andbe properly clamped.

– Connect the earth conductor (PE) then connect the power conductors to the mainswitch.

1-4ge-0-0-0_01.FM

07/1007

General Safety Precautions

– Connect the power supply cable, first connecting the earth conductor to the circuitbreaker on the mains line, after checking with a tester that the circuit breakerterminals 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 theControl Unit components.

– The C4G Control Unit manages internally the main safety interlocks (gates,enabling pushbuttons, etc.). Connect the C4G Control Unit safety interlocks to theline safety circuits, taking care to connect them as required by the Safetystandards. The safety of the interlock signals coming from the transfer line(emrgency stop, gates safey devices etc) i.e. the realisation of correct and safecircuits, is the responsibility of the Robot and Control System integrator.

– The safety of the system cannot be guaranteed if these interlocks are wronglyexecuted, incomplete or missing.

– The safety circuit executes a controlled stop (IEC 60204-1 , class 1 stop) for thesafety inputs Auto Stop/ General Stop and Emergency Stop. The controlled stop isonly active in Automatic states; in Programming the power is cut out (powercontactors open) immediately. The procedure for the selection of the controlledstop 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 stopcategory (0 or 1) and the weight of the robot..

– Check that the environment and working conditions are within the range specifiedin the specific product Technical Documentation.

– The calibration operations are to be carried out with great care, as indicated in theTechnical Documentation of the specific product, and are to be concludedchecking the correct position of the machine.

– To load or update the system software (for example after replacing boards), useonly the original software handed over by COMAU Robotics & Service.Scrupulously follow the system software uploading procedure described in theTechnical Documentation supplied with the specific product. After uploading,always make some tests moving the robot at slow speed and remaining outside theprotected area.

– Check that the barriers of the protected area are correctly positioned.

In the cell/line emergency stop circuit the contacts must be included of the controlunit emergency stop buttons, which are on X30. The push buttons are notinterlocked in the emergency stop circuit of the Control Unit.

Check that the controlled stop time is consistent with the type of Robot connectedto the Control Unit. The stop time is selected using selector switches SW1 andSW2 on the ESK board.

1-5ge-0-0-0_01.FM07/1007

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 Systemto make sure that there are no potentially hazardous irregular conditions, and thatthere is nobody inside the protected area.

– When possible the programming should be controlled from outside the protectedarea.

– Before operating inside the Protected Area, the operator must make sure fromoutside that all the necessary protections and safety devices are present and inworking order, and especially that the hand-held programming unit functionscorrectly (slow speed, emergency stop, enabling device, etc.).

– During the programming session, only the operator with the hand-held terminal isallowed inside the Protected Area.

– If the presence of a second operator in the working area is necessary whenchecking the program, this person must have an enabling device interlocked withthe safety devices.

– Activation of the motors (Drive On) is always to be controlled from a positionoutside the range of the robot, after checking that there is nobody in the areainvolved. The Drive On operation is concluded when the relevant machine statusindication is shown.

– When programming, the operator is to keep at a distance from the robot to be ableto avoid any irregular machine movements, and in any case in a position to avoidthe 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 ofthe robot, pulled by gravity, could execute downward movements, or moveupwards or sideways (when installed on a sloped plane).

– Testing a programmed cycle at working speed with the operator inside theprotected area, in some situations where a close visual check is necessary, is onlyto be carried out after a complete test cycle at slow speed has been executed. Thetest is to be controlled from a safe distance.

– Special attention is to be paid when programming using the hand-held terminal: inthis situation, although all the hardware and software safety devices are active, therobot movement depends on the operator.

– During the first running of a new program, the robot may move along a path that isnot the one expected.

– The modification of program steps (such as moving by a step from one point toanother of the flow, wrong recording of a step, modification of the robot position outof the path that links two steps of the program), could give rise to movements notenvisaged by the operator when testing the program.

– In both cases operate cautiously, always remaining out of the robot’s range ofaction and test the cycle at slow speed.

1-6ge-0-0-0_01.FM

07/1007

General Safety Precautions

Auto / Remote Automatic Mode

– The activation of the automatic operation (AUTO and REMOTE states) is only tobe executed with the Robot and Control System integrated inside an area withsafety barriers properly interlocked, as specified by Safety Standards currently inforce in the Country where the installation takes place.

– Before starting the automatic mode the operator is to check the Robot and ControlSystem and the protected area to make sure there are no potentially hazardousirregular 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, wherethe line PLC can perform automatic operations to switch on motors and start theprogram.

Robot axes release

– In the absence of motive power, the robot axes movement is possible by means ofoptional release devices and suitable lifting devices. Such devices only enable thebrake 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 robotaxes can move upwards or downwards because of the force generated by thebalancing system, or the force of gravity.

Stop distances (threshold values)

– As for the stop distance threshold values for each robot type, please turn to theCOMAU Robotics & Service Dept.

– Example: Considering the robot in automatic mode, in conditions of maximumextension, maximum load and maximum speed, when the stop pushbutton ispressed (red mushroom head pushbutton on WiTP) an NJ 370-2.7 Robot will stopcompletely in approx. 85° of motion, equivalent to approx. 3000 mm displacementmeasured on the TCP flange. Under these conditions indicated, the stoppage timeof the NJ 370-2.7 Robot is 1.5 seconds.

– Considering the robot in programming mode (T1), when the stop pushbutton ispressed (red mushroom head pushbutton on WiTP) an NJ 370-2.7 Robot will stopcompletely in approx. 0.5 seconds.

Maintenance and Repairs

– When assembled in COMAU Robotics & Service, the robot is supplied withlubricant that does not contain substances harmful to health, however, in somecases, 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 withabundant water; if the irritation persists, consult a doctor.

Before using the manual release devices, it is strongly recommended to sling therobot, or hook to an overhead travelling crane.

1-7ge-0-0-0_01.FM07/1007

General Safety Precautions

If swallowed, do not provoke vomiting or take anything by mouth, see a doctor assoon as possible.

– Maintenance, trouble-shooting and repairs are only to be carried out by authorisedpersonnel.

– When carrying out maintenance and repairs, the specific warning sign is to beplaced on the control panel of the Control Unit, stating that maintenance is inprogress and it is only to be removed after the operation has been completelyfinished - even if it should be temporarily suspended.

– Maintenance operations and replacement of components or the Control Unit are tobe 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 beinterconnected voltages coming from connections to peripheral units or externalpower sources (e.g. 24 Vdc inputs/outputs). Cut out external sources whenoperating on parts of the system that are involved.

– Removal of panels, protection shields, grids, etc. is only allowed with the mainswitch open and padlocked.

– Faulty components are to be replaced with others having the same code, orequivalent components defined by COMAU Robotics & Service.

– 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 possiblewithout power supply.

– Should it be necessary, during trouble-shooting, to intervene with the Control Unitpowered, all the precautions specified by Safety Standards are to be observedwhen 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 deactivatedsafety devices are to be reset (panels, protection shields, interlocks, etc.).

– Maintenance, repairs and trouble-shooting operations are to be concludedchecking the correct operation of the Robot and Control System and all the safetydevices, executed from outside the protected area.

– When loading the software (for example after replacing electronic boards) theoriginal software handed over by COMAU Robotics & Service is to be used.Scrupulously follow the system software loading procedure described in thespecific product Technical Documentation; after loading always run a test cycle tomake sure, remaining outside the protected area

– Disassembly of robot components (motors, balancing cylinders, etc.) may causeuncontrolled movements of the axes in any direction: before starting a disassemblyprocedure, consult the warning plates applied to the robot and the TechnicalDocumentation supplied.

– It is strictly forbidden to remove the protective covering of the robot springs.

After replacement of the ESK module, check on the new module that the settingof the stop time on selector switches SW1 and SW2 is consistent with the type ofRobot connected to the Control Unit.

1-8ge-0-0-0_01.FM

07/1007

General Safety Precautions

Putting Out of Service and Dismantling

– Putting out of service and dismantling the Robot and Control System is only to becarried out by Authorised Personnel.

– Bring the robot to transport position and fit the axis clamping brackets (whereapplicable) consulting the plate applied on the robot and the robot TechnicalDocumentation.

– Before stating to put out of service, the mains voltage to the Control Unit must becut out (switch off the circuit breaker on the mains distribution line and lock it inopen 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 powersupply 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, thenremove the robot securing bolts from the support.

– Remove the robot and the Control Unit from the work area, applying the rulesindicated in the products Technical Documentation; if lifting is necessary, check thecorrect fastening of the eye-bolts and use appropriate slings and equipment only.

– Before starting dismantling operations (disassembly, demolition and disposal) ofthe Robot and Control System components, contact COMAU Robotics & Service,or one of its branches, who will indicate, according to the type of robot and ControlUnit, the operating methods in accordance with safety principles and safeguardingthe environment.

– The waste disposal operations are to be carried out complying with the legislationof the country where the Robot and Control System is installed.

1-9ge-0-0-0_01.FM07/1007

General Safety Precautions

1-10ge-0-0-0_01.FM

07/1007

Operator Panel

2. OPERATOR PANEL

The push buttons, selector switches and communication interfaces used in normal useof the Control Unit are located on the OPM panel. Moreover, as an option, there is aservice socket inside the electric cabinet.

illustrates the layout of the devices.

The function is described in detail in the following section Functions of Operator Paneldevices.

Fig. 2.1 - Operator Panel - devices layout

2.1 Functions of Operator Panel devicesThis section gives a detailed description of the functions of the Operator Panel devices.In particular:

– Main switch

– Modal selector switch

– Emergency stop pushbutton

C4G Control Unit Operator panel detail

2-1HS-RC-C4E-USO_01.fm00/0708

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.

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

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, andcheck the programming functions. The robot moves at low speed, not more than250 mm/s to flange centre, to tool centre point (TCP) and to any extreme tool. Theoperator can work inside the cell.

Wait at least 30 seconds before powering on again.

Fig. 2.2 - Main switch

Main switch,European version

Main switch,American version (ON position)

Main switch,American version (OFF position)

2-2HS-RC-C4E-USO_01.fm

00/0708

Operator Panel

– T2 (optional) - The programmer can check the program and robot functioning atworking speed. The 250 mm/s limit is not enabled. The operator can work insidethe cell.

– AUTO - The operator can check the program functioning at working speed,activating the start command from the teach pendant. The operator cannot workinside 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.

2.1.3 Emergency stop pushbutton

To stop the machine immediately. When pressed it cuts out the power to the robotmotors 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 orREMOTE mode stop takes place:

– in controlled mode (class 1 as per standard EN 60204-1)

– immediately (class 0 as per standard EN 60204-1).

Warning! The program ALWAYS starts at low speed, and the user, if wished, CANincrease it to the working speed. If jogkeys are used, the system willAUTOMATICALLY reduce the speed to below the limit of 250 mm/s at flangecentre.

When using with the status selector switch in position T2 programming controlmode the operator is to be very careful, since the risks due to the faster speed ofthe robot cannot be solved with the normal procedures and precautions.

Tab. 2.1 - Modal selector switch

Modal selector switch with position T2 (optional) Modal selector switch, standard

2-3HS-RC-C4E-USO_01.fm00/0708

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 theprograms 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 beextracted 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 theController and the Robot.

Fig. 2.4 - Hour meter (optional)

2-4HS-RC-C4E-USO_01.fm

00/0708

User Interface

3. USER INTERFACE

3.1 IntroductionThe C4G Robot Control Unit, for robot manual handling, to create, modify and runprograms, to modify step-by-step moves, to supply system control and monitoringfunctions, 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 robotmovements, to program it and execute and modify step by step movements, it suppliessystem control and monitoring functions, as well as including the safety devices(enabling device and emergency stop pushbuttons). It is user-friendly and is suitable forright-hand or left -hand use.

It is able to support any system software version starting from 2.0, and includes thefollowing components:

– Display graphic 6.4" TFT colour; resolution 640x480 pixel

– Keys

– Pushbuttons and LEDs

– USB port.

The following Fig. 3.1, Fig. 3.2 Fig. 3.5, Fig. 3.6 and Fig. 3.7 illustrate the componentsof TP4i Teach Pendant and, by means of user-friendly hypertext connections, giveaccess to detailed descriptions of keys, pushbuttons, LEDs, display and communicationport, available in the following Chap.6. - Use of the Teach Pendant.

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.

3-1HS-0-C4E-USO_31bis.fm00/0708

User Interface

3.3 Front viewFig. 3.1 - TP4i front view

3-2HS-0-C4E-USO_31bis.fm

00/0708

User Interface

Fig. 3.2 - WiTP front view

3.4 Rear viewFig. 3.3 - Rear view of TP4i and WiTP wired

3-3HS-0-C4E-USO_31bis.fm00/0708

User Interface

Fig. 3.4 - Rear view of WiTP wireless (Reset pushbutton)

Fig. 3.5 - Rear view of TP4i and WiTP wired

3-4HS-0-C4E-USO_31bis.fm

00/0708

User Interface

3.5 View from aboveFig. 3.6 - View from above A

Fig. 3.7 - View from above B

3.6 Interface on Personal Computer (WinC4G)The Winc4g program is the interface on Personal Computer to the Robot C4G ControlUnit.

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 runthem,

– 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 PersonalComputer.

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

3-5HS-0-C4E-USO_31bis.fm00/0708

User Interface

3-6HS-0-C4E-USO_31bis.fm

00/0708

System power on and shut down

4. SYSTEM POWER ON AND SHUT DOWN

4.1 ForewordThis chapter describes the most frequently used procedures:

– System power-on

– System shut down

4.2 System power-onTo power on the C4G Robot Control Unit, proceed as follows:

a. close the door (or doors) of the Robot Controller Cabinet.

b. Check that these cables are connected:– power supply cable– cables X10 and X60 to the robot– safety devices cable X30

c. Turn on the electric power supply by turning the main switch to ON (see Mainswitch in Chap. Operator Panel)Upon Control Unit activation, power is supplied to all the modules

d. If it is wished to use the Teach Pendant, the steps to be followed depend on thetype of Teach Pendant installed on the system:

d.1 if it is TP4i (connected by cable), no further operations are necessary: the systemactivates the display, runs the initialising procedure, displays the Home Page andmakes 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 theinformation "system ready for pairing"

d.2.3 carry out the pairing with the Control Unit (see par. 6.4.1 Pairing procedurebetween WiTP wireless Teach Pendant and C4G Control Unit on page 6-17).

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

4-1HS-0-C4E-USO_43.fm00/0708

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 areforeseen (motion program activated by the STARTUP program), it is necessary topower on the drives (see description of the DRIVE ON function in par. 6.5.1.4 RightMenu 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 downThe system can be shut down by just moving the main switch to OFF. In this case, theshut-down procedure is:

a. set the system in DRIVE OFF (see DRIVE OFF function description in par. 6.5.1.4Right Menu on page 6-30)

b. Move the main switch to OFF (see par. 2.1.1 Main switch on page 2-2 inChap. Operator Panel).

The software shutdown is requested when the user wishes to carry out the shutdown ofthe Control Unit and the Teach Pendant.

Before introducing the relevant command, set the DRIVEs OFF (see description of theDRIVE OFF function in par. 6.5.1.4 Right Menu on page 6-30).

The command to activate the software shutdown isConfigureControllerRestartShutdown (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 shutdownprocedure 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 10seconds

b. move the main switch to OFF (see par. 2.1.1 Main switch on page 2-2 inChap. Operator Panel).

It is in any case strongly recommended to follow the software shutdownprocedure, to avoid unnecessary waste of RPU buffer battery cycles that wouldreduce the life of the battery. Furthermore, in the case of a system with wireless Teach Pendant, it isNECESSARY to use the software shutdown to close in consistent situations.

4-2HS-0-C4E-USO_43.fm

00/0708

System power on and shut down

4.3.2 Shutdown - system with wireless Teach Pendant (WiTP wireless)

Following the software shutdown request, if the WiTP is paired, before authorising theControl Unit shutdown, the system asks the user to run the unpairing.

The user should proceed as follows:

a. place the WiTP on the docking station

b. 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 canuse the main switch to shut down the C4G Control Unit;

b.2 the system detects a fault BEFORE the pairing/unpairing pushbutton has beenpressed - the C4G Control Unit does NOT prepare for shutdown and the WiTP is

WARNING - With WiTP wireless installed, it is strongly recommended to apply thefollowing general criterion : DO NOT SHUTDOWN THE SYSTEM IF THE TEACHPENDANT IS PAIRED! This is most important to avoid misalignments between the C4G Control Unit andthe WiTP wireless Teach Pendant. At the next system power-on it would benecessary to carry out an emergency unpairing, to recover the situation whichhas become inconsistent.

4-3HS-0-C4E-USO_43.fm00/0708

System power on and shut down

NOT shutdown. The shutdown command is aborted and the user is notified by aspecific 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 beenpressed - the C4G Control Unit shutdown is suspended, but the WiTP is unpairedand off. It is, in any case a consistent situation. The user can act on the main switchto shut down the C4G Control Unit.

During the software shutdown procedure the system waits for the unpairing request andfor its completion, for a pre-set timeout. If this timeout expires, it means that one of thefollowing situations may have occurred:

– WiTP does not communicate (not on docking station, too far away, there areinterposed obstacles, battery low, off, etc.) - in this case, the user has to removethe cause: the pendant resumes normal communication

– after requesting the shutdown procedure, the user has not pressed thepairing/unpairing key; in this case, the user has to ask for the shutdown againand PRESS the pairing/unpairing pushbutton when requested by the system

– the unpairing procedure has not terminated correctly; the user has to find thecause and remove it.

To manage these situations, see also the C4G Control Unit Maintenance Manual,chap.4 - Help to solve problems.

Note that if the unpairing is NOT performed correctly, the shutdown command isALWAYS aborted.

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!

4-4HS-0-C4E-USO_43.fm

00/0708

Access to the Control (LOGIN/LOGOUT)

5. ACCESS TO THE CONTROL (LOGIN/LOGOUT)

5.1 IntroductionTo access the Control Unit, regardless of the device from which dialogue with thecontroller is desired (Teach Pendant or WinC4G program from PC), a Login isnecessary, otherwise the only commands available are for viewing.

To terminate access to the Control Unit, so that unauthorised personnel cannot enter, itis 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 theController; the SetLogin command is in the commands menu.

5.2 User profileRegardless 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 savedbeforehand 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 theuse of a certain command, also according to the system status. On TPINT, thecommands that are disabled are shown in low case and the cursor positioning with thecursor keys is disabled.

The definition of these profiles is assigned to an administrator user who can declarethem, after Login on the control, in the data base of the controller sending:

– the ConfigureControllerLoginAdd command and the associated option fromTP-INT Page, or

5-1HS-0-C4E-USO_49.fm00/0708

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, onTP4i

The C4G Control Unit is delivered to the customer with the following predefined users:

– programmer userUsername: pu Password: pu

– maintenance engineer userUsername: mu Password: mu

– administrator userUsername: adminPassword: admin

The programmer login is the default login that is held after a Restart Cold, since it issaved as Startup Login (SetControllerLoginStartup command).

If the predefined users (programmer or maintenance engineer) are not those requiredby the end customer, others can be defined.To do so, from the administrator user, send the ConfigureControllerLoginAddcommand 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 forthe Administrator. Each time it is wished to add (or remove) a user level, it is necessary to perform thefollowing steps:

– Enter the system as administrator user (SetLogin from TP-INT Page, or Loginsoftkey (F2) from the Teach Pendant Home Page). If a new profile for theadministrator has not been already defined, the Username admin and thePassword 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, theUsername 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

5-2HS-0-C4E-USO_49.fm

00/0708

Access to the Control (LOGIN/LOGOUT)

– Login again entering the newly defined Username and Password, to check it hasbeen 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 mainoperations 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 thedevelopment, 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 theprogrammer.

5.2.5 Service

He/she also performs servicing and is a user enabled to execute operations connectedto 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 systemas Service, it will be possible to connect to the Control Unit, from other devices, onlyspecifying the same Username and the same Password.

5.2.6 Technology

With the technology user access is allowed to some functions of the installedapplication, typical of that application. See the specific application manual for furtherinformation.

5.2.7 Summary table of access rights

The following table indicates the current settings regarding access rights of theabove-listed predefined users. The codes in the table regarding the users are: D forDefault, A for Administrator, M for Maintenance, P for Programmer and S for Service.

The corresponding command from SYS_CALL is indicated in brackets.

5-3HS-0-C4E-USO_49.fm00/0708

Access to the Control (LOGIN/LOGOUT)

COMMAND PROGR AUTO-T LOCAL REMOTE

Add a login to the database (CCLA) A A A ADelete a login from the database A A A AAssign the Startup Login (CCLS) P,M,S P,M,S P,M,S P,M,SAssign the Startup program (CCS) P,M,S P,M,S P,M,S P,M,SAssign the time (CCT) M,S M,S M,S M,S

Jog on an arm D,P,M,S D,P,M,SModify the override (SAG). Set the active arm for the teach pendant (SAT)

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

Disable limit switch errors (SAN) P,M,STurn Set operation on the axes (CAT) D,P,M,SLoad axis data from retentive memory (CARL) M,S M,SSave data in retentive memory (CARS) M,S M,S M,S M,SArm: enable (SAE), disable (SAD), simulation (SAS), simulated state removal (SAU).

S S S S

Calibration of an arm (CAC) S

Control restart (CCRC) A,D,P,M,S A,D,P,M,S A,D,P,M,S A,P,M,SControl shut-down (CCRS) D,P,M,S D,P,M,S D,P,M,S D,P,M,S

Load control system software (CCRR) M,S M,SLock keyboard (SCK) M,S M,S M,S M,S

Load configuration file .C4G (CLA,CLC) M,S M,SSave configuration file .C4G (CSA, CSC) A,P,M,S P,M,S P,M,S P,M,S

Execution of an instruction (E) P,M,S P,M,S P,M,S S

Delete(FD), rename (FR), translate (FT) a file A,P,M,S P,M,S P,M,S P,M,SCreation (FUDM), deletion (FUDD) of a directory A,P,M,S P,M,S P,M,S P,M,SCompressed files management (FUC.) A,P,M,S P,M,S P,M,S P,M,SApplications installation (FUI) P,M,S P,M,S P,M,S P,M,SCopy file from external device (FUR) P,M,S P,M,S P,M,S P,M,SChange attributes of a file (FUA) M,S M,S M,S M,SAccess to Memory Debug environment (MD) P,M,S P,M,S P,M,SProgram Edit and IDE environment P,M,S P,M,S P,M,S P,M,S

Load programs in memory (ML). Save in UD: (MS) A,P,M,S A,P,M,S P,M,S P,M,SDelete programs (MEP), variables (MEV), both (MEA) from memory A,P,M,S A,P,M,S P,M,S M,S

Program activation (PA), deactivation (PD), loading and activation (PG) A,D,P,M,S D,P,M,S D,P,M,S M,S

5-4HS-0-C4E-USO_49.fm

00/0708

Access to the Control (LOGIN/LOGOUT)

D: default, the user who is defined by ConfigureControllerLoginAdd without options.A: Administrator, defined with ConfigureControllerLoginAdd/AdminM: Maintenance, defined with ConfigureControllerLoginAdd/MaintenanceP: Programmer, defined with ConfigureControllerLoginAdd / ProgrammerS: 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 LogoutIf working with the Teach Pendant, apply prolonged pressure to softkey F2 of the CentralMenu 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 thecontrol menu.

5.3.1 Automatic Timed Logout

This function has been implemented to prevent unauthorized persons executingpotentially hazardous operations during the system processing cycle.

The main purpose is that the system generates a Logout after the Teach Pendant userhas 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

Programs debug: temporary interruption of execution (PSP), resume execution (PSU), bypass on suspensive instruction (PSB), breakpoint insertion/deletion (PTB)

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

Change program step (PTS) P,M,S P,M,S P,M,S P,M,SAccess to Memory Teach environment (MT) P,M,S P,M,S

Operations on Inputs (except access to privileged inputs) (Set Input …) P,M,S P,M,S P,M,S P,M,S

Operations on Outputs (SetOutput…) P,M,S P,M,S P,M,S P,M,S

Forcing of privileged inputs (SIFP…) / outputs (SOFP.) S S S SStart / interrupt a protocol (UCM., UCD…), set properties of a port (UCP), or the default port (UCS P,M,S P,M,S P,M,S M,S

Connection via modem (UCR) P,M,S P,M,S P,M,S M,S

Access to all devices S S S SDeactivate all programs through Cntrl Y M,S M,SDisplay contents of all log files S S S S

As from system software version 3.20, there is also a special Automatic TimedLogout function, described in the next paragraph.

COMMAND PROGR AUTO-T LOCAL REMOTE

5-5HS-0-C4E-USO_49.fm00/0708

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 automaticLogout.

When a user wishes to use the Teach Pendant after an automatic Logout, it isnecessary to first access again (Login).

When an automatic Logout takes place, some environments carry out specialoperations. In particular:

– Files Page - the system resets the current directory to UD:

– Data Page - any open tables are "frozen": any modifications remain where they areat that moment (in TP memory or in Controller memory). The system informs theuser with an "Insufficient Rights" message. At the next Login the message is nolonger present and the table is displayed again

– IDE Page - the system closes the current editing session. If this operation requiresviewing of the dialogue with user window (for example relating to the cursorposition and modifications that have not been saved), the automatic Logoutprocedure is suspended until the user answers these questions.

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

5-6HS-0-C4E-USO_49.fm

00/0708

Use of the Teach Pendant

6. USE OF THE TEACH PENDANT

6.1 IntroductionThis chapter gives detailed information on how to use the Teach Pendant, both for theTP4i model (connected by cable to the C4G Control Unit) and for the WiTP model (bothcable connection and wireless type).

1 - Pushbuttons 2 - Display3 - Blue keys 4 - Other colours keys5 - JPAD for TP4i and JPAD for WiTP 6 - JOG keys for TP4i and JOG keys for WiTP7 - Alphanumeric keypad 8 - LEDs

6-1HS-0-C4E-USO_52.fm00/0708

Use of the Teach Pendant

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 TeachPendant 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

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

6-2HS-0-C4E-USO_52.fm

00/0708

Use of the Teach Pendant

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 keysThe function keys are used to activate the associated softkeys belonging to thedifferent Menus.It is possible to distinguish:• Left Menu keys (L1..L6)• Right Menu keys (R1..R6)• Bottom Menu keys (F1..F6)

– General use keysThey are the following keys:

6-3HS-0-C4E-USO_52.fm00/0708

Use of the Teach Pendant

• SHIFTstill in combination with other keys; the use changes according to theenvironment and the function of the key it is associated to

Fig. 6.3 - SHIFT keys

• MOREwhen the softkeys of the Left Menu and/or Right Menu are more than 6, theassociated MORE key allows the scrolling of them all

• HELPwhile using TP-INT Page, when this key is pressed the corresponding helpscreen pages are activated; in any case, for future versions the use of theHELP key will be available for other User Pages too. In some situations thesimultaneous pressing of the SHIFT + HELP keys will display a pop-upwindow with suggestions.

– Navigation keys

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

TP4i WiTP

• Page Up and Page Down keysThey 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

6-4HS-0-C4E-USO_52.fm

00/0708

Use of the Teach Pendant

6.2.1.2 Black keys

These keys are for robot motion.

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

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

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

• 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.

6-5HS-0-C4E-USO_52.fm00/0708

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 variableTOOL - 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 unchangedWR-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 -%: keyto change the OVERRIDE. Combined with SHIFT key the following values can be obtained

SHIFT-% --> 25%SHIFT +% --> 100%

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

6-6HS-0-C4E-USO_52.fm

00/0708

Use of the Teach Pendant

– JPAD

The position of the user can be configured in the Advanced sub-page of the MotionPage.

6.2.1.2.2 WiTP

Fig. 6.5 - Black keys layout for WiTP

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 JPADis managed differently to normal operation.

• The two arrow keys on the left refer to movements of the gantry auxiliaryaxis configured as Z

• The four keys on the right refer respectively to movements of gantryauxiliary axis configured as X (up arrow and down arrow) and tomovements of auxiliary axis configured as Y (LH arrow and RH arrow).

The position of the user does NOT have influence on the JPAD functioning, andtherefore the controls in Advanced sub-page of Motion Page DO NOT effecthandling with JPAD. Gantry movement with JPAD is the same as with JOG keys AUX A - AUX B.

It is to be borne in mind that any move executed using JPAD is always accordingto user reference ($UFRAME), except for movement of Gantry with 3 linear axes,which is always a joint move.

6-7HS-0-C4E-USO_52.fm00/0708

Use of the Teach Pendant

They are divided into:

– Motion keys

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

The functions previously activated by the STEP and REC keys, on the TeachPendant connected via cable (TP4i), are available in IDE environment (seepar. 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.

6-8HS-0-C4E-USO_52.fm

00/0708

Use of the Teach Pendant

• 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 keysThese 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.

6-9HS-0-C4E-USO_52.fm00/0708

Use of the Teach Pendant

– JPAD

The position of the user can be configured on sub-page Advanced of the Motion Page.

6.2.1.3 Other colours keys

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

– RESET (white)press to reset the ALARM state; if the cause that generated the alarm concernssafety devices (e.g.: TP mushroom button, external mushroom button, automaticline 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 environmentor Execute command) for all the time it is kept pressed. In LOCAL status it startsthe motion program that is in READY state, waiting for this key.

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 JPADis managed differently to normal operation.

• The two arrow keys on the left refer to movements of the gantry auxiliaryaxis configured as Z

• The four keys on the right refer respectively to movements of gantryauxiliary axis configured as X (up arrow and down arrow) and tomovements of auxiliary axis configured as Y (LH arrow and RH arrow).

The position of the user does NOT have influence on the JPAD functioning, andtherefore the controls in Advanced sub-page of Motion Page DO NOT effecthandling with JPAD. Gantry movement with JPAD is the same as with JOG keys AUX A - AUX B.

It is to be borne in mind that any move executed using JPAD is always accordingto user reference ($UFRAME), except for movement of Gantry with 3 linear axes,which is always a joint move.

TP4i WiTP

6-10HS-0-C4E-USO_52.fm

00/0708

Use of the Teach Pendant

– HOLD (yellow)pressing this key stops all HOLDable programs and the motion for all Arms. Thenext time it is pressed the HOLD status is removed.

6.2.1.4 Alphanumeric keypad

The alphanumeric keypad operates in the same way as the most widely used standardkeypads for mobile phones. Furthermore:

– The bottom right key (on the right of '0' key) is used to set the keypad mode. Eachtime 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 passover to the another mode.

The current mode is displayed on the Status bar.

– Special characters are activated by pressing '1' key; the only special charactersthat can be directly entered are '-' symbol (bottom left key) and '.' symbol (bottomright key). When in “high case alphabet” or “low case alphabet” mode, pressingkey “1” activates a virtual keyboard for facilitated entry of characters and symbols.

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

TP4i WiTP

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

6-11HS-0-C4E-USO_52.fm00/0708

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.

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.

Tab. 6.1 - Groups of special characters

Window 1

Window 2

Window 3

6-12HS-0-C4E-USO_52.fm

00/0708

Use of the Teach Pendant

To pass from one window to the next or to the previous one, use the Page Up andPage 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+ andAUX 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 isin the docking station.

Fig. 6.7 - WiTP wireless power-on keys

To enter the ‘space’ character, select any empty soft key (i.e. that does notcorrespond to a symbol): the last 6 in Window 1, the last 4 in both Window 2 andin Window 3.

It is also possible to enter a string of characters in “mixed mode”, either throughthe virtual keyboard of characters and symbols from the alphanumeric keypad, orusing the Template activated by the Central Menu.

However, if the WiTP wireless is switched on out of the docking station, afterswitching 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.

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

6-13HS-0-C4E-USO_52.fm00/0708

Use of the Teach Pendant

6.2.1.6 Keys to restart the Teach Pendant

If the Teach Pendant becomes locked in a condition from which autonomousre-enabling is not possible, or in any case a restart is necessary for other reasons, presssimultaneously 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.

6.2.2 Pushbuttons and LEDs

– Pushbuttons

– LEDs

Fig. 6.8 - Stop pushbutton and LED

PushbuttonsThe pushbuttons are divided into:

– Front pushbuttonsSee 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 DeviceOn the rear of the Teach Pendant there are two pushbuttons for the EnablingDevice.See Fig. 6.9.

WARNING - For TP wireless, see par. 6.4.4 Restart with WiTP wireless onpage 6-23. In this case, at restart the user has to carry out the emergencyunpairing procedure (see par. 6.4.3 Emergency Unpairing on page 6-22), followedby the pairing procedure of the teach pendant with the Control Unit (see par. 6.4.1Pairing procedure between WiTP wireless Teach Pendant and C4G Control Uniton page 6-17).

TP4i WiTP

6-14HS-0-C4E-USO_52.fm

00/0708

Use of the Teach Pendant

Fig. 6.9 - Enabling Device

The right pushbutton and the left pushbutton operate in exactly the same way. Thepurpose is to have an Enabling Device pushbutton for both right-hand andleft-hand operators.

Each of these is a three-position safety device that is to be kept pressed in theintermediate position, to allow movement in automatic or in manual mode, whenthe system is in Programming mode. When this pushbutton is pressed the motorsare 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. intermediate pressure2. pressed fully down 3. pressure4. pressure5. release6. release

6-15HS-0-C4E-USO_52.fm00/0708

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, thisLED flashes. The light becomes fixed when the procedure has finished

– Flashing Red LED - Any type of alarm (except Warning type indications).

6.3 USB portIn 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 (withoutprotection cover).

It is recommended to use the USB port to connect a storage device such as aDisk-on-Key one.

6.4 Basic information for the use of WiTP wirelessThis 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 ControlUnit, 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 ofaction 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).

To be used, the WiTP wireless pendant must be ON (see par. 6.2.1.5 Keys to switch onthe 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 WiTPTeach Pendant and Control Unit from the current Control Unit , followed by a furtherprocedure for Pairing procedure between WiTP wireless Teach Pendant and C4GControl Unit to the new Control Unit.

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

6-16HS-0-C4E-USO_52.fm

00/0708

Use of the Teach Pendant

A detailed description follows of the procedures to be applied to manage the WiTPwireless 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, whenproblems have occurred, see also the chapter Help to solve problems, in the C4GControl 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 userwishes to access the C4G Control Unit using a WiTP wireless Teach Pendant (see, forexample par. 4.2 System power-on on page 4-1).

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

For safety reasons, the WiTP wireless software carries out severe checks on thepairing 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 thatController: if this happens, the pendant is automatically unpaired and theC4G to which it was paired goes into emergency state. This situation can bereset by a procedure of Emergency Unpairing, of the Control Unit to whichthe WiTP wireless was paired.

– However, when the system is working in AUTO mode, the Teach Pendant canbe unpaired, if, for example, it is wished to use it on another Controller.

– Use the WiTP wireless supplied with the Control Un it, or in any casea teach pendant that is not paired with another C4G Control Unit.

– The Pairing procedure can also be carried out with the system inautomatic mode.

– Always carry out the complete procedure. Do not leave a WiTPwireless without completing the pairing procedure.

– For further information regarding this procedure, see also the C4GControl Unit - Transport and Installation manual- par.6.2.

6-17HS-0-C4E-USO_52.fm00/0708

Use of the Teach Pendant

Fig. 6.11 - Antenna

b. Place the WiTP wireless in its housing (docking station) on the Control Unit

c. Make sure that the STOP pushbutton (B) is released, rotating it clockwise

d. Switch on the WiTP wireless pressing pushbuttons AUX B+ and AUX B-simultaneously for a few seconds (see par. 6.2.1.5 Keys to switch on the WiTPwireless on page 6-13)

e. Wait for the teach pendant functioning tests to finish

f. The teach pendant will show the screen page of Fig. 6.12

Fig. 6.12 - Pairing procedure

g. Press the “Pairing Request” pushbutton (indicated with letter D in Fig. 6.13) pin thelower section of the housing

6-18HS-0-C4E-USO_52.fm

00/0708

Use of the Teach Pendant

Fig. 6.13 - Pairing request pushbutton

h. Wait for the messages and instructions on the WiTP wireless display and make thetests indicated; the message “Pairing in progress” appears and the LEDs areupdated at the end of each connection (WiFi, System, etc.) that has been executedsuccessfully (see Fig. 6.14).

Fig. 6.14 - Pairing in progress

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

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

6-19HS-0-C4E-USO_52.fm00/0708

Use of the Teach Pendant

Fig. 6.15 - STOP pushbutton

j. If the result is correct, a message is shown informing that the connection has takenplace. At the end of the data acquisition by the Controller, the pairing page closesautomatically. 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.

6-20HS-0-C4E-USO_52.fm

00/0708

Use of the Teach Pendant

Fig. 6.17 - Pairing OK

6.4.2 Unpairing between WiTP Teach Pendant and Control Unit

This procedure, called ‘unpairing’, is necessary when the user wishes to terminate thepairing between the C4G Control Unit and the WiTP wireless Teach Pendant. This maybe, for example, when it is wished to shut down the system (see par. 4.3 System shutdown on page 4-2), and pair the WiTP wireless with another Control Unit, replace it, etc.

a. Place the WiTP wireless in its housing (docking station)

b. Press the “Unpairing request” pushbutton (indicated with the letter D in Fig. 6.13),in the lower section of the docking station

c. A screen page is shown that updates the user on the current state of the unpairingprocedure (see Fig. 6.18). Wait until the procedure is completed

For further details regarding the ID, see C4G Control Unit - Transport and installationmanual, chap. Activation procedure, par. Control Unit, Robot and teach pendantpairing check.

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.

6-21HS-0-C4E-USO_52.fm00/0708

Use of the Teach Pendant

Fig. 6.18 - Unpairing in progress

d. The LEDs are updated at the end of every disconnection (WiFi, System, etc.) thathas been executed successfully (see Fig. 6.18)

e. When the pairing procedure page is shown again (Fig. 6.12), the unpairing hasbeen completed

f. Remove the teach pendant from the support.

g. If it is NOT wished to use the teach pendant on another Control Unit, it should beshut down using softkey Shutdown TP (F3) (Fig. 6.12).

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 brecovered, lost, damaged, etc.). When the Control Unit is unable to "find" the TeachPendant paired to it, the green LED shown in Fig. 6.17 flashes.

a. DO NOT insert the WiTP wireless in the docking station

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

This procedure is not necessary if the distance of the WiTP wireless is onlytemporary: when it returns into the range of action, the connection with theControl Unit reactivates automatically.

Obviously it is not necessary to run the emergency unpairing procedure when thegreen LED is OFF: this means there is no pairing.

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

6-22HS-0-C4E-USO_52.fm

00/0708

Use of the Teach Pendant

b. Set the system in programming mode (status selector switch set on T1)

c. Open the C4G cabinet door

d. Momentarily remove connector X111 (indicated with the letter A in Fig. 6.19) fromboard FIA3 (located on the left wall inside the cabinet).

Fig. 6.19 - Connector X111

e. Press the pairing pushbutton (indicated with the letter D in Fig. 6.13)

f. Wait for the procedure to finish, indicated by the green LED switching off (indicatedwith the letter E in Fig. 6.17) on the docking station

g. Refit connector X111 (indicated with the letter A in Fig. 6.19) on board FIA3.

h. The Teach Pendant is ready to execute the pairing procedure.

6.4.4 Restart with WiTP wireless

The WiTP wireless teach pendant, due to its configuration, has a management that isslightly different in some events linked to the System restart.To better understand the functioning of the WiTP wireless in the occasion of theseevents see the following Tab. 6.2.

Tab. 6.2 - Restart events with WiTP wireless

The following information is valid as from version 3.12 of the System Softwareand version 2.12 of the Teach Pendant Software.

Restart events with WiTP wireless

Event Behaviour Errors generation Maintains pairing status

Restart with the 4 keys (see par. 6.2.1.6 Keys to restart the Teach Pendant on page 6-14)

TP restarts, but C4G no

If the WiTP wireless is paired to a Controller, a connection with TP error is generated

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

6-23HS-0-C4E-USO_52.fm00/0708

Use of the Teach Pendant

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 ControlUnit ID. displayed on the teach pendant Home Page.

– Do not move with the WiTP out of the range of action, to avoid interrupting thecommunication and the consequent emergency stop of the cell, or system error. Inany case, communication is automatically resumed when the teach pendantreturns 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. Tohave 6 hours operation autonomy, it has to be left to recharge in its housing for atleast 2 hours, with the Control Unit on.

– when not in use, it is strongly recommended to leave the Teach Pendant in thedocking 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 ALLcarry 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 thebattery is allowed to run down completely, the pairing is automatically removed. Torecover it, after removing the cause, it is necessary to run the procedure forEmergency Unpairing

Restart cold command TP or WinC4G user interface

C4G and TP restart No connection error is generated

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

Restart with rear reset pushbutton (see Fig. 3.4)

TP restarts, but C4G no

If the WiTP wireless is paired to a Controller, a connection with TP error is generated

NO: THE TEACH PENDANT DOES NOT RECONNECT. IF BEFORE THE RESET IT WAS PAIRED, AN Emergency Unpairing OF THE C4G IS NECESSARY

Shutdown from softkey (Shutdown pushbutton in Fig. 6.12) and power on again

The TP shuts down and switches on again as required

[Since this command is only available if the teach pendant is not paired, there is no connection error]

[Since this command is only available if the teach pendant is not paired, there is no impact on the pairing status]

Shutdown due to discharged battery (*)

The TP informs the user with sufficient notification. If not returned onto the docking station in useful time, it switches off

If the WiTP wireless is paired to a Controller, a connection with TP error is generated

NO: THE TEACH PENDANT DOES NOT RECONNECT. IF BEFORE THE RESET IT WAS PAIRED, AN Emergency Unpairing OF THE C4G IS NECESSARY

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

Restart events with WiTP wireless

Event Behaviour Errors generation Maintains pairing status

6-24HS-0-C4E-USO_52.fm

00/0708

Use of the Teach Pendant

– If communication between Control Unit and WiTP fails, and the robot has themotors running, the system generates an alarm

28936 – 10 Emergency stop: WiTP disconnectedand the motors shut down.

6.5 DisplayFig. 6.20 - TP4i Teach Pendant Display

The display of TP4i Teach Pendant is a graphic 6.4" TFT colour display; resolution640x480 pixel.After a few minutes that it is not used, the display switches off; to switch it on again justpress 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

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

6-25HS-0-C4E-USO_52.fm00/0708

Use of the Teach Pendant

The status bar gives information about the system state; there are 7 alphanumeric fieldson a single line that have the following meanings:

– The First Field indicates the system state:

– The Second Field gives further information about the system state, Holdableprograms 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:

• With the state selector on T1, that is in programming state, the meaning is asfollows:

• The meaning of HOLD and ALARM does not depend on the state of theselector switch:

– The Third Field indicates the current value of the override percentage; if this fielddisplays the character 'I' (e.g.: '80%(I)'), it means that the system is in incrementalmovement mode.

– The Fourth Field displays the number of the current Arm. In a Multiarm systemwith synchronised motion enabled, this field contains first the number of the mainArm, 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) onpage 6-31 (for TP4i).

Auto-Tautomatic controlled by the operator through the TP (position T2 of the state selector switch - optional), to test programs at normal speed

Progr programming

Local local automatic

Remote remote automatic

**** indicates that no holdable programs are running

RUN indicates there is at least one holdable program running

**** indicates that no movements are in progress

JOG indicates that a manual movement is in progress

FORW indicates that a FORWARD movement is being executed

BACK indicates that a BACKWARD movement is being executed

HOLDindicates 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

ALARMindicates 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

6-26HS-0-C4E-USO_52.fm

00/0708

Use of the Teach Pendant

If there are Auxiliary axes, these refer to the first (or only) Arm indicated in thefield; the sub-field marked with J indicates which auxiliary axis is assigned for jogmovement, to key Aux-A and to key Aux-B respectively. If no axis is associated, adash ('-') is displayed.In the example of the following figure (field highlighted in red) the main Arm is Arm1 ('A:1'); keys Aux-A and Aux-B are not associated to any axis.

– 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 notpossible to change to other modes.

• State of SHIFT key:

With a prolonged pressing of the ARM key (for WiTP) or softkey ARM-R1 (forTP4i), the index is shown in brackets. When the final choice is made, the bracketsdisappear.

6-27HS-0-C4E-USO_52.fm00/0708

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 todisplay the current state of the Teach Pendant battery (see eighth field in the nextfigure):

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; ifinstead there is a message with an orange text, this means that anINFORMATIONAL 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 inALARM condition; the message only disappears when it is reset. From the AlarmPage, use the "down arrow" key to select the message then press Confirm (F1) inthe Central Menu.

Fig. 6.23 - Error message reset by application

– yellow: this is a PROC message

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

6-28HS-0-C4E-USO_52.fm

00/0708

Use of the Teach Pendant

– grey: the wording is black. This is a Latched message and requires an explicitconsent from the user. To do so, use the "down arrow" from Alarm Page, sub-pageLatched, to select the message, if necessary, remove the cause of the alarm, thenpress 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).

6.5.1.3 Left Menu

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

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.

6-29HS-0-C4E-USO_52.fm00/0708

Use of the Teach Pendant

6.5.1.4 Right Menu

If the system is Multiarm and the Teach Pendant is TP4i, one of the possibleconfigurations of the Right Menu (accessible by pressing the right MORE key) is shownin the next figure:

Local Remote Progr Auto-T Description

This menu is dedicated to the technological commands such as the openingor closing of the grippers and the welding parameter hardware settingsThe 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 aPDL2 program as described in chapter APPENDIX B - Customizations on TP4i/WiTP- par. Handling TP4i/WiTP right menu, in PDL2 Programming Language manual.

6-30HS-0-C4E-USO_52.fm

00/0708

Use of the Teach Pendant

6.5.1.5 Bottom Menu

This menu is a group of 6 function keys, F1..F6, contextual to the selected item (currentstate and page, selected field, etc.). The shown functions correspond to the possibleactions on the selected item.

Usually when one of the keys F1..F6 is pressed the associated function is activateddirectly. If the softkey background is yellow, this means that the associated command isin 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 isindicated by a small triangle on the top left corner of the icon. For example, this is the

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 themain 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 touse:– 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.

6-31HS-0-C4E-USO_52.fm00/0708

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 anitem 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 withENTER 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 rightcorner 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 functionto be executed according to a default; a longer pressure causes the opening of a pop-upsub-menu for the choice of the options

The pop-up window closes at any time, either because a choice has been confirmed orthe ESC key has been pressed (exit that cancels any action).

The meaning of the function keys is described in the corresponding User InterfacePages.

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 thetop right corner; the corresponding softkey, in the Left Menu, is highlighted.

Each Page refers to specific functions in a precise ENVIRONMENT (for example Motionenvironment, I/O environment, etc.).

Fig. 6.25 - Page Example

6.5.1.7 Execution of commands

When the user asks for the execution of a certain command, the system opens a windowthat contains the message “Operation in progress.” and this remains until the execution

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

6-32HS-0-C4E-USO_52.fm

00/0708

Use of the Teach Pendant

is finished. While running, the ‘Abort’ Softkey is available to be able to permanently interrupt thecommand.

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 exitfrom the command;

Fig. 6.27 - ‘Close’ Softkey

• the system displays a message (yellow background - see Fig. 6.28) indicatingthe completion of the command and the number of operations that have beenskipped (with the ‘Continue’ Softkey (F3)); the Close softkey (F6) is availableto exit from the command.

6-33HS-0-C4E-USO_52.fm00/0708

Use of the Teach Pendant

Fig. 6.28 - Skipped operations

– It has not been possible to execute the command - the system displays a messagewith a yellow background, to explain to the user the problems found. The followingsoftkeys 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 waspreviously requested.

Fig. 6.29 - 'Login' Softkey

• 'Continue' - if the command consists of a sequence of several operations, itmay happen that one or more cannot be executed. In this case the systemstops the execution of the command and informs the user: if the user wishesto skip the current operation but to “continue” running those that follow, it isnecessary to press the ‘Continue’ Softkey (F3).

6-34HS-0-C4E-USO_52.fm

00/0708

Use of the Teach Pendant

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): thecommand will be run again.

• Close (F6) - exits from the current command (see Fig. 6.30). In the case of asequence of operations, it does not run the commands that follow and quits.

6.6 User Interface PagesThe purpose of this section is to give a detailed description of the pre-defined Pagesavailable for the user, and how to use them in the User Interface. In particularinformation 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

6-35HS-0-C4E-USO_52.fm00/0708

Use of the Teach Pendant

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 thethumb of both hands: the cursor keys are controlled with the left hand, while ENTER andESC are operated with the right hand. For further details, see par. – Navigation keys onpage 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 automaticallyactivated mode is Editing.

For further details about both Modes, carefully read the paragraphs Navigation Modeand Field Editing Mode.

6.6.1.1 Navigation Mode

– Using the keys while surfing

– Navigation within the tables

Note that during the description of the User pages, the codes that are shown inbrackets in the titles of the commands that can be activated from the CentralMenu 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.

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

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

6-36HS-0-C4E-USO_52.fm

00/0708

Use of the Teach Pendant

6.6.1.1.1 Using the keys while surfing

In the Navigation mode, the keys take the following meaning:

– Cursor keysused 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 greenbackground):

• 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 isdisplayed as a blue frame with light green background.

– Page keysfor paging or to scroll the pages. The keys are page up and page down and usuallythey act as a cursor key in an “amplified” up or down (line-page, units-tensmovement, etc.)

