USER'S MANUAL MotoDCI32
Contents
1. b Inthe User13 Ing file change English to Chinese and place the Chi nese language translation of each word in the file c If you want to add more languages continue with User14 Ing and so on d Note The new languages are not displayed under the System language By selecting User13 the Chinese language appears MOTOMAN ROBOTICS EUROPE Page 26 User s manual MotoDCl Created 96 01 31 Revised 00 07 06 Doc name Mrs55120 ch4 fm Editing of Language Files MOTOMAN ROBOTICS EUROPE User s manual Moto Page 27 Startup Created 96 01 31 Revised 00 07 06 Doc name Mrs55120 ch5 fm 5 MotoDCI32 operation Using DCI Data Communication by Instruction transmitting function any job in the controller can be transmitted If the robot memory runs short because there are too many types of workpieces or a job becomes excessively long due to a complicated job a personal computer can be used as an external memory In such a case the DCI instructions can be used to upload download jobs 5 1 Startup To start up the MotoDCl32 click the Start button and point to Program and select Motoman and then MotoDClI82 The Select Language display appears as shown in Fig 4 1 Select a desired language and click the OK button The language can be changed at any time from the main menu of this application Select Language Morwegian Portuguese Japanese Chinese IT lgnore language s2. Auto Run at Reboot 35 MOTOMAN ROBOTICS EUROPE User s manual Moto Page 1 Created 96 01 31 Revised 00 07 06 Doc name Mrs55120 ch1 fm MotoDClI32 32 bit Manual valid for MotoDCI32 Motoman part No 441141 99 w MOTODCI32 Il Fil Option Help Current Setting Controller SAC Directory D Program4h otomanihMO TODCI32 Messages 04 11 2000 08 17 50 Stop KC RS 232C COM1 9600bp Data Length Party EYEN Stop Bit 1 1 General MotoDCl is a 32 bit PC software for Windows 95 98 Or NT environment The purpose with MotoDCl is to make it possible for the robot controller to use a PC as external memory The memory use is possible at PLAY mode By using the DCl instructions LOADJ and SAVEJ in the robot job job can be loaded stored saved from to the PC The DCl functions can be used if the robot memory is full or if some jobs has to be updated within operation While communication parameters have been set on both robot and PC the MotoDCl software is started on the PC MotoDCl will execute instructions told by the robot controller For more basic information about installation and handling of the software icons menu bars etc refer to the operator s manual for Windows 95 98 or Windows NT kv This manual shall always be available to operator kv This Users Manual comprises information about Y Installation Setup Handling operation for XRC robot controller Y Text written in BOLD lett
3. User s manual Moto Page 29 Option Menu Created 96 01 31 Revised 00 07 06 Doc name Mrs55120 ch5 fm 5 3 Option Menu The following functions are provided in the option menu 5 3 A Operation Environment The environmental settings define the settings for the personal computer selecting this menu calls up the display shown in fig Set each item in this display mS Operation Environment Trans Parameter Robot Type Folder C Ethernet PAddress oo oOo 0 0 Set COM Port COM Pott Baudrate Data Length Parity Stop Bit AutoRun Ok Cancel Update Fig 19 Setting Transmission Parameters E 1 Setting transmission parameters select the controller and communications protocol and choose their settings as shown in fig There are two types of communications the Ethernet and RS 232C transmission Click the radio button to select one VY Communications parameters for Ethernet transmissions Only the IP address can be set for the Ethernet transmission Enter the IP address assigned to the controller connected to the network Y Communications parameter for RS2 233C transmissions Select the port number baud rate data length parity and stop bit according to the controller settings Click the Reset button to set to the default data MOTOMAN ROBOTICS EUROPE Page 30 User s manual MotoDCl Created 96 01 31 Revised 00 07 06 Doc name Mrs55120 ch5 fm Option Menu E 2 Sel
4. backup can be executed A line Ethernet Ethernet Robot Personal Robot Personal Robot Personal Personal Controller computer Controllers computer Controllers computer computer Fig 4 Configuration Example 3 d Note When using an Ethernet cable the RS232C cable is not required MOTOMAN ROBOTICS EUROPE User s manual Moto Created 96 01 31 Revised 00 07 06 Doc name Mrs55120 ch3 fm Hardware Lock Key The cable connection for communications via RS232C is shown in figures below IBM PC AT Robot controller Personal computer D sub 25 pin male D sub 9 pin female PC9801 Robot controller Personal computer D sub 25 pin male D sub 25 pin male al SR DI Ei Fis C A0 Se DR Bi SE oG Co co ER FG FG Fig 5 RS232C Cable Connection 3 3 Hardware Lock Key For proper operation connect the attached hardware lock key to the personal computer Two types of hardware lock keys are available Y Anphenole type Y D sub type Normally a D sub type hardware lock key is attached Connection when using a PC AT compatible personal computer When using a PC AT compatible personal computer such as a PC98 NX series NEC personal computer connect the hardware lock key to the printer port Connection when using a personal computer other than PC AT compatibles When using an anphenole type hardware lock key the form of printer port differs depending on the computer model Connect th
