JobExchanger for network
Contents
1. Fig 47 Editing a language file 1 Choose Edit 2 The language file is shown in plain text where the translated text found within quotation marks is to the right on each line A Make sure you do not accidentaly change or delete any other characters MRS6515GB ch7 0 fm Revised 05 07 08 Page 43 Page 44 MOTOMAN JobExchanger for network Creating a new language file 7 2 Creating a new language file 7 2 1 Language from the list 1 2 3 4 Highlight the language to start from Press Edit Save the file with its correct name The file ending should be Ing Danish Danish Ing Norwegian Norwegian Ing French French lng etc Save the new file in the folder JobExchanger32 Choose the new language from the list and edit it as desribed above 7 2 2 New languages The language list contains an additional seven language choises called User14 to User20 If you want to add a language not found in the list do as follows 1 2 3 Choose language to start from Press Edit Save the new file under the name you would like to see in the list The file ending should be Ing and it should be saved in the folder JobExchanger32 In order to be able to choose the new language from the list it is necessary to add its name to all the other active language files 4 First choose the System language file from the list and press Edit 5 Scroll down to t2. Fig 12 Automatic uninstall Page 12 Revised 05 07 08 Software installation 0 U fm MOTOM AN Software installation Uninstall 5 End the operation by clicking the Finish button Fig 13 Uninstall Software installation 0 U fm Revised 05 07 08 Page 13 MOTOMAN Software installation Uninstall Page 14 Revised 05 07 08 Software installation 0 U fm MOTOMAN JobExchanger for network Hardware setup 3 Communication setup 3 1 Hardware setup Communication can be performed either via ethernet or serial interface or via a mixed envi ronment 3 1 1 Personal computer Add the network adapter to the personal computer When you add the adapter read its manual and confirm that it works correctly in advance of using High Speed JobExchanger 3 1 2 Ethernet hardware To communicate with robot controller using High Soeed JobExchanger network hardware must be set up correctly Details about how to set up the network is described in the following manual NX100 Ethernet function manual Motoman No MRS6104GB XRC Ethernet board JANCD XIF02 setup manual Motoman No MRS50110 MRC Ethernet board JANCD MIF06 setup manual Motoman No JANCD MIFO6 3 1 3 Windows network setting To be able to communicate with Ethernet in Windows system settings related to the network must be entered Contact your network administrator to set up the communication and entering the correct IP address
3. Fig 40 Input dialogue for uploading Click OK to start uploading from the robot controller 5 5 2 Download batch jobs Select Download Batch Jobs from the Option menu and input the name of the file in which the file names to be downloaded are described a Download Whole Jobs Sled ph Coka Ce e cel ce third 1 File Hame gt le DE Fig 41 Input dialogue for downloading Click OK to start downloading to the robot controller 5 6 Switch the target robot Click the Robot combo box in the main window and choose the robot name the target robot controller with which to communicate is switched Registered IP address of robot controller and initial directory corresponding to the robot name are used for communication Click and choose the robot Fig 42 Dialogue for switching robot NOTE When the robot is switched the file list of robots in the window is not updated automatically Click Refresh in the robot window before performing file opera tions MRS6515GB ch5 0 fm Revised 05 07 08 Page 37 MOTOMAN JobExchanger for network Switch the target robot Page 38 Revised 05 07 08 MRS6515GB ch5 0 fm MOTOMAN JobExchanger for network Initial files 6 Program structure 6 1 6 2 6 3 High Speed JobExchanger is a Windows based communication program for connection bet ween a PC and MOTOMAN industrial robots controller type NX100 as well as ERC MRC and XRC In
4. For controller setup see Data Transmission Function manual 3 3 3 MOTOMAN XRC To communicate with MOTOMAN XRC using TCP IP protocol an Ethernet board is required Add the XIF02 board to MOTOMAN XRC and describe the IP address and subnet mask for XRC To setup the Ethernet I F board for MOTOMAN XRC see the following manual Ethernet board JANCD XIF02 setup manual MRS50110 Parameters To establish communication between robot controller and PC some parameters have to be set in the NX100 Contact your MOTOMAN representative if in doubt Page 20 Revised 05 07 08 MRS6515GB ch3 0 fm MOTOMAN JobExchanger for network Robot controller setup RS000 Protocol description 1 Settings for parameter RSOOO O Not used Printer 2 E BSC LIKE protocol used for Data Transmission 3 FC1 protocol This parameters is used to describe the transmission protocol for Std port 1 or Ethernet board for XRC If the Ethernet communication function is not to be used RS000 and RS001 correspond to the Std port 1 and port 2 respectively When the Ethernet communication function plus Std port 1 is used the parameter according to this port number must be set and the other parameter is used for Ethernet communication To run High Speed JobExchanger you must set RS000 to value 2 Controller setup Parameter FD3 must be set to 1 initial setting is O Command Remote must be Valid Pseudo Inpu
