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NetwoRC provider user's guide - Carafa Christian Engineering

1. 4 2 1 1 Conn option Following is communication parameter string for Comm option Square blanket means the parameter can be omitted Underline part shows the default value when the option is not specified RS232C device com lt COM Port gt lt BaudRate gt lt Parity gt lt DataBits gt lt StopBits gt 11 lt COM Port COM port number I COMI 2 COMZ lt BaudRate gt Transmission rate 4800 9600 19200 38400 57600 115200 lt Parity gt Parity N NONE E EVEN O ODD lt DataBits gt Number of data bits 7 7bit 8 8bit lt StopBits gt Number of stop bits 1 1b1t 2 2bit EtherNet device eth lt IP Address gt lt Port No gt lt IP Address gt Internet Protocol address ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide 36 Example 127 0 0 1 192 168 0 1 lt Port No gt UDP connection port number 4112 4113 any port number can be assigned 4 2 2 CaoController AddGommand method The argument of the AddCommand method of the CaoController class specifies the command name BSTR type 4 2 3 CaoController AddFile method The argument of the AddFile method of the CaoController class specifies the file name BSTR type The specified File name is PAC program name or the system reserved file name An directory can be specified as an argument by designating only file path If the path is not specified files in the default directory
2. Appendix C 1 cannot connect with a robot controller m Robot controller side o Is the NetwoRC ROM version higher than V2 330 o Is the cable RS232C or Ethernet cable connected properly If version is below v 2330 please update controller ROM Image to v2 330 or above Ensure that the cable is not loose on the connector O Is the type of cable such as Straight and Cross correct Check the cable O In case of Ethernet is the address correctly set Chech the address settings O In case of the ethernet connection over the segment is the default gateway correctly set o In case of RS232c is the communication parameter correctly set o Is the communication permission on the communication menu correctly set O Is the ORIN extension set Make sure that the Controller IP address in the COM settings is the same between the application and the controller Make sure that the IP address of the client PC and the IP address of the ext run on the controller are the same Check the parameters of RS232c Check the communication permission see Add the ORiN option see 2 2 1 o Is the Windows version correct Windows 2000 Windwos XP o In case of RS232c is another application program such as HyperTerminal running o Does RobMaster work properly o Are the parameters of the AddController function correctly set O Is the version of ORIN up to v 2 0 3 ORiN Forum Check the version Termin
3. COM Setting RS 232C IP Address Cancel OK xt Run Client IP Cancel OK Ext Run I O COM2 Cancel OK COM Setting RS 232C IP Address Ext Run Cancel OK Ext Run Client IP veel C STOP 7 Cancel OK I oneal on g IP Address D EP 192 168 0 200 Cancel OK Figure 2 7 Input of IP address of client PC ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide 17 2 3 Treatment of special I O port 2 330 DENSO robot controller has a lot of system input signals To operate robot from PCs connected to the robot controller using ORIN Step stop All tasks signal and Instantaneous stop signal need to be set to enable robot program execution Connector assignment and pin assignment of Step stop All tasks signal and Instantaneous stop signal are different depending on the robot controller configuration and I O assignment Please confirm the robot controller configuration to make correct I O treatment to enable robot program execution Note 1 The I O treatment is not necessary for RC5 because these versions of software does not support running robot program using ORIN Note 2 The I O treatment is not necessary if ORIN is used only to access variables or files and if ORIN is NOT used to control robot motion or robot program PAC 2 3 1 I O treatment for standard configuration contr
4. ExtSpeed 100 0 Sets the external speed lt external acceleration VT RA 70 0001 to 100 0 lt external deceleration VT R4 0 0001 to 100 0 gt SetSplinePoint lt Free curve trajectory SETSPLINEPOINT lt Free number VT I2 1 to 20 curve trajectory number gt lt Viapoint POSEDATA CO PJ gt lt Viapoint gt Registers viapoints in the free curve motion ED RobSlave GetSplinePoint lt Free curve trajectory lt P type Approach P point gt number VT 12 gt VT RAINT ARRAY GETSPLINEPOINT Free lt Viapoint number VT 14 gt curve trajectory number Viapoint number Gets the viapoints for a registered free curve motion ED RobSlave ClrSplinePoint lt Free curve trajectory None CLRSPLINEPOINT lt Free number VT 12 0 to 20 gt curve trajectory number gt Clears all viapoints for free curvemotion ED RobSlave ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide WaitSplinePoint WaitMotionEnd MotionSkip ORiN Forum lt Viapoint number VT I4 None Waiting condition VT I2 50 command value Not 0 encoder value VT I2 0 running 1 done VT D 1 0N 0 OFF lt no VT 12 gt lt P POSEDATA C0 gt lt no VT 12 gt lt P POSEDATA C0 gt lt 0 Normal 1 Fixed gt no VT D lt P type POSEDATA CO gt lt V type POSEDATA C1 gt lt io VT 14 gt lt pos VT 14 gt lt err VT _14 gt lt enable VT_12 0 1 gt lt Interpolation
5. NetwoRC provider user s guide J2P lt J type POSEDATA C0 gt J2T lt J type POSEDATA C0 gt P2J lt P type POSEDATA C0 gt P2T P type POSEDATA C0 gt T2J T type POSEDATA C0 gt T2P T type POSEDATA C0 gt TINV T type POSEDATA C0 gt ORiN Forum P type VT RAINT ARRAY gt T type VT RAINT ARRAY gt lt J type VT R4 VT_ ARRAY gt T type VT RAIVT ARRAY gt J type VT RA IVT ARRAY gt P type VT RA IVT ARRAY gt T type VT RAINT ARRAY gt 64 J2P Transforms joint type data to position type data ed RobSlave J2T Transforms joint type data to homogeneous transformation type data ed RobSlave P2J Transforms position type data to joint type data ed RobSlave P2T Transforms position type data to homogeneous transformation type data ED RobSlave T2J Transforms homogeneous transformation type data to joint type data ed RobSlave T2P Transforms homogeneous transformation type data to position type data ed RobSlave TINV Calculates an inverse matrix of homogeneous transformation type data ed RobSlave DENSO WAVE Inc NetwoRC provider user s guide 65 NORMTRN lt T type POSEDATA C0 gt T NORMTRN type VT RAVT ARRA Normalizes Y gt homogeneous transformatio n data TMUL lt T type nl POSEDATA CO gt lt T type T lt n1 gt T lt n2 gt lt T type n2 POSEDATA C0 gt VT_R4 VT_ARRAY gt Matrix operation for transformation typ
6. ST_OnSrvLock ST OffSrvLock ST SetCompControl ST SetCompFControl ST ResetCompControl ORiN Forum AxisNumber VT I2 specified axis VT 12 gt specified axis VT 12 gt None None None None None None 59 ST ResetEralw Resets the allowable deviation value of the specified axis to the initial value ed RobSlave ST OnSrvLock Servo locks a specified axis exclusively designed for four axis robots ED RobSlave ST OffSrvLock Releases servo lock for the specified axis exclusively designed for four axis robots ED RobSlave ST SetCompControl Enables the compliance function exclusively designed for 6 axis robots ED RobSlave ST SetCompFControl Enables the compliance control function exclusively designed for 6 axis robots ed RobSlave ST ResetCompControl Disables the compliance control function exclusively designed for 6 axis robots ed RobSlave DENSO WAVE Inc NetwoRC provider user s guide ST SetFrcCoord ST SetFrcLimit ST ResetFrcLimit SI SetCompRate SI ResetCompRate ORIN Forum Set value VT R4 gt lt Limiting rate lt Limiting rate lt Limiting rate lt Limiting rate lt Limiting rate along X VT_R4 gt along Y VT R4 along Z VT R4 about X VT R4 about Y VT R4 lt Limiting rate about Z VT R4 gt Compliance Compliance Compliance Compliance Compliance along along along about
