USER'S MANUAL MotoDDE version 3.xx
Contents
1. After installation fill in and return the registration card to Motoman Robotics Europe AB During installation the main directory is automatically created and all necessary files are installed in the specified drive In the end of the setup a program group MOTOMAN and a icon is created To start FDD for Windows just double click on the Start Menu If you want to create a shortcut to FDDWINS32 see Windows manual for further information MOTOMAN ROBOTICS EUROPE Software installation Page 7 Uninstall Created 96 01 31 Revised 02 10 24 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 12 Mark the FDDWIN32 software d Activate uninstall guide by Next button Fig 13 Automatic uninstall e End the operation by clicking the Finish button Fig 14 Uninstall MOTOMAN ROBOTICS EUROPE Page 8 Software installation Created 96 01 31 Revised 02 10 24 Doc name Software installation fm Uninstall MOTOMAN ROBOTICS EUROPE MotoDDE Server ver 3 xx Page 9 Created 99 01 12 Revised 02 10 24 Doc name Mrs55050 ch3 fm 3 Communication parameters The communication protocol is very special for more information see YASNAC2. ERC MRC or 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 0 None a Click on Edit in the menu b Click on Set Com Port Com Port Ethernet Setting Dialog x Com Port E Add Remove Baud 300 Name robot Parity Even Seriell T cplp C Seriell Tcplp Data Lenatk Tcplp Address 194 21 8 102 81 Stop Bil 1 5 v Update data fi 000 Cancel Fig 15 Port setting menu c Choose parameters for the robot see above d Name the robot for example Robot 1 e Choose Serial or TCP IP f If you select TCP IP the robots IP address has to be entered g Inthe field Update data you tell the program how often update from robot shall take place The value is written in time miliseconds 1000 milisec 1 sec In this example the update will take place every second h When the settings are ok click on the OK button MOTOMAN ROBOTICS EUROPE Page 10 MotoDDE Server ver 3 xx Created 99 01 12 Revised 02 10 24 Doc name Mrs55050 ch3 fm 4 Robot parameters For communication some parameters in the robot controller has to be set as fol lows For changing of SD and FD parameters you have to open the robot control ler which is protected by a code Contact your MOTOMAN representative for support ERC MRC XRC RS000 Std port 1 RS001 Std port 2 Data bit
3. 01 12 Revised 02 10 24 Doc name Mrs55050 ch3 fm 8 Program running The MotoDDE program is activated and runs in the background MotoDDE is used like a translator between the application program and the MOTOMAN robot 8 1 Start MotoDDE activates and runs by the application program a Start the program by double click on the icon the start menu is shown Fig 1 b Click on Open and inform which file with settings of file transfer you are going to use for more information about the file system see Windows manual Lookin CY Appfies gl e a default jpd M MOTOUNIY motodde S etup 4ppfiles Files of type DDE Data File ip Cancel Fig 18 Choose file c Set the robot in REMOTE mode d Start High Speed Link Server only at network e Minimize HSLS only at network x f Start the communication by double click on the Z button g Now MotoDDE can be minimized h Start the application program e g InTouch 8 2 Stop x a Stop the communication by clicking on the Z button again b Finish HSLS c Finish MotoDDE MOTOMAN ROBOTICS EUROPE MotoDDE Server ver 3 xx Created 99 01 12 Revised 02 10 24 Page 16 Doc name Mrs55050 ch3 fm Stop 9 Tags to server Following tags items are available in the DDE server with name if any are able to read or write or both together with comments about the function SERVO