5. MOTOMAN JobExchanger for network File type 5 It s also possible to cut the text from the window by pressing Ctrl key and X key at the same time Ctrl X Note It is only the text as shown in the window which is affected the original files are left undamaged File type To switch the file type to load or save choose the file list from File Type combo box located under the file window Fie l pe ep bu OMD GY JBA Pm JET Fig 38 List of file type in PC The lists are different for the PC and the robot controller Batch process Using a job list file created by an editor such as Notepad a multiple number of files can be uploaded from or downloaded to the robot controller File name extension is Ist e g BatchA lst The required format of the list file is shown below Job List Format 1 One file name must be described per line 2 Both capital or lower case characters can be used 3 Files with no extension are regarded as jbi AP a a bet Aide koret Mi de aren srm Mk wa ES F Fig 39 A list of jobs 5 5 1 Upload batch jobs Select Upload Batch Jobs from the Option menu and input the name of the list file in which the file names to be uploaded are described Revised 05 07 08 MRS6515GB ch5 0 fm MOTOMAN JobExchanger for network Switch the target robot Lipload Whale lobe Cardo pedo fi Tog ete teres Fran Lt Flo Mena e
6. Note IP address and subnet mask must be correct Ask your network administrator for the correct datas The wrong setting of these parameters may cause the incorrect communicaton for example the same IP address is assigned to other PCs 3 1 4 Hardware key To be able to run the program it is necessary to apply the hardware key Insert the hardware key into the parallel port of the PC or if using a USB hardware key insert it in a suitable USB connector 3 1 5 Cables for serial interface Communication between PC and robot controller via RS232C serial interface Cable length are max 15 m to each robot controller It is possible to use short distance modem if the distance is longer Com1 and Com3 are normally 9 pin plugs Com2 and Com4 are normally 25 pin plugs MRS6515GB ch3 0 fm Revised 05 07 08 Page 15 Page 16 MOTOMAN Cable layout 341779 ERC MRC JobExchanger for network Hardware setup Grounding shield D NOAUA QO ND A ND Q O Q Cable ERC MRC OC DN On QA A O ND o D d OD Qa AO ND K Adaptor PC 25 pin PC 9 pin Fig 14 Cables and adaptor Cable layout 347377 XRC NX100 10 d O 1 ft D E eee Be gt a p 50 O5 60 O 6 ZO OG 90 r Og Grounding shield XRC Cable PC 9 pin Fig 15 Cable Revised 05 07 08 MRS6515GB ch3 0 fm MOTOMAN JobExchanger for network PC setup 3 2 PC setup 3 2 1 Target directory Together with this
7. Revised 05 07 08 MRS6515GB ch4 0 fm MOTOMAN JobExchanger for network Help menu 4 4 3 Version Product version is shown Quit by clicking on OK High Speed JobExchanger Ver4 7 1 Copyright C 1998 Moloenan Robetlos AR Fig 31 Version information MRS6515GB ch4 0 fm Revised 05 07 08 Page 31 MOTOMAN JobExchanger for network Help menu Page 32 Revised 05 07 08 MRS6515GB ch4 0 fm MOTOMAN JobExchanger for network Start 5 Program running Robot controller has to be set in REMOTE mode For XRC and MRC TEACH mode must be selected as well 5 1 Start 1 Start the software by clicking the program icon in the program menu 2 Choose if you want to connect to robot controller or run separately Click on the YES or NO button If you choose NO you won t be connected to a control ler Hk Hyrer kl er eee Fig 32 Connect to robot 3 Now you will see the main window of High Speed JobExchanger The left side of the screen displays the PC side The right side of the screen displays the controller side Ela je Cetin Deh ne a e Man 75 06 28 E 94 17 16 15 06 50 B MTS 15 17 74 BATAIE 16 07 59 94 12 16 1508 04 54742210 03 02 at sr Ja HO rr Fig 33 Main window when connected to robot controller 5 2 File operation 5 2 1 What to do The following file operations are available Copy Copies selected files fro
8. MRS6515GB ch8 0 fm Revised 05 07 08 Page 47 09 SD PRM RO PRM SC PRM CIO PRM FD PRM AP PRM RS PRM CM PRM SP PRM SE PRM VC PRM SV PRM VM PRM BS PRM OIO Jl gt lol gt lolols v o o gt gt 1 7 lt O D gt 2 3 MOTOMAN JobExchanger for network Files loaded into the PC file system will get an extension of jbi jbr dat cnd prm Ist or sys dependinng on type of file Allowed functions A Possible to copy into PC B Possible to copy into robot controller reload or to delete from robot controller O Possible X Impossible Note Loading of system parameters are by safety reason not permitted use FC1 FC2 or FDDWIN software for RS232C Page 48 Revised 05 07 08 MRS6515GB ch8 0 fm MOTOMAN JobExchanger for network Port numbers used for TCP IP 9 Limitations 9 1 Port numbers used for TCP IP High Speed JobExchanger uses TCP IP as a communication protocol For communication with TCP IP service identification numbers called port numbers are used internally With High Speed JobExchanger only port numbers from 10000 to 10008 are used for data trans mission When these numbers overlap with those of any other network device normal com munication becomes disabled For use of this product verify in advance that there is no network device using the port numbers in the above range on the same network 9 2 Access to the same file in a PC Simultaneous access from different robot cont
9. the OK button E r 1 Select Language aaan a sp ma yen me m em I e Wm TE ee ee A EEE E HE ect l F n mmi i d A Fig 4 Language selection during installation 11 Pass this information screen by clicking the Next button Fig 5 Information screen Page 8 Revised 05 07 08 Software installation 0 U fm MOTOMAN Software installation Installation 12 Read through the license agreement and accept by clicking on the Next button ui FN her FEE foe Fis cba a hd w ra md met pre orth na r e eee Par par s re r rg e fare if Mur Vien va by cond Par ele AE Fig 6 License agreement Accept by clicking Next 13 Set directory for FDDWIN32 It s advisable to install the software in the directory which is set as default by the installation guide 14 Accept by clicking Next button I CH HARME Leg ost mld bn Fig 7 Choose directory Software installation 0 U fm Revised 05 07 08 Page 9 MOTOMAN Software installation Installation 15 Accept installation process by clicking Next button Fig 8 Start installation 16 Installation starts Fig 9 Installation progress counter 17 The installation is finished and the last screen appears 18 Accept installation by clicking the Finish button Fig 10 Installation complete 19 Before it is possible to r