5. with the robot controller When the transmission is finished right click the High Speed Link Server in the task bar to display the menu Click the Exit button from the menu to exit the ser ver program To communicate between a personal computer and a robot controller the server program and the related DLL files have to be located in the same folder as the MotoDCl32 E Communication Status Monitor The Communication Status Monitor display appears when the MotoDCl32 is Started up E ot CH Remove Communication Status Monitor List of communicating MRC Fig 16 Communication Status Monitor Display To hide the Communication Status Monitor window for some reason for example to work on by another operation right click the High Speed Link Server in the task bar to display the menu Select Monitoring from the menu to switch the Communication Status Monitor display ON and OFF MOTOMAN ROBOTICS EUROPE Page 24 User s manual MotoDCl Created 96 01 31 Revised 00 07 06 Doc name Mrs55120 ch4 fm High Speed Link Server E Deletion of transmission information lf a Ethernet transmission error occurs for any of the following reasons during communication the transmitted information may sometimes remain in the robot controller and or the personal computer Y The Ethernet cable is removed during transmission VY The REMOTE button on the playback box of the robot controller is turned OFF during trans
6. 11 4943604 Fax 27 11 4942320 Messer SAG Langweisenstrasse 12 CH 8108 D llikon Switzerland Tel 41 18471717 Fax 41 18442432 MOTOMAN ROBOTICS EUROPE AB a subsidiary of YASKAWA Electric Corporation
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8. MOTOMAN XRC USER S MANUAL MotoDCl32 Upon receipt of the product and prior to initial operation read these instructions thoroughly and retain for future reference MOTOMAN ROBOTICS EUROPE A subsidiary of YASKAWA Electric Corporation Y MANUAL NO MRS55120 MOTOMAN ROBOTICS EUROPE A n Reference list Basic Operator s Manual Windows User s Manual WW Revision 000316 Preliminary issue of this manual 000704 Second preliminary issue of the manual MotoDCI32 made with same texts as used for orginal manual Scanned document 000706 Brand new version of this manual based on support file MOTOMAN ROBOTICS EUROPE User s manual Moto Page Created 00 07 06 Revised 00 07 06 Doc name Mrs55120TOC fm E General E 1 Copyright 2 MotoDCl32 kit 2 L MotoDClI kit comprises 2 L MotoDCl kit does not comprise 2 LI Further you may have need for 2 Hardware Requirements for MotoDCl32 2 2 Software installation c ee cecceeseeceeeeeseeeeeeeeneeees 3 Installation 3 After installation 6 Uninstall 7 3 Introduction 0 eee eeeecceceececceceeceeeeceeeeeneceeeeeeeeeeneeens 9 Introduction of this manual 9 Features of Ethernet Communications 9 I High speed transmission 9 _I Transmissions between a multiple number of HOSTS 10 Hardware Lock Key 12 dk CHE RE 15 Execution of setup program 15 L Set up the MotoDCI32 in the following manner 15 Environmental Settings for Use of Ethernet 16 Env
9. cel installation at any time i Mark the language you want to use during installation Note This will not influ ence the language you use in FODDWIN32 later MOTOMAN ROBOTICS EUROPE Page 4 Software installation Created 96 01 31 Revised 00 07 06 Doc name Software installation fm Installation j Click on the OK button Select Language Fig 3 Language selection during installation Fig 4 Information screen I Read through the license agreement and accept by clicking on the Next but ton FDODWIN32 Installation Motoman Robotics AB End User License Agreement PLEASE RETURN ACCOMPANYING REGISTRATION CARD TO RECEIVE REGISTRATION BENEFITS NOTICE TO USER THIS IS A CONTRACT BETWEEN YOU AND MOTOMAN ROBOTICS AB TORSAS SWEDEN BY INDICATING YOUR ACCEPTANCE BELOW YOU ACCEPT ALL THE TERMS AND CONDITIONS OF THIS AGREEMENT This End User License Agreement accompanies an MOTOMAN ROBOTICS AB software product Software and related explanatory written materials Documentation The term Software shall also include any upgrades modified versions updates additions and copies of the Fig J License Software licensed to you by Motoman Robotics AB This agreement Accept by copy of the Software is licensed to you as the end user orto your employer or another third party authorized to permit your use ofthe Software You as used in the remainder of this clicking Next m Set direct