– ENTERonce the focus has been positioned, the pressure on this key causes the switchingto the Field Editing Mode, which allows to modify the field contents. When theENTER key is pressed, the white background of the field turns blue and the blueframe turns orange.

– ESCcloses 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 acalculation spreadsheet.

The cell where the cursor is located is blue framed. To move from a cell to another, usethe cursor keys (cursor keys and page keys).

To edit the selected cell, acknowledge it with ENTER: this lets you change over to theField Editing Mode.

6.6.1.2 Field Editing Mode

In editing mode of a field, the focus is always indicated by a blue frame that surroundsthe field, and the field background is orange.

The editing of a field changes according to the field type.

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)

6-37HS-0-C4E-USO_52.fm00/0708

Use of the Teach Pendant

The available field types are:

– Spindial

The value may be directly entered through the Alphanumeric keypad. The fieldvalue may be optionally incremented or decrements by means of the followingkeys:• 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 itreturns to minimum, and vice-versa.

– Textbox

It is possible to type in a string through the Alphanumeric keypad; the input modeis automatically set to TEXT, therefore the Alphanumeric keypad may be used aswhen an SMS message is written on a normal mobile phone.

– 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 choosefrom the list. First press ENTER to enter into the field editing mode; type in the

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)

6-38HS-0-C4E-USO_52.fm

00/0708

Use of the Teach Pendant

choice and confirm with ENTER; if it is preferred not to enter the choice by typingit, press the “down” arrow, the list will be opened and the item can be chosen fromit.

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 modehas not to be changed and the navigation mode is kept on); to change over itsvalue, simply move with the cursor keys and acknowledge by pressing the ENTERkey. Of course, in a set of checkbox, it is possible to select more than one box at atime.

– Checkgroup

This type of field is equal to the previous one (Checkbox); the only difference is thathere only one push-button at a time is activated: when the selection of apush-button is acknowledged, the push-button which was previously active isautomatically de-selected. The cursor up and down keys and the subsequentconfirmation 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 casesPush-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 thatPush-button.

– Label

It may be modified only through the softkeys of the Bottom Menu, when the focusis on that field. The background is WHITE when at least one command isassociated with it in the Bottom Menu; if the background is GREY, it means that nocommand is associated with it in the Bottom Menu. When the background is GREYthe field cannot be changed.

– List There are 3 different ways to view the lists (as illustrated in the examples that

6-39HS-0-C4E-USO_52.fm00/0708

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 lastchange are listed).

To select the required element, move with the cursor keys. For a multiple selection(where allowed) use SHIFT+ENTER.

– Cell of a tableWhen allowed, the contents can be changed by pressing ENTER then using theediting function of the box (see Fig. 6.31).

Fig. 6.31 - Editing a box

small icons large icons details

Note that, if the cell can be edited in text mode, after pressing ENTER it is possibleto 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).

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

6-40HS-0-C4E-USO_52.fm

00/0708

Use of the Teach Pendant

6.6.2 Dialogue and information windows

When it is necessary, the system asks the user for confirmation of an operation or toenter a password, or to give information regarding the result of the required command.

Therefore, some suitable windows are available, having different background colouraccording to the message enclosed in the window:

– blue - request for confirmation or information by the system

– 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 specialsituations, 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 thewindow.

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

6-41HS-0-C4E-USO_52.fm00/0708

Use of the Teach Pendant

6-42HS-0-C4E-USO_52.fm

00/0708

TP4i - Home page

6.7 Home PageFig. 6.32 - Home Page

When no User Page is active, a default screen is displayed by the Teach Pendant; thisscreen is called Home Page. It is associated with no key of the Left Menu, however itturns 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

6-43HS-0-C4E-USO_53.fm

00/0708

TP4i - Home page

The green background indicates the language that is about to be chosen. Once thechoice has been made using the up and down arrows, confirm with ENTER, or type ESCto exit, cancelling the operation.

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; thesystem asks the user name and password, necessary for the login (see Fig. 6.34- Login).

Fig. 6.34 - Login

The difference between British English and American English is in the formatused for the date and the time.

6-44HS-0-C4E-USO_53.fm00/0708

TP4i - Home page

6.7.2.2 Logout

Prolonged pressure on softkey F2, activates the Logout procedure.

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)

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

As from system software version 3.20, there is also a special Automatic Logoutfunction available (see par. 5.3.1 Automatic Timed Logout on page 5-5).

6-45HS-0-C4E-USO_53.fm

00/0708

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 thealphanumeric 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 acount down which (see Fig. 6.38 - Restart - count down) in case of Restart, ends whenboth Controller and Teach Pendant restart. In case of Shutdown, once the reversecounting is complete, a message is displayed which informs the user of the possibilityto power down the system.

Fig. 6.38 - Restart - count down

For further information concerning the Restart function, please refer to theChap. 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.

6-46HS-0-C4E-USO_53.fm00/0708

TP4i - Motion Page

6.8 Motion PageThis User Page manages information regarding the robot motion environment andallows 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 multiarmsystem).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 isthe 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 nosynchronised arm.

6-47HS-0-C4E-USO_54.fm

01/0208

TP4i - Motion Page

Fig. 6.40 - Synchronised Arm

6.8.1.2 COORD

This field indicates the current coordinates system according to which the arm moveswill be made, in manual movement and in programming. The user can choose acoordinates system that is different to the current one, selecting from the following (asshown 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 andpress ENTER.

6-48HS-0-C4E-USO_54.fm01/0208

TP4i - Motion Page

6.8.1.3 Uframe, Tool, Base

These three fields allow the selection of the reference systems to be currently used inmanual movement and in programming, choosing from those stored in the Data Pagetables (UFRAME, TOOL, BASE).

For each of these three user fields, after opening the corresponding pop-up menu, theuser 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 referencesystem.

Fig. 6.42 - Choice of Base - example

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 forX, 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 tothe axis configuration)

– config - configuration string (attitude flag and multirev flag).

6.8.2 Coop (optional feature)

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

When choosing Uframe, or Tool or Base, for each of these reference systems thefollowing 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

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

6-49HS-0-C4E-USO_54.fm

01/0208

TP4i - Motion Page

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.

6.8.2.1 AUX COOP

In this section (highlighted by the red frame) the user can handle the cooperative motionbetween a worker (called Arm) and a positioner (called Auxiliary Axes Unit).

In detail it is possible to:

The four function keys of the central menu are just short-cuts to enter cooperativemotion enable/disable commands (between Arm and Auxiliary Axes, or betweentwo Arms respectively), without the need to enter into one of the two sections andselect the buttons (highlighted in green in Fig. 6.45).

6-50HS-0-C4E-USO_54.fm01/0208

TP4i - Motion Page

– enable or disable the cooperative motion (ON and OFF buttons or function keysAux ON (F1) and Aux OFF (F2) highlighted in blue),

– specify which is the auxiliary axis (Aux Axis field),

– indicate the robot the positioner cooperates with (Arm field),

6.8.2.2 ARM COOP

In this section (highlighted by the red frame) the user can manage combined motionbetween two Arms.

– enable or disable the cooperative motion (ON and OFF buttons or function keysArm ON (F1) and Arm OFF (F2) highlighted in blue),

– specify which are the two cooperative Arms (Arm fields),

For positioners with several axes, it is necessary to specify one of the axes of thegroup (for example, if the positioner axes are 7 and 8, in the Aux Axes field either7 or 8 must be specified).

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

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

6-51HS-0-C4E-USO_54.fm

01/0208

TP4i - Motion Page

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 isAUX_COOP J7,A1

it means that Arm 1 cooperates with auxiliary axis J7;

if instead it isARM_COOP A1,A2

it means that Arm 1 cooperates with Arm 2;

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 than6, 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 thesame way as on sub-page Basic (see par. 6.8.1.1 Arm on page 6-47).

For further information see par. 5.12 Integrated Motion in the Motion ProgrammingManual.

6-52HS-0-C4E-USO_54.fm01/0208

TP4i - Motion Page

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 thecorresponding Checkbox. Conversely, it is necessary to de-select it if it is wished todeactivate the chain.To do so, move the focus on the checkbox field and confirm with ENTER. Softkey F5 issimply 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 iscovered each time an axis move key is pressed (+ or -) - see JOG keys for TP4i andJOG keys for WiTP. To enable this mode, move the focusing to the Enable field and thenconfirm with ENTER.In this way the Linear and Angular fields can be accessed to make the opportunesettings.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 thisfields much quickly (Fig. 6.47).

6-53HS-0-C4E-USO_54.fm

01/0208

TP4i - Motion Page

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/AngularThese fields indicate whether, using JPAD for TP4i or JPAD for WiTP, the robotmakes a linear move (Linear) or a rotation (Angular).

– AngleFor further information see also the description of the keypad of JPAD for TP4i orJPAD for WiTP.This field indicates the user position in relation to the robot; such position is pointedout by an icon on the Teach Pendant, which moves to the requested angularposition, around the tale robot. When focusing on Angle, confirmed by ENTER, theBottom Menu displays some softkeys, which help specifying the new User'sposition. 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

6-54HS-0-C4E-USO_54.fm01/0208

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 withwhich there is to be the cooperation). This is only present if the system containscooperative 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, thatcorrespond 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 BottomMenu softkeys are shown that correspond to the state selected, and that allow changesto be made.

For both the state of the arm and of the axes, under normal operating conditions, all thestrings of the different fields are BLACK; otherwise in the case of an anomalous armcondition or if the calibration or Turn-set data is missing, the colour is RED.

6-55HS-0-C4E-USO_54.fm

01/0208

TP4i - Motion Page

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 theManual PDL2 Programming Language, chapter PREDEFINED VARIABLES.

6.8.6 Laser

Fig. 6.52 - Laser

The Laser sub-page (see Fig. 6.52) shows a graphic and numeric display of thefollowing 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 ),

This sub-page is only present in SmartLaser systems.

6-56HS-0-C4E-USO_54.fm01/0208

TP4i - Motion Page

– nominal position that joint 3 should have to reach the current point, with focalcurrently 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 examplemodified 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 andcommands for joint 3 and the active focal are inhibited (values, graph displays, focuschange pushbuttons); this informs the user that the SmartLaser current status is NOTadjusted for operation.

If the system is in AUTO or REMOTE mode, the only possible focal is the Power: In thiscase the active focal change pushbuttons are inhibited. Also the Calibration commands(F3) and Linked arm modification commands (F5) are not available, as they arepotentially hazardous.

6-57HS-0-C4E-USO_54.fm

01/0208

TP4i - Motion Page

6-58HS-0-C4E-USO_54.fm01/0208

Tp4i - Alarm Page

6.9 Alarm PageThis User Page allows management of information linked to alarms/errors that haveoccurred 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 longas the alarm is active. In case the message text is too long, it runs lengthwise in theMessages bar.

To confirm an alarm (ULLA) it has to be selected (see Fig. 6.56): press the down arrowto move the focus on the list of alarms, then choose the alarm with the cursor keys. Atthis point softkeys are available in the Bottom Menu to be able to perform someoperations (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 theexclusion, for a limited time interval, of the effect of alarms such as those connected toan electrical limit switch. For further details, look ad the description of the softkey Excl,belonging to the Virtual Keyboard.

6-59HS-0-C4E-USO_55.fm00/0708

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 informationis displayed:

– alarm order number

– error code and severity

– message text

– date and time

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

Fig. 6.57 - List of Errors

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

6-60HS-0-C4E-USO_55.fm

00/0708

Tp4i - Alarm Page

6.9.3 Latched

The alarms that enter into this category are described in the PDL2 ProgrammingLanguage manual, in the predefined variable $LATCH_CNFG.

The user shall use this sub-page to confirm the alarms set as latched, and to clear themfrom 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 withENTER 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 thealarm 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 ENTERand scroll through the list with the arrow up or arrow down key (see Fig. 6.59).

6-61HS-0-C4E-USO_55.fm00/0708

Tp4i - Alarm Page

Fig. 6.59 - List of actions

6-62HS-0-C4E-USO_55.fm

00/0708

Tp4i - Prog Page

6.10 Prog PagePurpose 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 thisprogram)

– 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 userto act on the displayed programs:

– Prog

– Execution

– Load...

– View

– Details

– POS SHIFT

6-63HS-0-C4E-USO_56.fm00/0708

Tp4i - Prog Page

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 situationsmight occur:

– the requested program already exists in execution memory

– the requested program only exists as a file in UD:. The command loads it in theexecution memory (ML).

– the requested program does not exist. The command creates a .COD file and loadsit in the memory.

To open the created program, use the previously described command Open (IDE) orselect 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 fileon the default device.

6-64HS-0-C4E-USO_56.fm

00/0708

Tp4i - Prog Page

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 tothat 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 executionmemory. If other programs are associated to a routine or to variables of the program thatis 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 selectedprogram.

– 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:

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

6-65HS-0-C4E-USO_56.fm00/0708

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 inREADY 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 intoRUNNING state.

Only one holdable program at a time is allowed, unless the DETACH attribute isspecified 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 PAUSEDstate. The program is set to the running status provided that no other programsuspension condition subsists. To restart the execution of holdable programs, STARThas 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 theprogram debug. Normally, the program execution is continuous, i.e. without breaks. Theexecution step allows to define the moment when the program execution shall beinterrupted. A new execution step is started each time the START key is pressed forholdable 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 eachinstruction. The protected Routines (whose body is not displayed) are run as theyare a single statement; the execution of non protected Routines (whose body maybe displayed) is interrupted in connection with each instruction.

– Disable (PTSD) - Stops the step-by step execution and from thereon the programis run in continuous mode.

6-66HS-0-C4E-USO_56.fm

00/0708

Tp4i - Prog Page

– Move (PTSM) - The execution is interrupted in connection with each individualmovement. This is not allowed on non-holdable programs.

– Fly (PTSF) - For fly moves before holding the program execution. Similar to theMove option, however here the program execution does not stop after theMOVEFLY instruction. This is not allowed on non-holdable programs.

– Cycle (PTSC) - Defines a single cycle of the program as a step, therefore it mustcontain the CYCLE or BEGIN CYCLE instruction.

– Routine (PTSR) - Similar to the Statement step, however here the routines are runas they were single instructions.

6.10.3 Load...

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.

According to whether the pressure is long or short, different commands can beactivated:– short pressure - loads into the execution memory the programs or variables

files selecting them from the default device (UD:) and from the directorywhere they belong (corresponds to command MemoryLoad). To choose thefile (program or variables file ) to load.

– long pressure - to specify different loading options , execute the loading andif required, activate it. A detailed description of possible options is givenhere below.

6-67HS-0-C4E-USO_56.fm00/0708

Tp4i - Prog Page

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/Asof 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 adifferent 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.

6.10.3.4 Convert conflicts (Conv) (ML/C)

This option is useful in case of conflicts detected during a loading operation, when theymay 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 ofany programs that are called up by it. If these files are in different directories to the oneof the loaded program, it is necessary to set the pre-defined variable $DEPEND_DIRSthat 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.

This command DOES NOT load the .COD.

6-68HS-0-C4E-USO_56.fm

00/0708

Tp4i - Prog Page

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)

6-69HS-0-C4E-USO_56.fm00/0708

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). Thefollowing 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.

6-70HS-0-C4E-USO_56.fm

00/0708

Tp4i - Prog Page

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 selectedprogram, modifying the coordinates. It is used to transfer the execution of an already stored path, acting on the positions thatbelong 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 POSand XTNDPOS) that belong to the selected program.

Fig. 6.68 - Positions selection

6-71HS-0-C4E-USO_56.fm00/0708

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 positionis to be shifted, press Close (F6) to exit (see Fig. 6.71).

d. press SHIFT (F1)

e. a window is shown in which the user has to specify the offsets on X, Y and Z (theentered values indicate how much to shift (in millimetres) along the three directionsof the Cartesian coordinates system), as well as the required reference system; ifonly one variable has been selected, the system displays its name and themodifications are related only to such a variable (see area highlighted in red, inFig. 6.69). Otherwise the system displays the text “multiple selection” and thetransfer refers to all the selected position variables.

Fig. 6.69 - Positions modification

f. press Apply (F5) to save the modifications

g. The system displays the final status of the operation: if the command has correctlyterminated, the message “Command executed” is displayed; otherwise an errormessage 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

6-72HS-0-C4E-USO_56.fm

00/0708

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).

Fig. 6.71 - Program modified but not saved

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

NOTEThe program is modified ONLY in the execution memory (Fig. 6.71, areahighlighted in red)! If it is wished to make the modification permanent, thevariables have to be saved (Save data (MS) command).

6-73HS-0-C4E-USO_56.fm00/0708

Tp4i - Prog Page

6-74HS-0-C4E-USO_56.fm

00/0708

TP4i - IDE Page

6.11 IDE Page

IDE environment (Integrated Development Environment) is used to develop motionprograms (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 Holdableand has EZ attribute.

When the IDE page activates. Through the Left Menu key, the currently activeprogram is opened. If there is no program active, an error message is displayed.

If the program to be opened in IDE is not the one that is active, or if there is no programactive, use this procedure:

a. activate the Prog Page with the Left Menu key

b. select the program to be opened. If the program is not in the loadable memory,upload it with the Load...function (F3)

c. press ENTER to confirm (or use the Open (IDE) function). The selected programis automatically activated. If another program is active, this will be deactivated andthe program asked for will be activated.

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

GLOSSARYIt is recommended to read the following glossary carefully, since in thisparagraph 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 thetechnological parameters, also those linked to tool, frame, orientation, etc.

– customised nodal - very compact syntax, containing in a single line all thecustomising required by the customer. The description of this type ofinstruction is not contained in the standard manual, but only in the NodalMoves manual, handed over to the customer for whom it has beendeveloped. Therefore it is not dealt with herein.

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

6-75HS-0-C4E-USO_57.fm00/0708

TP4i - IDE Page

6.11.2 Description of the video screen

When the IDE environment is active, the display screen of the Teach Pendant TP4ishows 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 theguided 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 redand 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

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

6-76HS-0-C4E-USO_57.fm

00/0708

TP4i - IDE Page

program and the number of the line that contains the move instruction inprogress;

– low status window, containing the current settings of the REC key (F5 or hardkeyfor TP4i).

6.11.2.2 Editor area

This is the window where the program instructions are displayed. In this window, theuser can edit and debug of the active program, as well as follow its execution (see noteabout ‘Displaying the currently being executed instruction’).

For an easy and efficient use of the editor area, the colours in which the program linesare displayed and the cursors that point them have special meanings.

A detailed description follows of:

– ColoursThe 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. comment2. number3. key word4. reserved word5. 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 completeinstruction 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)

6-77HS-0-C4E-USO_57.fm00/0708

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 deceasedand it is then possible to use the Alphanumeric keypad and the BottomMenu, commands, as described for the completion of the Statementcommand.

Fig. 6.74 - Change command

• insert a new program line or a line with complex instructions - use thePDL2 command. This function makes available the templates regardingthe selected instruction, and considerably facilitates the insertion into theprogram.

• delete an existing program line or instructions - use the Delete commandthat is part of the Selection function.

• EXECUTION CURSORit is represented by an arrow and the instruction background that is a differentcolour 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.

Changing a MOVE instructionA particular case is to change a MOVE instruction. In this case there is the Changefunction, associated to key F3, which can be used to change the MOVEparameters.See Fig. 6.74.For further information on how to modify a MOVE with $PAR, see par. 6.11.3.7.3Changing a MOVE with $PAR on page 6-99.

6-78HS-0-C4E-USO_57.fm

00/0708

TP4i - IDE Page

Fig. 6.75 - Execution cursor

• MOTION CURSORthe 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 ofa 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 arecurrently being executed, by focusing them with the EXECUTION CURSOR. Theexecution may be followed by the user by looking at the cursors moving throughthe program instructions.

6-79HS-0-C4E-USO_57.fm00/0708

TP4i - IDE Page

When a program is opened under IDE, if the program is not running, theEXECUTION CURSOR is placed on the BEGIN statement of the 'ROUTINEcall_...'.

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.

– CloseClose IDE: the program remains in the state it was in before the closure. If therehas been a misalignment between the EDIT CURSOR and the EXECUTIONCURSOR, 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. Otherwiseit is necessary to realign the cursors by hand before closing.

6-80HS-0-C4E-USO_57.fm

00/0708

TP4i - IDE Page

If the program has been changed, the user is asked if it is to be saved.

– Save (cod,var)Saves both the .COD and the .VAR for the program that is currently open, in thedirectory 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 bedifferent to that where the program was loaded), changing the name; the programremains open.

– VariablesTo 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 nameand type of variable required, choosing from those in the list displayed.

Fig. 6.77 - Variables management commands

– ImportTo import the declarations from another program that have the EXPORTED FROMclause and to insert them in the declarable part of the variables of the programcurrently open in IDE.

The classes of importable declarations area:• Routine• Type• Variable

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

6-81HS-0-C4E-USO_57.fm00/0708

TP4i - IDE Page

6.11.3.2 Execution

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

Fig. 6.78 - Execution commands

The following commands are available:

– ResetDe-actuates and re-actuates the program.

– DeactivateDe-actuates the program.

– StepSets the program step execution mode. For further information see par. 6.10.2.5Step 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 thecurrent type of step is “Statement”).

Fig. 6.79 - Step command

The commands available are:• Statement (Single step)

6-82HS-0-C4E-USO_57.fm

00/0708

TP4i - IDE Page

The execution stops after each instruction. The protected Routines (thecontent of which is not displayed) are executed as a single statement; theexecution of non-protected Routines (where the content is visible) stops at theend of each instruction.

• DisableStops the program execution in steps.

• MoveThe execution stops after each single move. It cannot be executed onnon-holdable programs.

• FlyTo execute two or more motions in fly before suspending the programexecution. It is similar to the Move, but the execution does not stop after theMOVEFLY instruction. It cannot be executed on non-holdable programs.

• CycleDefines a single program cycle, that has to include the CYCLE or BEGINCYCLE instruction, as a step.

– Set execution cursorAllows to move the program execution to a line different from the one actuallypointed by the EXECUTION CURSOR. Move the EDIT CURSOR and send thiscommand.

– AbortAborts the execution of the current instruction.

– Break pointEnters 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 programexecution 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 thissame command.

– BypassAllows the program execution to go on, in case it is waiting for the completion of asuspending instruction as WAIT FOR <condition>, DELAY <time>, etc.

– ImmediateTo 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 programvariable is executed, the value of that variable will be actually changed).

6-83HS-0-C4E-USO_57.fm00/0708

TP4i - IDE Page

Fig. 6.81 - Immediate execution command

In the Bottom Menu there is the Statement function that opens a Dialogue windowthat contains the groups of instructions for the user to choose from. After the typeof instruction has been selected, it has to be confirmed ('OK' or ENTER) so that itbecomes effective.

After the instruction to be executed has been chosen, press 'OK' to start theexecution.

With the IDE environment, as already mentioned, it is possible to see, in the Editorarea, the execution of the program that is currently open (see Displaying thecurrently 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 thefollowing 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) folderthat contains the frequently used instructions, previously inserted by the user (see

6-84HS-0-C4E-USO_57.fm

00/0708

TP4i - IDE Page

Add). In the “_PREF_” (bookmark) folder the user can select the requiredinstruction.

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 isadded to the “_PREF_” (bookmark) folder.

• Removeto cancel an instruction from the “_PREF_” folder: entering into the folder andselecting the instruction to be cancelled, the “Remove” function (F1) isenabled 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 currentlypositioned.

6-85HS-0-C4E-USO_57.fm00/0708

TP4i - IDE Page

When this softkey is pressed the last nine instructions used are displayed, plus 'emptyline', for quicker insertion. When the user chooses the instruction, it is inserted in theposition following that pointed by the EDIT CURSOR. If, among the instructions listed the one required is not there, choose 'empty line'. A newprogram 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 theconcept 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 aninstruction.

It is composed of key words (inserted by the system) and variable fields (that have tobe completed by the user). The key words are written in bold high case characters on alight blue background. A variable field is confined by the characters '<' and '>'; when onit, 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 thevariable field is considered a single character)

– The Next function key (F5) to move to the next variable field (if the previous fieldwas the last field of the template, when Next is pressed the focus is moved to thefirst field)

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

6-86HS-0-C4E-USO_57.fm

00/0708

TP4i - IDE Page

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 dialoguewindow 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 PDL2function:

– 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 tooperate 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

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

6-87HS-0-C4E-USO_57.fm00/0708

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 checksthat the syntax is correct; if the inserted instruction is not correct, an error message isdisplayed. After the error has been corrected, the instruction has to be confirmed againwith OK or ENTER.

If the instruction is correct and complete, the insertion is terminated.

Otherwise, when necessary, the system completes the instruction with further programlines.

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 andthe ENDFOR line

When OK or ENTER is pressed, if the instruction is correct and complete, the insertionis 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-MotionContains templates for

– calls the enable/disable routines for cooperative motion between Arms andbetween Axes and Arm

6-88HS-0-C4E-USO_57.fm

00/0708

TP4i - IDE Page

– Arm ATTACH and DETACH instructions

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 newsubroutine is created exportable).

Insert the import of the corresponding routine directly: therefore it is not necessary todeclare 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

FlowContains the templates of instructions needed to control the program execution flow:

– FOR

– GOTO

– IF

– LABEL

– SELECT

– REPEAT

– WHILE

StateContains the templates of instructions needed to control the program state:

– HOLD

– PAUSE

– UNPAUSE

– LOCK

– UNLOCK

– RESUME

– DEACTIVATE

– CYCLE

– DELAY

– RETURN

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

6-89HS-0-C4E-USO_57.fm00/0708

TP4i - IDE Page

– CloseHand

– OpenHand

– RelaxHand

IOPortContains 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, formotion 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 installedin 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 theTemplate 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

6-90HS-0-C4E-USO_57.fm

00/0708

TP4i - IDE Page

that are available for the selected <value> field. The user has to choose the requiredpredefined 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 fieldcurrently 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 setupTo set the move instruction characteristics that are inserted in the program, eachtime the REC key is pressed.For further details see the par. 6.2.1.3 Other colours keys on page 6-10. When thisfunction is activated, the system displays the screen page shown in Fig. 6.90.

Fig. 6.90 - Command to set the REC key

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

6-91HS-0-C4E-USO_57.fm00/0708

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). Eachtime the required key is pressed, the system inserts a different setting (incircular manner). These keys act separately from the field where the focus ispositioned.

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 therelated checkbox (see Fig. 6.92 - field highlighted in red);

– the possibility to write the move instruction on more than one line, i.e. includedbetween the key words MOVe and ENDMOVE. To enable/disable thisfunction, select or deselect the Multiline checkbox (see Fig. 6.92 - fieldhighlighted in yellow).

Fig. 6.92 - SyncMove - 1

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

6-92HS-0-C4E-USO_57.fm

00/0708

TP4i - IDE Page

Fig. 6.93 - SyncMove - 2

At the end, press the key OK (F5) to confirm the changes made.

– Enable MarkingEnables the marking of the lines where the EDIT CURSOR. In the central menu thefollowing functions are shown:• Cut - cuts the selected lines• Copy - copies the selected lines• Deselect - deactivates the marking

NOTES TO RECORD POINTS IN MOVE..SYNCMOVEWARNING!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 toinsert in the program, and run the instruction

ATTACH Arm[n] for both the Arms involved in the MOVE ... SYNCMOVE. The execution of thisinstruction must take place BEFORE learning any point, otherwise, when the Armis changed, if the Arm selected by TP4i is different to the PROG_ARM, the IDEsession 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].

It is to be noted that the new settings of the REC key are NOT maintained after asystem restart. To make it permanent the configurations have to be saved (usingthe system command 'ConfigureSaveCategoryController /Shared').

The 'Nodal..' function is provided, that can be activated with key F4, to modify thenodal configuration with $PAR of the REC key. For further information seepar. 6.11.3.7 REC key setting, nodal with $PAR on page 6-95.

6-93HS-0-C4E-USO_57.fm00/0708

TP4i - IDE Page

– PasteTo paste the lines previously cut or copied, under the line that is currently pointedby the EDIT CURSOR.

– UndeleteEnters again the program with the latest cancelled instruction, to the position wherethe EDIT CURSOR is placed. This operation can also be executed by pressingSHIFT+C on the alphanumeric keypad.

– DeleteCancels the instruction, where the l EDIT CURSOR is placed.

– GotoAllows 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 linenumber.

– Comment/UncommentTo make the current instruction line a "comment" or to make it a loadableinstruction 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 willnot be executed.

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

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

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).

6-94HS-0-C4E-USO_57.fm

00/0708

TP4i - IDE Page

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 thecurrent arm position.

The current setting is displayed in the status line at the bottom of the IDE page, ashighlighted in red in the example of Fig. 6.94.

Only for the Teach Pendant connected by cable (TP4i), the function of this softkey isexactly the same as for the REC key available as hardkey (see par. – Motion keys onpage 6-5).

6.11.3.6 MOD

To change the coordinates value of an existing position. For this, after the softkey hasbeen pressed, the system displays a dialogue window where the user can confirm thename of the selected variable.

6.11.3.7 REC key setting, nodal with $PAR

For further information regarding the setting modes of this softkey, see thefollowing paragraphs: par. – REC setup on page 6-91 and par. 6.11.3.7 REC keysetting, nodal with $PAR on page 6-95.

If the tool and frame set for the current MOVE are not those set REC setup, thesystem will refuse the change.

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

6-95HS-0-C4E-USO_57.fm00/0708

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))

Using nodal management with $PAR, the values of the variables set by thetechnological routine do not have a temporary effect, but are assigned in permanentmode.

BEGIN……$ARM_SPD_OVR := 100-- Arm_spd_ovr is 100MOVE 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 routinesused with the Moves reassign them.

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.

Regarding the nodal method having a WITH clause, there are substantialdifferences. It is to be remembered that, in general, through the nodal method thevariables are assigned temporary values that only have effect during the moveexecuted by the Move instruction.After the move the system returns to the values assigned with the modal method.

It is a good programming rule not to use the modal method to assign values tovariables that are also set by technological routines.

6-96HS-0-C4E-USO_57.fm

00/0708

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 followingassignments:

$ARM_SPD_OVR:= vel$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 followingassignments:

$LIN_SPD:= vel$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 makingthe following assignments:

$TERM_TYPE:= zone (where zone is equal to COARSE, FINE, NOSETTLE) in thecase of Move no Fly

$FLY_PER:= zone (where zone is an integer from 1 to 100) in the case of MoveFly if $FLY_TYPE<>FLY_CART

$FLY_DIST:= zone (where zone is an integer from 1 to 100) in the case of MoveFly if $FLY_TYPE=FLY_CART

– ORN (type): used by the Ap and Gp routines, sets the type of orientation makingthe 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 setthem through the Motion Page, Basic sub-page.

If it is wished to modify the parameters of the Move or change the type of technologicalroutine, the REC key has to be set in nodal mode with $PAR. To access the nodalsetting, 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 alwaysrequested, whereas the other values depend on the technological routine chosen (Mp,Gp or Ap).

6-97HS-0-C4E-USO_57.fm00/0708

TP4i - IDE Page

Fig. 6.95 - Mp routine

If the $PAR field contains Mp (to set the MP routine), the screen page asks for theinsertion 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 RECkey 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)

6-98HS-0-C4E-USO_57.fm

00/0708

TP4i - IDE Page

Fig. 6.97 - Ap routine

If the $PAR field contains Ap (to set the AP routine), the screen page requires theinsertion 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 RTFfunction, are the active tool and frame at that instant (that can be seen in the IDE statuslines: last and last-but-one field respectively). The set tool and frame are alwaysautomatically 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 RECsetup key command with the limitation that it is not possible to modify the type ofpositional variable.

6.11.3.7.4 STARTUP program

The Startup program runs a 'Program Go Hmove' command to load the routines neededto 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 particularthe application technological instructions and instructions defined by the user (see PDL2Programming Language Manual - Appendix B - Customizations on the TP) in aprogram opened in IDE environment.

Activating this function opens a table (called Numeric keypad) that describes the

If a Move is changed from no Fly to Fly, IDE asks that the Zone parameter (for anMP or GP routine) passes from Coarse, Fine, Nosettle to an integer number from0 to 100.In the same way, if changing from a Fly to a no Fly Move, IDE asks whether thepositioning accuracy is to be Coarse, Fine, Nosettle.If a Gp routine is set, the “Linear” field is disabled.

6-99HS-0-C4E-USO_57.fm00/0708

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 theprogram.Instructions can be inserted even more quickly in IDE environment, without opening thenumeric keypad, press simultaneously SHIFT + the numeric key associated to therequired instruction, the system will insert this instruction in the program. For example (with reference to Fig. 6.98) if, without opening the numeric keypad theuser presses simultaneously SHIFT and 2, the technological instruction Spot_init isinserted 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 instructionassociated 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 theprogram, and closes the numeric Keypad.

6-100HS-0-C4E-USO_57.fm

00/0708

TP4i - I/O Page

6.12 I/O PageThis 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 displayedon 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 therange of the selected input or outputEnter 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 scrolledusing the cursor keys.

6-101HS-0-C4E-USO_58.fm

00/0708

TP4i - I/O Page

Fig. 6.100 - List of required I/Os

The following information are displayed for each one of the Inputs or Outputs requestedby 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 tooperate 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...)

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.

The available options are

For controls Set (SI and SO), Forcing (SIF... SOF...) and Simulate (SIS... SOS...), itis possible to act either on the individual I/O or on groups, selecting the first I/Oand pressing the SHIFT+ENTER keys on the last I/O of the group.

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

6-102HS-0-C4E-USO_58.fm00/0708

TP4i - I/O Page

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 longerconsidered and the forced value is used.

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

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

6-103HS-0-C4E-USO_58.fm

00/0708

TP4i - I/O Page

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 physicalconfiguration; 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, andinstead is used either the value assigned to the gateway through this command or aninstruction PDL2.

A simulated Input or Output may also be forced.

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.

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

6-104HS-0-C4E-USO_58.fm00/0708

TP4i - I/O Page

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 leavesthe current value

6.12.4 View (SIV... SOV...)

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

Fig. 6.103 - Viewing of I/O ports

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

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

6-105HS-0-C4E-USO_58.fm

00/0708

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 informationis 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))

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)

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.

6-106HS-0-C4E-USO_58.fm00/0708

TP4i - I/O Page

Fig. 6.104 - Zoom out

6.12.4.3 Vertical

If there are several windows open, they are displayed alongside each other in a verticalarrangement.

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 horizontalarrangement.

To pass from one window to another, press ESC and move with the rh arrow orthe lh arrow, according to which window is to be selected, to the right or to the leftof the current window.

To pass from one window to another, press ESC and move with the up arrow orthe down arrow according to the window to be selected, either upward ordownward from the current window.

6-107HS-0-C4E-USO_58.fm

00/0708

TP4i - I/O Page

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 Zoomout). 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 (seeFig. 6.108):

– Open

– Close

– Maximize

– Restore

6-108HS-0-C4E-USO_58.fm00/0708

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). Tomove the focusing from a window to another, use 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 thedisplay 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 theviewing of the next window (still keeping this mode active).

Fig. 6.108 - Display windows management

Should any I/O be selected (orange background), to change over to anotherwindow, first press ESC: the current I/O will be de-selected and then it is possibleto focus on another window (through the cursor keys).

6-109HS-0-C4E-USO_58.fm

00/0708

TP4i - I/O Page

6-110HS-0-C4E-USO_58.fm00/0708

TP4i - Appl Page

6.13 Appl PageThis page is the interface of the application package installed on the C4G ControllerUnit. 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 specificApplication.

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

6-111HS-0-C4E-USO_59.fm00/0708

TP4i - Appl Page

6-112HS-0-C4E-USO_59.fm

00/0708

TP4i - File Page

6.14 Files PageThe User page of File Manager (Files) allows to carry out all the operations concerningthe 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)

6-113HS-0-C4E-USO_60.fm00/0708

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:

– FileThis 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.

– EditAllows to move the cursor to the wanted line: select 'goto', (ENTER or 1 - seeFig. 6.113).

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

6-114HS-0-C4E-USO_60.fm

00/0708

TP4i - File Page

Fig. 6.113 - Edit - 1 Command

A prompt screen page is displayed (see Fig. 6.114) where the user has toinsert 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 commandRecycle bin, Restore command.

6-115HS-0-C4E-USO_60.fm00/0708

TP4i - File Page

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 areavailable in the bottom menu, as shown in Fig. 6.115:

– EmptyEmpties the bin.

– EraseRemoves the selected file from the bin and removes it irrevocably.

– RestoreRestores the selected file and put it again in the current directory.

– CloseClose 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

6-116HS-0-C4E-USO_60.fm

00/0708

TP4i - File Page

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.

6-117HS-0-C4E-USO_60.fm00/0708

TP4i - File Page

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-selectedones 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 requiredselection 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 (seeFig. 6.118).

Fig. 6.118 - View Command

6-118HS-0-C4E-USO_60.fm

00/0708

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 ofthe 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.

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 topdownwards, 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)

NOTE: to be sure that the displayed information is always consistent, refresh; infact, refreshing is NOT carried out automatically since the displayed informationis inactive.

6-119HS-0-C4E-USO_60.fm00/0708

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 formatsuitable 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 differentextension (as .BKC) before the new file is created.

If reports or errors are detected during the conversion, they are displayed in the scrollingwindow and recorded in the file <file_name>.ERR.

This command can also be used to convert system binary files (.C4G), into thecorresponding 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 offiles, 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 seton 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 offiles, it is recommended to open the Setup page, Restore sub-page. Note that Savesetsare stored in the preset variables.

6.14.4.4 Device Change

To change the device for the display of the files list. The devices allowed depend on thehardware found by the system.

Access to another device may depend on whether or not the Login has been executed.

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

6-120HS-0-C4E-USO_60.fm

00/0708

TP4i - Data Page

6.15 Data PageThe User Data page of the Teach Pendant allows to look at and modify all the datatables 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 TeachPendant display (the example in Fig. 6.119 shows only the System tables).

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 boxesin the required fields with the editing mode (press the ENTER key).

During the navigation /editing within a table, the commands available in the BottomMenu are:

– Table

– Modify

– Selection

– AutoApply

6.15.1.1 Table

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

The columns of the tables displayed in the Data Page, automatically dimensionaccording to the information they contain.

6-121HS-0-C4E-USO_61.fm00/0708

TP4i - Data Page

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 selectedtable opens.

6.15.1.1.2 Close

Closes the current table. If changes have been made, the user is asked to confirm theapplication 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.

6.15.1.1.3 Apply

Saves the applied changes in the execution memory. The table keeps open, but thechanges 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.

For WiTP wireless, if the TP is unpaired from the Control Unit, any open tables inData Page will be closed by forcing.

6-122HS-0-C4E-USO_61.fm

00/0708

TP4i - Data Page

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 bottomThe 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 (Selectioncommand (F3).

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

6-123HS-0-C4E-USO_61.fm00/0708

TP4i - Data Page

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 Copyor 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

6-124HS-0-C4E-USO_61.fm

00/0708

TP4i - Data Page

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 backgroundon softkey F4).

This mode can be disabled by pressing the key F4; the background of the correspondingsoftkey 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 (bluebackground).

6.15.2 System tables

'System Tables' are the tables created automatically by the C4G Control software (seeFig. 6.124):

– BASE

– TOOL

– FRAME

6-125HS-0-C4E-USO_61.fm00/0708

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 possibleto 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 witha 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

6-126HS-0-C4E-USO_61.fm

00/0708

TP4i - Data Page

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 highlightedin red.

6-127HS-0-C4E-USO_61.fm00/0708

TP4i - Data Page

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 ispossible to move inside it using the cursor keys, and to modify the cells entering inediting 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 inthis User Page.

Once created and added to the Data Page, these tables are managed in exactly thesame way as the System tables and Application tables.This means that, to select the required table, use the up and down arrow keys, thenpress 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 editingmode (pressing the ENTER key), in the required fields.

The procedure to create them and add them to the Data Page is described in thePDL2 Programming Language Manual, Appendix B, par. User table creation fromDATA environment.

6-128HS-0-C4E-USO_61.fm

00/0708

TP4i - Setup Page

6.16 Setup pageThe 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 Configurationfiles.

In the Pages Area, moving on the icons with the cursor keys, the user can select therequired sub-page. Eight sub-pages are available, each one corresponding to a definitesetup 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 topright angle of the User Page window.

6-129HS-0-C4E-USO_62.fm

00/0708

TP4i - Setup Page

6.16.1 Config. Function

Fig. 6.130 - Config. Command

By pressing the Config. key (F1), the user can activate certain functions related to theconfiguration files (see Fig. 6.130):

– Save the configuration file (CSA)to save the changes made on the various sub-pages, regarding values ofpredefined configuration variables; it creates a new configuration file<$BOARD_DATA[1].SYS_ID>.C4G.

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

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

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

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

6-130HS-0-C4E-USO_62.fm00/0708

TP4i - Setup Page

Fig. 6.131 - Configure Save Category

The user has to select the required category (Save or Load Category), opening thepop-up menu (press ENTER key) for the “Category” field, selecting and confirmingthe 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 knowwhich objects to save/load. For further details, see PDL2 ProgrammingLanguage manual - chap.Predefined Variables List - par.$C4G_RULES: C4GSave & Load rules.

The user can indicate whether it is wished to save the selected variables in thedefault file (and in this case only the section relating to the specified categories andminor categories will be updated), selecting item “Update Configuration File” actionbutton (as shown in Fig. 6.133, highlighted in red),

6-131HS-0-C4E-USO_62.fm

00/0708

TP4i - Setup Page

Fig. 6.133 - Default configuration file

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

Fig. 6.134 - Partial File

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

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

6-132HS-0-C4E-USO_62.fm00/0708

TP4i - Setup Page

Fig. 6.135 - Configure Load Category

As for the Save configuration of some categories (CSCx), the user can specify therequired category and the minor categories of the configuration variables, as wellas the “Rules” and the file where the values related to these variables are to beloaded (configuration file or partial file). Therefore see the Save configuration of some categories (CSCx) for the detaileddescription on how to proceed.

6.16.2 Arm

Setup commands are available for the following environments:

– Calib

– Ieak

– Mounting

– Presse

– Sik

– StrokeEnd

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

6-133HS-0-C4E-USO_62.fm

00/0708

TP4i - Setup Page

6.16.2.1 Calib

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

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 thecommand, the arm has to be moved to the calibration position (within an encoder turnquadrant). This command is useful in case the pre-setting has been lost, e.g. due to areading error of the engine revolutions

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).

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

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

The system has to be in PROGR status (status selector switch on position T1) andthe 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).

6-134HS-0-C4E-USO_62.fm00/0708

TP4i - Setup Page

Fig. 6.136 - Turn Set command

Through a prompt screen page, the system asks for confirmation from the user beforeexecuting 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 onspecific axes.

Before the command is sent, the arm is to be placed in the calibration position. To definethe wanted axis, select it (with SHIFT/ENTER) before starting up the procedure. If allaxes are selected, the entire current arm is calibrated.

This command cannot be used if the selected user profile is not Service.

The available options, which may be actuated by holding down for long the keycorresponding to softkey 'Calib' (see Fig. 6.137), are the following:

– Learn (CAC/L) Learns the actual position as the user calibration position ($CAL_USER). Thelearning 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 theNVRAM 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).

The system has to be in PROGR status and the drives must be on and kept so forthe entire calibration operation.The calibration data are automatically saved in the NVRAM memory; in theconfiguration file (<$BOARD_DATA[1].SYS_ID>.C4G) and in the ASCII calibrationfile <$BOARD_DATA[1].SYS_ID>_CAL<num_arm>.PDL.

6-135HS-0-C4E-USO_62.fm

00/0708

TP4i - Setup Page

After the wanted option has been selected, acknowledge with ENTER: a user'sacknowledgement prompt message is displayed. Answer 'OK' (F5) to start theCalibration 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 tostore 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 (axeslength, calibration values and calibration constants), from the Controller NVRAMmemory. 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 promptscreen, 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 theconfiguration 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 andautomatically 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 meansof 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

6-136HS-0-C4E-USO_62.fm00/0708

TP4i - Setup Page

b. press ENTER or Modify (F4) to enter editing mode

c. Make the changes needed

d. 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/Oconfiguration for the positioners.

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)

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 therequired Arm (see Fig. 6.138). To do so, move the focus on the correspondingcheckbox and press ENTER.

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

6-137HS-0-C4E-USO_62.fm

00/0708

TP4i - Setup Page

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 pressENTER to open it. Choose the required Fieldbus and press ENTER (seeFig. 6.139).

a.1 If the Fieldbus is not CANBus, it is also necessary to select the board relating tothe selected Fieldbus. To do so, place the focus on the second menu, pressENTER to open it, choose the required board and press ENTER again.

b. Press Ok (F3) to start the configuration - the system will automatically configure theI/Os related to the IEAK device, on CanBus module number 3, at physicaladdress 25; at the end of the configuration mapped ports $SDIN/$SDOUT and thesignals 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)

– type of signal• 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.

6-138HS-0-C4E-USO_62.fm00/0708

TP4i - Setup Page

Fig. 6.140 - I/O configuration for IEAK

By pressing the Next (F6) softkey, the configuration viewing is completed with return tothe main screen page of the IEAK Sub-page (Fig. 6.138).

6.16.2.2.2 View (F4)

Pressing softkey View (F4), the user asks to view the current configuration; the systemdisplays, in sequence, the $SDIN and $SDOUT ports mapped for the Arms (and relatedIEAK devices) in the system.

The information displayed is described in item b. of par. 6.16.2.2.1 Cnfg (F3) onpage 6-138.

An example for two Arms, is shown in Fig. 6.141.

• 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.

WARNING! To make the configuration permanent, the Save (F5) command has tobe executed (see Fig. 6.138).

6-139HS-0-C4E-USO_62.fm

00/0708

TP4i - Setup Page

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 oneof the Arms installed in the system.

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 hastaken 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 beforeclosing the configuration sub-page.

WARNING - pressing this softkey will reset ALL the configurations present,related to IEAK devices.

6-140HS-0-C4E-USO_62.fm00/0708

TP4i - Setup Page

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 itcan 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.

Fig. 6.143 - Mounting sub-page

To declare the type of robot Mounting, proceed as follows (see reference to screenpage 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; ifthe Mounting is SLOPED PLANE type, pass to step b.

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

6-141HS-0-C4E-USO_62.fm

00/0708

TP4i - Setup Page

a.1 if the mounting is SLOPED PLANE TYPE, indicate the slope angle - move thefocus on the spindial highlighted in green (see Fig. 6.143), change the value andconfirm 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 Mountingscreen page (Close (F6) softkey).

6.16.2.4 Presse

With the selection of the PRESSES icon, the user can configure the parameters of therobots 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

Selecting the SIK icon, the user can manage the $SDIN/$SDOUT signals for thesedevices.

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 aSik 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 beconfigured. Conversely, for Arm 2 (highlighted in yellow), the only Sik that can beconfigured is that of the Robot.

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

6-142HS-0-C4E-USO_62.fm00/0708

TP4i - Setup Page

Fig. 6.145 - SIK devices setup

A Sik device can be activated on auxiliary axes or on robot axes: to each Arm orAuxiliary Axis, 2 $SDIN and 2 $SDOUT are associated, reserved for the correspondingSik.

The $SDIN and $SDOUT signals for the ARMS (Robot), are included between 25 and32, 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 and96, as indicated in Fig. 6.147.

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

NOTE FOR USERBefore 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 ofpre-existing configurations or the execution of a configuration on an inconsistentsystem.The Cnfg (F1) command is to be used, not only to execute an Input/Outputconfiguration, 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 thecorresponding Inputs/Outputs, guided by the program.Conversely, if the current configuration is not correct, the user is recommendedto execute a clearing operation (see par. 6.16.2.5.6 Reset of previous setup onpage 6-148) before starting a new configuration.

6-143HS-0-C4E-USO_62.fm

00/0708

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)

In brief, the complete configuration procedure for the Sik is the following:

a. set the required command (see previous note ‘WARNING’),

b. press Cnfg (F1) to confirm the settings for the required command. If it is wished toconfigure more than one Sik device, return to step a. and carry out the othersettings;

c. check that the situation is consistent (View (F2)) and if necessary execute a Resetof previous setup,

d. define the I/O signals that pilot the selected Sik devices (Map (F3)),

e. save the new configuration (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 thecomboboxes highlighted in purple in Fig. 6.145.For example, in this figure, pressing Cnfg (F1) confirms that it is wished to manage theSik associated to Auxiliary Axis 8 of Arm 1.

After confirming the settings with this softkey, the system is ready to execute therequired command.

6.16.2.5.2 View (F2)

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

WARNINGFor any operation it is wished to carry out (mapping of I/O signals, currentconfiguration display or reset), FIRST OF ALL:

a. set the required command (combobox highlighted in purple in Fig. 6.145)

b. press Cnfg (F1) to confirm the setting.

The display of the new configuration (View (F2)) always refers to the LASTSAVING. To view the configuration that has just been executed, FIRST it has to be saved(Save (F5)).

6-144HS-0-C4E-USO_62.fm00/0708

TP4i - Setup Page

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 -->” isdisplayed.

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 therequired interface. The procedure is as follows:

a. press the softkey Map (F3),

b. 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;

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

6-145HS-0-C4E-USO_62.fm

00/0708

TP4i - Setup Page

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 theselected 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 thevalue and press ENTER again to confirm;

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

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

6-146HS-0-C4E-USO_62.fm00/0708

TP4i - Setup Page

Fig. 6.151 - Another mapping operation

f. the system returns to the main screen page (Fig. 6.145).

g. If it is wished to view the configuration that has just been executed, read carefullythe description for the View (F2) 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 anappropriate 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.