10. 25 Upload Date TOBA ias 27 Download Batch TODS uns is pa 27 Ven 28 Res ister ICED SC irlanda Aer oi 29 Help ment O 30 High Speed JobExchanger Heli rer eiti 30 RObOEC6ntroller Hep 30 Ae LO A o AA AE OENE TAE ERE E E REE 31 5 Program running 33 LR E 33 MA NGS 33 Vid 33 A a a a SEAN ORS ET EEEER 34 Confirm the file contents Laos 35 Display tie COMLCI OR EE e 35 ks 35 MRS6515GB 0 UTOC fm Revised 05 07 08 Page 3 MOTOMAN JobExchanger for network CURADO DAS RE EE EN 35 Fen DG varer 36 Batch Process saa enerne 36 Upload Datch e nal Ne 36 Download Watch JODA 37 Switch th target ss 37 6 Program structure 39 Initial Ties coi diia iio ee 39 Lans dace UE 39 High Speed Link Server snnt 39 FX BOUL UNG SCL Ol d ee 39 SaS MOOL EE NN Oe EN 40 Delete the communication information oooccncccnnnncnnnnncnnnncnnnnnnnnnnnnnnnnnananoss 40 Ke E E 41 7 Advanced functions 43 Editing language file svarar 43 Creating a new language file dais 44 Laneuase irom tells illes 44 Ne Tani gude 68 ee 44 NNN 45 8 Name of files 47 9 Limitations 49 Port numbers used for TCP IP e eevovosevvvseevevnsevenvnsvnvnnennnneneenesenernnseeennenee 49 Access to the same file in a PC ccccscsccsssccsccccsccccsccccscccccccccsccccsccccescess 49 Access from several PCS ari el 49 Storage oF CMOS fe eles sj 50 10 Trouble shooting 51 Manufacturer A R A A A AG 52 Page 4 Revised 05 07 08 MRS6515GB 0 UTOC fm MOTOM
11. 6 480 417800 Fax 46 480 417999 Group companies Denmark Finland France Germany Germany Great Britain Italy Netherlands Portugal Slovenia Spain Sweden MOTOMAN Robotics Europe AB Greece Anelystparken 47A DK 8381 Tilst Denmark Tel 45 7022 2477 Fax 45 7022 2478 MOTOMAN Robotics Finland OY Messinkikatu 2 FI 20380 Turku Finland Tel 358 403000600 Fax 358 403000660 MOTOMAN Robotics SARL Rue Nungesser et Coli D2A Nantes Atlantique F 44860 Saint Aignan de Grand Lieu France Tel 33 2 40131919 Fax 33 40754147 MOTOMAN Robotec GmbH KammerfeldstraBe 1 DE 85391 Allershausen Germany Tel 49 8166 90 0 Fax 49 8166 90 103 MOTOMAN Robotec GmbH Im Katzenforst 2 DE 61476 Kronberg Taunus Germany Tel 49 6173 60 77 30 Fax 49 6173 60 77 39 MOTOMAN Robotics UK Ltd Johnson Park Wildmere Road Banbury Oxon OX16 3JU Great Britain Tel 44 1295 272755 Fax 44 1295 267127 Hungary Israel Norway Polen South Africa MOTOMAN Robotics Italia SRL Switzerland Via Emilia 1420 16 IT 41100 Modena Italy Tel 39 059 280496 Fax 39 059 280602 MOTOMAN benelux B V Zinkstraat 70 NL 4823 AC Breda Netherlands Turkey Tel 31 76 5424278 Fax 31 76 5429246 MOTOMAN Robotics Iberica S L Sucursal em Portugal Z Ind Aveiro Sul Lote 21 N S Fatima PT 3810 Aveiro Portugal Tel 351 234 943 900 Fax 351 234 943 108 RISTRO d o o Lepovce 23 SI 1310 Ribnica Slo
12. AN JobExchanger for network JobExchanger for network Valid for High Speed JobExchanger JobExchanger for network version 4 2 1 Motoman part No 441112 99 w Fl ard Korbel mr UET LE Leber dee l Fig 1 Main window 1 General High Speed JobExchanger is 32 bit PC software for Windows environment The purpose of this product is 4 4 9 2 One way communication from one PC to several Motoman robot controllers Communicate with NX100 XRC MRC and or ERC controllers via ethernet or serial interface Upload download of JOB files from to the robot controller Removing deleting JOB files from the robot controller or the PC Expanded storage area for robot jobs in the PC Editing the robot job is not possible by this program This is a multi language version of the software which gives you the facility to switch between different menu languages and even create new language files For more basic information about installation and handling of the software icons menu bars etc refer to the operator s manual for Windows When in doubt this manual should always be referred to This Operator s Manual comprises information about Installation Setup Handling operation Text written in BOLD letters means command icon or button Text written in TALIC means text shown on display MRS6515GB ch1 0 fm Revised 05 07 08 Page 5 MOTOMAN JobExchanger for network Copyright 1 1 Copyright The CD for High S
13. Connection cables Transceiver etc Serial interface cable Page 6 Revised 05 07 08 MRS6515GB ch1 0 fm MOTOMAN Software installation Installation 2 Software installation O Note This chapter shows a general installation phase of any software In this example the software FDDWIN32 is installed Select the correct software by choosing the appropriate software name All software on the CD can be installed but the hardware key is only valid for one of them order based 2 1 Installation There are three ways to start installation of this software all will give the same result The most common way is described below Put the CD in the CD drive Click on the Start button on the menu bar Choose Run from the menu Browse to your CD drive e g D Choose the file named SETUP EXE Click OK GE E sl Ee ee ee eer on bit Ao rl m O d mfl gt a Fig 2 Choose installation file 7 Choose OK and the installation guide will start 8 You can quit the installation att any time by clicking the Cancel button and then confirm by Yes button 2 Dar rd Ei AO fag aa T Tan Fig 3 You can cancel installation at any time 9 Mark the language you want to use during installation Note This will not influence the language you use in the software later Software installation 0 U fm Revised 05 07 08 Page 7 MOTOMAN Software installation Installation 10 Click on
14. Heis EY T Larcel Fig 24 Port setup Page 26 Revised 05 07 08 MRS6515GB ch4 0 fm MOTOMAN JobExchanger for network Tools menu General tab Es s ipho M ode pa Ge Joubs F aler p Aalls ender of Hebreo doe C ontas ant Jot le adan P hepi Sabre De Hull fare Diper Gede ret Folken mher elertia Fide F T Faden Aug E ate fr E E ara Fig 25 General setting Automatic Transfer of Relative Jobs If the marked job is a Related job jbr all related jobs jbi are transferred between PC and controller Display Print Job Header When you open or print out a job header information is included Do Not Save Current Settings If this checkbox is marked the current settings are reset to last settings when High Speed JobExchanger is terminated Open Work Folder Automatically If this checkbox is marked the target directory in the PC is automatically selected when com munication is opened with a robot in the main window This function is recommended as it minimise the risk to mix files from different robots in the same directory If it is not marked target directory must be selected manually 4 3 2 Upload Batch Jobs By selecting this from the Option menu and inputting the name of the file containing the names of files to be uploaded a multiple number of files can be uploaded See 5 5 Batch Pro cess for further information 4 3 3 Download Batch Jobs By selecting this from t