7. bstrCmd in Commad vntParam in Parameter vntRet out Return value The list shows available commands Table 0 4 List of implemented Execute command of CaoRobot class 10 UserExt command number VT I4 VT RA VT ARRAY Execute extension method parameter 1 VT R4 GetJntData data number VT I42 axis VT R4 GetJntData number VT 12 gt Gets the internal servo data of a specified joint GetSrvData data number VT 14 gt VT RA VT ARRAY GetSrvData Gets the internal servo data of robot joints Approach lt Interpolation method VT I2 None APPROACH Interpolation 1 P 2 L gt method gt lt pose variable lt base variable POSEDATA C0 gt type gt lt pose variable lt pass approach length number gt lt pass gt lt approach POSEDATA C2 gt length gt NEXT option VT BSTR NEXT Execute the absolute movement designated in the tool coordinate system ed RobSlave 1 Please refer to 6 1 3 Appendix APOSEDATA type definition for the POSEDATA type ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide 54 Depart lt Interpolation method VT I2 None DEPART lt Interpolation 1 P 2 L gt method gt lt pass gt lt approach lt pass approach length length gt NEXT POSEDATA C2 gt Executes the relative motion option VT BSTR NEXT in the tool coordinate system E RobSlave external speed VT R4 50 1 to None ExtSpeed ExtAcc ExtDec
8. compilation 92 330 DENSO WAVE Inc NetwoRC provider user s guide GetCompileState SetExtension lt Mode VT 12 gt 1 Add 2 Remove lt Key VT_14 gt ClearError Error No VT 14 gt InitNonStopPathLib 42 lt Mode VT_14 gt Get the progress report 1 Compiling or of the compilation Loading 22 330 0 Normal termination 1 s Abnormal termination Compile error 2 Abnormal termination Excluding the compile error Add or remove robot controller extension lt Res VT_ 2 gt Clear robot controller 0 OK 1 NG error Initializate non stop trajectory generation process Attention Additional license for Non Stop Motion Calculator is required to use this Command ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide d GenerateNonStopPath lt Teaching Points lt Position gt lt Motion Points Generate non stop VT_ARRAY gt lt Position gt trajectory Area Area VT ARRAY VT ARRAY The first Teaching Teaching Point Number VT I4 Total speed rate VT R4 0 0 1 0 gt Point is Start Point Convergence Coefficient VT R4 0 0 1 0 gt and the Last point is lt Adjustment Method VT_I4 gt 1 Synchronous motion with End Point Extended Joint default 0 Asynchronous motion with Extended Joint For detailed information refer to 6 1 3 Appendix F Non Stop Motion Calculator Trajectory Generator Command for Non
9. meaning System variable CNF begins with underscore number gt Variable index or or lt Index gt The number is specified by a decimal number In case of the initial index is 0 The index can be retrieved and changed by ID property lt option gt LEN lt bit length gt valid only for I O variables bit length 1 or 8 or 16 default 1 and ca be omitted example 1 10 I 0 specify the Oth I type variables example 2 IO128 io 128 specify the 128th I O variables example 3 ARMO arm 0 specify the Oth element of ARMCNF The number of elements of CNF is stored ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide gos in 222CNF 0 example 4 itp19 itp 19 specify the 19th element of ITPCNF example 5 tooll0 tool 10 specify the 10th element of Tool example 6 I PAC specify the index by ID property example 7 I 1 I 2 I 3 create various I Please note that the number of CNF variable ITP PAC DIO ARM SRV SPD VIS COM is not as same as the number displayed on NetwoRC teach pendant The value shifts because the Oth number of elements is not displayed in the pendant in many cases CNF variable pendant display 1 When a system variable is specified is applied at the beginning of the variable name All variable names without w at the
10. 0x80012F06 ERR UNESTB ARMCNF ArmCnf is unsetted 0x80012F07 ERR UNESTB SPDCNF SpdCnf is unsetted 0x80012F08 ERR UNESTB SRVCNF SrvCnf is unsetted 0x80012F09 ERR MEMORY LEAK Memory Leak 0x80012F0A ERR OUT OF DATA NUM Out of Data Number 0x80012F10 ERR IVALID TOOL DATA Invalid Tool Data ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide 107 0x80012F50 ERR OUT OF TOOL NUM Out of Tool Number Error Code 0x80012000 0x80012800 The symbol of indicates the error occurred position number The value is the error occurred position number 1 Error Code 0x80012A0 The symbol of indicates the number of the axis which 1s set as unlimited rotation Appendix F 3 Restrictions Restrictions of GenerateNonStopPath Command are as follows Max Number of Teaching Points 200 Available for 6 axis robot only Area size for additional axis should be assigned in degree for rotational axis or mm for linear axis according to the axis setting Unavailable for Unlimited rotation of the extra joint Appendix F 4 Sample Program The following sample program is described in CaoScript The following sample teaching data 1s for VS 6577G BA robot Assign appropriate IP Address for the target controller This sample assumes the target controller IP addres is 10 6 235 72 Sample NonStopPath vbs Generate NonStopPath Const RC ADDRESS 10 6 235 72 Sub Main Dim rc Dim vntTeachPos Dim vntAre
11. SeriaNumber P R Y J v Source P R NN ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide 102 Value P R y y Ger MPa y y Rey MPa a PY PO ee IO O ee FER Meaning of M Method R Read sign P Property W Write E Event S Specification ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide 103 Appendix E Error code of NetwoRC provider The structure of the NetwoRC provider error code is HRESULT fromat Please refer to the following URL for the HRESULT structure lt http msdn2 microsoft com en us library bb401631 aspx gt There are two kinds of error codes in the provider One is Standard error codes defined by Microsoft Windows and the other is Custom error codes defined by NetwoRC provider The standard error is the global error defined in Winerror h The custom error is the local error defined in the NetwoRC provider The table of the error codes is shown as follows Table 6 4 Error code of NetwoRC provider Number Macro name Description Standard Error excerpt 0x00000000 S OK No error occurred 0x00000001 S FALSE No error occurred but the command was not finished properly 0x8000FFFF E UNEXPECTED Catastrophic failure 0x80004001 E NOTIMPL Not implemented 0x8007000E E OUTOFMEMORY Ran out of memory 0x80070057 E INVALIDARG One or more arguments are invalid 0x80004005 E FAIL Unspecified error Custom Error RobSlave program does n
12. lt Element 2 gt lt ExJnt gt VT RAINT ARRAY Raw value Element 1 VT_R4 gt lt Element 2 VT_R4 gt VT VARIANT VT ARRAY lt 0 Value gt lt 1 Variable type gt lt 2 Path gt lt 3 ExJnt gt lt Value gt lt Index VT_R4 gt or Raw value VT RAVT ARRAY gt Variable type P T J V type default P lt Pass gt DP ME 00 lt value gt default 0 lt ExJnt gt lt Extended joints option VT_VARIANT VT_ARRAY gt default None Pass OP QE 00 lt value gt msm er ror tee ter gt a fa fof 9 Variable type Ptype T type J type V type wa KARARI RAE wue oh EN EN EEE lt Index gt lt value VT_R4 gt lt Element n gt lt value VT_R4 gt lt Extended joints EX or EXA gt lt Joint1 VT_14 gt Valuel VT R8 gt P In case of VT BSTR more than one POSEDATA type separated by commas can be specified Because Variable type and Pass cannot be specified variable type is treated as P type and pass type is treated as 00 by default 5 Cannot specify the extended joints option ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide 88 option gt lt Joint2 gt lt Value2 gt EX EXA 7L The following formats of PAC language can be indicated by POSEDATA type Pass start displacement gt lt Pose P T J type gt lt ExJnt gt C0 format lt Pass start displacement gt lt Vector V type g
13. Controller setup A robot controller need to be setup before 1s controlled by the NetwoRC provider A teach pendant or a mini pendant is needed for the robot controller setup Following is the procedure to setup the controller 2 2 1 Setup using a teach pendant Setup a robot controller with a teach pendant according to the following procedure 1 Setthe robot controller to the manual mode D 2 S Figure 2 1 ORIN option activation ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide dL 2 Set controller s communication permission When you use Ethernet Set Read Write in the menu Communications setting menu gt Permit When you use RS 232C set Read Write in the same menu 4 to 5 Set RS 232C port to disable to D Set Ethernet to enable Figure 2 2 Setting of communication permission 3 Activate ORIN option Select Option gt Input password 1214 in the function expansion menu to activate ORiN option Input 1213 if robot controller is RCS 4 To turn ON OFF the motor of the robot or to start programs from an ORIN application it 1s necessary to set controller s executable token Set the executable token to Ethernet by setting the Communications setting menu gt Ext Run and set IP address of client PC by F4 IP