10. e key as shown in the figure below Anphenole Type When using a D sub type hardware lock key install a conversion adapter between the printer port of the personal computer and the hardware lock key The conver sion adapter should be prepared at customer side See figure MOTOMAN ROBOTICS EUROPE User s manual Moto Page 13 Hardware Lock Key Created 96 01 31 Revised 00 07 06 Doc name Mrs55120 ch3 fm v Anphenole Type NEC personal MotoDCl32 Hardware lock key Printer cable computer differs depending on the model of personal computer Anphenole 36pin e Anphenole 36pin Fig 6 Hardware lock key anphenole type VY D sub Type Conversion adapter ___ Printer cable ZA 510 differs depending on the made by LOAS Co Ltd model of personal computer MotoDCl32 Hardware lock key S6pin MOTOMAN ROBOTICS EUROPE Page 14 User s manual MotoDCl Created 96 01 31 Revised 00 07 06 Doc name Mrs55120 ch3 fm Hardware Lock Key MOTOMAN ROBOTICS EUROPE User s manual MotoDCl Page 15 Execution of setup program Created 96 01 31 Revised 00 07 06 Doc name Mrs55120 ch4 fm 4 SETUP 4 1 Execution of setup program E Set up the MotoDCI 32 in the following manner 1 Turn ON the power to the personal computer and the display 2 Start up Windows 3 Insert the MotoDCl32 installation CD ROM into the CD ROM drive 4 Click the Start button in the task bar and select Sett
11. ecting the robot model Select the controller model for transmission in the display shown in the fig 7 Operation Environment Controller GG RCE C MRE C ERC Ok Cancel Update Fig 20 Selecting a Robot Model E 3 Selecting a folder Select the folder for communications in the display shown in Fig 4 5 Once the drive and folder are specified in this display the files transferred with the com mands LOADJ and SAVEJ are retrieved stored here TS Operation Environment Ed Drive E d Folder D Program 4HOTODCI324 Job ED Cd Program EJ Motoman Ok Cancel Update Fig 21 Selecting a folder MOTOMAN ROBOTICS EUROPE User s manual MotoDCl Page 31 Display Logging File Created 96 01 31 Revised 00 07 06 Doc name Mrs55120 ch5 fm 5 4 Display Logging File Displays the contents of a log file 5 5 Clear Messages Deletes the run mode messages Messages are deleted periodically by the program 5 6 Auto Run Determines whether run mode is to be entered at the same time as startup of MotoDCl32 A check mark at the left side of the menu means that run mode will be entered 5 7 Write Logging Message Determines whether a communication log is to be taken at run mode A check mark at the left side of the menu means that the log is going to be taken A log file is created in the directory where the MOTOCOM2z2 is installed with the name of ONLINE LOG The program is overwritten when this file
12. ed MotoDCl32 is registered under MotoDCl32 folder that appears by clicking the Start button in the task bar to select Pro gram and then Motoman d Note To re install the MotoDCI32 for some reasons select MotoDCI32 in the Add Remove Program Properties Display shown in the Fig and delete all the MotoDCI32 application files before starting re installation 4 2 Environmental Settings for Use of Ethernet The following configurations are required for Ethernet transmissions These settings are not necessary for the RS232C communication Refer to Operation 4 3 Environment MotoDCI32 Application Settings To communicate with the robot controller set the IP address etc asa transmission parameter MOTOMAN ROBOTICS EUROPE User s manual Moto Page 17 Personal Computer Settings Created 96 01 31 Revised 00 07 06 Doc name Mrs55120 ch4 fm 4 4 Personal Computer Settings Set the settings related to Ethernet transmissions to the personal computer with the software installed E Hardware settings Before using the MotoDCl32 connect the Ethernet board to the personal computer and check if the Ethernet board operates correctly For connection methods refer to the manual for the Ethernet board used E Windows Network settings To communicate via the Ethernet set the settings related to the Windows net work Click the Start button in the task bar and select Setting Double click the Network icon fr
13. election at program start Fig 17 Select Language Display By marking the box Ignore language selection at program start the Select Language window is not displayed when starting the the application This can be changed at any time by selecting Select Language from the main menu of this application MOTOMAN ROBOTICS EUROPE Page 28 User s manual Moto Created 96 01 31 Revised 00 07 06 Doc name Mrs55120 ch5 fm Operation of MotoDCl32 5 2 Operation of MotoDCl32 When MotoDCI32 is executed the following display appears E Run Pressing the run button makes the MotoDCl32 wait for a request from the controller Depending on instructions used in the controller jobs will be transferred from to the controller d Note During automatic operation the grayed functions in the display such as robot change cannot be used w MOTODCI32 Piel ES Fil Option Help Current Setting Controller ARC Directory D ProgramiMotomaniMHO TODCIS2 Messages 04 11 2000 08 17 50 Stop RC RS 232C COM 9600bp Data Length 8 Parity EVEN Stop BDCT Fig 18 MotoDCI32 Main Menu E Stop Terminates run mode Normally stop the DCI operation first from the controller side If the personal computer is terminated first an alarm may occur on the controller side d Note It may take some time until the stopped status is actually entered after the stop button is pressed MOTOMAN ROBOTICS EUROPE
