User`s Guide Version 1.3.0
Contents
1. 6 INT 7 LANGUAGE 8 UNIT 9 MSGCLR 10 ACCES 11 EXELVL 12 SEQUENCE 13 ARMTYP 14 ARMTYP2 15 EMGRST CaoRobot Execute 16 DATE 17 TIME Data 1 LANGUAGE 2 ACCESS 3 ARM CaoVariable getVariable 4 BREAK 5 CONFIG 6 EXELVL 7 MOD Inform the 8 2MSG CaoVariable getVariable Return data without change 9 ORIGIN 10 ABSRST 11 SERVO 12 SEQUENCE 13 SPEED 14 UNIT 15 VER 16 WHERE CaoVariable getVariable 17 WHERE2 18 WHRXY 19 2 20 TASKS Takasaki Kyoudou Computing Center Co XRCX provider user s guide 25 21 TSKMON 22 SHIFT 23 HAND 24 2 Command 25 EMG Cao Variable getValue format 2 is not supported 26 SELFCHK Inform the 27 OPSLOT Return data without change 2n Numeric expression Only the variable which 56 Character UN 16 defined in expression program of controller can be specified 30 Point expression 31 Shift expression 32 READ 33 WRITE Robot Language 1 SWI 2 LET 3 ABSRST 4 DRIVE DRIVE2 Execute 6 DRIVEI CaoRobot 7 DRIVED 8 MOVE Move 9 MOVE2 10 MOVEI Execute 11 MOVED Takasaki Kyoudou Comp2. 6 3 Outline 1 OUI e oto oot T 3 2 Attention before using T 3 9 Method and Property 8 3 3 1 CaoWorksSpace AddController method 8 3 9 1 1 The optionk of Connie n e e eem he t e RR deae 9 3 3 2 2 2 10 3 3 3 CaoController AddVariable method 22 10 3 3 4 CaoController VariableNames 22 2 11 3 3 5 CaoRobot Accelerate method 2 4 11 3 3 6 CaoRobot Halt method cesses e Ie e Ie e he ehe he he rennen 11 3 3 7 CaoRobot Move method he he he ene he nn rennen 11 3 3 8 CaoRobot Rotate 0 ne he ne rennen 12 3 3 9 CaoRobot Speed 1 3 1 AEE ba 12 3 3 10 CaoRobot Execute 0 he he he rene 13 3 3 11 CaoVariable putValue method esses 17 3 3 12 CaoVariable getValue method esses HH 17 AppendixA Robot Language list 20 A 1 Supported c
3. Takasaki Kyoudou Computing Center Co XRCX provider user s guide 34 The default value is 1 valid Make sure the value is 1 and do not change the value Because YAMAHA ORIN provider will execute login check do not change the setting After the input is completed press ESC key to display the previous menu 16 Press F2 key 2 USER to User ID setup menu S YS OP T LI N US ER l og i n u s er US ER AB CDEF GHIJKLM NOPQRST The default setting is USER change it to the proper ID for security reason If you change the ID also be sure to change the ID which is in YAMAHA ORiN provider application After the input is completed press ESC key to display the previous menu Character Input Procedure The bottom of the display is the character area Move the cursor to the character which you want to input and press Enter key to input Only the characters of A to T are displayed but you can find other candidate characters by moving the cursor to the end of the character line After the input is completed press ESC key data set ok appears press F1 1 to save or F2 2 no to cancel to keep the last ID 17 Press F3 key 3 PASS to password setup menu S YS OP T LIN P A S S l o gin s s wor d P AS 5 WORD AB CD EF GH I J KL M NOPQRST The default setting is PASSWORD you can change it to the proper password for
4. MANUAL 50 MG SOH2 X Current Position Mx 0 00 My 0 00 Mz 0 00 Mr 0 00 AUTO PROGRAM MANUAL SYSTEM Takasaki Kyoudou Computing Center Co XRCX provider user s guide AppendixD Trouble Shooting 40 D 1 I can not connect with a robot controller Check Action mRobot controller side Is the cable RS232C or Ethernet cable connected properly Ensure that the cable is not loose on the connector Refer to the Manual of Controller Is the type of cable such as Straight and Cross correct Check the cable Refer to the Manual of Controller In case of Ethernet is the address correctly set Check the address settings Refer to Appendix C In case of Ethernet does it keep the status of communication for long time Check the timeout settings Refer to Appendix C In case of RS232c is the communication parameter correctly set Check the parameters of RS232c Refer to Appendix C mPC side Is there other application program connecting with controller Terminate the application program Are the parameters of the AddController function correctly set Check the parameters of the AddController function Refer to 3 3 1 D 2 I can not access variables of a robot controller Check Action mRobot controller side Is