4. Box 504 SE 385 25 Torsas Sweden Tel 46 486 48800 46 486 41410 MOTOMAN Robotics Finland OY Messinkikatu 2 FI 20380 Turku Finland Tel 358 403000600 Fax 358 403000660 MOTOMAN Robotics SARL Rue Nungesser et Coli D2A Nantes Atlantique F 44860 Saint Aignan de Grand Lieu France Tel 33 2 40131919 Fax 33 40754147 MOTOMAN Robotec GmbH KammerfeldstraBe 1 DE 85391 Allershausen Germany Tel 49 8166 90 0 Fax 49 8166 90 103 MOTOMAN Robotec GmbH Im Katzenforst 2 DE 61476 Kronberg Taunus Germany Tel 49 6173 60 77 30 Fax 49 6173 60 77 39 MOTOMAN Robotics UK Ltd Johnson Park Wildmere Road Banbury Oxon OX16 3JU Great Britain Tel 44 1295 272755 Fax 44 1295 267127 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 431 76 5424278 Fax 31 76 5429246 MOTOMAN Robotics Iberica S L Sucursal em Portugal Z Ind Aveiro Sul Lote 21 N S F tima PT 3810 Aveiro Portugal Tel 4351 234 943 900 Fax 4351 234 943 108 RISTRO d o o Lepovce 23 SI 1310 Ribnica Slovenia Tel 386 61 861113 Fax 386 61 861227 MOTOMAN Robotics Iberica S L Avenida Marina 56 Parcela 90 ES 08830 St Boi de Llobregat Barcelona Spain Tel 34 93 6303478 Fax 34 93 6543459 MECATRON Robotic Systems AB Box 4004 SE 390 04 Kalmar Sweden Tel 46 480 444600 Fax 46 480 444699 MGM
5. RS00 8 RS030 8 Stop bit RS01 0 RS031 0 Parity RS02 0 RS032 0 Speed RS03 64 RS033 6 RS06 100 RS034 100 RS07 255 RS035 255 RS08 4 RS036 30 RS09 5 RS037 10 SD78 1 FDO 1 SD110 1 FD1 1 FD3 1 FD5 1 FD7 1 FD14 1 FD15 1 To run MotoDDE RS000 or RS001 must be set in value 2 according to the contact you want to use Std port 1 or Std port 2 These two parameters must not have the same setting Some parameters have to be set under Maintenance mode also lOs NOT USED COMMAND USED PP PBOX NOT USED MOTOMAN ROBOTICS EUROPE MotoDDE Server ver 3 xx Page 11 Created 99 01 12 Revised 02 10 24 Doc name Mrs55050 ch3 fm 5 Hardware connection B ERC Connect the 25 pole cable connector to the 25 pole socket underneath the lid at the front of the CRT panel B MRC Connect the 25 pole cable connector to the 25 pole socket underneath the lid at the front of the door panel Std port 1 Connect the 9 pole adaptor to the 9 pole socket inside MRC located at MCP01 board Std port 2 Settings for parameter RS000 RS001 0 2 Not used 1 2 Printer 2 Data transmission protocol PC as host 3 FC1 protocol FDD software 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 application a parallellport must be installed created see Win dows NT manual B XRC 6 I O and IRQ installation
6. Spol s r o Trebizsk ho 1870 CZ 39002 Tabor Czech Republic Tel 420 361 254571 Fax 420 361 256038 Kouvalias Industrial Robots 25 El Venizelou Ave GR 17671 Kallithea Greece Tel 30 1 9589243 6 Fax 30 1 9567289 REHM Hegeszt stechnika Kft T pi szele J szber nyi t 4 H 2766 Hungary Tel 36 30 95 10065 Fax 36 1 2562012 KNT Engineering Ltd 9 Hapalmach Street IL Kfar Azar 55905 Israel Tel 972 3 9231944 Fax 972 3 9231933 ROBIA ASA Industriveien 1 NO 3300 Hokksund Norway Tel 47 32252820 Fax 47 32252840 Robotic Systems S A PTY Ltd 4 Friesland Drive Longmeadow Business Estate South Modderfontein 1610 Johannesburg South Africa Tel 27 11 4943604 Fax 27 11 4942320 Messer SAG Langweisenstrasse 12 CH 8108 Dallikon Switzerland Tel 41 18471717 Fax 41 18442432 SF MOTOMAN a subsidiary of YASKAWA Electric Corporation
7. For connection following settings are recommended in the PC Port I O IRQ Com1 03F8 4 Com2 02F8 3 Com3 03E8 5 Com4 02E8 9 Settings of I O and IRQ are made of the software in Windows choose Control panel Port MOTOMAN ROBOTICS EUROPE Page 12 MotoDDE Server ver 3 xx Created 99 01 12 Revised 02 10 24 Doc name Mrs55050 ch3 fm Serial connection 6 1 Serial connection Connection between the PC and the robot controller through serial RS232 interface Maximum cable length are 15 meters for every robot controller It s possible to use short distance modem if the distance is longer Com1 and Com3 are 9 pole plug Com2 and Coma are 25 pole plug Cable layout see figure Ground shield O O 1 O20 O30 O40 O 50 O60 O 70 O80 O go O200 O 250 Cabel Adaptor ERC MRC XRC PC 25 pole PC 9 pole Fig 16 Cabel and adaptor O AN DA AON o O NOUA Oo Io C3 N e N IS 6 2 Network connection For information about network connection see separate manual for Ethernet con nection only MRC MOTOMAN ROBOTICS EUROPE MotoDDE Server ver 3 xx Page 13 Files Created 99 01 12 Revised 02 10 24 Doc name Mrs55050 ch3 fm 7 Program structure DdeSvr is a DDE server Dynamic Data Exchange software The program work as a link between a client and ERC MRC XRC DdeSvr control the status of the tags which the user se
