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MotoAdmin

1. 18 Figure 8 Mode 18 FiureU Change security ie 18 Figure 10 Change password usa ale 19 Figure 11 Establish connection nern een eG 21 Fig re 12 UOS GODDECUOD IAM DOREM A ivt ROME 22 Figure 13 Working directory M 22 urna co cc 23 Figure 5 JOD SCION sek 25 Figure 16 Multitasking task seleetion en anne een 25 Figure 17 Job Editor window for ascii based editing of jobs 26 Figure 18 Display Job aa 27 Figure 19 Global varabler au re ee 28 kigure 20 Edit warables ee 29 Figure 21 Initialization of position variables 29 Funes 2 ee 30 Figure 23 Select type of position variable ae 30 Itu cr ME ric ee 31 Piste 25 nein 32 Figures 26 File een 33 Figure 27 Job selection for saving 33 Fig re 28 Saving Of Systemi Cale ass 34 Figure 29 Message window 34 Figure 30 Backup definition Hl 35 Figure 31 Naming of One Button Backup folders eee 33 Fig re 32 Deleti g ee cesses 36 Fig r 33 System Malone 37 Fig re 34 Alarm History 38 LIST OF TABLES Table 1 Basic settings NX WU isses 11 Table 2 Ethernet http function RER ER a 12 Table 3 CommandRemote mode settings
2. Figure 31 Naming of One Button Backup folders Motoman robotec GmbH 24 04 2006 4 17 4 Deleting data If the Floppy menu item Delete is selected you can choose whether to delete a file on Robot oron PC oAd File Settings View Tools Mode Help 2 E 32 Robot Wil Alarm Error Task Master C Sub1 Sub2 C Sub3 C Sub4 C Sub5 C C Sub Refresh Figure 32 Deleting data Only jobs can be deleted on Robot side 24 04 2006 Motoman robotec GmbH 4 18 System Information The System Information dialog is displayed after slecting Info button This dialog contains basic information of selected robot controller gt Software version gt Robot type gt Base axis and external axis gt Current pulse and cartesian position gt Installed functions m Version Position V DATE 2006 04 05 16 05 46 Frame PULSE Z SYSTEM NO NS3 08 004 US DE 28 PARAM NO 2 10 ARC WELDING o ALANGUAGE 3 08 28 00 3 08 28 00 Z REVISION 17430 o Ax 0 321 00 1 10 1 2 s93 so 4 100 5 hs44 do amp Arc monitoring function Arc ON condition chang Collision detection functi Coordinated motion Data transmission _ Ill Refresh Schlie en Figure 33 System Information Motoman robotec GmbH 24 04
3. Y MOTOMAN robotec GmbH End User License Agreement NOTICE TO USER THIS IS A CONTRACT BETWEEN YOU AND MOTOMAN robotec GmbH Allershausen Germany BY INDICATING YOUR ACCEPTANCE BELOW YOU ACCEPT ALL THE TERMS AND CONDITIONS OF THIS AGREEMENT This End User License Agreement accompanies an MOTOMAN robotec GmbH software product Software and related explanatory written materials Documentation The term Software shall also include any up grades modified versions updates additions and copies of the Software licensed to you by MOTOMAN robo tec GmbH This copy of the Software is licensed to you as the end user or to your employer or another third party authorized to permit your use of the Software You as used in the remainder of this License Agreement refers to the licensee MOTOMAN robotec GmbH may have a written agreement with the licensee that varies some of the terms of this Agreement e g user of DEMO versions The licensee must read this Agreement care fully before indicating acceptance at the end of the text of this Agreement If you are the licensee and you do not agree with the terms and conditions of this Agreement decline where instructed and you will not be able to use the Software If you cannot understand this license or do not think this license applies to you then please contact the MOTOMAN robotec GmbH MOTOMAN robotec GmbH grants to you a non exclusive license to use the Software and Documen
4. nenne 12 Table 4 Basic settings XRG area A A RT E ARNA 13 Table 5 Context menu job 26 24 04 2006 Motoman robotec GmbH 1 Introduction MotoAdmin is a software for controlling Motoman Yasnac XRC und NX100 controllers from remote side MotoAdmin runs on Windows Pc with Windows2000 XP operating systems Connection to robot controller is possible directly via serial interface using com server device or Ethernet interface recommended The necessary hardware is not part of MotoAdmin MotoAdmin Administrator level Robot WIG File Settings View Tools Mode Help lo Fs 2 Dies dE Alarm X Error SET ROO1 1 Job List ATAN R002 R001 SIN R002 Reset COS R004 R002 Disp Yar SET D003 R003 Task SET D004 R004 Master Disp SET 0005 5700 C Sub 1 MUL D005 R004 C Sub2 END Floppy C Sub 3 C Sub 4 EG Sub 5 C Sub6 AlarmHistory Sub x Displayed Job TANG JBI Loading Jobs finished Figure 1 Main window MotoAdmin To get the full functionality of MotoAdmin the robot controller must run in CommandRe mote mode MotoAdmin support the following functions gt File access loading saving and deleting of job files is possible System data handling is limited Backup profiles for One Button Backups can be used Displaying and editing of global variables vvv Dis
5. COS R004 R002 SET D003 R003 SET D004 R004 SET D005 5700 MUL D005 R004 END Figure 17 Job Editor window for ascii based editing of jobs 24 04 2006 Motoman robotec GmbH 4 14 Job Liste laden To display a list of jobs stored in the robot controller click on the Job List button otoAd Ad File Settings View Tools Mode Help 2 Hold Alarm Error xm Task Master C Sub1 C Sub2 C Sub3 C Sub4 Subs C Sub Refresh Loading Jobs finished Figure 18 Display Job list Context menu of job list Context menu of job list can be used to select a job for execution or to display job content Motoman robotec GmbH 24 04 2006 4 15 Access variables Select Disp Var to open the variable dialog 5 Variablen Byte Integer Refresh C Double Real Position Robot Position Base Close Position Station String Position Robot 1 t POOO ROBOT x 40 Tool M 0 770 Rx 0 Front S 180 Ry 0 Up R 180 Rz 0 Flip 180 Status OK Figure 19 Global variables In the upper part of the window you can specify the variable type The following types are available Byte Integer Real Double Integer Position variable Robot Position variable Base Position variable Station String To navigate through the variables use the arrow button or click on variable and insert desired variable number You c