5. XINC XDEC None YINC YDEC None only for DRCX ORG ORGN axis gt axis is only for DRCX MOVA Point Number Maximum speed MOVF Point Number DI Number DI status MOVI Point Number Maximum speed MOVL Point Number Maximum speed only for DRCX Point Number Maximum speed MOVC only for DRCX lt specified Startup DRVD lt axis gt lt position mm gt Maximum speed gt only for DRCX DRVA lt axis gt lt Point Number gt lt Maximum speed gt only for DRCX DRVI axis gt Point Number gt Maximum speed gt only for DRCX ACHA axis gt specified position only for DRCX ACHI axis gt specified position gt only for DRCX Point Number gt None None Pallet work position maximum speed Takasaki Kyoudou Computing Center Co XRCX provider user s guide MAT line number gt row number gt Pallet number 14 MSEL Pallet number SHFT Point Number gt ALMRST None only for SRI P SRI X STP Program number gt History number gt display number gt parameter number gt parameter number gt P Point Number gt Point Number gt History number gt display number g
6. ran ge 0 65 5 3 5 The default value is 23 Make sure the value is 23 and do not change the value If the value is changed it is not able to communicate by TELNET protocol After the input is completed press ESC key to display the previous menu 11 Press F2 key 2 ECHO to ECHO BACK setup menu SY S The default value is 1 Set 1 valid because ECHO BACK is needed for the communication of YAMAHA ORIN provider After the input is completed press ESC key to display the previous menu Takasaki Kyoudou Computing Center Co XRCX provider user s guide 33 12 Press key 3 TOUT to TIMEOUT setup menu o lt o 1 Set the timer interval of the check for client existence If the communication with client did not work after timeout TELNET would be cut off 0 means that the timeout check is invalid therefore it would be advised that set the value to 0 After the input is completed Press ESC key to display the previous menu 13 Press F4 key 4 next to the next menu S YS OPT s e l ect m e n u LIN BH ovri oree 14 Press F1 key 1 LIN to Login Setup menu S Y S OPT LIN s e l e t m e n u cHE Kus erfpass 15 Press key 1 CHEK to the Login Check Setup menu SY S OP T LI N CH EK log i n c h ec
7. T I P I P a dd r e s s 192 1 68 0 2 In this menu we can setup the host address IP Input the network address by pressing the number key but do not change the position of if it was changed controller system would not accept your setup Use cursor key to pass over After completing input press ESC key to go back to the previous menu 7 Press F2 key 2 MASK to Subnet Mask setup menu S Y S OP 8 s ub net m k 2b 50 s Be D UE Spee 0 The default value is 255 255 255 0 Input the proper network address The input method is same as the IP setup After completing input press ESC key to go back to the previous menu 8 Press F3 key 3 GWAY to Gateway address setup menu SYS OPT GWA Y gat e wa y 192 168 0 1 The default value is 192 168 0 1 Input the proper gateway address The input method is same as the IP setup This setup is not needed if no other network address is connected After the input is completed press ESC key to display the previous menu Takasaki Kyoudou Computing Center Co XRCX provider user s guide 32 9 Press F4 key 4 next to the next menu SY S OP T sel e ct m e n u ec xt 10 Press F1 key 1 PORT to PORT setup menu 28 port
8. file format is DLL Dynamic Link Library and it is dynamically loaded from CAO engine when itis used To use XRCX provider registry need to be manually registered according to the table below Table2 XRCX provider File name CaoProvXRCX dll ProgID CaoProv Y AMAHA XRCX Registry registration regsvr32 CaoProvXRCX dll Remove registry registration regsvr32 u CaoProvXRCX All A license key is required to use the CAO Engine module Please refer to License registration section of ORiN2 SDK User s Guide ORIN is a registered trademark of the Japan Industrial Robot Association ORiN2 SDK is a product of Denso Wave Incorporated 3 2 Attention before using controller Before sending online command to Multi axes controller RCX please setup controller in Auto Mode or Manual Mode If the online command was sent out during Program Mode or System Mode the controller would become error state couldn t perform the correct action Takasaki Kyoudou Computing Center Co XRCX provider user s guide 8 3 3 Method and Property 3 3 1 CaoWorksSpace AddController method Specify parameters to connect YAMAHA controller Syntax AddController lt bstrCtrIName BSTR gt lt bstrProvName BSTR gt lt bstrPcName BSTR lt bstrOption BSTR gt bstrCtrIName in Controller name Unique name like RCX1 bstrProvName in Provider name Fixed to CaoProv YAMAHA XRCX bstrPcName in Provider execution