14. ell32 Main Menu 6 6 Register clients To register the serial and check no included in the software package proceed as follows 1 Click File Register Serialno The Register dialog appears wt Registerdialog O x Input sernalno Input checkno Ok Cancel Fig 24 The register dialog 2 Input the values and click Ok MOTOMAN ROBOTICS EUROPE Page 34 User s manual MotoDCl Created 96 01 31 Revised 00 07 06 Doc name Mrs55120 ch6 fm Installing clients 6 7 Installing clients To install the clients proceed as follows 1 Click Option Install The No of Robots dialog appear in Ho of robots Of x Input no of robots Ok Cancel Fig 25 The No of Robots dialog 2 Input the number corresponding to the number of registered clients click Ok 3 MotoDCIShell32 will now install the clients 6 8 Starting Stopping clients To start stop one or more clients click Option Start Exit then choose Rbtxx AIl Fig 26 The No of Robots dialog d Note When a client is in run mode this has to be canceled before exiting MOTOMAN ROBOTICS EUROPE User s manual Moto Page 35 Auto Run at Reboot Created 96 01 31 Revised 00 07 06 Doc name Mrs55120 ch6 fm 6 9 Auto Run at Reboot For your convenience it is possible to automaticly start all clients when a reboot is done on your server Put the MotoDClShell32 bat located in the applicat
15. en the robot controller and a personal computer and at the same time the specifications of the supplied data transmission function Read this operation manual thoroughly before use 3 2 Features of Ethernet Communications The Ethernet I F board and the Ethernet function of the MotoDCl32 transmit data at higher than normal speeds E High speed transmission In comparison with transmissions using RS232C higher speed transmissions are possible with the Ethernet When Ethernet is used Ethernet B 10 Mbps Personal computer H Robot Controller When RS232C is used DT ee RS23g2C 9600 bps Personal computer _ Robot Controller Fig l Transmission Speed Note The above transmission speed is the communication speed between network devices not including the time used for format check of transmitted data etc Created 96 01 31 Revised 00 07 06 MOTOMAN ROBOTICS EUROPE User s manual MotoDCl Doc name Mrs55120 ch3 fm Features of Ethernet Communica E Transmissions between a multiple number of HOSTS As N N transmission is possible with an Ethernet cable the following system configurations can be prepared Note Refer to paragraph Restrictions with the following Configuration Examples Y Configuration Example 1 Since an Ethernet cable can be connected to a multiple number of network devi ces the factory operation state and alarm occurrences can be monitored from several plac
16. ers means command icon or button Y Text written in ITALIC means text shown on display MOTOMAN ROBOTICS EUROPE Page 2 User s manual MotoDCl Created 96 01 31 Revised 00 07 06 Doc name Mrs55120 ch1 fm Copyright 1 1 Copyright The diskettes for MotoDCI32 program 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 MotoDCl32 kit E MotoDCl kit comprises kv Diskettes for MotoDCl and drivers or CD ROM kv Hardware key Y One manual Y One registration card E MotoDCl kit does not comprise Y Cables or adapters etc E Further you may have need for Y Programming manual for your robot controller Y Operator s manual for Windows 95 98 or Windows NT 1 3 Hardware Requirements for MotoDCl32 The MotoDCI32 operates with the configurations shown in Table 1 Microsoft Windows 95 98 or NT4 0 Pentium or pentium compatible processor Required memory 16 Mbyte or more Hardware disk 30 Mbyte or more capacity for installation Hard disk and CD ROM drive Hardware lock key Single user registration If an conversion adapter is required refer to Hardware Lock Key for details Note 1 A personal computer transmission cable and OS are not included with this software 2 Use either an RS 232C cable or an Ethernet cable for trans