6. Position Base Position Station C String Position Robot Figure 23 Select type of position variable The display is static To update the variable values you have to click on the Refresh button Press Close to return to main window 24 04 2006 Motoman robotec GmbH 4 16 Watch I O Signals To display I O signals select Disp I O from the main window This opens a new window where you can select the type of I O signals you want to check The following signal types are available External Inputs External Outputs Universal Inputs Universal Outputs Special Inputs Special Outputs AUX Relais System Status Pseudo Input Signald Network Inputs Network Outputs Use the arrow buttons to navigate through the outputs or inputs outputs are read only You can only write Network IN signals So if there are some other signals you want to set by MotoAdmin you have to map these signals to Network IN signals by changing the lad der program of the controller see LadderEditor software 5 uo E3 5 vo t3 C External Input C External Output Refresh Ext Eing nge C Ext Ausg nge Aktualisieren Universal Input Universal Output Univ Eing nge C Univ Ausg nge Specific Input Specific Output Close Spez Eing nge Spez Ausg nge Schlie en C AUX relay System Status C AUX relay C System Status C PSEUDO IN C Network I
7. close application select menu item File gt Exit 4 6 Display working directory In the working directory all data of the robot is stored To display contents of working direc tory in a windows explorer window push the corresponding button The working directory can be changed in the robot profile configuration dialog Figure 2 Figure 13 Working directory 24 04 2006 Motoman robotec GmbH 4 7 Refresh status Basically the display of MotoAdmin is of static nature Sa MotoAdmin Administrator level Robot WIG P o Fie Settings View Tools Mode Help gir 2 J TANG IL 2 5 0 Alarm Error MINOR m 4315 Job List COLLISION DETECT ROBOT1 Reset SLURBT Disp Yar 100000 Task Master Disp WO Sub1 C Sub2 Floppy Sub3 Sub 4 Info C Sub 5 C Sub 6 AlarmHistory Sub 7 Refresh M Displayed Job TANG JBI Connected _ Figure 14 Status The status of the robot is not displayed continously So changings are not displayed automati cally But there are also some functions in MotoAdmin which refresh the status display To display the current status of the robot you can click on the Refresh button The status information contains error or alarm status information for example MotoAdmin signals an alarm or an error graphically You have to click on the Reser button to reset an alarm To confirm an error you have to click the
8. Before starting software installation procedure login to windows system with local adminis trative rights Insert CDROM into CDROM drive of computer The installation now starts automatically If not use windows explorer change to CDROM drive letter and run cdstarter exe directly from CDROM After splash screen is displayed select installation of MotoAdmin If corresponding message appears restart your computer Execution of MotoAdmin is only possible if the hardware key is attached to the parallel port optional USB port of your computer Please confirm selected interface is a parallel interface and not a 25pin serial one 2 4 Uninstallation of MotoAdmin To uninstall MotoAdmin software open windows control panel and select Add Remove pro grams Motoman robotec GmbH 24 04 2006 Select MotoAdmin out of the list of installed software and click on the Uninstall button 2 5 Connection types Data communication between pc and robot controller for exchanging data or for remote con trol is possible by using different communication channels Serial communication For serial communication an appropriate cable is necessary MotoAdmin package contains such a cable which is a standard null modem cable with 9pin female connectors on both sides To connect robot and pc attach one end of the cable to a RS232 port of your pc the other end of the cable connect to the serial port of robot controller In case of XRC it is not possible
9. TCP IP configuration ExtendedMode is suitable For activating Ethernet function manufacturer mode Yaskawa Modus is necessary This mode can only be accessed by Motoman service staff members Execute System gt Security gt Select mode and Insert ID gt Configuration dialog can be accessed by executing System gt Setup gt Optional Functions gt Network System gt Setup gt Optional Functions gt Ethernet Detail Using right TCP IP address data The displayed TCP IP data should be seen as an example If PC has the address 192 168 100 11 and a subnet mask of 255 255 255 0 a communication would be possible if proper cabeling Hub Switch or direct connection with crosslink cable is assumed Physical connection is properly established if ping command is successful CommandRemote settings To access robot controller by MotoAdmin controller must run in host mode Besides the ba sic settings there are four more parameters which influence host mode gt CommandRemote mode CommandRemote mode is activated by enabling special pseudo input signal Main Menu gt In Out gt Pseudo Input Signal gt Command remote selection gt Remote Mode To enable remote mode put rotary switch on teachbox to position Remote gt RS005 RS007 Parameter Parameter section Command Remote Remote RS005 RS007 Available Function X X 1 Host All Commands X X 0 Host All Commands X 1 Host Read Only x 1 Host Read Only