9. for security reason If you change the password also be sure to change the password in YAMAHA ORIN provider application Logout Default setting is continue If the value is stop when disconnected YAMAHA ORIN provider application from the controller robot would stop even during action 3 Setup for RS232C I F 1 Press SYSTEM F4 key to system menu SYSTEM o Ro t Ax 5 St ndard O p Ode oak ck Ck PA AM C MU OPTI ON ENDS DI AGNO 2 Press CMU F2 key to communication menu 5 5 TEM gt CMU 1 CMU mode ONLINE 2 Dat a bits 8 3 Baud rate 9600 4 Stop bit 1 5 Parity ODD ED T JUMP Takasaki Kyoudou Computing Center Co XRCX provider user s guide 39 3 Move cursor to item press EDIT F1 to edit the item D Communication Mode Set up the mode of communication with computer 2 Data bits Set up the length of data bit 3 Baud rate Set up communication speed 0 Stop bit Set up the length of stop bit Parity Set up the parity check 4 Others Before sending online command to Multi axes controller RCX please set up controller in Auto Mode F1 or Manual Mode F3 If the online command was sent out during Program Mode or System Mode the controller would become error state couldn t perform the correct action
10. machine name Null character is possible in Option character string Connection parameter motion setting etc Options are divided by comma The setting of parameters is listed up as following Table3 Parameters of Connection Option Explanation Conn lt connecting Necessary Specify the communication state and connect parameter gt parameters Refer to 3 3 1 1 Necessary for Socket connection Specify the user ID which is userid lt USER ID gt registered in controller It will be ignored during serial connection Necessary for Socket connection Specify the password which is password lt password gt registered in controller It will be ignored during serial connection Specify the type of controller If it was not specified default value would be set type lt type gt i 0 Multi axes controller Default 1 Single axis controller Takasaki Kyoudou Computing Center Co XRCX provider user s guide 9 3 3 1 1 The option of Conn Connecting parameters of Conn option are listed up as following Parameters in can be omitted If parameter was not specified default value would be set lt Socket connection eth IP Address Port No JP Address IP address of controller Port No Specify the port number of controller If it was not specified the Telnet standard port 23 will be connected as default If port 23 was specified it will execute Telnet n
11. provider user s guide AppendixA Robot Language list 1 Supported command list for Single axis 20 Command Method Remarks Robot action 1 ORG N CaoRobot Execute 2 RESET 3 RUN 4 SRUN 5 SRVO 6 7 Y Y Execute Only for DRCX 8 XINC XDEC 9 YINC YDEC Only for DRCX 10 MOVD Move 11 MOVA 12 MOVI CaoRobot 13 MOVF 14 MOVL Only for DRCX 15 MOVC Only for DRCX Execute 16 DRVD Only for DRCX 17 DRVA Only for DRCX 18 DRVI Only for DRCX 19 ACHA Only for DRCX 20 ACHI Only for DRCX 21 DO 22 WAIT 23 TIMR 24 P 25 P 26 P CaoRobot Execute 27 MOVM 28 MAT 29 MSEL Takasaki Kyoudou Computing Center Co XRCX provider user s guide 21 30 CSEL 31 C 32 C 33 C 34 D 35 D 36 D 37 SHFT CaoRobot Execute Only for SRI P 38 ALMRST SRI X Data 1 POS 2 XPOS Only for DRCX 3 YPOS Only for DRCX 4 CaoVariable getValue 5 SNO 6 TNO 7 PNO Inform the Return 8 STP CaoRobot Execute data without change 9 2 10 VER CaoVariable getValue 11 ROBOT 12 CLOCK Can not specify the 13 CaoRobot Execute display number 14 EMG 15 SRVO 16 CaoVariable getValue 17 MODE 18 PV
12. 2 CaoController AddRobot method Create the CaoRobot object which can be controlled by Controller command name the robot as what you want Syntax AddRobot bstrName BS TR lt bstrOption BSTR gt bstrName in Robot Name bstrOption in Option Unused 3 3 3 CaoController AddVariable method Create variables object which can access status information and parameters Syntax AddVariable bstrName BSTR lt bstrOption BSTR gt bstrName in Variable Name bstrOption in Option Unused Takasaki Kyoudou Computing Center Co XRCX provider user s guide 11 3 3 4 CaoController VariableNames method Obtain the name list of variables which can be specified by AddVariable method Syntax VariableNames 3 3 5 CaoRobot Accelerate method Set the internal acceleration and deceleration ratio of the robot This method corresponds to ACCL command and DECEL command of Multi axes robot For Single axis it is not functional Syntax Accelerate lAxis LONG lt fAccel FLOAT gt fDecel FLOAT lAxis in Axis number O Allaxes 0 specified axis fAccel in Acceleration 12 100 1 no change fDecel Declaration 1 100 1 no change 3 3 6 CaoRobot Halt method Halt the robot motion send C Syntax Halt lt bstrOption BSTR gt bstrOption in Option Unused 3 3 7 CaoRobot Move method Move Robot to the specified coordinates This method corresponds to MOVE command of Mul