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

6-147HS-0-C4E-USO_62.fm

00/0708

TP4i - Setup Page

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, movethe focus on the central bottom softkey combobox (highlighted in yellow inFig. 6.153), press ENTER to open it, select the Clear function and press ENTERagain to confirm.

b. Press the Cnfg (F1) softkey to confirm the command.

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 bechanged (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, anintegrated slide or a gantry.

6-148HS-0-C4E-USO_62.fm00/0708

TP4i - Setup Page

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 isdisplayed, 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.

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

6-149HS-0-C4E-USO_62.fm

00/0708

TP4i - Setup Page

Fig. 6.156 - Positioners configuration

Having made the choice, press ENTER. The system displays the screen page relatingto 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 overalldimensions [mm].

Fig. 6.158 - Perpendicular axesi

The user has to enter the following data:

6-150HS-0-C4E-USO_62.fm00/0708

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 thepositioner 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

6-151HS-0-C4E-USO_62.fm

00/0708

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 (seeFig. 6.160).

– Height (mm) - the distance between the floor and the robot base (installed on theslide)

– 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 fromthe slide axis to the robot axis Xbase.

– Integrated - if selected, this checkbox indicates that the slide is managed by thesystem 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 thechanges 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 isdisplayed, relating to the type of Gantry installed.

6-152HS-0-C4E-USO_62.fm00/0708

TP4i - Setup Page

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 tospecify 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 tospecify the mounting angle of the robot on the gantry, and the offset.

6-153HS-0-C4E-USO_62.fm

00/0708

TP4i - Setup Page

Fig. 6.164 - iPortal - Trans-rotary column

On this screen page the user has to specify the positive, negative stroke-ends and thecalibration 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 therelated sub-page.

Fig. 6.165 - ReloadSw command

6-154HS-0-C4E-USO_62.fm00/0708

TP4i - Setup Page

6.16.4.1 C4G

On this sub-page it is possible to reload the system software and restart the system (seeFig. 6.166). This operation is especially useful to update system software to a newversion.

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. login with Maintenance profile;

b. connect the Disk-On-Key in the USB port on the cabinet door or in port X3 of theSMP board. On the TP the following message is displayed “---- 30888-02 deviceXD: active”;

c. select SETUP - ReloadSw - C4G sub-page;

d. select device XD: ;

e. select type of loading:

e.1 Full - which loads the system software and the mechanical Data File; copy theappropriate files and run an automatic Restart to make the newly installed basicsoftware operational. Press OK (F5).

e.1.1 After the Restart, select: loading device, robot family, presence of any auxiliaryaxes, 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 modalexcept 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).

6-155HS-0-C4E-USO_62.fm

00/0708

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 systemconfiguration. Press OK (F5).

e.3 Data File - to change the system configuration without updating the operatingsystem. Press OK (F5).

f. Reset the Latched alarm if necessary (see par. 6.9.3 Latched on page 6-61).

6.16.4.1.2 From PC (COMP:)

In this modality, before choosing the SETUP - ReloadSw - C4G sub-page, thedescribed 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 transferfolder has to be correctly set to search for the files to be updated. To do this,proceed with the following steps:

b. on PC select the file transfer directory, (where the software to be loaded isinstalled);

c. set the Control address (for example 172.22.178.41) in the TCP-IP box. Thisaddress can be read from the Teach Pendant Home Page;

d. connect to the Controller with Maintenance Login profile, from the File Connectmenu (or icon);

e. to complete the procedure, use the Teach Pendant as described in the previouspar. 6.16.4.1.1 From Disk-On-Key (XD:) on page 6-155, selecting the loadingdevice COMP: instead of XD:.

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).

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/Oconfiguration), before pressing OK (F5), execute a CONFIGURE SAVECATEGORY of the required category, specifying a file name as the destination forthe saving (for example IO_CONF.C4G). After loading the new software version, execute a CONFIGURE LOAD CATEGORYof the previously saved file (IO_CONF.C4G in the previous example).

For further information regarding these two functions, see chapter SystemCommands, paragraphs CONFIGURE LOAD CATEGORY and CONFIGURE SAVECATEGORY.

6-156HS-0-C4E-USO_62.fm00/0708

TP4i - Setup Page

Fig. 6.167 - TP software loading

6.16.4.2.1 Teach Pendant BSP loading

The procedure to load the Teach Pendant BSP is the following:

a. select this sub-page (SETUP - ReloadSw - TP);

b. 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: ;

c. select the Reload button of the TP BSP, and press ENTER to confirm;

d. 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 beensuccessfully copied;

e. DO NOT RE-START FOR WiTP, regardless of whether with or without wire, toavoid 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;

f. load the TP software, as described in the following paragraph User Interfacesoftware loading (SW TP).

A special case is the loading of versions prior to the TP4i software (seepar. 6.16.4.2.3 Loading of TP4i software versions prior to the currently installedon page 6-158).

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 either2.0/18 (for TP4i) or 1.5 (for WiTP), execute the following procedure for TeachPendant BSP loading; otherwise directly go to the User Interface software loading(SW TP) procedure.

6-157HS-0-C4E-USO_62.fm

00/0708

TP4i - Setup Page

6.16.4.2.2 User Interface software loading (SW TP)

The procedure to load the TP User Interface software is as follows:

a. select SETUP - ReloadSw - TP sub-page;

b. select the loading device:• XD: to load from disk-on-key, • COMP: to load from WinC4G;

c. select the Reload button of the TP software and press ENTER to confirm;

d. 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 hasbeen successfully copied;

e. restart the Teach Pendant in the following ways:

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 neededwhen 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 theController Main Switch, otherwise answer affirmatively to the question aboutrestarting 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 TPBSP 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 bereplaced 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 standardprocedure).

Execute the following steps:

a. Make sure that in the LD:\TP4i folder there is the libtp4i.so file (otherwise copy itfrom the Files Page or WinC4G, taking it from the delivered software version);

b. select C4G (LD:/TP4i) as the device from which the software is to be loaded (seeFig. 6.168)

6-158HS-0-C4E-USO_62.fm00/0708

TP4i - Setup Page

Fig. 6.168 - Previous version loading (sw TP4i)

c. select the Reload button of the Teach Pendant SW (see Fig. 6.167) and pressENTER to confirm.

d. Confirm the operation with OK (F5).

e. After loading, a message informs the user that the procedure has beensuccessfully completed.

f. Restart the Teach Pendant (see par. 6.2.1.6 Keys to restart the Teach Pendant onpage 6-14).

6.16.5 Backup

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 backupoperation (see Fig. 6.169).

If the user wishes to change one or more fields of the sub-pages, the procedure is asfollows:

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

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 FilesPage, command Utility (F4), Backup (FUB).

6-159HS-0-C4E-USO_62.fm

00/0708

TP4i - Setup Page

a. press the down arrow to move the focus on the first field

b. press ENTER to open the field in editing mode

c. insert the changes

d. confirm with ENTER or cancel by pressing ESC.

Fig. 6.169 - Backup command

Every Saveset holds information concerning device, files and sub-directories to becopied 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 putforward 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 restoreoperations (see Fig. 6.170).

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

6-160HS-0-C4E-USO_62.fm00/0708

TP4i - Setup Page

Fig. 6.170 - Restore command

Every Saveset holds information concerning device, files and sub-directories to berestored. 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 presentedby 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; therunning of a holdable program only start when the START pushbutton ispressed. 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 pressENTER; 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 berun when the Controller is activated

6-161HS-0-C4E-USO_62.fm

00/0708

TP4i - Setup Page

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 DATEin Fig. 6.171).

6.16.7 FB_TOOL

Open the configuration environment of the Fieldbuses, written in VP2 language. Forfurther 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 thefiles of the software to be installed must be read (Combobox) as well as the name of thewanted 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 furtherinformation see Chap.13.1 - IO_TOOL Program - I/O Configuration in VP2.

6-162HS-0-C4E-USO_62.fm00/0708

TP4i - Setup Page

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 belogged with Administrator profile.

The available commands are:

– Add (CCLA)Adds a User (Login). The operator is asked to specify Username, Password andUser Identifier (User ID). Besides, the user profile has to be defined. In case theuser 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.

6-163HS-0-C4E-USO_62.fm

00/0708

TP4i - Setup Page

Fig. 6.174 - Setup of start Login

To get this change active, the command Save the configuration file (CSA) must begiven. 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 isdisplayed:

– 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. Tomake 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 whetherthe DHCP function is to be used to automatically receive the IP address, the subnet

6-164HS-0-C4E-USO_62.fm00/0708

TP4i - Setup Page

mask and the gateway address, from a DHCP server.

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 withENTER (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 managedby the system only.

System with SMP+ board

If the system has an SMP+ board (and therefore there is NO MCP board), the datashown in the Network sub-page is only that shown in Fig. 6.178.

Warning: changes made on the DHCP selection are only executed at the nextrestart

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).

6-165HS-0-C4E-USO_62.fm

00/0708

TP4i - Setup Page

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 (highlightedin 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

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 ofthe positioners and to configure the Conveyor, in a guided and automatic mode. It alsooffers the user the possibility to run the payload identification procedure (optional feature- please refer to Motion Programming manual) for a correct definition of the loadparameters used.

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

6-166HS-0-C4E-USO_62.fm00/0708

TP4i - Setup Page

Fig. 6.180 - TO_SET program

Not already installed, use the Install (FUI) sub-page, selecting the TO_SET applicationand confirm with Install (F5).

After installation the system informs the user that the TO_SET program is correctlyinstalled and can be used.

For further details concerning the use of this program, please refer to MotionProgramming manual, Chapter TO-SET PROGRAM- TOOL MANAGEMENT.

6-167HS-0-C4E-USO_62.fm

00/0708

TP4i - Setup Page

6-168HS-0-C4E-USO_62.fm00/0708

TP4i - Service Page

6.17 Service PageThis 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 arrowdown key. To change sub-page, press ESC to return to the labels and select the onethat is needed.

For the WiTP wireless there is a further sub-page that indicates the current state of thebattery:

– 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 bodyof the PDL2 program. The following fields can be edited:

– Executeis a Combobox to contain the instruction to be executed. Usually this instruction isto have a brief duration, however it is possible to insert more than one instructionin this field, separating them by ';' (semi colon).

To use the Execute command, proceed as follows:

a. first of all, move the focus onto this field and confirm with ENTER

b. press the down arrow key: a list of predefined choices is displayed, to facilitate theinsertion of the instructions

c. select and confirm with ENTER.The instruction to be executed can also be keyed in directly

d. to activate the proper execution, press (briefly) the Exec softkey (F1) in the BottomMenu (see Fig. 6.181).

6-169HS-0-C4E-USO_63.fm

00/0708

TP4i - Service Page

During execution the '^C' softkey (F2) is available in the Bottom Menu thatinterrupts the execution if necessary.

– Context Programan option that can be activated by the Exec key (F1) (press for a long time).

If a Context Program is specified (name of a PDL2 program), the pre-definedvariable 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 programstack type will be those of the virtual EXECUTE program, that are only valid for theduration of the command.

6.17.2 Sysinfo (SCV)

Fig. 6.182 - Sysinfo sub-page

Displays the following information:

– 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

It is only specified when the instruction to be executed contains references topredefined variables (preceded by $, like $CYCLE) belonging to the “ProgramStack” category (see PDL2 Programming Language manual, chapterPREDEFINED VARIABLES LIST).

6-170HS-0-C4E-USO_63.fm00/0708

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 enabledor 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 Basicsub-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 wantedone, expressed in motor revolutions

– Revolution - indicates the current position of the axis, expressed in motorrevolutions

– Temperat. - indicates the temperature of the motor relating to that axis, as apercentage of the ratio between the mean value absorbed and the motorcharacteristics. More precisely, the formula used to calculate this datum uses thesquare of the motor mean current draw and the square of the characteristic of themotor itself.

6-171HS-0-C4E-USO_63.fm

00/0708

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 thearms 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.

6-172HS-0-C4E-USO_63.fm00/0708

TP4i - Service Page

– Charge remaining - percentage compared to full charge.

– Life - estimate of remaining duration of battery, in hours and minutes; when thebattery 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 (batterysupplying TP) of the battery, in milliamperes (mA). It is always an absolute value.

– Complete available charge/discharge cycles for which maximum battery efficiencyis guaranteed ; over this threshold performance could be less.

– Complete performed charge cycles.

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

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

6-173HS-0-C4E-USO_63.fm

00/0708

TP4i - Service Page

6-174HS-0-C4E-USO_63.fm00/0708

TP4i - TP-INT Page

6.18 TP-INT PageThis 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 correspondingsoftkey 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 toconfirm or ESC to return back (without execution of the selected command); or

b. by pressing the function key 'F1-F8' (displayed in the Bottom Menu) and then usingthe cursor keys to select the wanted key Fx, and finally confirming with ENTER;ESC closes the menu F1-F8.

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

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

6-175HS-0-C4E-USO_64.fm

00/0708

TP4i - TP-INT Page

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 makesavailable also the keys of the previous Programming Terminal Unit (PTU) that no longerexist 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, andhorizontally above the Bottom Menu

To navigate on the Virtual Keyboard, use the cursor keys and acknowledge withENTER.

As for any other sub-environment, when the Virtual Keyboard is active, the cursoris placed over it. To act in other fields, not pertaining to the VK (as for selecting acommand, 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.Optto view and use the options of the selected command, where foreseen.EZpressing this softkey activates/deactivates the EZ program.Mode switches over between CODE and DATE modes of the Edit Program.Selthe 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.

6-176HS-0-C4E-USO_64.fm00/0708

TP4i - TP-INT Page

Over the bottom Menu there are:

These keys provide for an additional visual information, indicating whether thecorresponding 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 ofthe FLY to MOVE clause picked up with the REC key

– Xtnd, Jntp, Pos - allow to modify the input variable type by pressing the REC keyin program editing environments. According to the pressed key, variables of thefollowing types may be selected: XTNDPOS, JNTPOS or POSITION.

– Circ, Lin, Jnt - allow to modify the path type in program editing and debuggingenvironments, for the setting of the REC key. On the following pressure on the RECkey, 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 orMemoryDebugSetupSyncDisable command).

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.Pastein editing environment, inserts the program lines selected with Mark and Copy keys in the current cursor position.Srchsearches 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 A2keys 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.

6-177HS-0-C4E-USO_64.fm

00/0708

TP4i - TP-INT Page

The pressure on any VK key causes the VK immediate closing. To use any VK keyagain, first open the VK environment (VK-ON key).

Note that also pressing 'F1-F8' function key causes the immediate closing of the VK andthe cursor moving to the F1 key.

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

6-178HS-0-C4E-USO_64.fm00/0708

TP4i - Aggiunta di Pagine Utente

6.19 Additional User PagesThe TP4i Teach pendant software allows personalised User Pages to be added (thatuse screen pages created with PDL2 programs) with the related softkey in the LeftMenu.

To use the personalised Page, the user has to produce an XML file to specify the Pagein question and to create the corresponding icon for its activation. The pre-defined nameand 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.

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 newUser 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 PDL2program 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-inSCRN_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 beassociated to the new User Page. The default icon is userscreen.gif. If the userwishes to have a personalised icon, the name and search path have to bespecified.

Line XML file Content

1 <?xml version="1.0"?>2 <config>3 <page>

4 <name>Gripsel</name><class>tpint.ScreenWindow</class>

5 <options>6 <program-name>gripsel</program-name>7 <screen-id>scrn_user</screen-id>8 </options>

9<icon>userscreen.gif</icon><preload>false</preload><discard>false</discard>

10 </page>11 </config>

6-179HS-0-C4E-USO_66.fm

00/0105

TP4i - Aggiunta di Pagine Utente

If PDL2 applications have to be used that were created for the previous C3GController, also the Bottom Menu softkeys have to be reduced from 8 to 6. Forfurther 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 theprogram referring to the Page is already active. It is a good practice to insert itsactivation in the Startup.

6-180HS-0-C4E-USO_66.fm00/0105

System Commands

7. SYSTEM COMMANDS

7.1 IntroductionThis chapter describes the system commands available for the C4G Control Unit. Thecommands 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 seenon the WinC4G screen page. On the other hand, on the TPINT page of the TeachPendant, 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 TeachPendant.

Fig. 7.1 - Commands window on PC (WinC4G) and on TP

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

7-1HS-0-C4E-USO_38.fm00/0708

System Commands

In particular, the following are dealt with:

– Commands sent from menu on TP (TPINT page) or from WinC4G (Terminalwindow)

– 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 thecommand 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 menucommands are shown with the first letter in low case, whereas all the commandsthat are available have the first letter in high case.

– Press the function keys (F1 - F8) on the PC keyboard or on the teach pendant toexecute the corresponding command. For example, if F2 is pressed, DISPLAYfrom the main menu will be executed.

– Press the key that corresponds to the first letter of the command, only forWinC4G Terminal. For example, if D is pressed, DISPLAY from the main menu willbe executed.

In some cases, after a command has been sent, prompts, called parameters, are shownthat require additional information. For example, PROGRAM GO displays a prompt thatrequires a program name. To enter the parameters in answer to a prompt, use thealphanumeric 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

7-2HS-0-C4E-USO_38.fm

00/0708

System Commands

pressed; to scroll the list use the cursor keys and the ENTER key Besides which, forsome commands, if the HELP key is pressed following the introduction of one or morecharacters after the prompt, only the parameters with the initials of the charactersintroduced 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 specifiedtogether with the file name by pressing ENTER at <device> that is displayed as the firstitem on the list of the possible files.

The answer to a parameter prompt is to be typed before pressing ENTER. To move thecursor on the answer line, the arrow keys can be used to the left or to the right. Thedelete key removes the character situated immediately before the cursor, whereas thearrow keys to the left and to the right if pressed together with SHIFT move the cursor tothe 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 sameway 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 theright).

– Special characters are activated by pressing '1'; the only special characters thatcan be typed directly are the '-' symbol (bottom left key) and the '.' symbol (bottomright 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 commandcategory they belong to. This avoids rewriting the same parameter for severalcommands.

7.3 Program commands sent via SYS_CALLThe predefined PDL2 SYS_CALL routine can be used to execute most of the commandsdescribed in this chapter from the program, except those which require direct interactionwith the user (for example, Program Edit). For the same reason the requests forconfirmation 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 tobe specified as first parameter for the SYS_CALL.The parameters required by each command have to be specified as STRINGS (forexample: SYS_CALL ('ML' , 'pippo') ).

7-3HS-0-C4E-USO_38.fm00/0708

System Commands

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 notexceed a width of 40 columns. This option is only available from SYS_CALL and onlyfor those commands that, if not forwarded by teach pendant, display data that coversover 40 columns.This option can be very useful in SYS_CALL to the TP-INT Page.

7.4 Wildcard useThe wildcard (*) can be used in a parameter to substitute the beginning, the end of theentire parameter. It permits one command to act on several items. For example, MEMORY LOAD (ML) requires a program name parameter that can besubstituted with a wildcard as shown below:

ML * loads all the programsML arc* loads all the programs that start with arc

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

7.5 Command optionsFor 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, theoptions are displayed that are associated to the command; on PC, this is obtained bypressing the slash key (/).

To navigate among the various options, use the cursor keys, then select with the ENTERkey.

If an option that is already displayed is requested, the option is removed. For furtherinformation about the options, see the descriptions of the individual commands.

7.6 Viewing and NOPAGE optionThe commands to view information direct the output by default to the scrolling windowof 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

For further details regarding the syntax of this instruction, see the PDL2Programming Language manual.

7-4HS-0-C4E-USO_38.fm

00/0708

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 PDL2program)

When the information called by a certain command occupies more than one page, thedisplay is held at the end of the page until the user presses a key (no matter which) toshow the next page of information. From WinC4G the lines can be scrolled one at a timeby pressing the space bar of the PC keyboard.Commands that show more than one page of information have the /NOPAGE optionused 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 orWinC4G program from PC), a Login is necessary, otherwise the only commandsavailable are those for displays.A detailed description of the operations needed is contained in Chap. Access to theControl (LOGIN/LOGOUT).

7.8 DirectoriesThe directories (up to 8 depth levels) are managed on the C4G Controller. Thespecification 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 Changethat only has effect on the device that the command is sent from (teach pendant orPersonal 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 (onthe two different devices).

7.9 Description of commandsThe menus are collected in the following branches:

– CONFIGURE branch

– DISPLAY branch

– EXECUTE command (E)

– FILER branch

– MEMORY branch

– PROGRAM branch

– SET branch

– UTILITY branch

7-5HS-0-C4E-USO_38.fm00/0708

System Commands

The following table lists all the commands available, in alphabetical order. The string ofcharacters that, in most cases, is shown in brackets, is the code of the first parameterto 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 CATEGORYCONFIGURE 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 CATEGORYCONFIGURE 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)

7-6HS-0-C4E-USO_38.fm

00/0708

System Commands

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)

Command and code for the first SYS_CALL parameter

7-7HS-0-C4E-USO_38.fm00/0708

System Commands

FILER EDITFILER 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)

Command and code for the first SYS_CALL parameter

7-8HS-0-C4E-USO_38.fm

00/0708

System Commands

PROGRAM DEACTIVATE (PD) PROGRAM EDITPROGRAM 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

Command and code for the first SYS_CALL parameter

7-9HS-0-C4E-USO_38.fm00/0708

System Commands

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)

Command and code for the first SYS_CALL parameter

7-10HS-0-C4E-USO_38.fm

00/0708

System Commands

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)

Command and code for the first SYS_CALL parameter

7-11HS-0-C4E-USO_38.fm00/0708

System Commands

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)

Command and code for the first SYS_CALL parameter

7-12HS-0-C4E-USO_38.fm

00/0708

System Commands

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. Beforethe command is sent, the arm must be placed in calibration position. If the arm numberis not specified, the default arm indicated on the prompt is used, whereas the number ofthe 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 datais 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 calibrationposition ($CAL_USER).The axis number is asked for, so as to allow the learning of theposition ($CAL_USER) axis by axis./Nosave disables the automatic saving of the configuration file,the calibration file and the calibration data in the NVRAMmemory;/User for the user calibration position the system uses that learntor assigned previously ($CAL_USER).

Syntax: CAC <arm_num><axis_num>CAC/L <arm_num><axis_num>CAC/N <arm_num><axis_num>CAC/U <arm_num><axis_num>

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 theseparate axes (length of axes, calibration values and calibration constants) contained inthe NVRAM retentive memory of the controller and automatically updates theconfiguration 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 Serviceuser profile.

Options: /Loadfile loads the data relating to the axes from the calibration

7-13HS-0-C4E-USO_38.fm00/0708

System Commands

file and automatically saves it in the configuration file and in theNVRAM memory. The command creates .COD file with the samename as the calibration file (<$BOARD_DATA[1].SYS_ID>_CAL<arm_num>.PDL) and executes it./Nofile disables the automatic saving of the calibration andconfiguration 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 theNVRAM 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: /Nofile disables the automatic saving of the data in the calibrationand configuration files.

Syntax: 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 thecommand, 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 revolutionsreading error.

If the arm number is not specified, the default arm is used, whereas the number of theaxis 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 mustbe on.

Options: /User uses the user calibration position previously learnt orassigned.

Syntax: 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: /4 Useful from SYS_CALL to TP-INT Page (see Option /4 to view in the 40 columns)

Syntax: CAV <arm_num> CAV/4 <arm_num>

7-14HS-0-C4E-USO_38.fm

00/0708

System Commands

7.9.1.2 Cntrler Login menu

This menu allows operation on the controller database relating to the login profiles thatcan 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 Passwordhave to be specified. It is advised to always specify, using the options associated to thecommand, the required user profile. Otherwise a default profile will be assigned with arestricted 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 applicationinstalled, as a function to the application itself. See theapplication manual for further details.

Syntax: 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>

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 ofthe Control. To make this deletion effective, use ConfigureSave(All or Category Controller)

Syntax: CCLS <UserID> <Password>CCLS/R <UserID> <Password>

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 accessrights.

Syntax: CCLV

7-15HS-0-C4E-USO_38.fm00/0708

System Commands

7.9.1.3 Cntrler Restart menu

This menu allows the Controller to be restarted in different modes without cutting out thepower 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 $RESTARTvariable. The $RESTART_MODE variable contains instead a number that indicates therestart mode in which this program will be considered : 0 for Cold, 1 for shutdown, 2 forreload; 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 indicatedin 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 hasbeen altered by the user. the activation of the command is preceded by the display of aconfirm 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 theexecution 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 thesystem software to a new version. The activation of the command is preceded by thedisplay of a confirm prompt. It is necessary to have the software of the control, storedon CD-ROM or on Disk-on-key, to download to the Controller. If it is on CD-ROM, it isnecessary to connect to the Controller with the WINC4G program. Access is for aService and Maintenance type user profile.

The individual commands to load the software are described below; to have furtherdetails on the complete software loading procedure, see the chapter SYSTEMSOFTWARE 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(<$BOARD_DATA[1].SYS_ID>.PDL) to the system variable in the execution memory,copying and running the SETUP1.PDL program. It also runs a saving of theconfiguration file <$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

7-16HS-0-C4E-USO_38.fm

00/0708

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 theexplicit saving of data that is otherwise automatically saved by the system if there is avoltage 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 shutdown 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. Thisprogram, referred to as "startup", may be either holdable or non holdable type; theexecution 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 sentwithout specifying the name of the program, the $STARTUP variable is assigned a nullstring.

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 specifiedparameters. The month is indicated with a numeric value (1-12). This command can beused by a user with maintenance and service profile.

Syntax: CCT <hour> <date>

Example: 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, softwareversion)

– 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) onlyif present in the Controller rack

7-17HS-0-C4E-USO_38.fm00/0708

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: andrelevant sub-directories)

– date and time.

The screen page is the same that appears when the control is switched on.

Options: /4 Useful from SYS_CALL to TP-INT Page (see Option /4 to view in the 40 columns)

Syntax: CCV

7.9.1.7 Load menu

7.9.1.7.1 CONFIGURE LOAD ALL (CLA)

Assigns to the predefined variables in memory the values stored in a configuration filethat may be the default file, <$BOARD_DATA[1].SYS_ID>.C4G, or another file specifiedin the associated parameter.If no parameter is specified, the values will be read from the<$BOARD_DATA[1].SYS_ID>.C4G file and assigned to the predefined variables inmemory.The system is to be in PROGR state with the drives off. The user profile can only beMaintenance and Service.

From SYS_CALL the parameter 'CL', that previously corresponded to ConfigureLoad, isinterpreted as 'CLA' (to maintain the compatibility with the old PDL2 programs written onthe C3G controller).

Options: /Rules - $C4G_RULES, manual PDL2 ProgrammingLanguage, chap. Predefined Variables List -

Syntax: CLA <file_name>

CLA/R <file_name> <rules>

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 aCONFIGURE SAVE CATEGORY to the predefined variable belonging to the categoryindicated. 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 donot belong to the indicated category are ignored.

Syntax: CLCx <filename> --where x is the Load Category ,

7-18HS-0-C4E-USO_38.fm

00/0708

System Commands

,

CONFIGURE LOAD CATEGORY ARM (CLCA)

Load the variables that have Arm as Load Category. See previous note regardingMINOR CATEGORY.

Options:/Auxiliary/Calibrate/Collision/Configure/Conveyor/Chain/Rules - $C4G_RULES, manual PDL2 ProgrammingLanguage, chap. Predefined Variables List -/Sensor

Syntax: CLCA <file_name>

CONFIGURE LOAD CATEGORY CONTROLLER (CLCC)

Loads the variables that have Cntrl as the Load Category. See previous note regardingMINOR CATEGORY.

Options:/Conveyor/Environ/Flow/Parameter/Rules - $C4G_RULES, manual PDL2 ProgrammingLanguage, chap. Predefined Variables List -/Shared/Unique/Vars

Syntax: CLCC <file_name>

MINOR CATEGORYBesides 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 andConfigureSaveCategory command, the Minor Categories provided are listed.For further information, and above all, to know whether a certain variable will beloaded or saved sending a ConfigureLoadCategory or ConfigureSaveCategorycommand, see the PDL2 Programming Language manual, chapter PredefinedVariables List, item Minor Category (minor category of Load Category) in the tableregarding the variable involved. For example: $SENSOR_ENBL belongs to the Arm Load Category) and to the Sensor MinorCategory. Therefore reference will be made to the ConfigureSaveCategoryArmand ConfigureSaveCategoryArm/Sensor commands (orConfigureLoadCategoryArm and ConfigureLoadCategoryArm/Sensor).

7-19HS-0-C4E-USO_38.fm00/0708

System Commands

CONFIGURE LOAD CATEGORY DSA (CLCD)

Loads the variables that have Dsa as the Load Category. See previous note regardingMINOR CATEGORY.

Options:/Rules - $C4G_RULES, manual PDL2 ProgrammingLanguage, chap. Predefined Variables List -

Syntax: CLCD <file_name>

CLCD/R <file_name> <rules>

CONFIGURE LOAD CATEGORY IO (CLCI)

Loads the variables that have Input/output as the Load Category. See previous noteregarding MINOR CATEGORY.

Options:/Applicatn/Configure/Fieldbus/Hand/Rules - $C4G_RULES, manual PDL2 ProgrammingLanguage, chap. Predefined Variables List -/Swim

Syntax: CLCI <file_name>

CONFIGURE LOAD CATEGORY RETENTIVE (CLCR)

Loads the variables that have Retentive as the Load Category. See previous noteregarding MINOR CATEGORY.

Options:/Rules - $C4G_RULES, manual PDL2 ProgrammingLanguage, chap. Predefined Variables List -

Syntax: CLCR <file_name>

CLCR/R <file_name> <rules>

7.9.1.8 Save menu

7.9.1.8.1 CONFIGURE SAVE ALL (CSA)

Creates a new configuration file with the predefined variable values according to thedata currently in the system memory .The file name and extension are, by default, <$BOARD_DATA[1].SYS_ID>.C4G andthe file is saved in the UD:\SYS system directory .If another file name is specified, thisis 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 onC3G).

Syntax: CSA <file_name>

7-20HS-0-C4E-USO_38.fm

00/0708

System Commands

7.9.1.8.2 CONFIGURE SAVE CATEGORY

To save in a file the stored values of predefined variables belonging to the indicatedcategory.

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 (CONFIGURELOAD CATEGORY) or it will be copied on several controls to unify certaininitialisations. The name of the file is to be specified in the command and it is to bedifferent 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 thecommand 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 thevariables of the pre-selected category will be updated; the values of the othervariables in the file will remain unaltered. To do this, the command must be sentwithout specifying the name of the file.

Syntax: CSCx <filename> --where x is the Load Category ,

CONFIGURE SAVE CATEGORY ARM (CSCA)

Saves the values of the variables that have Arm as the Load Category. See previousnote regarding MINOR CATEGORY.

Options:/Auxiliary/Calibrate/Collision/Configure/Conveyor/Chain/Rules - $C4G_RULES, manual PDL2 ProgrammingLanguage, chap. Predefined Variables List -/Sensor

Syntax: CSCA <file_name>

CONFIGURE SAVE CATEGORY CONTROLLER (CSCC)

Saves the values of the variables that have Cntrl as the Load Category. See previousnote regarding MINOR CATEGORY.

Options:

See MINOR CATEGORY note.

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

7-21HS-0-C4E-USO_38.fm00/0708

System Commands

/Conveyor/Environ/Flow/Parameter/Rules - $C4G_RULES, manual PDL2 ProgrammingLanguage, chap. Predefined Variables List -/Shared/Unique/Vars

Syntax: CSCC <file_name>

CONFIGURE SAVE CATEGORY DSA (CSCD)

Saves the values of the variables that have Dsa as the Load Category. See previousnote regarding MINOR CATEGORY.

Options:/Rules - $C4G_RULES, manual PDL2 ProgrammingLanguage, chap. Predefined Variables List -

Syntax: CSCD <file_name>

CSCD/R <file_name> <rules>

CONFIGURE SAVE CATEGORY IO (CSCI)

Saves the values of the variables that have Input/output as the Load Category. Seeprevious note regarding MINOR CATEGORY.

Options:/Applicatn/Configure/Fieldbus/Hand/Rules - $C4G_RULES, manual PDL2 ProgrammingLanguage, chap. Predefined Variables List -/Swim

Syntax: CSCI <file_name>

CONFIGURE SAVE CATEGORY RETENTIVE (CSCR)

Saves the values of the variables that have Retentive as the Load Category. Seeprevious note regarding MINOR CATEGORY.

Opzioni:/Rules - $C4G_RULES, manual PDL2 ProgrammingLanguage, chap. Predefined Variables List -

Syntax: CSCR <file_name>CSCR/R <file_name> <rules>

7.9.2 DISPLAY branch

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

7-22HS-0-C4E-USO_38.fm

00/0708

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 theTerminal window shown by the WINC4G program (if connected). If instead it is desiredto direct the output to the TPINT, the /T option has to be specified, that is only availablefrom 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 regardingthe 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 Euleroangles 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 auxiliaryaxes.

Syntax: DAP <arm_num>

7-23HS-0-C4E-USO_38.fm00/0708

System Commands

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 thatform 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 maximumtemperature 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

7-24HS-0-C4E-USO_38.fm

00/0708

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 fieldbuses 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 fieldbuses 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 theuser and those of the system .

A string set by the user can be associated to the displayed inputs, that is shown as HELPinformation (from TPINT on TP4i or on PTU) pressing the SEL key and moving to theright and to the left with the cursor along the variable values. To assign the descriptionsto the input points, use the HELPIO program contained in the Controller softwareCD-ROM. The system input HELP strings are always present. The HELP program canbe seen in the last paragraph of this chapter.

7-25HS-0-C4E-USO_38.fm00/0708

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, whereason the TPINT page of the TP4i it is shown in negative.

Several indexes can be specified in the parameter for the command: to indicate differentindexes, use dashes (-) to separate them; to indicate an interval between indexes, usetwo dots (..).

Syntax: DIA <string_of_numbers>

Example: DIA 1DIA 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 and0 = FALSE. If one of these values is forced, an “F” (forced to false) or a “T” (forced totrue) is shown instead of 0 or 1.

If a number of input is typed, a series of digital inputs is displayed.

Syntax: DID

Example: DID 1

7.9.2.4.3 DISPLAY INPUT FMI (DIF)

Displays the values of flexible multiple inputs ($FMI) defined by the user, in hexadecimalformat.

Several indexes can be specified in the parameter for the command: to indicate differentindexes, use dashes (-) to separate them; to indicate an interval between indexes, usetwo dots (..).

Syntax: DIF <indexes>

Example: 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. Ifthe 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: DII

Example: DII 1

7-26HS-0-C4E-USO_38.fm

00/0708

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 directaccess 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 moduleuse the UP and DOWN arrow keys. By pressing the SEL key on the selected input ahelp 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 thesystem.

A string set by the user can be associated to the displayed outputs, that is shown asHELP information (from TPINT on TP4i or on PTU) pressing the SEL key and moving tothe right and to the left with the cursor along the variable values. To assign thedescriptions to the output points, use the HELPIO program contained in the Controllersoftware CD-ROM. The system output HELP strings are always present. The HELPIOprogram 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 differentindexes, use dashes (-) to separate them; to indicate an interval between indexes, usetwo dots (..).

Syntax: DOA <string_of_numbers>

Example: DOA 17DOA 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 = TRUEand 0 = FALSE. If one of these values is forced, an “F” (forced to false) or a “T” (forcedto true) is displayed instead of 0 or 1.

When a number of output is typed, a set of digital outputs is displayed.

Syntax: DOD Example: DOD 17

7.9.2.5.3 DISPLAY OUTPUT FMO (DOF)

Displays the values of flexible multiple outputs ($FMO) defined by the user, inhexadecimal format.

Several indexes can be specified in the parameter for the command: to indicate differentindexes, use dashes (-) to separate them; to indicate an interval between indexes, usetwo dots (..).

Syntax: DOF <indexes>

7-27HS-0-C4E-USO_38.fm00/0708

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 decimalformat. Forced values are shown in red on the WinC4G screen, and in negative on theTPINT 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), where1 = 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 ofdigital outputs is displayed.

Syntax: DOOExample: 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 themodule use the UP and DOWN arrow keys. By pressing the SEL key on a selected outputa 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 theprogram name. If no parameter is given, the information is displayed regarding all theactivated programs.

The information shown is the same as for the PROGRAM VIEW (PV) command.

Options: /Full will display also all the programs with protected code, thatare not usually displayed.

Syntax: 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

7-28HS-0-C4E-USO_38.fm

00/0708

System Commands

– Maximum time for executing a scanning

– State of the resource (Running, Stop, etc.)

Syntax: DR

7.9.2.8 Vars menu

The VARS menu contains the commands to display current values of the memory arrayscommonly 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 asHELP information (from TPINT on TP4i or on PTU) pressing the SEL key and moving tothe right and to the left with the cursor along the variable values. To assign thedescriptions to the output points, use the HELPIO program contained in the Controllersoftware 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 theTeach 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 (onTeach 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.

Syntax: DVB

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 differentindexes, use dashes (-) to separate them; to indicate an interval between indexes, usetwo dots (..).

Options: /Hex displays the data in hexadecimal format/Binary displays the data in binary format

Syntax: DVW <string_of_numbers>

7.9.3 EXECUTE command (E)

With the EXECUTE command a PDL2 instruction can be executed from commandslevel. This type of execution is also called immediate execution, because theinstructions have to be short and not locking (for example to assign a value to apredefined variable).The first parameter is the instruction to be executed. If the instruction refers to programvariables, the name of the program they belong to has to be specified in the secondparameter.

7-29HS-0-C4E-USO_38.fm00/0708

System Commands

Options: /Context is available in the prompt of the second parameter. It isspecified ONLY when the instruction contains references topredefined variables (preceded by $, such as $CYCLE) thatbelong to the "Program Stack" category (see PDL2Programming Language Manual, chapter PREDEFINEDVARIABLES LIST); the /Context option indicates that thepredefined variable will be that of the program indicated assecond parameter.If this option is not used, the program stack type predefinedvariables will be those of the virtual EXECUTE program, that onlyhave life for the duration of the command. When this option isused the program specified as parameter must be active,otherwise an error will be generated.

Syntax: E instruction <program_name>

Example: E 'I:=10' 'pippo' - Assigns the value 10 to variable i of programpippo. The program pippo must be loaded in memory.E ‘WRITE($ERROR,NL)’ ‘pippo’ — Value 0 will be shownE/C ‘WRITE($ERROR, NL)’ ‘pippo’ — The value of pippo$ERROR will be shown

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 bypressing 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

7-30HS-0-C4E-USO_38.fm

00/0708

System Commands

(_). However, if the file is to contain a program name, the maximum size for the name is32 characters.

The extension starts with a dot (.) and consists of three characters that can be letters,digits and subscripts (_).

Some commands are only operative on certain devices. For details, see the individualcommands.

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 awildcard can be used.

It is advised to use FILER UTILITY BACKUP and FILER UTILITY RESTORE (insteadof 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 theconfirm prompt.

Syntax: FC <source_file> <dest_file>

For a complete list of foreseen system software extensions, see par. 7.11 Typesof files available in the System on page 7-74.

NOTEIn 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 (FileAllocation Table).The problem does NOT exist in subdirectories, where the maximum entry limit ishigher (more than 65000).If there is an excessive occupation of the root directory, it is advised to use filenames with a maximum of 8 characters, or to work in subdirectory. Furthermore, it is advised to periodically delete the .BK* files in a permanentmanner.

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

7-31HS-0-C4E-USO_38.fm00/0708

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 beused. 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 notpermanently 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 beforedeletion./Permanent deletes the files permanently./Undelete allows the recovery of a file that has been deleted(providing the /Permanent option has not been used whendeleting the file).

Syntax: FD <file_name>

7.9.4.3 FILER EDIT

The EDIT command calls the ASCII editor of the files. This can be used to create or toedit ASCII files on the user disk (UD:).

A parameter is required for the filename. The wildcard cannot be used. Only the userdisk 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 andPROGRAM 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 isspecified, 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 theasterisk 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 .BCKprogram files; .VAR or .BKV variable files; files in the system directories (.C4Gconfiguration files, .LBE error log files, .LBA action log files). It is assumed that all theother 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

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

7-32HS-0-C4E-USO_38.fm

00/0708

System Commands

.PDL, a back-up file is created with extension .BKL and .BKP respectively for that .LSVfile. 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 torecover a backup copy of the same file, with FILER PRINT the program can beconverted to an ASCII file to save in the user disk (UD:).

The ASCII file can then be edited to correct the instructions and corrupted identifiers thatare distinguished by three question-marks (“???”). At the end, use FILER TRANSLATEto convert the file again to a file with .COD extension.

As from system software version 3.20, further information can be printed, using theoption /Property. Standard attributes (Property) associated to the files are the following:

– drawn up by

– file creation date

– version

– host where file was created.

Options: /Full prints a variables file without shortening the names of theidentifiers contained (variables, programs, routines and dataclasses)./List generates a listing file (.LIS) from a .COD or .BKC file. Thelisting file gives the name of the program and the line number atthe side of each PDL2 instruction./Overwrite Overwrite rewrites the old copy of the correspondingfile without asking for confirmation of the user./Nopage /Range to print the lines of a file between the serial and final linespecified as additional parameters./Property to print the file properties (drawn up by, date ofcreation, version, device where it was created).

Syntax: 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>

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 thesource file, the default device is used. It is not possible to specify different devices forthe source file and the destination file.

If a new file already exists, before the original file is renamed, a prompt is displayedasking for confirmation.

Renaming of a program file (.COD or .BKC) is not allowed if the new name is present as

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

7-33HS-0-C4E-USO_38.fm00/0708

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 anyconfirm prompt.

Syntax: FR <source_file> <dest_file>

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 beloaded 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 canbe used. As device it is possible to specify only the user disk UD:.

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 savedchanging 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 thescrolling window and recorded in the <file_name>.ERR file.

Options: /Back converts a .COD file to a .PDL file.It is the same as theFiler Print command of a .COD file to a .PDL./Confirm asks the user for confirmation before the conversion ofeach 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 variablesfile to the corresponding .LSV with ASCII format./Output redirects the file on another directory.

Syntax: FT <file_name>

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.

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

7-34HS-0-C4E-USO_38.fm

00/0708

System Commands

Options: /Reset deletes attribute archived ('a') to the specific file.

Syntax: 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 diskUD:. With this attribute set, the file, if a .COD, can however be loaded in the executionmemory (Memory Load).

Options: /Reset deletes the hidden attribute.

Syntax: 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 editedor deleted.

Options: /Reset deletes the read only attribute.

Syntax: 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: /Reset deletes the system attribute.

Syntax: 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 abackup or restore operation appropriately organised, follow the recommendations listedbelow:

– 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 orrestore operation; always execute a ConfigureSaveAll (before a backup) and aConfigureLoadAll (after a restore) to restore the same work conditions, basedon.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 compareseveral 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 restoreoperations requires that the NETx: devices are set correctly. This can be done byentering sub-page FTP Users Configuration. The system allows definition of aUsername 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

7-35HS-0-C4E-USO_38.fm00/0708

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 toautomatically configure the different $NET_C system variables (see PDL2Programming Language manual - chap.Predefined Variables List). Therefore it isnot 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 defaultbackup device ($DFT_DV[3]). If no file is specified, all the files of the current directoryare copied.

7-36HS-0-C4E-USO_38.fm

00/0708

System Commands

Options: /Saveset is used to specify a predefined saveset that indicates where the files are to be copied from.The saveset is to be setbeforehand 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 /Savesetoption and parameter set1, all the files will be copied that arecontained in UD:\dir1 and the relative sub-directories./After copies from Controller files that are more recent than acertain date. To specify date or count of days a sign can be

NOTES FOR BACKUP / RESTOREAs from system software version 3.20, it is possible to obtain the backup andrestore of files contained in a certain device (UD:, LD:, VD:, TD:), keeping theoriginal 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 onthe specified device, in the specified base directory, containing the informationrelated to the backup operation. Information regarding several backups is inserted at the bottom of the file. Ateach 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 16:49:55UD:\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.

7-37HS-0-C4E-USO_38.fm00/0708

System Commands

indicated that has the meaning of "before" or "after" the date orcount 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 previousbackups (the system uses the 'a' attribute that indicates "filealready archived")./To copies on a device that is not the default ($DFT_DV[3]). Therequired directory can be specified on this device.

Example: FUB/T * TX:\MyBackupFolder

In this way, using a single command it is possible to execute the backup of files fromdifferent 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 filesAFTER 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 beenpreviously 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: FUB <file_name> FUB/S <saveset_name>

Examples: 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 previousbackupFUB/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 defaultdevice. Both devices are part of the predefined variable $DFT_DV and can be set viaPDL2 assignment statement.

A saveset name can be indicated instead of a file name. The saveset has to be previously specified in the corresponding sub-pageBackup of Setup page or in an element of array $BACKUP_SET (see PDL2Programming Language manual - Chap.Predefined Variables).

7-38HS-0-C4E-USO_38.fm

00/0708

System Commands

Options: /Configure allows the recovery of the old configuration file that,after being copied with the extension .C4O, is loaded on thecontrol. This is followed by Configure Save All./Saveset to specify a predefined saveset that indicates where thefiles are to be taken from to be copied. The saveset is to be setbeforehand 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\*.*’, thecommand is to be sent specifying the parameter as ‘set1’./After copies files that are more recent than a certain date. It isuseful 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 hasthe meaning of "before" or "after" the date or count of daysindicated 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 thisdevice. /Newer executes the restore of the files that are more recent thanthe previous backup.

A saveset name can be indicated instead of a file name.

The following switches are also provided to set the value of $RESTORE_SET:/A (=After) to execute restore of files that are more recent thanthe date stored in LST file/N (=Newer) to execute restore of files that are more recent thanthose of.LST file/S (=Subdirectories) to include subdirectories/X (=eXclude) to exclude files from restore

Syntax: FUR <file_name>FUR/S <saveset_name>

Examples: FUR executes restore of all files, from backup, and leaves the

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

See NOTES FOR BACKUP / RESTORE.

The saveset has to be previously specified in the corresponding sub-pageRestore of Setup page or in an element of array $RESTORE_SET (see PDL2Programming Language manual - Chap.Predefined Variables).

7-39HS-0-C4E-USO_38.fm00/0708

System Commands

archive bit not setFUR/A-1 executes restore of new files, up to yesterdayFUR/F executes restore from a device different to previousbackupFUR/N executes restore of new files FUR *.cod executes restore of all files with extension .codFUR/S executes restore, including subdirectoriesFUR/S all executes restore of ALL savesets

7.9.4.9 Compressed files management commands

7.9.4.9.1 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 thearchive 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 includedin the archive /before only files with a date prior to that specified are includedin the archive./nodirpath The specification of the directories folder is notincluded in the archive./refresh The archive is updated with the files that have beenchanged after the creation of the said archive ./subdir Files contained in subdirectories are also included.

Syntax: FUCM <archive_name> <file_name>

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 thefollowing:

– drawn up by

– file creation date

– version

– host where file was created.

Options: /bare displays only the file name and not the other detailed

7-40HS-0-C4E-USO_38.fm

00/0708

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 ofthe 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 accessto the directory UD:\pippo, the following command has to be sent

FUDC pippostarting from the root of the user disk UD:.To return to the upper directory level, the parameter has to be specified as ‘..’ . To returnto the root the parameter has to be specified as ‘\’.This command is not allowed from SYS_CALL. To change the directory from PDL2program, 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: /Noconfirm eliminates the confirm prompt

Syntax: 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 inautomatic 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 diskUD: and its activation.

The parameter requested is the name of the application installation file (for exampleIO_INST.COD for the IO Configuration application) that can also be selected bypressing the HELP key of the prompt that requests the installation file name.The predefined variable $FUI_DIRS contains the path of the directories where thesearch is made for the application to be installed.

Syntax: FUI <installation_file>

7-41HS-0-C4E-USO_38.fm00/0708

System Commands

If the application is to be installed using Ethernet, first of it is necessary configurecorrectly all the predefined variables with $NET_ prefix that contain the references of theHOST where the desired application files are installed.

For further details regarding the Ethernet network configuration, see the PDL2Programming 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. Forthe file a wildcard can be used.

Syntax: FUS <file_name string_searched_for>

Example: FUS '*.COD' '$DOUT'

7.9.4.13 FILER VIEW (FV)

The VIEW command displays the contents of the disk specified (UD: by default) in thedirectory currently selected on the device from which the command is sent. For each filethe date of creation, the size in bytes, the attributes, the name and the extension aredisplayed.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_STATEroutine.

One or more files can be specified as parameter. If no parameter is specified, all the filesare listed.At the bottom of the list of files the total number of files contained in the selecteddirectory is indicated, with the number of bytes occupied. Also the size, in bytes, of thedisk 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 informationregarding the date and the occupation/Deleted Displays only the deleted files (in a non-permanentmode)/Length displays the required list of files starting from thesmallest to the largest/Modified shows the list of the required files starting from thatwith 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

Syntax: 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>

7-42HS-0-C4E-USO_38.fm

00/0708

System Commands

7.9.5 MEMORY branch

The MEMORY branch displays the commands to manage the programs and variablesin 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 hasto 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, insertionof points

– change a program text (only if loaded with /FULL option).