15. OPERATOR S MANUAL JobExchanger for network Upon receipt of this product and prior to initial operation read these instructions thoroughly and retain for future refer ence Y MOTOMAN Document No MRS6515GB 0 U MOTOMAN FE Reference list This manual is valid for software High Speed JobExchanger version 4 2 1 FE Revision 050708 First release of this document Page 2 Revised 05 07 08 NX framsida eng fm MOTOMAN JobExchanger for network 1 General 5 COP Maio 6 High Speed JobExchanger kit cccccccccccccccccccc00000000000000000000000000000000000 6 System requirements 00000000000000000000000000000000000000000000000000000000000000000000000 6 2 Software installation 7 DiS Cea AGU OM eosina EC n send 7 After mstalation aars Na 11 Uninstall a TE A ELG 12 3 Communication setup 15 Hardware SCUUD wuss PORRO CO ONO aE E E SENSE SEE ESSEN ESSENS 15 Pk 15 Ethernet Nard al Ceseni oni aa ee 15 Windows network sem avse Ne 15 Hver 15 Cables For Serial EE iii sd 15 NS A aa eler N ARE ROA 17 MAE SEE dren AAA RES SENE REESE STE TERRE ES SEERE REESE TESS SEERE SER PELSEN 17 Are Cl progran OPS 17 COMMUNICATION SEN RS 17 Robot controler Setup aars 20 Prado 20 MOTOMAN NX TOO sr 20 MOTOMANXR uens ime a ee 20 NVE NR 21 4 High Speed JobExchanger functions 23 File man vadere 24 Ver MEDU saciar aa ESRB ESS SERENE SEE REED ESERRES a a aikas 24 Tools ME ita aii 25 UO EEE O
16. address of robot controller robot name and directory Robot name is specified by user Details of how to setup the communication parameters are described in a separate chapter See Tools menu on page 25 3 3 2 MOTOMAN NX100 To communicate with MOTOMAN NX100 using TCP IP protocol the built in Ethernet function must be set up IP address and subnet mask for NX100 To setup the Ethernet function for MOTOMAN NX100 see the following manual Ethernet function manual MRS6104GB Parameters To establish communication between robot controller and PC some parameters have to be set in the NX100 Contact your MOTOMAN representative if in doubt RS000 Protocol description 1 Settings for parameter RS000 0 Not used 1 Printer 2 BSC LIKE protocol used for Data Transmission JE FC1 protocol This parameters is Used to describe the transmission protocol for Std port 1 or Ethernet func tion for NX100 If the Ethernet communication function is not to be used RS000 and RS001 correspond to the Std port 1 and port 2 respectively When the Ethernet communication function plus Std port 1 is used the parameter according to this port number must be set and the other parameter is Used for Ethernet communication To run High Speed JobExchanger you must set RS000 to value 2 Controller setup Parameter FD3 must be set to 1 initial setting is O Command Remote must be Valid Pseudo Input Display
17. atresh Fig 36 Popup menu Confirm the file contents If you want to display the header of the file you have to mark the checkbox Display Print Job Header in the Setup menu under the View command 5 3 1 Display file content This can be done in two ways Double click on the file you want to open The file will be opened in Windows Notepad Mark the file in the left window and then click on the Display File Contents button The file will be opened in the right window 5 3 2 Print out Mark the file in the left window and then click on the Display File Contents button The file will be opened in the right window And then Printing out can be done in two ways 1 Select Print File from the File menu 2 Click the print button located in the right window Print button Fig 37 Print out the file contents 5 3 3 Cut and paste If you want to study the file on a print out or use parts of the program in your documentation use the cut amp paste method 1 Mark the text you want to copy by holding down the mousebutton and pull the cursor over the wanted text The text is now marked with inverted color 2 Press Ctrl key and C key at the same time Ctrl C 3 Start up a word processing program like WORD Write or Windows Notepad 4 Paste the text in the document by pressing Ctrl key and V key at the same time Ctrl V MRS6515GB ch5 0 fm Revised 05 07 08 Page 35 L 5 4 5 5 Page 36
18. error appear if you try to delete or copy in the robot controller if it is not in REMOTE or if it is in PLAY mode Job Exchanqeq 32 AN Eng Bacteria Job 3080 Fig 52 Error message Connect to the robot controller This error appear if you start JobExchanger without being connected to the robot controller Exit JobExchanger connect the cable and restart JobExchanger sbgh iorri kid hass A Cm er envia Che ca or TAPA ete Fig 53 Robot controller not connected MRS6515GB ch10 0 fm Revised 05 07 08 Page 51 MOTOMAN JobExchanger for network Manufacturer Delete devided resources A warning may occure when you are removing a software in Motoman group A file in Win dows systems is no longer used by any software Accept to remove this file by clicking OK rd HVET ed TE FA erg o i Ee BP pt ges sed os bo ee LG Leid ee TT eel C ve Es pe pee mra ll sg Er bir eed ri mrs ed Be eee may lr hen grr Vri Ver el mr botze pa ees B 524 ee SE EFE mh O Va re ee A Sa LE KW o Der pum SET OD mera Far eel blar Yes peo rus Fig 54 Warning message 10 1 Manufacturer Address Motoman Robotics Europe AB Box 4004 SE 390 04 Kalmar Sweden Phone 46 480 417 800 Fax 46 480 417 999 Page 52 Revised 05 07 08 MRS6515GB ch10 0 fm Notes Headquarters Sweden Distributors MOTOMAN Robotics Europe AB Czech Republic Box 4004 SE 390 04 Kalmar Sweden Tel 4