10. use Ethernet commu nication with XRC an additional extension board must be ordered For installation of this board refer to YASNAC XRC Ethernet UF Board Instructions If serial communication is to be used Ethernet function must be disabled Ethernet configuration dialog in maintenance mode XRC robot controller support Ethernet configuration in maintenance mode with special user interface This dialog is accessible by executing the following steps gt Start maintenance mode Maintenance mode is executed 1f the TopMenu key is pressed during power on of con troller Motoman robotec GmbH 24 04 2006 gt Login to Extended Mode For TCP IP configuration ExtendedMode is suitable For activating Ethernet function manufacturer mode Yaskawa Modus is necessary This mode can only be accessed by Motoman service staff members Execute Area key gt Security gt Select mode and Insert ID gt Configuration dialog can be accessed by executing System gt Einstellungen gt Optionale Funktionen gt Ethernet Detail Using right TCP IP address data The displayed TCP IP data should be seen as an example If PC has the address 192 168 100 11 and a subnet mask of 255 255 255 0 a communication would be possible if proper cabeling Hub Switch or direct connection with crosslink cable is assumed Physical connection is properly established if ping command is successful CommandRemote settings To access robot controller by MotoAdmin
11. 1 Host Read Only Table 3 CommandRemote mode settings NX100 24 04 2006 Motoman robotec GmbH 2 6 2 XRC Table 1 shows the basic settings necessary for MotoAdmin XRC Parameter Description Possible values RS232C Ethernet FD003 Computer Com 0 disable 1 1 munication 1 enable FD042 Ethernet Function O disable 0 1 1 enable RS000 Port Protocol 2 BSC Protocol 2 2 3 FC1 Protocol RS006 Data Transm Ext 0 Disable 1 1 1 Enable RS029 Data loading dur 0 1 1 ing Playback 1 enable RS030 Data Bits 8 8 data bits 8 RS031 Stop Bits 0 1 stop bit 0 RS032 Parity 2 even parity 2 RS033 Baud Rate 8 19200 Baud 7 7 9600 Baud 6 4800 baud D RS034 Timer A No in 0 15 30 RS035 Timer B No in 0 15 200 RS036 ENQ Retry Count No 10 RS037 Data Retry Count No 3 RS038 Block Check Meth 0 Checksum 0 RS070 IP address 192 RS071 168 RS072 100 RS073 10 RS074 Subnet mask 255 RS075 255 RS076 255 RS077 0 RS078 Default Gateway 192 RS079 168 RS080 100 RS081 100 Table 4 Basic settings XRC Ethernet or serial RS232 Parts of the table are marked grey These are additional settings for Ethernet communication If serial communication 15 to be used Ethernet function must be disabled XRC robot control lers are not delivered with an Ethernet interface by default Therefore to
12. 2006 4 19 Read Alarm History Alarm History can be accessed by selecting AlarmHistory button The Alarm History is sorted by date time so that newest item are listed on top 2006 04 18 09 55 4511 OUT OF RANGEL 200604 18 09 50 4107 QUT OF 4107 OUT OF RANGE 1325 COMMUNICATION 4107 OUTOFRANGEC EXCESSIVE SEGN WRONG DATA Master WRONG DATA C Sub 1 WRONG DATA C Sub 2 WRONG DATA rian WRONG DATA WRONG DATA C Sub 4 WRONG DATA C Subs WRONG DATA C subs WRONG DATA STACK MORE TH LIN 2006 03 09 13 47 STACK MORE TH 2nngmama 43 34 STACK EMI Refresh a Displayed Job Figure 34 Alarm History 24 04 2006 Motoman robotec GmbH Imprint MOTOMAN robotec GmbH Kammerfeldstra e 1 85391 Allershausen Germany Phone 00498166900 Fax 0049816690103 V MOTOMAN Ein Unternehmen der Yaskawa Gruppe Motoman robotec GmbH 24 04 2006
13. 4 04 2006 4 17 2 System data To load or save system data like parameter tool data condition data etc you have to select file group first In the following dialog you can mark the available files You have to take into account that depending on the Robot controller software installed options there might be files which cannot be loaded or saved r File General Data Tool data Weaving data User coordinate data ARC start cond data ARC end cond data COMARC condition data Cutting cond data Small circular cutting robot Multi layer condition data Sensor Mon Cond Data Linear Servo Float Single Servo float Servo Gun Press Pow Servo Gun Dry Spot Press Shirt Full Open Pos Data Spot IN OLIT allocation data Airgun Cond Data Spot Weld Cond Data VISION Cond Data VISION Calib Data WELDPLS CND WELDSEL DAT 0711113111711 01111111011 Select all 1 Figure 28 Saving of system data A window is displayed where you can see if operation was successful or not r Save Jobs to PC 11 JBI saved 12 File s Saved Select all Figure 29 Message window 24 04 2006 Motoman robotec GmbH 4 17 3 One Button Backup MotoAdmin can also work with backup definition files These files contain a list of those files which should be integrated in the backup of the selected robot controller gt Default Backup NX100 bkp Editor Loe Datei Bear