14. NetwoRC provider user s guide 100 CaoTask Atribute PTR VP Nae P RT YT Hep PT RR CO SO CO m rw p E EE T H me pe H IEC RT VariableNames P R Variables PROA Y a aos Addvariable M S gt Y v Delete 0 IO CO O EC ESTO O N N set ME wT TT sep MT wT E E 0 po OS IS O IO IS IR CaoRobo D NN L E ee Tg P wames A AA Variables PT RT A Yo Accelerate 0 M W vj Addvariable N S vY vj ee CO O O E EC Chuck M C MENEE Eee eee ee Drive Execute gt amm N L L wu N ma w w 53 y ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide 101 Rotate 4 RIT EC Wnuk MP Wo a a vmo MPa a a oo o ES es O IS A IR CaoCommand Attibute PTR N N E BERE ESE ICE E NN ECO 0 P R N N 00 e CAER AE ES NN Parameters 0 P RW gt Y A m R N A CS E sae PR IO CO O EC RE E E EE E NN Timeout EI v v md O O E E Execute 0 M v vj a CaoExtension Attribute POR gt A Ad Hep PER Te TP e EC N ES CS IE mex PERE ON N cc Name PP RE ON Yo ms 5 0 FEA IO K VariableNames P R v Yo Variables PR vy go v Addvariable M 8 Y o v o eme MS A vl 00 oo IO O AO IO O CaoMessage DateTime P R N YP Description PYR v Pv Destination PYR v Y Number PRA vj
15. Robot type name VM D VS D VSS D DM D Unknown TYPE VII Robot type data pe Current robot position expressed in T type Mi NN C NN GG A SS SC O ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide 79 EXTDECEL VT_R4 External deceleration HIGH CURRENT POSITI VT ARRAY Current robot position The unit is arbitrary 2 P type variable The value is indefinite under machine locked because it is retrieved from an encoder directly When the controller is not in machine lock mode the current encoder value is returned update resolution 500 microsecond When the controller is in machine lock mode the internal position target value is returned update resolution 8 msec The time stamp of data acquisition can be referred by Microsecond property of CaoVariable class Note Controllers prior to Version 2 90 do not support time stamp On machine lock mode current position is indefinite HIGH CURRENT ANGLE VT ARRAY Current robot position each axis value The unit is 2 arbitrary J type variable 2 330 For function specification please refer to HIGH CURRENT POSITION HIGH CURRENT TRANS VT ARRAY Current robot position expressed in T type y X 282 330 For function specification please refer to HIGH CURRENT POSITION ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide 80 4 3 3 Task class Table 0 8 Task class system variable list l l l l Attribute Variable identifier
16. TSR2 can write data during an error state and those can be invoked at the startup of the controller The procedure 1s as follows 1 Enable a suprevisory task 2 Make a suprevisory task program which writes data when got notification from an external PC and invoke the program 3 Notify to the suprevisory task from the PC The following figure shows an outline of the system using a suprevisory task and NetwoRC provider simultaneously A Client V Server User tas d SRn kal 2 E Robot Controller Figure 6 1 Expanded system using a suprevisory task PAC By combining Stream provider and a suprevisory task it becomes possible to write data ex Variable I O while an error occurred NetwoRC provider is much faster than this way but it is useful for the manufacturing system recovery and so on Table 6 1 7 Regarding Stream provider please refer Stream provider user s guide in the ORiN2 SDK ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide 84 Table 6 1 A comparison of communication methods 1 NetwoRC provider Not required Impossible ROBOTalk UDP IP System RobSlave 2 Stream provider Required Possible TCP IP PAC program For the details of a supervisory task please refer the following manual DENSO ROBOT SETTING UP MANUAL Chapter 3 General Introduction to Operation Modes and Additional Functions Supervisory Task Software PLC 6 1 1 Enable a superviso
17. While a robot moves with an asynchronously executed motion method Halt method can stop the robot motion However if two or more asynchronous motion methods are executed in succession halt method cannot stop robot motion In this case before the preceding motion method execution is finished next motion method goes into wait status In this status OnMessage event of CaoController class 1s periodically issued and Halt method is not accepted To stop robot motion in this status one of following action is necessary 6 Stop the execution of ROBSLAVE task using Stop method of CaoTask class 7 Input robot stop signal from dedicated I O port Executing Halt method while robot is not moving has no effect on robot motion 4 2 34 CaoRobot Change method SZ RobSlave 192 330 Change the tool user coordinate system of robot This method corresponds to CHANGETOOL and the CHANGEWORK instruction of PAC language Following is the argument specifications of Change method Change lt bstrName BSTR gt bstrName in for CHANETOOL Tool lt number gt for HANGEWORK Work lt number gt lt number gt numerical value expressed by decimal number 4 2 35 CaoRobot Drive method 92 330 This method is not supported directly in this provider Instead please use DriveEx or DriveAEx command of CaoRobot Execute that can operate two or more axes all at once 4 2 36 CaoRobot Move method 92 330 Robot moves to the specified c
18. about X VT R4 Y VT R4 Z VT R4 X VT R4 Y VT R4 Compliance about Z VT R4 None None None None None 60 ST SetFrcCoord Selects a force limiting coordinate system exclusively designed for 6 axis robots ed RobSlave ST SetFrcLimit Sets the force limiting rates exclusively designed for 6 axis robots ED RobSlave ST ResetFrcLimit Initializes the force limiting rates exclusively designed for 6 axis robots ED RobSlave ST SetCompRate Sets the compliance rates under the compliance control exclusively designed for 6 axis robots ED RobSlave ST ResetCompRate Initializes the compliance rates exclusively designed for 6 axis robots ED RobSlave DENSO WAVE Inc NetwoRC provider user s guide ST SetFrcAssist ST ResetFrcAssist ST SetCompJLimit ST ResetCompJLimit ORiN Forum Force assistance along X VT R4 Force assistance along Y VT R4 Force assistance along Z VT R4 lt Moment assistance about X VT_R4 gt lt Moment assistance about Y VT_R4 gt lt Moment assistance about Z VT_R4 gt None Jl current limit VT RA lt J2 current limit VT R4 gt lt J3 current limit VT_R4 gt lt J4 current limit VT_R4 gt lt J5 current limit VT_R4 gt lt J6 current limit VT R4 gt None None None None 61 ST SetFrcAssist Sets the force assistance under the compliance control special compliance control
19. eth 0810967 Disconnect Ak Specify controller s connection option eth lt IP gt Start Stop the RobSlave task Display the Auto Mode Switch to External Auto mode Es Mata TOOL U SPEED 100 ACCEL 100 DECEL 100 EXT SPEED 1 EXT ACCEL T4 Display the Emergency Stop Turn on or off the motor Display current tool work number Display the internal speed And acceleration deceleration Display the external speed And acceleration deceleration Display the current error number Display the error screen by clicking here see right figure ERT DECEL i Clear the error Set up the controller 1 obSlave pac obSlave pac and UserExtension pac are forwarded 2 Compile 3 Set ORIN option 1214 Display the messages Figure 2 13 Function introduction of RobMaster ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide AS 3 Programming with NetwoRC provider 3 1 Connection To control robot with NetwoRC provider communication between an ORIN installed PC and the robot controller should be established with RS232C or Ethernet Some commands also require the robot controller setup For details of setup please refer chapter 2 and for details of commands please refer chapter 4 Figure 3 1 Robot connection The developed program uses NetwoRC provider to communicate with the robot controller by generating NetwoRC proprietary communication RoboTALK pack