17. es _ Monitoring room A Factory Monitoring room B Ethernet LI O Robot Personal Controllers computer Fig 2 Configuration Example 1 kv Configuration Example 2 By connecting the LANs of different factories with one Ethernet cable transmis sion in each factory can be executed simultaneously The transmission between the robot controller and the personal computer in factory A does not interfere with the transmission between the robot controller and the personal computer in fac tory B Transmission can also be done between factories In both cases the settings should be correct LAN in A LAN in B C factory factory Personal computer Ethernet we i a EN p H ie S j Se S e En ee f ES Personal f computer i a el _ i Robot Controllers f Controller Robot Fig 3 Configuration Example 2 MOTOMAN ROBOTICS EUROPE User s manual MotoDCl Page 11 Features of Ethernet Communica Created 96 01 31 Revised 00 07 06 Doc name Mrs55120 ch3 fm Y Configuration Example 3 With the Ethernet cables the job on a personal computer can be executed on the robot controller by installing a personal computer for each production line and transferring the job from the personal computers to the robot controller Then by connecting one personal computer to the Ethernet cables in all the production lines monitoring of the state of all the production lines and data
18. exceeds a certain size 5 8 Select Language Change the language displayed in the application according to the environment Selecting this menu displays the Select Language dialog box Select Language Morwegian Portuguese Japanese Chinese IT lgnore language selection at program start Fig 22 Select Language dialog d Note Some languages may not be correctly displayed unless fonts are set correctly MOTOMAN ROBOTICS EUROPE Page 32 User s manual MotoDCl Created 96 01 31 Revised 00 07 06 Doc name Mrs55120 ch5 fm select Language MOTOMAN ROBOTICS EUROPE User s manual Moto Page 33 MotoDCl32 Help Created 96 01 31 Revised 00 07 06 Doc name Mrs55120 ch6 fm 6 Help Menu The following functions are provided in the Help menu 6 1 MotoDCI32 Help Starts up the on line help to explain the MotoDClI32 6 2 YASNAC Help Starts up the on line help to explain the robot transmission commands transmis sion instructions alarms and interpreter messages 6 3 Version Information Displays the version information 6 4 MotoDClShell32 OPERATION MotoDClShell32 is a optional software for managing several clients of MotoDCl32 MotoDClShell32 includes tools for installing starting stopping and setting environmental settings for the clients 6 5 Operation of MotoDC Shell32 When MotoDCI82 is executed the display of fig appears w MOTODCISHELL32 MEE File Option Help Fig 23 MotoDCTSh
19. facturers Network Protocols 3 Banyan Digital Equipment DEC IBM 7 Microsoft SPH SPS compatible Protocol Have Disk cancel Fig l Select Network Protocol Dialog Box 5 The Network dialog box appears To set the IP address and subnet mask for the personal computer select TCP IP protocol from the list and click the Properties button Hetwork KH Configuration The following network components are installed Be AMD PENET Family Ethernet Adapter PCIAISA Y TCP IP Add Remove l Primary Network Logor windows Logon Description TCPYIP ts the protocol you use to connect to the Internet and wide area networks OF Cancel Fig 12 Network Dialog Box MOTOMAN ROBOTICS EUROPE User s manual Moto Page 19 Personal Computer Settings Created 96 01 31 Revised 00 07 06 Doc name Mrs55120 ch4 fm 6 The TCP IP Properties dialog box appears Input the value for the IP address and Subnet Mask of the personal computer For details of the settings of Gateway and DNS refer to a Windows manual to make proper settings for the application TCP IP Properties Ei ES Bindings Advanced DAIS Configuration Gateway WINS Configuration IP Address An F address can be automatically assigned to this computer IF your network does not automatically assign IP addresses ask pour network administrator for an address and
20. he Ethernet board for the robot controller If the Ethernet communica tion function is not to be used RS000 and RS001 correspond to the Std port 1 and port 2 respectively as the above When the Ethernet communication function plus either Std port 1 or port 2 are used parameters according to this port number must be set Any other parame ters can be used for Ethernet communication To use the MotoDCl32 set RS000 or RS001 to the value 2 For example if port 1 is already used for FC1 or FC2 and its parameter RSOOO is set to the value 3 RS001 is required to be set to the value 2 to use the MotoDCl32 d Note RS000 001 parameters cannot have the same setting MOTOMAN ROBOTICS EUROPE User s manual Moto Page 21 Network Setting Created 96 01 31 Revised 00 07 06 Doc name Mrs55120 ch4 fm Ethernet communication function only supports the BSC LIKE protocol some parameters have to be set in Maintenance mode using the programming pendant kv Customer options UO Not used Command mode Used This must be always set to Usea PP PBOX programming pendant playback box Not used Y Ethernet Ethernet Used IP ADDRESS 192 168 10 10 SUBNET MASK 255 255 255 0 DEFAULT GATEWAY 192 168 10 1 SERVER ADDRESS 192 168 10 11 The above values are examples only Input the suitable values according to your network environment 4 6 Network Setting To communicate with the robot controller usi
