USERS`S MANUAL FDDWIN32 version 4.00
Contents
1. e Select YES The file starts saving and the transmission display is shown MOTOMAN ROBOTICS EUROPE User s manual FDDWIN32 Page 37 Save Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm DATA EDIT DISPLAY UTILITY Saz RR tas FC2 SAVE TRANSMITTED FILE JOB1 HES REST 2174 BYTE To cancel the save operation press SELECT Files can be created as long as there is still soace remaining on the floppy disk Each file created on the floppy disk is given a file name that includes a serial number in order of creation JOB 1E HEX 1 2 Serial numbers in the order of creation The chracter E is attached to the name of the last file E JOB all users programs BATCH USER MEMORY CMOS all data in CMOS BATCH CMOS ALCMS all CMOS area ALL CMOS AREA An error will occur if the operator inserts a floppy disk having the unused area of 2KB or less Replace it with another floppy disk INot enough memory f Insert the floppy disk lf more data need to be saved when the first floppy disk is full a message appears to prompt the operator to supply another floppy disk Remove the cur rent floppy disk insert another one and move the cursor to EXEC and press SELECT DATA EDIT DISPLAY UTILITY amo Danke RR 9 cls INSERT FLOPPY NO 2 USABLE MEMORY 83 After saving is completed the floppy disk display is shown MOTOMAN ROBOTICS E2. FC2 LOAD UN USED MEM _ 123 4 KB FILE GENERAL DATA 0 BATCH USER MEMORY 0 Mi PARAMETER 1 Wu DATA 0 W SYSTEM DATA Mi BATCH CMOS W ALL CMOS AREA 0 0 0 IW marked data cannot be loaded c Select JOB The job list display is shown DATA EDIT DISPLAY UTILITY R12 wm Cl 3s FC2 LOAD SINGLE NO 7 Aaa TEST0002 TEST0003 TEST0004 TESTO005 TEST0006 TEST0007 d Select the job to be loaded The selected job is marked with DATA EDIT DISPLAY UTILITY RIX i lz FC2 LOAD SINGLE NO 7 TESTO001 TEST0002 TEST0003 TEST0004 TEST0006 TEST0007 MOTOMAN ROBOTICS EUROPE User s manual FDDWIN32 Page 31 Load Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm e Press ENTER The confirmation dialog is displayed f Select YES The job starts loading and the transmission display is shown DATA EDIT DISPLAY UTILITY ANAA R12 oo ic s FC2 LOAD TRANSMITTED FILE TESTOOO1 REST 50 BYTE To cancel loading press SELECT Once the load operation is completed or cancelled the job list display is shown E Loading files a Select FD PC CARD under the top menu b Select LOAD The floppy disk display is shown DATA EDIT DISPLAY UTILITY BIUA a l FC2 LOAD UN USED MEM 123 4 KB OB FILE GENERAL DATA BATCH USER MEMORY PARAMETER UO DATA SYSTEM DATA BATCH CMOS WALL CMOS AREA IW marked data cannot be
3. c When the settings are ok click on OK Port Setup x COM Port COMI Baud Rate Data Length Parity Fig 17 Port setting menu Stop Bit Default OK Cancel E Robot parameters To establish communication between XRC robot controller and PC some parame ters have to be set Contact your MOTOMAN representative if in doubt Type XRC Initial setting RS000 Std port 1 0 Data bit RS50 8 Stop bit RS51 0 Parity RS52 2 Baud rate RS53 6 Response timer RS54 0 Text end mon RS55 0 ENQ retry RS56 0 Data retry RS57 0 Disk size RS58 3 CO GO OO OO 00 NY OO OC Job overwrite RS59 0 MOTOMAN ROBOTICS EUROPE Users s manual FDDWIN32 Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm Communication setup VN E Hardware connection to XRC The XRC controller has two 9 pole cable connectors One 9 pole socket underne ath the lid at the short end of the programming pendant FDD Port CNO1 And a 9 pole socket inside XRC located at CPU unit XCP01 board Std port 1 The FDD port is used for normal temporary use The port inside is used for statio nary use Settings for parameter RSOOO Std port 1 O Not used 2 Data transmission protocol PC as host 3 FC1 protocol FDD software To run FDDWIN32 via Std port 1 you must set RS000 to value 3 YASNAC INPUT 220 230V AC 50 60Hz 21A FDD port SOURCE normally used Ons
4. O45V C 24V COHT ALM Standard port 1 E Hardware key To be able to run the program it is necessary to apply the hardware key Mount the hardware key on the parallel port of the PC For Windows NT applications see separate chapter MOTOMAN ROBOTICS EUROPE User s manual FDDWIN32 Page 17 File menu Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm 4 FDD functions lt FDD for Windows g gemensamit View Language Help stat FOD Fa iit PEE Con select Directory Display File Contents E Fig 18 FDD setting 4 Overwrite Advanced Mode 4 1 File menu E Select Directory From this menu you select to which directory you will copy your robot files E Display File Contents By first selecting a file in the File Information window and then use this com mand the choosen file is opened in Windows Notepad You can also start Notepad by doubble click on the file directly E Create directory A new directory can be created direct from the Select Directory menu Just write the new name in the Direction box in the right place and click on the Create button The Windows system can handle max 255 characters E Overwrite Under this menu it s possible to set the basic functions for file copy lf Overwrite is marked when the files are sent from the robot controller the files in the user directory will be written over without warning lf Overwrite is not marked an alarm messa
5. Saved Data OPER EDIT O SYSTEM User Word Registration UWORD DAT x DATA SV monitor signals SVMON DAT Variable name VARNAME DAT Second home position HOME2 DAT Alarm history data ALMHIST DAT Home position calibrating data ABSO DAT System Information SYSTEM SYS OPER Operation Mode EDIT Edit Mode Not possible Y OK possible MOTOMAN ROBOTICS EUROPE User s manual FDDWIN32 Doc name Mrs55000 ch3 fm Select unit Created 96 01 31 Revised 99 11 25 6 4 Select unit E Selecting a memory unit a Select FD PC CARD b Select DEVICE The device select display is shown DATA EDIT DISPLAY UTILITY Ke ANS anenel R12 aa icl 5 DEVICE Tei c Press SELECT The select dialog is displayed d In FODWIN case select gt FC1 lt Move the cursor and press SELECT DATA EDIT DISPLAY UTILITY RASA R12 ea tcl DEVICE FC1 e Press ENTER MOTOMAN ROBOTICS EUROPE Users s manual FDDWIN32 Doc name Mrs55000 ch3 fm Page 30 Created 96 01 31 Revised 99 11 25 Load 6 5 Load To upload data from the external memory unit to the memory of the XRC follow the procedure in the following E Loading the job a Select FD PC CARD under the top men b Select LOAD The floppy disk display is shown DATA EDIT DISPLAY UTILITY FRO Aare R12 wa tcl e