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 ifthe commands FILER EDIT, PROGRAM EDIT or MEMORY TEACH are active, or if theIDE 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 beused for the names of the programs and the variables. Before starting to delete, all theprograms display a confirm prompt.

7.9.5.2.1 MEMORY ERASE ALL (MEA)

Deletes the code and the variable of the program specified.

Options: /Noconfirm eliminates the confirm prompt.

Syntax: MEA <program_name>

If the program has been loaded with the /FULL option, the text can also bechanged. Programs loaded with the /PERMANENT option, only available from SYS_CALL,cannot be used in MEMORY DEBUG.

7-43HS-0-C4E-USO_38.fm00/0708

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 isalready 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 loadedprogram. The name of the variable has to be specified as a parameter.

Options: /Noconfirm eliminates the confirm prompt.

Syntax: 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 asteriskcan be used. If a program does not have a data file (.VAR), the variables are created inmemory during the loading.

A program cannot be loaded when it is in program ready, paused or running condition.

Options: /As, to load programs with a different data file (.VAR), specifiedas a parameter. Asterisks cannot be used with this option./Convert converts, where possible, conflicts between data fileand the program/Depend automatically loads the code and the variables of theprograms referred in the program code specified as parameter toMEMORY LOAD. If the referred files are in different directoriesthe predefined variable $DEPEND_DIRS has to be set, thatcontains the path that the Load command will use in the search./Full loads the entire program with the related comments andempty lines. If a program has been loaded with the /FULL, optionit can be edited in the MEMORY DEBUG environment andsaved. The programs that have the EZ attribute in the headingare automatically loaded with the /FULL option./Nosavevars disables the saving of the variables (or VAR)when MEMORY SAVE is executed on this program. Thisoption 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

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 programinto ASCII format using the FILER TRANSLATE command. Next, edit the ASCII fileobtained and correct the damaged instructions and identifiers, that aredistinguished by three question marks ("???"). Once the corrections have beenmade, reconvert the file to a .COD file using the FILER TRANSLATE command.

7-44HS-0-C4E-USO_38.fm

00/0708

System Commands

mode, not permitting deletion. The code uses less memorybecause of the optimizing of the loading process. To recover thememory, the control has to be restarted. This option is onlyavailable 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 programthat 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 fromwhere the save command is issued (programming unit, Terminal of WinC4G,currently selected directory in case of SYS_CALL).

Issue the /Code option to save the code.

If there is already another data or program file with the same name, this will be renamedand it will be assigned a .BKV or .BKC extension .

If data have not been loaded with /Nosavevar option, variables of this program will notbe saved.

Options: /As allows the saving of the program code or data in a file withthe name indicated in the second parameter. The asterisk cannotbe 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 sincewhen it was loaded./Dirorig saves the file of variables with the same name anddirectory used while loading./Overwrite if the file already exists in the user disk, it is replacedwithout the display of the confirm prompt./Total (only from SYS_CALL).

Syntax: 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>

The MemoryViewProgram command is useful to check which file and directoryhave been used to load the code and the variables of a program.

7-45HS-0-C4E-USO_38.fm00/0708

System Commands

7.9.5.5 MEMORY TEACH

The TEACH command is used to change the position variable values in the executionmemory 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 variablesare 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 (DATAmode), MEMORY DEBUG or IDE environment, or if the system is in FATAL state. It isnot 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 thememory.

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 theoccupation 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 oflines

– 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 forthis program. To obtain this information the /Full option is needed.

– a symbol indicating whether the instructions or the variable loaded have beenchanged in the memory, but not saved on the user disk. Entering this command byWINC4G or by SYS_CALL, the symbol is displayed next to the size of the code andthe 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:

7-46HS-0-C4E-USO_38.fm

00/0708

System Commands

– drawn up by

– file creation date

– version

– host where file was created.

Options: /Full displays all the information referring to the program./Nopage /4 Useful from SYS_CALL to TP-INT Page (see Option /4 to viewin the 40 columns)/Property displays program properties (drawn up by, date ofcreation, version, host where it was created).

Syntax: MVP <program_name> MVP/F <program_name> MVP/N <program_name> MVP/4 <program_name>MVP/P <program_name>

7.9.5.6.2 MEMORY VIEW TYPE (MVT)

Displays the type of data (TYPE declarations in the programs loaded in memory) definedby 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 inthe 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 typesloaded. The asterisk can be used.

Options: /Nopage

Syntax: 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, theinformation is displayed regarding all the loaded variables. A wildcard can be usedinstead of the name of the variable or the program.

7-47HS-0-C4E-USO_38.fm00/0708

System Commands

The data class variables type STRING or ARRAY, where an asterisk was used in thedeclaration 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, withoutshortening because of their length.

Syntax: MVV <program_name> <variable>

7.9.6 PROGRAM branch

PROGRAM branch displays a menu of commands used to develop and run theprograms.

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 attributeof 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 theDETACH attribute specified, a prompt will be displayed to confirm whether two or moreprograms are to remain active on the same arm. If a holdable program is still active andthe DETACH attribute is specified, a message will be displayed indicating that the armis already “DETACHED”.

Before it can be activated, the program has to be loaded into the memory. The asteriskcannot be used. The control must not be in FATAL state.

The following options, except the ARGUMENT option, can be used to activate theprogram with a step other than the default step. See the indications regardingPROGRAM 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 itis 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 isactivated/Cycle/Disable/Fly/Move/Routine/Statement

Syntax: PA <program_name>

7-48HS-0-C4E-USO_38.fm

00/0708

System Commands

7.9.6.2 PROGRAM DEACTIVATE (PD)

DEACTIV command deactivates the programs that are in running, ready, paused orunpaused 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 usedinside the parameter to deactivate more than one program. The control must not be inFATAL state.

Options: /Confirm displays the confirm prompt before the programdeactivation.

Syntax: PD <program_name>

All active programs can be deactivated by PD * or CTRL Y (^Y). CTRL Y can be emittedregardless of the level of menu that is active and is only valid if the mode that is activeis PROG and there is no protection active.

Protected programs cannot be deactivated by this command, to deactivate them it isnecessary 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 theprogrammer to edit, learn points and check PDL2 programs by executing them.

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 isnot possible to use a wildcard.

When it is called, the editor tries to enter by default in DATA mode. The programs canbe edited in DATA mode only when the status selector switch is set to T1 and theprogram is not active.

If it is not possible to enter in DATA mode, the program is opened in CODE mode, thatallows the programmer to change the program instructions, but not to execute theverification or the learning of variables. The CODE mode has to be used to makechanges in the declarations section of a program. In CODE mode any program can beedited, whether activated or loaded.

This command is not allowed from SYS_CALL.

For further information see Chap. Basic procedures for Program development.

If it is not possible to load the program due to damage to the data contained in thefile, recover a backup copy of the same file or convert it to an ASCII file using theFILER PRINT command.

The EDIT command cannot be used when the control is in FATAL state; the sameapplies in cases where the FILER EDIT, MEMORY DEBUG or PROGRAM EDIT(DATA or CODE mode) commands are active or when the IDE environment isenabled. The use of the PROGRAM EDIT command with the MEMORY TEACHcommand active is possible in CODE mode, but not in DATA mode.

7-49HS-0-C4E-USO_38.fm00/0708

System Commands

Options: /Code calls up the editing in CODE mode, allowing theprogrammer to edit the program instructions, but it is not possibleto execute learning or program verification. CODE is to be usedto make changes in the declaration section of a program. Whilein CODE mode, it is possible to edit any program, even if it isactivated or loaded.

Syntax: PE <program_name>

7.9.6.4 PROGRAM GO (PG)

GO command loads and activates the specified program. It is a combination of theMEMORY LOAD and PROGRAM ACTIVATE commands.

If a holdable program is already active on an arm and one of the programs has theDETACH attribute, a prompt will be displayed to confirm whether two or more programsare to remain active on the same arm. If a holdable program is still active and theDETACH attribute is not specified, a message will be displayed indicating that the armis 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 thanthat 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 alsohappens for the first move after the CTRL C (^C) key has been pressed or if theMEMORY DEBUG cursor has been moved.This safety function that reduces the speed can be disabled by setting the opportune bitsin the predefined variable $PROG_CNFG. To establish whether a move is executed atreduced speed, see the predefined variable $SAFE_ENBL.

The following options, except for the Update and Argument, can be used to activate theprogram with a step that is not the default step. See the description of the PROGRAMTEST STEP command.

UPDATE option disables the question to the user, if the program to be activated isalready loaded and/or active in memory and in the user disk there is a more recentversion.The ARGUMENT option is used to specify a parameter to pass to the program, when itis 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 isactivated/Cycle/Disable/Fly/Move

If it is not possible to load the program due to damage to the data contained in thefile, recover a backup copy of the same file or convert it to an ASCII file using theFILER PRINT command. For further information regarding this procedure see thesection relating to the FILER PRINT command.

7-50HS-0-C4E-USO_38.fm

00/0708

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: /Restart restarts the execution of the resource/Single_scan executes a single resource scan

Syntax: 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 UTILITY menu

7.9.6.6.1 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>

7-51HS-0-C4E-USO_38.fm00/0708

System Commands

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.

Syntax: PRUV <resource_name>

7.9.6.7 STATE menu

The STATE menu displays the commands to change the execution state of an activeprogram.

7.9.6.7.1 PROGRAM STATE BYPASS (PSB)

Allows the programmer to skip the current instruction when checking the program. Thisis useful if the program is suspended, for example waiting for a certain condition to beverified. 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 holdableprograms are set in paused state.

The asterisk can be used in the program name. The command cannot be used when thecontrol is in FATAL state.

Options: /Confirm displays the confirm prompt before setting theprograms in paused state.

Syntax: PSP <program_name>

7.9.6.7.3 PROGRAM STATE UNPAUSE (PSU)

Continues the execution of the paused program. Holdable programs are set in readystate and resume execution when START is pressed. Non holdable programs are set torunning state.The asterisk can be used for the program name. The command cannot be used whenthe 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

7-52HS-0-C4E-USO_38.fm

00/0708

System Commands

being inside an editor environment. TEST cannot be used when the control is in FATALstate.

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 theprogram in ready. To resume the program, press RUN. For holdable programs a STARTis also necessary.

The BREAK commands can be used for any loaded program, including programscurrently 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 mustcorrespond 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 isdisplayed.

Options: /Label to specify a label instead of the line number./Routine to specify a routine name instead of the line number.

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: /Nopage

Syntax: /PTBV <program_name>

Both the /LABEL and /ROUTINE options are to be used to specify a label inside aroutine.

7-53HS-0-C4E-USO_38.fm00/0708

System Commands

7.9.6.8.2 PROFILE menu

PROFILE menu displays a menu of commands to control the performance regarding thetime the CPU is occupied by active programs. This information is useful when severalprograms are executed simultaneously.

PROGRAM TEST PROFILE DISABLE (PTPD)

Disables the performance calculation. If PROFILE is already disabled, a warning isdisplayed.

Syntax: PTPD

PROGRAM TEST PROFILE ENABLE (PTPE)

Enables the performance calculation. The CPU time calculation starts as soon asPROFILE 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 thecalculations on the service related to its execution will be displayed, identified by theprogram name "E".The performance calculations listed near the program named “Free” indicate the CPUtime not used by the programs or by EXECUTE.

Options: /4 Useful from SYS_CALL to TP-INT Page (see Option /4 to view in the 40 columns)

Syntax: PTPV

7.9.6.8.3 STEP menu

The STEP menu displays the commands that allow the execution step of a certainprogram to be changed. A step defines how many instructions are to be executed at atime. As each step is completed, the program is set in READY state. To resumeexecution 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)

7-54HS-0-C4E-USO_38.fm

00/0708

System Commands

and it must be already loaded in memory.

When a program step is changed while running, the new step will come into effectimmediately 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 theCYCLE or BEGIN CYCLE instruction.

Syntax: PTSC <program_name>

PROGRAM TEST STEP DISABLE (PTSD)

Restores the program continuous execution mode and disables the previously setexecution 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. Definesthe step as a single movement: it is similar to PTSM, but the execution does not stopafter 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 ifthey 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 awildcard, otherwise all the steps regarding all the programs will be displayed.

Options: /Nopage

Syntax: PTSV <program_name>

7-55HS-0-C4E-USO_38.fm00/0708

System Commands

7.9.6.9 PROGRAM VIEW (PV)

VIEW command is used to displays the following information regarding active programstogether 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 actuallyinterpreted by the PDL2 programs interpreter.

– number of cycles.

A wildcard can be used for the program name. The command cannot be used when thecontrol 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 fromCONDITION, 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 awildcard)

• number of errors on which the predefined ERR_TRAP_ONroutine is active

• predefined variable values in the Program Stack category andfor 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

7-56HS-0-C4E-USO_38.fm

00/0708

System Commands

/4 Useful from SYS_CALL to TP-INT Page (see Option /4 to viewin the 40 columns)/Wide (only from SYS_CALL) Displays some information in fulllength (for example owner program name of the line), in relationto 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 encodercables are not connected to the robot, the indications of the drive failure; it is onlyallowed when the system is in PROGR or ALARM state and when the power supply tothe drives is off.The arm remains disabled until it receives a SetArmEnable command, regardless of anyrepowering that may be executed.The SetArmDisable command is usually used when it is necessary to perform repairoperations on a certain arm. After the operations have been carried out, the system maystill report the presence of some errors because a hardware component has remainedblocked. 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 asa 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 thesystem 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 commandcan be used to increase or decrease the value of $GEN_OVR. If the command isentered from WINC4G or from SYS_CALL, and the system is in PROGR mode, thevalue can only be decreased.

7-57HS-0-C4E-USO_38.fm00/0708

System Commands

Options: /Increment sets the increase/decrease default unit used toupdate the current value of $GEN_OVR when the %+ and %-keys of the teach pendant are used to change the value. Thedefault value is 5.

Syntax: SAG <value>SAG/I <value> <unit_incr/decr>

7.9.7.1.4 SET ARM NOSTROKE(SAN)

For the temporary disabling of the limit switches set for a certain arm. With the limitswitches disabled the robot can only be moved manually and therefore the system hasto be in PROGR state. The limit switches are automatically reset when the system is inAUTO or HOLD, when the drives power supply is disabled or when the arm referred bythe 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 themovement calculations are executed just the same. This command can only be sent withthe power to the drives off (DRIVE OFF).After the arm has been set in the simulated state, the drives can be powered, aftersetting 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.

Syntax: SAS <arm_num>

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 thearm 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 isintroduced by WINC4G or by SYS_CALL. The command is only enabled in LOCAL andREMOTE states, even with DRIVE ON. The command is not allowed if it is inserted from WINC4G or SYS_CALL with the TeachPendant 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 andit is to be sent with the drives power supply disabled (DRIVE OFF).

Syntax: SAU <arm_num>

7-58HS-0-C4E-USO_38.fm

00/0708

System Commands

7.9.7.2 SET CNTRLR menu

7.9.7.2.1 SET CNTRL KEY_LOCK (SCK)

Prevents unauthorised use of the menu in the Terminal window on WinC4G or theTP-INT page on TP4i. To use this command a password is necessary. The screenremains locked and asks for the password to remove this condition and resume accessto 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 soonas 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 soonas 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 soonas 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 soonas 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 soonas 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 assoon as it is sent.

Syntax: SCLP

7-59HS-0-C4E-USO_38.fm00/0708

System Commands

7.9.7.2.8 SET CNTRL LANGUAGE TURKISH (SCLT)

To set Turkish language on the Controller. The command has immediate effect as soonas 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])

Options: /4 Useful from SYS_CALL to TP-INT Page (see Option /4 to view in the 40 columns)

Syntax: SCV

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 notissued 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

7-60HS-0-C4E-USO_38.fm

00/0708

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 longerconsidered and the forced value is used. The operator can choose through a sub-menuwhether 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 aseparate digital input.

This command is not allowed if sent by WINC4G or by SYS_CALL with the teachpendant 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

7-61HS-0-C4E-USO_38.fm00/0708

System Commands

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 consideredand 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 canchoose 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>

7-62HS-0-C4E-USO_38.fm

00/0708

System Commands

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 onanalog inputs (AIN), digital inputs (DIN), privileged digital inputs (IN), flexible multipleinputs (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 todisplay 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 asforced from the moment the SIVD command is used.

7-63HS-0-C4E-USO_38.fm00/0708

System Commands

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 beentered. The user has to declare beforehand the user profile to be used to access theController, through the ConfigureControllerLoginAdd command sent by a user withAdministrator profile.This command is not allowed from SYS_CALL.

Options: /Logout allows the user currently using the Controller to logoutfrom the device where the command is entered.

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 notissued 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

With regard to Logout, as from System Software version 3.20, there is also afunction available called "Automatic Logout". For further details see par. 5.3.1Automatic Timed Logout on page 5-5.

7-64HS-0-C4E-USO_38.fm

00/0708

System Commands

assigned to the physical output. Any assignment to the forced outputs will not changethe physical outputs or the program execution. It is not possible to change the value ofthe forced outputs until the forced state is removed by UNFORCE. The operator canchoose 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 digitaloutput.

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 notinterfered with. To indicate the output to be forced, the index has to be specified. Theasterisk cannot be used.

SET OUTPUT NOTSIMULATE AOUT (SONA)

Syntax: SONA <index_num>

SET OUTPUT NOTSIMULATE DOUT (SOND)

Syntax: SOND <index_num>

7-65HS-0-C4E-USO_38.fm00/0708

System Commands

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 updatedand the value assigned to the port through this command or by a PDL2 instruction isused. 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 cannotbe 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>

7-66HS-0-C4E-USO_38.fm

00/0708

System Commands

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 notchanged.

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 cannotbe 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 asforced from the moment the SOVD command is used.

SET OUTPUT VIEW AOUT (SOVA)

Syntax: SOVA

7-67HS-0-C4E-USO_38.fm00/0708

System Commands

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 isnot available from SYS_CALL.

Syntax: UA

7.9.8.2 UTILITY COMMUNICN menu

Includes the commands to manage the communication devices (serial ports andnetwork 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)

7-68HS-0-C4E-USO_38.fm

00/0708

System Commands

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 beactivated on a certain communication device. If this is not specified, the defaultcommand ($DFT_DV[8]) will be used.

UTILITY COMMUNICN MOUNT C4G_Int (UCMC)

Activates the communication protocol to the WINC4G program that can be activated onPC. Before typing this command on the control, make sure that the program has beenstarted on the PC and that the connection with the C4G Controller is set correctly. Toterminate this type of communication with the PC send the UTILITY COMMUNICNDISMOUNT (UCD) command.

Syntax: UCMC <port_name>

UTILITY COMMUNICN MOUNT Modem (UCMM)

This "mount" command reserves the use of the specified serial communication port forthe modem.

For the modem configuration, the predefined variables $MDM_INT and $MDM_STR areavailable.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 thecommunication on the C4G side

Syntax: UCM3 <port_name>

7.9.8.2.3 UTILITY COMMUNICN PORT_CHAR (UCP)

Used to set the characteristics of a communication device. For example for the serialport 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

7-69HS-0-C4E-USO_38.fm00/0708

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 andleft-hand arrow keys can be used to select the different characteristics. To pass to thenext characteristic, press the ENTER key, or the right, left arrow keys. With the upwardand downward arrow keys values can be selected for the selected characteristic. Aftersetting the required values for the characteristics, press PREV/TOP.The CTRL C (^C) key interrupts the UtilityCommunicnPort_char command. If changeshave 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 deviceto 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 requiresthe name of the remote device to which it is to be connected. A Username and aPassword must also be specified.

Options: /DIAL to specify a telephone number. A Username and aPassword must also be specified.

Syntax: UCRC <remote_device>

UTILITY COMMUNICATION REMOTE DISCONNECT (UCRD)

Closes the Controller connection to a remote device. It requires the name of the remotedevice 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 willbe used as default communication port .

To use this command, neither memory nor system protections are to be active.

Syntax: UCS <port_name>

7-70HS-0-C4E-USO_38.fm

00/0708

System Commands

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)

Syntax: UCV <port_name>

7.9.8.3 UTILITY LOG branch

LOG command is used to have access to a commands menu that displays thesignificant 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 indicatesthe number of actions to show. If not specified, 20 actions will be shown.

Options: /Nopage

Syntax: ULA <num_actions>

7.9.8.3.2 UTILITY LOG ERROR (ULE)

Shows the last errors that have occurred on the Controller. The required parameterindicates the number of errors to be shown. If not specified, 20 errors will be shown.

Options: /Nopage

Syntax: 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" (thatrequires confirmation from the user before it can move the robot). The alarms of thiscategory are described in the PDL2 Programming Language Manual under thepredefined 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 fromthe user before the robot can be moved.

Syntax: ULLV <alarm>

7.10 HELPIO programThis paragraph illustrates the HELPIO program for the assignment of the Help strings tothe Inputs and Outputs configured in the system. These strings are then displayed bythe TP4I interface (Input /Output page ) and by the DISPLAY INPUT/OUTPUT/VARS

7-71HS-0-C4E-USO_38.fm00/0708

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 asuggestion 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 routineswith the opportune strings. The HELPIO.PDL program can be edited on either thePC 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 beinserted in the STARTUP program, bearing in mind that also the HELPIO2 have to bepresent 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 constantsCONST 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_initBEGIN 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

7-72HS-0-C4E-USO_38.fm

00/0708

System Commands

-- 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) EXPORTEDFROM helpio2 -- 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

7-73HS-0-C4E-USO_38.fm00/0708

System Commands

7.11 Types of files available in the System

Extension Description

Backup extension

(where applicable)

.ACT Single file containing list of actions executed on Controller (ASCII format of .LBA files) .BKA

.LBA Binary file containing list of actions executed on Controller .BKB

.COD PDL2 program code, in binary format. It can be edited in IDE environments, Program Edit, Memory Debug .BKC

.LBE Binary file containing list of errors detected on Controller .BKE.LOG FileLOG file, for example ACTION.LOG and ERROR.LOG .BKG.LSV ASCII version of .VAR file .BKL

.XML eXtensible Markup Language type file, used to define additional syntaxes on Controller .BKM

.PDL ASCII version of a PDL2 program .BKP.UDB User Data Base type file that contains all permitted User Profiles .BKU.VAR Binary file containing variables of a program .BKV.VPS Source file for VP2.Builder .BKW.LVP ASCII version of VP2 file .BKX.ZIP Compressed file not foreseen

.C4G

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).

.BK4

7-74HS-0-C4E-USO_38.fm

00/0708

WinC4G Program - interface to C4G on Personal Computer

8. WINC4G PROGRAM - INTERFACE TO C4G ON PERSONAL COMPUTER

8.1 ForewordThis chapter contains the information concerning the WinC4G program that representsthe 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 OverviewThe Winc4g program is a Windows style interface on PC to C4G Control Unit. It containsseveral 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 theControl 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 sucha 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 shiftfunctions, verification of axes, tool and frame updating), that can be selected fromthe Handling menu, access from Remote by Proxy and Compact Flashmanagement (copy from and to Compact Flash control including the partitions),

8-1HS-0-C4E-USO_37.fm00/0708

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 theparagraph How to obtain a new licence for WinC4G.

8.3 WinC4G ActivationTo 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 programand 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 UnitThe 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 WinC4GActivation on page 8-2) and open the Properties Window (Fig. 8.35 - PropertiesWindow). In the Connections section, select the required connection between thefollowing ones:

– TCPIP, for Ethernet and enter the IP address of the SMP board installed on theControl 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 parametersset-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 alreadydefined on the Control Unit by means of the ConfigureControllerLoginAdd command.

If the connection is successful, the user can access the Robot Control Unit opening theTerminal window, display the errors list, etc.

On the C4G Control the communication protocol to WinC4G is automatically installed onthe Ethernet communication channel

To disconnect from the Control Unit, enter File/Disconnect that will close the connectionto 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 orSwitch network connection device) onto the PC Ethernet port and on Ethernet X5 port

8-2HS-0-C4E-USO_37.fm

00/0708

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 theProperties field of the Internet protocol entering the PC network settings. To do so,select the Start menu, choose Settings, Network and network connections, Connectionto LAN local network; select the Properties and Internet protocol key (TCP/IP) (seeFig. 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 field172.22.121.5 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.

8-3HS-0-C4E-USO_37.fm00/0708

WinC4G Program - interface to C4G on Personal Computer

Start the WinC4G program (par. 8.3 WinC4G Activation on page 8-2) and open theProperties window to set the field related to the type of connection (see Fig. 8.2):

Fig. 8.2 - Enter connection type

a. select TCP/IP as connection type

b. in the address field specify that of the Control Unit for the connection. If thisaddress is not known, read the IP address from the Home Page of the TP4i TeachPendant (or from the TP-INT page, through the SetControllerView command).

8-4HS-0-C4E-USO_37.fm

00/0708

WinC4G Program - interface to C4G on Personal Computer

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 Controlas 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 cableif Controller Ethernet connection is available

– device to connect to PC.

From Remote side, another PC is necessary to connect to remote Controller. This PCmust 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.

8-5HS-0-C4E-USO_37.fm00/0708

WinC4G Program - interface to C4G on Personal Computer

8.4.3.1 Network configuration

To reach the Controller, remote PC, local PC and C4G have to be "informed" on how tosend/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 assignedby 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 thesub-network existing between Local PC and Controller (192.168.1.0), therefore theRemote 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 PrivateNetwork (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.

8-6HS-0-C4E-USO_37.fm

00/0708

WinC4G Program - interface to C4G on Personal Computer

To complete the installation, the Remote PC has to "know" how to reach the Controllerand vice-versa. This is feasible by just executing a direct "route add" on the twomachines.

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).

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. open the Control Panel from Start menu,

b. open “Network Connections”,

c. click on “Create a new connection” (highlighted in red in Fig. 8.6).

Fig. 8.6 - Create a new connection

d. click “Next” in the first dialogue window that appears.

e. In the next dialogue window, select “Set up an advanced connection” and press“Next” (see Fig. 8.7)

Note: during the description of the procedures that follow, it is assumed that thePC has Windows XP operating system installed and that the user hasAdministrator privileges.

8-7HS-0-C4E-USO_37.fm00/0708

WinC4G Program - interface to C4G on Personal Computer

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. In the next window, deselect all items present on the screen page and press “Next”.

h. In the next window select item “Allow virtual private connections” and press “Next”(see Fig. 8.9).

8-8HS-0-C4E-USO_37.fm

00/0708

WinC4G Program - interface to C4G on Personal Computer

Fig. 8.9 - Allow virtual private connections

i. In the next window, select (and/or if necessary add) Windows users who havepermission to connect to the machine using VPN. This login information must alsobe known to the Local PC users, when wishing to connect. Press “Next”. (seeFig. 8.10).

Fig. 8.10 - User Authorisations

j. In the next dialogue window, select “Internet Protocol (TCP/IP)” and click on“Properties”;

k. on the screen page of Fig. 8.11, select items “Allow callers to access my local areanetwork” and “Specify TCP/IP addresses”

8-9HS-0-C4E-USO_37.fm00/0708

WinC4G Program - interface to C4G on Personal Computer

Fig. 8.11 - Properties

l. Deselect item “Allow callers to access my local area network” and insert a range ofTCP/IP addresses that are not in conflict with its own IP address. Press "OK" thenpress “Next”.

m. On the next screen page (see Fig. 8.12) press “Finish” to complete theconfiguration.

Fig. 8.12 - Completion of configuration VPN server

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 thesystem register and machine restart. To do this, read the note below very carefully.

Note: only one server instance at a time can be active on the machine.

8-10HS-0-C4E-USO_37.fm

00/0708

WinC4G Program - interface to C4G on Personal Computer

The Local PC configuration procedure is as follows:

a. open the Control Panel from Start menu,

b. open “Network Connections”,

c. click on “Create a new connection” (highlighted in red in Fig. 8.6),

d. click “Next” in the first dialogue window that appears.

e. In the next dialogue window, select “Connect to the network at my workplace” andpress “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).

IP forwarding enable

WARNING! wrong use of the system register editor can cause serious problems that couldrequire reinstallation of the operating system. The use of the system register editor is at therisk 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 bythe computer.

d. Close the system register editor.

8-11HS-0-C4E-USO_37.fm00/0708

WinC4G Program - interface to C4G on Personal Computer

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 theconnection. Insert this information and press “Next” (see Fig. 8.16).

Fig. 8.16 - VPN server selection

8-12HS-0-C4E-USO_37.fm

00/0708

WinC4G Program - interface to C4G on Personal Computer

i. In the next screen page select the required item, according to whether theconnection may be used by all or has been created for user personal use only.Press “Next”.

j. On the next screen page (see Fig. 8.17) press “Finish” to complete theconfiguration.

Fig. 8.17 - Completion of configuration VPN client

The connection is ready to be activated. When connected (see par. 8.4.3.3 Connectionprocedure 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:

8-13HS-0-C4E-USO_37.fm00/0708

WinC4G Program - interface to C4G on Personal Computer

a. connect to Internet, if not already connected

b. Launch VPN server

c. 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".

d. Insert the Controller IP address (in this example 192.168.1.2), Username andPassword.

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. enable IP forwarding (as described in note IP forwarding enable)

b. connect Local PC to Controller. In our example we suppose that the Controller IPaddress is 192.168.1.2 and the Local PC IP address is 192.168.1.1.

c. A route to the Remote PC has to be added on the Controller. In our example thecommand will be: DV4_CNTRL(5, '90.1.1.1', '192.168.1.1').

d. Connect to Internet

e. ask Remote PC manager for IP address of the PC address on Internet and launchclient VPN

f. give the Remote PC manager the Controller IP address (in our example192.168.9.2), Username, and Password.

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 beuseful in some software installation situations and when interfacing with the C4Gcontroller in FTP client mode.

The configuration of this function is through the Properties Window (activated from theFiles Menu). Through this window the user can:

– enable/disable the server. By default is it DISABLED. To enable the function, selectthe "Always enabled" checkbox. Note that before using this command at least oneFTP server has to be specified.

– choose whether the FTP server will accept connections only from the C4GController 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 acceptconnections from other machines or Controllers.

– to configure the Users table (activated by the "Users" softkey in the PropertiesWindow see Fig. 8.19) that defines the users to whom access is allowed. Amaximum of 10 users is possible For each user it is necessary to specify:

8-14HS-0-C4E-USO_37.fm

00/0708

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 becorrectly configured. This means that for each NETx: device to be used, it isnecessary to define a user's name and a password (of FTP server thatrequires the operation) and the basic directory to be used for the restore.Obviously, when the restore operation is requested, the specified user has tobe already defined and have already accessed the Controller (login). Ifcheckbox NET_C is selected for a certain user, that FTP server on the PC isauthorised 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 operatingmodes:

– Proxy WinC4G : the local WinC4G acts as "mediator" to the Control Unit

– Remote WinC4G : the Remote WinC4G connects to the Proxy WinC4G to accessthe Control Unit services.

In this way the two users (local WinC4G and remote WinC4G) can use the terminal ofthe same Control Unit simultaneously; the output is repeated on both the TerminalWindows. In this way, the local user can see the operations performed by the remoteuser and vice-versa (as can be seen in the next figure).

8-15HS-0-C4E-USO_37.fm00/0708

WinC4G Program - interface to C4G on Personal Computer

8.4.5.1 Chat Service

The Remote WinC4G and the Proxy WinC4G are connected by a chat type of systemthat enables real time communication between local and remote users. Each user hasto specify his/her nickname for the chat.

8.4.5.2 WinC4G configuration in Proxy mode

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 thecorresponding 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 remoteuser.Chat user name: name of user for the chat system.Remote WinC4G address: Remote PC IP address. If this field is set, the Controllerconfiguration is run automatically by Local PC. As a consequence of connection withController, the Route (Route Add) is established on the Controller to Remote PC and IPredirection (forwarding) is enabled.

The Proxy service will be active at the next terminal connection to the Control Unit.

To be able to use this function it is necessary to be in possession of the fulllicence:.

8-16HS-0-C4E-USO_37.fm

00/0708

WinC4G Program - interface to C4G on Personal Computer

8.4.5.3 WinC4G configuration in Remote mode

On the other PC, the remote mode for WinC4G can be selected with the 'Remote' keyin the Properties window of the Files menu. When this key is pressed, the followingdialogue 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 LocalPC

– Enabling of IP redirection (forwarding) on Local PC.

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 runautomatically by Local PC. Upon connection, the RouteAdd on Controller to Remote PCis automatically executed and IP forwarding is enabled.

Chat user name: name of user for the chat system.

NOTELocal PC is to be connected and communicating with Controller, whenconnection 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 ProxyAuto Config” selected (see Fig. 8.20).

8-17HS-0-C4E-USO_37.fm00/0708

WinC4G Program - interface to C4G on Personal Computer

Fig. 8.20 - Proxy Proxy self-configuration

When the terminal connection is activated, the Remote WinC4G is connected to theProxy WinC4G.

8.4.5.3.1 Auto Config

The Remote PC, Local PC and Controller configuration, can be executed in threedifferent modes:

– Manual - the Manual configuration is that described above and requires that theuser inserts the route add, IP re-addressing, etc. by hand.

– Semi-Manual : Specified Proxy - Semi-manual means that the configuration onLocal PC and on Controller is run automatically by the Local PC. However, the userhas to supply the Remote PC IP address manually.

– Completely automatic - means that the configuration of all three devices isexecuted by WinC4G by a command from Remote PC. To select the completelyautomatic 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 necessaryconfiguration.

Obviously, Completely automatic mode is the most convenient, but it is based on theneed 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 onboth the Proxy WinC4G and the Remote WinC4G.

8-18HS-0-C4E-USO_37.fm

00/0708

WinC4G Program - interface to C4G on Personal Computer

The "Chat message" area displays the messages sent by the two users. Each lineindicates 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. Themessage 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 ProxyWinC4G, using the "Disable Remote" function of the Tools menu (or with thecorresponding key on the Toolbar). The system will indicate that disabling has takenplace by means of a message in the Chat window.

8.5 User interfaceThe WinC4G interface consists of four main panels (see Fig. 8.21 - User interfacepanels) 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 thewindows of a certain panel, the (CTRL+Alt+Tab) keys are used.

8-19HS-0-C4E-USO_37.fm00/0708

WinC4G Program - interface to C4G on Personal Computer

Fig. 8.21 - User interface panels

1. Directories Panel

2. Files Panel

3. Tools panel

4. 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 theinformation 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 andfind a possible solution to the problem

– Errors Display and Actions window where the user can highlight and put in orderthe errors and actions generated by the Control Unit

– Files Manipulation window that groups together operations for verification and/orvariable values conversion (.VAR)

– Window Viewing and editing of.UDB file (optional service) to read and modify userprofiles 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 ofthe Teach Pendant on the TP-INT Page.

8-20HS-0-C4E-USO_37.fm

00/0708

WinC4G Program - interface to C4G on Personal Computer

To send arm data display commands, to activate/deactivate file management, editingprograms (see Description of commands). When transferring files from PC to ControlUnit, it is important to set the directory to be used on PC side. To do so, operate on theProperties Window.It is also possible to set, still through the Properties Window, the directory that theprogram 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 Automaticmode, the font used by the program will be as extensive as possible to adapt to thescreen.

To open the Terminal Window (Fig. 8.22 - TheTerminal), it is necessary to first connectto the Control Unit, then open the Terminal (with the Open Terminal command from theView 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 toopen 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 terminalcan be active on a single Control Unit.The Guide/Significance of Terminal keys menu displays the correspondence of the keysbetween the PC keyboard and some editing functions foreseen by the Control Unit, inProgram 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 translateand 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 sendthe Open command from the File menu. Otherwise it is possible to click twice on the

8-21HS-0-C4E-USO_37.fm00/0708

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 beviewed. 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 thename 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 thatcan be read by the user. If errors are found during the translation, these are displayedto the user and the operation is interrupted. In such cases it is best to check that the fileis not corrupt, and that it has been generated using a translator software version that iscompatible 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 andentering the Translate command from the Edit menu. In this way a .PDL file is createdthat the user can open in the Translations Window. With the same command (Translate

8-22HS-0-C4E-USO_37.fm

00/0708

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 thisway the system creates a new .COD file and saves the previous version in a .BKC file.

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 canonly be displayed.

Since the PDL2 language is continually evolving, the translator is subject to versionupdating. When necessary the translator version number to be used has to be set againin the Properties Window in the ‘C4G Library Version’ box. The number to be specifiedis to correspond to the c4g<v_xx> file that is part of the WinC4G installation. Theapplication 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 findinformation 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 theProperties Window at the Select .CRD key. The files containing all the errors and theircauses 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 thisdialogue box a .CRD file can be added or removed (for example one that is connectedto a specific application) to the error list. The maximum number of CRD files that can beselected is 10.

The user can customize the comments associated to a certain error through the AddComment key on the Cause/Remedy page. A dialogue box is opened to enter a text thatwill be displayed with that error. This text will be saved in the specified .ZIP file that has been entered in the PropertiesWindow, in the User Texts Archive box.

The display of the User Text can be enabled or disabled through the checkbox.

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

8-23HS-0-C4E-USO_37.fm00/0708

WinC4G Program - interface to C4G on Personal Computer

Fig. 8.26 - Cause/Remedy Window

From Winc4G all the C4G errors contained in the selected ROB*.CRD file can be savedin 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 theProperties 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 haveoccurred on the Control Unit and the actions taken by the user and recorded on theControl 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 LOGsystem directory can be viewed as a list .The errors list is displayed in the Errors and Actions Window, shown in Fig. 8.27 - Errorsand 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 actionsfiles and, in this case, the contents are shown in a manner to correlate the sequence ofthe actions with the occurrence of the errors.

There is an error screening mechanism that allows the user to narrow down the rangeof data display on the basis of an interval of time, the error number, seriousness of theerror, etc. The filter setting can be activated from the Edit Menu or the right-hand key ofthe PC Mouse.

8-24HS-0-C4E-USO_37.fm

00/0708

WinC4G Program - interface to C4G on Personal Computer

Fig. 8.27 - Errors and Actions Window

8.5.1.5 Files Manipulation

The Manipulation menu contains features that check and convert the values stored ina .VAR file.

The functions are:

– check that the positional values stored in a .VAR are included in the range of thestroke end limits (Axis check).

– modification to positional values stored in a .VAR, based on new values of $TOOLand $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 (LinearRotation).

– mirror referred to a plane (Mirror).

– modification to positional values stored in a .VAR basing on changes to calibrationdata (Calibration).

– modification to positional values stored in a .VAR after modifications to the robotkinematics (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 arecommon to the pages shown in the Manipulation menu (see Fig. 8.31 - File Manipulationsettings).

If it is wished to be able to have all files handling functions, It is necessary to havesoftware option WinC4G Full. For the Comau codes of the options, see the C4G Control Unit TechnicalSpecifications manual - par. Software Options.

8-25HS-0-C4E-USO_37.fm00/0708

WinC4G Program - interface to C4G on Personal Computer

Fig. 8.28 - File Manipulation Window

The parameters which the user must insert before executing one of the listed abovefunctions are grouped in different areas (as an example, see Fig. 8.28 - FileManipulation Window):

– Original files area: the user must select (via the PC or Rob text box), either on thePC or on UD: controller device, the files that are needed as input to the executionof the selected function. The files must be binary and not ASCII because themanipulation functions do not work on ASCII format. The files of interest are: theconfiguration file (.C4G), the (.VAR) file containing the values of the Tools and ofthe Frames, the user program files (.COD and .VAR).

– Output files area: the user must select the name of the .VAR file to create as resultof the operation.

– New files area: the user must specify if needed, the new files to use in the operationas an alternative to the files specified in the Original files area. This window is onlyactive for the ‘Tool and Frame update’, ‘Calibration’, ‘Sysdata adjust’ pages.

– Modal - Nodal with $PAR - these flags indicate which types of motion instructionsare 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 valueswhich define the cartesian coordinates of the position to be used as $BASE if theconversion 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 asection of it; in this case the starting (Lines from: ) and ending (to: ) lines must bespecified. Otherwise the whole file will be computed.

8-26HS-0-C4E-USO_37.fm

00/0708

WinC4G Program - interface to C4G on Personal Computer

Please note that:

– the application will not perform the operation until all requested parameters arespecified

– the setting for a specific operation can be saved in a file and reused in successivecommands. This avoids the need to enter the parameters each time the operationis repeated. Use the Import box to choose a .WCF file already present; the path will be askedfor 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 ALWAYSspecified are:

– System file: name of the .C4G file.

– Tool file: name of the .VAR file containing the tool values used by the program (forexample 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 furtherdetails:

– 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 foreseenlimits 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 thespecified axis, which should not be overcome in the positional variables of the program.For example from 0.0 to 30.0 for axis 1.

WARNING! The application does not carry out the operation until all the requiredparameters are specified.

8-27HS-0-C4E-USO_37.fm00/0708

WinC4G Program - interface to C4G on Personal Computer

In case some limits are overcome, in formational messages are displayed in the outputwindow of WInC4G.

8.5.1.5.2 Tool and Frame update

This operation modifies the positional values of an existing program basing on newvalues 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 beused in the conversion of the user program. Both parameters must be specified; if theconversion only concernes the tool, the frame file specification must be the sameinputted in the Originale Files area (and viceversa).

Output file: the user must define the name of the .VAR file to create, containing thepositional 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 positionQ1 - end position

Start and end positions: the user must specify the X,Y,Z coordinates of the two pointswhich define the distance to use in the translation.

8-28HS-0-C4E-USO_37.fm

00/0708

WinC4G Program - interface to C4G on Personal Computer

Output file: the user must define the name of the .VAR file to create after the conversionapplied 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 positionsQx - end positions

Start and end positions: the user must provide three starting positions and three endingpositions which define 2 planes. A linear translation from the first final position isperformed first; then the orientation relative to the final plane is considered.

P1 and Q1 may NOT belong to the trajectory.

8-29HS-0-C4E-USO_37.fm00/0708

WinC4G Program - interface to C4G on Personal Computer

Output file: the user must define the name of the .VAR file to create, containing thepositional 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 simmetrictransformation related to a plane. The X-Z plane of the robot is the default plane. If theoperation has to consider a different plane, it should be defined in the Edit boxesidentified with ‘Mirror Plane’.

1 - Mirror Plane

Orientation: this box must be checked when the orientation has to be considered duringthe 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 andXTNDPOS data type. If also JOINTPOS should be involved, this check box should bemarked. In case of JOINTPOS, Mirror function is only applied to the values of axis 4and 6 of the robot.

Output file: the user must define the name of the .VAR file to create, containing thepositional data modified accordingly to the simmetric transformation required.

Note: multiturn flags, if any, will be automatically inverted by the mirror function. Forexample, ‘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 thecalibration constant changes.

New files: the user must specify the name of the .C4G configuration file, which containsthe 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 theconversion of the positional data basing on the new calibration constant.

P1 and Q1 may NOT belong to the trajectory.

8-30HS-0-C4E-USO_37.fm

00/0708

WinC4G Program - interface to C4G on Personal Computer

8.5.1.5.7 Sysdata adjust

This operation must be used for correcting a file of variables in respect to a new robotkinematics.

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 thepositional 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 thenumber 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 differenceto 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 (Revolutioninformation in the Service page); the axis must be moved in correspondence of thereference heel; the motor turns information must be read. Execute the difference of theinteger 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 thepositional 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 theSettings option from the Manipulation Menu; it is used to set the level of information thatis generated during manipulation operations on the files and to define where the filesrecording 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 specifywhere these files are to be created.

8-31HS-0-C4E-USO_37.fm00/0708

WinC4G Program - interface to C4G on Personal Computer

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 conversiongenerates an error.

– Correct movement lines. This option displays in the log file the movement lines that have been convertedcorrectly.

– Line number display. This option allows the application to add the line number next to each movementinstruction that is written in the log file.

– Variable Name.With this option the application adds the name of the variable to the log messageto inform the user which variable has been manipulated.

– Variable Value.With this option the application adds the value of the manipulated variable to thelog message.

– Joints position.This option adds the position of the joints in the message generated for themanipulation of a movement instruction.

– Tool and Frame Value.With this option the Tool and Frame values can be viewed in the log file where aninstruction has been manipulated.

– Error message.

8-32HS-0-C4E-USO_37.fm

00/0708

WinC4G Program - interface to C4G on Personal Computer

This option enables the display of error messages that have been generated duringthe 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 ofchanged 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 necessarymodify 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 inthe 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 theoperations 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, inrelation to the default, this can be done by selecting one of the standard profiles providedby the system (Administ, Service, Maintain, Programmr, Technology) or one which hasbeen completely customised.

It is possible to act on the checkboxes shown in Fig. 8.33, enabling/disabling the variousoperations available.

8-33HS-0-C4E-USO_37.fm00/0708

WinC4G Program - interface to C4G on Personal Computer

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 thePC and the Control Unit directories (for the latter, if the connection via Ethernet isactive).

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 tothe Robot Control Unit is active or not. If the connection on the Control is not active, onlyone window is visible, that indicates the disks present on the PC with the relateddirectories. 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.

8-34HS-0-C4E-USO_37.fm

00/0708

WinC4G Program - interface to C4G on Personal Computer

8.5.3 Files Panel

The Files panel (see Fig. 8.21 - User interface panels) shows the list of the filescontained 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 ofchange. 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 “PropertyNotes”. 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 alsothe Properties are displayed); and they can be closed through the Close command inthe Files menu (or by the related key in the Toolbar).

To open several files, they can be selected by highlighting them and subsequentlysending the Open File command from the menu, or from the tool bar, or clicking with themouse 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 beopened or transferred to the selected directory. The transfer operation to theController, in some cases, could require a few seconds.

– "drag" a file or a directory from the files panel or the Directories Panel to WindowsExplorer. In this case, the file/directory will be transferred from the selecteddirectory to the local file system.

A file selected from the file panel can be protected by clicking with the mouse right-handkey on the name displayed in the panel and sending the "Protect" command.

The list of the devices is read once only, during connection. If devices are addedor removed during the connection (for example Disk-on-Key on the Control Unitor Windows network drives on PC), the Directories Panel will not be updated withthese devices. To run the list of devices refresh, close the current session andreconnect.

8-35HS-0-C4E-USO_37.fm00/0708

WinC4G Program - interface to C4G on Personal Computer

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 anapplication generates to the user. The main use is to show the result of the program filestranslation, such as .PDL and .LSV, including the translation errors and messagescoming from the file manipulation operations.

To open this Panel, use "Show Output Window" in the View menu; to close it, use "CloseOutput Window" from the same menu.

The output panel contains five windows. The first displays the messages generatedduring the translation with indication of the files translated and the results of thetranslation. The second window shows the errors found in the last translation. Clickingtwice on an error opens the file on the line where the error has been found. The thirdwindow displays the messages generated by the FTP server. The fourth window is usedfor chatting, if WinC4G is connected as Remote or as Proxy (see Remote connection byProxy).

8-36HS-0-C4E-USO_37.fm

00/0708

WinC4G Program - interface to C4G on Personal Computer

8.6 WinC4G operating parameters set-upThe Properties Window (Fig. 8.35 - Properties Window) that is used to set the operatingparameters of the WinC4G application is of particular importance. It is activated from theFiles 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 fromand to the connected PC (FilerCopy, FilerView, etc.).

– User Texts ArchiveIt is a compressed file that stores the comments added by the user regarding thesingle 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 thesearch 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 theapplication is running; there could be an application slow-down if the files are on aserver.

– Import Path (1 - Fig. 8.35)To translate PDL programs that contain the IMPORT clause, read the declarationsregarding the variables, the types and imported routines, in the files where they arecontained.

If the Controller is connected, by default the files opened by Winc4g are translatedon-line: if on PC, sent to the Controller via FTP server, translated then copiedagain on the destination device. This has the advantage of not having to worry toomuch about the machine configuration, since the robot is already operational andwell configured.If instead checkbox "Allways Translate off-line" (3 - Fig. 8.35) is selected fromthe Properties window, library c4gx_xx.dll will be used that is part of the WInc4gprogram installation (also if ON-line). For translation off-line, all the necessary files, in particular.CODs containing thedeclarations are to be installed on the PC in a location defined in the Propertieswindow in the text checkbox Import Path. If this route is not set, the WinC4G will

8-37HS-0-C4E-USO_37.fm00/0708

WinC4G Program - interface to C4G on Personal Computer

check the variable of C4G_IMPORT environment, that is to be previously set onPC. For example, define:

C4G_IMPORT=%CRC_HOME%\user\include

The advantage of off-line translation is that programs can be edited and translatedwithout requiring the robot; however, all the necessary programs are to beavailable on PC.

– Grammar File (2 - Fig. 8.35)Checkbox Grammar File is only used when the system is CUSTOMISED NODALtype (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_GRAMMARenvironment variable.

– Dimens Font of the Terminal It determines the size of the character Font in the Terminal windows. The changestake place when the Apply button is pressed. By setting the Automatic value, theapplication sets the largest font as to the size of the screen. The font cannot be lessthan 8pt.

– C4G library versionIt indicates the version of the C4G translator library that will be used to translate thebinary files (.COD, .VAR, .C4G). If the specified version is not among thoseprovided, the WinC4G program will search for a previous version library. Theselected version is possibly to be the same or a higher version than the softwareon the control where it is to be connected. Otherwise, the translation operation maynot function correctly since the data in the binary files may not be acknowledged.

– Save and LoadThe user can save and load the properties of the WinC4G program. In this way theproperties linked to a specific Robot Control Unit connection can be set just onceand subsequently referenced through Load.