13. A 19 DI Output port 0 15 20 DO Output port 0 12 21 CaoRobot Execute 22 P Takasaki Kyoudou Computing Center Co XRCX provider user s guide 22 23 READ Only for point variable T RUE substituted command 100 0 write 100 0 to P1 Can not specify the 25 ERR CaoRobot Execute display number 26 MAT 27 MSEL CaoVariable getValue 28 CSEL 29 C 30 D 31 SHFT CaoVariable getValue Utility 1 INIT 2 SWI 3 SWITSK 4 SINS 2 SDEL 6 SMOD 7 8 DEL 9 PDEL Special Code 1 AC 03h CaoRobot Halt 2 AZ 1 Ah Same as WRITE gt The command which is gray marked is not supported Takasaki Kyoudou Computing Center Co XRCX provider user s guide 23 A 2 Supported command list for Multi axes Command Method Remarks Key Operation 1 AUTO x 2 PROGRAM x 3 MANUAL x 4 SYSTEM x 5 RESET x 6 RUN x 7 STEP x 8 SKIP x 9 NEXT x 10 STOP x 11 BREAK x 12 CHGTSK x 13 MSPEED x 14 MSPEED2 x 15 ABSADJ x 16 ABSADJ2 x 17 ABSRESET x 18 ABSRESET2 x 19 ORGRTN x 20 ORGRTN2 x 21 INCH x 22 INCH2 x 23 JOG x 24 JOG2 x 25 TEACH x 26 TEACH2 x Utility 1 PADDR x 2 COPY x 3 BRA x 4 REN x 5 ATTR x Takasaki Kyoudou Computing Center Co XRCX provider user s guide 24
14. As following we will introduce how to use HPB to setup the controller 1 The display after Power ON ME NU select Ep 51g v The item number in the screen corresponds to function keys Fl F4 you me n u can select an item by pressing a function key 2 Setup for Ethernet I F 1 Press key 3 SYS to system menu 5 S YS e lect me n PRM PE gt ni Wre 2 Press F4 key 4 next to next menu S YS select me n Takasaki Kyoudou Computing Center Co XRCX provider user s guide 30 3 Press F2 key 2 OPT to option menu S Y S OP T Se X e m e n u D E V Mimac 4 Press F1 key 1 DEV to Device Setup menu SYS OPT IF the Ethernet device is valid Ethernet 1 would appear on the screen you can press ESC key back to the system option menu IF not you can press the number 1 key then Enter key to change the setting to be valid After that press ESC key back to the system option menu 5 Press F4 key 4 next to the next menu SY S T sel ect m en u as wa vyBne xt d Takasaki Kyoudou Computing Center Co XRCX provider user s guide 31 6 Press key 1 IP to IP Setup menu S Y S OP
15. H hand number gt CHANGE2 H hand number gt TAND H lt hand number 1 parameter gt lt 2 Parameters are Divided by parameter gt 3 parameter gt space H lt hand number 1 parameter gt lt 2 Parameters are Divided by HAND2 parameter gt lt 3 parameter gt space RIGHTY None LEFTY None RIGHTY2 None LEFTY2 None SHIFT lt shift variable gt SHIFT2 lt shift variable gt lt expression gt ACCEL2 lt expression 1 gt lt expression2 gt lt expression gt ARCH lt expression 1 gt lt expression2 gt lt expression gt ARCH2 r lt expression 1 gt lt expression 2 gt ASPEED lt expression gt ASPEED2 lt expression gt AXWGHT lt expression 1 gt lt expression2 gt AXWGHT2 lt expression 1 gt lt expression2 gt lt expression gt DECEL lt expression 1 gt lt expression2 gt lt expression gt DECEL2 lt expression 1 gt lt expression2 gt ORGORD lt expression gt ORGORD2 lt expression gt OUTPOS lt expression gt Takasaki Kyoudou Computing Center Co XRCX provider user s guide 16 lt 1 gt lt expression2 gt lt expression gt OUTPOS2 i lt expression 1 gt lt expression2 gt PDEF lt pallet definition number gt lt nx gt lt ny gt lt nz gt SPEED2 lt expression gt lt expression gt TOLE lt expression 1 gt l
16. XRCX provider user s guide 1 User s Guide ORIN2 Provider XRCX For the controller of YAMAHA MOTOR Co Version 1 3 0 March 19 2010 Remarks Takasaki Kyoudou Computing Center Co XRCX provider user s guide 2 Revision History Version Content 2008 12 17 First edition 2009 06 23 Serial connection parameters were added 2009 07 18 Supported command was revised and the description of Variable method was added 2009 07 24 Commands of sub robot were supported 2009 09 11 The Type of XRCX controller Tablel was modified The guide for setting up license key 2 was added The connecting method of serial and Ethernet connection 3 3 1 was modified Attention before using controller 3 2 was added Special commands for DRCX SRI X SRI P controller were added The error code of 0x8010E003 Appendix B was added The initial setup for RCX controller Appendix C was added The Trouble Shooting Appendix D was added 2009 09 25 The writing mistake of company name was corrected 2010 03 19 License key for evaluation 2 was added The error code of 0x8010E005 Appendix B was added Takasaki Kyoudou Computing Center Co XRCX provider user s guide 3 Contents EntroductIonz osuere aedes a CO Ro etd 5 1 1 The position of Emergency stop device 5 2 Guide for setting up license