8. MOTOMAN XRC USER S MANUAL MotoDDE version 3 xx Upon receipt of the product and prior to initial operation read these instructions thoroughly and retain for future reference A subsidiary of YASKAWA Electric Corporation UV MOTOMAN ROBOTICS EUROPE MANUAL NO MRS55050 MOTOMAN ROBOTICS EUROPE v Revision 000115 Manual updated from old manual ver 2 0 New items included Also valid for MOTOMAN XRC PRELIMINARY ISSUE 021024 Minor corrections MOTOMAN ROBOTICS EUROPE MotoDDE Server ver 3 xx Page Created 00 01 14 Revised 02 10 24 Doc name Mrs55050TOC fm le Genera M cS 1 Copyright 1 MotoDDE kit 2 d MotoDDE kit comprises 2 Ly Equipment needed for network communication 2 2 2 2 d Equipment needed for serial communication E Further you may have need for Hardware and software demands 2 Software installation eene 3 Installation 3 After installation 6 Uninstall 7 3 Communication parameters ssessse 9 4 Robot parameters os M eor ERRARE ceo eeces 10 5 Hardware connection eene 11 m ERC 11 m MRC 11 J XRC 11 6 I O and IRQ installation eeeeees 11 Serial connection 12 Network connection 12 PNE Program S UCN EPPIRPMIPER MEUS 13 Files 13 Helpprogram 13 Commands 14 8 Program running 2uuiasesseneeeee i eoru prr sieressestiees 15 Start 15 Stop 15 Tags to SI
9. O3xxx Read Robot external output Read Reads status for I O bits in the 3000 serie Xxx must be between 010 and 187 IO4xxx Read Robot specific input Read Reads status for I O bits in the 4000 serie Xxx must be between 010 and 167 IO5xxx Read Robot specific output Read Reads status for I O bits in the 5000 serie Xxx must be between 010 and 247 IO6xxx Timer Counter Present status neither Read nor Write Xxx must be between 010 and 047 IO7xxx Read Auxilary relay Read Reads status for I O bits in the 7000 serie Xxx must be between 010 and 327 IO80xx Read Control status signals Read Reads status for I O bits in the 8000 serie Xx must be between 10 and 87 IO82xx Read Psuedo input signals Read Reads status for I O bits in the 8200 serie Xx must be between 10 and 47 MOTOMAN ROBOTICS EUROPE Stop MotoDDE Server ver 3 xx Page 17 Created 99 01 12 Revised 02 10 24 Doc name Mrs55050 ch3 fm IO9xxx Read Write Network input Read Reads status for I O bits in the 9000 serie Write Sets new status for I O bits Xxx must be between 010 and 167 BYTExxx Read Write Read Reads value on byte variable Write Sets new value on byte variable Xxx must be between 000 and 999 INTxxx Read Write Read Reads value on integer variable Write Sets new value on integer variable Xxx must be between 000 and 999 JOBLINE Read Read Indicates curr
10. Read Write Read Indicates whether voltage is supplied for the servo s Write Turns servovoltage ON when item is set to 1 Turns off servo voltage when item is set to 0 Write only applies for XRC JOBNAME Read Read Get name of the selected job PLAY Read Write Read Indicates if the robot is in Play mode MODE Write Sets robot in Play mode when item is set to 1 When item is set to 0 no change is applied MODE Read Write Read Indicates Teach mode TEACH Write Sets Teach mode when item is set to 1 When item is set to 0 no change is applied ALARM Read Read Indicates if any alarm is given in robot CYCLELO Read Write Read Indicates if robot is in Cycle loop OP Write Sets robot in Cycle loop when item is set to1 When item is set to 0 no change is applied CYCLE Read Write Read Indicates if robot is in One cycle ONE Write Sets One cycle when item is set to 1 When item is set to 0 no change is applied CYCLESTE Read Write Read Indicates if robot is in Cycle step P Write Sets Cycle step when item is set to 1 When item is set to 0 no change is applied IO0xxx Read Robot universal input Read Reads status for I O bits in the 0000 serie Xxx must be between 010 and 167 101 xxx Read Robot universal output Read Reads status for I O bits in the 1000 serie Xxx must be between 010 and 167 IO2xxx Read Robot external input Read Reads status for I O bits in the 2000 serie Xxx must be between 010 and 187 I