– FTP serverTo enable the FTP server for use (see FTP Server mode connection). This is usefulin certain software installation situations

After the information regarding the selected library has been changed, the WinC4Gprogram has to be started again so that the change becomes effective.

8.7 Commands MenuThis section describes the controls and the effects they have. Information is givenregarding these Menus:

– Files Menu

– Edit Menu

– View Menu

– Manipulation Menu

– Help Menu

– Tools

8-38HS-0-C4E-USO_37.fm

00/0708

WinC4G Program - interface to C4G on Personal Computer

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 theediting.

– Close Closes the active window in the TOOL Panel. If a .COD or .VAR file is currentlyopen, 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 wasopened. If this window has been opened by New, the Save with Name Window willautomatically be opened.

– Save on PC Saves the contents of the active window in the Tool Panel in a folder that can beselected on the PC.

– Save on Robot Saves the contents of the active window in the Tool Panel in a folder that can beselected by the user on the Robot Control Unit.

– Save All with nameIf the active page is the Cause and Remedy, the list of all the messages and relatedCause/Remedy can be saved in a messages.txt file. The description of themessages 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 Directoriespanel and activating the Terminal Window. Upon connection, Login is requested.The reference database to find the UserName and the Password is that on theRobot Control Unit to which the connection is made.

– Disconnect Closes the connection with the Robot Control Unit. Also the Terminal Window isclosed (if open) and the user cannot execute any action that requires connectionto the Control Unit.

– DeleteTo delete the file currently selected in the File Panel.

– Print Prints the contents of the window in the foreground on the Tool Panel.

– Print allPrints all that is displayed in the active window.

– Page set-upTo set the printing modalities to be applied for the page to be printed.

– Properties Opens Properties.

8-39HS-0-C4E-USO_37.fm00/0708

WinC4G Program - interface to C4G on Personal Computer

– Compact FlashContains the sub-menu to manage the Compact Flash. See par. 8.7.7CompactFlash 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 ToolPanel.

– Cut Copies the selected text in the clipboard and deletes it from the open window of theTool Panel.

– Copy Copies the text contained in the clipboard, where the cursor is positioned, in theactive window of the Tool Panel.

– Paste Copies the contents of the clipboard where the cursor is positioned in the activewindow in the Tool Panel.

– Select allSelects the whole text of the file opened and active in the Tool Panel.

– SearchTo search for and/or replace an identifier in the text of the open file of the Toolspanel. 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 thecorresponding binary format. If there are errors, these are displayed in the OutputPanel in the errors window.

– Filter Activates a filter in the Cause/Remedy Window, to limit the number of errorsshown. The filter is linked to a timeout, the severity of the error, the code, thecounter or the text.

– Hide selection To temporarily hide the display of information previously selected in the errors andactions window.

– Show All To resume the complete display of the information hidden in the errors and actionswindow, after the Hide command was sent.

– Modify Log File headingTo modify the heading of an actions or errors records file.

– Add/Remove Log FileTo add or remove a file in the errors and actions display (View Menu)

8-40HS-0-C4E-USO_37.fm

00/0708

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 WindowRemoves the current information from the Output Window in the Output Panel.

– Show Output WindowDisplays the Output Window.

– Close Output WindowHides the Output Window.

8.7.4 Manipulation Menu

The options of this menu are described in detail in par. 8.5.1.5 Files Manipulation onpage 8-25.

– Axes verification

– Tool / Frame Updating

– Linear shift

– Linear rotation

– Mirror

– Calibration

– Adjustment to system data

– Difference in turns

– Settings

To have access to these functions it is necessary to own the full licence:.

8-41HS-0-C4E-USO_37.fm00/0708

WinC4G Program - interface to C4G on Personal Computer

8.7.5 Help Menu

– Meaning of terminal keys Opens the dialogue box that describes the keys correspondence between the PCkeyboard and some editing functions of the Control Unit, in Program Edit andMemory Debug environments and in the Terminal page.

– RegistrationTo 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 bespecified.

– Unprotect: to unprotect (remove the protection) of the file selected in the FilesPanel. The user has to enter the Password that was specified when the requestwas 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 tothe 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 contentsof 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 onto another C4G Controller keeping the original partitioning of the memory (the standardWindows applications read the partitions but do not allow copying).

The C4G CompactFlash contains three partitions that can be identified on theController 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 C4GCompactFlash through the Winc4g program.

A normal PCMCIA adapter for CompactFlash is needed, that is easily found on themarket. Insert the CompactFlash in the PCMCIA adapter.

a. Insert the adapter in the specific compartment of the PC.

b. The computer will detect the presence of the device and will display acorrensponding message (the first time it acknowledges a CompactFlash device)or it will just display "Removable disk" in Windows Explorer.

c. When this item is selected, the contents of the LD partition will be displayed. Thisis because Windows does not foresee partitions in CompactFlash devices,therefore it displays only one.

8-42HS-0-C4E-USO_37.fm

00/0708

WinC4G Program - interface to C4G on Personal Computer

d. The files that the user most probably wants to select are however those thatcontain the PDL2 programs and the associated data; therefore, to have access tothe contents of other CompactFlash partitions, it is necessary to create a back-updisk. This new peripheral, called RamDisk, will be a volatile memory and will bedeleted each time the PC is switched off or re-started. It is therefore advisable tocomplete the operations described here below, before switching off/restarting theController.

e. 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 thefollowing procedure.

f. To install the new peripheral, select Add/Remove Hardware Wizard from StartSettings Menu Control Panel.

g. Select "Add/Troubleshoot a device".

Fig. 8.36 - Add/Troubleshoot a device

h. The system starts searching for the new device.

i. As soon as such a device has been found, select "Add a new device".

8-43HS-0-C4E-USO_37.fm00/0708

WinC4G Program - interface to C4G on Personal Computer

Fig. 8.37 - Add a new device

j. Answer “No, I want to select the hardware from a list” when asked "Do you wantWindows to search for your New Hardware?".

Fig. 8.38 - No automatic Hardware search

k. Then select "Other Devices"

8-44HS-0-C4E-USO_37.fm

00/0708

WinC4G Program - interface to C4G on Personal Computer

Fig. 8.39 - Other devices

l. Select "Disk Driver" and, with "Browse", identify the c4grd.inf file, (distributed withthe Software CD). By clicking on such a file, a COMAU Ramdisk is identified asthe hardware device model.

Fig. 8.40 - COMAU Ramdisk Drive

m. Proceed with "Next", "Next" and "Finish" to complete the installation.

8-45HS-0-C4E-USO_37.fm00/0708

WinC4G Program - interface to C4G on Personal Computer

Fig. 8.41 - End of installation

n. Restart the machine.

o. From My Computer, the new item is identified by the term Ramdisk (B:).

p. Once the back-up Ramdisk device has been created, it is possible to interface withthe CompactFlash.

Fig. 8.42 - CompactFlash Menu

q. Activate WinC4G and, from the File menu, select CompactFlash.

r. Connect the CompactFlash entering the name of the device associated to it (forexample B:). This name can be read from My Computer under the term Ramdisk.

8-46HS-0-C4E-USO_37.fm

00/0708

WinC4G Program - interface to C4G on Personal Computer

s. Close My Computer or in any case check that the cursor is not focussed on thefloppy disk or the Ramdisk.

t. It is now possible to use the specific commands of CompactFlash File section.

The "Backup Disk to image file" option copies the whole content of the CompactFlashto the Ramdisk.

The "Restore Disk from image file" option copies the whole content of the Ramdisk inthe CompactFlash. It is also possible to copy a whole CompactFlash partition to theRamdisk ("Copy partition to Ramdisk") or the content of the Ramdisk to a specificpartition of the CompactFlash ("Copy Ramdisk to Partition").

Once the interfacing operations with the CompactFlash have been completed, theHardware 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 WinC4GTo obtain a new licence for WinC4G contact COMAU technical service. Before doingso, 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 doesnot contain any number, open a commands prompt window, from the Windowsstart-up window and send ipconfig/all;

read the number of the physical address.

b. contact COMAU Technical Service supplying this address.

c. COMAU will send an ASCII file containing the access word to the function. Openthe file with any Editor,

d. select the whole file content,

e. copy it,

f. insert it in the window where it is indicated to insert the licence password;

g. confirm by pressing Record and check that the files Handling menu and CompactFlash management menu are enabled.

Every copy operation to the Ramdisk overwrites the whole content of theRamdisk. Therefore, before executing a copy, it is recommended to transfer thedata contained in the Ramdisk onto a hard disk of the PC (for example in a C:directory).

After recording, it is important that the PC hardware configuration (networkboards, Ethernet interface) does not undergo variations.

8-47HS-0-C4E-USO_37.fm00/0708

WinC4G Program - interface to C4G on Personal Computer

8.9 Most common problemsThis section describes the most common problems that the user may come up againstwhen 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 theC4G Control.

WinC4G manages the 'time in WinC4G' information coming from the connectedC4G as Greenwich Mean Time. Therefore, asking for the errors list or reading thefiles list from the Files Panel, the information regarding the time may be differentto 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 ofan hour; an error that takes place on the control at 20.05 will be shown in the errorlist with the time of 21.05.

It is therefore necessary to inform your PC that the time read has a certain offsetas 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 tosubtract 6 hours.

The environment variable to be set on your PC (Start / Settings / system /advanced / environment variables) is TZ.

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 theapplication has not been able to load a specific DLL.

This happens when the DLLs (wcres.dll) containing information on the menus havenot 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 cannotbe loaded. This message is repeated until there is a generic message that informsthat the translator DLL cannot be loaded. The application starts but most of theoperations are disabled.

The problem arises because the DLL specified in the Fig. 8.35 - PropertiesWindow 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 atranslator library version that is in the same directory as WinC4G.EXE or add therequired DLL to the directory containing WinC4G.EXE.

The application replies stating that the selected message cannot be found or thatsome messages have not been found.

This may happen when the user enters a wrong number on the Troubleshootingpage 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 filebutton. Several files with the extension .CRD can be added/removed to/from thelist used for the search.

The Terminal window remains blank (black)

The application is unable to open the Robot Control Unit window. This happenswhen someone else is already connected to the Robot Control Unit with a Terminalwindow opened by another WinC4G. In fact, several connections are allowed to the

8-48HS-0-C4E-USO_37.fm

00/0708

WinC4G Program - interface to C4G on Personal Computer

robot but only one Terminal can be active. To open the Terminal it is thereforenecessary that the user who is already connected closes that Terminal session.

When attempting to connect to the Control Unit the application replies with themessage "Impossible to connect with the server"

Should it be impossible to connect to the server, there could be a conflict problembetween DHCP and proxy Server. To check this, try connecting to the Control Unitwith the ftp command from the Controls Prompt and from Internet Explorer. If thefirst command functions and the second one fails, it is necessary to disable the useof a server proxy in the settings of the local network (LAN).

Furthermore before starting Winc4g, check that the settings for the Server Proxyare 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 notcompatible with the users database defined in the system. That is to say, thecombination of Login and Password is not foreseen by the Controller that the useris 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 exclusiveaccess, i.e. that does not permit the use of the system by other devices. It isnecessary to Logout from other devices that are not the one required forconnection and, if necessary, to also delete the Startup Login.

Upon connection, or when a file is selected from the Files Panel, a message isdisplayed that indicates "Conflict between Controller and Translator versions”

To solve this problem, it is necessary that the translator DLL, indicated in the C4Gbox Library version in the Properties Window is greater than or equal to theController version.

Attempting to connect to the Control Unit, the application replies with themessage "The computer is not connected to the network"

To solve this problem, open the Internet Explorer, go to the Files menu anddeselect "Not in line".

8-49HS-0-C4E-USO_37.fm00/0708

WinC4G Program - interface to C4G on Personal Computer

8-50HS-0-C4E-USO_37.fm

00/0708

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 andthe required application.

Basically, there are two environments for creating a PDL2 program:

– IDE environment - this is a development environment used to develop motionprograms on the Teach Pendant. For any further details, see the Chap. Use of the Teach Pendant, par. 6.11 IDEPage on page 6-75.In IDE environment the position teaching functionality is integrated.

– editor environment - this is a development environment used to developprograms from WinC4G, typically for programs that are NOT motion programs, itis 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 PATHtype 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.

9-1HS-0-C4E-USO_65.fm00/0708

Basic procedures for Program development

9.2 Diagram of steps to develop a programAn example follows of a PDL2 program that calls up the LOCAL routine, or isIMPORTED from external programs or defined in it and declared EXPORTABLE:

PROGRAM main

-- local variables declarationVAR pnt0001j, pnt0002j, pnt0003j, fuori_ingombro : JOINTPOS FOR ARM[1]

-- declaration of routines imported from other programsROUTINE 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’ programROUTINE selez -- local routine to ‘main’ programVAR lun : INTEGER -- local variable to ‘selez’ routineBEGIN

WIN_CLEAR(WIN_CLR_ALL, 'tp2:')OPEN FILE lun ('tp2:', 'w').......CLOSE FILE lunhelp -- calls ‘help’ routine, imported from ‘gest_tasti’

END selez

ROUTINE evac_perdita_vuoto -- local routine to ‘main’ programBEGIN

.....END evac_perdita_vuoto

ROUTINE times -- local routine to ‘main’ programBEGIN

.....END times

-- start of ‘main’ program bodyBEGIN

.............................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

9-2HS-0-C4E-USO_65.fm

00/0708

Basic procedures for Program development

An example follows of ‘l_sgr’ program definition to which ‘main’ program refers:

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;

b. if the nodes of a PATH (in IDE or Memory Teach) are to be stored;

PROGRAM l_sgr EZ, STACK = 2048

-- declaration of local variables to ‘l_sgr’ programVAR raggio, altezza, larghezza_s : REALinizio_ciclo, p1, p2, p3, p4 : POSITIONpnt0001p, 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’ programcont : INTEGER

-- declaration of variables imported by ‘gest_tasti’n_passate_fondo : INTEGER EXPORTED FROM gest_tastivelocita_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_motionBEGIN

.............END init_motion

-- routine declaration defined in ‘l_sgr’ program and exported outsideROUTINE call_l_sgr EXPORTED FROM l_sgr

-- definition of routine ‘call_l_sgr’ROUTINE call_l_sgrBEGIN

.............init_motion -- called to ‘init_motion’.............MOVE LINEAR TO pnt0003pMOVE LINEAR TO pnt0004p.............

END call_l_sgr

-- l_sgr program bodyBEGIN

CYCLEcall_l_sgr -- called to ‘call_l_sgr’WAIT FOR $FDIN[21]

END l_sgr

9-3HS-0-C4E-USO_65.fm00/0708

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 modifyexecution mode (one instruction at a time, continuously, etc.), examine the valuesof the variables, modify the code of the program (including the declaration part ofthe variables). You can also tests movements at low speed;

d. once you are satisfied with program functioning, you can try and run this in a modethat increasingly resembles effective functioning in production (IDE OR MemoryDebug environment). When the status selector switch is set on T2 (AUTO-T) orAUTO, the move instructions are executed at real speed (in PROGR state, they areexecuted at low speed for safety reasons);

e. at this point, the program is ready to be run in automatic mode. To start theprogram, use Program Go system command and press START (green) key.

f. To complete the operations, save the variables and the code of the developedprogram.

9.3 Programming in IDE (on TP) for a motion program

– 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

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

Before operating in IDE environment, read with attention the contents of theparagraph Description of the video screen, Chap. Use of the Teach Pendant.

9-4HS-0-C4E-USO_65.fm

00/0708

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. press the Selection function key (F4) from the main menu of the IDE Page

b. in the pop-up menu that is opened by the system, choose the Enable Markingfunction and move in the editing area with the cursor keys, to execute marking

c. there are 3 functions in the central menu

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 linescommand (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 functionin 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. press the Selection function key (F4) from the main menu of the IDE Page

b. in the pop-up menu that is opened by the system, choose the Delete function;

Restoring what has been deleted:

a. press the Selection function key (F4)

b. 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 tomove it to a specific position, proceed as follows:

a. press the Selection function key (F4) from the main menu of the IDE Page

b. in the pop-up menu that is opened by the system, choose the Goto function

9-5HS-0-C4E-USO_65.fm00/0708

Basic procedures for Program development

b.1 choose either the BEGIN instruction, or the END instruction or indicate a preciseline number.

9.3.2.4 Inserting a new instruction

a. press the PDL2 function key (F3) from the main menu of the IDE Page

b. 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 beinserted 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 thatwhere the EDIT CURSOR is pointing. Insert the new instruction using one of thesetwo 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 genericinstruction 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 theinserted program line and indicate any errors.

9.3.2.5 Commenting/Uncommenting a program line

a. press the Selection function key (F4)

b. in the pop-up menu that is opened by the system, choose theComment/Uncomment function. This softkey acts as a toggle key: each time it ispressed 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 givesaccess to the editing mode

b. use the Alphanumeric keypad pad or the commands of the Bottom Menu, in thesame way as described to complete the Statement command.

If it has been decided to indicate a line number, the system opens a dialoguewindow; check that the Alphanumeric keypad is in '123' mode and insert therequired number, confirming with 'OK' (F5) or ENTER

Special case: Changing a MOVE instruction.

9-6HS-0-C4E-USO_65.fm

00/0708

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 EDITCURSOR, proceed as follows:

a. press the Prog softkey (F1) from the main menu of the IDE Page

b. Select the Variables function

c. The system opens a dialogue window for the user to enter the name and type ofvariable required, choosing from the list displayed, or typing it in directly from theAlphanumeric keypad.

d. after making the changes, confirm with ENTER.

Viewing the variables used in a line of the program:

a. position the EDIT CURSOR on the required program line

b. press the Prog softkey (F1) from the main menu of the IDE Page

c. select the Variables, function from the main menu of the IDE Page

d. in the pop-up menu that is opened by the system, choose View line. A dialoguewindow 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. press the Prog softkey (F1) from the main menu of the IDE Page

b. select the Variables function from the main menu of the IDE Page

c. 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. press the Prog softkey (F1) from the main menu of the IDE Page

b. select the Import function

c. 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 Typesthere is only one. The user has to answer the questions then press ENTER toconfirm.

9.3.2.9 Viewing a program in pages

To view a program page by page, use the Page Up and Page Down keys.

9-7HS-0-C4E-USO_65.fm00/0708

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 thesepositional 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. press the Selection function key (F4) from the main menu of the IDE Page

b. in the pop-up menu that is opened by the system, choose the REC setup functionand follow the instructions of the system. The user can choose– the type of position variable– the trajectory– fly or non fly

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 MOVEinstruction is to be inserted

b. move the robot with the Jog keys to the position to be recorded

c. press the REC key. This operation inserts a MOVE instruction and the declarationof the positional variable used by the MOVE into the program.For MOVE with $PAR, all the nodal parameters are also inserted.

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 variableis to be changed

b. move the robot to the new position, by means of the Jog keys

c. press the MOD function key (F6) from the main menu of the IDE Page

d. the system shows a dialogue window in which a list of line positional variables isdisplayed

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 keysetting, nodal with $PAR on page 6-95.

9-8HS-0-C4E-USO_65.fm

00/0708

Basic procedures for Program development

e. the user has to select the variable involved and confirm the change with ENTER orcancel it with ESC.

9.3.4 Program execution test

This paragraph describes some of the commands that influence the execution of theprogram currently opened in IDE, so as to be able to debug, identify any errors andmake 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

9.3.4.1 Activating/deactivating a program

The program currently open in IDE is always the ACTIVE one. To restart it after makingchanges, proceed as follows:

a. press the Execution function key (F2) from the main menu of the IDE Page

b. 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. press the Execution function key (F2) from the main menu of the IDE Page

b. 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

If, for the current MOVE, tool and frame settings are different than those currentlyset for the REC setup, the system displays an alarm message. It is up to the userto make the suitable changes.

In IDE environment, with Step Disabled, the execution of the program that iscurrently open can be observed in the Editor area.For further information, see Displaying the currently being executed instruction.

9-9HS-0-C4E-USO_65.fm00/0708

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 beenaborted, press START.

9.3.4.3 Setting step mode

Usually the program execution is continuous, i.e. without interruption. The stepexecution serves to define the moment when the execution pauses, a new step isstarted each time the START key is pressed.

To set the step mode, proceed as follows:

a. press the Execution function key (F2) from the main menu of the IDE Page

b. in the pop-up menu that is opened by the system, move to the Step function(item 3)

c. from the new list opened by the system, choose the mode. The following modesare possible:– Statement (Single step)– Disable– Move– Fly– Cycle

9.3.4.4 Move the execution cursor

Moving the execution of the program to a line that is not that pointed by the EXECUTIONCURSOR:

a. move the EDIT CURSOR onto the program line to be executed

b. press the Execution function key (F2) from the main menu of the IDE Page

c. in the pop-up menu that is opened by the system, choose the Set execution cursorfunction (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 tobe inserted

b. press the Execution function key (F2) from the main menu of the IDE Page

c. in the pop-up menu that is opened by the system, choose the Break point function.

To remove a breakpoint, perform the same operations used for the insertion.

9-10HS-0-C4E-USO_65.fm

00/0708

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. press the Execution function key (F2) from the main menu of the IDE Page

b. 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. press the Execution function key (F2) from the main menu of the IDE Page

b. in the pop-up menu that is opened by the system, choose the Immediate function

c. in the central menu there is the Statement function that opens a dialogue windowto 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

To save the.COD and .VAR of the program open in IDE:

a. press the Prog function key (F1) from the main menu of the IDE Page

b. 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. press the Prog function key (F1) from the main menu of the IDE Page

b. in the pop-up menu that is opened by the system, choose the Save all modprogs(cod,var) function (item 3).

To close the IDE environment:

a. press the Prog function key (F1) from the main menu of the IDE Page

b. in the pop-up menu that is opened by the system, choose the Close function(item 1).

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

9-11HS-0-C4E-USO_65.fm00/0708

Basic procedures for Program development

9.3.6 Executing the program in automatic mode

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 tooperate 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 bethoroughly checked and deemed able to operate correctly

b. press the HOLD (yellow) key

c. set the status selector switch to AUTO (or REMOTE)

d. 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 onpage 9-9.

e. press the START (green) key to run the program (in the step mode set).

9.4 Programming in WinC4G (on PC) of NON motion programsThe following paragraphs describe these items:

– Program Edit

– Memory Debug

– Screen page structure and function keys

– Teaching the positions

– Execution

– Programs Checking

– Commands Menu

It is advised to only run programs that after thorough checking (debugging), areconsidered able to operate correctly.If the program has not been debugged before execution, it could cause personalinjury and damage to the equipment.

In IDE environment, the execution of the program that is currently open can beobserved in the Editor area.For further information see Displaying the currently being executed instruction.

9-12HS-0-C4E-USO_65.fm

00/0708

Basic procedures for Program development

9.4.1 Program Edit

PROGRAM EDIT is a complete environment for program development from which it ispossible 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, sincean alphanumeric keyboard is available, unless just minor modifications are to be madeto 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) associatedto this program are held.

They are the files that the operator loads in the execution memory during automaticexecution.

To enter such an environment, send PROGRAM EDIT command from the systemcommand menu, followed by the name of the program to be edited; if working fromWinC4G, the command is in the Terminal Window; if working from TP4i open the TP-INTpage. The name of the program has to be typed in, or it can be selected from the list ofexisting programs that is displayed when the SHIFT and HELP keys are pressedsimultaneously

If the program(.COD file) already exists, it will be entirely displayed and the file ofvariables 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 presentin a PDL2 program (PROGRAM, BEGIN, END).

On exiting the PROGRAM EDIT environment, the code of the program is stored in a filewith the same name as the program with extension .COD. If some of the positionalvariables have been taught or modified, prompts will be displayed to establish whetherthe variables are to be saved from the execution memory to the .VAR file.

PROGRAM EDIT features two functioning modes: DATA or CODE. The active mode isshown on the status line at the bottom of the screen.

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 theirvalue at that moment and can still be restored using the MEMORY SAVE systemcommand.

9-13HS-0-C4E-USO_65.fm00/0708

Basic procedures for Program development

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 ENDstatements of the program. Therefore, in this mode, it is not possible to modify thepart containing the declaration of constants, types, variables and procedures;

– teach positional variables pressing REC key or modify the value of existingvariables pressing MOD key;

– debug the program;

– run the program.

When working in DATA mode, program instructions are directly connected to thevariables loaded in the execution memory. This means it is possible to teach thepositions and run the program from inside the editor environment.

If the /CODE option is not specified on invoking the PROGRAM EDIT command, DATAmode 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 selectormust be set to PROGR;

– the MEMORY TEACH environment must not be active at the same time on anotherdevice.

To move from DATA mode to CODE mode, press MODE key. Note that if the programhas 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 programattribute, the position of state selector, the current status of the program (loaded or notin 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 sametime 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 statementsof the program, it is allowed to use either CODE or DATA mode. Instead, to write thedeclaration part, (including the body of the routines defined in it), it has to be in CODEmode.

While entering and/or modifying statements, the program editor checks the syntax andif 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 correctit. If automatic correction is not possible, the ~ERROR marker is associated to the wrongstatement. 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,

9-14HS-0-C4E-USO_65.fm

00/0708

Basic procedures for Program development

WHILE..ENWHILE, FOR..ENDFOR, as single units. For example, if WHILE $DIN[1] DOis written, the editor automatically provides the ENDWHILE statement line. If the WHILEline 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 theending line of multi-line the statements to be on separate lines. Declaration statements(CONST, VAR, TYPE and ROUTINE), WHEN and SYNCMOVE clauses also start onnew lines.

9.4.2 Memory Debug

Memory Debug command provides an environment in which it is possible to debug theprogram in order to trace any errors and to make improvements. It is extremelyimportant to check all programs carefully before running these automatically.

This environment has many similarities with Program Edit with which it shares manycommands and keys. However, whereas Program Edit operates on the .COD file in theUser Directory, Memory Debug acts on the program loaded in the execution memory.

Before the Memory Debug environment is entered, the program must be loaded bymeans of Memory Load command.

Debugging operations can be carried out such as step-by-step execution of theprogram, insertion of breakpoints, interruption of execution and restart from a differentpoint. It is also possible to display the current values of the variables. For the aboveoperations, use the commands under the Debug item of the editor menu.

Usually, Memory Debug calls the editor of the program only with display function; thereare however methods of use that make it possible to modify statements, although withcertain restrictions compared with PROGRAM EDIT. To do this, the program must beloaded specifying the /FULL option with the Memory Load command before invokingMemory Debug.

As far as modifying positional variables, the same applies as indicated above forPROGRAM EDIT. MOD key must be used to modify position variables. However, notethat REC key is enabled on insertion of movement statements only if the program hasbeen loaded with the /FULL option.

It is recommended to use such an environment specially when movements are to betested at effective speed. This is only possible with the status selector switch in AUTOor 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 therequired statement and press RUN key, to start the program execution.

If MEMORY DEBUG is entered when the program is active and running, ^C key mustbe pressed at the same time to get the control. This causes the program to be

9-15HS-0-C4E-USO_65.fm00/0708

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, pressSHIFT+ESC keys. If the program is running, the command menu must be used to exitthe 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 createdcontaining the values currently in memory. Otherwise, such values remain in memoryuntil the related variables are erased from memory.

Furthermore, when exiting MEMORY DEBUG environment, any breakpoint and thecurrently set step type remain in the program. To remove them, it is necessary to usethe 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 aboutsystem 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 MEMORYDEBUG environment;

– cursor position (line, column);

– scroll direction along the program text used by the specific keys for this function (uparrow 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

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

9-16HS-0-C4E-USO_65.fm

00/0708

Basic procedures for Program development

a certain command, press the corresponding function keys. Note that unlike the systemmenu 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 withthe editor window, in the screen top.

When entering the editor, the cursor is placed at the end of BEGIN instruction in themain 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 PendantVirtual Keyboard and on WinC4G, for the PROGRAM EDIT and MEMORY DEBUGenvironments.

String searching

SRCH software key is used to find the first occurrence of a string in the program text inthe direction which is currently set and displayed in the status window (upward ordownward).

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 programsection to be copied to another area or deleted, starting from the current cursor position

From WinC4G open “Guide”, then select “Meaning of Terminal keys” to find thecorrespondence with the description of the keys.From TP4i it is necessary to activate the Virtual Keyboard to find thecorrespondence of these keys.

In any case it is not advised to activate Program Edit from the Teach Pendant. Theideal 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 TeachPendant, it is strongly recommended to use the IDE environment (see par. 6.11IDE Page on page 6-75).

9-17HS-0-C4E-USO_65.fm00/0708

Basic procedures for Program development

and selected by means of the cursor key. If marking is activated when the cursor isinside a multi-line statement, it will be restricted to inside such a statement. This meansthat the cursor cannot be moved before the beginning and after the end of the multi-linestatement. If marking starts from the beginning of a multi-line statement, pressing downarrow 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 aWHEN or ANDMOVE clause, pressing down arrow key, causes the entire clause to beselected.

COPY software key copies the program section selected by MARK software key in atemporary memory area. The selected program section is not modified. The selectedlines 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 timesby means of the PASTE software key.

CUT software key removes the selected part of the program from the text, although itremains in memory until next CUT or COPY software key is pressed.

PASTE software key inserts the contents which have previously been saved by meansof CUT or COPY software keys, after current line. The only exception is if the cursor ison 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. Thedeleted lines remain internally stored until the next delete operation.

Deletion of the first line of a multiple instruction deletes the entire instruction, Anyinstruction ending a multiple instruction (for example ENDMOVE, ENDWHILE, etc.)cannot be deleted. Deletion of a WHEN, ELSE, or ANDMOVE clause causes the entireclause to be deleted. Deletion of a ROUTINE instruction, if not used in the rest of theprogram, 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 onlyexception is when the cursor is on column 0. In this case, the line is inserted beforecurrent line.

Page by page displaying

Using PAGE key, it is possible to scroll the whole program body. A program section ofa 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 leftof 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 andvice versa while in Program Edit environment. It is always possible to change from Datato Code but in some cases may not be permitted switching from Code to Data: thishappens in case of incompatibility between program code and data loaded in the

9-18HS-0-C4E-USO_65.fm

00/0708

Basic procedures for Program development

execution memory. For example, if in the program a TYPE declaration exists with thesame name of a type loaded in the execution memory but with different fields, it is notpossible 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 sectionof current chapter on DATA, must be complied with.

Selecting a Screen

Using SCRN software key, it is possible to switch between editor, system and userscreens. 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 menulevel.

Executing a Program

RUN software key activates the program execution, starting from the line on which thecursor is positioned. It is active in DATA or DBUG mode only. Refer to par. 9.4.5Execution 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 thetext of the program.

If one of such keys is pressed together with SHIFT key, the cursor moves to thebeginning of the program (up arrow), to the end of the program (down arrow), to thecurrent 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 (SRCHand 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 previouslyinvoked commands.

Function keys associated to the Commands menu

F1...F8 keys (on the Teach Pendant TP-INT page they are present as softkeys) can alsobe 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; theenabled ones always start with a capital letter.

Teach keys

Teach Pendant REC and MOD software keys allow to teach positional variables inDATA or DBUG mode. They can be used when editing the program both from the TeachPendant 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, whileworking in DATA or DBUG mode both from the Teach Pendant and from the TerminalFunction of WinC4G tool.

During execution of a MOVE instruction, START key must be held pressed until themovement is accomplished. BACK key is used to move the arm back along the sametrajectory. 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 thenpressed again to complete the execution of the MOVE instruction. BACK key can be

9-19HS-0-C4E-USO_65.fm00/0708

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. InInsert mode, the text part is written starting from the cursor current position. InOverwrite mode, the new text replaces the characters the cursor points to. Thecurrently 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. close the Virtual Keyboard,

b. select 'F1..F8' with function key F5 of the TP4i

c. activate the alphanumeric menu with the CHAR software key

d. select 'symb' (F8)

e. select 'cntrl' (F8)

f. select the required function.

Whereas from the WinC4G program keyboard, press the CTRL key and at the sametime 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. Thispossibility is allowed in MEMORY DEBUG only if the program has already been loadedwith the MEMORY LOAD/FULL command.

To teach the positions the Teach Pendant has to be used, although the editor may beopen 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 positionfor the machine and joints positions for the auxiliary axes.

For further information on the positional variables meaning, refer to the PDL2Programming 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 theprogram and the current position of the robot is saved in a variable whose declaration isautomatically inserted in the declaration section of the program (between PROGRAMand BEGIN statements).

9-20HS-0-C4E-USO_65.fm

00/0708

Basic procedures for Program development

The saved variable type and the inserted move instruction type depend on the REC keycurrent 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 thedeclaration section of the program (between PROGRAM and BEGIN statements). Thename of the inserted variable is pnt000xt, where 000x is the variable identificationnumber, 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 VARIABLENAME).

If the variable type is JOINTPOS or XTNDPOS, for which an arm number must bespecified, the currently selected arm number on the Teach Pendant is inserted in thevariable 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 anindication 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 thedestination of the movement is declared but not set to any value yet. Now, the arm canbe jogged to reach the required final position, answering yes to the displayed prompt: insuch a way the current position of the arm is assigned to the destination variable of theMOVE statement.

To read the value of the positional variable, move the cursor to any instruction referringto 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 thebest 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, whenthe program is running, the positions are different (shifted) from the point at which theywere taught.

MOD software key is used to assign the current arm position to an already existingpositional variable in the program. Move the editor cursor to an instruction that refers tosuch a variable before pressing MOD software key. If several positional variables aredisplayed 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 TeachPendant must match the one previously associated to the variable; otherwise, an erroris detected.

MOD software key can also be used to dynamically modify the destination of the currentmovement of the program. To do this, MOD key must be pressed while executing amovement from the program opened in editor mode. This will cause the valueassociated to the destination of the movement to be modified and the trajectory to bechanged. To check the movement along the new trajectory, use BACK and START keysfor back and forward movements along a new trajectory.

If the current movement is circular (CIRCULAR), both VIA point and end point can bemodified. In this case, both the destination and the VIA point must be saved.

9-21HS-0-C4E-USO_65.fm00/0708

Basic procedures for Program development

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 toactivate execution starting from the instruction on which the cursor is positioned whenthe 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, thusbypassing those instructions that are not to be performed.

This is possible provided that the restrictions tied to the context of the current instructionare complied with, i.e.:

– the context cannot be changed. For example, if the program execution isinterrupted 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 aWHEN clause, the cursor must remain inside the CONDITION statement;

– the cursor cannot be directly moved in the middle of a CONDITION, MOVE orOPEN 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 fromthe point in which this was interrupted regardless the cursor current position.

During execution of the program, a red window, called execution window (shown inFig. 9.2), is overlapped on the editor window showing execution data such as the currentline, 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 notenabled. It is not possible therefore to move the cursor and modify instructions as longas the execution is in progress.

When the execution window is displayed in the lower part of the screen, at the editorstatus window, this indicates that movements have been forwarded but not yetperformed. This may happen, for example, after interpretation of a movement with theADVANCE clause to which pressing of the key has not yet been applied.

While the execution window is displayed, the destination and trajectory of the currentmovement 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 toperform the movement. BACK key can be used to move the arm back along the sametrajectory. The movement is interrupted when START or BACK key is released.

Note that any adjustment of VIA point orientation will result in a short movementto bring the tool orientation back into the correct position, according to the newtrajectory the next time the BACK or START keys are pressed.

9-22HS-0-C4E-USO_65.fm

00/0708

Basic procedures for Program development

9.4.6 Programs Checking

Checking (debugging) a program consists in tracing problems tied to program behaviourduring execution and fixing them. In DATA and DBUG mode, the commands presentunder the Dbug command of the editor can be used to check execution from inside theeditor 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 onpage 9-23.

In some cases, it could be necessary to modify the values of positional variables orstatements. Both operations can be performed in DATA or DBUG mode (if /FULL hasbeen specified when MEMORY LOAD the Program).

It is not possible to modify multi-line CONDITION, MOVE or OPEN FILE statements ifthe statement being executed is located inside.

To debug interrupt routines (ISR) associated to movements, it is recommended to usestep mode (STEP), set to FLY or MOVE. If STMT (Statement) mode has been set, theinterrupt routine will be performed one instruction at a time starting from the first time inwhich the user restarts execution. It will therefore be necessary to press the START keyfor each move.

9.4.7 Commands Menu

This section describes the available commands in the editor menu, starting from the firstlevel and illustrating each sub-menu. A list of the commands is attached at the end ofcurrent chapter.

To simplify reading, the displayed menus when the editor is active on WinC4G terminalare indicated below. On the Teach Pendant, each menu item is the same butabbreviated 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 theprogram. This provides a quick way to move through large programs. The currentdirection used for this command (up or down) is displayed on the status line. Thedirection can be changed by pressing up or down key.

9-23HS-0-C4E-USO_65.fm00/0708

Basic procedures for Program development

– 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 statementsfrom other programs loaded in the execution memory. This allows the program to sharedata and routines from other programs. This command is available in DATA mode ofProgram Edit, or DBUG mode of Memory Debug; in this case the program has to beloaded 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, wildcardscannot be used for program name prompts.

– All inserts declarations for all exported (EXPORTED clause) variables androutines from the specified program. Any user-defined data types (TYPE) in anyprograms loaded in execution memory will also be imported, when the commandis issued.

– Routine inserts declarations for the specified exported (EXPORTED clause)routines from the specified program. Any data types (TYPE) for these routines willalso 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 notprompted to specify the name for a program, because data types are not related toa program, even if their declaration has to be contained in the name of the programthat uses them. To view data types loaded in the system, issue the Memory ViewType 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 thatprogram will also be imported.

9.4.7.1.3 Rename

RENAME changes an identifier throughout a program. The editor checks that a reservedword of the language has not been specified, and in such a case, returns the error. Thecursor must be in the correct context, meaning it must be in the main program to changeglobal 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 otherprograms currently loaded in memory are linked to the item being renamed. TheRename command is not available from the MEMORY DEBUG environment.

9-24HS-0-C4E-USO_65.fm

00/0708

Basic procedures for Program development

9.4.7.1.4 Retrans

This command retranslates all error lines in a program and is useful when the programis modified in order to solve the error cases. Those lines still containing errors will remainmarked with the ~ERROR~ notation. This command can be used in the MEMORYDEBUG 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 statementsand reserved words into the program; it is not allowed in the MEMORY DEBUGenvironment unless the program was loaded with the /FULL option.

The user selects the type of statement from the command menu keys. Once thestatement has been selected the user will be prompted for the appropriate data. Forexample, 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 cursorposition. 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 andafter 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 toinsert a statement to increment or decrement a variable;

– I/O displays a menu of input and output statements. This menu includes menuchoices 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 choiceinserts a MOVE TO statement with the corresponding options indicated by themenu labels;

– Program displays a menu of statements for the control of program statuscontaining 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. Thismenu 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 assignmentstatements. This menu includes options to assign $MOVE_TYPE, $ORNT_TYPE,

9-25HS-0-C4E-USO_65.fm00/0708

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 beinserted into the program at the current cursor position. Menu items in upper andlower 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 programwas loaded with the /FULL option. From the PROGRAM EDIT, this command isavailable in both DATA and CODE mode.

If this command is issued in DATA or DBUG mode, an attempt will be made to deletethe variable from memory. If the variable is referenced by other programs currentlyloaded in memory, the variable will not be deleted. If this command is issued in CODEmode, the variables in memory are not removed. Therefore, issuing a MEMORY SAVEcommand later will cause the variables to be saved in the variable file by UNUSEDcommand. When this variable file is reloaded, the removed variables will be loaded intomemory, but the variable declarations will not exist in the program code.

To remove the variables from memory and the variable file (.VAR), remove all theprograms from memory that reference to the variables using MEMORY ERASEPROGRAM command. Then erase all the unreferenced variables from memory usingthe MEMORY ERASE VARIABLES command. When such operations are complete, theonly variables left in memory will be the ones required by the program. To remove thevariables from the variable file, save them from memory to the file using MEMORYSAVE command.

9.4.7.2 Debug

DEBUG displays a menu of commands to debug the program being edited. Thiscommand 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. Abreak point is a point in the program at which its execution will stop. When a break pointis reached, execution stops and the execution window is removed. Now is possible toperform operations on the program text such as editing or modifying execution step ordisplay of the value of a variable.

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

9-26HS-0-C4E-USO_65.fm

00/0708

Basic procedures for Program development

– Insert inserts a break point on the line where the cursor is positioned. Break pointsare 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, orafter 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 cursorhas a break point, that break point is purged. Otherwise the editor prompts for abreak point number. The asterisk character (*) can be used to specify all breakpoints. If a line containing a break point is deleted, the point is automaticallyremoved;

– 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, thathelps the user to follow the sequence of the steps executed by the program, causes theexecution to slow down in comparison with normal running in automatic mode, so thatthe instruction can be read. The time lapsing between one display and the next can beconfigured 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 duringdebugging.

– Continue continues program execution from the point at which it stopped, unlikeRUN 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 thebeginning of the program;

– Set_exec changes the next statement to be executed without executing thestatement. 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 theprogram. 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 ENDstatements of the program. This type of execution requires the CYCLE statementin the program;

9-27HS-0-C4E-USO_65.fm00/0708

Basic procedures for Program development

– Disable disables the current step mode setup (for example Statement) andrestores the continuous execution mode in which the program runs unless an ENDstatement 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 isnot necessary to press the START key and the messages are not displayed thatinform the user when the end point is reached;

– Fly selects fly type step mode. Execution of the program is interrupted at the endof each movement unless the movement is a MOVEFLY statement in which caseit is interrupted at the end of the next movement so that it is possible to checkcorrectness of the continuous movement. Application of this mode to programs notcontaining 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 theNOHOLD attribute) is not permitted;

– Routine selects the routine step type. Execution stops after each statement, butroutines 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 areexecuted 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 variabledeclaration to be inserted by the Teach Pendant REC key This setup information will beremembered 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 SYNCMOVEstatement;

– Traj displays a menu with CIRCULAR, LINEAR, and JOINT trajectories that canbe 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. Thename (NAME) consists of a prefix with three letters, pnt, followed by four figuresand a letter (p = POSITION, j = JOINTPOS, x = XTNDPOS). For examplepnt0001p, pnt0002j, pnt0003x. The initial prefix of the variable can be modified. Inthe case of multi-arm systems, the arm associated to the JOINTPOS and

9-28HS-0-C4E-USO_65.fm

00/0708

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 insertedin the program by pressing REC key.

9.4.7.2.6 Variable

VARIABLE displays information about a specified variable including its data type, thenumber 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 anyvariables, those variables are automatically displayed. If instead there is no variable atthe position of the cursor, the editor asks the user to specify the name of the variablethat 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 thename of the program and with the .COD extension.

If the Memory Debug environment was being used, an additional prompt will bedisplayed for all programs modified during this editing session. If a previous copy of thefile 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 variablefile. Variables are saved to a .VAR file. If a previous copy of the file exists, it is renamedusing a .BKV extension, thus creating a backup copy of the data. If variable data forother programs has been modified, a prompt will be displayed for each one.

If any programs or variables remain unsaved after the editing environment has beenexited, a warning message will be displayed. Use the MEMORY SAVE command tosave 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 toquit the program being worked on so far. This command is useful in that the user canselect program sections using CUT and COPY software keys, and then insert them inanother program simply pressing PASTE software key.

If the old program being abandoned has been modified but not saved, the user will bealerted 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 anew program is to be created.

9.4.7.5 Quit

QUIT exits the editor without saving the edited program or variables. If any programs orvariables have been changed, the editor will prompt for confirmation before quitting.

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

9-29HS-0-C4E-USO_65.fm00/0708

Basic procedures for Program development

Note that, as far as the variables, the prompt is displayed only if they have been modifiedusing REC or MOD keys of the Teach Pendant. If the variable values have beenmodified using assignment instructions with the RUN key, the user is not asked toconfirm the saving.

The message indicates that a save has not been performed; however the situation canstill be restored using the commands of the system menu under the MEMORY SAVEitem. Exiting the PROGRAM EDIT environment, it will be possible to restore only thevariables by sending the MEMORY SAVE command. Exiting the MEMORY DEBUGenvironment, if the program has been loaded with the /FULL option, it will also bepossible to save the code with the MEMORY SAVE/CODE command.

9.4.7.6 Save

SAVE saves the edited program in a file without exiting the editor. The program namedisplayed on the status line and a .COD extension are used. If a previous copy of thefile 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 beingedited. The Save command is only allowed in the MEMORY DEBUG environment if theprogram was loaded with the /FULL option.

9.4.7.7 Save_as

SAVE_AS saves the edited program in a file without exiting the editor using a programname 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 theedited 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 changingthe name of the original program. The SAVE_AS command is not allowed in theMEMORY 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.

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

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

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

9-30HS-0-C4E-USO_65.fm

00/0708

Basic procedures for Program development

9.5 Memory Teach

The MEMORY TEACH environment assigns the current arm position to positionalvariables (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 isprovided 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 thePOSITION, JOINTPOS, XTNDPOS (also ARRAY of this type) and PATH type.

.VAR file such variables belong to, is automatically loaded in memory when MEMORYTEACH command is issued from the Teach Pendant; a .VAR file is created when exitingMEMORY 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 thesame sequence of move statements is to be used to perform operations on differentobjects. In this case, a single program (.CODE file) can be used that will be loaded withdifferent files of variables (.VAR) using MEMORY LOAD/AS command according to thepoints 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 typevariables. Note that this possibility is present only in the MEMORY TEACHenvironment. 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 inthe system screen and which provides information such as system status, thecurrently selected arm, the three reference values used for jog movements, theoverride set for the movement;

This environment is only available from the Teach Pendant (TP-INT Page).

9-31HS-0-C4E-USO_65.fm00/0708

Basic procedures for Program development

– a scroll window which displays different information case by case according to thelevel of the environment being used. Initially, it will contain a list of the positionalvariables and then the value of the variable selected;

– a window of the commands menu from which it is possible to send commandsand/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 functionkeys F1..F8.

The name of the program is asked for, and can be sent by pressing the HELP key, thatdisplays the list of files present in the User Directory, and selecting the required programwith 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, ifpresent) declared in the program in the .VAR section will be present in the memory. Asthere is no associated .VAR, these variables will not have been initialized and their valuewill 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 isdisplayed 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 middlecolumn. To the far right is the attribute of each variable. The variable type can be one ofmany (JOINTPOS, POSITION, XTNDPOS, ARRAY OF, PATH OF). The asterisk (*) inthe attribute column means that the variable is uninitialized. An “M” denotes that thevariable has been modified, and if the variable has a NOSAVE attribute, an “N” willappear in that column.

If the variable is a PATH, the type (NODEDEF) specified in the declaration section of

9-32HS-0-C4E-USO_65.fm

00/0708

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 NODEDEFtypes are weld1 and weld2. The number of nodes currently in each path is denoted inthe brackets after each variable type. The notation [0] indicates that, at the moment, thevariable does not have any node.

The highlighted variable shows the current location of the cursor of Memory Teach. Theexample 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 Teachenvironment 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 anddown arrows) to the positional variable that is to be taught. Jog the robot to the requiredphysical location and press MOD key. This will cause a pop-up window to come upasking to confirm current modification.

To read the current value of a positional variable, go to the Main Page and press ENTERkey on the selected variable. The positional data of the variable and the current positionof 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 variableto 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 topress the key so that a node is inserted (Fig. 9.5 - PATH initialization). Jog the robot tothe desired starting point of the path and press REC key.

9-33HS-0-C4E-USO_65.fm00/0708

Basic procedures for Program development

Fig. 9.5 - PATH initialization

Once the first node of the PATH has been set, the related screen page will also showthe 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. Thiswill insert a new node after the first. Repeat such an operation until PATH nodesteaching 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 therequired 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 togo 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 beforethe place you want to insert the new node. Jog the robot to the desired position andpress REC key.

The new node will be inserted after the highlighted node and a message will informabout 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 DELkey (from Virtual Keyboard).

9-34HS-0-C4E-USO_65.fm

00/0708

Basic procedures for Program development

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 nodefields.

The standard fields are described in the PDL2 Programming Language and are:

The user-defined fields may be of any type and are to be located in the declaration ofthe node immediately after the standard fields. The fields defined by the user cannot bemodified 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 matchingvalues 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 thecursor current position. The name of the highlighted field is displayed on the bottom lineof 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 ENTERkey. This will switch the bottom line to display the optional values or a prompt for the newvalue. As far as previous example, pressing ENTER key while highlighting JNT value,

$CNFG_CARE $COND_MASK $COND_MASK_BACK

$JNT_MTURN $LIN_SPD $MAIN_JNTP

$MAIN_POS $MAIN_XTND $MOVE_TYPE

$ORNT_TYPE $ROT_SPD $SEG_DATA

$SEG_FLY $SEG_FLY_DIST $SEG_FLY_PER

$SEG_FLY_TRAJ $SEG_FLY_TYPE $SEG_OVR

$SEG_REF_IDX $SEG_STRESS_PER $SEG_TERM_TYPE

$SEG_TOL $SEG_TOOL_IDX $SEG_WAIT

$SING_CARE $SPD_OPT $TURN_CARE

$WEAVE_NUM $WEAVE_TYPE

9-35HS-0-C4E-USO_65.fm00/0708

Basic procedures for Program development

causes the Pendant to display all $MOVE_TYPE options. Any of the options can beselected by pressing the corresponding function key. This will change the value for thatparticular node.

Note that the node fields of a new node are set to the values of the previous node. Thisis the default behaviour.