17. any edit dialogue displayed in the Teaching Box Close the dialogue Is it the EMG status 2 Release the EMG status aPC side Is the variable name correctly set D 3 I can not move a robot Check Check the variable name mRobot controller side Is any edit dialogue displayed in the Teaching Box Close the dialogue Takasaki Kyoudou Computing Center Co XRCX provider user s guide 41 Is the robot in the executable state Check the MODE setting Robot type motor ON EMG OFF etc mPC side Are the command names and parameters correctly specified Check the command specification pay attention to the method of using parameters Takasaki Kyoudou Computing Center Co XRCX provider user s guide 42 User s Guide ORIN2 Provider 2010 Version 1 3 0 Edited by Takasaki Kyoudou Computing Center Co Contact and Support SMT Corporation Takasaki Kyoudou Computing Center Co
18. egotiation Client application sample Socket connection VB NET When connecting Multi axes controller by IP 192 168 0 1 userID USER password PASSWORD connStr Conn eth 192 168 0 1 user id USER password PASSWORD type 0 g caoEng New ORiN2 interop CAO CaoEngine g_caoCtrils g caoEng Workspaces Item 0 Controllers g_caoCtr g_caoCtrls Add RCX1 CaoProv YAMAHA XRCX connStr lt Serial connection com lt COM Port gt lt BaudRate gt lt Parity gt lt DataBits gt lt StopBits gt COM Port The number of COM port BaudRate Specify the communicating speed 4800 4800bps 9600 9600bps 19200 19200bps 38400 38400bps Default 57600 57600bps lt Parity gt Specify Parity check N No Parity O Odd Parity Default E Even Parity Takasaki Kyoudou Computing Center Co XRCX provider user s guide 10 lt Databits gt Specify Data bits 7 7bit 8 8bit Default lt Stopbits gt Specify Stop bits 1 1 Stop Bit Default 1 5 1 5 Stop Bit 2 2 Stop Bit Client application sample Serial connection VB NET When connecting Single axis controller by COM port 1 Baudrate38400 Odd Parity Data bits 8bit Stop bits Ibit connStr Conn com 1 38400 0 8 1 type 1 g caoEng New ORiN2 interop CAO CaoEngine g_caoCtrls g caoEng Workspaces Item 0 Controllers g_caoCtr g caoCtrls Add RCX1 CaoProv YAMAHA XRCX connStr 3 3
19. enu SYSTEM PARAM OP BRD SELECT TE 1 oard condition VALID 26 addres s 192 168 0 3 subnet mask 2 9 9 Di Sedo a aa 4 4 gateway 192 168 0 5 port 23 EDI T JUMP 5 Move cursor to item press EDIT F1 to edit the item D Board condition Set up Ethernet board to valid or invalid 2 IP address Set up the host address IP 3 Subnet mask Set up subnet mask 0 Gateway Set up network gateway Port No Default setting is 23 Do not change the setting If the setting was changed the communication by TELNET protocol was not going to work 0 ECHO BACK Default setting is valid Keeping it valid is necessary for YAMAHA ORIN Provider communication Time out min Set the timer interval of the check for client existence If the communication with client did not work after timeout TELNET would be cut off 0 means that the timeout check is invalid therefore it is Takasaki Kyoudou Computing Center Co XRCX provider user s guide 38 advised that set the value to 0 Login Check Default setting is valid Because YAMAHA ORIN provider will execute login check please do not change the setting 9 Login user Default setting is USER change it to the proper ID for security reason If you change the ID also be sure to change the ID which is in YAMAHA ORiN provider application Login password Default setting is PASSWORD you can change it to the proper password
20. fferent controller Please refer to the guide manual of controller Takasaki Kyoudou Computing Center Co XRCX provider user s guide C 2 Multi axes Controller MPB to setup the controller 36 For initial setup Teaching Box is required As following we will introduce how to use 1 The display after Power ON MANUAL 50 MG S0H2 X Current Posit on Mx 0 00 My 0 00 Mz 0 00 Mr 0 00 AUTO PROGRAM MANUAL SYSTEM Items in the screen corresponds to the function keys F1 F2 F3 F4 F5 you can select an item by pressing function key 2 Setup for Ethernet I F 1 Press SYSTEM 4 key to System menu SYSTEM Vos Robot A Xe cg Standard Op t PARAM CMU OPTION INI T DI AGNO 2 Press PARAM key to the next menu 5 5 gt Robot esso 5 Mil 5 axis m axis uerus de oW oe oe ok 4 k ox ROBOT AXIS OTHERS OP BRD 3 Press F5 key to the next menu Takasaki Kyoudou Computing Center Co XRCX provider user s guide 37 SYS gt BRD MUN us F TEE e t VALI D 2 s 3 4 4 Use cursor key to select E Net press SELECT 1 to setup network m