6. Yes FontName MS Sans Serif FontSize 8 Then you have to restart FDD to use the new conditions MOTOMAN ROBOTICS EUROPE Page 52 Users s manual FDDWIN32 Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm Create a new language file 6 12 Create a new language file When you want to add another language Modification can be carried out from the Windows Notepad If you want to add other language which is not already available proceed as fol lows Korean as an example a Copy English Ing to User13 Ing Don t rename it to Korean ng b In the file User13 Ing you modify row User13 to Korean and to Local Language Item This has to be done in all of the language files c Make User13 ico for a country flag if you need Created by VisualBasic soft ware d If you add more continue with User14 Ing d Note The new languages are not displayed under System language But if you select User13 you will see Korean language again Example of the first part of an language file FORMAT DESCRIPTION FOR LANGUAGE TRANSLATION Length IndexNo English Name Local Language Name Comment Start 30 000 FDDWIN FDDWIN 30 001 amp File amp Tiedosto 30 002 amp Ports Setup amp Sarjaliikenneasetukset 30 003 amp FDD Setup amp FDD Asetukset 30 004 amp Exit amp Lopeta 30 005 amp Language amp Kieli 30 006 amp Help amp Ohje
7. 7 0 4 Can not open communication port E Port setting not correct not done Correct the setting E Hardware key missing 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 connected to a printer E Communication disabled This occurs if you try to start FDD without beeing connected to the robot control ler Close FDD software connect to controller restart FDD software FDD for Windows x A Can not open communication port Fig 25 Error message 7 0 B Select Job file E No file was marked Mark file and repeat command FDO for Windows B AN Select Job tile Fig 26 Select file first 7 0 C Remove Shared Component E Warning at uninstall sequence A warning may occure when you are removing a software in the Motoman group A file in Windows system is no longer used by any software Accept to remove this file by clicking Yes The system indicates that the following shared file is no longer used by any programs and may be deleted CAWINDOWS SYSTEM Tabctl32 ocx e Fig 27 Warning message lf any programs are still using this file and itis removed those programs may not function Leaving this file will not harm your system Ifyou are not sure what to do you should select the No to All button Do you want to remove the shared file Yes MOTOMAN ROBOTICS EUROPE Page 54 Users s m
8. Disk Fig 9 Insert disk 2 s The installation is finished and the last screen appears MOTOMAN ROBOTICS EUROPE Page 10 Software installation Created 96 01 31 Revised 99 11 23 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 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 11 Uninstall Created 96 01 31 Revised 99 11 23 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 M
9. Revised 99 11 25 Doc name Mrs55000 ch3 fm 6 8 Deleting files Follow the procedure below to delete a file or files from the hard disk in the com puter E Delete the job a Select FD PC CARD under the top menu b Select DELETE The floppy disk display is shown DATA EDIT DISPLAY UTILITY DNA R12 xa el s FC2 DELETE UN USED MEM 123 4 KB FILE GENERAL DATA BATCH USER MEMORY Mi PARAMETER W O DATA ME SYSTEM DATA W BATCH CMOS WALL CMOS AREA lW marked data cannot be loaded CO OO OO Och OO CH c Select JOB The job list display is shown DATA EDIT DISPLAY UTILITY Re AS Tenens 6 R12 od ei Essen SINGLE NO 7 TEST0002 TEST0003 TEST0004 TEST0005 TESTO006 TEST0007 d Select the job to be deleted The selected job is marked with DATA EDIT DISPLAY UTILITY 5 DOVADA R12 ms FC2 DELETE SINGLE NO 7 TEST0001 TESTO002 TESTO003 TEST0004 TESTO0006 TEST0007 MOTOMAN ROBOTICS EUROPE Page 44 Users s manual FDDWIN32 Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm Deleting files e Press ENTER The confirmation dialog is displayed Delete YES f Select YES Once deleting is completed the floppy disk display is shown E Delete the file a Select FD PC CARD under the top menu b Select DELETE The floppy disk display is shown DATA EDIT DISPLAY UTI
10. Robotics Europe AB Box 504 SE 385 25 Torsas 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 Kammerfeldstrabe 1 DE 85391 Allershausen Germany Tel 49 8166 90 0 Fax 49 8 166 90 39 MOTOMAN Robotec GmbH Im Katzenforst 2 DE 61476 Kronberg Taunus Germany Tel 49 6173 60 77 30 Fax 49 6196 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 280496 Fax 39 059 280602 MOTOMAN benelux B V Zinkstraat 70 NL 4823 AC Breda Netherlands Tel 3 1 76 5424278 Fax 31 76 5429246 RISTRO d o o Lepovce 23 SI 1310 Ribnica Slovenia Tel 386 61 861113 Fax 386 61 861227 MOTOMAN Robotics Espana S A Avenida Marina 56 Parcela 90 ES 08830 St Boi de Llobregat Barcelona Spain Tel 34 93 6303478 Fax 34 93 6543459 MOTOMAN Mecatron Robotic Systems AB Box 4004 SE 390 04 Kalmar Sweden Tel 46 480 444600 Fax 46 444699 MGM Spol s r o Trebizsk ho 1870 CZ 39002 Tabor Czech Republic Tel 420 361 254571 Fax 420 361 256038 HN Automatic Robia A S Hjulmagervej 4 DK 7100 Vejle Denmark Tel 45 79428000 Fax 45 79428001 Robia Suomi OY K rs m entie 8 FI 20300 Turku Finland Te