19. es have to be located in the same directory as the High Speed JobExchanger MRS6515GB ch6 0 fm Revised 05 07 08 Page 39 MOTOMAN JobExchanger for network High Speed Link Server 6 3 2 Status Monitor Communication status monitor is displayed when High Speed JobExchanger is started up in el ee Fig 44 Monitor dialogue To hide the communication status monitor for some reason for example interrupting another operation select High Speed Link server from the task bar and click right button of the mouse The monitoring dialogue can then be toggled on or off as shown below is a Mara Speed sk San eet rop 6 3 3 Delete the communication information lf a communication error occurs for any of the following reasons during communication the communication information may sometimes remain in the robot controller and or PC Two possible causes of communication breakdown 1 Ethernet cable is removed during communication 2 REMOTE button on the playback panel of the robot controller is turned off during com munication If communication cannot be continued reset the communication information by the following procedures Controller side 1 Select RESET key if any error message is shown in the display of the programming pen dant 2 Turn OFF the REMOTE button on the playback box once and then turn it ON PC side 1 Press Delete button in the communication status monitor 2 To
20. from the list correspon ding parameters robot name IP address of MRC Initial directory in PC are shown Add Back A new robot can be added BEFORE the currently highlighted robot and its details entered on the right side of the dialogue Add Fwd A new robot can be added AFTER the currently highlighted robot and its details entered on the right side of the dialogue Delete Remove the robot from the list NOTE The robot currently being used cannot be removed Robot Robot name to identify the robots MRS6515GB ch4 0 fm Revised 05 07 08 Page 25 MOTOMAN JobExchanger for network Tools menu IP address IP address assigned to the robot controller Work Folder The target directory in the PC is defined and related to the selected robot Ethernet RS232C Descide wether Ethernet or RS232C protocol is to be used Y When Ethernet is selected IP address must be entered When RS232C is selected COM port must be set up Robot type Independently of the protocol the controller type must be selected Controller type Select in menu Ethernet RS232C YASNAC ERC ERC Not available Available MOTOMAN MRC MRC Available Available MOTOMAN XRC XRC Available Available MOTOMAN NX100 XRC Available Available Port setup When using the RS232C protocol the COM port has to be set See Serial connection on page 18 rei tet an IR Pret pp Bast Ham am Fata lezagb E DH Eege ven Giza H i Ur on arca d
21. ger MRS6515GB ch3 0 fm Revised 05 07 08 Page 21 MOTOMAN JobExchanger for network Robot controller setup NOTE The RS000 001 parameters can not have the same setting Ethernet communication function only supports the BSC LIKE protocol Page 22 Revised 05 07 08 MRS6515GB ch3 0 fm MOTOMAN JobExchanger for network 4 High Speed JobExchanger functions Menu structure of High Speed JobExchanger is shown below High Speed JobExchanger Copy Move Delete Select All Display File Contents Print File Exit High Speed JobExchanger Large Icons Small Icons List Details Arrange Icons Refresh Setup Upload Batch Jobs Download Batch Jobs Select Language Register License JobExchanger Help Robot Controller Help Version Fig 21 High speed JobExchanger menu MRS6515GB ch4 0 fm Revised 05 07 08 Page 23 MOTOMAN JobExchanger for network File menu Some of the operations are also available from the button on the toolbar Display File Contents Copy Move Delete Select All Refresh Arrange icons Fig 22 File operation button on toolbar 4 1 File menu Copy Copy marked file from controller to the PC or vice versa Move Moves marked file from controller to the PC or vice versa Delete Deletes marked file in PC or in controller Select All Selects all files in the active window Display File Contents Opens the marked file in the right window Print F
22. he Option menu and inputting the name of the file containing the names of files to be downloaded a multiple number of files can be downloaded See Batch process on page 36 for further information MRS6515GB ch4 0 fm Revised 05 07 08 Page 27 MOTOMAN JobExchanger for network Tools menu 4 3 4 Select language Each time JobExchanger is started it is possible to choose the appropriate language for menus and buttons 2 Ignore hinguege selection s program start Fig 26 Choosing language for the menues etc 1 Choose a language from the list 2 Click OK JobExchanger is currently available in three languages Swedish English and German More languages It is possible to translate the menu texts in other languages files See Editing a language file on page 43 Even single words in an existing translation can be changed in this way Ignoring language selection Choose Ignore language selection at program start if you do not wish to make a language selection each time the program starts Change fonts in menus etc The default font used on buttons and menus are MS Sans Serif but it is possible to change to other fonts installed on your computor Page 28 Revised 05 07 08 MRS6515GB ch4 0 fm MOTOMAN JobExchanger for network Tools menu Er Eis i CF Beg Varen id Mesa res ye rl ra pete ema ant Az Monee Sparial fi i j Chet bar a att pr pote ert ooh clad brenne
23. he heading Country Name String and change the name from User14 to the name you would like to have in the list Fig 48 Adding a new language Revised 05 07 08 MRS6515GB ch7 0 fm MOTOMAN JobExchanger for network Creating a new language file 6 Make the same change in all the active language files The text User1 4 should be chan ged on two places on the same line 7 Choose the new language from the list and press Edit 8 Make changes to the text according to item above 7 2 3 Creating an icon A new icon e g a country flag can easily be created in a picture editing program 1 Make a 16 coulour bitmap which is 32x32 pixels 2 Give it the same name as its language file with a file ending ico and save it in the JobExchanger32 folder MRS6515GB ch7 0 fm Revised 05 07 08 Page 45 MOTOMAN JobExchanger for network Creating a new language file Page 46 Revised 05 07 08 MRS6515GB ch7 0 fm MOTOMAN JobExchanger for network 8 Name of files No Group Contents Filename A B Single job jobname JBI O O Related job job conditions jobname JBR O O Weaving data WEAVOND o Jo _Tooldata LIOOLOND 10 O User coordinate data UFRAME CND 0 O Arc start condition data ARCSRT CND o O Arc end condition data ARGENDOND o Jo 2 Condition COM ARC3 condition data COMSRT CND 0 O data COM ARC3 data GoMARC amp CND o o _ Path correctio