21. fications of the CAO provider for the YAMAHA robot controller 1 2 multi axis In this document CAO provider CaoProvXRCX dll is called as XRCX provider The XRCX provider implements all interfaces defined in the CAO provider specification This document describes the XRCX provider specifications on connection parameters system variables user variables files and original enhancement The dependency of the YAMAHA robot controller s model and version is described in the next table as Sign in this document Tablel The Type of XRCX controller Supported Controller Description of controller ERCD ERCX SRCX SRCP SRCP30 Single axis controller SRI P SRI X DRCX 2 axes controller RCX221 222 2 axes controller RCX141 RCX142 RCX240 4 axes controller With the license key which is issued when customer purchases XRCX Provider it becomes available to communicate to the 2 types of controller YMHOl Single axis DRCX and controller YMHO2 4 axes RCX221 222 Regarding to how to use the license key it will be detailed in the next chapter Furthermore in this Guide book we will use the word of Single axis instead of YMHO1 and Multi axes instead of YMHO02 1 1 The position of Emergency stop device Before using the robot controller make sure that emergency stop device shall be in a position where they can be reached easily to stop the robot immediately 1 The emergency stop device shall be red col
22. ommand list for 8 20 2 Supported command list for 11 23 AppendixB Error code of XRCX provider 28 AppendixC Controller 29 Takasaki Kyoudou Computing Center Co XRCX provider user s guide 4 C 1 Single axis Controller 29 1 Tbe display after Power ON cies eer e RI Eri HER E rA a Desh Ed eheu 29 2 Setup for Ethernet VE AR hb EE PR DER M dee NE ETE 29 3 Setup dor RS232C UE sheets cg ane ei deu hber he uec aee Er e vg 35 C 2 Multi axes Controller I E e rer re 36 I The display after Power erre prre ERE 36 2 Setup fot Ethernet B oo ed rede x ied aes Res 36 3 Setup for RS23 2G Een Iber Red 38 A OUBers urb Nen 39 AppendixD Trouble Shooting 40 D 1 I can not connect with a robot controller 40 D 2 I can not access variables of a robot controller 40 D 3 I can not move a 6 40 Takasaki Kyoudou Computing Center Co XRCX provider user s guide 5 Introduction This document describes external speci
23. or code of XRCX provider is HRESULT type About HRESULT type please refer to the following URL for more detail http msdn2 microsoft com en us library bb401631 aspx In XRCX provider we use the following format as error code 0 8010 The lower 4 bytes is detailed in Error Code list of the user s manual of YAMAHA Robot Controller Table8 Error code of XRCX provider Number Macro name Description 0x00000000 S OK No error occurred 0 8010 E RESULT An error occurred represents the error code defined in YAMAHA robot controller user s manual 0x8010E001 E NO LICENSE Is not registered for a license key can not start 0x8010E002 AXIS LIMIT Because it had reached the number of upper bounds that was able to be controlled it was not possible to start 0x8010E003 E NO CONNECT Because the communication fault with the controller had occurred it failed in the connection 0x8010E004 E COMMUNICATION Abnormality occurred in the communication with the controller 0x8010E005 E LAPSE LICENSE The use period of the license passed you need to obtain a license Takasaki Kyoudou Computing Center Co XRCX provider user s guide 29 AppendixC Controller Setup C 1 Single axis Controller A robot controller needs to be setup before it is going to be controlled by XRCX provider For this initial setup Teaching Box is required