11. V qc 16 10 Client software seeeeenR e 18 Application software 18 Client connection 18 11 Trouble shooting vasisecc ctc RR ERR Ext rta Eee E Et nes 18 MOTOMAN ROBOTICS EUROPE Page II MotoDDE Server ver 3 xx Created 00 01 14 Revised 02 10 24 Doc name Mrs55050TOC fm MOTOMAN ROBOTICS EUROPE MotoDDE Server ver 3 xx Page 1 Copyright Created 99 01 12 Revised 02 10 24 Doc name Mrs55050 ch1 fm MotoDDE Server Valid for MotoDDE ver 3 xx Motoman part No 441129 99 ove G AGEMENSAM K3 BILDER SCANIA Robot jpd i oO x File Edit view Help Fig l Main Screen 1 General MotoDDE is a PC program v Machine Process supervision from PC v Interface between different application program and robot see table Y Communication through serial or TCP IP Ethernet v For controllers type YASNAC ERC MRC or MOTOMAN XRC For more basic information about installation and handling of the software icons menu bars etc refer to the operator s manual for Windows95 or Windows NT This manual shall always be available to operator This Operator s Manual comprises information about v Installation Setup Handling Operation Text written in BOLD letters means command icon or button Text written in TALIC means text shown on display 1 1 Copyright The diskette for MotoDDE program may not be copied or imparted to a third party nor be used for any unauthorized purpose Copies may be don
12. afe velocity CIAL ALARMDA Read Read Up to 4 alarm codes Integer 0 if no alarm X can be between 0 and TAx 3 COMMUNI Read Read 1 indicates communication error between the robot and the PC CATION otherwise 0 ERROR MOTOMAN ROBOTICS EUROPE Page 18 MotoDDE Server ver 3 xx Created 99 01 12 Revised 02 10 24 Doc name Mrs55050 ch3 fm Application software 10 Client software 10 1 Application software Following application software can be used together with MotoDDE Brand Manufacturer InTouch Wonderware Inc FactoryLink USDATA Corporation Citect Ci Technologies Pty Itd Fix Intellution Inc Product name are registered trademarks by the manufacturer 10 2 Client connection The DDE server has applicationname MotoDde DDE client topic shall be set to the same name as DDE server robot name e g Robot 1 11 Trouble shooting Following error messages can appear in MotoDDE Communication fail If these messages appears v Check the communication and network v Check the parameter setting in MotoDDE and in ERC MRC XRC v Check that the robot is set in REMOTE mode Notes Headquarters Sweden Group companies Finland France Germany Germany Great Britain Italy Netherlands Portugal Slovenia Spain Sweden Distributors Czech Republic Greece Hungary Israel Norway South Africa Switzerland MOTOMAN Robotics Europe AB
13. d if the PC is installed in the workshop MOTOMAN ROBOTICS EUROPE Software installation Page 3 Installation Created 96 01 31 Revised 02 10 24 Doc name Software installation fm 2 Software installation o 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 Type the name of a program foldes or document and Wido wil cote or you Fig 2 Choose installation file 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 Install Fig 3 You can cancel installation at any time Li 2 Do you wantto abort this installation i Markthe language you want to use during installation Note This will not influ ence the language you use in FDDWIN32 later MOTOMAN ROBOTICS EUROPE Software installation Created 96 01 31 Revised 02 10 24 Doc name Software installation fm Installation j Click on t
14. e only for own backup This manual may not be copied or imparted to a third party nor be used for other unauthorized purpose Page 2 MOTOMAN ROBOTICS EUROPE MotoDDE Server ver 3 xx Created 99 01 12 Revised 02 10 24 Doc name Mrs55050 ch1 fm MotoDDE kit 1 2 MotoDDE kit SS S SB MotoDDE kit comprises Installation diskettes One hardware key One manual One registration card The basic version includes user licence for two 2 Ethernet clients two systems Licence for serveral clients can be ordered as accessories part no 441132 Equipment needed for network communication Following equipment demands but are not included in MotoDDE kit E SSS S YASNAC ERC MRC or MOTOMAN XRC Ethernet board for MRC JANCD MIFO6 Motoman part no 9050107 Tranciver depending on the customers type of network Cables Adaptors Equipment needed for serial communication Following equipment demands but are not included in MotoDDE kit SSE SS YASNAC ERC MRC or MOTOMAN XRC Cable for serial communication MS no 341779 xx Further you may have need for Programming manual for your robot controller Operator s manual for Windows95 98 or Windows NT 1 3 Hardware and software demands SS SS SS One PC type Pentium 32 Mb RAM 2 Mb disk space 3 5 diskette station 1 44 Mb or CD setup Colour monitor not necessary Windows 95 98 or Windows NT Ethernetboard at network communication Protective hoo