20. 1 00 2 QE lt Tool Number VT 14 gt Area VT RA VT ARRAY gt Area Size X VT R4 Area Size Y VT R4 lt Area Size Z VT R4 lt Area Angle VT R4 lt Area Size J7 VT R4 lt Area Size J8 VT R4 gt Appendix F 2 Error Codes The following table shows error codes of GenerateNonStopPath Command which is defined in the provider Error No Macro Name Meaning 0x800120 ERR ORG P2J CONV Conversion Error from Position to Joint ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide 106 Teaching Data 0x80012 14 ERR ORG SOFT LIMIT m l Software limit Error Teaching Data 0x8001 22x x ERR ECH SPD RATE Out of Speed Rate Range 0x800123 ERR GEN P2J CONV Conversion Error from Position to Joint Revised Data 0x800124 x ERR GEN SOFT LIMIT l Software limit Error Revised Data 0x800125 ERR GEN IMPOSSIBLE 7 Revision operation convergence 1S impossible 0x800126 ERR TOO NEAR POINT Too near teaching points Position and Posture 0x80012 ERR SPEED ZERO Zero Speed definition 0x800128 x ERR INVALID AREA INFO l l Invalid Area Data Teaching Data 0x80012A0x ERR INVALID JOINTFLG Joint Flag must be set as limited rotation 0x80012F00 ERR SPEED RATE Out of total speed rate range 0x80012F01 ERR GEN COEF Out of Coefficients Range 0x80012F02 ERR PASS GEN Trajectory Pass Generation fail 0x80012F05 ERR DIVISION BY ZERO Division by Zero
21. 2 45 CaoVariable put Value property Set the value of the variable that corresponds to the object Please refer 2 3 for implementation situation and supported data type 4 2 46 CaoVariable put ID property Set the index of the varialbe that corresponds to the object ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide ae This property can be used for the object created with Example VB Set objl0 caoCtrl AddVariable IO Specify a wild card for 1 0 objl0 ID 128 Specify the index by ID property boolValue obj10 Value get 10 128 value 4 2 47 CaoVariable get_ID property Get the index of the varible that corresponds to the object 4 2 48 CaoVariable get Microsecond property Get time stamp of the variable corresponding to the object Time stamp counter is incremented by one on every 500 microsecond after controller boot with counter value 0 at the controller startup As the counter value increases the value goes around as following 0 1 22147483647 0x 7fffffff 2147483648 0x80000000 2147483647 0x80000001 2 1 0 Note If the object does not support time stamp the property returns 0 4 2 49 CaoMessage Clear method Clear the occurring error status by using the Clear method of the CaoController class ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide 4 3 Variable list 4 3 1 Controller class Table 0 5 Controller class user variable list Variable ide
22. 4 2 2 GaoController AddCommandmethod AMAMAMAMAMAA e e gt gt gt gt m gt m A m gt m gt m gt m gt m m m m m m nennen 36 4 2 3 GaoController AddFilemethod MAMA A e gt m gt mI gt mIAIm gt m enne 36 42 4 CaoController AddRObOt Method eene 37 4 2 5 GaoGontroller AddTask method inician lid 38 4 26 GaoGontroller Add Variable method sa nda kmde an 38 4 2 7 CaoController get_TaskNames property 39 4 2 8 CaoController get_VariableNames property 39 42 9 OaoGontroller Execute method sisi 39 4 2 10 CaoController OnMessage event 11 43 4 2 11 CaoCommand Execute method sese eee eee 44 4 2 12 CaoCommand get Parameters property eee eee ee ee 44 4 2 13 CaoCommand put Parameters property 44 42 14 Gaokile AddEie Melo ia la 44 4 2 15 CaoFile AddVariable method sese 45 4 2 16 CaoFile get VariableNames property eee e e ee ee 45 AONE Ga a CODY MEIO rd iaa 45 A210 GaOFile Delete MeO sico 45 A 2 19 CaoFile MOVe Melo cacaos 45 4 2 20 CaoFile get DateCreatedproperiy 45 4 2 21 CaoFile get DateLastAccessed property 45 4 2 22 CaoFile get DateLastModified property sese eee eee 45 4 2 23 CaoFile get FileNames property e 45 4 2 24 CaoFile iget Attributeproperty 45 4 2 25 Oaolile get Faili eiaei ardid 46 4 220 aorile yel Size DIODOF
23. 4 2 28 CaoFile get Value property Get the contents of the file corresponding to the object 4 2 29 CaoFile put Value property Set the contents of the file corresponding to the object 4 2 30 CaoRobot Accelerate method 282 330 Set the internal acceleration and deceleration ratio of the robot This method corresponds to ACCEL instruction of PAC language Following is the argument specifications of Accelerate Accelerate lt lAxis LONG gt lt fAccel FLOAT gt lt fDecel FLOAT lAxis in Axis number 1 Tool accel ACCEL 0 All axes JACCEL fAccel in Acceleration 1 keep current setting fDecel in Deceleration 1 keep current setting Example 1 Accelerate 0 50 0 1 acceleration 50 deceleration no change Example 2 Accelerate 0 1 60 0 acceleration no change deceleration 60 4 2 31 CaoRobot AddVariable method The argument of the AddVariable method of the CaoRobot class specifies the system variable name The list of the implemented system variable is shown on Table 0 7 4 2 32 CaoRobot get_VariableNames property A list of the variable identifier and the system variable identifier that can be specified by the AddVariable method is acquired 4 2 33 CaoRobot Halt method 92 330 By adding NEXT option to a CaoRobot class motion method like Move Drive or Rotate the motion ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide A method are executed asynchronously
24. 4 2 49 CaoMessage Clearmethod een 74 A Se AA T n 75 dois CORE cla c iia 75 Ae RODOLCIA Si E A A MN de 78 A VASCAS cH 80 S BES lT 81 5 Outline of robot operation command execution 82 Bg NOS C T M dae 83 6 i Howtowritedatainanerrorstate eee 83 6 11 E ablesa SUpernisory task iio ii 84 61 2 Make a SUDervISory r Sasi sensmdna dn a es lela 85 6 1 3 NotifytoasupervisorytaskftromaPC M gt m m m nmnm eene nennen nnns 86 Appendix A POSEDATA type definition sss sss see eee eee 87 ADDOndb Ay Ee e A ii il is lidia 88 Appendix B PAC Commands supported by NetwoRC provider 93 Appendix C Trouble Shooting sss sese ee ee e eee ee 96 AppendixC 1 Icannotconnectwitiharobotconiroller 96 Appendix C 2 cannot access variablesofarobotconiroller 97 Appendix C 3 L eahnot move a TODOL iii 97 Appendix D Controllers supported by NetwoRC provider 98 Appendix E Error code of NetwoRC provider 103 Appendix F Non Stop Motion Calculator Trajectory Generator Command for NOM Stop e ee acetate ov d idw FRU Ox NER ERES STA DU FU FIBI E pF PEERS 105 Appendix F Parametros queste ias 105 Appendix F 2 Enron aa mter 105 APDE
25. Dynamic Link Library and it is dynamically loaded from CAO engine when it is used To use NetwoRC provider registry need to be manually registered according to the table below Table 1 2 NetwoRC provider File name CaoProvNetwoRC dll ProgID CaoProv DENSO NetwoRC Registry registration regsvr32 CaoProvNetwoRC dll Remove registry registration regsvr32 u CaoProvNetwoRC dll A license key is required to use the CAO Engine module Please refer to License registeration section of ORIN2 SDK User s Guide NetwoRC provider communicates to the controller using RS232C or Ethernet and the provider supports functions like controller variable read write PAC program invocation and robot motion ORIN supports various communications to connect to the robot controller as shown in Figure 1 1 Thisprovider supports the communication method shown in the red frame In case of installation from ORiN2 SDK register and unregister operation is not required ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide 10 4 Start D Only I O and Variable and 1 0 Variable and Configuration should be separated Robot motion All functions or Nat tou Performance is important lt read made OPC app pecial add i
26. E 2 MOVE S QE 2 Example5 Move 1 P P10 EX 7 30 5 NEXT MOVE P P P10 EX 7 30 5 NEXT Example 6 Move 2 E P20 EXA 7 30 8 8 90 5 MOVE L QE P20 EXA 7 30 8 8 90 5 If NEXT option is added the robot proceeds to the next no movement instruction without waiting for movement to finish When two or more Move method is executed consecutively the latter motion method is in wait status until the preceding motion method execution ends and application seems to be not responding In this wait state OnMessage event 9 of CaoController class is periodically issued so catch the event and pass the program control to application program if necessary The following table shows the PAC MOVE command supported by Move method Table 0 2 Move command list MOVE P P lt n gt Move I P nI MOVE P OP P lt n1 gt Move 1 WP P lt nl gt MOVE P QE P lt n gt Move 1 WE P lt n1 gt MOVE P T lt n1 gt Move 1 T n1I MOVE P OP T lt nI gt Move 1 P T lt n1 gt MOVE P QE T lt nI gt Move 1 ME T lt n1 gt MOVE P J n1 Move 1 J lt nl gt MOVE P OP J n1 Move 1 P J lt n1 gt ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide Move GE nl Move L GE Jen Extended joints MOVE L P lt n gt MOVE L OP P nI MOVE L QE P lt nl gt MOVE L T lt n1 gt MOVE L OP T lt ni gt MOVE L QE T lt ni gt MOVE L J n1