24. ile To print out the contents in a job file you must first mark and open the file in the right window Exit High Speed JobExchanger Terminates the software 4 2 View menu Arrange icons Icons can be arranged according to Name Data file Size Icons in the list can also be displayed as Small Icons Large Icons List Details for the file list in PC and displayed as Small Icons Large Icons List for the file list in robot controller Refresh If files have been deleted from the controller via a mechanism other than the High Speed JobExhcanger for example FC1 FC2 or other communication program file lists are out of date and therefore must be refreshed BEFORE any further operations copy etc Page 24 Revised 05 07 08 MRS6515GB ch4 0 fm MOTOMAN JobExchanger for network Tools menu 4 3 Tools menu 4 3 1 Setup Information corresponding to robot is stored in the file robot ini and it is used to communi cate with the robot controller Robot name IP address of robot controller and initial directory is described for each robot to be registered Robot profiles tab Lim Es st profile General Aobal Lina Sil bed dad CITE Debat DETALI Mana MSF PC COM Ped Coal Pel Zeiten Diver Hi SS me F st aldo dat Dis ER EEE m E 1 re i Fig 23 Robot registration Robot List The name of registered robots are shown Clicking the robot name
25. itial files High Speed JobExchanger stores the environmental information in 2 files HsJobx ini Information about environment such as Font Start Language Window size etc robot ini Information about registration of robots Contents of the file are described in the Setup dialo gue Language files High Speed JobExchanger is prepared for 11 languages Highlighted languages are included at delivery English Swdish French German Italian Norwegian Finnish Spanish etc plus Japa nese The language file can be edited and created for new languages Details about how to modify it are described in a separate chapter See Advanced functions on page 43 High Speed Link Server 6 3 1 About the server To communicate with the robot controller via Ethernet the server program HSLSRV32 EXE is required The server recieves the request from High Speed JobExchanger and sends recie ves the data The server program is started up from VRP32 dll when the High Speed JobExchanger starts to communicate with the robot controller When the communication is finished click the High Speed Link server from the task bar with the right button of mouse and select Exit from the menu to quit the server program I Hr Scope Cok rr MEA AER His hgh Speed Lenk Ser Cierra ahr Va Hr Ar Fig 43 High speed link server on taskbar To transmit files between PC and robot controller server program and related DLL fil
26. m controller to the PC or vice versa Move Moves selected files from controller to the PC or vice versa MRS6515GB ch5 0 fm Revised 05 07 08 Page 33 MOTOMAN JobExchanger for network File operation Delete Deletes selected files in PC or in controller View Views a selected file in PC To view the files in the controller those files must be uploaded to the PC in advance Refresh If files have been deleted from the controller via a mechanism other than the High Speed JobExhcanger for example FC1 FC2 or other communication program file lists are out of date and therefore must be refreshed BEFORE any further operations copy etc 5 2 2 How to do it To move delete or use other functions just select the file and then use the commands in the File menu or the button in the tool bar Pull down menu Fig 34 Pull down menu File menu Toolbar File Operation button Fig 35 Toolbar Drag and drop To copy files from controller to PC or vice versa just mark the file in the window and drag over to the other window NOTE Make sure to access correct directory in the PC Page 34 Revised 05 07 08 MRS6515GB ch5 0 fm MOTOMAN JobExchanger for network 5 3 Confirm the file contents Popup menu By clicking the right button of the mouse in the file list window a popup menu appears and the file operations are available be Dra hate Tebl All Ke F Snags ions F E
27. manual one CD is included This CD contains the High Speed JobExchan ger software in compressed form High Speed JobExchanger software files are installed to the Jobexchanger32 directory as shown in the following figure It is advisable to create separate directories for the robot jobs name them for example robot 1 robot 2 etc as in the figure For more information see Windows user s manual Program Files HsJobxcg Fig 16 Directory layout 3 2 2 Target program group When the installation is finished completely High Speed JobExchanger 4 2 1 program group and icons are created under the MOTOMAN group To start program click the program icon in the start menu 3 2 3 Communication setup The connection protocol is very special for more information see YASNAC ERC YASNAC MRC MOTOMAN XRC MOTMAN NX100 computer communication User s manual 1 Choose Setup from the Tools menu MRS6515GB ch3 0 fm Revised 05 07 08 Page 17 MOTOMAN JobExchanger for network PC setup Adding a new robot to the list Fig 17 Adding a new robot 1 Change the name of the robot DEFAULT Press either Add Back or Add Fwd in order to add a robot to the list 3 Choose a robot from the list and make the necessary setup See items Serial connection and Ethernet connection Serial connection Fig 18 Serial connectin dialogue 1 Choose RS232C connection 2 Select the c