14. AY OBTAIN BY USING THE SOFTWARE OR DOCUMENTATION THE FOREGOING STATES THE SOLE AND EXCLUSIVE REMEDIES FOR MOTOMAN robotec GmbH S OR ITS SUPPLIERS BREACH OF WARRANTY MOTOMAN robotec GmbH AND ITS SUPPLIERS MAKE NO WARRANTIES OR CONDITIONS EXPRESS OR IMPLIED AS TO NONINFRINGEMENT OF THIRD 24 04 2006 Motoman robotec GmbH PARTY RIGHTS MERCHANTABILITY SATISFACTORY QUALITY OR FITNESS FOR ANY PAR TICULAR PURPOSE IN NO EVENT WILL MOTOMAN robotec GmbH OR ITS SUPPLIERS BE LIABLE TO YOU FOR ANY DAMAGES WHATSOEVER INCLUDING WITHOUT LIMITATION CONSEQUENTIAL INCIDENTAL OR SPECIAL DAMAGES INCLUDING ANY LOST PROFITS OR LOST SAVINGS ARISING OUT OF THE USE OR INABILITY TO USE THE SOFTWARE EVEN IF AN MOTOMAN robotec GmbH REPRESENTATIVE HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES OR FOR ANY CLAIM BY ANY THIRD PARTY WHERE LEGALLY LIABILITY CANNOT BE EXCLUDED BUT IT MAY BE LIMITED MOTOMAN robotec GmbH S LIABILITY AND THAT OF ITS SUPPLIERS SHALL BE LIMITED TO THE AMOUNT PAID FOR THE SOFTWARE Nothing contained in this Agreement shall prejudice the statutory rights of any party dealing as a consumer Nothing contained in this Agreement limits MOTOMAN robotec GmbH s liability to you in the event of death or personal injury resulting from MOTOMAN robotec GmbH s negligence MOTOMAN robotec GmbH is acting on behalf of its suppliers for the purpose of disclaiming excluding and or restricting obligations warran ties and liability as provided in th
15. Cancel button Another status item is the Emergency Stop signal which is displayed in the upper right corner refer to Figure 14 of MotoAdmin 4 8 Switch on Servo Power If the controller is in play mode you can switch on the servo power by selecting the Servo button It is necessary to have servos on before moving the robot A special wiring is required for starting servo power from remote XRC At XRC controller connect pin 5 EXVONI and pin 6 EXVONI as well as pin 7 EX VONQ2 and pin 8 EXVON2 on XC001 board connector CN05 Motoman robotec GmbH 24 04 2006 NX100 In case of NX100 controller connect pin 29 EXVON and pin 30 EXVON on MTX connector block X18 see cabinet door 4 9 Change operation mode To set robot controller in teach or play mode use the Play or Teach button Please notify that it is not possible to use each function in each operation mode In case of NX100 controller full functionality is only available if rotary switch at program ming pendant is set to Remote This mode is called Remote Play mode In MotoAdmin it is possible to change to Remote Teach mode if parameter S2C177 is et to 0 4 10 Cycle mode There are 3 different Cyle modes Die Zyklus Auswahl gestattet die Auswahl des Operations zyklus d h sie legt fest ob nach Bet tigen von Start ein Job einmal ausgef hrt wird Cycle permanent Auto bzw ob jeweils nur ein Schritt ausgef hrt wird Step 4 11 Job executio
16. N PSEUDO IN C Network IN C Network Out C Network Out r Specific Output Univ Eing nge SOUT0033 t INOO09 00020 SGM offen t SOUTO034 INO010 00021 Auswerter hinten 500 0035 1 0011 00022 Jauswerter vorn SOUTO0O36 INO012 00023 Kernz in Pos ein SOUTOO37 Q INO013 00024 Kernz in Pos ent SOUTO038 1 0014 00025 Ausschuss SGM SOUT0039 INO015 00026 Vollauternatik SOUTO040 x INDO16 00027 geschlossen Status OK Figure 24 VO Signals The display of the I O signals is static To update the displayed values you have to click on the Refresh button Select Close to return to the main window of the application Motoman robotec GmbH 24 04 2006 4 17 Saving Loading Deleting files MotoAdmin can transmit jobs and system data from robot to PC and from PC to robot Saving and loading data is available after selecting the Floppy button Dependent on the current secu rity level the following operations are possible MotoAdmin Administrator level Robot WIG x File Settings View Tools Mode Help hor Py Teach Remote Auto Step Hold START J TANG 2 5 0 Alar n Error dre GERA Reset Job Job List Disp Yar Task D oe Master Disp C Sub1 C Sub2 3 R C Sub3 C Sub4 Info C Sub5 C Sub 6 AlarmHistory Sub Refresh Displayed Job TANG JBI Connected Figur
17. S036 ENQ Retry Count No 10 RS037 Data Retry Count No 3 RS038 Block Check Meth 0 Checksum 0 5070 IP address 192 RS071 168 RS072 100 RS073 10 RS074 Subnet mask 255 RS075 255 RS076 255 RS077 0 RS078 Default Gateway 192 RS079 168 RS080 100 RS081 100 Table 1 Basic settings NX100 Ethernet or serial RS232 Parts of the table are marked grey These are additional settings for Ethernet communication If serial communication is to be used Ethernet function must be disabled If software version of robot controller supports Ethernet http this protocol can be used instead of Ethernet Bsc To activate Ethernet Http some additional configuration must be done Parameter Description Possible values RS232C Ethernet FD077 Ethernet Http O disable 0 1 Function 1 enable Motoman robotec GmbH 24 04 2006 FD078 Ethernet Http O disable 0 1 Function 1 enable Table 2 Ethernet http function Ethernet http must also be selected during setup of robot profiles in MotoAdmin see Figure 2 Ethernet configuration dialog im maintenance mode Current software versions of NX100 robot controller support Ethernet configuration in main tenance mode with special user interface This dialog is accessible by executing the following steps Start maintenance mode Maintenance mode is executed if the MainMenu key is pressed during power on of con troller gt Login to Extended Mode For