21. icon is created To start FDD for Windows just double click on the Start Menu If you want to create a shortcut to FDDWIN32 see Windows manual for further information MOTOMAN ROBOTICS EUROPE Software installation Page 7 Uninstall Created 96 01 31 Revised 00 07 06 Doc name Software installation fm 2 3 Uninstall As in all WIN95 NT softwares there are an uninstall facility if you want to remove the software from the hard disk a Start the Control panel from the start menu Select Add Remove button from the menu b Mark the line FDDWIN32 from the menu c Click Add Remove button Fig 11 Mark the FDDWIN32 software News 1 0 95 Version 2 01 Microsoft ActiveMovie Microsoft Visual C Microsoft Plus for Windows 95 Fig 12 Automatic uninstall Fig 13 Uninstall MOTOMAN ROBOTICS EUROPE Page 8 Software installation Created 96 01 31 Revised 00 07 06 Doc name Software installation fm Uninstall MOTOMAN ROBOTICS EUROPE User s manual MotoDCl Page 9 Introduction of this manual Created 96 01 31 Revised 00 07 06 Doc name Mrs55120 ch3 fm 3 Introduction 3 1 Introduction of this manual This operation manual is for the users of the data transmitting function of industrial robot MOTOMAN controller YASNAC XRC MRC MRC2 ERC and ERC2 This operation manual outlines the operation method of the personal computer software MotoDCl382 for data transmission betwe
22. ing Double click the Add Remove Programs icon from Control Panel The Add Remove Programs Properties display appears Add Remove Programs Properties Ei ES Install Uninstall Windows Setup Startup Disk al To install a new program from a floppy disk or CD ROM dive click Install KZ The following software can be automatically removed by ee Windows To remove a program orto modify its installed components select it from the list and click Add Remove InstallShield International East Roty for Windows ROT Gv D l Add Remove OF Cancel Apply Fig 7 Add Remove Programs Properties Display MOTOMAN ROBOTICS EUROPE Page 16 User s manual Moto Created 96 01 31 Revised 00 07 06 Doc name Mrs55120 ch4 fm Environmental Settings for Use of 5 Click the Install button and follow the instructions in the display to set setup exe of the CD ROM drive The Run Installation Program dialog box appears Run Installation Program Ir this ig the correct installation program click Finish To start the automatic search again click Back To manually search for the installation program click Browse Command line for installation program DA DISKI setup exe Back Cancel Fig 8 Run Installation Program Dialog Box 6 Clicking the Finish button calls up the setup program Follow the instructions in the proceeding display 7 When the setup is complet
23. ion folder in the startup folder The switch a starts all installed clients d Note When using Windows95 and Ethernetcommunication use MotoDClShell32E bat For the clients to automaticly enter run mode please check the Auto Run checkbox in the Operation Environment dialog for all the clients MOTOMAN ROBOTICS EUROPE Page 36 User s manual MotoDCl Created 96 01 31 Revised 00 07 06 Doc name Mrs55120 ch6 fm Auto Run at Reboot Notes Headquarters Sweden Group companies France Germany Germany Great Britain Italy Netherlands Slovenia Spain Sweden Distributors Czech Republic Denmark Finland Greece Hungary Israel Norway Portugal South Africa Switzerland MOTOMAN Robotics Europe AB Box 504 SE 385 25 Tors s Sweden Tel 46 486 48800 46 486 41410 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 Kammerfeldstra e 1 DE 85391 Allershausen Germany Tel 49 8166 90 0 Fax 49 8 166 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 1 Swan Industrial Estate Banbury OXON OX16 8DJ England Tel 44 1295 272755 Fax 44 1295 267127 MOTOMAN Robotics Italia SRL Via Emilia 1420 16 IT 41100 Modena Italy Tel 39 059 2804
24. ironment MotoDCl82 Application Settings 16 Personal Computer Settings 17 LI Hardware settings 17 I Windows Network settings 17 Robot Controller Setting 20 LI Hardware settings 20 I Parameter settings 20 Network Setting 21 Restrictions 21 YASNAC XRC MRC and PC Restrictions 21 L The port used for TCP IP 21 Personal Computer Restrictions 22 I Same file access 22 YASNAC Robot Controller Restrictions 22 L Multiple personal computer access 22 L CMOS batch storage 22 Execution of MotoDCI32 Programs 23 High Speed Link Server 23 L Server 23 L Communication Status Monitor 23 L Deletion of transmission information 24 Editing of Language Files 25 J Editing Language Files 25 L Creating New Language Files 25 MOTOMAN ROBOTICS EUROPE Page II User s manual MotoDCl Created 00 07 06 Revised 00 07 06 Doc name Mrs55120TOC fm 5 MotoDCl32 operation ccccccccseceeeeeeeeeeeeeeeees 27 Startup 27 Operation of MotoDCI32 28 _J Run 28 _I Stop 28 Option Menu 29 L 1 Setting transmission parameters 29 I 2 Selecting the robot model 30 I 3 Selecting a folder 30 Display Logging File 31 Clear Messages 31 Auto Run 31 Write Logging Message 31 Select Language 31 6 Help Menu cccceecceeceecceeeceeeceeceeeceeeeeeaeesees 33 MotoDCl32 Help 33 YASNAC Help 33 Version Information 33 MotoDClShell82 OPERATION 33 Operation of MotoDClShell32 33 Register clients 33 Installing clients 34 Starting Stopping clients 34