24. ored 2 Do not restart the robot controller automatically after emergency stop Prevent from improperly restart by other workers 3 Set up the emergency stop device separate from the power switch Takasaki Kyoudou Computing Center Co XRCX provider user s guide 6 2 Guide for setting up license key The license key will be issued when customer purchases this Provider Register it as following procedure 1 From START menu Program menu XRCX PROV run License Manager E License Manager License table License key 2 Press Addition button input the license key then click OK License Registration TOX License key Cancel 3 If the license key is correct the available number of controller will be displayed in the panel please make sure of it Then click Close button to close the License Registration window The meaning of the Number is supported number of Multi axes controller supported number of Single axis controller The following is a license key for evaluation License key valid for 30 days for evaluation JOFMBR 8NA4JZF EP3DIU 7IAMYA FQBWH3 NOTEIL Takasaki Kyoudou Computing Center Co XRCX provider user s guide 7 3 Outline of provider 3 1 Outline The XRCX provider is CAO provider that absorbs YAMAHA Single axis Multi axes controller dependant part and offers the functions defined by the CAO provider interface specifications The
25. osition ARN CaoRobot Execute method XPOS Obtain the current position of X axis Only for DRCX o0 YPOS Obtain the current position of Y axis Only for DRCX NO Obtain the current program number Eo SNO Obtain the current step number ro PNO Obtain the current selected point number 1 0 Supported by STP Obtain total steps of selected program CaoRobot Execute 40 method MEM Obtain the remaining steps for addition VER Obtain the controller system version TT ROBOT Obtain the type of selected robot CLOCK Obtain the total time of using controller 0 Supported by ALM Obtain the alarm history CaoRobot Execute method EMG Obtain the EMG status gt When axis is specified SRVO Obtain the SRVO status en CaoRobot Execute method Takasaki Kyoudou Computing Center Co XRCX provider user s guide 18 When axis is specified ORG Obtain the ORG status CaoRobot Execute method MODE Obtain the MODE status Obtain status of point variables P Supported by PRM Obtain the data of selected parameter CaoRobot Execute method Supported by P Obtain the data of selected point CaoRobot Execute method Supported by ERR Obtain error history CaoRobot Execute method Supported by MAT Obtain the information of defined matrix CaoRobot Execute method Obtain the pallet number of selected matrix SHFT Obtain the cu
26. rrent SHIFT data Table 7 Multi axes Controller Variable Variables Description comment ARM Obtain arm status CONFIG Obtain the information of configuration EXELVL Obtain execution level MOD Obtain mode status For message history MSG Obtain the current message PUR CaoRobot Execute method ORIGIN Obtain ORGIN status ABSRST Obtain ABSRST status SERVO Obtain SERVO status Takasaki Kyoudou Computing Center XRCX provider user s guide 19 SPEED Obtain SPEED status 10 UNIT Obtain the coordinates of point unit 0 VER Obtain version information Obtain current position of pulse WHERE o coordinates Obtain current position of pulse WHERE2 90 coordinates for sub robot WHRXY Obtain current position of XY coordinates ae Obtain current position of XY coordinates for sub robot SHIFT Obtain the status of task executing 20 HAND Obtain HAND status 0 MEM Obtain valid memory status cx 46 EMG Obtain EMG status 0 SELFCHK Obtain self check error status 28 OPSLOT Obtain option slot status o Table 8 General Variables of XRCX provider Variables Description comment MAKER_NAME TYPE XRCX Controller VERSION Version of XRCX provider Takasaki Kyoudou Computing Center Co XRCX
27. security reason If you change the password also be sure to change the password in YAMAHA ORIN provider application After the input is completed press ESC key to display the previous menu Takasaki Kyoudou Computing Center Co XRCX provider user s guide 35 Character Input Procedure The bottom of the display is the character area Move the cursor to the character which you want to input and press Enter key to input Only the characters of A to T are displayed but you can find other candidate characters by moving the cursor to the end of the character line After the input is completed press ESC key data set ok appears press F1 1 to save or F2 2 no to cancel to keep the last password 18 Login setup menu Press ESC key to Option menu S YS OPT s 1 n u LIN W ovri oree 19 Press F2 2 LOUT key to Logout Setup menu S YS OP T LOUT The default value is 0 continue Make sure the value is 0 and do not change the value If the value is 1 stop when disconnected YAMAHA ORiN provider application from the controller robot would stop even during action In case of this situation it does not cause a big trouble but buzzer would keep sounding After the input is completed press ESC key to display the previous menu 3 Setup for RS232C I F Communication Parameters depend on the controller they might be different for di