11. display is shown DATA EDIT DISPLAY UTILITY eA anene Pm R12 oo ic 3 Esser SINGLE NO 7 TEST0002 TEST0003 TEST0004 TEST0005 TEST0006 TEST0007 d Select the job to be verified MOTOMAN ROBOTICS EUROPE Users s manual FDDWIN32 Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm Verifying data The selected job is marked with DATA EDIT DISPLAY UTILITY a AOAIE R12 oo icl FC2 VERIFY SINGLE NO 7 TEST0001 TESTO002 TEST0003 TEST0004 TEST0005 TEST0006 TEST0007 e Press ENTER The confirmation dialog is displayed Verify YES f Select YES The job starts verifying and the transmission display is shown DATA EDIT DISPLAY UTILITY JAANA R12 oa tcl s FC2 VERIFY TRANSMITTED FILE TEST0001 REST 50 BYTE To cancel the verifying operation press SELECT After verifying is completed or cancelled the job list display is shown MOTOMAN ROBOTICS EUROPE User s manual FDDWIN32 Page 41 Verifying data Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm E Verifying the condition file universal data a Select FD PC CARD under the top menu b Select VERIFY The floppy disk display is shown DATA EDIT DISPLAY UTILITY Rel Aneesh R12 4 me E UN USED MEM 123 4 KB Ob 8 FILE GENERAL DATA 0 BATC
12. press SELECT Once saving is completed or cancelled the job list display is shown E File saving a Select FD PC CARD under the top menu b Select SAVE The floppy disk display is shown DATA EDIT DISPLAY UTILITY R12 ol l FC2 SAVE UN USED MEM 123 4 KB OB FILE GENERAL DATA BATCH USER MEMORY PARAMETER UO DATA SYSTEM DATA BATCH CMOS WALL CMOS AREA lW marked data cannot be loaded OOOC O0O o fs c Select the file group to be saved The file select display is shown MOTOMAN ROBOTICS EUROPE User s manual FDDWIN32 Page 35 Save Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm DATA EDIT DISPLAY UTILITY R12 ais FC2 SAVE go MRENA ALL PRM O ROBOT MATCH PRMTR RC PM SYS DEF PRMTR SD PRM O COORD ORG PRMTR RO PM SYS MATCH PRMTR SC PPM CIOPRMTR CIO PRM O FCTN DEF PRMTR FD PRM O__APPLIPRMTR Ap PM d Select the file to be saved The selected data is marked with The mark in the display shows the file which exists in the external memory unit floppy disk DATA EDIT DISPLAY UTILITY RIX ais FC2 SAVE x DATCH PADAMETER ALL PRM O ROBOT MATCH PRMTR RC PM SYS DEF PRMTR SD PRM O COORD ORG PRMTR RO PRM SYS MATCH PRMTR SC PRM CIOPRMTR CIO PRM O FCTN DEF PRMTR FD PRM O APPLIPRMTR Ap PM e Press ENTER The confirmation dialo
13. 30 007 amp Version amp Versio 10 008 Start FDD Kaynnista FDD 10 009 Directory Hakemisto 10 010 Job Tyo 10 011 File Tiedosto 10 012 Exit Lopeta 10 013 Clear Tyhjenna 10 014 Review Paivita 30 015 File Information Tiedostoinformaatio 30 016 Communication Status Tiedonsiirron tila 10 017 Directory Hakemisto 10 018 File Type Tyyppi 20 019 View Detail Nayta yksityiskohdat 20 020 View Simple Nayta yksinkertaist 10 021 Quit FDD Lopeta FDD Title of Main Dialogue Box Menu Command in Main Dialogue Box Menu Command in Main Dialogue Box Menu Command in Main Dialogue Box Menu Command in Main Dialogue Box Menu Command in Main Dialogue Box Menu Command in Main Dialogue Box Menu Command in Main Dialogue Box Command Button in Main Dialogue Box Command Button in Main Dialogue Box Command Button in Main Dialogue Box Command Button in Main Dialogue Box Command Button in Main Dialogue Box Command Button in Main Dialogue Box Command Button in Main Dialogue Box Frame Box in Main Dialogue Box Frame Box in Main Dialogue Box Lable in Main Dialogue Box Lable in Main Dialogue Box Option Button in Main Dialogue Box Option Button in Main Dialogue Box Command Button in Main Dialogue Box MOTOMAN ROBOTICS EUROPE User s manual FDDWIN32 Page 53 Create a new language file Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm 7 Trouble shooting
14. 6 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm Open a robot job se View Job Contents HAMTA HHA Line Sum 36 Step Sum 6 Fig 24 Job contents HAM TAZ 1996 03 15 View Job Contents HAMTA BEA Line Sum 36 Step Sum 6 KT CO0000 0 114250 18764 163474 1388 C0001 0 122388 12154 163475 1361 C0002 0 114250 18764 163474 1386 C0003 0 115357 17867 163306 138 C0004 0 122273 12242 163309 136 C0005 0 115357 17867 163306 138 View Job Contents HAMTA KE Line Sum 36 Step Sum 6 NOP GETS PX000 Px000 CNYRT PX000 PX000 BF SFTON BP000 PAUSE IF IN 116 ON MOYVJ C0000 BC0000 VJ 100 00 MOYJ C0001 BC0001 VJ 100 00 DOUT OT 15 OFF DOUT OT 14 ON TIMER T 1 00 MOYL C0002 BC0002 V 66 7 DOUT OT 14 OFF gt E View Header Gives information about title tool and other main data E View Position Gives information about the axis position in each joint of the job Information is given in pulses not millimetre The axis are displayed in the order S L U R B I E View Instruction Display all instructions in the job such as MOVJ JUMP ARCON etc E Line Sum Display the number of lines in the job E Step Sum Display the number of MOV instructions in the job If the function File is used in the main menu all file information is shown in one piece MOTOMAN ROBOTICS EUROPE User s manual FDDWIN32 Page 51 Editing a language file Created 96 01 31 Revised
15. 99 11 25 Doc name Mrs55000 ch3 fm 6 10 A Cut and paste a It is possible to make a printout of the file or use it in documentation etc by using the Cut amp Paste method b Mark the wanted text by holding the left mouse button and drag across the text The marked text shall now be marked with inverted text c Press and hold the Ctrl button and C button simultaneous Ctrl C d Start another text editor e g MS WORD Write or Windows Notepad e Paste the text in this new program by pressing Ctrl button and V button simul taneous Ctrl V f It s also possible to cut out the text from the FDD window by pressing Ctrl but ton and A button simultaneous Ctrl X NOTE The Text is only cut out from the local window the file will not be change at all 6 11 Editing a language file In the dialogue box of the Language selection function there is a button named EDIT Normally this button is not active but by a simple editing of the FC1 INI file it becomes active This ini file can be edited from the Windows Notepad When the EDIT button is active it is possible to edit the language file directly from the Language selection menu NOTE If you are not a very skilled PC operator you should not edit this files because it is easy to destroy the syntax Part of the FC1 INI file found in the FDDWIN directory ReWrite False StartDsp False StartLang System LangSelect Yes LangEdit No lt Change this one to