18. an edit the values of the variables To do so click on the value of the variable An input box appears at the bottom of the window You can now enter the new value To stop editing and transmit the new value to the controller press Enter If you want to cancel editing without transmitting the entered value to the robot press Escape 24 04 2006 Motoman robotec GmbH C Byte Integer Bere Double Real C Position Robot Position Base uum Position Station String String t 5000 tj 5001 al 5003 le 5004 5005 5006 5007 Test Status OK Figure 20 Edit variables If a position variable is not yet initialized asterisks will appear instead of the values C Byte Integer Refresh Double Real Position Robot Base Close Position Station String Position Robot t P004 a 5 RR RR R ae B RR RR Status Figure 21 Initialization of position variables Position variables can be initialized by clicking on the type of the variable Pulse Ro bot Base etc If a position variable is reinitialized the old values get lost The following message appears Delete data Motoman robotec GmbH 24 04 2006 Figure 22 Confirm initialization In the next step the type of position variable has to be selected C Byte Integer Refresh Double Real eren Position Robot
19. beiten Format Ansicht fe JBI ABSO DAT ALL PRM ALMHIST DAT 2 DAT IFPANEL DAT DAT IOMSGHST DAT DAT IPNETCFG DAT KEYALLOC DAT MF PRM Figure 30 Backup definition files Beside the full filename also JBI can be used as a placeholder for all available jobs on con troller Backup definition files can only be used in case of saving data For one controller mul tiple backup definition files can be defined see Figure 26 The files must be stored in the working directory of the robot controller The files can be created with an ascii editor and must have bkp file extension The saved data is stored in subfolders of the working direc tory The folder names contain a time and data information in addition to the backup defini tion file name U MotoData MotoAdmin WIG n X Datei Bearbeiten Ansicht Favoriten Extras 2 ay JO suchen gt Ordner sse U MotoData MotoAdmin WIG Wechseln zu Name 4 l Datei und Ordneraufgaben A Default Backup NX100 20060330 124031 E C3Default Backup NX100 20060330 125021 C3Default Backup NX100 20060330 125133 9762 61 gt AB1 JBI Andere Orte AB2 JBI ABS JBI Ey MotoAdmin AB4 JBI E Eigene Dateien ABS JBI 9 Arbeitsplatz gt AB6 JB1 Netzwerkumgebung 467 261 lt m 52 7 KB Q Lokales Intranet a Neuen Ordner erstellen Ordner im Web ver ffentlichen
20. cense or lend the Software or Documentation You may however transfer all your rights to use the Software to another person or legal entity provided that you transfer this Agreement the Soft ware including all copies updates and prior versions and all Documentation to such person or entity and that you retain no copies including copies stored on a computer Multiple Environment Software Multiple Language Software Dual Media Software Multiple Copies Upgrades If this package contains or if in connection with the acquisition of the Software contained in this package you receive two or more operating environment versions of the Software e g Windows95 and WindowsNT two or more language translation versions of the Software the same Software on two or more media e g diskettes and a CD ROM and or you otherwise receive two or more copies of the Software the total aggregate number of computers on which all versions of the Software are used may not be more than one 1 see text above You may make one back up copy in accordance with the terms of this Agreement for each version of the Software you use You may not rent lease sublicense lend or transfer versions or copies of the Software you do not use or Software contained on any unused media except as part of the permanent transfer of all Software and Documen tation as described above MOTOMAN robotec GmbH AND ITS SUPPLIERS DO NOT AND CANNOT WARRANT THE PERFOR MANCE OR RESULTS YOU M
21. controller must run in host mode Besides the ba sic settings there are four more parameters which influence host mode gt CommandRemote mode CommandRemote mode is activated by enabling special pseudo input signal Top Menu gt In Out gt Pseudo Input Signal gt Command remote selection gt Remote Mode To enable remote mode hit remote key on controller cabinet 24 04 2006 Motoman robotec GmbH Management functions in main menu 15 3 Management functions in main menu 3 1 File menu To close MotoAdmin application select File gt Exit 3 2 Settings menu Settings menu contains Robot Setup menu where robot profiles can be created edited or removed 3 2 1 Robot Setup After selecting Robot Setup menu the following dialog appears Robot Configuration E r Robot List Name Robot2 m Transfer Type Ethemet Bsc Ethemet Htp Serial r Ethernet Setup Controller IP Address 182 168 11 211 5100 Directory eH Dee u MotoD ata Motoddmin wG aj OK Cancel Figure 2 Robot profile With the Add and Delete buttons robot profiles can be added or removed For each profile a unique name must be inserted In the second step the transfer type must be selected Basically Ethernet or serial communica tion can be used dependent on how the robot controller is connected to the MotoAdmin PC In case of serial communication the parameters of serial int
22. e 25 Floppy function In the first step you have to select the desired operation gt Save Transmit data from Robot to PC gt Load Transmit data from PC to Robot gt Delete Delete data on PC or Robot only jobs Loading data is only accessible in programmer or administrator mode In the second step you have to select the data type 24 04 2006 Motoman robotec GmbH File amp seneral Data Parameter Data System Data Default Backup NX100 Teil 100188273KD AlarmHistory Refresh Displayed Job Saving Jobs finished Figure 26 File group 4 17 1Jobs If Jobs is selected all available jobs in the robot controller save or all available jobs in the working directory of the current robot configuration load are displayed m Save Jobs to PC AB27 JBI AB46 JBI 28 AB47 JBI AB29 AB48 JBI AB3 JBI 49 JBI AB30 JBI ABS JBI AB31 JBI ABSO JBI AB32 JBI AB51 JBI AB33 JBI AB52 JBI AB34 JBI ABS53 JBI AB35 JBI AB54 JBI AB36 JBI 55 AB37 JBI ABS6 JBI AB38 JBI ABS JBI 9 58 JBI AB4 JBI ABS59 JBI AB40 JBI AB6 JBI AB41 JBI 42 ABB1 JBI 4 ABB2 44 JBI TANG AB45 JBI Select all Download Figure 27 Job selection for saving jobs You can select the desired jobs by clicking on the job name in the list Hold the Shift or Ctrl key to select multiple jobs Motoman robotec GmbH 2