28. n condition data SENSCOR CND O o CO2 laser processing condition data LASER CND o o Piercing condition data PIERCE CND o o _ Ultra Piercing condition data UPIERCE CND O O _ Taser cutting condition data CUT CND o O _ man Vaiabledata WARD lo O an Are condition auxiliary data ARCSUPDAT O o _ Phase offset value data PC1PC2 DAT o lo A I O Concurrent I O program CIOPRG LST oO X data I O name data IONAME DAT oO X MT X gt lt Welder characteristics data WELDERDAT JO X Welder condition data WELDUDEF DAT O X Reserved job name JNAME DAT SV monitor signal VMON DAT Variable name ARNAME DAT Robot calibration data BCALIB DAT Specified point data OME2 DAT Absolute data BSO DAT Arc condition guide data RCGUIDE DAT Ge Operation origin position data PEORG DAT 5 Hain Conveyor data V DAT Conveyor characteristics aux data CVSUB DAT Paint characteristics data PGUN DAT Press characteristics data Spot gun characteristics data SGUN DAT Spot welding characteristics data SWELDER DAT Anticipation output data NT DAT COM ARG3 sensing output 1 OMSENS1 DAT COM ARC3 sensing output 2 OMSENS2 DAT Alarm history data LMHIST DAT System information YSTEM SYS LL PRM Manipulator matching System definition Coordinate origin System construction concurrent I O Function definition Parameter APPEAL re Data communication Data link Printer Sensor Vision Servo Servo motor constant Observer
29. nfo motoman se Y MOTOMAN a subsidiary of YASKAWA Electric Corporation
30. ontroller type ERC MRC or XRC from the drop list For NX100 select XRC Page 18 Revised 05 07 08 MRS6515GB ch3 0 fm MOTOMAN JobExchanger for network PG setup 3 Choose the right com port and then press Port Setup Peri etan mu Pat fens Goud Mabe age P 2 Ws Recom values ore H Sum Ta Baude rate 9600 Faegn EVEN E ich Data length 8 l p lid j Parity EVEN Stop bit 1 Ute an eela d Heia Deier Fig 19 Com port setup 4 Enter the data according to table 5 Choose a Work folder for this particular robot This is the folder from which all files are moved to and from the robot controller Ethernet connection Rau pisi armai Hino Vaal al Bank add Vand pre Lei Della Deg Eh La Fig 20 Ethernet connection setup 1 Choose Ethernet connection Select the controller type ERC MRC or XRC from the drop list For NX100 select XRC 3 Enter the robot s IP Address 4 Choose a Work folder for this particular robot This is the folder from which all files are moved to and from the robot controller MRS6515GB ch3 0 fm Revised 05 07 08 Page 19 MOTOMAN JobExchanger for network Robot controller setup 3 3 Robot controller setup 3 3 1 Parameters To communicate with the robot controller IP address needs to be set as a communication parameter High Speed JobExchanger can save a multiple number of robots information IP
31. peed JobExchanger software may not be copied or imparted to a third party nor be used for an unauthorized purpose Copies may be done only for own backup This manual may not be copied or imparted to a third party nor be used for an unauthorized purpose 1 2 High Speed JobExchanger kit High Speed JobExchanger kit comprises CD including software and drivers One hardware key parallel port or USB port One user s manual this document One registration card In standard version license for two clients two controllers are included As option extra clients can be added One extra client Motoman Part No 441121 o High Speed JobExchanger kit does not comprise Ethernet boards for PC Ethernet board for robot controller Serial interface cables Cables Transceivers Terminators etc ee e H Further you may have need for Manuals for your robot controller Ethernet function manual incl in the delivery of the board function Operator s manual for Windows oe o H 1 3 System requirements Hardware Personal computer type 486MHz or better including 64Mb RAM 10Mb disk space CD drive Y Ethernet I F board Microsoft Windows 98 NT 2000 XP or newer Protective hood if the PC is installed in the workshop Robot controller MOTOMAN ERC robot controller or Y MOTOMAN MRC robot controller or Y MOTOMAN XRC robot controller or Y MOTOMAN NX100 robot controller Network Ethernet cable
32. reset information input the IP address of the robot controller where the error occured and click OK Maneten es HIH m e E ioc oe be ee peed Fig 45 Dialogue of deleting the information Page 40 Revised 05 07 08 MRS6515GB ch6 0 fm MOTOMAN JobExchanger for network High Speed Link Server 6 3 4 Version Click the High Speed Link server from the task bar with the right button of the mouse and choose About HSL server menu the version information of the server is displayed Quit by clicking OK Ti permene Nigh Speed Link Server vim Copyright O YASKAWA Elechic Corp 1997 Fig 46 Version display MRS6515GB ch6 0 fm Revised 05 07 08 Page 41 MOTOMAN JobExchanger for network High Speed Link Server Page 42 Revised 05 07 08 MRS6515GB ch6 0 fm MOTOMAN JobExchanger for network Editing a language file 7 Advanced functions 7 1 Editing a language file The dialogue box for language selection includes an Edit button which makes it possible to edit the language files directly A Do not attempt to edit these files unless you are an experienced PC operator lt is very easy to damage the syntax so that the software does not function cor rectly karen F emne apr be ra red arah Inge Fransa t _ 1 DER poem en beier ha mm Danik F Gia E Prat Fan pal l fram I EE sl ee Re TE VING E EE EE ee ua D E
33. rollers to the same file in a PC is not possible Ethernet Fig 49 Access from controllers to a PC 9 3 Access from several PCs When High Speed JobExchanger is used only one PC can transmit data per robot controller Transmission with more than one PC is not possible Simultaneous transmission between one PC and more than one robot controller is possible Ethernet Fig 50 Access from PCs to a controller MRS6515GB ch9 0 fm Revised 05 07 08 Page 49 MOTOMAN JobExchanger for network Storage of CMOS file etc 9 4 Storage of CMOS file etc Robot controller employs protocol conforming to BSC LIKE and FC1 protocol for transmission with external devices High Speed JobExchanger performs transmission using BSC LIKE pro tocol Since FC1 protocol is used for storage etc of CMOS files it cannot be executed with High Speed JobExchanger For storage etc of CMOS files etc use FC1 or FC2 Page 50 Revised 05 07 08 MRS6515GB ch9 0 fm MOTOMAN JobExchanger for network 10 Trouble shooting Hardware key problems Check if the hardware key is mounted in right place if there are several parallel ports try another one Mount a printer cable in the hardware key socket does not need to be connec ted to a printer hat pac harper 12 I Sr Bu Fog hage ee en can Tr peewee gi roer 4 h rdere l s a Fig 51 Missing hardware key The control system in the wrong mode This