16. H USER MEMORY 0 PARAMETER 1 I O DATA 0 SYSTEM DATA 0 BATCH CMOS 0 WALL CMOS AREA 0 IW marked data cannot be loaded c Select the file group to be verified The file select display is shown DATA EDIT DISPLAY UTILITY RIX wa EIS FC2 VERIFY e asi ALL PRM ROBOT MATCH PRMTR RC PRM SYS DEF PRMTR SD PM O COORD ORG PRMTR RO PRM SYS MATCH PRMTR SC DRM CIOPRMTR CIO PRM O FCTN DEF PRMTR FD PM O APPLIPRMTR AP _ DRM d Select the file to be verified The selected data is marked with DATA EDIT DISPLAY UTILITY R12 i EIS FC2 VERIFY RDATCH BADAMETER ALL PRM O ROBOT MATCH PRMTR RC PRM SYS DEF PRMTR SD PRM O COORD ORG PRMTR RO PRM SYS MATCH PRMTR SC DRM CIOPRMTR CIO PRM O FCTN DEF PRMTR FD PM O APPLIPRMTR AP DRM e Press ENTER The confirmation dialog is displayed Verify YES MOTOMAN ROBOTICS EUROPE Page 42 Users s manual FDDWIN32 Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm Verifying data f Select YES The data starts verifying and the transmission display is shown DATA EDIT DISPLAY UTILITY OJAN R12 wa 0l FC2 VERIFY TRANSMITTED FILE ALL PRM REST e 19968 BYTE To cancel the verifying operation press SELECT Once the verifying is completed or cancelled the data list display is shown MOTOMAN ROBOTICS EUROPE User s manual FDDWIN32 Page 43 Deleting files Created 96 01 31
17. LITY R12 ol lz FC2 DELETE UN USED MEM 123 4 KB OB FILE GENERAL DATA BATCH USER MEMORY PARAMETER UO DATA SYSTEM DATA BATCH CMOS WALL CMOS AREA lW marked data cannot be loaded OOOC oO CO fe c Select the file group to be deleted The file select display is shown DATA EDIT DISPLAY UTILITY RIX d i fC FC2 DELETE BATCH PARAMETER ALL PRM ROBOT MATCH PRMTR RC PM SYS DEF PRMTR SD PRM COORD ORG PRMTR RO PRM SYS MATCH PRMTR SC PRM CIO PRMTR CIO PRM FCTN DEF PRMTR FD PRM APPLI PRMTR Ap PM O O O O O O O MOTOMAN ROBOTICS EUROPE User s manual FDDWIN32 Page 45 Deleting files Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm d Select the file to be deleted The selected data is marked with e The mark in the display shows the file which exists in the external memory unit floppy disk DATA EDIT DISPLAY UTILITY RIX d i fC FC2 DELETE BATCH PARAMETER ALL PRM O ROBOT MATCH PRMTR RC PM SYS DEF PRMTR SD PRM O COORD ORG PRMTR RO PRM SYS MATCH PRMTR SC PPM CIOPRMTR CIO PRM O FCTN DEF PRMTR FD PRM O APPLIPRMTR Ap PM e Press ENTER The confirmation dialog is displayed Delete YES f Select YES Once deleting is completed the floppy disk display is shown E Job selection mode The selection of jobs to be lo
18. MOTOMAN ROBOTICS EUROPE Page 6 Users s manual FDDWIN32 Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch1 fm Copyright 1 1 Copyright The diskettes for FDD 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 FDD kit E FDD kit comprises Y Diskettes for FDD and NT drivers or CD ROM Y One hardware key Y One manual Y One registration card E FDD Kit does not comprise Y Cables Motoman part No 347359 xx xx length code Y Adaptors 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 and software demands VY One PC type 486 or better 16 Mb RAM 2 Mb disk space Y 3 5 diskette station 1 44 Mb Y Colour monitor not necessary Y Windows 95 98 or Windows NT kv If three or four robots are to be connected the computer must be equipped with an extra board including two extra Com ports VY MOTOMAN XRC robot controller kv RS232 adaptor 9 pole to 25 pole Y Protective hood if the PC is installed in the workshop MOTOMAN ROBOTICS EUROPE Software installation Page 7 Installation Created 96 01 31 Revised 99 11 23 Doc name Software installation fm 2 Software installation d Note This chapter shows a genera
19. MOTOMAN XRC USERS S MANUAL FDDWINS82 version 4 00 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 MRS55000 MOTOMAN ROBOTICS EUROPE A n Reference list Basic Operator s Manual Windows User s Manual This manual only show how to use FDDWIN32 together with robot controller type MOTOMAN XRC To connect to MRC or ERC controllers see separate document Revision 991125 First release of this manual MOTOMAN ROBOTICS EUROPE User s manual FDDWIN32 Page 3 Created 99 10 29 Revised 99 11 01 Doc name Mrs55000TOC fm NK en ME 5 Copyright 6 FDD kit 6 LI FDD kit comprises 6 L FDD Kit does not comprise 6 LI Further you may have need for 6 Hardware and software demands 6 2 Software installation ceececeeeeeeeeseeeeeeeeeeeens 7 Installation 7 After installation 10 Uninstall 11 3 COMMUNICATION Setup cccecceeeceeeeeeeeeeeeeeeees 13 Communication cable 13 I O and IRQ setting 13 Directories and files 14 Communication setup 15 LJ n FDDWIN32 15 L Robot parameters 15 LI Hardware connection to XRC 16 L Hardware key 16 4 FOD TUN CHOMS sesssacricsensenaatdaudeseacaieacauoradhevuensasene 17 File menu 17 I Select Directory 17 I Display File Contents 17 I Create directory 17 I Overwrite 17 Select language 18 H
20. Save Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm 6 6 Save To download data from the memory of the XRC to the external memory unit per form the following procedure E Saving the job a Select FD PC CARD under the top menu b Select SAVE The floppy disk display is shown DATA EDIT DISPLAY UTILITY TAARNA R12 0 ic s een UN USED MEM 123 4 KB ls 8 FILE GENERAL DATA 0 BATCH USER MEMORY 0 W PARAMETER 1 W O DATA 0 W SYSTEM DATA 0 Mi BATCH CMOS 0 WALL CMOS AREA O imarked data cannot be loaded c Select JOB The job list display is shown DATA EDIT DISPLAY UTILITY Re DAS ene R12 a icl e Een SINGLE NO 7 TEST0002 TEST0003 TEST0004 TEST0005 TEST0006 TEST0007 d Select the job to be saved The selected job is marked with x DATA EDIT DISPLAY UTILITY a Noein Rix gas FC2 SAVE SINGLE NO 7 ATESTonn TESTOO02 TESTO003 TEST0004 TEST0005 TESTO006 TEST0007 MOTOMAN ROBOTICS EUROPE Users s manual FDDWIN32 Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm Save e Press ENTER The confirmation dialog is displayed f Select YES The job starts saving and the transmission display is shown DATA EDIT DISPLAY UTILITY Statiste Rig ais FC2 SAVE TRANSMITTED FILE TEST0001 REST 50 BYTE To cancel the save operation and