23. erface must be specified This can be done by selecting Setup button These settings must correspond with the settings on robot controller side Refer to Figure 3 for the default factory settings of Yasnac controllers serial port Motoman robotec GmbH 24 04 2006 Com Port Setup gt Com Port Settings Baudrate Data Length je Party even Stop Bits Default d Cancel Figure 3 Com Port settings In case of Ethernet communication the IP address of robot controller must be inserted In the last step controller type and a working directory must be specified It is recommended to create a new working directory for every robot controller because all data is stored in this directory E g C Celll Robotl C Celll Robot2 C Cell2 Robotl All configuration data is stored in a file named robot ini So after application is closed data is still present The name of the currently selected robot profile can be seen in the toolbar of MotoAdmin The list contains all available robot profiles which are created in previous steps To connect to another robot controller stop current session select desired robot profile out of the list and push the connect button again Only one connection per time is possible in MotoAdmin The name of the last selected profile is automatically stored in MotoAdmin Administrator Modus ingen Ansicht Extras Modus XRC Halle Figure 4 Se
24. is Clause 7 but in no other respects and for no other purpose Please note that you may not decompile the Software unless it is essential to do so in order to achieve operability of the Software with another software program and you have first requested MOTOMAN robotec GmbH to provide the information necessary to achieve such operability MOTOMAN robotec GmbH has the right to im pose reasonable conditions and to request a reasonable fee before providing such information Any information supplied by MOTOMAN robotec GmbH or obtained by you as permitted hereunder may only be used by you for the purpose stated in the Directive and may not be disclosed to any third party or used to create any software which is substantially similar to the expression of the Software Requests for information should be directed to the Customer Support MOTOMAN robotec GmbH Kammerfeldstrasse 1 85391 Allershausen Germany Tel phone 49 0 8166 90 29 Telefax 49 0 8166 90 39 MOTOMAN is a trademark of Yaskawa Electric Corporation Windows is a registered trademark of Microsoft Corporation YOUR ACCEPTANCE OR DECLINE OF THE FOREGOING AGREEMENT WAS INDICATED BY CLI CKING ON THE APPROPRIATE BOX DURING INSTALLATION Motoman robotec GmbH 24 04 2006 Table of contents 1 INTRODUCTION 2 INSTALLATION AND BASIC CONFIGURATION 2 1 Components 2 2 System requirements 2 3 Installation of MotoAdmin 2 4 Uninstallation of MotoAdmin 2 5 Connection types 2 6 Configuration
25. king task selection The Job button always displays the currently selected task Job status line The job status line shows the active job of the selected task in addition to current line and Step number Job window context menu Context menu of job window is displayed by pushing right mouse button Some of the follow ing commands are available dependent on the current selected job line Befehle Aktion Back Calls previous job in job history Motoman robotec GmbH 24 04 2006 Calls next job in job history Edit Opens job in job editor window Goto Var Opens displayed variable directly Goto IN Opens displayed input directly Goto OT Opens displayed output directly Goto Job Open displayed job directly Table 5 Context menu job window Displayed job The jobname of the currently displayed job in job window is written below the job window 4 13 Edit Jobs Editing job which can be initiated by selecting menu Edit in context menu of job window is done without checking syntax Therefore it is only suitable for experienced programmers Other less experienced programmers can use MotoAdmin for downloading uploading job files to PC Then they should use JobEditor software to edit file with automatic syntax check In the Edit window job content and also job header can edited without limitations To store modificated job on robot controller select Save button amp JobEdit
26. lection of robot profile 3 3 View menu Use View menu to enable disable Toolbar or Statusbar 24 04 2006 Motoman robotec GmbH 3 4 Tools menu 3 4 1 Check connection The Check connection menu allows to establish a test connection to the selected controller If the connection is successful the following message is displayed MotoAdmin Connection succesful D1 193 D2 64 Figure 5 Check connection After confirming the message connection is closed 3 4 2 Select language MotoAdmin supports multiple languages For installing a new language an new language file Ing must be created The currently present languages file can be edited if the structure is not changed Language selection dialog is shown at application start by default 5 Select Language Ignore language selection at program start v Default Fonts will be used Figure 6 Language selection To prevent MotoAdmin from displaying the language selection dialog at every application start select option gnore language selection at program start on dialog Changing language is still possible by selecting menu item Select language in Tools menu 3 4 3 Register licenses In the standard package of MotoAdmin 4 licenses are included That means a maximum of 4 robot profiles can be created If more robots are neccessary additional licenses are available The dialog is neccessary to update license information Fill in the serial number of yo