9.5.5 Special Keys

The functions of the keys to be used while teaching always depends on the currentlydisplayed 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).

Here follows the keys description when the PATH node Teach Screen is active (Fig. 9.8- Node Teach Page).

Fig. 9.8 - Node Teach Page

UP ARROW Selects the previous variable in the list (unless already at the top of the list) and sets the page direction flag to up.

DOWN ARROW Selects the next variable in the list (unless already at the bottom of the list) and sets the page direction flag to down.

SHIFT + UP ARROW Selects the first variable in the list.

SHIFT + DOWN ARROW Selects the last variable in the list.

PageUp and PageDown Scroll the page cursor upward or downward.

MOD software key

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.

F1, F2, F3 The function keys allow execution of the available commands on the menu line (EXIT, QUIT, SAVE commands).

ENTERIt 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.

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.

9-36HS-0-C4E-USO_65.fm

00/0708

Basic procedures for Program development

One more screen with special key options is the one where the positional variable is fullydisplayed (Fig. 9.9 - Position Full Display Page). Such a screen is displayed whenENTER key has been pressed either on a positional variable, when in the main TeachEnvironment Main Page, or on a node destination field, when in the PATH Teach Page.Data are in world coordinate form.

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.

LEFT ARROW

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).

RIGHT ARROW Selects the standard field of the current node.

SHIFT + UP ARROW Selects the first node in the list (number 1).

SHIFT + DOWN ARROW Selects the last node in the list.

SHIFT + LEFT ARROW Selects the first standard field in a node.

SHIFT + RIGHT ARROW Selects the last standard field in a node.

PageUp and PageDown The PAGE key scrolls the page cursor upward or downward.

MOD software key

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.

REC

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.

DEL (from Virtual Keyboard) It deletes the currently selected node.

ENTER

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.

F1, F2, F3 (from Virtual Keyboard)

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.

Alphanumeric keypadUsed 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.

ESCIf 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.

9-37HS-0-C4E-USO_65.fm00/0708

Basic procedures for Program development

Fig. 9.9 - Position Full Display Page

9.5.6 Exiting Memory Teach Environment

Use SAVE command to save taught data without exiting the MEMORY TEACHenvironment. A .VAR file with the same name of the program, is created.

EXIT command to quit teach environment saving taught data; QUIT command to exitwithout saving. As data remain in execution memory until first delete operation, it ispossible 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. press the Details softkey (F6) from the main menu

b. 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 (justdescribed) there is the Remove softkey (F1). This operation is only possible if the

UP ARROW Displays previous variable, ARRAY or node.

DOWN ARROW Displays the next variable, ARRAY or node.

MOD software key Modifies the variable value, node field or ARRAY element using current robot arm position.

ESC Goes back to the previous screen (PATH teach or main menu teach).

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

9-38HS-0-C4E-USO_65.fm

00/0708

Basic procedures for Program development

variable is not used by other programs.

9.6.2 Saving the variables

From IDE Page, the variables can only be saved simultaneously with the code. Thefollowing steps are necessary:

a. press the Prog softkey (F1) from the main menu of the IDE Page

b. 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 iscurrently open.

Instead, from Prog Page, it is possible to act in this way:

a. press the softkey Prog softkey (F1) from the main menu of the Prog Page

b. 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 TP4iTo 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 displaythe icons of the next User Pages

b. press the Files Page softkey (L1). Entering the Files Page, all the files of thecurrent directory are displayed. The way of viewing the files can be changed usingthe View (F3) (FV) softkey (F3).

9.7.2 Saving files on XD: unit

a. From the Files Page, press the File (F1) softkey (F1)

b. in the pop-up menu that is opened by the system, choose the Send to (FC) function

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

9-39HS-0-C4E-USO_65.fm00/0708

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. press the Utility (F4) softkey (F4) in the main menu of the Files Page

b. in the pop-up menu that is opened by the system, choose the Restore (FUR)function.

c. a list of Saveset names is shown, previously set in the Setup page Restoresub-page, that identify the group of files to be restored. Select the required Savesetand press ENTER

d. 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).

9-40HS-0-C4E-USO_65.fm

00/0708

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 thePC.

After installing the program, activate the terminal connection to WINC4G and from thesystem/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 PCa. By opening the Properties window from WINC4G, the selected directory for files

transfer can be viewed/changed.

b. Type FV (Filer, View): <COMP:(FILE_NAME)> and press the ENTER key on thePC. The selected file will be displayed.

10.2 Delete files on PCa. By opening the Properties window from WINC4G, the selected directory for files

transfer can be viewed/changed.

b. Type FD (Filer, Delete): <COMP:(FILE_NAME)> and press the ENTER key on thePC.

10.3 File transfer from PC to Controllera. By opening the Properties window from WINC4G, the selected directory for files

transfer can be viewed/changed.

b. Type FC (Filer, Copy): <COMP:(FILE_NAME)> and press the ENTER key on thePC; this message will be displayed:

Name of destination file

10-1HS-0-C4E-USO_34.fm01/0208

File management between PC and Control Unit

c. Enter the name of the destination file, <UD:(FILE_NAME)> and press the ENTERkey on the PC; after the operation this text will be displayed:

Done

The contents between round brackets can be omitted.

10.4 File transfer from Controller to PCa. By opening the Properties window from WINC4G, the selected directory for files

transfer can be viewed/changed.

b. 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 theENTER key on the PC; after the operation this text will be displayed:

Done

The contents between round brackets can be omitted.

10.5 Automatic file transfer from Controller to PCType FUB (Filer, Utility, Backup). This command saves the files specified by thecurrently 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 ControllerType FUR (Filer, Utility, Restore). This command copies the files coming from anexternal device (XD: or COMP:) in the directory currently selected on UD:.

The directories and their contents are not copied.

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

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

10-2HS-0-C4E-USO_34.fm

01/0208

System operating modes and states

11. SYSTEM OPERATING MODES AND STATES

11.1 ForewordThis chapter describes the following:

– System operating modes

– System states

– Stand-by function

11.2 System operating modesThe C4G Robot Control Unit can operate in four different modes that can be selectedthrough 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 theycontain instructions for the robot movement, to be able to start it is necessary to press

11-1HS-0-C4E-USO_32.fm00/0708

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 (forexample a PLC).The state selector switch must be set to the REMOTE position. Active TOOL, BASE andFRAME 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 robotspeed 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 lessthan 250 mm/s.

When the status selector switch is set on position T1 (or T2 - optional service), theprograms can be developed using editor environment and the spots can be taken fromthe Teach Pendant moving the robot manually with the motion keys; the programs canbe set up using the debug tools of the system. In programming mode, the execution ofa move instruction requires that the operator presses the START key and the enabledevice on the Teach Pendant.

When the status selector switch has been set on T1, or T2 or AUTO, the system is underthe control of the operator. When the selector is set on REMOTE, the system is underremote 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 bepowered:

– if the state selector switch is in either T1 or T2 (optional) position, press in theintermediate 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 (TeachPendant right menu - it means DRIVE ON when in AUTO state), to power ON thedrives; to switch them OFF and activate brakes on all axes controlled by theControl Unit, press the R5 softkey again (Teach Pendant right menu - now it meansDRIVE OFF).

NoteWhen the status selector switch is set to T2, the system generates a latched alarmthat prevents the entry to the actual T2 status, even if allowing to switch the driveson. No movements are allowed (nor the manual one) until the latched alarm is notacknowledged. 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 ismoved 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 keyor 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 bereached in automatic mode).

11-2HS-0-C4E-USO_32.fm

00/0708

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 areremote controlled.

A detailed description follows of all the possible system states.

11.3 System statesThe 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 enabledevice 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 HOLDstatus, the system returns to the previous state (programming or automatic), but tocontinue to execute the movement program it is necessary to press START.AUTO status: this is usually used to execute production programs that control therobot movements (status selector switch positioned on AUTO or REMOTE or T2).Active TOOL, BASE and FRAME cannot be changed when working in AUTO orREMOTE.

– PROGR status: the robot can be moved manually using the jog keys or executingprogram instructions (from editor environment or by EXECUTE). In the latter case,in order that the movement be executed, the START key and the enabling buttonhave to be kept pressed.

– A special sub-status is AUTO-T status (optional) that, besides having all thecharacteristics of the PROGR status, allows the program to be run at workingspeed. This is an OPTIONAL status.

If the controlled stop function class 1 (EN 60204-1) is active, the power cut-out (openingof the power contactor) may take place with a delay that ranges from a minimum of 1second 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 tohow serious the error is, the system takes different actions, such as suspending theprogram execution, deactivation of the drives, etc. A situation may occur where thealarm 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 (orin the Terminal window of tool WINC4G on PC).

The figure shows a simplified diagram of the actions that determine the systemchange-over from one state to another.

11-3HS-0-C4E-USO_32.fm00/0708

System operating modes and states

Fig. 11.1 - Simplified diagram of the system states

1. Status selector switch on T1 + HOLD released 2. HOLD or DRIVES OFF or selector switch change3. HOLD or DRIVES OFF or selector switch change4. 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 beenstudied so that the system enters the HOLD status every time a change is made in theoperating 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 therequired safety conditions. A typical example is when the operator brings the statusselector switch to PROGR to work near the robot, holding the Teach Pendant to carryout learning operations for the points.

In PROGR or AUTO-T, exiting from HOLD can be obtained by pressing START, this iscontrolled by the system and therefore is active when an instruction or a movementprogram is executed. When the START key is released again the system returns toHOLD status.

When entering the HOLD status, the corresponding HOLD key on the Teach Pendantis considered as pressed. Further pressure on the key causes the system to exit fromHOLD status.

If the HOLD status has been caused by pressing the DRIVE OFF key on the TeachPendant, the DRIVE OFF and HOLD keys must be pressed again to exit from HOLDstatus. 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 ControlCabinet must be set on AUTO or REMOTE. Active TOOL, BASE and FRAME cannot bechanged when working in AUTO or REMOTE.

11-4HS-0-C4E-USO_32.fm

00/0708

System operating modes and states

In AUTO status, to start programs ready for execution, press the START key on theTeach 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 pressagain the previous buttons (DRIVE OFF and/or HOLD). To continue the movementprogram 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 C4GControl Unit manual) to check that they are correct and if necessary makechanges. 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 theoperator 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 themove, that can be resumed by pressing the Enabling Device again. The secondline 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 isdisplayed on the second status line of the system screen and the associated LED, nextto the ALARM key on the Teach Pendant, lights up.

There are different conditions that can generate an alarm and the action to be taken toexit from ALARM status and bring the system back to the previous state vary accordingto how serious the error is.

11-5HS-0-C4E-USO_32.fm00/0708

System operating modes and states

11.4 Stand-by functionThe purpose of the Stand-by function is to cut down the current consumption when therobot is stationary.

The function is automatically activated when the Control Unit is in local automatic orremote automatic mode and after the robot has remained stationary for a time definedby variable $TUNE [27];this function activates the motor brakes to keep the staticposition 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 movementagain (START, RESUME) from the system.

The system Stand-by status is displayed in the status bar of the Teach Pendant. Todisplay the state of a single arm, read this status on the Status sub-page, the Motionpage on TP4i/WiTP or send the DisplayArmStatus (DAS) command.

The safety precautions are to be scrupulously observed regarding this operatingcondition of the Controller.

11-6HS-0-C4E-USO_32.fm

00/0708

FB_TOOL program for configuration of Fieldbus

12. FB_TOOL PROGRAM FOR CONFIGURATION OF FIELDBUS

12.1 FB_TOOL activationThis program, in Visual PDL2, and therefore with an efficient graphic interface, is usedfor the configuration, viewing and resetting of fieldbus and CAN modules, on the C4GControl Unit.

The FB_TOOL program is always present and available on the Teach Pendant.

To use it, proceed as follows:

a. access Setup page, on the Teach Pendant

b. select the icon FB_TOOL (see Fig. 12.1)

c. confirm with ENTER.

Fig. 12.1 - FB_TOOL activation

NOTE FOR USERBefore starting any type of configuration, it is advised to view the currentconfiguration, to know and avoid involuntary loss of pre-existing configurationsor 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 andconfigure the Fieldbus.Otherwise, if the current configuration is not correct, the user is recommended tocarry out a cleaning operation before proceeding with the new configuration.

12-1HS-0-C4E-USO_67bis.fm00/0708

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 followingfunctions 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. Activate the Fieldbus function

b. 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 theBoards sub-pages.

12-2HS-0-C4E-USO_67bis.fm

00/0708

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 twoFBP1/FBP2 boards. If instead it is intended to operate on a CanBUS module, select choice n°4 (seeFig. 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. 12.2.3Action 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 asshown 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

12-3HS-0-C4E-USO_67bis.fm00/0708

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 orthe 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 requireditem and confirm with ENTER.

12.2.3 Action

After establishing which boards have been chosen and (where applicable) the type andchannel, the required action can be carried out.

The following actions are possible:

d.1 Viewing

d.2 Reset

12-4HS-0-C4E-USO_67bis.fm

00/0708

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 selectedchannel can be viewed (in Fig. 12.7 the screen page is shown relating to a CanBUSmodule).

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 thatfieldbus, are enabled or not.

– Device address - the physical address of the selected fieldbus, on the associatednetwork. 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 againby the system itself

– Baud Rate - the network baud rate, related to the selected fieldbus (data notforeseen for InterBUS)

– Current Nodes - indicates how many Nodes, belonging to the selected fieldbusnetwork, have been configured.

To exit from the screen page, press OK (F6).

For further information regarding the displayed data for Master, see par. 12.2.3.3.1Master on page 12-10

12-5HS-0-C4E-USO_67bis.fm00/0708

FB_TOOL program for configuration of Fieldbus

For the Slave Channel, the following information is common to all fieldbuses:

– Slave enabled/disabled - indicates the Slave enable/disable (see further detailsin par. 12.2.3.3.2 Slave on page 12-23)

– Remote controlled - indicates whether the C4G is configured as Slave or has tobe "remote controlled"

– User bytes number - total of user input bytes (those in output are the samenumber)

– Total Input bytes, Total Output bytes - total of user bytes (+ 2 bytes for systemsignals 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, theyare 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 bytesor not.

Also the following specific information is displayed for:

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.

12-6HS-0-C4E-USO_67bis.fm

00/0708

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 examplePLC).

12-7HS-0-C4E-USO_67bis.fm00/0708

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 opticfibre.• Baud Rate - the baud rate on the network associated to the Slave

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 (=restoresthe default values) the board configuration data structure, both for the Masterinterface and that of the Slave (in example in Fig. 12.11 resets both ProfibusMaster and Profibus Slave).

– Reset FB (F4) (highlighted in yellow in Fig. 12.11): resets (=restores the defaultvalues) only the configuration data of the Channel selected by the user, thereforeeither the Master or the Slave, but NOT both.

With the presence of these two softkeys, having a pre-existing configuration, it is

For further information regarding the displayed data for Slave, see par. 12.2.3.3.2Slave on page 12-23.

12-8HS-0-C4E-USO_67bis.fm

00/0708

FB_TOOL program for configuration of Fieldbus

possible to reset everything or keep a part (in the example in Fig. 12.11, pressing ResetFB (F4) only the Profibus Master is reset, whereas pressing Reset Board (F1) also theSlave is reset).

When the user asks for a reset, the program asks for confirmation, as shown in theexample 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.

Fig. 12.13 - CanBUS reset

12.2.3.3 Configuration

Before starting to Configure a fieldbus, read with attention the NOTE FOR USER at thebeginning of this chapter.

To configure the board and Channel required, press Configure (F5) softkey (highlightedin red in Fig. 12.14).

For CanBUS there is a single reset command: Reset FB (F4) that resets the entireCAN module (highlighted in red in Fig. 12.13).

12-9HS-0-C4E-USO_67bis.fm00/0708

FB_TOOL program for configuration of Fieldbus

Fig. 12.14 - Fieldbus configuration

According to the Channel selected, there are 2 situations:

– Master

– Slave

12.2.3.3.1 Master

To configure a Master fieldbus, proceed as follows:

a. General data modification

b. 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 selectedMaster (example in Fig. 12.15).

In any fieldbus selected, the user can change the following fields:

For CanBUS only the Master exists.

12-10HS-0-C4E-USO_67bis.fm

00/0708

FB_TOOL program for configuration of Fieldbus

– Master enabled - by means of this field it is possible to define whether the networkof 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 networkmanagement commands. The user has to supply the start index of a blockcontaining 5 $WORD (4 used and one free) to reserve for this function. PressENTER, insert the value and confirm with ENTER. For further information seepar. 14.4.1 Command Words on page 14-21.

– Status $WORD - it is the $WORD index that contains the information regarding thestate of the Master network. The user has to supply the start index of a blockcontaining 5 $WORD (4 used and one free) to reserve for this function. Theprogram suggests an address that follows immediately after the control $WORD(for example, if the control $WORDs start at address 30, for the status $WORDsthe program suggests 35 as starting address (30+5)). Press ENTER, insert thevalue and confirm with ENTER. For further information see par. 14.4.2 StatusWords on page 14-22.

– Enable alarms after reset - the user can ask that, following the reset of an alarmgenerated 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 apartially functioning network.

It is also possible to set the following data, only for the Masters DeviceNET andProfiBUS:

– Device address - to define the physical address of the Master on its associatednetwork. 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 withENTER.

– Baud Rate - To set the baud rate on the network associated to the Master. Movethe focus on this field and press ENTER to open a menu that shows the possiblevalues from which the user can choose. Position on a value and press ENTER, toconfirm the choice.

Configuration of any Nodes

It is also possible to associate one or more Nodes to each Master, and configure them.

NOTE REGARDING THE $WORD INDEXThe Program presents some default indexes which can, however, be changed bythe user, and the Program checks there is no overlaying.But, bearing in mind that the status $WORD and control $WORD indexes are to beUNIQUE in the whole system (for example, it is not possible to have the sameindex for control $WORDs of a DeviceNET and those of a CanBUS!), the choice isto be made with attentive accuracy.The same is valid also for the user $WORDs!

It is to be noted that, regarding the CAN modules, there is always a systemmodule fixed on the Node of address 7, but besides the user module, anotheroptional system module can be added on the Node of address 8.

12-11HS-0-C4E-USO_67bis.fm00/0708

FB_TOOL program for configuration of Fieldbus

Let us now see how to configure a new Node or modify the configuration of an existingNode.

First press Nodes (F2) softkey in the main screen page of the chosen Master (thissoftkey is highlighted in red in Fig. 12.15).

On the screen page presented by the program, (see example in Fig. 12.16), select theLogic address of the Node to be associated to the Master (press ENTER, insert theappropriate index and confirm with ENTER).

The Logic Address is the index used in the PDL2 programs to access the dataconcerning 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>]

Fig. 12.16 - Node selection

To select the required Logic Address, press ENTER, modify the Logic ID field and pressENTER again to confirm.

Press SET (F1) softkey (highlighted in red in Fig. 12.16) to continue the configuration ofthe selected Node.

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.

For the CanBUS it is <board_no> = 4

12-12HS-0-C4E-USO_67bis.fm

00/0708

FB_TOOL program for configuration of Fieldbus

Since there are many differences in the Node setting, according to the type of fieldbusa 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 theNodes is not influenced by the type of fieldbus chosen. With regard to this, read thefollowing note with attention before continuing.

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 beconfused with the Logic Address, although the two values may be the same: if, forexample 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 menupressing ENTER, select the required item and press ENTER to confirm; onDeviceNET there are two possible types of Node configuration:

• EDS - the configuration data is contained in a file with extension .eds, alreadypresent in UD:\. When “EDS”, is chosen, the program displays field EDS filename, to insert the name of the file that contains the configuration data. Movethe focus on the field, press ENTER, insert the name and conform with

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.

12-13HS-0-C4E-USO_67bis.fm00/0708

FB_TOOL program for configuration of Fieldbus

ENTER (see es. in Fig. 12.18). If the file specified is not found, the systemindicates an error.

Fig. 12.18 - .eds file

• Manual - the configuration values are entered manually by the user, guidedby 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 Nodesthat are not enabled are NOT searched for on the network. However, itis always possible to enable and disable them later. To enable/disable aNODE, 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 andconfirm with ENTER.

• $WORD index - if the I/O configuration is on $WORD, it is necessary toalso supply the start index of the user $WORDs to start from for thecopying. Before choosing this index read the NOTE REGARDING THE$WORD INDEX VERY CAREFULLY. To modify this field (when it isenabled), press ENTER, insert the required value and confirm withENTER.

Also when the .eds file is used for the Node configuration, it is still necessary tocontinue in the screen pages, to set some data manually: Device enabled atstartup, I/O mapping on, Byte swap, COMAU application device. With regard tothis, see the Manual configuration description below.

The default value for this field is $DIN/$DOUT.

If the copying is on $DIN/$DOUT, this field is disabled.

12-14HS-0-C4E-USO_67bis.fm

00/0708

FB_TOOL program for configuration of Fieldbus

• Input/Output Byte number - If the copying is on $DIN/$DOUT, this fieldis disabled. Press ENTER, insert the required value and confirm withENTER.

• Byte swap - to specify whether it is wished to invert high bytes with lowbytes. Press ENTER to open the menu, choose TRUE (=invert) orFALSE (=do NOT invert) and confirm with ENTER.

Fig. 12.19 - DeviceNET - Applications

• COMAU application device - To specify whether the Node beingconfigured is managed by an application supplied by COMAU. To do so,press ENTER to open the menu, choose TRUE and confirm withENTER. In this case, the program enables Applications (F2) softkey(highlighted in red in Fig. 12.19) to be able to select the Applicationinvolved. When the Applications (F2) is pressed, the program shows ascreen 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 requiredindex (Selection field), confirm with ENTER and press OK (F6) to returnto the previous screen page (see Fig. 12.19) ). The program will nowshow, as Application associated to the Node, the COMAU Applicationthat has just been chosen.

Fig. 12.20 - DeviceNET - COMAU Application choice

• Vendor ID, Device Type, Product Code - They are ID codes of themodule associated to the current Node, the ID number, the type ofdevice and the product code respectively. To insert each of these 3 datamanually, move the focus on the field involved, press ENTER, insert the

12-15HS-0-C4E-USO_67bis.fm00/0708

FB_TOOL program for configuration of Fieldbus

required value (read carefully the NOTE ON MODULE ID CODES) andconfirm with ENTER.

• Polling management - Enables the user to manage the polling time(see POLLING NOTE). To enable the management, move the focus onthis field (highlighted in red in Fig. 12.21), press ENTER to open themenu, choose TRUE and confirm with ENTER. The Polling cycle fieldcan be modified.

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, insertthe required time and confirm with ENTER.

• Quick Connect management - allows the user to access the QuickConnect function (see QUICK CONNECT NOTE). To enable themanagement, move the focus on this field (highlighted in yellow inFig. 12.21) press ENTER to open the menu, choose TRUE and confirmwith ENTER. The Quick Connect attribute field can be modified.

• Quick Connect attribute - the user has to enter the service code toenable the Quick Connect function (see QUICK CONNECT NOTE). Todo so, press ENTER, insert the required code and confirm with ENTER.

NOTE ON MODULE ID CODESNote that the module ID codes are to be inserted in HEXADECIMAL format (this isthe format in which they are interpreted by the program)!

POLLING NOTEGenerally, on DeviceNET, the I/O modules only transfer data when there arevariations; this mode is called Change Of State (COS). The analog modules haveto be updated in continuation and therefore transfer data in cycles (polling). Themanagement of the polling time is therefore NECESSARY for the analog modules!

QUICK CONNECT NOTESome DeviceNET modules have a function called Quick Connect used to cutdown the connection time to the Node network. If the selected Node is associatedto a module that has this function, it can be used.

12-16HS-0-C4E-USO_67bis.fm

00/0708

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 absolutelyidentical to the description for par. Data regarding DeviceNET nodes onpage 12-13, therefore, see this section.

– Configuration type - to set the type of configuration required, open the menupressing ENTER, select the required item and press ENTER to confirm; onProfiBUS 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, alreadypresent in UD:\. When “GSD”, is chosen, the program displays field GSD filename, to insert the name of the file that contains the configuration data. Movethe focus on the field, press ENTER, insert the name and conform withENTER (see Fig. 12.23). If the file specified is not found, the system indicatesan error. Press Next>>, the program shows a screen page (see Fig. 12.24)that lists the possible configurations.

12-17HS-0-C4E-USO_67bis.fm00/0708

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 therequired module. To do so, using Fig. 12.24 for reference, move the focus onthe field highlighted in red, press ENTER, insert the required value, confirmwith ENTER; then move the focus on the field highlighted in yellow, pressENTER, insert the Logic ID of the Node being configured and confirm withENTER. Press Insert (F2) softkey to make the choice operational.

• Manual - the configuration values are entered manually by the user, guidedby 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 pressENTER to confirm.

• Device enabled at startup - the significance and the use of this field areabsolutely identical to the description for par. Data regardingDeviceNET nodes on page 12-13, therefore, see this section.

• I/O mapping on - the significance and the use of this field are absolutelyidentical to the description for par. Data regarding DeviceNET nodes onpage 12-13, therefore, see this section.

• $WORD index - the significance and the use of this field are absolutelyidentical to the description for par. Data regarding DeviceNET nodes onpage 12-13, therefore, see this section.

• Input/Output Byte number - the significance and the use of this fieldare absolutely identical to the description for par. Data regardingDeviceNET nodes on page 12-13, therefore, see this section.

• Byte swap - the significance and the use of this field are absolutelyidentical to the description for par. Data regarding DeviceNET nodes onpage 12-13, therefore, see this section.

• Data transfer mode - the setting of this field depends on the setting ofthe Slave. Indicates whether the Master intends exchanging data withthe Slave, in Word or in Byte. For further information see also par. Dataregarding ProfiBUS Slave on page 12-26.

Also when the .gsd file is used, some data has to be entered manually: Deviceenabled at startup, I/O mapping on, Byte swap, COMAU application device. Withregard to this, see the Manual configuration description below.

12-18HS-0-C4E-USO_67bis.fm

00/0708

FB_TOOL program for configuration of Fieldbus

Fig. 12.25 - ProfiBUS - Applications

• COMAU application device - To specify whether the Node beingconfigured is managed by an application supplied by COMAU. To do so,move the focus on the field, press ENTER, choose TRUE and confirmwith ENTER. In this case, the program enables the Applications (F2)softkey (highlighted in red in Fig. 12.25) to be able to select theApplication involved. Pressing Applications (F2) softkey, the programshows a screen page with the list of all the applications provided, thesame as that displayed for DeviceNET (see Fig. 12.20). To use it, seethe description in par. Data regarding DeviceNET nodes on page 12-13.

• Config. string - a data that can be obtained from the .gsd file, referringto 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 beconfused with the Logic Address, although the two values may be the same: if, forexample the Logic Address is 18, the Physical Address could be any, from 1 to 63.For example 25.

12-19HS-0-C4E-USO_67bis.fm00/0708

FB_TOOL program for configuration of Fieldbus

To insert the required value, press ENTER, change the data and press ENTERagain to confirm.

– Configuration type - to set the type of configuration required, open the menupressing ENTER, select the required item and press ENTER to confirm; this fieldspecifies 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 absolutelyidentical to the description for par. Data regarding DeviceNET nodes onpage 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. PressENTER, 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, thismeans 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 selectedNode. 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. Forfurther information see the specific documentation of this device. To modify thisfield, press ENTER, insert the required value and confirm with ENTER.

– I/O mapping on - the significance and the use of this field are absolutely identicalto 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 tothe 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 areabsolutely identical to the description for par. Data regarding DeviceNET nodes onpage 12-13, therefore, see this section.

– Byte swap - the significance and the use of this field are absolutely identical to thedescription 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 areabsolutely identical to the description for par. Data regarding DeviceNET nodes onpage 12-13, therefore, see this section.

12-20HS-0-C4E-USO_67bis.fm

00/0708

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 absolutelyidentical to the description for par. Data regarding DeviceNET nodes onpage 12-13, therefore, see this section.

– Configuration type - to set the type of configuration required, open the menupressing 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), theTYPE of device can be chosen (press ENTER to open the list, select therequired device and confirm with ENTER), specifying which wires of theconnector are to be configured as Output (OUTPUT enable - move the focuson the required checkbox and press ENTER to enable the correspondingoutput: if the checkbox is already selected, pressing ENTER disables therelevant output).

12-21HS-0-C4E-USO_67bis.fm00/0708

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 firstscreen page (see Fig. 12.16).

• Generic - the configuration values are entered manually by the user, guidedby 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 regardingDeviceNET nodes on page 12-13, therefore, see this section.

• Vendor ID, Device Type, Product Code - the significance and the useof those fields are absolutely identical to the description for par. Dataregarding DeviceNET nodes on page 12-13, therefore, see this section.

• I/O mapping on - the significance is absolutely identical to thedescription 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 fieldare absolutely identical to the description for par. Data regardingDeviceNET nodes on page 12-13, therefore, see this section.

• Byte swap - the significance and the use of this field are absolutelyidentical to the description for par. Data regarding DeviceNET nodes onpage 12-13, therefore, see this section. After completing all the fields ofthe page, press Next>> to access the next page (SDO configuration).

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 theuser.

Users who are not skilled experts are never to attempt to change values on thispage.

12-22HS-0-C4E-USO_67bis.fm

00/0708

FB_TOOL program for configuration of Fieldbus

Fig. 12.30 - SDO configuration

• SDO - it is a page where the user can set some configuration parametersthat will be used at the start. These parameters are to be inserted insequence: only when a parameter configuration is completed, it ispossible to access the next.

12.2.3.3.2 Slave

With this choice the C4G Control Unit can be configured as Slave module of aDeviceNET, ProfiBUS or InterBUS network.

The parameters inserted by the user for the Slave, have to be consistent with theconfiguration of its Master.

• 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).

Only the Slave interface of the fieldbuses allows system remote control, i.e. toenter DRIVE ON/OFF, START, HOLD commands by remote control .

12-23HS-0-C4E-USO_67bis.fm00/0708

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 beencompleted, press END (F6) softkey, to terminate the Slave configuration, the controlreturns 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 thefollowing:

– Slave disabled - indicates the disabling/enabling of the Slave. This data isespecially significant when the Slave is remote controlled (Slave configured asprimary). In this case, if the Slave is DISABLED, the system does not send thecommands coming from PLC, but, however, does activate the NOT_HOLD andNOT_DRVOFF, so that the motors can be switched on even if the application onPLC is still being developed and/or is not yet operational.. To enable/disable theSlave, 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. Inthis case the first two input bytes are control bytes and the first two output bytesare status bytes. The significance of each bit inside the two control bytes and thetwo status bytes is described by the predefined variables, $SYS_INP_MAP and$SYS_OUT_MAP respectively. In particular the output status bits shall be reservedfor 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 thesystem. If, instead the Slave is NOT configured as Primary, all the bytes from and to thefieldbus 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 therequired selection (TRUE=Primary, FALSE=Secondary) and confirm with ENTER.

– Byte swap - indicates whether the user wishes to make inversion between highbytes and low bytes. Move the focus on the field, press ENTER, make the requiredselection and confirm with ENTER.

– User bytes number - the number of user input bytes (for output the number is thesame)

– 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 asPrimary.

– Signal mapping - allows the user to choose whether to make the I/O transferthrough $DIN/$DOUT or use the $WORD variables. To modify this field, pressENTER to open the menu, select $DIN/$DOUT or $WORD and confirm withENTER.

The default value for this field is $WORD.

12-24HS-0-C4E-USO_67bis.fm

00/0708

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 systemreserves a group of 8 $WORD for the Outputs and 8 $WORD for the Inputs, andwill use the necessary part of the quota. For example, if the total number of bytesis 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 systemreserves a group of 16 $WORD for Outputs and 16 $WORD for Inputs, with thesame allocation logic.

Before choosing the index of the $WORD to start from, read VERY CAREFULLYthe 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 asfar as possible $WORD overlaying situations .

• Secondary Slave - The user has to specify the user $WORD start index inOutput: the user $WORD index in Input is assigned automatically by theprogram for the reason already described.

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 thefollowing paragraphs:

– Data regarding DeviceNET Slave

– Data regarding ProfiBUS Slave

– Data regarding InterBUS Slave

If the copying is on $DIN/$DOUT, these fields are disabled.

12-25HS-0-C4E-USO_67bis.fm00/0708

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 DeviceNETnetwork. To insert the required value, press ENTER, change the data and pressENTER again to confirm.

– Vendor ID, Product Code - Slave identification codes, the ID number and theproduct code respectively. These values are read only.

– Serial Number - this value univocally identifies the Slave, if on the DeviceNETnetwork there is more than one device of the same type. To insert the value movethe focus onto the field, press ENTER, insert the required value (read carefully theNOTE ON MODULE ID CODES) and confirm with ENTER.

– Baud Rate - the baud rate on the network associated to the Slave. To change thisfield, open the menu by pressing ENTER, select the required item and pressENTER to confirm.

Data regarding ProfiBUS Slave

Fig. 12.32 - ProfiBUS Slave configuration

– Physical address - it is the address of the Slave on the associated ProfiBUSnetwork.

12-26HS-0-C4E-USO_67bis.fm

00/0708

FB_TOOL program for configuration of Fieldbus

– ProfiBUS Slave ID - it is a code that univocally identifies the Slave on the Profibusnetwork. For C4G it is 2031.

– WORD/BYTE Data transfer - the setting of this Slave field depends on how itsMaster has been configured; for example, if the Master is set to transfer 8 inputbytes and the Slave transfers a total of 16 input bytes, this field will be set asWORD; if the Master has been set to transfer 16 input bytes, this field will be setas BYTE.

12-27HS-0-C4E-USO_67bis.fm00/0708

FB_TOOL program for configuration of Fieldbus

Data regarding InterBUS Slave

Fig. 12.33 - InterBUS Slave configuration

– Network type - Indicates whether the Interbus board cable is in copper or opticfibre.

– Baud Rate - the baud rate on the network associated to the Slave. To change thisfield, open the menu by pressing ENTER, select the required item and pressENTER 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 screenpage (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 ispermanently saved . Asking the program to save, the current parameter settings arestored in the .C4G file.

To proceed with the saving, the program shows the screen page in Fig. 12.35, wherethe user has to specify whether the configuration is really to be saved.

12-28HS-0-C4E-USO_67bis.fm

00/0708

FB_TOOL program for configuration of Fieldbus

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 becomeoperational. With the creation of these files, the user always has a track of the currentconfigurations available.

12.4 Close (F6)The Close command quits the FB_TOOL program, but first it asks for furtherconfirmation from the user.

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

12-29HS-0-C4E-USO_67bis.fm00/0708

FB_TOOL program for configuration of Fieldbus

12-30HS-0-C4E-USO_67bis.fm

00/0708

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 PDL2language (see specific manual VP2-Visual PDL2), to be used on the TeachPendant;

– IO_INST Program - I/O configuration - for use in WinC4G environment on PersonalComputer.

If the user wishes to load system software version 3.0, starting from a 2.3x or 2.4xversion, it is not possible to maintain the configuration of the CAN moduleswithout making a conversion of the configuration data.

WARNING! If the user wishes to use the IO_INST program, it is necessary to usethat of version 2.51 and NOT that of previous versions as they are no longercompatible.

13-1HS-0-C4E-USO_67.fm00/0707

I/O Configuration Programs

13-2HS-0-C4E-USO_67.fm

00/0707

IO_TOOL Program - I/O Configuration in VP2

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 usedfor the configuration, viewing and resetting of input/output, DSA, HAND relating to theArms, 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. enter the Setup page, on the Teach Pendant

b. select the icon IO_TOOL (see Fig. 13.1)

c. confirm with ENTER.

Fig. 13.1 - IO_TOOL activation

NOTE FOR THE USERBefore starting any type of configuration, it is advised to view the currentconfiguration to know it and to avoid an accidental loss of pre-existingconfigurations 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 withthe configuration of the corresponding Input/Output.Conversely, if the current configuration is not correct, the user is recommendedto carry out a clearing operation before proceeding with the new configuration.

13-3HS-0-C4E-USO_47bis.fm01/0208

IO_TOOL Program - I/O Configuration in VP2

Fig. 13.2 - IO_TOOL - Home page

As can be seen in Fig. 13.2, the following functions are available on the Home Page ofthe 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 digitalInput/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 ofconsecutive digital or remote I/O ports (groups) and construct the image of the systemword (system).

The aim is to configure one or more I/O ports associating a connection to each one withthe physical or virtual image of the input or output data, or to remove previouslyconfigured ports.

To operate on the I/O ports, proceed as follows.

a. Activate ‘I/O Ports’ function.

b. Type of port selection.

c. Selection of the range of ports for operation.

d. Execute the Action:

d.1 Configuration.

d.2 Release.

e. Operation completion.

13-4HS-0-C4E-USO_47bis.fm

01/0208

IO_TOOL Program - I/O Configuration in VP2

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 operateon:

– 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 LHarrow to open the submenu shown in Fig. 13.4, where the type of port required can beselected:

– Digital (1)

– Analog (2)

– Groups (3)

– Flex (4)

– Remote (5)

– System (6)

13-5HS-0-C4E-USO_47bis.fm01/0208

IO_TOOL Program - I/O Configuration in VP2

13.1.2.3 Selection of the range of ports for operation

Fig. 13.5 - I/O ports subpage

1. Index of first I/O selected2. Index of first physical I/O selected3. Range of selected I/Os4. List of I/Os with their configuration (read-only)5. 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)

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 (tofacilitate the description, the screen pages for Digital Inputs are used): for alltypes of I/O ports (except groups of ports), the procedure to be followed is thesame.In the pages that follow, any differences are indicated for each type of portforeseen.

The “Groups” category is dealt with separately, since the procedure for thisdiffers considerably in relation to the other categories. See par. 13.1.2.6 Digital orRemote I/O Groups on page 13-16.Also the “System” category is dealt with separately (see par. 13.1.2.7 System I/Oports on page 13-18) since it is substantially different to the other categories.

13-6HS-0-C4E-USO_47bis.fm

01/0208

IO_TOOL Program - I/O Configuration in VP2

The selected ports are displayed immediately in red in the specific area (field number 4in Fig. 13.5).

Note that the I/O ports that belong to the specified range are always IN SEQUENCE.

13.1.2.4 Execute the Action

Once the port or the range for operation has been established, the required action canbe 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 groupof ports to certain physical or virtual events.Before starting to prepare a configuration, read with care the NOTE FOR THE USER atthe beginning of the chapter.

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 list of the selected I/Os (those where operations are taking place) is alwaysdisplayed IN RED (see Fig. 13.5), whereas the ports displayed IN BLACK are to beconsidered as not selected, i.e. ports on which AT THAT MOMENT no operationis taking place.For example, in Fig. 13.5 operations are taking place on ports from 1 to 5 (seefields no.1 and no.3), therefore the system displays these ports in RED (see fieldno.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.3in Fig. 13.5) is to be set with value 1!

13-7HS-0-C4E-USO_47bis.fm01/0208

IO_TOOL Program - I/O Configuration in VP2

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 RemoteThe Remote type ports ($IN and $OUT) are available for the user starting from 411. Theuse 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=1or Virt=0) to be assigned to the selected ports (see Fig. 13.6), i.e. the value that the portwill assume at the Control start.

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.

13-8HS-0-C4E-USO_47bis.fm

01/0208

IO_TOOL Program - I/O Configuration in VP2

Fig. 13.7 - Virtual ports (Digital and Remote) - 2

The new value is immediately displayed next to the name of the selected port, precededby the text “Virtual = “(see Fig. 13.7).

Analog or FlexTo configure analog or Flex ports as virtual, proceed as follows (for convenience screenpages referring to analog inputs are used):

a. Enable ‘Value’ field

b. Change value

c. Assign value to the selected port

Fig. 13.8 - Enable ‘Value’ field

When Virtual (F1) is pressed, this enables the Value field (white background, as shownin Fig. 13.8 - After), to assign to these ports the value that they shall assume at theControl start.

Before After

13-9HS-0-C4E-USO_47bis.fm01/0208

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

The number of ports that can be configured on a physical device depends on the numberof 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 selectthe required fieldbus (see Fig. 13.11).

!It is to be remembered that it is NOT POSSIBLE to configure a PHYSICAL I/O portif the related Fieldbus module has not been PREVIOUSLY configured. Therefore, before starting to configure PHYSICAL I/O ports, it is alwaysNECESSARY to check that the related Fieldbus module has already beenconfigured, and if it has not, carry out the configuration as described in par. 12.2Fieldbus (F1) on page 12-2.

13-10HS-0-C4E-USO_47bis.fm

01/0208

IO_TOOL Program - I/O Configuration in VP2

Fig. 13.11 - PHYSICAL I/O selection

Proceed as follows:

a. Board selection

a.1 Fieldbus selection

a.2 Channel selection

b. Choose NODE

c. Choose first bit

d. PHYSICAL I/O selection completion

e. Associate PHYSICAL I/O and I/O ports

Board selectionOn the “PHYSICAL I/O selection” page, press ENTER to open the menu for the Boardfield, choose the required board (Fig. 13.12) and confirm with ENTER.

Fig. 13.12 - Board Selection

Fieldbus selectionIf a Fieldbus board has been selected, choose the required Fieldbus type (seeFig. 13.13) and then also the Channel (see par. Channel selection on page 13-12).

13-11HS-0-C4E-USO_47bis.fm01/0208

IO_TOOL Program - I/O Configuration in VP2

Fig. 13.13 - Fieldbus selection

If instead a CanBUS is selected, it is not necessary to select the channel, and thereforepass directly to par. Choose first bit on page 13-13.

Channel selectionThe 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 thechannel, press ENTER to confirm.

Fig. 13.14 - Channel selection

Choose NODERegardless of the board or Fieldbus that has been chosen, the user must now indicatethe logic ID of the NODE where the I/O port (or ports) is/are to be mapped. To do so, itis 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.

13-12HS-0-C4E-USO_47bis.fm

01/0208

IO_TOOL Program - I/O Configuration in VP2

Fig. 13.15 - Choice of Node

The program displays the information regarding the chosen node (see Fig. 13.15): thephysical ID (yellow), the number of bits configured for the node (red), the list of the bytesand bits associated to it (blue).

Choose first bitThe 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.

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 user’s 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).

13-13HS-0-C4E-USO_47bis.fm01/0208

IO_TOOL Program - I/O Configuration in VP2

Fig. 13.16 - Confirm PHYSICAL I/O selection

Associate PHYSICAL I/O and I/O portsHaving returned to the I/O ports screen page, check and if necessary change thefollowing 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 physicalI/Os. The program immediately displays the new configuration (see example inFig. 13.18).In our example, $DIN[1], $DIN[2] and $DIN[3] have been connected with the first threebits 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 aredisplayed for each port; for the Flex ports the fieldbus node number, the first physical bitand the length of the Flex. are displayed

13-14HS-0-C4E-USO_47bis.fm

01/0208

IO_TOOL Program - I/O Configuration in VP2

Fig. 13.18 - Final configuration

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

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 itpermanently (in the configuration files), it is necessary to press SAVE (F5) (seepar. 13.1.5 Save (F5) on page 13-33)

Note that if the range of ports requested is more than the number of configuredphysical bits, at the moment of association only the selected physical bits aretaken into consideration, and the excess I/O ports are not mapped.

Before After

13-15HS-0-C4E-USO_47bis.fm01/0208

IO_TOOL Program - I/O Configuration in VP2

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 CONTIGUOUSDigital 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 inFig. 13.20). If no configuration is displayed for this index it means that it isavailable.

b. Press Port type (F4) (highlighted in blue in Fig. 13.20) to define the type of portsto be grouped in the group selected in step a.

Fig. 13.20 - I/O groups

c. the program shows the screen page in Fig. 13.21, where the type of I/O ports haveto 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!

13-16HS-0-C4E-USO_47bis.fm

01/0208

IO_TOOL Program - I/O Configuration in VP2

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 theappropriate item and confirm with ENTER.

d. Continue, selecting the index of the first port of the group (the field is highlighted inred in Fig. 13.21); Press ENTER, insert the required value and confirm withENTER;

e. 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.

f. If it is wished to associate also a second set of I/O ports to the group, press the2nd SET softkey (F2), to enable the use of the specific fields (index of first port

and Range, also for the second set).

g. Continue to set these fields (as in steps d. and e.).

h. If the set configuration is correct, the OK softkey (F6) appears in the Central Menuscreen page as in Fig. 13.21. Press it to return to the Groups page (see Fig. 13.20).

i. The program displays a summarising screen page of the ports to be grouped (inRED the ports of the first set, in BLUE the ports of the second set). Check that thegroup index is set correctly (field highlighted in yellow in Fig. 13.20) and press Bind(F3) to make the set group operational.

j. In the list on the left the structure of the newly created group is displayed (seeexample in Fig. 13.22).

13-17HS-0-C4E-USO_47bis.fm01/0208

IO_TOOL Program - I/O Configuration in VP2

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.

b. Press Release (F2) (highlighted in green in Fig. 13.20); the selected group returnsto be available for future use.

13.1.2.7 System I/O ports

This section is used to construct the image of the system WORD (first 16 bits of thephysical image of data coming from fieldbus) according to the requirements of thecustomer.

Accessing this section, the screen page presented by the IO_TOOL program is thatshown in Fig. 13.23.

It is only enabled if there is a Fieldbus Slave configured as primary.

13-18HS-0-C4E-USO_47bis.fm

01/0208

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 inFig. 13.23) and the list of the $SDIN/$SDOUT (highlighted in yellow in Fig. 13.23).

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. move the focus on the bit of the system WORD that is to be modified

b. press the Sel BIT (F1) softkey, the field related to this bit is now highlighted (seeFig. 13.23)

c. move the focus on tthe $SDIN/$SDOUT to be associated to the bit selected in stepa.

d. press Sel SDIN (F2) (or Sel SDOUT (F2) if operating on Output ports). The port ofthe chosen system will now be highlighted (see Fig. 13.24)

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 (orSel SDOUT) softkeys , and NOT the ENTER key. In this way movements are greatlyfacilitated. Otherwise it would be necessary to press ENTER or ESC several times.

13-19HS-0-C4E-USO_47bis.fm01/0208

IO_TOOL Program - I/O Configuration in VP2

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 portto 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. move the focus on the bit to be released (in the system WORD)

b. press Sel BIT (F1). The bit is now highlighted (see Fig. 13.26)

13-20HS-0-C4E-USO_47bis.fm

01/0208

IO_TOOL Program - I/O Configuration in VP2

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 enablesRelease (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. press Default (F5)

b. give affirmative answer (OK (F4)), to the question asked by the program (seeFig. 13.28). The IO_TOOL tool will reconfigure the system WORD, using thedefault values.

13-21HS-0-C4E-USO_47bis.fm01/0208

IO_TOOL Program - I/O Configuration in VP2

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) (seeFig. 13.30), to access the configuration of one board rather than the other.

13-22HS-0-C4E-USO_47bis.fm

01/0208

IO_TOOL Program - I/O Configuration in VP2

Fig. 13.30 - Management of I/O points on DSA

In this page the user can manage:

– Alarms

– HDIN

– Input

– Output

– Stroke-end

– Brakes

Pressing END (F6) closes the section regarding DSA and returns to the main screenpage of the IO_TOOL. program

A description follows of the procedures to follow to manage the above mentioned I/Opoints.

13.1.3.1 Alarms

This section (highlighted in red in Fig. 13.31) is used to activate and deactivate the robotAlarm and the air Alarm.

To make the required choice, move the focus on to it (OFF or ON) and press ENTER toconfirm. An activated alarm is shown in green.

WARNING! To CONFIRM the settings inserted for I/O points on DSA, at the end ofconfiguration operations, remember to always press SET (F4). Otherwise the set configuration will NOT be saved.

13-23HS-0-C4E-USO_47bis.fm01/0208

IO_TOOL Program - I/O Configuration in VP2

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 openthe 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).

13-24HS-0-C4E-USO_47bis.fm

01/0208

IO_TOOL Program - I/O Configuration in VP2

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 ENTERto open the menu; to choose on which front the selected HDIN is to be configured: fallingedge ("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.

13-25HS-0-C4E-USO_47bis.fm01/0208

IO_TOOL Program - I/O Configuration in VP2

Fig. 13.35 - Management Input1..Input4

Selecting a certain Input, the corresponding spindial is enabled, so that the user canspecify 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 andconfirm by pressing ENTER again. If the Input selected is the first, the system asks theuser 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 indexinserted 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 thecorresponding 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, theprogram 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 ENTERto 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

13-26HS-0-C4E-USO_47bis.fm

01/0208

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.

13-27HS-0-C4E-USO_47bis.fm01/0208

IO_TOOL Program - I/O Configuration in VP2

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.

13-28HS-0-C4E-USO_47bis.fm

01/0208

IO_TOOL Program - I/O Configuration in VP2

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 onthe field to be modified, press ENTER to enter editing mode, make the modification andpress ENTER again to confirm.

The following functions are available for the user:

– VIEW (F2)

– Configure (F5)

13.1.4.1 VIEW (F2)

When VIEW (F2) is pressed, the IO_TOOL program shows the current configuration forthe selected Hand and Arm (see Fig. 13.42). The information displayed depends on thecurrent 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

To exit from the section relating to the HANDS press END (F6) to return to theIO_TOOL main page.

13-29HS-0-C4E-USO_47bis.fm01/0208

IO_TOOL Program - I/O Configuration in VP2

13.1.4.2 Configure (F5)

To configure the HAND of an Arm, it is necessary to first specify the required operatingmode: 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. Theyare described in the relevant sub-paragraphs.