21. Start software The program is activated in the PC and then run from the robot controller a Start software Start the program by double click on the icon the start menu is shown Fig 1 b Select directory Click on Select Directory and choose user directory for file transfer for more information see Windows manual Select Directory x Directory OK g gemensam temp Cancel GEN WJ gemensam Create Drive EP g ATOR14YOL1 GRUPP Fig 22 User directory c When the right directory is stated click on the OK d Activate FDD function Click on Start FDD The communication is now established and all other FDD functions are locked e Proceed from the programming pendant of the robot controller MOTOMAN ROBOTICS EUROPE User s manual FDDWIN32 Page 25 Running from the robot Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm 6 3 Running from the robot E Main menu for FDD communication a From the TOP MENU choose FD PC CARD b Choose the appropriate task R12 del Cl Turn on servo power 1 LOAD Copy files from the computer into the robot controller 2 SAVE Copy files from the robot controller into the computer 3 VERIFY Compare files in the robot controller with the files in computer This should always be done to secure correct data transmission 4 DELETE Delete files in the computer 5 FORMAT Not to be used when running FODWIN82 to
22. TERN VERTICAL 1234 567mm HORIZONTAL 1234 567mm ANGLE 123 40 DATA EDIT DISPLAY UTILITY RIR a id i i TOOL NO 00 NAME STANDARD A BEZAZ mMm Rx 123 45 deg Y 0 000 mm Ry 0 00 deg Z 50 000 mm Rz 0 00 deg The selected job and the data file and related job are loaded saved and collated MOTOMAN ROBOTICS EUROPE User s manual FDDWIN32 Page 47 Switch select mode Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm 6 9 Switch select mode a Press the page key in the floppy disk job list display Each time the page key is pressed the display switches back and forth between the SINGLE SELECT MODE and RELATED SELECT MODE DATA EDIT DISPLAY UTILITY DRNA R12 JO tcl e Esser RELATED NO 7 TEST0002 TEST0003 TEST0004 TEST0005 TESTO006 TEST0007 E How to select job and data files The method of selecting a job and various data files when loading saving verify ing and deleting are described in the following kv Individual Select Jobs and data files are selected individually one at a time VY Batch Select Jobs and data files are selected all at one time Batch selection can be performed as in the following a Select EDIT under the menu in either the floppy disk job list display or the file select display The pull down menu is displayed DATA DISPLAY UTILITY SELECT ALL R12 del IS CANCEL SELECT RELATED NO 7 S
23. UROPE Users s manual FDDWIN32 Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm Save E Overwriting existing files lf the floppy disk contains a file with the same name as the one to be created by the saving process the confirmation dialog is displayed Overwrite file JOB1 HEX YES When overwriting the file move the cursor to YES and press SELECT The file in the floppy disk is deleted and the forwarded data is saved When not overwriting the file move the cursor to NO and press SELECT The save operation can be continued while replacing the new floppy disk MOTOMAN ROBOTICS EUROPE User s manual FDDWIN32 Page 39 Verifying data Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm 6 7 Verifying data Follow the procedure below to verify data in the memory of the XRC with similar data saved at the external memory unit d Note This function cannot be executed with BATCH CMOS or ALL CMOS AREA specified E Verifying the job a Select FD PC CARD under the top menu b Select VERIFY The floppy disk display is shown DATA EDIT DISPLAY UTILITY TDA R12 od el s FC2 VERIFY UN USED MEM 123 4 KB FILE GENERAL DATA BATCH USER MEMORY Mi PARAMETER W O DATA W SYSTEM DATA E BATCH CMOS WALL CMOS AREA OO CO OO ck COOC IW marked data cannot be loaded c Select JOB The job list
24. a computer 6 DEVICE Select device FC1 FC2 PC Card etc E Data that can be saved and save destination file names The floppy disk display is shown below Data that can be saved are classified into eight groups The table on the next page lists the data of the eight groups The table also shows different file names provided for saving different types of data Data saved at an external memory unit can be reloaded into the memory of the XRC Data belonging to the data groups marked with m on the FD PC CARD display shown below have restrictions which apply to reloading into memory because they include system related information Note Refer to YASNAC XRC Maintenance manual for the method to reload into the memory any data belonging to the data groups marked with m on the FD PC CARD display Page 26 MOTOMAN ROBOTICS EUROPE Users s manual FDDWIN32 Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm Running from the robot DATA EDIT DISPLAY UTILITY R12 dei il i FC1 SAVE UN USED MEM 0 457GB e o Ge ELEIGENERAL DATA G JBATCH USER MEMORY PARAMETER MIO DATA e MISYSTEM DATA BATCH CMOS WALL CMOS AREA IR marked data cannot be loaded OOOO O olo The numbers through in the above display correspond to the numbers through in the table on the next page 1 Single j
25. aded saved compared or deleted can be per formed in different selection modes described below Y Select SINGLE Mode Only the selected job can be loaded saved or verified Select RELATED Mode The selected job and related jobs data and files can be loaded saved or verified MOTOMAN ROBOTICS EUROPE Page 46 Users s manual FDDWIN32 Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm Deleting files For relative selection For single selection mode mode 77 JOB EDIT DISPLAY UTILITY JOB EDIT DISPLAY UTILITY JOB CONTENT R12 dai DI JOB CONTENT R12 we j0 JTEST S 000 Di TOOL J JOB 1 S 000 Ri eters NOP 0001 MOVJ VJ 50 00 0002 MOVL V 276 0003 WVON WEV 1 0004 ARCON ASF 1 0005 MOVL V 138 0006 MOVL V 138 gt MOVJ VJ 100 00 0006 CALL JOKJOB 1 field MOVJ vJ 50 00 0008 MOVJ VJ 50 00 0009 MOVJ VJ 50 00 0010 MOVL V 276 0013 TIMER T 0 5 Only the selected job is We d and JOB EDIT DISPLAY UTILITY EH JOB CONTENT bz lz collated J JOB 11 000 R1 TOOL WN NOP 0001 CHILD JOB 0002 MOVJ VJ 50 00 0003 MOVJ VJ 12 50 0004 MOVL V 276 0005 TIMER T 1 00 0006 DOUT OT 1 ON gt MOVJ VJ 100 00 DATA EDIT WEAVIN OND NO 2 MODE 0 SINGLE 1 TRI 2 L 0 0 SMOOTH 1 NONE 0 SPEED 0 FREQ 1 MOVINGTIME 0 AMPLITUDE ACTIVE IN SINGL 234 567mm FREQUENCY 3 4Hz PAT