27. n Job control With MotoAdmin a job can be started remotely Therefore the controller must be in Play mode see chapter 4 9 and the Servo power must be switched on see chapter 4 8 By pushing Start button the job is executed Job execution can be stopped at each time by selecting Hold button To exit job execution Hold button must be selcted again With Start button job execution can be resumed Different button colors show the current status of job execution 4 12 Display Jobs After connecting to MotoAdmin the current job of the main task is displayed The job window is called by selecting Job button 24 04 2006 Motoman robotec GmbH File Settings View Tools Mode Help MotoAdmin Administrator level Robot WIG SET ROO1 1 Job List R002 R001 SIN R003 R002 H Fee e Job L 2 5 0 Alarm Error Reset Displayed Job TANG JBI Task Disp Var COS ROD4 002 SET Bach Master Disp WO C Sub1 C Sub2 Edit Floppy C Sub 3 Goto Kar D003 C Sub4 mo eee C Subs C Sub amp AlarmHistory C sub Refresh Connected Figure 15 Job window Task Dependent on the job structure there might be some jobs running in parallel SUB tasks By selecting the desired task the corresponding job is displayed if available p zu gt Task Master Supt Figure 16 Multitas
28. n Ifthe default settings are used during installation of MotoAdmin you can start it as follows search for group Motoman MotoAdmin in MS Windows program manager click on MotoAdmin If the language selection dialog is displayed after starting application select desired language 4 2 Multiple Instances of MotoAdmin It depends on the selected connection protocol if one or multiple instances can access a robot controller at the same time It makes no difference if these instances are running on the same or different PC s If the connection protocol is siehe Figure 2 Ethernet http multiple instances can connect to the same robot controller In contrast Ethernet Bsc allows only one client Innerhalb einer Instanz von MotoAdmin kann gleichzeitig nur auf eine Robotersteuerung zu gegriffen werden If you want to connect your PC to multiple robot controller at the same time you have to open multiple instances of MotoAdmin 4 3 Establish a connection Select one robot profile out of the list of already defined robot profiles and push correspon ding toolbar button Datei Einstellungen Pig d Figure 11 Establish connection In the status bar a message Connected is displayed 4 4 Close a connection An active connection can be closed with the Disconnect button Motoman robotec GmbH 24 04 2006 Figure 12 Close connection In the status bar Not Connected is displayed 4 5 Exit application
29. of robot controller 2 6 1 NX100 2 6 2 XRC 3 MANAGEMENT FUNCTIONS IN MAIN MENU 3 1 File menu 3 2 Settings menu 3 2 1 Robot Setup 3 3 View menu 3 4 Tools menu 3 4 1 Check connection 3 4 2 Select language 3 4 3 Register licenses 3 5 Mode menu 3 6 Men Hilfe 4 WORKING WITH MOTOADMIN 4 1 Starting MotoAdmin 4 2 Multiple Instances of MotoAdmin 4 3 Establish a connection 4 4 Close a connection 4 5 Exit application 4 6 Display working directory 24 04 2006 9 10 11 11 13 15 15 15 15 16 17 17 17 17 18 20 21 21 21 21 21 22 22 Motoman robotec GmbH 4 7 Refresh status 4 8 Switch on Servo Power 4 9 Change operation mode 4 10 Cycle mode 4 11 Job execution Job control 4 12 Display Jobs 4 13 Edit Jobs 4 14 Job Liste laden 4 15 Access variables 4 16 Watch I O Signals 4 17 Saving Loading and Deleting files 4 17 1 Jobs 4 17 2 System data 4 17 3 One Button Backup 4 17 4 Deleting data 4 18 4 19 System Information Read Alarm History Motoman robotec GmbH 23 23 24 24 24 24 26 27 28 31 32 33 34 35 36 37 38 24 04 2006 LIST OF FIGURES Figure 1 2 window MoloAdnn uses 7 Fisure2 Robot profile 15 3 Com Port settings cesta een 16 bigued Selection Of robot profile ee 16 Figure S Check connection 17 Fig r 6 Tea SUB SS SSC OI neuerer 17
30. owed to start robot jobs and to load robot data files gt Administrator Mode The administrator is allowed to do everything which is possible in MotoAdmin The passwords can be changed by clicking on the Change password menu item In the dis played dialog the new password must be entered twice The new password must be entered twice amp Change Password Select level stor level v New Password Confirm New Password Ok Cancel Figure 10 Change password To change the password your security level must be higher then the level you want to change the password So the operator is not allowed to change a password while the administrator can change all passwords Das erfolgreiche ndern des Passworts wird mit einer entsprechenden Meldung best tigt Wichtig The actions which can be made in operator mode are safe But if you are logged on with hig her security level keep in mind that you are able to move the robot Do not move the robot if you cannot see the robot manipulator Motoman robotec GmbH is not responsible for damages caused by using MotoAdmin Info The initial passwords of administrator and programmer level are set to motoadmin Motoman robotec GmbH 24 04 2006 3 6 Men Hilfe The help menu should be accessed if there are problems or questions concerning the functions of MotoAdmin 24 04 2006 Motoman robotec GmbH 4 Working with MotoAdmin 4 1 Starting MotoAdmi