34. t Display For controller setup see Data Transmission Function manual 3 3 4 YASNAC MRC To communicate with YASNAC MRC using TCP IP protocol an Ethernet board is required Add the MIFO6 board to YASNAC MRC and describe the IP address and subnet mask for MRC To setup the Ethernet I F board for YASNAC MRC see the following manual Ethernet board JANCD MIFO6 setup manual Parameters To establish communication between robot controller and PC some parameters have to be set in the MRC Contact your MOTOMAN representative if in doubt RS000 Protocol description 1 RS001 Protocol description 2 Settings for parameter RS000 RS001 O Not used 1 Printer 2 BSC LIKE protocol used for Data Transmission JE FC1 protocol These parameters are used to describe the transmission protocol for Std port 1 port 2 or Ethenet board for MRC If the Ethernet communication function is not to be used RS000 and RS001 correspond to the Std port 1 and port 2 respectively When the Ethernet communi cation function plus either Std port 1 or port 2 is Used the parameter according to this port number must be set and the other parameter is used for Ethernet communication To run High Speed JobExchanger you must set RS000 or RS001 to value 2 For example If port 1 is already used for FC1 or FC2 and its parameter RS000 is set to value 3 RS001 is required to be set to value 2 to use High Speed JobExchan
35. t erence bekja d ke 7 ch dt Fig 27 Changing the font 1 Choose Font 2 Use the dialogue to change fonts and or font size 3 Press OK 4 3 5 Register License As standard High Speed JobExchanger allows communication with 2 different controllers clients As option extra clients can be added Extra clients are added from Motoman Robo tics Europe AB In this menu the new serial No and check No is entered Restart the soft ware and fill in the setup for the new controllers farm bel ee pe Fig 28 Register license 1 Enter the serial number for JobExchanger The serial number is obtained separately with the original software CD disk 2 Enter the check number 3 Press Update and close the window MRS6515GB ch4 0 fm Revised 05 07 08 Page 29 Page 30 MOTOMAN 4 4 Help menu 4 4 1 High Speed JobExchanger Help JobExchanger for network Help menu From the help menu you ll get short information about commands functions etc which can be helpful when you run the software Fig 29 Help topics 4 4 2 Robot Controller Help From the help menu you ll get short information about robot commands functions etc which can be helpful when you run the software ee re Ja ee ek i ER IA 2 Hara ba rr och e al sun Ei pra ate aes ine d Met Cee CAHCEL i DELE E leeis mieri HLDER HASS ite deporte He pi Le FG Fig 30 Help topics
36. un the software the hardware key must be installed on the parallel port Page 10 Revised 05 07 08 Software installation 0 U fm MOTOMAN Software installation After installation 20 If you are running the JobExchanger on Windows NT 2000 or XP you are requested to install a virtual parallel port driver This port is needed to access the physical hardware key attached to the parallel port Ilard rare hoy 2 2 After installation After installation fill in and return the enclosed registration card to Motoman Robotics Europe AB During installation the main directory is automatically created and all necessary files are installed in the specified drive In the end of the setup a program group MOTOMAN and a icon is created To start the soft ware just double click on the Start Menu If you want to create a shortcut to the software see Windows manual for further information Software installation 0 U fm Revised 05 07 08 Page 11 MOTOMAN Software installation Uninstall 2 3 Uninstall As in all WIN95 NT XP software there are an uninstall facility if you want to remove the soft ware from the hard disk 1 Start the Control panel from the start menu Select Add Remove button from the menu 2 Mark the line showing the software to remove in the menu 3 Click Add Remove button Fig 11 Mark the software 4 Activate uninstall guide by Next button Lisa I Tre Ke
37. venia Tel 386 61 861113 Fax 386 61 861227 MOTOMAN Robotics Iberica S L Avenida Marina 56 Parcela 90 ES 08830 St Boi de Llobregat Barcelona Spain Tel 34 93 6303478 Fax 34 93 6543459 MOTOMAN Robotics Europe AB Box 504 SE 385 25 Torsas Sweden Tel 46 480 41 7800 46 486 41410 www motoman se Hadyna Internation Ltd Kravarska 571 2 CZ 70900 Ostrava Czech Republic Boki robotizovan syst my s r o Knezeves 178 CZ 252 68 Stredokluky Czech Republic Kouvalias Industrial Robots 25 El Venizelou Ave GR 17671 Kallithea Greece Tel 30 1 9589243 6 Fax 30 1 9567289 REHM Hegeszt stechnika Kft T pi szele Jaszber nyi Ut 4 H 2766 Hungary Tel 36 30 951 0065 Fax 36 1 2562012 KNT Engineering Ltd 9 Hapalmach Street IL Kfar Azar 55905 Israel Tel 972 3 9231944 Fax 972 3 9231933 ROBIA ASA Industriveien 1 NO 3300 Hokksund Norway Tel 47 32252820 Fax 47 32252840 Roboprojekt Boc Sp z o o ul Kielecka 30 PL 42 470 Siewierz Polen Tel 48 0 32 672 89 16 Fax 48 0 32 672 88 08 Robotic Systems S A PTY Ltd P O Box 90741 Bertsham 2013 Johannesburg South Africa Tel 27 11 4943604 Fax 27 11 4942320 Messer SAG Langweisenstrasse 12 CH 8108 Dallikon Switzerland Tel 41 18471717 Fax 41 18442432 Teknodrom Robotik Otomasyon San Tic Ltd Sti Sultan Orhan Mah 1150 Sok No 8 A 41400 Gebze Kocael Turkey Tel 90 0 262 644 3 444 Fax 90 0 262 644 4 480 i
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