25. mission If the transmission cannot be continued reset the information to be transmitted by the following procedures 4 12 A Robot Controller side 1 Press the RESET key if any error message is shown in the display of the programming pendant 2 Turn OFF the REMOTE button on the playback box once and then turn it ON again 4 12 B Personal Computer side 1 Press the Remove button in the Communication Status Monitoring win dow 2 To reset information input the IP address of the robot controller where the error occurred and press the OK button MOTOMAN ROBOTICS EUROPE User s manual Moto Page 25 Editing of Language Files Created 96 01 31 Revised 00 07 06 Doc name Mrs55120 ch4 fm 4 13 Editing of Language Files E Editing Language Files In the Select Language dialog box press the Edit button The language file of the currently selected language is opened in the Windows Notepad Using Notepad the language file can be edited d Note Since the language files are important parts of the software extreme care must be taken during modification E Creating New Language Files lt Adding another language gt Modification can be carried out from the use of Windows Notepad lf you want to add a language which is not yet available follow the instruc tions below VY Example Chinese a Copy the English Ing file then rename it User13 Ing Note Do not rename it Chinese ing
26. mission depending on the data transmission function specifications set in the robot controller manuals Before starting this software check the hardware and software spe cifications of the robot controllers 3 Ethernet transmission is not available for the YASNAC ERC ERC2 since they do not support the Ethernet function MOTOMAN ROBOTICS EUROPE Software installation Page 3 Installation Created 96 01 31 Revised 00 07 06 Doc name Software installation fm 2 Software installation d Note This chapter shows a general installation phase of any software In this example the software FDDWIN is installed Select the right software by choosing the appropriate software name 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 a Put the first diskette named 1 in the disk drive b Click on the Start button on the menu bar c Choose Run from the menu d Browse to drive A e Choose the file named SETUP EXE f Click OK Run Fx Type the name of a program folder or document and Windows wll open it for you A Setup exe S Fig l Choose installation file Cancel Browse g Choose OK and the installation guide will start h You can quit the installation att any time by clicking the Cancel button and then confirm by Yes button eh Do you want fo abort bus installation S g Fig 2 You can can
27. multiple number of personal com puters is not possible On the contrary the simultaneous comunication between one personal computer and a multiple number of robot controllers is possible Controller Fig 15 Access from a Multiple Personal Computers not Possible E CMOS batch storage The BSC LIKE protocol and the FC1 protocol are available for the controller to communicate with external devices The MotoDCI32 uses the BSC LIKE protocol for transmission As the CMOS batch storage uses the FC1 protocol CMOS batch storage is not available in the MotoDClI32 For CMOS batch storage use the YASNAC FC1 FC2 MOTOMAN ROBOTICS EUROPE User s manual Moto Page 23 Execution of MotoDClI32 Programs Created 96 01 31 Revised 00 07 06 Doc name Mrs55120 ch4 fm 4 11 Execution of MotoDCI32 Programs The MotoDCl32 program consists of two programs MotoDCI32 and YASNAC Help To execute each program select the application to be executed from the start menu 4 12 High Speed Link Server The High Speed Link Server is used for communication via the Ethernet It is not used for communication via RS232C The following explains the High Speed Link Server E Server To communicate with a robot controller via the Ethernet a server program HSLSR32 EXE is required The server receives a request from the MotoDCI32 and sends receives the data The server program is started up from VRP32 dll when the MotoDCl32 starts to communicate