26. anual FDDWIN32 Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm Manufacturer 8 Windows NT As the Windows NT do not use Parallel ports such as LPT1 A parallel port must be set up for the hardware key Rainbow Port Driver Microsoft Windows NT This version runs only on Intel based machines The following files needed to be able to run FODDWIN32 in NT environment Necessary files are included in one of the disks RAINPORT DLL Rainbow port driver setup e RAINPORT HLP Help file for RAINPORT DLL e OEMSETUP INF Installation file for Rainbow port driver e RAINVDD DLL Rainbow virtual device driver RAINPORT SYS Rainbow port driver For installation procedure see Windows NT manual More information is found in the file sentinel hip included in the dis kette 9 FDD version By clicking on Help button in the main menu the version No is displayed Quit by clicking on Close Version Information Fix FDD tor Windows Yersion 4 00 Motoman Robotics AB Copyright C Motoman Robotics AB 1997 eil 9 1 Manufacturer Address Motoman Robotics Europe AB P O Box 504 SE 385 25 Torsas Sweden Telephone 46 486 488 00 Telefax 46 486 414 10 Notes Headquarters Sweden Group companies France Germany Germany Great Britain ltaly Netherlands Slovenia Spain Sweden Distributors Czech Republic Denmark Finland Greece Norway Portugal MOTOMAN
27. ark 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 12 Software installation Created 96 01 31 Revised 99 11 23 Doc name Software installation fm Uninstall MOTOMAN ROBOTICS EUROPE User s manual FDDWIN32 Page 13 Communication cable Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm 3 Communication setup 3 1 Communication cable Communication between PC and robot controller via RS232C serial interface Cable length max 15 m to each robot controller It is possible to use short dis tance modem if the distance is longer Com1 and Com3 are 9 pole plugs Com2 and Com4 are 25 pole plugs Cable layout see figure Ground shield DCD 10 O71 DCD RX 2 O2 RX Bee TX 3 TT O3 TX DTR 4 eee 94 DTR GND 5 RS 95 GND tt i REN O7 RIS CTS 8 Big 28 CTS FG 90 O 9 RI Cabel XRC 9 pole PC 9 pole Fig 15 Cabel P N 347359 3 2 VO and IRQ setting For communication the following settings is recommended in the PC Setting of I O and IRQ is made by software in Windows under the icon Control panel ports This is the normal setting for Com1 and Comz2 For the extra board Com3 and Com4 it could be needed to move jumpers direct on t
28. ch German Italian Finnish Norweigan Danish excluded Spanish Portugese excluded Japanese MOTOMAN ROBOTICS EUROPE User s manual FDDWIN32 Page 21 Commands Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm 5 2 Commands Start FDD Quit FDD Select Directory Display File Contents Port Setup Overwrite Advanced Mode Exit View Job Contents View Details of Communication Status Clear Communication Status Refresh to Latest Status Help Topics Version MOTOMAN ROBOTICS EUROPE Page 22 Users s manual FDDWIN32 Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm Commands 6 Program running FDD program is run load and save files from the programming pendant of the controller The command run from the PC is only for handling of the files in the PC move files user directory and open files for printing etc MOTOMAN ROBOTICS EUROPE User s manual FDDWIN32 Page 23 File management Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm 6 1 File management The following diagram is an operation flow to show file transfer and manage ment The operation is performed with the programming pendant Select desired device Select data group Select data EXECUTE Verify Completion MOTOMAN ROBOTICS EUROPE Page 24 Users s manual FDDWIN32 Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm Start software 6 2
29. der characteristic Data WELDER DAT vi A Y Y Welder char definition data WELDDUDEF DAT vw Ze Ze Y Shoch detection level data SHOCKLVL CND Ze Ze Ze Y Servo Gun Pressure Power SPRESS CND Ze Ze Ze Y Servo Gun Dry Spot Pres SPRESSCL CND Ze Ze ki Y Spot Gun Characteristic Data SGUN DAT Ze Y Y Y Spot Welder Characteristic Data SWELDER DAT 4 Te vi vi Short Full Open Position Data STROKE DAT Ze Ze Ze Y PARAMETER BATCH ALL PRM Y vw L Y GU PARAME Robot matching parameter RC PRM vi vi vi TER System definition parameter SD PRM Te Vi vi Coordinate origin parameter RO PRM Ze Ze L ki System matching parameter SC PRM Ze Ze L Ze CIO parameter CIO PRM Ze Y L Y Function definition parameter FD PRM Ze Ze L Y Application parameter AP PRM Ze Y L Y Transmission general parame RS PRM vw Y L Y Sensor parameter SE PRM Y Ze L ki Servo parameter SV PRM Ze Ze L Ze Servo motor parameter SVM PRM Ze Ze L Y Operation Control Parameter AMC PRM vw Y L Y Servo Power Block Parameter SVP PRM Ze Ze L Y Motion Function Parameter MF PRM Ze Ze L Y Motion Transmission Parameter RSM PRM Ze Ze L Ze PC Definition Parameter PCD PRM Ze Ze L 4 UO DATA Concurrent UO program CIOPRG LST Y vi vi UO name data IONAME DAT Ze Ze L Y MOTOMAN ROBOTICS EUROPE Page 28 Users s manual FDDWIN32 Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm Running from the robot Data That Can Be Saved File Name Load