27. Extension Disply Key EX 1 qe eye mes De Cancel OK DET eee C STOP 2 Il ES 399 9 XLEDS 1010 ize ag INT ua R pe Delete Cancel OK d LI L I la fen FOX enr Add ORIN OK Figure 2 4 ORIN option activation 3 Set robot controller s communication permission When you use Ethernet go to COM Setting of mini pendant gt Set R W to Ethernet with Permit When you use RS232C set R W to appropriate COM port ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide 185 D 4 COM Setting COM Setting RS 232C RS 232C IP Address IP Address Cancel OK Cancel OK 2 Permission E Permission mi ey ml o X COM3 X COM3 STOP X COMA X COM4 Cancel OK Cancel OK Permit Ether Permit Ether 9 Disable Read only Read only Read Write Cancel OK Cancel OK Figure 2 5 Setting of communication permission 4 To turn ON OFF the motor of the robot or to start programs from an ORIN application it 1s necessary to set controller s executable token When Ethernet is used for communication go to COM menu of mini pendant and set the executable token to Ethernet in Ext Run and also set IP address of client PC in Client IP menu Set the executable token to appropriate COM port when you use RS232 C ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide 16
28. Fon ee MM ee e e Tc No cts mE NE 107 Appendix FA Sample Prod ra Misc iida 107 ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide a s Appendix F 5 Workaround at the time of the Adjustment Failure Error Code 0x800123xx 108 ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide 8 1 Introduction This document describes external specifications of the CAO provider for NetwoRC controller RC7 of the DENSO robot In this document CAO provider CaoProvRoboTalk dll is called as NetwoRC provider The NetwoRC provider implements all interfaces defined in the CAO provider specification This document describes the NetwoRC provider specifications on connection parameters system variables user variables files and original enhancement The dependency of the NetwoRC controller s model and version is described in the next table used as Sign in this document Table 1 1 NetwoRC controllers model and version Sign Explanation a RUM RC7M 2 330 or more If the controller version RobSlave pac program need All global variables I F D V P J T S from 0 to 9 have been reserved with the system Please do not access these variables in the user s program ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide us 1 1 Outline The NetwoRC provider is CAO provider that absorbs RC7 dependant part and offers the function defined by the CAO provider interface specifications The file format is DLL
29. I O ports are assigned as general I O and step stop signal wiring becomes not necessary To activate the option setup a robot controller with a teach pendant according to the following procedure 1 Set a robot controller to the manual mode 2 To activate Mini I O All general option select Option gt Function expansion menu and input password 6319 3 Turn off and restart a robot controller Note 1 By activating mini I O all general option a special I O input assignment of step stop signal is nullified and the robot cannot be step stopped by the I O input Note 2 By activating mini I O all general option step stop wiring becomes not necessary However wirings for auto enable input and emergency stop input are still necessary even if the option is activated 2 3 2 1 0 treatment for controllers with I O extension board If a robot controller is configures with extension I O board parallel I O DeviceNet CC Link PROFIBUS etc please refer Installation and maintenance guide and Options Manual Part2 RC7M I O extension ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide LOS board and turn on Step stop All tasks signal and Instantaneous stop signal ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide 20 2 4 Robot controller s Executable Token 2 330 2 4 1 Basic knowledge concerning robot controller s Executable Token It is necessary
30. MOVE L OP J nI MOVE L QE J lt n1 gt MOVE C P lt nl gt P lt n2 gt MOVE C P lt n1 gt OP P lt n2 gt MOVE C P lt n1 gt QE P lt n2 gt MOVE C T lt n1 gt T lt n2 gt MOVE C T lt n1 gt P T n2 MOVE C T lt n1 gt QE T lt n2 gt MOVE C J lt n1 gt J lt n2 gt MOVE C J lt n1 gt P J lt n2 gt MOVE C J lt n1 gt QE J lt n2 gt MOVES nl MOVES P n1 MOVES QE nl MOVE P P lt n1 gt EX j1 v1 MOVE P P lt n1 gt EX 1 v1 j2 v2 MOVE P P lt n1 gt EXA j1 v MOVE P P lt n1 gt EXA j1 v1 j2 v2 MOVE P P lt n1 gt x y z rx ry rz MOVE P P lt n1 gt x y z rx ry rz H 50 Move 2 P lt n1 gt Move 2 WP P lt nl gt Move 2 QE P lt n1 gt Move 2 T n1 Move 2 P T n1 Move 2 ME T lt nl gt Move 2 J n1 Move 2 P J lt nI gt Move 2 WE J lt n1 gt Move 3 P lt nI gt P lt n2 gt Move 3 P lt n1 gt P P lt n2 gt Move 3 P lt nI gt QE P lt n2 gt Move 3 T nI T lt n2 gt Move 3 T nI P T lt n2 gt Move 3 T lt nI gt GE T lt n2 gt Move 3 J lt n1 gt J lt n2 gt Move 3 J lt nl gt OP J lt n2 gt Move 3 J lt nl gt QE J lt n2 gt Move 4 nl Move 4 P n1 Move 4 ME nl Move 1 P lt n gt EX j1 v1 Move 1 P lt n gt EX j1 v1 j2 v2 Move 1 P lt n gt EXA 1 vb Move 1 P lt n
31. Stop Inspection 4 2 10 GaoController OnMessage event The table below shows the implemented OnMessage event of the CaoController class Table 0 1 OnMessage event implementation list IL ENT lt LONG RangeMax gt GetText Start Progress status notification starts Maximun range 1s lt RangeMax gt The bit2 of Execute Put FileTransMode lt Mode gt need to be set as 1 VT I4 lt LONG Range gt GetText Progressing and returns status The bit2 of Execute Put FileTransMode lt Mode gt need to be set as 1 7 Attention Additional license for Non Stop Motion Calculator is required to use this Command ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide 44 lt LONG RangeMax gt Get Text Completed Returns maximum range size if or 1 error normally finished Returns 1 1f NG The bit2 of Execute Put FileTransMode lt Mode gt need to be set as 1 lt LONG RangeMax gt PutText Start Progress status notification starts Maximun range 1s lt RangeMax gt The bit2 of Execute Put FileTransMode lt Mode gt need to be set as 1 lt LONG Range gt PutText Progressing and returns status The bit2 of Execute Put FileTransMode lt Mode gt need to be set as 1 lt LONG RangeMax gt or PutText Completed Returns maximum range size if 1 error normally finished Returns 1 if NG The bit2 of Execute Put FileTransMode lt Mode gt need to be set as 1 4 2 11 Ca
32. function statement exclusively designed for 6 axis robots ED RobSlave ST ResetFrcAssist Initializes the force assistance special compliance control function statement exclusively designed for 6 axis robots ED RobSlave ST SetCompJLimit Sets the current limit under the compliance control special compliance control function statement exclusively designed for 6 axis robots ED RobSlave ST ResetCompJLimit alnitializes the current limit under the compliance control special compliance control function statement exclusively designed for 6 axis robots E RobSlave DENSO WAVE Inc NetwoRC provider user s guide ST SetCompVMode ST ResetCompVMode ST SetCompEralw ST ResetCompEralw ORiN Forum None lt Allowable deviation X VT R4 lt Allowable deviation Y VT R4 lt Allowable deviation Z VT R4 lt Allowable deviation X VT R4 lt Allowable deviation Y VT R4 lt Allowable deviation Z VT R4 None None None None None 62 ST SetCompVMode Sets the velocity control mode under the compliance control special compliance control function statement exclusively designed for 6 axis robots ed RobSlave ST ResetCompVMode Disables the velocity control mode under the compliance control special compliance control function statement exclusively designed for 6 axis robots ED RobSlave ST SetCompEralw Sets the allowable deviation values of the posi