Regardless of the operating mode chosen, when the user has entered all the necessarysettings, 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.

13-30HS-0-C4E-USO_47bis.fm

01/0208

IO_TOOL Program - I/O Configuration in VP2

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 theport where the output is to be mapped [1..512]; if the choice is $WORD, besidesthe 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.

13-31HS-0-C4E-USO_47bis.fm01/0208

IO_TOOL Program - I/O Configuration in VP2

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 theimpulse (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.

13-32HS-0-C4E-USO_47bis.fm

01/0208

IO_TOOL Program - I/O Configuration in VP2

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 intervalbetween 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 currentconfiguration of the Inputs/Outputs. When it is requested to save the program, thecurrent parameter settings are stored in the file .C4G.

To save, the program shows the screen page in Fig. 13.49, where the user has tospecify whether the request is confirmed or not.

13-33HS-0-C4E-USO_47bis.fm01/0208

IO_TOOL Program - I/O Configuration in VP2

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 creatingthis file, the user always has available a track of the current configuration.

13.1.6 Close (F6)

The Close command quits the IO_TOOL program after asking for confirmation from theuser.

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

13-34HS-0-C4E-USO_47bis.fm

01/0208

IO_INST Program - I/O configuration

13.2 IO_INST Program - I/O configuration

13.2.1 Introduction

This program is used for the configuration, viewing and resetting of the configurationitself, of the inputs/outputs, of the field buses and of the CAN modules on the C4GControl Unit.

Below all the necessary information is given for the execution of this configurationprogram. 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. connect the PC to the C4G Controller and run the WinC4G program.

b. from WinC4G select the directory into which the files have been transferred.

c. since the name of the installation program is IO_INST.COD, run the Filer UtilityInstall IO_INST command from WinC4G.

The opportune files will be automatically copied from PC and the program will be run onWinC4G.

13.2.3 Used Commands

This program operates in a manner similar to the command language menu. The menuis displayed on the bottom part of the screen page (see Fig. 13.50 - IO_INST - Homepage). The selections can be made through either the function keys or the cursor keysconfirmed by the ENTER key.

The program can only be run on WinC4G (therefore on PC) and not on the TeachPendant.

When the user, through a screen page, has to choose or enter a value, it mayhappen that the system displays the possible answer: these are choices or valuesRECOMMENDED by the system and in any case the user can change them ifwished.

13-35HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O 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 beassociated 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

NOTES FOR THE USERBefore starting the configuration of any Input/Output, Field bus, CAN module, it isrecommended to use the Visual command (where available) to be aware of thecurrent configuration and to avoid the unintentional loss of pre-existingconfigurations or the execution of a configuration on an inconsistent system.The Configure command is to be used, not only to execute an Input/Outputconfiguration, but also to check the configuration regarding the arms/axes. Thisis especially important in the case of Sik and Ieak configurations.Only when this is as it should be, the user can start to configure thecorresponding Inputs/Outputs, guided by the program itself.On the other hand, if the current configuration is not correct, the user is stronglyrecommended to carry out a cleaning operation before starting a newconfiguration.

13-36HS-0-C4E-USO_47.fm

01/0208

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 toeach 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:

ConfigureTo configure the $DIN ports. If there is more than one port, they will be allocated insequence.The program asks some questions concerning the ports to be configured:

– Physical Port, Virtual Port. To define the $DIN port to be configured, as physicalport 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 virtualinput 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 theControl start (0 or 1).

• If instead Physical Port has been chosen, the program asks for the type offieldbus where the inputs are to be mapped:

13-37HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

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)

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).

The required Fieldbus module has to be configured beforehand.

13-38HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

The system asks for the index of the first (or the only) $DIN to be connected. If theselected 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, thefollowing 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 therequired slave module is asked for.

The program asks how many ports are to be mapped (the number of $DIN that can beconfigured depends on the number of user Bytes indicated when configuring the slaveor the slave node of the master).

The system asks for the index of the first (or the only) $DIN to be connected. If theselected 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 theconvenience of the user, as a byte array. The user has to specify the byte and the bitthat define the start position (in the physical image) starting from which all the $DIN input

13-39HS-0-C4E-USO_47.fm01/0208

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 ofinputs coming from the Fieldbus.

ClearTo reset previous $DIN ports configuration and $GIN groups formed by $DIN ports. Theconfiguration 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 (from1 to 32) with the relevant sets of $DIN.

13-40HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

ConfigureTo 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 grouptogether 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 setavailable is to be configured. If an affirmative answer is given, the same questionswill be asked as before, relating however to the second set.

13-41HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

After the configuration has terminated, a summarising screen page is displayed showingthe configured $GIN group(s).

ViewWhen this command is chosen, the screen page is shown that lists all the configured$GIN groups.

ClearTo reset one at a time the configuration of $GIN input groups. The program asks thefollowing questions for each one:

– Group number [1 .. 32] This is the number of the group to be reset.

Sdin

This command is used to construct the system word image (irst 16 bits of the physicalimage of the data coming from the fieldbus) according to the user’s requirements. It isonly 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 isshown

The standard setting can be changed, answering these questions:

– Bit in system $WORD [1 .. 16] The program asks for the insertion of the systemword bit number that is to be modified.

The reset takes place without any further confirmation requests.

13-42HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

– The user has to specify the operation to be made on the selected bit: it can becleared (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 isasked: Port type $SDIN/$DIN (S/D) ? To choose whether to associatea 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]

• and, subsequently, the question Do you want to invert the portstatus? To know whether the user wants to invert the bit value.

• The program makes the bit/port association and terminates thecommand

Ain

The target is to create or remove one or more $AIN ports and associate a connection toeach one with the physical image of the input data.

The user can make the following choices:

– Configure

– Clear

ConfigureTo configure one or more $AIN ports

If the slave is configured to word the port may be $DIN, and in this case the rangeis [1..512]

In this IO_INST version the analog ports can only be configured on analog CANmodules.

13-43HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

– Number of $AIN to be configured [1 .. 64] The system asks for the insertion ofthe 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 beconfigured

– Physical Port, Virtual Port. To define the $AIN port to be configured, as physicalport or virtual port.

• If Virtual Port has been chosen, the value is asked for that will be assumedby 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, wherethe $AIN port (or ports) is/are to be mapped .

According to the type of field bus chosen, the following situations arepossible:• CAN module• Other interfaces (Profibus, DeviceNet, Interbus, Ethernet/IP, DSA)

CAN moduleThe analog I/Os can be mapped on free channels of the configured digital/analog CANmodules. 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, theselected CAN module must be analog type.

The program asks how many ports are to be mapped (the number of $AIN that can beconfigured 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 theselected 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 theselected CAN module) the $AIN ports being configured are to be connected

13-44HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

After all the operations required by the program have been performed, a map isdisplayed that shows the association between the 8 analog input channels of theselected CAN, and the analog ports associated to it.

Other interfacesFor the configuration on other interfaces (DeviceNet, Profibus, Interbus and Ethernet/IP,DSA), see the explanations for $DIN (see Other interfaces in the paragraph relating tothe $DIN), since the procedure is exactly the same.

ClearTo 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 eachone 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

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.

The $FMI ports can only be configured if the physical images transmission takesplace through digital ports, that is to say, not using the $WORD.They cannot be configured on CAN modules.

13-45HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

– Physical Port, Virtual Port To define the $FMI port to be configured, as physicalport 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 program asks on which Fieldbus board the required interface ispresent. Two Fieldbus boards can be configured and used.

• The program asks how many bits compose the $FMI port to beconfigured, and subsequently:

The required Fieldbus module has to be configured beforehand.

13-46HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

• If a master has been selected (Profibus, DeviceNet or Interbus), theorder number of the required slave module is asked for

• Then from which byte and which bit to start to copy the datum.

View

When this command is chosen, a screen page is displayed that lists the configured $FMIports.

ClearTo 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

13-47HS-0-C4E-USO_47.fm01/0208

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:

ConfigureTo 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 physicalports 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 virtualinputs 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 atthe start of the Control (0 or 1).

• If instead Physical Port has been chosen, the program asks on which typeof fieldbus the inputs are to be mapped:

Fig. 13.52 - Fieldbus Type

13-48HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

According to the type of field bus chosen, the following situations arepossible:

• CAN module• Other interfaces (Profibus, DeviceNet, Interbus, Ethernet/IP, DSA)

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 canbe 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 portselected 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 interfacesFor the configuration on other interfaces (DeviceNet, Profibus, Interbus and Ethernet/IP,DSA), see the explanations for the $DIN (see Other interfaces in the paragraph relatingto the $DIN),since the procedure is exactly the same.

ClearTo reset the previous $IN configuration. It is possible to reset the configuration of asingle port or of all of them.

The required Fieldbus module has to be configured beforehand.

13-49HS-0-C4E-USO_47.fm01/0208

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 connectionto 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:

ConfigureTo configure $DOUT ports. If the ports are more than one, they will be allocated insequence.The program asks some questions concerning the ports to be configured:

– Physical Port, Virtual Port. To define the $DOUT port to be configured, asphysical port or virtual port. The following question is then displayed:

• Retentive Output? (Y/N) The user is to indicate whether the output is tomaintain the status that it had before a Control shut-down, following apowerup.

• Then, if virtual port has been chosen, the following questions are asked:

13-50HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

• Number of input points to be configured [1 .. 512] - quantity of virtualinput points to be configured,

• Index of first $DOUT - first $DOUT of the virtual port group that is to beconfigured

• Virtual Port starting value [0 .. 1] - value the virtual port assumes at theControl start (0 or 1).

• If instead Physical Port has been chosen, the program asks on which typeof fieldbus the output is to be mapped, and also in the same way for a multipleconfiguration (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.

13-51HS-0-C4E-USO_47.fm01/0208

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 theselected 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, thefollowing 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 ordecreasing order.

13-52HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

Upon termination the performed binding is displayed (the previous screen page showsan 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 therequired slave module is asked for.

– The program asks how many ports are to be mapped (the number of $DOUT thatcan be configured depends on the number of user Bytes indicated whenconfiguring 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 theselected port is already connected, it is asked whether it is to be overwritten.

13-53HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

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 andthe 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 toFieldbus and $DOUT ports.

ClearTo 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.

13-54HS-0-C4E-USO_47.fm

01/0208

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 1to 32) with the relevant sets of $DOUT.

Two sets can be associated to each group.

ConfigureTo 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 outputsmaintain the status they had before a Control shut-down following a powerup.

– Number of ports belonging to first range - number of $DOUT ports to grouptogether in the first set.

– First $DOUT index - index of first $DOUT port of the set.

13-55HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

– Do you need a second set? (N/Y) The program now asks if also the second setavailable is to be configured. If an affirmative answer is given, the same questionswill be asked as before, relating however to the second set.

After the configuration has terminated, a summarising screen page is displayed showingthe configured $GOUT group(s).

ViewWhen this command is chosen, a screen page is displayed that lists the configured$GOUT groups.

ClearTo 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.

Sdout

This command is used to build the system word image (first 16 bits of the data physicalimage to the fieldbus) according to the user’s requirements. It is only enabled if aFieldbus Slave is configured as primary.

When run, the following screen page is displayed:

The reset takes place without any further confirmation requests.

13-56HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

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 ahelp for the user.

The standard setting of the system $WORD can be changed, answering thesequestions:

– Bit in system $WORD [1..16] The program asks for the insertion of the systemword bit number that is to be modified.

– The user has to specify the operation to be made on the selected bit: it can becleared (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 specifywhether 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 isasked: Port type SDOUT/DOUT (S/D)? To choose whether to associatea 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 thebit: $SDIN or $DOUT, range [1..160]

13-57HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

• and, subsequently, the question Do you want to invert the portstatus? to know whether the user wants to invert the bit value

• The program makes the bit/port association and terminates thecommand.

Aout

The target is to create or remove one or more $AOUT ports and associate a connectionto each one with the physical image of the output data.

The user can make the following choices:

– Configure

– Clear

ConfigureTo configure one or more $AOUT ports. The program asks the following questions:

– Physical Port, Virtual Port. To define the $AOUT port to be configured, asphysical port or virtual port.

– Retentive Outputs? (N/Y) The user is to indicate whether the output is to maintainthe 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 virtualoutputs to be configured,

• Index of first $AOUT - first $AOUT of the virtual ports group to beconfigured

• Virtual Port starting value [0 .. 65535] - value the virtual port assumesat 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 arepossible:

• CAN module• Other interfaces (Profibus, DeviceNet, Interbus, Ethernet/IP, DSA)

CAN moduleThe analog I/Os can be mapped on the free channels of the configured digital/analog

If the slave is configured as word, the port may be $DIN/$DOUT, and in this casethe range is [1..512]

13-58HS-0-C4E-USO_47.fm

01/0208

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 canbe 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 portselected 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 analogI/Os on the selected CAN module ) the $AOUT ports that are being configured are to beconnected.

Finally a screen page is shown on the screen that shows the configuration that has beenprepared.

After all the operations required by the program have been executed, a map is displayedthat shows the association between the 8 analog output channels of the selected CANand the associated analog ports.

Other interfacesFor the configuration on other interfaces (DeviceNet, Profibus, Interbus, Ethernet/IP andDSA), see the explanations for the $DOUT (see Other interfaces in the paragraphrelated 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 aconnection 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

13-59HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

Configure

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, asphysical 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 $FMO ports can only be configured if the physical images transmission takesplace through digital ports, that is to say, not using the $WORD.They cannot be configured on CAN modules.

The required Fieldbus module has to be configured beforehand.

13-60HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

• The program asks on which Fieldbus board the required interface ispresent. Two Fieldbus boards can be configured and used.

• The program asks how many bits compose the $FMO port to beconfigured, and subsequently:

• If a master has been selected (Profibus, DeviceNet or Interbus), theorder number of the required slave module is asked for;

• then from which byte and which bit to start to copy.

View

13-61HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

When this command is chosen a screen page is displayed listing the configured $FMOports.

ClearTo 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, usingthe 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:

ConfigureTo configure the $OUT ports. If there is more than one port, they will be allocated insequence. 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, asphysical ports or virtual ports.

The user is asked to specify whether the outputs are to maintain the status theyhad 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 beconfigured. The $OUTs available are those with an index from 411 to512.

• Initial value of virtual port [0 .. 1] - value assumed by the virtual port atthe start of the Control (0 or 1).

13-62HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

• If instead physical port has been chosen, the program asks on which type offieldbus the inputs are to be mapped:

Fig. 13.54 - Fieldbus Type

According to the chosen type of fieldbus, the following situations arepossible:

• CAN module• Other interfaces (Profibus, DeviceNet, Interbus, Ethernet/IP, DSA)

CAN moduleFirst 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 thatcan 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 theselected 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 interfacesFor the configuration on other interfaces (DeviceNet, Profibus, Interbus and Ethernet/IP,DSA), see the explanation for the $DOUT (see Other interfaces in the paragraph relatingto the $DOUT), since the procedure is exactly the same.

ResetTo reset the previous $OUT configuration. It is possible to reset the configuration of asingle port or all of them.

The required Fieldbus module has to be configured beforehand.

13-63HS-0-C4E-USO_47.fm01/0208

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 andthe 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 howmany modules are present in the CAN network and the addresses. Besides the fixedsystem module, with address 7, an optional system module can be added at address 8to 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 runagain, the program asks whether it is wished to reconfigure the network (seeReconfigure). The program deletes the previous configuration and allows a newone to be executed.

13-64HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

Fig. 13.55 - Reconfigure

The configuration (or re-configuration) of the CAN modules is described in detail furtheron.

The following questions are asked:

– How many user can modules are present? [1..5] To define the number ofmodules of the CAN network that the user wishes to configure.

– CAN module address x [8..99] To define the physical address of the module inthe 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 islocated • 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 isa system address and therefore present inside the control.

– In the analog CAN modules up to 8 analog input channels and 8 analog outputchannels are possible. These channels can be configured, in preset groups of 4channels 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]

13-65HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

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 thenumber 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 displaysthe current configuration and asks some questions:

How many user CAN modules do you want to add? The number of CAN networkmodules that the user wishes to add to the previous configuration can be specified.

13-66HS-0-C4E-USO_47.fm

01/0208

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 tospecify which module is to be removed. The deletion takes place without any furtherrequest for confirmation.

13.2.3.2.2 DeviceNet

With this choice it is possible to operate on the DeviceNet modules. The selectionsallowed are:

– Dvnet_mst (DeviceNet Master)

– Dvnet_sl (DeviceNet Slave)

Dvnet_mst

To operate on DeviceNet Master modules.

The user can make the following choices:

– Configure

– View

– Add Node

13-67HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

– Remove Node

– Modify

ConfigureTo configure the DeviceNet Master module and relevant slave modules, defining thenetwork addresses, the communication baud rate and the number of bytes sent to theI/Os.

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 systemdisplays the possible values.

– Starting address of command $WORD (CMD) [21..508] The program asks forthe $WORD address that contains the network management commands. A startindex of a block of 5 $WORDs has to be given, to be reserved for this function.

Once a DeviceNet Master network has been configured, if the'ConfiguraDeviceNetMaster' command is run again, the program asks if all thenetwork is to be reconfigured, or whether to just enable or disable thepre-existing network. In the first case the program deletes the previousconfiguration and allows a new one to be executed; in the second case, theprogram 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 theparagraph Reconfiguration/Enable/Disable).

13-68HS-0-C4E-USO_47.fm

01/0208

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. Theuser has to give the start index of a block of 5 $WORDs, to be reserved for thisfunction. The system proposes an address that immediately follows the command$WORD (eg.: if the command $WORDs started at address 30, for the status$WORDs the system suggests 35 as the start address).

– Alarm activation after reset? (Y/N) - The system asks whether the user, after thereset of an alarm generated by a network problem, wishes this alarm to begenerated again by the system itself. In any case, this mechanism is automaticallydisabled in the Programming mode (T1), allowing the motors to be powered oneven with the network only partly operational.

After the master configuration has been completed, the program asks several questionsfor the configuration of each separate slave:

– Number of slave modules to configure [0..32] Up to 32 slave modules can beconfigured. If the user specifies 0, this means that only general parameters are tobe 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 theseparate device.Example: if the logic address is 18, the data of the corresponding device is foundin $FBP_TBL[<num_board>].FB_MA_SLVS[18,<xxx>]

– Physical address [1..63] To set the physical address, on the network, of theindividual slave. This is not to be confused with the logic address, although the twovalues may be the same.With reference to the example above, the device at logic address 18 may have anyphysical address from 1 to 63: for example, 25.

NOTE: the user can choose addresses as desired, but it must be guaranteed thatthe space reserved for the command $WORDs does NOT interfere with thatreserved for the status $WORDs

13-69HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

– Configuration with file .eds? Through this command the module can beconfigured 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.

• If instead it is decided NOT to configure the module by .eds, file, the programwill 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 moduleat 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; bymeans of an opportune command, it will be possible to subsequently connect themand disconnect them.

– I/O Copy on $DIN/$DOUT or $WORD? (D/W) To choose whether to make theI/Os configuration with $DIN/$DOUT or by using the $WORD variables. In the lattercase the user $WORD start address is asked for, to be copied.

– (*) Vendor ID [1..999999]. A slave has an identification number that defines itstype. This value is to match with the value contained in the module configurationfile (‘.eds’ file).

– (*) Device Type. A slave has a number that defines the type of Device. This valuehas 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] To define the number of Bytesin input to the module.

The questions marked with (*) will NOT be asked.

13-70HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

– (*) Number of Output bytes of the module [0..32] To define the number of Bytesin output from the module.

– Bytes swap? (N/Y) The program asks if the inversion is to be made between highbytes and low bytes

– Do you want to change polling time? (N/Y) With this question the program asksif the polling time is to be managed. Generally, on DeviceNet, the I/O modulestransfer the data only when there are changes; this modality is called Change OfState (COS). The analog modules need to be continually updated and thereforetransfer the data in cycles (polling). The answer to this question must be affirmativefor the analog modules.

In the case of affirmation, the program asks for the insertion of a time between 10and 1000 milliseconds. This function is essential for analog DeviceNet modules.

Do you want to handle the quick connect option? (N/Y) Some DeviceNetmodules have a function called quick connect to cut down the connection timesof the module to the network. If an affirmative answer is given, the program asksfor the insertion of the quick connect attribute for the enabling. Before giving anaffirmative answer to this question, check that the module has this function and thatthe 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 nooverlaid blocks.

– Does the Comau’s application handle the module? The user is asked whetherthe slave module that is being configured is managed by an application suppliedby Comau. If it is, the system displays the applications available and asks the userto indicate which is the relevant one.

13-71HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

– The system shows the final screen page referring to the configuration executed.

ViewDisplays 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.

GeneralDisplays the module DeviceNet master General configuration.

SlavesDisplays the configuration of the configured slave modules.

13-72HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

The following question is asked:

– Slave module number: (MOD) [0 .. x] - the choice of 0 allows a summarising viewof all the configured slave modules. The choice of 'x' (where 'x' is the number of theconfigured slave module) allows access to a more detailed display of a specificmodule.

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 ofslaves to be added to the current configuration. (new-24)

– For each slave to be added, the program asks the user to enter the data neededfor 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 userhas to specify on which board this DeviceNet is installed.

The program displays the current list of slave modules and asks the user to indicatewhich is the slave module to be removed.

Removal takes place after confirmation from the user.

ModifyTo change the configuration of a DeviceNet board .

13-73HS-0-C4E-USO_47.fm01/0208

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 sameas 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 thelogic address of the individual slave, that is to say, the index used in the PDL2programs to have access to data that concerns the separate device. onwards) forthe 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 pointonwards, the C4G Control Unit, as slave module, will just be called slave. Theparameters that will be entered by the user are to be consistent with the configurationmade 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

ConfigureTo 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. Theparameters that will be entered by the user must be consistent with the configurationexecuted 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 thatis 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.

13-74HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

– Serial number This information is used by the master to acknowledge the deviceon the network, at diagnostic level. It is not vital for system operation. It is a goodpractice to have it coincide with the Control serial number.

– Baud Rate To declare the baud rate on the network, that has been set on themaster.

– Total number of bytes exchanged [2..32] The user is to specify how many bytesin all have been exchanged: n° user bytes +2 system bytes. Only the input bytesare 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 themaster 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 thefirst two output bytes assume status significance. The significance of each bitwithin the two command bytes and the two status bytes is described throughthe 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 willbe mapped on the $SDOUT ports. If the Control Unit is under remote control,the slave assumes the significance of primary slave, should there be severalslaves in the system.

• If a negative answer is given, all the bytes from and to the DeviceNet areavailable for the user. The system does not reserve any datum. The slaveassumes the significance of secondary slave.

Map fieldbus Slave on DIN/DOUT? (Y/N) To choose whether to make the I/Otransfer through $DIN/$DOUT or by using the $WORD variables. In the latter casethe $WORD start address is asked for, to be copied [21..512] and care must betaken that there are no overlaid blocks.

13-75HS-0-C4E-USO_47.fm01/0208

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 theoutputs and 8 $WORDs for the inputs, of which only the necessary part of the quotawill be used. For example, if the total number of bytes is 10 and the index of thefirst $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 allocationlogic.

– Bytes swap (N/Y): The program asks if the inversion is to be made between highbytes and low bytes.

Configuration example using $WORDs:

ViewDisplays the module DeviceNet Slave configuration. The system asks whether the slavemodule (C4G) is on board 1 or board 2.

EnableTo enable the C4G Controller as slave. When the user sends this command, the

13-76HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

following messages are shown:

DisableTo disable the C4G Controller, as slave. When the user sends this command, thefollowing message is shown:

Modify

To change the C4G slave parameters. First of all the user has to specify whether it is onboard 1 or board 2.

The program shows all the parameters of the C4G slave, previously configured, andallows 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 theprevious 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

ConfigureTo configure the Profibus Master module and the relevant slave modules, defining thenetwork addresses, the baud rate and the number of bytes for the I/Os.

13-77HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

First of all the user must specify whether the field bus is to be configured on board 1 oron 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 thenetwork.

– 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 forthe $WORD address that contains the network management commands. A startindex of a block of 5 $WORDs has to be given, to be reserved for this function.

Once a Profibus Master network has been configured, if the'ConfiguraProfibusMaster' command is run again, the program asks if all thenetwork is to be reconfigured , or whether to just to enable or disable thepre-existing network. In the first case the program deletes the previousconfiguration and allows a new one to be executed; in the second case theprogram asks whether the previously configured network is to be enabled ordisabled . This is valid for all types of field bus and is described in the paragraphReconfiguration/Enable/Disable).

13-78HS-0-C4E-USO_47.fm

01/0208

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. Theuser has to give the start index of a block of 5 $WORDs, to be reserved for thisfunction. The system proposes an address that immediately follows the command$WORD (eg.: if the command $WORDs started at address 30, for the status$WORDs the system suggests 35 as the start address).

– Alarm activation after reset? (Y/N) - The system asks whether the user, after thereset of an alarm generated by a network problem, wishes this alarm to begenerated again by the system itself. In any case, this mechanism is automaticallydisabled in the Programming mode (T1), allowing the motors to be powered oneven with the network only partly operational.

After the master configuration has been completed, the program asks several questionsfor the configuration of each separate slave:

– Number of slave modules to configure [1..32] Up to 32 slave modules can beconfigured. If the user specifies 0, this means that only the general parameters areto 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 theseparate device. Example: if the logic address is 27, the data of the correspondingdevice 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 theindividual slave. This is not to be confused with the logic address, although the twovalues may be the same. With reference to the above example, the device at logicaddress 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 beconfigured using the data present on its configuration file.

NOTE: the user can choose addresses as desired, but it must be guaranteed thatthe space reserved for the command $WORDs does NOT interfere with thatreserved for the status $WORDs

13-79HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

• If YES is chosen, the program asks for the name of the .gsd file relating tothe module to be configured (obviously this file must already be loaded onUD:\). 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 setautomatically by the .gsd file)

• If instead it is decided NOT to configure the module by .gsd file, theprogram will proceed with the manual configuration, asking all the followingquestions (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 beingconfigured.

– Is the module enabled at startup? (Y/N) To define the status of the slave moduleat 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; bymeans of an opportune command, it will be possible to subsequently connect themand disconnect them.

– (*) Transfer PLC data in WORD or Byte? (W/B) The program asks whether theslave, in its configuration, will exchange data in Word or in Byte; the current choiceis 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/Otransfer through $DIN/$DOUT or by using the $WORD variables. In the latter casethe $WORD start address is asked for, to be copied [21..512] and care must betaken that there are no overlaid blocks.

In the case of configuration with .gsd file, the questions marked with (*) will NOTbe asked.

13-80HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

– (*) Number of input bytes in the module [0..32] To define the number of Bytesin input to the module.

– (*) Number of output bytes in the module [0..32] To define the number of Bytesin output from the module.

– Bytes swap? (N/Y) The program asks if the inversion is to be made between highbytes and low bytes.

– Does the Comau’s application handle the module? The user is asked whetherthe slave module that is being configured is managed by an application suppliedby Comau. If it is, the system displays the applications available and asks the userto indicate which is the relevant one.

– After all the slave modules required by the user have been configured, the systemdisplays 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 proceedswith the questions needed for the reconfiguration

13-81HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

• But first of all asks whether the corresponding $DIN/$DOUT are to bedeleted.

• If the field bus is not to be reconfigured, the system will ask whether theProfibus Master network is to be enabled or disabled.

ViewDisplays 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

GeneralDisplays the Profibus General Master module configuration.

SlavesDisplays 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 viewof all the configured slave modules. ‘x’ is the number of slave files configured. Achoice other than 0 gives access to more detailed viewing of the module specifiedby the user.

Add NodeTo add a node to a previously configured Profibus Master.

13-82HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

– 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 ofslaves to be added to the current Profibus Master configuration.

– For each slave to be added, the program asks the user to enter the data neededfor its configuration.

– Upon termination the new configuration is displayed.

Remove nodeTo remove a node from a previously configured Profibus Master. First of all it isnecessary 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 indicatewhich slave module is to be removed.

Removal takes place after confirmation from the user.

ModifyTo 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 sameas the Profibus Master configuration (from Net address [1..63] onwards

– a single slave - the system presents the configuration data of the slave (startingfrom Logical address [1..32]: it is the logic address of the individual slave, that is tosay, the index used in the PDL2 programs to have access to data that concerns theseparate device.) and the user can change them.

13-83HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

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 thatwill be entered by the user must be consistent with the configuration executed on themaster 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 thatis 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. Thisaddress must coincide with the master network configuration.

– Total number of bytes exchanged [2..32] The user has to specify how manybytes in all have been exchanged: n° user bytes + 2 system bytes. Only the inputbytes 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 themaster 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 thefirst two output bytes assume status significance. The significance of each bitwithin the two command bytes and the two status bytes is described throughthe 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 willbe mapped on the $SDOUT ports. If the Control Unit is under remote control,

13-84HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

the slave assumes the significance of primary slave, should there be severalslaves in the system.

• If a negative answer is given, all the bytes from and to the DeviceNet areavailable for the user. The system does not reserve any datum. The slaveassumes the significance of secondary slave.

– Map fieldbus Slave on DIN/DOUT? (Y/N) To choose whether to make the I/Otransfer through $DIN/$DOUT or by using the $WORD variables. In the latter casethe $WORD start address is asked for, to be copied [21..512] and care must betaken 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 theoutputs and 8 $WORDs for the inputs, of which only the necessary part of the quotawill be used. For example, if the total number of bytes is 10 and the index of thefirst $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 allocationlogic.

– Transfer PLC data in WORD or Byte? (W/B) The answer to this questiondepends on how the Master has been configured; for example, if the Master hasbeen configured to transfer 8 input words and the Slave transfers a total of 16 inputbytes, the question must be answered with Word; if the Master has beenconfigured 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 highbytes and low bytes.

– Does the Comau’s application handle the module? The user is asked whetherthe slave module that is being configured is managed by an application suppliedby Comau. If it is, the system displays the applications available and asks the userto indicate which is the relevant one.

ViewDisplays the module Profibus Slave configuration

13-85HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

EnableTo enable the C4G Controller, as slave. When the user sends this command, thefollowing message is shown:

DisableTo disable the C4G Controller, as slave. When the user sends this command, thefollowing message is shown:

ModifyTo 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, andallows 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 allowedare:

– Ibus_mst

– Ibus_sl

13-86HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

Ibus_mst

To operate on Interbus Master modules and the associated slave modules, defining thenetwork addresses and the number of Bytes for the I/Os, and to display the currentconfiguration.

The user can make the following choices:

– Configure

– View

– Add node

– Remove node

– Modify

ConfigureTo configure the Interbus Master module and the associated slave modules, defining thenetwork addresses, the baud rate and the number of Bytes for the I/Os.

First of all the user has to specify whether the field bus is to be configures on board 1 orboard 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 managementcommands. A start index of a block of 5 $WORDs has to be given, to be reservedfor this function.

– Starting address of status $WORD (STS) [21..508]The program asks for the $WORD address that contains the informationconcerning the network status. The user has to give the start index of a block of 5

After an Interbus Master network has been configured, if the'ConfiguraInterbusMaster' command is run again, the program asks if all thenetwork is to be reconfigured , or whether to just to enable or disable thepre-existing network. In the first case the program deletes the previousconfiguration and allows a new one to be executed; in the second case, theprogram 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 theparagraph Reconfiguration/Enable/Disable.

13-87HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

$WORDs, to be reserved for this function. The system proposes an address thatimmediately follows the command $WORD (eg.: if the command $WORDs startedat address 67, for the status $WORDs the system suggests 72 as the startaddress).

– Alarm activation after reset? (Y/N) - The system asks whether the user, after thereset of an alarm generated by a network problem, wishes this alarm to begenerated again by the system itself. In any case, this mechanism is automaticallydisabled in the Programming mode (T1), allowing the motors to be powered oneven with the network only partly operational.

After the master configuration has been completed, the program asks a series ofquestions for the configuration of the slaves:

– Number of slave modules to configure [1..32] Up to 32 slave modules can beconfigured. If the user specifies 0, it means that only general parameters are to beentered 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 withPDL2 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 befound in $FBP_TBL[<num_board>].FB_MA_SLVS[22,<xxxx>].

– Physical address [1..32] To set the physical address, on the network, of theindividual slave. This is not to be confused with the logic address, although the twovalues may be the same. With reference to the above example, the device at logicaddress 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 bkmodule, that is, a module that does not exchange data, but serves to createbranches on the Interbus network.

– Module Identifier Slave has an identification number that defines the type. Thisvalue must be the same as that declared for the module being configured.

NOTE: the user can choose addresses as desired, but it must be guaranteed thatthe space reserved for the command $WORDs does NOT interfere with thatreserved for the status $WORDs

13-88HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

– Length code [1..65535] It is a plate datum for the slave module. For furtherinformation see the specific documentation of the slave device used.

– Is the module enabled at startup? (Y/N) To define the status of the slave moduleat 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; bymeans of an opportune command, it will be possible to subsequently connect themand disconnect them.

– I/O Copy on $DIN/$DOUT or $WORD? (D/W) To choose whether to make the I/Otransfer 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 ininput to the module.

– Number of output bytes in the module [1..32] To define the number of Bytes inoutput from the module.

– When inserting the $WORD starting address for copying [21..512] care must betaken that there are no overlaid blocks.

– Bytes swap? (N/Y) The program asks if the inversion is to be made between highbytes and low bytes

– Device Level? [0..15] The position of the module as to the master, i.e., how manybranches 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 programasks if the module is on branch 1 or 2. Obviously, this question is only asked if themodule is not active at the start.

ViewDisplays the module Interbus Master configuration

13-89HS-0-C4E-USO_47.fm01/0208

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

GeneralDisplays the module Interbus Master General configuration.

SlavesDisplays 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 viewof all the configured slave modules. Choice 1 allows access to a more detaileddisplay.

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 ofslaves to be added to the current configuration. (new-24)

– For each slave to be added, the program, asks the user to enter the data neededfor the configuration.

– Upon termination the new configuration is displayed.

Remove nodeTo remove a node from a previously configured Interbus Master. First of all it isnecessary that the user specifies on which board the Interbus module is installed.

13-90HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

The program displays the current list of slave modules and asks the user to indicatewhich slave module is to be removed .

Removal takes place after confirmation from the user.

ModifyTo 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 sameas 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

13-91HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

will be entered by the user must be consistent with the configuration executed on themaster 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 thatis on the FBP 1 board or on the FBP 2 board.

After the choice has been made, the following questions are asked:

– Total number of bytes exchanged [2..32] The user has to specify how manybytes in all have been exchanged: n° user bytes + 2 system bytes. Only the inputbytes 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 themaster 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 thefirst two output bytes assume status significance. The significance of each bitwithin the two command bytes and the two status bytes is described throughthe 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 willbe mapped on the $SDOUT ports. If the Control Unit is under remote control,the slave assumes the significance of primary slave, should there be severalslaves in the system.

• If a negative answer is given, all the bytes from and to Interbus are availablefor the user. The system does not reserve any datum. The slave assumes thesignificance of secondary slave.

– Map fieldbus Slave on DIN/DOUT? (Y/N) To choose whether to make the I/Otransfer through $DIN/$DOUT or by using the $WORD variables. In the latter casethe $WORD start address is asked for, to be copied [21..512] and care must betaken 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 theoutputs and 8 $WORDs for the inputs, of which only the necessary part of the quota

If bit 25 of $FB_CNFG[<fbp_num>,3] is set at 1, this means that the field bus boardhas an optic interface. In this case the user is asked to specify the baud rate(choice between 500kB and 2MB).

13-92HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

will be used. For example, if the total number of bytes is 10 and the index of thefirst $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 allocationlogic.

– Bytes swap? [N/Y] The program asks if the inversion is to be made between highbytes and low bytes

ViewDisplays the module Interbus Slave configuration.

EnableTo enable the C4G Controller as slave. When the user sends this command, thefollowing message is shown:

DisableTo disable the C4G Controller as slave. When the user sends this command, thefollowing message is shown:

ModifyTo change the parameters of the C4G slave.

First of all the user has to specify whether it is on board 1 or board 2.

13-93HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

The program shows all the previously configured parameters of the C4G slave, andallows 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) forthe I/Os.

The following questions are asked:

– Total number of bytes exchanged [2..32] The user has to specify how manybytes in all have been exchanged: n° user bytes + 2 system bytes. Only the inputbytes 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 themaster 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 thefirst two output bytes assume status significance. The significance of each bitwithin the two command bytes and the two status bytes is described throughthe 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 willbe mapped on the $SDOUT ports. If the Control Unit is under remote control,the slave assumes the significance of primary slave, should there be severalslaves in the system.

• If a negative answer is given, all the bytes from and to Ethernet are availablefor the user. The system does not reserve any datum. The slave assumes thesignificance of secondary slave.

– Map fieldbus Slave on DIN/DOUT? (Y/N) To choose whether to make the I/Otransfer through $DIN/$DOUT or by using the $WORD variables. In the latter casethe $WORD start address is asked for, to be copied and care must be taken thatthere are no overlaid blocks.

13-94HS-0-C4E-USO_47.fm

01/0208

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 theoutputs and 8 $WORDs for the inputs, of which only the necessary part of the quotawill be used. For example, if the total number of bytes is 10 and the index of thefirst $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 allocationlogic.

– Bytes swap? [N/Y] The program asks if the inversion is to be made between highbytes and low bytes.

View

Displays the configuration of the Ethernet Slave module, as shown in the example of thenext figure:

Enable

To enable the Ethernet Slave module. When the user sends this command, the followingmessage is displayed:

Disable

To disable the Ethernet Slave module. When the user sends this command, thefollowing message is displayed:

13-95HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

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 ofthem to be changed.

13.2.3.2.6 Clear

To reset the previous Fieldbus module configurations. It is always advised to run thiscommand when a Fieldbus is to be configured, to avoid problems with previousconfigurations 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 beconfigured.

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. Theprogram asks whether the robot alarm or the air alarm is to be configured, and whetherto activate or deactivate it.

13-96HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

13.2.3.3.2 Output

Manages the configuration of output 1 and output 2. The user is asked to specify whichoutput 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 indirect 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 bydefault. Through the program the stroke_ends can be activated/deactivated. Theprogram 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. Throughthe program the brakes can be activated/deactivated. The program asks which axis isto be enabled or disabled.

13-97HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

13.2.3.3.6 Sik

Manages the configuration and the display of the signals $SDIN/$SDOUT relating to thesik devices. A Sik device can be activated on either the auxiliary axes or the robot axes. TheIO_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_INSTprogram 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 USERBefore starting the configuration of a Sik, it is recommended to use the Visualcommand to be aware of the current configuration and to avoid the unintentionalloss of pre-existing configurations or the execution of a configuration on aninconsistent system.The Configure command is to be used, not only to execute an Input/Outputconfiguration, but also to check the configuration regarding the arms/axes. .Only when this is as it should be, the user can start to configure thecorresponding Inputs/Outputs, guided by the program itself.On the other hand, if the current configuration is not correct, the user is stronglyrecommended to carry out a cleaning operation before starting a newconfiguration.

13-98HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

Configure

The purpose of this operation is to connect the physical image of the sik axes signalswith the corresponding $SDIN and $SDOUT.

The program displays the arms and the related Sik, then asks which arm is to beconfigured,

and then on which fieldbus the $SDIN/$SDOUT ports are to be mapped. The sik axescan be configured on CAN modules, DeviceNet Master, Profibus Master and InterbusMaster.

Before configuring the I/O signals, the Sik device has to be enabled on the SETUPpage of the Teach Pendant (par. 6.16.2.5 Sik on page 6-142) and consulted theGuide to Integration, Safeties, I/O, Communications manual.

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.

13-99HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

If the selected Fieldbus is NOT CAN, the user must indicate on which board the requiredmodule 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 bemapped close to each other. The program suggests the pin foreseen by the physicalconnections 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 tobe 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 .

Upon termination, the configuration obtained is displayed. The following figure shows aconfiguration example with one arm and one auxiliary axis.

HARDWARE-SOFTWARE MAPPING STANDARDIt is strongly recommended to follow the hardware-software mapping standardsuggested by the tool itself, that regarding the assignment of the pins, is basedon the following logic: increasing order of Arm and, for each Arm, pairs of SikRobot I/O plus pairs of Sik auxiliary axes I/OExample: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 theconfiguration that is translated into a more accurate maintainability andmanagement..

13-100HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

Visual.

If Visual is chosen, the program asks which arm is to be viewed. A screen is thendisplayed listing the signals relating to the sik axes with the corresponding position onthe Fieldbus chosen for the configuration.

In the examples shown in the figures that follow, the configurations display respectivelythe configuration relating to an arm (in fact signals $SDIN and $SDOUT are between25 and 32) and the configuration relating to an auxiliary axis (in fact signals $SDIN and$SDOUT are between 65 and 96).

13-101HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

Clear

If Reset is chosen the sik axes of a certain arm are deleted. The program asks for whichARM the configuration is to be deleted. Before starting the deletion a confirming promptis displayed.

13.2.3.3.7 Ieak

Through this submenu the I/O configuration for rotary tables can be managed, with theIeak option (Interlock External Axes Kit). The maximum number of arms (and thereforeof rotary tables) that can be managed is 4.

The following commands are available:

– Configure

– View

– Reset

Before configuring the I/O signals, the Ieak device has to be enabled on theSETUP page of the Teach Pendant.

NOTE FOR THE USERBefore starting the configuration of a leak, it is recommended to use the Visualcommand to be aware of the current configuration and to avoid the unintentionalloss of pre-existing configurations or the execution of a configuration on aninconsistent system.The Configure command is to be used, not only to execute an Input/Outputconfiguration, but also to check the configuration regarding the arms/axes. Only when this is as it should be, the user can start to configure thecorresponding Inputs/Outputs, guided by the program itselfOn the other hand, if the current configuration is not correct, the user is stronglyrecommended to carry out a cleaning operation before starting a newconfiguration.

13-102HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

Configure

The user has to indicate the field bus to be used for the configuration of the rotary tablesdefined by the system.

According to the type of field bus chosen, the following situations are possible, which arediffer from each other:

– CAN

– Other interfaces (Profibus, DeviceNet, Interbus)

CAN

The user is asked to enter the number of the CAN module required, from those currentlyconfigured. Having received this information, the system configures the I/Os relating tothe rotary tables on the specified CAN module.

To check the configuration executed, use the View command.

Other interfacesAs an example, configuration on the Interbus module is described.

The system uses the previously configured Interbus slave module, to map the I/Os

13-103HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

relating to the external signals available. Vice-versa, the internal signals are alwaysto be configured on a CAN module; if these signals have already been configured ona CAN module, this module is taken automatically by the system.

If the internal signals have never been configured, the system displays the configuredCAN 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 shownin figure:

and the $SDOUT ports:

A detailed description follows for each of the items displayed:

13-104HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

View

When the user asks to view the rotary table configuration, the system displays insequence 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 thecontrol can be configured.

The program configures the Hand on the active ARM. If it is wished to configure on

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)

type of signal:– 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.

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.

13-105HS-0-C4E-USO_47.fm01/0208

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 tobe configured can be indicated.

Once it has been decided which Hand is to be configured, the program presents a newmenu 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 decidedwhether to map the Hand output on a $DOUT variable or on a $WORD. If the firstchoice is made, the program asks for the index of the $DOUT port where the outputis to be mapped [1..512]; for the second choice the program asks for the index ofthe $WORD where the output is to be mapped [21..512] and the index of the bit[1..16].

13-106HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

– Open hand Output 1(T/F) The program now asks to indicate whether the signalcorresponding 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 willbe 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 forthe impulse duration (between 10 and 10000 ms).

13-107HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

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 thetime 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.

13-108HS-0-C4E-USO_47.fm

01/0208

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 ofthese files, the user always has a track of the current configurations.

13.2.5 Quit

The Quit command quits the I/O Configuration Tool (IO_INST) program, asking whetheror 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, forAuxiliary Axis 8 of Arm 1.

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

13-109HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

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 theconfiguration, at Arm and Auxiliary Axes level (see string highlighted in red inFig. 13.61).

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 thecurrent configuration, by means of the ConfigureControllerView command fromWinC4G (as shown in Fig. 13.58, Fig. 13.59, Fig. 13.60 and Fig. 13.61), or usingService Page, SysInfo sub-page, from the Teach Pendant (see Fig. 13.62). If the current configuration is not the required one, please contact ComauRobotics.

13-110HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

Fig. 13.61 - ConfigureControllerView command - 4

If instead it is wished to use the Teach Pendant, choose the SysInfo sub-page fromService 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 Sikdevice.

Our example starts from a system where the Fieldbus for the Sik configuration has NOTbeen configured.

a. Required Fieldbus configuration - on the main screen page of IO_INST, issue theFieldbus (F2) command, as shown in Fig. 13.63.

WARNING! It is up to the user to check whether it corresponds to the actualsystem. In case of misalignment, please contact Comau.

It is recommended to check the current situation of the required fieldbus and ofthe Sik device, before starting the configuration. This is advised in order to startfrom a consistent situation. If necessary reset the previous configurations.

13-111HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

Fig. 13.63 - Fieldbus configuration

b. Choice of FieldbusType - from the possible choices offered by the program, selectthe 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 inFig. 13.65.

Fig. 13.65 - Can module addition

d. Physical address - on the screen page shown in Fig. 13.66, enter the networkaddress of the I/O module to be configured. For the Sik device on Can Bus, it issuggested to use address 26.

Fig. 13.66 - I/O module physical address

13-112HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

e. The program displays the logical address, the physical address and the chosenmodule 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. Fromthe main IO_INST screen page, send the DSA (F3) command, as shown inFig. 13.68.

Fig. 13.68 - DSA configuration

g. Access to the section relating to Sik - enter the Sik (F6) command, as shown inFig. 13.69.

Fig. 13.69 - Sik command

h. Sik configuration - from the different functions shown on the screen page inFig. 13.70, choose Configure (F1).

For any further information about the choice of the network address (physical),see the Integration guidelines, Safeties, I/O, Communications Manual - Par. Interfacingwith CAN Network and parallel I/O.

13-113HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

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

j. Choice of Fieldbus - insert the identification (from 1 to 4) of the Fieldbus where theSik device is to be configured. In our example, the choice is CAN Bus (ID '1') (seeFig. 13.72, fields highlighted in red). Press ENTER.

WARNING! If the active Arm is NOT the one where it is wished to configure theSik, this means that the configuration file is not consistent with the actualsituation.In this case, suspend the procedure and contact Comau.

13-114HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

Fig. 13.72 - Choice of Fieldbus

k. Press ENTER again to continue.

l. $SDIN mapping - The program displays the current hardware-software mapping,i.e. the current configuration of the Sik (see Fig. 13.73). Before continuing, readwith attention the note concerning the HARDWARE-SOFTWARE MAPPINGSTANDARD.If all the PINS are available, choose PIN 1 to associate the two SDIN (see fieldhighlighted in red Fig. 13.73). Press ENTER.

Fig. 13.73 - $SDIN mapping

m. $SDOUT mapping - If available, choose PIN 32 to associate the two SDOUT (seefield highlighted in red in Fig. 13.74). Press ENTER.

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 whichPINS to associate to the two SDIN and to the two SDOUT.

13-115HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

Fig. 13.74 - $SDOUT mapping

n. Final configuration display - the program displays the configuration prepared forthe 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.

13-116HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

Fig. 13.77 - Prompt for Save operation

q. The system displays a message to inform that saving has taken place (seeFig. 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_INSTprogram 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 withoutdeleting 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

13-117HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

Arm 1, Axis 8.

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 theconfiguration, at Arm and Auxiliary Axes level (highlighted in red in Fig. 13.84).

The possibility to configure a Ieak device on a certain Arm depends on thecharacterization file: the user is recommended to check the current configurationusing the ConfigureControllerView command from WinC4G (as shown inFig. 13.81, Fig. 13.82, Fig. 13.83 and Fig. 13.84), or using Service Page, SysInfosub-page, on the Teach Pendant (see Fig. 13.85). If the current configuration is not the required one, please contact ComauRobotics.

13-118HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

Fig. 13.84 - ConfigureControllerView command - 4

If instead it is wished to use the Teach Pendant, call the SysInfo sub-page from ServicePage (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 aIeak device.

Our example starts from a system where the Fieldbus for the Ieak configuration hasNOT been configured.

a. Required Fieldbus configuration - on the main screen page of IO_INST, send theFieldbus (F2) command, as shown in Fig. 13.86.

WARNING! It is up to the user to check whether it corresponds to the actualsystem. In the case of misalignment, contact Comau.

It is recommended to check the current situation of the required fieldbus and ofthe Ieak device before starting the configuration. This is advised so as to startfrom a consistent situation. If necessary reset the previous configurations.

13-119HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

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 aCan (F1) module.

Fig. 13.87 - Choice of module Type

c. Addition of Can module - send the Add.Mod (F3) command, as shown inFig. 13.88.

Fig. 13.88 - Adding Can module

d. Physical address - on the screen page shown in Fig. 13.89, enter the networkaddress of the I/O module to be configured. For the Ieak device on Can Bus, it issuggested to use address 25.

Fig. 13.89 - I/O module physical address

13-120HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

e. The program displays the logic address, the physical address and type of modulechosen (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. Fromthe main IO_INST screen page, send the DSA (F3) command, as shown inFig. 13.91.

Fig. 13.91 - DSA configuration

g. Access to the section related to Ieak - enter the Ieak (F7) command, as shown inFig. 13.92.