30. eated 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch1 fm FDD for Windows 32 bit Valid for FDD for Windows version 4 00 Motoman part No 441108 99 FDD for Windows gAgemensami temp File View Language Help File Information Communication Status 5points jb1 abso dat alcms1le hex all prm hamtal _jbi hamtad jbi ioname dat lag kant_jbi a provi jb sok jbi sok 1dim jbi sok 1ytajbi sok 2dim jbi sok yh_ jbi tool cnd Robot Files Fig l Main screen 1 General FDD is a 32 bit PC software The purpose with FDD is VY One way communication from up to four MOTOMAN robots to one PC Y Connection to ERC MRC and XRC robot controllers kv Replaces disk drives type FC1 FC2 VY Expanded storage area for robot jobs in the PC Y Editing the robot job is not possible by this program Y This is a multi language version of FDD which gives you the facility to switch between 11 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 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 letters means command icon or button Y Text written in ITALIC means text shown on display
31. elp 19 5 Program structure ccccceecceeeseeceeeeeeeseeeeeeeaees 20 Files 20 Commands 21 D Program running cccccccecceeeceeeeeeeaeeteeeeeeeeeaes 22 File management 23 Start software 24 Running from the robot 25 L Main menu f r FDD communication 25 L Data that can be saved and save destination file names 25 Select unit 29 I Selecting a memory unit 29 Load 30 I Loading the job 30 1 Loading files 31 Save 33 L Saving the job 33 I File saving 34 _I Saving the CMOS data 36 L Overwriting existing files 38 Verifying data 39 _I Verifying the job 39 J Verifying the condition file universal data 41 MOTOMAN ROBOTICS EUROPE Page 4 Users s manual FDDWIN32 Created 99 10 29 Revised 99 11 01 Doc name Mrs55000TOC fm Deleting files 43 I Delete the job 43 I Delete the file 44 I Job selection mode 45 Switch select mode 47 LI How to select job and data files 47 Open a robot job 49 J View Header 50 I View Position 50 LI View Instruction 50 LI Line Sum 50 LI Step Sum 50 Editing a language file 51 Create a new language file 52 Ts Trouble shooting E 53 L Port setting not correct not done 53 LJ Hardware key missing 53 L Communication disabled 53 LI No file was marked 53 L Warning at uninstall sequence 53 8 Windows NI ou ccc cccccceceeseceeseeseeeeseeseveuseeeeuaeeans 54 9 EIER 54 Manufacturer 54 MOTOMAN ROBOTICS EUROPE User s manual FDDWIN32 Page 5 Cr
32. em TEST0002 TESTO003 TEST0004 TESTO0005 TESTO0006 TEST0007 MOTOMAN ROBOTICS EUROPE Page 48 Users s manual FDDWIN32 Doc name Mrs55000 ch3 fm Switch select mode Created 96 01 31 Revised 99 11 25 b Select SELECT ALL All jobs are selected DATA EDIT DISPLAY UTILITY EH AOAIGA piz oo icl a FC2 VERIFY RELATED NO 7 TEST0002 X TESTO0003 TEST0004 TESTO005 X TEST0006 TEST0007 When EDIT gt CANCEL SELECT ts selected the selected item batch operation is cancelled MOTOMAN ROBOTICS EUROPE User s manual FDDWIN32 Page 49 Open a robot job Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm 6 10 Open a robot job Files in the PC can be opened contents lt FDD for Windows g gemensam temp File View Language Help d lelslelo File Information Communication Status 25points jbi hamtal bt hamta2 jbi ioname dat Fig 23 Main menu Robot Files a Click on Stop FDD b Mark the wanted file in File information If where are a lot of files a special type of files can be selected Under the menu File type it can be set e g jbi which results in that only files ending with jbi is shown in the window c Then click on the Job button A new menu is shown there different sorts of information can be displayed MOTOMAN ROBOTICS EUROPE Page 50 Users s manual FDDWIN32 Created 9
33. g is displayed f Select YES The data starts saving and the transmission display is shown DATA EDIT DISPLAY UTILITY JADNA R12 wa tcl FC2 SAVE TRANSMITTED FILE ALL PRM REST 19968 BYTE To cancel loading press SELECT If loading is completed or canceled the file select display is shown MOTOMAN ROBOTICS EUROPE Users s manual FDDWIN32 Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm Save E Saving the CMOS data To save all user s programs BATCH USER MEMORY all data in the CMOS BATCH CMOS or all data in the CMOS area ALL CMOS AREA a single floppy disk may not be sufficient In that case the operator must provide another floppy disk when so instructed by a message on the display a Select FD PC CARD under the top menu b Select SAVE The floppy disk display is shown DATA EDIT DISPLAY UTILITY R12 a l FC2 SAVE UN USED MEM 123 4 KB OB FILE GENERAL DATA BATCH USER MEMORY PARAMETER UO DATA SYSTEM DATA BATCH CMOS WALL CMOS AREA lW marked data cannot be loaded OO OO Oct Oo ole c Select BATCH USER MEMORY The following display is shown Please insert the first floppy disk in the exter nal memory unit DATA EDIT DISPLAY UTILITY ame Danke RR a tls INSERT FLOPPY NO 1 USABLE MEMORY 100 d Select EXEC The confirmation dialog is shown
34. ges will be sent if the file already exists in the user directory Erase the file or switch to another user directory MOTOMAN ROBOTICS EUROPE Page 18 Users s manual FDDWIN32 Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm select language 4 2 Select language Every time you start FDD for Windows version 4 00 you will be given the facility to choose language for menues and commands Select Language Italian Danish Norwegian Pornuquese Japanese Edit Cancel me Ignore language selection at program start X Default font will be used Fig 19 Multi language Choose language and then click on the OK button Note Japanees language can t be displayed in an European computer It is even possible to correct and change each word or to create a totally new lang uage file see separate chapter in this document If you don t want to display this window every time you start the FDD software just mark the line Ignore language selection at program start You also have the facility to change the font in the menues If the Default Fonts will be used is marked MS Sans serif will be used If you unmark the funktion a dialogue box from Windows system will appear and you have the facility to choose font style MOTOMAN ROBOTICS EUROPE User s manual FDDWIN32 Page 19 Help Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm 4 3 Help Help Topics FDD fo