33. gt EXA j1 v1 2 v2 Move 1 DEV P lt n1 gt P x y z rx ry rz Move 1 DEVH P lt n1 gt P x y z rx ry rz Please refer to CaoRobot Execute for DEV and DEVH nl gt n2 integer 0 65535 Please refer to the sample of CAO robot class robot motion command coding supplied with ORIN2 SDK which is stored at ORIN2YCAO YProviderLibY DENSOYNetwoRCYSampleYRobot essential requisites At the current implementation RobSlave pac program need to be executed beforehand on the robot ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide e controller to execute robot motion command of CaoRobot class Table 0 3 RobSlave pac is in ORIN2YXCAOXProviderLibYDENSOXNetwoR CXBin Robot controller s T O T 1 and I 0 variable are used for the communication DO NOT use these variables for other purposes Table 0 3 Motion Commands requiring RobSlave pac CCaoProvRobot Accelerate A CCaoProvRobot Change 00 O CCaoProvRobot Halt ee CCaoProvRobot Move NA MM CCaoProvRobot Rotate O CCaoProvRobot Speed i eens CCaoProvRobot Execute Approach Depart Draw Motor ClrSplinePoint SetSplinePoint GetSplinePoint WaitSplinePoint WaitMotionEnd MotionSkip MotionComp DefTool DefWork DefArea Interrupt PosClr Arrive RotateH DriveEx DriveAEx Delay SYSSTATE J2P J2T P2J P2T T2J T2P TINV NORMTRN TMUL DEV DEVH FIGAPRP FIGAPRL TrackDatalInitialize TrackDataSet Track
34. lt n2 gt rz If nl 1 then CURPOS P lt n2 gt x P lt n2 gt y P lt n2 gt z P lt n2 gt rx P lt n2 gt ry P lt n2 gt rz ED RobSlave TRACKDATAINITIALIZE Initializes data within the conveyer tracking data buffer ED RobSlave TRACKDATASET Saves data in the conveyer tracking buffer ED RobSlave TRACKDATAGET Obtains data from the conveyer tracking buffer ED RobSlave DENSO WAVE Inc NetwoRC provider user s guide 67 TrackDatalnfo lt conveyer number VT 12 gt lt data encoder value at reco TRACKDATAINFO number VT 12 gt gnition VT 14 gt lt availabi Obtains information within lity VT 12 gt lt recognized the conveyer tracking buffer Workpiece position VT RAT ARRAY gt E RobSlave TrackDataNum lt conveyer number VT 12 gt lt number of saved data TRACKDATANUM items VT 12 gt Obtains the number of data items retained with TRACKDATASET e RobSlave CurTrackPos lt conveyer number VT I2 reco position CURTRACKPOS gnized workpiece position P VT RAIVT ARRAY gt Obtains the position of the type POSEDATA C0 gt lt mode VT _ workpiece subject to 2 gt tracking as a P type E RobSlave CurTrackPosEx lt conveyer number VT 12 gt lt reco lt position CURTRACKPOSEX gnized workpiece position P VT RAIVT ARRAY gt Obtains a tracking target type POSEDATA C0 gt lt mode VT _ workpiece position in the I27 P type form ed RobSlave WaitTrackMove lt conveyer
35. provider user s guide 109 FIGCHECK MAX DISPLACEMENT dJ3 Offset of Maximum Adjustment Angle for 3rd axis deg FIGCHECK MAX DISPLACEMENT dJ4 Offset of Maximum Adjustment Angle for 4th axis deg FIGCHECK MAX DISPLACEMENT dJ5 Offset of Maximum Adjustment Angle for 5th axis deg FIGCHECK MAX DISPLACEMENT dJ6 Offset of Maximum Adjustment Angle for 6th axis deg FIGCHECK MAX DISPLACEMENT J7 Offset of Maximum Adjustment Angle for 7th axis deg FIGCHECK MAX DISPLACEMENT J8 Offset of Maximum Adjustment Angle for 8th axis deg FIGCHECK ERROR DISTANCE Maximum Adjustment Length mm Adjustment Angle for each axis is shown in MaxDispJoint csv file To save the MaxDispJoint csv file set DEBUG FILEOUT parameter in cOrbitGenSync ini as 1 and the file is saved in the folder set by DEBUG FILEPATH The maximum adjusted angle for each joint is defined as a sum of the angle calculated from the maximum adjustment length and the offset of maximum adjustment angle MAX DISPLACEMENT dJ for each joint DEBUG FILEPATH Output Folder Remarks While the DEBUG FILEOUT parameter is set to 1 the csv file 1s created each time when InitNonStopPathLib or GenerateNonStopPath command is executed Therefore reset the DEBUGFILEOUT parameter to 0 after the offset parameters are adjusted In case of Asynchronous motion with Extended Joint Adjust the following parameters in cOrbitGen ini in Bin folder of NetwoRC Provider Parameter
36. provider user s guide un 9 Outline of robot operation command execution 192 330 The execution of the robot motion commands of the CaoRobot class Move GoHome Accelerate Change Speed and Execute method has been achieved in the following way NetwoRC provider communicate with a PAC program RobSlave RobSlave pac running on the robot controller and the PAC program executes specified PAC command Controller global variables I 0 T O and T 1 are used for communication between NetwoRC provider and RobSlave I 0 is uses to express the executing command status e g running completed or error T 0 is used to pass command and parameters from NetwoRC provider to RobSlave T 1 is used to return value from RobSlave to NetwoRC provider Following diagram shows the execution procedure of robot motion command RC7 controller RobSlave NetwoRC 2 execute PAC command Figure 5 1 Execution procedure of robot motion command attention All global variables 1 F D V P J T S from 0 to 9 have been reserved with the system Please do not access these variables in the user s program ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide dion 6 Tips 6 1 How to write data in an error state NetwoRC controller rejects all writing data request ex Variable I O when an error occurred because of safety reason By using a suprevisory task PAC in the controller the limitation can be solved The suprevisory tasks TSR1
37. put Value Set value of file P 46 CaoRobot ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide Accelerate AddVariable get VariableNames Halt Change Drive Move Rotate Speed Execute CaoTask AddVariable get VariableNames Start Stop Cao Variable get Value put Value put ID get ID get Microsecond CaoMessage Clear 4 2 Method and Property Set the internal acceleration and deceleration ratio of the robot Connect the system variable Get catelogue of the system variable Stop the robot motion Change the tool user coordinate system of robot This method is not supported directly in this provider Robot moves Robot rotates around the specified axis Set the internal movement speed of the robot Execute command of robot Connect the system variable of the robot Get list of the system variable Start the pac program Stop the pac program Get value Set value Set variable number Get variable number Get Timestamp Clear error 4 2 1 CaoWorkspace AddController method 34 P 46 46 46 46 4 4 4 ol 92 03 999999 00 0 12 13 13 13 nM AN O 13 13 13 14 74 9 99 9 0 At AddController NetwoRC provider refers communication connection parameters and connects communication Option specifies communication method connection parameter and time out time Option and option are delimited by AddController lt bstrCtrIName BSTR gt lt bst
38. rom prj are specified Following shows the argument specification of AddFile AddFile lt bstrName BSTR gt lt bstrOption BSTR gt bstrName in File name bstrOption fin Option character string The option uses the following character strings Table 4 3 Option character string of CaoController AddFile Create lt 0 to 2 gt When the specified file does not exist the file 1s created according to this option 0 The file 1s not created default 1 The file is made 2 The directory is made If the specified file exists or the file name is the drive name this option 1s ignored The table below shows the list of the file Please refer to the file specification for a detailed format of the file Table 4 4 File implementation status list ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide ds s evan sna J pere Y evan vec vin Voves s evaros bin Popevanable attention CaoFile object does not support simultaneous access to a file Be sure to implement exclusive file access control routine in the application 4 2 4 CaoController AddRobot method The argument of the AddRobot method of the CaoController class specifies the robot name BSTR type Robot name specified here is an arbitrary string For instance specify like AddRobot ROBOTalk1 A CaoRobot object is retrieved by calling the AddRobot method AddRobot lt bstrName BSTR gt lt bstrOption BSTR gt
39. set menu afterwards when you use Ethernet as the connection method Set the executable token to each COM port when you use RS232 C By setting ORiN option ORIN applications can freely access the variables and I Os Access the variables and I Os after fully understanding the state and the content of the robot controller program etc Especially the changing the variables and I Os might give the critical effect to the movement of the robot and the program In the internal automatic mode when ORIN option is activated the robot program stops if an error more than level 3 occurs However in external automatic mode the robot program stops if an error more than error level 2 occurs Therefore when a robot is in external automatic mode please be careful not to perform wrong operation or not to transmit a wrong command ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide 15 92 330 Figure 2 3 Settings of Executable token 2 2 2 Setup using the mini pendant 2 330 Setup a controller with a mini pendant according to the following procedure 1 Set a robot controller to the manual mode 2 Activate ORIN option Aux Function gt Extension gt Extension gt Input 1214 with Add and make ORIN effective ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide 14 Aux Function Arm Aux f l Maintnanc ry ve Cancel 0K xtension