28. ng the MotoDCl32 the network must be set up correctly For details on how to setup the network refer to YASNAC XRC MRC Ethernet 1 F Board Instructions 4 7 Restrictions When using the MotoDClI32 pay attention to the following restrictions 4 8 YASNAC XRC MRC and PC Restrictions E The port used for TCP IP The MotoDCl32 uses TCP IP for the communication protocol To communicate in TCP IP the service identification numbers called Port No are used internally while MotoDCl32 uses the port numbers from 10000 to 10008 for the data transmission When these numbers overlap with the numbers used for other network devices correct communication cannot be performed To use the MotoDCl32 be sure in advance that any network device in the same network does not use the above explained port numbers MOTOMAN ROBOTICS EUROPE Page 22 User s manual Moto Created 96 01 31 Revised 00 07 06 Doc name Mrs55120 ch4 fm Personal Computer Restrictions 4 9 Personal Computer Restrictions E Same file access The same file in the personal computer cannot be accessed from different robot controllers simultaneously Ethernet Robot Controller Controller Fig 14 Access to the Same File by Multiple Robot controllers not Possible 4 10 YASNAC Robot Controller Restrictions E Multiple personal computer access With the MotoDCl32 one personal computer can communicate with one robot controller Simultaneous communication with a
29. om Control Panel The Select Network Component Type Dialog box appears Note The example below is based on Windows95 1 Click the Add button The Select Network Component Type dialog box appears 2 Select Adapter from the list and click the Add button to set the Ethernet board for adapter Choose the network adapter that is added to the personal computer as mentioned in Hardware setting Select Network Component Type Ei ES Add Cancel Click the type of network component you want to install A network adapter it a hardware device that physically connects your computer to a network 3 Select the Protocol from the list and click the Add button to set protocol The Select Network Protocol dialog box appears Select Network Component Type Ei ES Click the type of network component you want to install Cancel Fig 9 Selecting Adapter Protocol is a language a computer uses Computers must use the same protocol to communicate Fig 10 Selecting Protocol Created 96 01 31 MOTOMAN ROBOTICS EUROPE User s manual MotoDCl Revised 00 07 06 Doc name Mrs55120 ch4 fm Personal Computer Settings 4 Select Microsoft as manufacturers and TCP IP as Network Protocol and click the OK button Select Network Protocol a Click the Network Protocol that you want to install then click UK IF you have ha an installation disk for this device click Have Disk Manu
30. ory for FDDWIN32 It s advisable to install the software in the direc tory which is set as default by the installation guide MOTOMAN ROBOTICS EUROPE Software installation Page 5 Installation Created 96 01 31 Revised 00 07 06 Doc name Software installation fm n Accept by clicking Next button FDDWIN32 Installation Fig 6 Choose directory Fig 7 Start installation Fig 8 Installation progress counter q After some time you are told to enter disk 2 2 r Insert disk and click on OK button Insert New Disk Fig 9 Insert disk 2 s The installation is finished and the last screen appears MOTOMAN ROBOTICS EUROPE Page 6 Software installation Created 96 01 31 Revised 00 07 06 Doc name Software installation fm After installation t Accept installation by clicking the Finish button FDODWIN32 Installation x Installation Completed The FODWIN32 has been successfully installed Press the Finish button to exit this installation Fig 10 Installation complete u Before it is possible to run the software the hardware key must be installed on the parallel port 2 2 After installation d After installation fill in and return the registration card to Motoman Robotics 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
31. then type it in the space below C Obtain an IF address automatically Ge Specify an ID address IP Address 192 168 10 10 Fig 13 TCP IP Properties Dialog Box Note The above values are examples only When setting the IP address and subnet mask input the correct numbers as advised by the net work manager An incorrect setting such as assigning the same IP address to different personal computers may cause problems in com munication MOTOMAN ROBOTICS EUROPE Page 20 User s manual Moto Created 96 01 31 Revised 00 07 06 Doc name Mrs55120 ch4 fm Robot Controller Setting 4 5 Robot Controller Setting E Hardware settings To communicate using TCP IP protocol an Ethernet I F board for YASNAC XRC MRC is required Insert the board and set the IP address and subnet mask To setup the Ethernet I F board refer to the YASNAC XRC MRC Ethernet I F Board Instructions E Parameter settings To establish communication between the robot controller and the personal compu ter set the following parameters of the robot controller kv Transmission protocol designation RS000 Protocol designation for Std port 1 RS001 Protocol designation for Std port 2 Settings for parameter RSOOO RSOO1 O Not used 1 System reserved 2 BSC LIKE protocol used for data transmission 3 FC1 protocol These parameters are used to designate the transmission protocol for Std port 1 port 2 or t
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