35. he board MOTOMAN ROBOTICS EUROPE Page 14 Users s manual FDDWIN32 Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm Directories and files 3 3 Directories and files Together with this manual two installation diskettes are included These diskettes contains the FDD program in compressed form The license is valid for communication with up to four robots from one PC The hardware key can only be use on one PC at a time lt is advisable to create separate directories for the robot jobs name them for example robot 1 robot 2 etc see figure For more information see Windows user s manual Fig 16 Directory layout Program Fddwin32 ei Files loaded into the PC file system will get an extension of jbr jbi dat orm cnd Jet sys or hex dependinng on typ of file See further information at the end of this manual MOTOMAN ROBOTICS EUROPE User s manual FDDWIN32 Page 15 Communication setup Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm 3 4 Communication setup Win FODWIN32 The communication protocol is very special for more information see MOTOMAN XRC computer communication User s manual Communication parameters in the PC shall be set as follows Baud rate 4800 Data bits 8 stop bits 1 Parity check 2 even a Click on File in the menu b Click on Port setup A menu is displayed normally it s not necessary to make any changes in this set tings
36. l 358 22145600 Fax 358 22145660 Kouvalias Industrial Robots 25 El Venizelou Ave GR 17671 Kallithea Greece Tel 30 1 9589243 6 Fax 30 1 9567289 Robia ASA vre Eikervei 177 NO 3048 Drammen Norway Tel 47 32217830 Fax 47 32217840 Electro Arco S A Rua Vice Almirante Azevedo Coutinho 4 Venda Nova PT 2700 Amadora Portugal Tel 351 1 4968160 Fax 351 1 4990696 MOTOMAN ROBOTICS EUROPE AB a subsidiary of YASKAWA Electric Corporation
37. l 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 cancel 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 8 Software installation Created 96 01 31 Revised 99 11 23 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 Installa
38. loaded OO OO OO ck O oleg c Select the file group to be loaded The file select display is shown MOTOMAN ROBOTICS EUROPE Page 32 Users s manual FDDWIN32 Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm Load DATA EDIT DISPLAY UTILITY R1 amp ls FC2 LOAD BATCH PARAMETER ALL PRM O ROBOT MATCH PRMTR RC PRM SYS DEF PRMTR SD PRM O COORD ORG PRMTR RO PRM SYS MATCH PRMTR SC PRM CIOPRMTR CIO PRM O FCTN DEF PRMTR FD PRM O __APPLIPRMTR Ap PRM Select the file to be loaded The selected data is marked with e The mark in the display shows the file which exists in the external memory unit floppy disk DATA EDIT DISPLAY UTILITY R1 tes FC2 LOAD EREN ALL PRM O ROBOT MATCH PRMTR RC PM SYS DEF PRMTR SD PRM O COORD ORG PRMTR RO PRM SYS MATCH PRMTR SC PRM CIOPRMTR CIO PRM O FCTN DEF PRMTR FD PRM O _APPLIPRMTR Ap PM Press ENTER The confirmation dialog is displayed d Select YES The data starts loading and the transmission display is shown DATA EDIT DISPLAY UTILITY JADNA R12 wa tcl FC2 LOAD TRANSMITTED FILE ALL PRM REST 19968 BYTE To cancel loading press SELECT Once loading is completed or cancelled the file select display is shown MOTOMAN ROBOTICS EUROPE User s manual FDDWIN32 Page 33
39. ob selection 2 Single data file selection 3 All files belonging to No 1 and No 2 is selected 4 All parameters Restricted to load 5 I O data Restricted to load 6 System Data Restricted to load 7 Batch CMOS Restricted to load 8 Whole CMOS memory Restricted to load Note When BATCH USER MEMORY BATCH CMOS or ALL CMOS AREA is selected jobs are also saved but the job headers of the saved jobs are not saved to an external memory unit Saving of job headers is only completed if JOB is selected to save the data MOTOMAN ROBOTICS EUROPE Running from the robot Data That Can Be Saved 8 ALL CMOS AREA User s manual FDDWIN32 Created 96 01 31 Revised 99 11 25 File Name Saved Data Doc name Mrs55000 ch3 fm Page 27 ALLCMSxx HEX OPER EDIT Y Y L L BATCH CMOS CMOSxx HEX Y v BATCH USER MEMORY JOBxx HEX Y v v v JOB Single job JOBNAME JBI v Y vi vi Related job Job Condition JOBNAME JBR Ze Ze Ze Y Tool data TOOL CND Ze Ze Y Y Weaving data WEAV CND Ze Y Y Y User coordinate data UFRAME CND Ze Ze Y Y Converted data VAR DAT Vi A Y Y Q FILE Arc start condition data ARCSRT CND Y v vi vi Sage Arc end condition data ARCEND CND YV v v v Welder condition Assist Data ARCSUP DAT Ze Ze ki Y Wel
40. r Windows Help Fx Contents Index Find Click a book and then click Open Or click another tab such as Index Gx How to Use FDD for Windows gt Others Fig 20 Help menu Print Cancel From the Help menu you get short information about commands functions etc which can be helpful when you run the software MOTOMAN ROBOTICS EUROPE Page 20 Users s manual FDDWIN32 Created 96 01 31 Revised 99 11 25 Doc name Mrs55000 ch3 fm Files 5 Program structure FDD is a Windows based communication program for connection between a PC and MOTOMAN industrial robots controller tyoe ERC MRC or XRC 5 1 Files FDD Main file FDD consists of one main file communicating with the user and controlling the main functions The main file is written in Visual Basic which is a Windows based designer program Therefore the functions and the menus are the same as for Windows FDD uses the colours set up for Windows which can be set under the Windows Control panel FDD also comprises a DIl file which supervise the communication between the PC and the robot controller The DIll file is written in Visual C and will be instal led in the Win ini file FDD also comprises a fc1 ini file in which information about main directory and user directory is stored Terminal Keyboard MOTOCOMS82 Robot dil controller Fig 21 Data flow FDD for Windows is available in 11 languages Swedish English Fren
41. tion 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 directory 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 9 Installation Created 96 01 31 Revised 99 11 23 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
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