40. 0 60 5 j 1 30 3 j 2 400 j 3 90 vi jO VT RM VT ARRAY type specified by string Execute APPROACH Array 2 Array vJ J _ Array 70 7 701007 NEXT 3rd argument VARIANT array immediate value with variable type specified by string 2nd argument VARIANT array Dim J 3 as Single Dim vJ as Variant immediate value with variable J 0 60 5 j 1 30 3 j 2 400 j 3 90 vi jO VT RM VT ARRAY type specified by string Execute APPROACH Array 2 Array vJ J _ Array 70 1 100 NEXT 3rd argument VARIANT array immediate value with variable type specified by number attention When the value is immediately specified directly by POSEDATA type by VT R4 VT ARRAY form it becomes P type and 00 by default Therefore data other than P type cannot be specified directly by the VT RA jVT ARRAY form In this case please specify the variable type of the data by the VT VARIANT VT ARRAY form or VT BSTR form Please note that the following codes do not make sense ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide PAC MOVE P J100 Dim vJ as Variant vJ CaoCtr Variables J100 Value Robot Move 1 vJ The correct code is as follows Robot Move 1 Array vd J ORiN Forum 92 VT R4 VT ARRAY MOVE P P lt j1 gt lt j2 gt lt j3 gt NGI MOVE P J lt j1 gt lt j2 gt lt J3 gt OK DENSO WAVE Inc NetwoRC pr
41. 0 vntArealnfo 4 Array 4 4 4 4 0 0 vntArealnfo 5 Array 4 4 4 4 0 0 vntArealnfo 6 Array 4 4 4 4 0 0 vntArealnfo 7 Array 4 4 4 4 0 0 dbg Output Teach Points for Index 0 to Ubound vntTeachPos dbg Output Index amp amp dat BstrFromVar ant vntTeachPos Index next vntMovePos rc Execute GenerateNonStopPath Array vntTeachPos vntArealnfo Ubound vntTeachPos 1 100 0 0 01 0 7 1 dbg Output Move Points for Ilndex 0 to Ubound vntMovePos dbg Output Index amp amp dat BstrFromVar ant vntMovePos Index next End Sub eee Appendix F 5 Workaround at the time of the Adjustment Failure Error Code 0x800123xx The GenerateNonStopPath command fails when the revised angle is out of maximum adjustment angle range If the failure occurs and error code 0x800123xx xx represents teaching position number is shown change the teaching position or adjust parameters for the selected Adjustment Method as shown in below In case of Synchronous motion with Extended Joint default Adjust the following parameters in cOrbitGenSync ini 1n Bin folder of NetwoRC Provider Offset of Maximum Adjustment 180 0 180 0 Parameter FIGCHECK MAX DISPLACEMENT dJl Angle for 1 axis deg FIGCHECK MAX DISPLACEMENT dJ2 Offset of Maximum Adjustment 180 0 180 0 Angle for 2nd axis deg ORIN Forum DENSO WAVE Inc NetwoRC
42. Data type Explanation astarus vT a btateoftas A VT I4 State of task 1 DORMANT 2 READY 3 RUN 4 WAIT 6 SUSPEND 0 NON EXISTENT PRIORITY VT I4 Priority of task HB LINE NO VT I4 Line number of currently executing main program CYCLE TIME VT I4 One cycle execution time of task START VT I4 Start task The meaning of the value is the same as the x y Mode argument of the CaoTask Start method The mode is 1 one cycle execution 2 continuous executes 3 1 step forward 4 L step baeleward 5 resume all Note If the value is set to 5 resume all then all suspended programs in the controller are resumed 32 STOP VT I4 Stop task The meaning of the value is the same as the x y Mode argument of the CaoTask Stop method The mode is 0 default stop 1 Instant stop 2 step stop 3 Cycle stop 4 Initialization stop 5 Suspend all If an option is required please use CaoTask Stop method instead Default stop 0 is the same as Instant stop 1 Note If the value is set to 5 resume all then all programs in the controller are suspended ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide 81 4 3 4 File class Table 0 9 File class system variable list l l l l Attribute Variable identifier Data type Explanation ACTIVE ir lActiveoffilecompilelag 2az0lv V VT I4 Active of file compile flag 0 Inactive 1 Active EM pe pe sa NN ORiN Forum DENSO WAVE Inc NetwoRC
43. DataGet TrackDatalInfo TrackDataNum CurTrackPos CurTrackSpd WaitTrackMove CalcWorkPos CurTrackPosEx WaitTrackMoveEx SetTrackMove ResetTrackMove SetTrackStartArea UserExt ST_ TakeArm GiveArm attention All global variables I F D V P J T S from 0 to 9 have been reserved with the system Please do not access these variables in the user s program 4 2 37 CaoRobot Rotate method ES RobSlave 92 330 Robot rotates around the specified axis This method corresponds to ROTATE instruction PAC language Following 1s the Rotate argument specifications ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide DA Rotate lt vntRotSuf POSEDATA gt lt fDeg FLOAT gt lt vntPivot POSEDATA gt lt bsreOpt BSTR gt vntRotSuf in rotation surface fDeg in angle deg vntPivot in rotation center bstrOpt in motion option motion option 10 AP ME lt value gt or pose lt n gt or NEXT Please refer to 6 1 3 Appendix APOSEDATA type definition for the POSEDATA type The form and the meaning when the character string 1s specified by the POSEDATA type are as follows In case of VT BSTR vntRotSuf in rotation surface V pn V n2 Vc n3 C or XY YZ ZX XYH YZH ZXH or V Xx y z V V ex V100 V101 V102 vntPivot in rotation center V lt n4 gt or V lt x gt lt y gt lt z gt
44. Input Limitation FIGCHECK MAX DISPLACEMENT dJ1 Maximum Adjustment Angle for 1 0 0 180 0 Axis deg FIGCHECK MAX DISPLACEMENT dJ2 Maximum Adjustment Angle for 0 0 180 0 2nd Axis deg ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide 110 FIGCHECK MAX DISPLACEMENT dJ3 Maximum Adjustment Angle for 0 0 180 0 ERN RN FIGCHECK MAX DISPLACEMENT dJ4 Maximum Adjustment Angle for 0 0 180 0 un o FIGCHECK MAX DISPLACEMENT dJ5 Maximum Adjustment Angle for 0 0 180 0 nsum o o FIGCHECK MAX DISPLACEMENT dJ6 Maximum Adjustment Angle for 0 0 180 0 anie PA FIGCHECK MAX DISPLACEMENT J7 Maximum Adjustment Angle for 0 0 180 0 ENEMIES FIGCHECK MAX DISPLACEMENT J8 Maximum Adjustment Angle for 0 0 180 0 ORiN Forum DENSO WAVE Inc
45. NetwoRC provider user s guide e l NetwoRC provider DENSO Robot Version 1 2 18 User s guide July 17 2012 Remarks ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide a Revision history 2006 07 17 0n ROTATE pose option ST commands were supported 1 0 2 2006 08 31 SYSSTATE Pose Data Type Transformation Conveyer Tracking Commands were supported Variable name with ex I and UDP local port option were added 2011 05 26 The Bundle connection limitation max 3 was abolished 2012 07 17 Document versioning rules was changed ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide e Hardware Ver2 330 or higher ORIN option 1214 1s required Ver1 998 or higher ORIN option 1213 1s required See Appendix D for details Attention Connected Number Number of instances of NetwoRC providers Number of objects made with Cao Workspace AddController ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide sp Contents 1 ee e 10 e RR e e M 8 A A KM e ee 9 A sansi az anl Ea a aki ak aaa aaa Aa N 11 2 1 Emergency stop device POSITION 2 ae irc t e ii Duci cures 11 2 2 OMT ler SUD A ainia 11 2 2 1 Setup USING a teach penado 11 2 2 2 OUH USING TE MUA ene gl e S E A 13 2 0 Mealmentor special lO DO isso tic nio di erue 17 2 3 1 I O treatment for standard configuration controller without I O extension board 17 2 9 1 1 Mini LO AIL Ge