31. playing of I O signals changing output signals is possible with modified ladder pro gram Motoman robotec GmbH 24 04 2006 Controlling job execution Display and also reset alarm and errors Watch alarm history Get system information like software version data installed functions robot types exter nal axis position data Edit job data without syntax checking The functions are grouped into 3 different security zones It must be considered that depend ing on selected security level there are some functions which can cause danger to human and machine Therefore it is important that only well trained staff members are consulted to work with MotoAdmin MotoAdmin base package is limited to 4 robot controllers If more robot controllers should be managed by MotoAdmin additional licences must be purchased 24 04 2006 Motoman robotec GmbH 2 Installation and basic configuration 2 1 Components MotoAdmin package contains 1 CD ROM 1 hardware key 1 RS232 cable robot controller 9pin lt gt pc 9pin 1 user manual 2 2 System requirements P Windows PC WindowsXP 2000 Ethernet TCP IP network interface or serial COM interface 20 MByte free harddisk storage capacity CDROM drive gt Robot controller XRC or NX100 2 3 Installation of MotoAdmin Installation of hardware key should be done after software installation Otherwise there may be some problems in case of USB hardware keys
32. tation pro vided that you agree to the following 1 Use of the Software You may install the Software in a single location on a hard disk or other storage de vice of one 1 computer 2 Make one backup copy of the Software provided your backup copy is not installed or used on any com puter 3 Use The primary user of each computer on which the Software is installed or used may also install the Software on one home or portable computer However the Software may not be used on the secondary computer by another person at the same time the Software on the primary computer is being used Copy right The Software is the intellectual property of MOTOMAN robotec GmbH and its suppliers and is pro tected by copyright law international treaty provisions and applicable laws of the country in which it is be ing used The structure organization and code of the Software are the valuable trade secrets and confiden tial information of MOTOMAN robotec GmbH and its suppliers Therefore you must treat the Software just as you would any other copyrighted material such as a book You may not copy the Software or the Documentation except as set forth in the Use of the Software section Any copies that you are permitted to make pursuant to this Agreement must contain the same copyright and other proprietary notices that ap pear on or in the Software You agree not to modify adapt or translate the Software Transfer You may not rent lease subli
33. to use RS232 port of Teachbox Ethernet communication XRC robot controllers are not delivered with an Ethernet interface by default Therefore to use Ethernet communication with XRC an additional extension board must be ordered For installation of this board refer to YASNAC XRC Ethernet I F Board Instructions NX100 controllers are always equipped with an Ethernet port Also PC system needs to have an Ethernet interface Connection between PC and controller is established by using standard Ethernet hardware 24 04 2006 Motoman robotec GmbH 2 6 Configuration of robot controller For establishing a connection between robot controller and PC some configuration is neces sary at controller side 2 6 1 NX100 Table 1 shows the basic settings necessary for MotoAdmin and NX100 Parameter Description Possible values RS232C Ethernet FD003 Computer Com 0 disable 1 1 munication 1 enable FD042 Ethernet Function O disable 0 1 1 enable RS000 Port Protocol 2 BSC Protocol 2 2 3 FC1 Protocol RS006 Data Transm Ext 0 Disable 1 1 1 Enable RS029 Data loading dur 0 1 1 ing Playback 1 enable RS030 Data Bits 8 8 data bits 8 RS031 Stop Bits 0 1 stop bit 0 RS032 Parity 2 even parity 2 RS033 Baud Rate 8 19200 Baud 7 7 9600 Baud 6 4800 baud Dis RS034 Timer A No in 0 15 30 RS035 Timer B No in 0 1s 200 R
34. ur prod uct and a check number which you will get after purchasing the license fee Motoman robotec GmbH 24 04 2006 License Information tj m Register License No of Licenses 4 Serial No Update Close Figure 7 Register licenses 3 5 Mode menu The current security level can be changed by selecting the Change security level menu item Operator Modus ingen Ansicht Extras Modus andern rabi R a w rter ndern Figure 8 Mode Menu To change to a different level select desired level and enter password amp Change Security Level Select level Administrator level Password N Cancel Figure 9 Change security level If the entered password is valid for the selected security level the level will be changed You can see the current security level in the title bar of the main window Es existieren in MotoAdmin 3 Sicherheitsmodi gt Operator Mode 24 04 2006 Motoman robotec GmbH The operator is allowed to do control functions can connect to robots if the robot configuration is already available he has the rights to get status information to read in puts and outputs to read variables and to save robot data files The Operator Level is the default level So no password is needed gt Programmer Mode In addition to the functions the operator can execute the programmer is all

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