15. ent line in the active job JOBSTEP Read Read Indicates current step in the active job PULSES Read Read Reads the pulsenumber for a axis Axis x can be xRySz S L U R B T 7 8 9 10 11 12 Y is robotnumber Z is stationsnumber PULSESx Read Read Reads the pulsenumber for a axis Axis x can be S L U R B T 7 8 9 10 11 12 This item is for robot 1 and station 1 FRAMEBA Read Read Pulsenumber for f r a axis X can be X Y or Z SEx FRAMETx Read Read Reads the wrist angle of the robot in degrees X can be X Y or Z FRAMEx Read Read Reads the robotposition in XYZ coordinates X can be X Y or Z HOLD Read Write Read Indicates Panel hold in the robot Write Sets robot to hold when item is set to 1 When item is set to 0 hold is exited PANEL Read Read Indicates Panel hold in robot HOLD PENDAN Read Read Indicates Programming pendant hold in robot THOLD EXTER Read Read Indicates External hold in robot NALHOLD COM Read Read Indicates Command hold in robot MAND HOLD START Read Write Read 1 indicates that the robot is running Write When item is set to 1 the selected job starts from the beginning When item is set to 0 no change is applied CONTINUE Write Write The robot continues from the current jobline when item is set to 1 PLAYSTOP Read Read Indicates if the robot is stopped PLAYBACK Read Read Indicates if the robot is running with normal velocity PLAYSPE Read Read Indicates if the robot is running with s
16. he OK button Select Lanquage Fig 4 Language selection during installation Fig 5 Information screen ton PDDWINS Installation I Fig 6 License agreement Accept by 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 5 Installation Created 96 01 31 Revised 02 10 24 Doc name Software installation fm n Accept by clicking Next button PODWING Installation Fig 7 Choose directory o Accept installation process by clicking Next button FDDWINS Installation x Fig 8 Start installation Fig 9 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 i Fig 10 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 02 10 24 Doc name Software installation fm After installation t Accept installation by clicking the Finish button Installation Completed The FOOWAN32 has been successfully installed Press the Finish buton to ext this nstalleton Fig 1l Installation complete C Lm Ce u Before it is possible to run the software the hardware key must be installed on the parallel port 2 2 After installation o
17. t up in the client program continously If any of the tags are changed the application software is notified and data is updated Tags are functions and variables in ERC MRC XRC which can be red to written to or both from external units 7 1 Files Application DdeSvr Main file MOTOCOM32 dll Robot controller e g InTouch P 4 Fig 17 Data flow MotoDDE consist of one main file communicating with the application software and controlling the functions The main file is written as a Windows based program Therefore the functions and the menus are the same as for Windows MotoDDE uses the colours set up for Windows which can be set under the Win dows Control panel MotoDDE also contains a DIl file whos supervice the communication between the PC and the robot controller type ERC MRC XRC 7 2 Helpprogram When MotoDDE runs via Ethernet a help program called High Speed Link Server is used This program was installed at the same time as MotoDDE MOTOMAN ROBOTICS EUROPE Page 14 MotoDDE Server ver 3 xx Created 99 01 12 Revised 02 10 24 Doc name Mrs55050 ch3 fm Commands 7 3 Commands ove G GEMENSAM K3 BILDER SCANIA Robot jpd File Edit View Help ede New e Print Start Stop opy About communication Open Paste MOTOMAN ROBOTICS EUROPE MotoDDE Server ver 3 xx Page 15 Start Created 99
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