Fig. 13.92 - IEAK command

h. Ieak configuration - from the different functions shown on the screen page inFig. 13.93, choose Configure (F1).

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.

13-121HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

Fig. 13.93 - Ieak configuration

i. Choice of Fieldbus - the program indicates the Arm on which a rotating Table ispresent in the configuration file (see Fig. 13.94). It is the task of the user to checkthat this information is correct.

Specify on which interface the I/O related to the Ieak are to be managed. In ourexample CAN Bus has been chosen (highlighted in red in Fig. 13.94). Make thechoice and press ENTER.

Fig. 13.94 - Choice of Fieldbus

j. Chosen interface display - the program displays the logic address, the physicaladdress and module Type (see Fig. 13.95); press ENTER again to continue.

Fig. 13.95 - Fieldbus display

WARNING! If the Arm rerelated to the rotating Table is NOT the one where it iswished to configure the Ieak, this means that the configuration file is notconsistent with the actual situation. Suspend the procedure and contact Comau.

13-122HS-0-C4E-USO_47.fm

01/0208

IO_INST Program - I/O configuration

k. $SDIN/$SDOUT mapping - The program automatically maps the four $SDIN andtwo $SDOUT needed to manage the Ieak, and displays the final configuration (seeFig. 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 anaffirmative 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 (seeFig. 13.99). Press ENTER to return to main screen page.

Fig. 13.99 - Saving executed

13-123HS-0-C4E-USO_47.fm01/0208

IO_INST Program - I/O configuration

o. Exit from IO_INST - after Ieak has been configured, to exit from the IO_INSTprogram 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

13-124HS-0-C4E-USO_47.fm

01/0208

Hints for the I/O software configuration

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 useThe I/O boards (DNP, PFP, IBC/O, C4G-DI3 and ADI) are to be configured with thespeed 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 bematched 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 isnecessary to execute Copying I/O points.

All configurations set through the values in the System Variable have to be savedin the .C4G configuration file using CONFIGURE SAVE ALL (from the TP in theSetup page, par. 6.16.1 Config. Function on page 6-130); subsequently to make itoperative, a system restart is necessary (from Teach Pendant , in the Home Page:Restart - par. 6.7.3.1 Complete (CCRC) on page 6-46).

14-1HS-RC-C4E-GIT_16.fm00/0708

Hints for the I/O software configuration

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 theboard. The board installed farthest to the left is named as board index 1, the secondboard if installed is named with index 2. This index allows access to the table $FBP_TBL[<number_FBP>] that contains theconfiguration 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, thereforethe configuration table is $FBP_TBL[2]

The types of fieldbuses, called protocols, that are available on the Robot controller arecoded 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 $FBP_TBL is to correspond to the type of board detectedinside the controller; that is to say, if the Profibus is declared on board N° 1,$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 thatthere is typically a device which acts as MASTER and one or more devices that act asSLAVE. The master is responsible for the network management and to activatecommunications. 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 underthe control of a PLC Master functioning as cell controller.

– Master configuration. An example, the master like any other participant on thenetwork has a univocal network address that identifies it.

– External Slave(s) Configuration. The external slaves are devices connected to theC4G controller that acts as MASTER.

14-2HS-RC-C4E-GIT_16.fm

00/0708

Hints for the I/O software configuration

However, it is possible to configure the internal C4G slave as part of an external slaveof 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 assumesdifferent significances according to the protocol, this is clearly underlined.

Tab. 14.1 - Common settings

Pos. array Bit Description

[1] - General configuration options for internal slave.1 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).

2 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.

3 Reserved4 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.

5 Reserved7 Reserved9 Reserved10 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).

16..11 Reserved32..20 Reserved

[2..9] - 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

[10..20] - Reserved

14-3HS-RC-C4E-GIT_16.fm00/0708

Hints for the I/O software configuration

Tab. 14.2 - Settings for DeviceNet field bus

Pos. array Bit Description

[1] - No specific information.[2] - Baud Rate

– 1: 125 Kbit– 2: 250 Kbit– 3: 500 Kbit

[3] - Network address. Valid addresses are in the range 0..63.[4] - Vendor ID[5] - Product Code[6] - Number of user bytes exchanged with Master PLC. The slave

C4G exchanges a number of inputs equal to the number of outputs.

[7] - Reserved[8] - $WORD block starting index. The index is only necessary if bit 4

of the first element is set to 1. [9] - Controller Serial Number

[10..20] - Reserved

Tab. 14.3 - Settings for Profibus field bus

Pos. array Bit Description

[1] - Specific configuration options for Profibus5..1 See Tab. 14.1 - Common settings

6 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).

7 See Tab. 14.1 - Common settings8 If set to 1 the consistency is enabled on the entire block of

transferred data. If set to 0 consistency is not guaranteed.16..9 See Tab. 14.1 - Common settings19..17 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

[2] - Reserved[3] - Network address. Valid addresses are in the range 3..126[4] - Slave ID. The number that identifies the C4G controller on

profibus.

14-4HS-RC-C4E-GIT_16.fm

00/0708

Hints for the I/O software configuration

[5] - 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

4..1 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.

5 If set to 1 it is an input module, if set to 0 it is an output module.[6] - Number of user bytes exchanged with Master PLC. The C4G

slave exchanges a number of inputs equal to the number of outputs.

[7] - Reserved[8] - $WORD block starting index. The index is only necessary if bit 4

of the first element is set to 1. [9] - Reserved

[10..20] - Reserved

Tab. 14.4 - Settings for Interbus-S field bus

Pos. array Bit Description

[1] - No specific information.[2] - Reserved[3] - Reserved[4] - Device ID code.[5] - Product Code[6] - Number of user bytes exchanged with Master PLC. The C4G

slave exchanges a number of inputs equal to the number of outputs.

[7] - Reserved[8] - $WORD block starting index. The index is only necessary if bit 4

of the first element is set to 1.[9..20] - reserved

Tab. 14.3 - Settings for Profibus field bus (Continued)

Pos. array Bit Description

14-5HS-RC-C4E-GIT_16.fm00/0708

Hints for the I/O software configuration

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 assumesdifferent significances according to the protocol, this is clearly underlined.

Tab. 14.5 - Common settings

Pos. array Bit Description

[1] - General configuration options for the master1 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).

3 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.

[2] - Baud Rate.[3] - Master network address.[4] - Reserved.[5] - 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).

[6] - 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).

[20..7] - Reserved.

14-6HS-RC-C4E-GIT_16.fm

00/0708

Hints for the I/O software configuration

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

Tab. 14.6 - DeviceNet

Pos. array Description

[2] Baud Rate– 1: 125 Kbaud– 2: 250 Kbaud– 3: 500 Kbaud

Tab. 14.7 - Profibus

Pos. array Description

[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.

Tab. 14.8 - Interbus

Pos. array Description

[2] Baud Rate. The Baud Rate is automatically determined by the system. Therefore this element does not have to be configured.

14-7HS-RC-C4E-GIT_16.fm00/0708

Hints for the I/O software configuration

images. There is no connection between the slave declaration index and the networkaddress. The declaration index is a logic information.

The following table shows the significance of each element. If the variable assumesdifferent significances according to the protocol, this is clearly underlined.

Tab. 14.9 - Common settings

Pos. array Bit Description

[1] - General configuration options for the external slave1 Reserved.2 Reserved.3 Reserved.4 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.

5 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.

7 Reserved.10 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).

32..11 Reserved.[2] - Number of input bytes exchanged with the master.[3] - Network address.[6] - Code management commands application.[7] - Reserved.[8] - $WORD block starting index. The index is only necessary if bit 4

of the first element is set to 1.[9] - Number of output bytes exchanged with the master.

Tab. 14.10- DeviceNet

Pos. array Description

[4] Vendor Id.[5] Product code.[7] Product Type.

14-8HS-RC-C4E-GIT_16.fm

00/0708

Hints for the I/O software configuration

Tab. 14.11- Profibus

Pos. array Bit Description

[1] - Specific configuration options for Profibus external slave6 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).

8 If set to 1 the consistency is enabled on the entire block of transferred data. If set to 0 consistency is not guaranteed.

[4] - Node ID.[10] - 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.

[11] - Contains an extension of the previous field.[12] - 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.

[16..13] - Contains an extension of the previous field.

Tab. 14.12- Interbus

Pos. array Description

[4] Node ID code.[5] Data length code.

14-9HS-RC-C4E-GIT_16.fm00/0708

Hints for the I/O software configuration

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:

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 Description

7..1 Reserved10..8 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.11 Reserved12 Set by the system when the interface is primary.

23..13 Reserved24 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 protocol32..25 Reserved

Bit Description

6..1 Reserved7 The interface has been configured correctly.

11..8 Reserved12 Set by the system when the interface is primary.

22..13 Reserved23 The slave interface has been configured correctly.24 The master interface has been configured correctly.25 Optic interface for FBP Interbus board [3]

29..26 Reserved30 An FBP board with this protocol has been found inside the control.

32..31 Reserved

14-10HS-RC-C4E-GIT_16.fm

00/0708

Hints for the I/O software configuration

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 becomeoperational:

$DIN$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 theconfiguration 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 inVP2 or the IO_INST Program - I/O configuration. To configure the Fieldbus on which I/Os are later mapped, use the FB_TOOLprogram for configuration of Fieldbus.

14-11HS-RC-C4E-GIT_16.fm00/0708

Hints for the I/O software configuration

Each $CIO_DIN/DOUT/AIN/AOUT element is structured as follows:

Tab. 14.13- $CIO_DIN/DOUT/AIN/AOUT/FMI/FMO structure

Pos. array Bit Description

[1] - Configuration options2..1 Can assume the following significances:

– 0 - I/O point not configured– 1 - Physical I/O point– 2 - Virtual I/O point.

8..3 Reserved.12..9 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

13 Reserved.14 Only for $SDOUT. A PDL2 program can write.15 Only for retentive $DOUT / $AOUT.16 Reserved.

23..17 Reserved30..24 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.

32..31 Reserved.[2] - 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.

14-12HS-RC-C4E-GIT_16.fm

00/0708

Hints for the I/O software configuration

The input and output groups may consist of one or two homogeneous groups ofcontiguous digital I/O points. The size of a group is 16 bits.

For example:

Each $CIO_GIN/GOUT element is structured in the following manner:

[3] - 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:

Valid for Profibus Master, DeviceNet Master, Interbus Master8..1 Index of node in $FBP_TBL[ ].FB_MA_SLVS[<index>,...]. In fact,

this identifies the device that this I/O point belongs to16..9 Index of FBP where the master is installed that controls the node

this I/O point belongs to32..17 Index of physical bit in the sequence of data that belongs to the

node.Valid for Profibus Slave, DeviceNet Slave, Interbus Slave

8..1 Reserved.16..9 Index of FBP where the slave is installed that this I/O point

belongs to.32.17 Index of physical bit in the sequence of data that belongs to the

node.Valid for Can Bus Digital I/O

8..1 Index of node in $FBP_TBL[ ].FB_MA_SLVS[<index>,...]. In fact, this identifies the device that this I/O point belongs to.

16..9 Index (4) of $FBP_TBL table reserved for the CAN Net Master.32..17 Index of the physical bit in the sequence of data belonging to the

node.[4] - 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.[5] - Reserved.[6] - Reserved

Tab. 14.13- $CIO_DIN/DOUT/AIN/AOUT/FMI/FMO structure (Continued)

Pos. array Bit Description

$GIN[3]

$DIN[11..2] $DIN[29..23]

14-13HS-RC-C4E-GIT_16.fm00/0708

Hints for the I/O software configuration

In the example, the size of the first group is 6 (from 23 to 29), the size of the secondgroup is 10 (from 2 to 11), the starting index of the first group is 23, the starting index ofthe 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 inAUTOMATIC/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 commandword, whereas in output from the controller the first 16 bits are reserved for the outputcommand word.

There are two system variables that can connect each bit of the command word to thesystem 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

Tab. 14.14- $CIO_GIN/GOUT structure

Pos. array Bit Description

[1] 8..1 Group index. The group index does not necessarily coincide with the $CIO_GIN/GOUT index.

14..9 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.

15 For retentive $GOUT.16 Reserved.

24..17 Number of digital points that are part of the first group. 32..25 Number of digital points that are part of the second group.

[2] 16..1 Starting index of the first I/O point that is part of the first group.32..17 Starting index of the first I/O point that is part of the second group

$SYS_INP_MAP[16,xxx]

16 15 13 12 11 10 9 8 7 6 5 4 3 21414 1

$SYS_INP_MAP[1,xxx]

14-14HS-RC-C4E-GIT_16.fm

00/0708

Hints for the I/O software configuration

The structure is as follows:

For $SYS_INP_MAP where $SDIN is used, the range of allowed indexes is from 145 to154 that are the system inputs reserved for remote interfacing.

The internal slave that imports/exports the data from and for the command words isdeclared primary slave. Therefore when configuring the primary slave it must beexplicitly declared that it is to handle the system command words (1 in input and 1 inoutput). Since the command word is composed of 16 bits, 2 bytes, they are to becumulated to the number of user bytes to be transferred. Some examples:

– Primary interface + 4 user bytes. This means that the internal slave will transferfrom 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 transferfrom and to the PLC, 16 bytes in input and 16 bytes in output. If the PLC isconfigured 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 andthe $SDIN/SDOUT indexes, the user can freely construct the profile of the commandword.

Tab. 14.15- $SDIN / $SDOUT structure

Pos. array Bit Description

[1] 16..1 Index of $SDIN or $SDOUT matched to the command word bit.17 If set to 1, it indicates whether port $SDIN/$SDOUT is to be

inverted in copy phase.32..18 Reserved.

[2] 8..1 Reserved.16..9 Type of port. It must be set to

– 1 for $DIN,– 2 for $DOUT,– 9 for $SDIN, – 10 for $SDOUT.

32..17 Reserved.

14-15HS-RC-C4E-GIT_16.fm00/0708

Hints for the I/O software configuration

The C4G system proposes its profile for compatibility with the C3G controller thatcouples:

In practice, the system proposes a profile 1:1 between the position of the bits in thecommand word and the sequence of the $SDIN/$SDOUT starting from index 145.

To know the significance of the $SDIN/$SDOUT see the PDL2 manual.

Tab. 14.16- C4G comparison with C3G

C4G C3G Signal

Input$SYS_INP_MAP[1,...] $SDIN[145] Drive ON

$SYS_INP_MAP[2,...] $SDIN[146] Not drive off

$SYS_INP_MAP[3,...] $SDIN[147] Start

$SYS_INP_MAP[4,...] $SDIN[148] Not Hold

$SYS_INP_MAP[5,...] $SDIN[149] U1

$SYS_INP_MAP[6,...] $SDIN[150] U2

$SYS_INP_MAP[7,...] $SDIN[151] U3

$SYS_INP_MAP[8,...] $SDIN[152] U4

$SYS_INP_MAP[9,...] $SDIN[153] Cancel Alarm

$SYS_INP_MAP[10,...] $SDIN[154] Safety Speed

Output$SYS_OUT_MAP[1,...] $SDOUT[145] Not Alarm

$SYS_OUT_MAP[2,...] $SDOUT[146] Drives-on / not drives-off

$SYS_OUT_MAP[3,...] $SDOUT[147] Start / not hold in running

$SYS_OUT_MAP[4,...] $SDOUT[148] Remote

$SYS_OUT_MAP[5,...] $SDOUT[149] Teach enable (DRI.ON+T1/T2)

$SYS_OUT_MAP[6,...] $SDOUT[150] U1

$SYS_OUT_MAP[7,...] $SDOUT[151] U2

$SYS_OUT_MAP[8,...] $SDOUT[152] U3

$SYS_OUT_MAP[9,...] $SDOUT[153] U4

$SYS_OUT_MAP[16,...] $SDOUT[160] Heart Bit

14-16HS-RC-C4E-GIT_16.fm

00/0708

Hints for the I/O software configuration

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 imagein 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 imagein input is updated according to the actual external image and its actual image in outputis updated according to the value that its logic image assumes. Therefore it is notgenerally 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 controllermenu, 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 isthat 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 anyaccess from PDL2 will not change the physical image.

If an input simulated status is set, it is as if there were the disconnection of theconnection with the updating of its physical image. Thus the input assumes the value itwas 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 thiscase, it changes its image to all effects.

If an output simulated status is set, it is as if there were the disconnection of theconnection 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 ofstatus, 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 canco-exist together.

14.3.4 Copying I/O points

The system integrates a copying mechanism to transfer the value of an I/O point toanother without the need of a PDL2 program to make the copy. It is therefore anautomatic 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:

14-17HS-RC-C4E-GIT_16.fm00/0708

Hints for the I/O software configuration

If the destination foresees a digital input, it is necessary that this has been declaredvirtual or is simulated, otherwise the operation is not possible.Analog values can be copied between each other, and the same applies for digitalvalues. It is possible to assign a bit with an analog value (e.g. bit 3 of $WORD[100]) toa 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.

Tab. 14.17- $CIO_CROSS structure

Pos. array Bit Description

[1] - Operation25 If set to 1, the copy operation is to be made inverted.

[2] 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*/

[3] - Source port index:16..1 Port index.24..17 Position of bit 1..16.32..25 Reserved.

[4] - Type of destination port[5] - Destination port index

16..1 Port index.24..17 Position of bit 1..16.32..25 Reserved.

14-18HS-RC-C4E-GIT_16.fm

00/0708

Hints for the I/O software configuration

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

Tab. 14.18- Destinations that ARE / ARE NOT allowed

Source

DIN

DOUT

GIN

GOUT

AIN

AOUT

BIT

WORD

SDIN

SDOUT

FDIN

FDOUT

IN

OUT

FMI

FMO

Des

tinat

ion

DIN Y Y Y Y N N Y Y Y Y Y Y Y Y N NDOUT Y Y Y Y N N Y Y Y Y Y Y Y Y N NGIN N N N N Y Y N N N N N N N N N NGOUT N N Y N Y Y N N N N N N N N N NAIN N N N N N N N N N N N N N N N NAOUT N N N N Y Y N N N N N N N N N NBIT Y Y N N N N Y Y Y Y Y Y Y Y N NWORD Y Y Y Y N N Y Y Y Y Y Y Y Y N NSDIN N N N N N N N N N N N N N N N NSDOUT N N N N N N N N N N N N N N N NFDIN N N N N N N N N N N N N N N N NFDOUT N N N N N N N N N N N N N N N NIN Y Y Y Y N N Y Y Y Y N N Y Y N NOUT Y Y Y Y N N Y Y Y Y N N Y Y N NFMI Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y YFMO Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y

14-19HS-RC-C4E-GIT_16.fm00/0708

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

14-20HS-RC-C4E-GIT_16.fm

00/0708

Hints for the I/O software configuration

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 nodewhen 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 anyposition of the network, whereas the removal of a node with Interbus-S protocolexcludes 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 commandwords. During the configuration the index of the first word is required, the others areassigned automatically.

To configure the I/O ports, use either the IO_TOOL Program - I/O Configuration inVP2 or the IO_INST Program - I/O configuration. To configure the Fieldbus on which I/Os are later mapped, use the FB_TOOLprogram for configuration of Fieldbus.

Tab. 14.19- Command Words used for the dynamic connection and disconnection of the node

Word Use Bits used

IType of command requested, typically referred to the node indicated in the IV word

Bit 1: Start communication Bit 2: Stop communicationBit 3: Reset node (valid on DeviceNet or CAN Bus)Bit 4: Start nodeBit 5: Stop nodeBit 6: Reset alarms on all network nodes (valid on Interbus-S)Bit 7..16: Reserved

II The command in execution can be viewed -

III The command can be viewed after execution -

IV Node logic address to which the command is to be sent -

14-21HS-RC-C4E-GIT_16.fm00/0708

Hints for the I/O software configuration

14.4.2 Status Words

To know the status of a node, the Master channel uses 4 consecutive words. During theconfiguration the index of the first word is required, the others are assignedautomatically.

To configure the I/O ports, use either the IO_TOOL Program - I/O Configuration inVP2 or the IO_INST Program - I/O configuration. To configure the Fieldbus on which I/Os are later mapped, use the FB_TOOLprogram for configuration of Fieldbus.

Tab. 14.20- Status words used to know the status of a node

Word Use Bits used

I Master status

Bit 1..4: ReservedBit 5: If at 1, the master is active and manages the network I/OsBit 6: If at 1, master successfully configured.Bit 7..16: Reserved

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

-

III

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.

Bit 1: Status of logic node 1Bit 2: Status of logic node 2Bit 3: Status of logic node 3Bit 4: Status of logic node 4.....Bit 16: Status of logic node 16

IV

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.

Bit 1: Status of logic node 17Bit 2: Status of logic node 18Bit 3: Status of logic node 19Bit 4: Status of logic node 20.....Bit 16: Status of logic node 32

14-22HS-RC-C4E-GIT_16.fm

00/0708

Hints for the I/O software configuration

14.4.3 Node connection procedure

Step 1Enter the logic address in the variable:$WORD[$FBP_TBL[idx*¹].FB_MA_INIT[5] + 3]

Step 2– Reset stop nodeBIT_CLEAR($WORD[$FBP_TBL[idx*¹].FB_MA_INIT[5]], 5)– Set start nodeBIT_SET($WORD[$FBP_TBL[idx*¹].FB_MA_INIT[5]], 4)

Step 3Wait 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*¹].FB_MA_INIT[6] + 2]– if the logic address of the node is> 16$WORD[$FBP_TBL[idx*¹].FB_MA_INIT[6] + 3]

Step 5: Connection has taken place successfully.– Reset start node:BIT_CLEAR($WORD[$FBP_TBL[idx*¹].FB_MA_INIT[5]], 4)– Reset start node in the word of the commands executed:BIT_CLEAR($WORD[$FBP_TBL[idx*¹].FB_MA_INIT[5]+2], 4)– Reset address of logic node:$WORD[$FBP_TBL[idx*¹].FB_MA_INIT[5] + 3]

Step 4Wait:– 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– Reset start node:BIT_CLEAR($WORD[$FBP_TBL[idx*¹].FB_MA_INIT[5]], 4)– Reset start node in the word of the commands executed:BIT_CLEAR($WORD[$FBP_TBL[idx*¹].FB_MA_INIT[5]+2], 4)– Reset address of logic node:$WORD[$FBP_TBL[idx*¹].FB_MA_INIT[5] + 3]

*¹ idx: “ai_board_idx” that is to say, the number of the board according to the position occupied in the RPU module slot.

Step 1

Step 2

Step 3

Step 4

N

N

Y

Y

Step 5

End

Step 6

14-23HS-RC-C4E-GIT_16.fm00/0708

Hints for the I/O software configuration

14.4.4 Node disconnection procedure

Step 1Enter the logic address in the variable:$WORD[$FBP_TBL[idx*¹].FB_MA_INIT[5] + 3]

Step 2– Reset start nodeBIT_CLEAR($WORD[$FBP_TBL[idx*¹].FB_MA_INIT[5]], 4)– Set stop nodeBIT_SET($WORD[$FBP_TBL[idx*¹].FB_MA_INIT[5]], 5)

Step 3Wait 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*¹].FB_MA_INIT[6] + 2]– if the logic address of the node is > 16$WORD[$FBP_TBL[idx*¹].FB_MA_INIT[6] + 3]

Step 5: Connection has taken place successfully.– Reset stop node:BIT_CLEAR($WORD[$FBP_TBL[idx*¹].FB_MA_INIT[5]], 5)– Reset stop node in the word of the commands executed:BIT_CLEAR($WORD[$FBP_TBL[idx*¹].FB_MA_INIT[5]+2], 5)– Reset address of logic node:$WORD[$FBP_TBL[idx*¹].FB_MA_INIT[5] + 3]

Step 4Wait:– 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– Reset stop nodeBIT_CLEAR($WORD[$FBP_TBL[idx*¹].FB_MA_INIT[5]], 4)– Reset stop node in the word of the commands executed:BIT_CLEAR($WORD[$FBP_TBL[idx*¹].FB_MA_INIT[5]+2], 4)– Reset address of logic node:$WORD[$FBP_TBL[idx*¹].FB_MA_INIT[5] + 3]

*¹ idx: “ai_board_idx” that is to say, the number of the board according to the position occupied in the RPU module slot

Step 1

Step 2

Step 3

Step 4

N

N

Y

Y

Step 5

End

Step 6

14-24HS-RC-C4E-GIT_16.fm

00/0708

PLC software configuration and use (optional feature)

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 fromWorkbench it is the PC; in practice it is the C4G Control Unit.

– POU - PLC resources:• program• function• function blocks

15.2 IntroductionThe PLC environment consists of two types of software:

– integrated development environment (Workbench ISaGRAF) on PC, to write andtest PLC type programs

– run-time environment on the C4G Control Unit, to run PLC type programs.

This chapter describes all the operations required to use the existing PLC programs onthe 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

The PLC software is an OPTIONAL FEATURE. To be able to use it, it is necessaryto have:– Workbench ISaGRAF (software package and hardware key)– software run-time on C4G (run-time licence and enabled software option)

15-1HS-0-C4E-USO_48.fm00/0705

PLC software configuration and use (optional feature)

15.3 Workbench configuration to map the C4G Controller I/OsTo allow a PLC resource to use the C4G Controller I/O points, it is necessary to operateas 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 withthe information on the C4G I/Os in a directory on your PC (TARGET_C4G.ZIP)

b. import the description of the I/Os, as indicated in Fig. 15.1 - Import I/O description:

Fig. 15.1 - Import I/O description

c. Select the VXW_TARGET_COMAU_L_ALL.TXT file in the directory where the fileshave been decompressed (see Fig. 15.2 - Select theVXW_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 haveaccess to the environment.

e. select the resource and press on the window title with the mouse right-hand key:select the “Properties” item (see Fig. 15.3 - Properties):

15-2HS-0-C4E-USO_48.fm

00/0705

PLC software configuration and use (optional feature)

Fig. 15.3 - Properties

f. choose the Target/Code sub-page, shown in Fig. 15.4 (label highlighted in yellow)

g. 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 ingreen in Fig. 15.4)

i. select “Complete Table” (highlighted in blue in Fig. 15.12) and press “OK” toconfirm.

15-3HS-0-C4E-USO_48.fm00/0705

PLC software configuration and use (optional feature)

Fig. 15.5 - Complete Table

j. appropriately set all the fields of the screen page in Fig. 15.4 - Target/Code:

j.1 Do NOT select the “Code for simulation” field

j.2 select the following fields:– “TIC code”– “Embed Symbol Table”– “Embed Zip Source”

j.3 press ‘OK’ to confirm.

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 haveaccess to the environment

b. Select the resource and press on the window title with the mouse right-hand key:select the “Properties” item (see Fig. 15.3 - Properties)

c. select ETCP as “Network”, and set the value 10000 as “TimeOut”: (see Fig. 15.6- Network):

15-4HS-0-C4E-USO_48.fm

00/0705

PLC software configuration and use (optional feature)

Fig. 15.6 - Network

d. press the icon associated to the “Hardware architecture” environment tohave access to the environment

e. press the mouse right-hand key in an area of the environment where there is noconfiguration present and choose “Insert Network”: (see Fig. 15.7 - InsertNetwork):

Fig. 15.7 - Insert Network

f. choose “ETCP” as “Network” (see Fig. 15.8 - ETCP) and press OK:

Fig. 15.8 - ETCP

15-5HS-0-C4E-USO_48.fm00/0705

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 ofthe C4G where the optional function of “Software PLC” is to be used (as shown inFig. 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 areto be performed:

a. press the icon associated to the “Link architecture” environment to haveaccess to the environment

b. select the resource and press on the window title with the mouse right-hand key:select the “Properties” item (see Fig. 15.3 - Properties)

c. tick the items as shown in Fig. 15.11 - Set symbols:

15-6HS-0-C4E-USO_48.fm

00/0705

PLC software configuration and use (optional feature)

Fig. 15.11 - Set symbols

d. press “Options..” and select “Complete Table”(as shown in Fig. 15.12 - CompleteTable); 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 timeresolution of a PLC resource is the same time. If the user sets a value that is not amultiple of 10ms, the C4G will automatically correct the inserted cycle time to the higherinteger 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 beencreated 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,

15-7HS-0-C4E-USO_48.fm00/0705

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 notesfor the C4G output ports apply.

Tab. 15.1 - Correlation between I/O and devices summarises the correlation betweenC4G I/O ports and the Workbench device.

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

Tab. 15.1 - Correlation between I/O and devices

C4G port Access Type IEC 61131 Device ISaGRAF

$AIN Read DINT AIN$AOUT Read DINT R_AOUT$AOUT Write DINT W_AOUT$BIT Read BOOL R_BIT$BIT Write BOOL W_BIT$DIN Read BOOL R_BIT$DOUT Read BOOL R_DOUT$DOUT Write BOOL W_DOUT$FDIN Read BOOL R_FDIN$FDOUT Write BOOL W_FDOUT$FDOUT Read BOOL R_FDOUT$GIN Read DINT GIN$GOUT Read DINT R_GOUT$GOUT Write DINT W_GOUT$IN Read BOOL IN$OUT Read BOOL R_OUT$SDIN Read BOOL SDIN$SDOUT Read BOOL R_SDOUT$WORD Read DINT R_WORD$WORD Write DINT W_WORD

(*) 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 ofthe same type, that share the same options between them.

15-8HS-0-C4E-USO_48.fm

00/0705

PLC software configuration and use (optional feature)

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; theprocedure is the same for any port with read access.

a. Press the icon associated to the “I/O Wiring” environment to have access tothe environment

b. press the icon associated to the “Add Device” command to add a categoryof ports; if the project for the dialogue with the C4G Control Unit has beenconfigured correctly, the window shown in Fig. 15.13 - Add device - in will open:

Fig. 15.13 - Add device - in

c. select “drv_c4g: rbit: R_BIT(* *)”, insert the number of channels belonging to thedevice (in this case 2) in “Number of channels” and press OK

d. in the “Unwired variables” window, the BOOL type variables that have not yet beenconnected 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:)

Fig. 15.14 - Unwired variables - in

e. therefore a device will be available with two channels mapped on $BIT in read; it isthen necessary to configure the device. A read device has a “Start” parameter, thatdetermines the starting point for a certain category of C4G ports, starting fromwhich the device involved is mapped. In this example the device configuration isopened with a double click on the tree structures until the “Start”: parameter isdisplayed (see Fig. 15.15 - Start - in):

15-9HS-0-C4E-USO_48.fm00/0705

PLC software configuration and use (optional feature)

Fig. 15.15 - Start - in

f. by default the “Start” parameter is set to 1 (which means it is assumed that “Thedevice we are configuring will be mapped on $BIT[1] and on $BIT[2]"); if it is wishedto change the value, click twice on “Start” and enter the required value in thewindow 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 theISaGRAF 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 typevariable; 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 tothe environment

b. press the icon associated to the “Add Device” command to add a categoryof ports; if the project for the dialogue with the C4G Control Unit has beenconfigured correctly, the window shown in Fig. 15.17 - Add Device - out will open:

Fig. 15.17 - Add Device - out

15-10HS-0-C4E-USO_48.fm

00/0705

PLC software configuration and use (optional feature)

c. select “drv_c4g: woodcut: W_DOUT(* *)” and press OK; insert the number ofchannels belonging to the device (in this case 1) in “Number of channels” and pressOK

d. in the “Unwired variables” window (see Fig. 15.18 - Unwired variables - out) theBOOL type variables that have not yet been connected to a physical port will beshown, with Write attribute and “Direction: Output”, inserted in the “Dictionary”environment.

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 fromwhich the device involved is mapped. In this example the device configuration isopened with a double click on the tree structures until the “Start”: parameter isdisplayed (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 “Thedevice we are configuring will be mapped on $DOUT[1]”); if it is wished to changethe value, click twice on “Start” and enter the required value in the window that isshown 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 isthe “Hold” parameter. If it is set to TRUE, when the PLC resource deactivates, theoutput will be held at the last value it assumed; otherwise the output port will bereset.

h. after configuring the device as required, pass to the association as described in theISaGRAF Workbench manual.

15-11HS-0-C4E-USO_48.fm00/0705

PLC software configuration and use (optional feature)

15.4 PLC resource creationISaGRAF Workbench allows the User to create PLC resource by using the languagewhich better fits to his needs. It supports all of the standard IEC 61131-3 languages,such as:

– SFCSequential Function Chart - it divides the process cycle into a number ofwell-defined steps, separated by transitions. The other languages are used todescribe the actions performed within the steps and the logical conditions for thetransitions. Parallel processes can easily be described using SFC.

– FBDFunction Block Diagram - it is a graphical language which allows the User to buildcomplex procedures by taking existing function blocks from the ISaGRAF Library,and wiring them together on screen.

– LDLadder Diagram - it is one of the most familiar methods of representing logicalequations and simple actions. Contacts represent input arguments, and coilsrepresent output results. ISaGRAF’s LD editor provides the best compromisebetween high-level graphic capabilities and easy-to-use programming.

– STStructured Text - it is a high level structured Pascal-like language, but moreintuitive to the automation engineer. It is primarily useful to implement complexprocedures that cannot be easily expressed with graphical languages.

– ILInstruction List - it is a low-level Boolean language, similar to the simple textualPLC languages, at the register level.

– FCFlow Chart - it is an easy-to-read decision diagram where actions are organizedin a graphic flow controlled by binary decisions. Actions and tests can beprogrammed in LD, ST or IL.

Additionally, for ultimate power and flexibility, the Workbench supports “C” userprograms written respecting some rules.

ISaGRAF LibraryIn addition to the IEC 61131-3 standard languages and flow chart, the ISaGRAFWorkbench includes a library with more than 60 ready-to-use function blocks.

15.5 Debug modeThis paragraph describes the Debug mode of the PLC resource that runs on the C4GControl Unit, through ISaGRA Workbench on PC.

With the Debug mode the user can monitor the PLC resource that is running on the C4GController, observing the value of the variables, the flow of the resources, the executionspeed, etc. from PC.

For further information, please refer to the ISaGRAF Workbench Manual (either onWorkbench CD or on www.isagraf.com site).

15-12HS-0-C4E-USO_48.fm

00/0705

PLC software configuration and use (optional feature)

In this mode it is also possible to control the resource directly from the PC, connectedvia 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 thecode in the Target memory

– Clean Stored Code: removes the resource code from the Target memory.

– Diagnosis: accesses the Diagnostics window that displays general informationand the state of the selected resource.

– Refresh Status: updates the resource status information on the Workbench statusbar.

– Real Time/Cycle to Cycle: to pass from one mode to another for the resourceexecution 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 asfor 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:

15-13HS-0-C4E-USO_48.fm00/0705

PLC software configuration and use (optional feature)

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.

e. To execute one of the Commands available.

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 Codesaved On Target.

15-14HS-0-C4E-USO_48.fm

00/0705

PLC software configuration and use (optional feature)

e.4 To delete the resource code from the Target memory, for example to reload it laterafter 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 ofsome 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 CycleTo 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 theChange Cycle Timing command. A Pop-up window will be displayed, where thenew 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 robotcontroller from both sources at the same time.

This means that it is possible to do so, but the consistency of the information of theresource on the robot controller with that which is displayed on the PC throughWorkbench is not always guaranteed.

In some cases, since there is no mutual exclusion mechanism between these twopossible command sources, it is the user who has to have the foresight to use only onesource 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 onlyinteract with the Robot controller, and hence with the resource itself, only andexclusively through the Workbench commands.

15.5.4 Inhibited commands

At all times the ISaGRAF Workbench makes certain operations available only afterspecific action from the user.Thus, for example, if the Debug mode is activated, but the resource has not been

15-15HS-0-C4E-USO_48.fm00/0705

PLC software configuration and use (optional feature)

selected from the “Link Architecture” page, the commands Start, Stop, etc., cannot beselected because the application does not know on which resource it should act, in thecase where there is more than one. The appearance of the resource changes when it isselected, 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 ata time, therefore each time it is wished to operate on one of them, it must first beselected.

The same happens when, for example, the resource code is to be changed in the DGEeditor: it may be that certain commands are not found, because the Debug mode hasbeen activated, that automatically excludes the other.

15.5.5 PLC software modifications on-line

The PLC programs developed and complied to convert them in a single binary formatby means of the Workbench, have to be transferred onto the C4G Control Unit, byTCP/IP from Workbench.During the control on the execution, the resource can be changed without the need tostop and start again from the beginning: this function is called MODIFICATIONON-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 resourceto 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, andmake the modification; after the recompilation, it is possible to download on the C4GControl only the difference deltas between the previous and the current situations, thusspeeding up the process and avoiding the interruption of the resource.execution.

For further information, see the ISaGRAF Workbench manual, available off-lineusing the Help command from the Workbench main menu, or via Web, on theAltersys official site at the URL address: "http://www.isagraf.com".

15-16HS-0-C4E-USO_48.fm

00/0705

PLC software configuration and use (optional feature)

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) eitherfrom 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 areno changes, upon Workbench updating it will state that it is not possible becauseit would be useless;

d. press the pushbutton on the Workbench toolbar to regenerate the wholeproject;

e. select the resource from the “Link Architecture” or “Hardware Architecture” page.

15-17HS-0-C4E-USO_48.fm00/0705

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. on-line the resource and the programs correlated to it;

i. 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 beenmade to the resource to be updated.This situation occurs also when the resource has in effect been changed, but it hasnot been recompiled with the Project/Build Resource command. To solve thisproblem, recompile the resource correctly.

15-18HS-0-C4E-USO_48.fm

00/0705

PLC software configuration and use (optional feature)

– The On-line change command is not possible because there is no communicationwith the Target. Proceed as described below:

a. check that the IP address assigned to the configuration is in effect the same as thatof the Controller to be reached.

b. check that the PC and the Target are both connected to the network, and that bothare “reachable”.

c. check that the Target is on and functioning.

d. check that in the resource properties, connection on ETCP has been selected, asfollows

– The Modification On-line functionality is not available because it is necessary tofirst 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 theresource/configuration/project

– The On-line change command is not possible because the Modification On-linefunctionality 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 doesnot support this functionality.

15-19HS-0-C4E-USO_48.fm00/0705

PLC software configuration and use (optional feature)

Solution: update the system software version if the Modification On-linefunctionality is to be enabled and call the On-line change command.

– The On-line change command is not possible since the resource code that isrunning 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 onthe network, or when the code versions of the resource on the Target and onthe 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 itmakes it possible to “test” the PLC resource directly in field.

Each modification made to the resource code can be made immediately available andactivated on the Controller, being able in this way to reach the best solution. In themeanwhile the resource continues to run undisturbed on the target.

This functionality is only available when the resource is not being debugged on theRobot 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 editorenvironment, because the function keys are no longer enabled to insert newcontacts/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 targetusing the “Modification On-Line” functionality.

To be able to make changes on a resource, the debug mode has to be stopped, if ithas already been activated.

15.6 PLC resource download and uploadThis paragraph describes the PLC resource loading mode from and to theControllerC4G, using the ISaGRAF Workbench

– Download

– Upload

15-20HS-0-C4E-USO_48.fm

00/0705

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 PCconnected 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 singleresource. This can be obtained using the “Build” commands in the main menu ofWorkbench.

– The PLC software option must be enabled on the Robot controller, so that theproject configuration hander can receive the code.

– The PC, where the Workbench is installed, is to be connected to the Robotcontroller via the network, via ETCP-IP on Ethernet, that is the standard networkused by ISaGRAF.

15.6.1.2 Available options

After the “Download” command has been selected, a selection window is opened thatoffers the following choices:

– “Start after download”, indicates that the PLC resource will be downloaded andthen promptly executed on the Controller.

– “Save after download”, indicates that the resource code, after it has been loadedon the Controller, will be automatically saved in memory

Every time a download operation is executed, the Workbench checks theconsistency between the resource image on the Controller and that of theresource still to be loaded. It also checks the consistency of the resourceconfiguration.

15-21HS-0-C4E-USO_48.fm00/0705

PLC software configuration and use (optional feature)

If, following the Start command, sent with “Start after download” or with the C4G systemcommand ProgramResPLCActivate, the resource does not start, this means that at themoment of execution there has been an error displayed on the C4G controller, that,according to the importance, may have completely compromised the entire PLCsoftware 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/Oconfiguration on the Robot controller. This means that the resource has been wronglyconfigured 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 inthe 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, andwhen it is selected another pop-up menu is shown that contains two sub-items, both ofwhich can be selected:

– PLC definition.

– Resource.

If no resource is selected from the selection window, the download command willbe executed just the same, and the Workbench will indicate the success of theoperation, even if nothing has actually been transferred.

15-22HS-0-C4E-USO_48.fm

00/0705

PLC software configuration and use (optional feature)

The use of “PLC definition” has already been widely dealt with in the par. 15.3.1 Importof C4G Robot Control Unit information on page 15-2, therefore we shall considerpotential of the “Import/Resource” command.

This command allows the user to import one or more PLC resources to his/her PC, inany ISaGRAF project, whether it is new or already existing, either from a target, such asthe 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 ona Robot controller, in particular the code of this resource and all its characteristics canbe 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 hasthe PC software.

The selection of “Resource”, as follows, starts a guided procedure in which the user hasto first choose where the resource is to be taken from, whether from a target in thenetwork or from a project file.

– If taken from a target, the user is to make sure that his project on PC contains atleast one configuration (a resource item on the “Hardware Architecture” page) withthe same IP address selected, identical to the controller from which the codeinvolved is to be imported.

After this, the next step can be executed, in which the resources on the target thathas been effectively reached in the network will be offered.

After the resource involved has been selected, it can be loaded on the PC bypressing the Upload button.

At the end of the guided Upload procedure, the imported resource will be displayedin the current project, exactly as if it were created on the PC. In this condition theuser 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 guidedprocedure 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 projectinvolved, 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

15-23HS-0-C4E-USO_48.fm00/0705

PLC software configuration and use (optional feature)

After the file has been chosen, when the upload key is pressed, the resource willbe 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 recoveryof the PLC resource code, so that it can be shared by several users and differentprojects in different PCs.

This implies that a resource takes with it also a configuration that represents the specificcontext in which it could be executed. In practice, it is recommended to always importand export resources from and to projects of the same type, i.e. having a configurationthat unites them.

If a resource is imported from a particular target with a particular configuration, in aproject on a PC with a different configuration, the user will have to make changes toallow the management of this resource in a different context.

For example, a resource that runs on a controller configured to use system 100 $DOUTcannot be compiled and thus managed in a project on a PC that does not provide at leastall those I/O points.

In conclusion, this method to copy resources and the possibility of their duplication onrobot controllers is an alternative to that which is described in the par. 15.7.1.3 ISaGRAFbinary files export on page 15-25, but is certainly more dynamic and flexible than thelatter.

15.7 Management of PLC software on the C4G Control UnitThis section describes how the user can interact directly with the PLC resources, usinga classical commands menu interface, currently available in WinC4G (on PersonalComputer) 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 theWorkbench, consists of a variable number of binary files, that contain all the informationrelated to the PLC program or programs.

These files are of different types and sizes and do not have extensions.

It is important to underline that with this tool, it is not possible to import acomplete project, but only the resource item

15-24HS-0-C4E-USO_48.fm

00/0705

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 containedin 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 theC4G 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 fileson the C4G Control Unit, will have no effect on the PLC environment: this will be havein 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 thanWorkbench; therefore in the C4G Control Unit they must always be visible, and the usershall not change the name, the extension or the contents.

Any action of this kind will jeopardise the correct PLC software management andtherefore of the PLC program or programs, generating unexpected results caused byerror conditions that, according to the damage caused, will not be recoverable exceptby 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 managethese files directly. As for any file, these files can be copied.

Using the system commands for file management, i.e., FilerCopy, ISaGRAF binary filescan be copied/moved from one Control Unit to another, also restoring the Resplc folderin the Control Unit that does not have it.

This operation is very simple, but it must be remembered that each ISaGRAF projectcontains its own definition of the target on which it is to be loaded. This means that eachPLC resource contained in the resource will refer to precise physical points of the C4GControl Unit, as described in par. 15.3.3 I/O Wiring with C4G Control Unit I/O points onpage 15-7 of this chapter.

It is therefore most important that the user is very careful when exporting ISaGRAF filesfrom one C4G Control Unit to another, making sure that the I/O configuration is identical.

15-25HS-0-C4E-USO_48.fm00/0705

PLC software configuration and use (optional feature)

A transfer to a C4G Control Unit that does not have the same configuration could causeerrors regarding the mapping of the inputs/outputs and it would not be possible tomanage the PLC programs without first updating the configuration involved.

Every export of ISaGRAF files from one Control Unit to another, in any case alwaysrequires a machine restart after the transfer has taken place, using the RestartColdcommand.

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 CONFIGURECONTROLLER STARTUP (CCS) on page 7-17); in this way it is ensured that the PLCprogram will always be restarted automatically, both for restart cold and after ashutdown.

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 NOHOLDVAR power_up : BOOLEANROUTINE call_myplcBEGIN SYS_CALL('PRA', 'MYPLC')END call_myplcBEGIN call_myplc CONDITION[1] : WHEN POWERUP DO call_myplc ENDCONDITION ENABLE CONDITION[1]END start_myplc

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 orpar. 7.9.1.4 CONFIGURE CONTROLLER STARTUP (CCS) on page 7-17)

c. save the new set-up.

Otherwise, if a Startup program already exists, add the condition and its routineinstructions to this program.

15.7.3 Resplc program menu commands

The C4G user can interact directly with the PLC program or programs loaded in theControl Unit, using the commands of the Resplc menu. (sent by Teach Pendant through

This program is only an example: if it is wished to customise it for differentmanagement of the POWERUP event, see Chapter 8 - CONDITION HANDLERS -par.8.3.5 System Events, in PDL2 Programming Language manual

15-26HS-0-C4E-USO_48.fm

00/0705

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 diagramrelating to it:

Fig. 15.22 - Resplc sub-menu

A list follows of the commands belonging to this menu. For each of these, except for theProjdir, command, the user has to indicate as parameter the name of the resource tocommand.

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 isnot 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. Thisoption also acts on the memory, deleting and loading the image of the selectedresource.

– 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 andautomatically stopped at the end of the cycle.

Every subsequent Activate command without this option will start the resource inrun-time mode, which is the default for this command.

15-27HS-0-C4E-USO_48.fm00/0705

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 thememory.

15.7.3.0.3 Restore

With this command the PLC resource can be loaded into memory. It is a fundamentalaction since it precludes the correct management of the resource.

15.7.3.0.4 Utility

With this command access is obtained to the Resplc menu sub-menu, that containsother 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 C4GControl Unit.

With Projdir it is possible to select a folder that is not “UD:\Resplc”, which is the defaultfolder. This command has been implemented to permit multi-project management.

Save

This file saves the code and configuration of the selected resource in the relevantISaGRAF binary filesIt serves to make the changes made to a resource permanent, both regarding the codeand 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.

After a deactivation or before an activation, the Restore command must always besent.

Since this first PLC software version is single-project, and above all, to avoidwrong and useless settings, its use will not at the moment have any effect and thePLC environment will always search for the ISaGRAF project files in the defaultfolder.

15-28HS-0-C4E-USO_48.fm

00/0705

PLC software configuration and use (optional feature)

It is useful to delete resource information that has been stored previously, and thenupdate the relevant image in the memory.

View

This command is used to view the information regarding the selected resource that ispresent 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.

15.7.4 Display Resplc command

Besides the commands it is also possible to view, on the system display, the activatedPLC resource, exactly like a common PDL2 program.

The command to be used is DisplayResplc (blocks with yellow background):

Tab. 15.2 - Information displayed by View

Information Description

Resource name displays the name of the resource

Project name displays the name of the project belonging to the resource

Configuration name displays the name of the configuration belonging to the resource

Project directory displays the name of the C4G folder that contains the ISaGRAF binary files (for this first version it has to be “UD:\Resplc\”)

Resource number displays the number of the selected resource

POUs number displays the number of POUs in the project(programs+functions+function blocks)

Resource file size displays the dimension of the selected resource configuration binary file

Resource code type type of code of the selected resource

Resource mode mode of the selected resource. It may be one of the following:

Mode Description Numeric value

No stored No resource available 0

Stored Resource loaded 1

Ready to Run Resource ready to be started 2

Run in real time Resource started in continuous cycle real-time mode 3

Run in cycle to cycle Resource activated in cycle to cycle mode: one cycle execution 4

Run with breakpoint encountered

Resource activated with at least one breakpoint 5

Fatal error Resource in fatal state -1

Cycle time Cycle time of the selected resource, in milliseconds

15-29HS-0-C4E-USO_48.fm00/0705

PLC software configuration and use (optional feature)

This command gives the following information:

Tab. 15.3 - Displayed information

Information Description

Resource name active resource name

Number active resource number

Cycle time resource cycle time, in milliseconds

Cycles number of cycles executed by the resources

Curr. Time resource current execution time

Max. Time resource execution maximum time measured

State resource execution mode. This may be one of the following:

1. RUNNING RT resource in “Run in real-time” mode2. RUNNING CC resource in “Run in cycle-to-cycle” mode3. STOPPED RT resource in “Stop in real-time” mode4. STOPPED CC resource in “Stop in cycle-to-cycle” mode

15-30HS-0-C4E-USO_48.fm

00/0705

COMAU Robotics servicesRepair: repairs.robotics@comau.comTraining: training.robotics@comau.comSpare parts: spares.robotics@comau.comTechnical service: service.robotics@comau.comcomau.com/robotics