28. t Pallet number gt X lt gt lt gt for DRCX controller The Parameter in can be omitted Point variable nnn 07 999 Parameters are Divided by Table 5 Executable command for Multi axes controller Parameter Remarks EMGRST None ABSRST None lt axis gt point expression axis point DRIVE expression option lt axis gt point expression axis point DRIVE2 expression option axis point expression axis point DRIVEI f f expression gt option lt axis gt lt point expression gt lt axis gt lt point DRIVEI2 i expression option PTPIPILIC specified point gt option MOVE2 option MOVEI PTPIP lt specified point gt option option MOVEI2 PTPIP lt specified point gt option option ORIGIN None Takasaki Kyoudou Computing Center Co XRCX provider user s guide 15 pallet definition number pallet definition PMOVE Need positioning number option option pallet definition number pallet definition PMOVE2 Need positioning number option option SERVO ONIOFFIFREEIPWR expression SERVO2 ONIOFFIFREEIPWR expression CHANGE
29. t expression2 gt lt expression gt TOLE2 lt expression 1 gt lt expression2 gt WEIGHT lt expression gt WEIGHT2 lt expression gt TORQUE lt expression 1 gt lt expression 2 gt TORQUE2 lt expression 1 gt lt expression 2 gt TRQTIME lt expression 1 gt lt expression2 gt TRQTIME2 lt expression 1 gt lt expression2 gt MSG lt Start Number gt lt Last Number gt Obtain point data Pnnnn None nnnn 07 9999 Obtain shift data Sn None n 0 9 Point variable nnnn 07 9999 The value range of x y z r X Y Z R lt A gt lt B gt a b depends on the type of point data Parameters are Divided by space Shift variable n 0 9 X y 2 99999 99 99999 99 X Y Z lt R gt Parameters are Divided by space The Parameter in can be omitted Takasaki Kyoudou Computing Center Co XRCX provider user s guide 17 command parameter note Acquire the character string of LAST ERROR None the last error from the controller 3 3 11 CaoVariable putValue method Write information into variable Please refer to table6 7 8 for details 3 3 12 CaoVariable getValue method Obtain variable s information Please refer to table6 7 8 for details Table 6 Single axis Controller Variable Variables Description Comment When axis is specified POS Obtain the current p
30. ti axes Robot And MOVD command of Single axis Robot Syntax Move IComp LONG vntPose VARIANT lt vntOpt BSTR gt IComp in Specify complementation 2 L 3 C Multi axes controller only vntPose in Specify Point For Single axis controller only specify coordinates vntOpt in Option Specifying speed is necessary for Single axis Takasaki Kyoudou Computing Center Co XRCX provider user s guide 12 controller 3 3 8 CaoRobot Rotate method Not implemented 3 3 9 CaoRobot Speed method Specify the internal movement speed of robot This method corresponds to SPEED command of Multi axes robot For Single axis it is not functional Syntax Speed lt IAxis LONG gt lt fSpeed FLOAT gt lAxis in axis number unused fSpeed in speed 12 100 Takasaki Kyoudou Computing Center Co XRCX provider user s guide 13 3 3 10 CaoRobot Execute method Specify the YAMAHA robot command which above methods of CaoRobot class do not support Syntax vntRet VARIANT gt Execute lt bstrCommand BSTR gt lt vntParam VARIANT gt bstrCommand in Command vntParam in Parameter vntRet Out Return value Below we list up all commands which can be supported by provider Table 4 Executable command for Single axis controller Command Parameter Remarks SRVO lt SRVO statuslOl1 l gt lt gt lt axis gt is only for DRCX X X None Y Y None only for DRCX
31. uting Center Co XRCX provider user s guide 26 12 ORIGIN 13 PMOVE 14 PMOVE2 15 16 SERVO2 17 DELAY x 18 DO x 19 LO x 20 MO x 21 OUT x 22 RESET x 23 SET x 24 SO x 25 TO x 26 WAIT x 27 CHANGE 28 2 29 HAND 30 HAND2 CaoRobot Execute 31 RIGHTY LEFTY 32 RIGHTY2 LEFTY2 33 SHIFT 34 SHIFI2 35 ACCEL Accelerate 36 ACCEL2 37 ARCH 38 ARCH2 39 ASPEED Execute 40 ASPEED2 CaoRobot 41 AXWGHT 42 AXWGHT2 43 DECEL Accelerate 44 DECEL2 45 Execute 46 ORGORD2 Takasaki Kyoudou Computing Center XRCX provider user s guide 27 47 OUTPOS 48 OUTPOS2 49 PDEF 50 51 SPEED2 52 53 TOLE2 54 WEIGHT 55 WEIGHT2 Execute 56 57 TORQUE2 58 TRQTIME 59 TRQTIME2 Operation 60 Pnnnn CaoRobot Execute 61 n Robot Language 62 AC 03h CaoRobot Halt gt The command which is gray marked is not supported Takasaki Kyoudou Computing Center Co XRCX provider user s guide 28 AppendixB Error code of XRCX provider The err
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