46. RBS CMD EXTENTION 1 def ine RBS CMDEX APPROACH P RBS CMD EXTENTION 2 def ine RBS CMDEX GETSRVDATA RBS CMD EXTENTION 3 def ine RBS CMDEX GETJNTDATA RBS CMD EXTENTION 4 3 Describe the execution code to an additional command Pv x T RBS IDX COMMAND X stores execution command ID Refer this value and branch to the actual execution code using SELECT CASE statement Command arguments are stored in pv Y pv Z Ov X ov Y ov Z av X av Y and av Z TIRBS IDX COMMAND Y and Z etc User Extention Commands Impl PROGRAM UserExtention pv as VECTOR ov as VECTOR av as VECTOR DEFSNG ret DEFINT index path DEFINT vartype varindex DEFSNG length DEFJNT jv select case POSX pv ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide NAE case RBS CMDEX GETJNTDATA GetUntData lt Index gt lt JontNo gt LETX T RBS_IDX_RESULT GetJntData POSY pv POSZ pv RBS_IDX_STATE RBS STA RETVAL Return value case RBS_CMDEX_GETSRVDATA GetSrvData lt I ndex gt jv GetSrvData POSY pv ifdef _ VERTICAL ROBOT TIRBS IDX RESULT JOINT 1 jv JOINT 2 jv JOINT 3 jv JOINT 4 jv JOINT 5 jv JOINT 6 jv 0 0 0 1 else T RBS_IDX_RESULT JOINT 1 jv JOINT 2 jv JOINT 3 jv JOINT 4 jv 0 0 0 0 0 1 tendi f RBS IDX STATE RBS STA RETVAL Return value case else RBS IDX STATE RBS STA ERR end select If the call does not return valu
47. String QP 1 30 0 VARIANT type array Dim vel as Single variable type and pass type specified by string VARIANT type array variable type and pass type specified by number v 0 21 vd 30 0 Dim vV as Variant VV Z v0 Array vV i P Dim v 1 as Single v 00 1 v 1 30 0 Dim vV as Variant VV Z Y U Array VV 1 1 Other examples ex1 V1 V2 V3 Rotation plane for CaoRobot Rotate Stri V1 V2 V3 tring String array Array VI V2 V3 VARIANT array Array Array 1 V Array 2 V Array 3 V ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide 91 variable type specified by string VARIANT array Ar ray Array 1 3 Array 2 3 Array 3 3 variable type specified by number ex2 APPROACH P P70 60 NEXT Approach command for CaoRobot Execute without pass specification 2nd argument string Execute APPROACH Array 1 P70 60 NEXT 3rd argument string 2nd argument VARIANT array 3rd argument VARIANT array Execute APPROACH Array 1 Array 70 P Array 60 7 NEXT ex3 APPROACH L J 60 5 30 3 400 90 0100 70 NEXT Approach command for CaoRobot Execute without pass specification 2nd argument string Execute APPROACH Array 2 J 60 5 30 3 400 90 0100 70 NEXT 3rd argument string Dim j 3 as Single 2nd argument VARIANT array Dile Variant immediate value with variable J
48. T D Data None None None None None Switches from the tracking operation mode to the normal operation mode eS RobSlave SETTRACKSTARTAREA Sets the tracking start range at the time of WAITTRACKMOVE ED RobSlave Clearness of single axis control log PAC ClearSrvMonitor Beginning of single axis control log PAC StartSrvMonitor End of single axis control log PAC StopSrvMonitor Condition setting of single axis control log PAC SetMonitorCond 2 VT 2 gt lt Sampling rate VT 2 gt ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide 69 GetSrvLogCond None Axis number Condition acquisition of VT 2 gt lt Data number single axis control log I VT 12 gt lt Data number 2 VT 12 gt lt Sampling rate VT I2 Sampling counts VT 12 gt GetSrvLog None Servo data Two Acquisition of single axis dimension array VT R4 control log VT ARRAY gt TakeArm Arm group VT I4 Keep TakeArm option VT 14 gt Keep option 0 default 0 The tool coordinate and the work coordinate are returned to the origin and the internal speed the internal acceleration and the internal deceleration are set to 100 1 The tool coordinate the work coordinate the internal speed the internal acceleration and the internal deceleration are maintained to their current setting Obtains visual process priority ed RobSlave GiveArm None None GiveAr
49. age event PutFileTransMode lt Mode VT I4 Set file transfer mode Mode File transfer mode O normal transfer Obit Old procedure Ibit ROM operation 2bit Status notification With OnMessage event ORIN Forum DENSO WAVE Inc NetwoRC provider user s _NetwoRC provider user s guide A ChangeConfig lt CnfID gt setDummyIO TO lt Value gt lt Range gt GetDummyIO IO Value LoadNIC lt WaitForCompletion gt DoSignal lt Mode gt lt Action gt GetVarSize lt Type gt Compile ORiN Forum CnfID VT I2 COMCNF ARMCNF VISCNF PACCNF SRVCNF SPDCNF ITPCNF DIOCNF SYSCNF JO VT 2 gt I O number Value VT 2 gt State 0 OFF 1 ON Range VT I22 Range default 1 ex 1 gt Only lt IO gt 8 gt From lt IO gt To lt 10 gt 7 lt IO VT_ 2 gt I O number lt WaitForCompletion VT_BOOL gt Wait load completion True False lt Mode VT 14 gt mode lt Action VT 14 gt action Type of variable VT BSTR gt E DANA pP T So None Value VT I2 State 0 OFF 1 ON Size VT I4 None A Change notice of CNF Set pseudo input All setting is cleared when lt IO 1 lt Value gt is ignored Range must be omitted or specify 1 Get pseudo input Load NIC file Notify the timing of process start to controller Get the variable number Execute the
50. alnfo Dim vntMovePos Dim vntParam Dim Index dbg ClearLog set rc cao AddControl ler CRC CaoProv DENSO NetwoRC conn eth amp RC ADDRESS call rc Execute Ini tNonStopPathL ib GenerateNonStopPath Command Parameter Pos Area Size SpdRate Coef Pos TeachPoint Data x y z rx ry rz fig J7 J8 SpdRate attr ToolNum redim vntTeachPos 7 vntTeachPos 0 Array 300 0 100 0 600 0 180 0 0 0 180 0 5 0 0 0 0 100 0 01 1 0 ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide 108 vntTeachPos 1 Array 300 0 91 0 600 0 180 0 0 0 180 0 5 0 0 0 0 100 0 01 0 0 vntTeachPos 2 Array 310 0 30 0 600 0 180 0 0 0 180 0 5 0 0 0 0 100 x 0 01 1 0 vntTeachPos 3 Array 315 5 24 5 600 0 180 0 0 0 180 0 5 0 0 0 0 100 0 01 0 0 vntTeachPos 4 Array 300 0 10 0 600 0 180 0 0 0 173 0 5 0 0 0 0 100 0 01 1 0 vntTeachPos 5 Array 300 0 10 0 600 0 180 0 0 0 176 0 5 0 0 0 0 100 0 01 0 0 vntTeachPos 6 Array 300 0 10 0 600 0 180 0 0 0 171 0 5 0 0 0 0 100 0 01 0 0 vntTeachPos 7 Array 300 0 10 0 600 0 180 0 0 0 180 0 5 0 0 0 0 100 x 0 01 1 0 Area Area Info x y z angle J7 J8 redim vntArealnfo 7 vntArealnfo 0 Array 4 4 4 4 0 0 vntArealnfo 1 Array 4 4 4 4 0 0 vntArealnfo 2 Array 4 4 4 4 0 0 vntArealnfo 3 Array 4 4 4 4 0
51. ame SRVCNF The variable number is specified behind the variable name SPDCNF The variable number is specified behind the variable name VISCNF The variable number is specified behind the variable name COMCNF The variable number is specified behind the variable name Table 0 6 Controller class system variable list Variable identifier Data type Explanation CURRENT_ TIME VT DATE Current time held in the controller FREE USER MEM VT I4 Free user memory size byte ANORMAL STATUS VT BOOL true normal false abnormal an error is occurring AUTO MODE VT BOOL true automatic mode false not in automatic mode ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide Sq MODE VT D 1 manual 2 teach check 3 auto 4 external auto BUSY_ STATUS VT BOOL GEMERGENCY STOP VT BOOL ERROR CODE VT I4 ERROR CODE HEX VT BSTR true program is executed v x False program is not executed by maa dn true emergency stop is active False emergency stop 1s not active Currently occurring error code Returns 0 if no error 19 occurring code Currently occurring error character string ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide 78 4 3 2 Robot class Table 0 7 Robot class system variable list l l Attribute Variable identifier Data type Explanation BUSY_ STATUS VT BOOL true arm moving false arm stopping d TYPE NAME VT BSTR
52. ate the application Execute RobMaster exe The RobMaster application should be running on Windows Check the arguments of the AddController function see 4 2 1 Verify OORIN2 version by executing CAOConfig Select Help and then select Version DENSO WAVE Inc NetwoRC provider user s guide 97 Appendix C 2 cannot access variables of a robot controller m Robot controller side o Is the communication permission correctly set Check the communication settings see Read Write or Read only 221 O Is any edit dialogue displayed in the teach pendant Close the dialogue O Is any error message displayed in the teach pendant m PC side O Is the variable name correctly set Check the variable name O In case of writing is not the variable read only Check the variable and I O attribute O Is the range of index correctly specified Check the range o Do the written value and type meet the specification of the Check the specifications variable Appendix C 3 cannot move a robot o Is the Executable token for a robot correctly set ANSI Check the settings see 2 4 2 for ANSI m Robot controller side single point of control type O Is the RobSlave program running Run the RobSlave program see 2 6 O Is the robot in the executable state Check the condition see 2 2 1 o Does RobSlave pac match the version of NetwoRC Use the modules included in the same ORIN Pr
53. b 90 pT 3 4 Robot motion To move robot the controller should be set auto mode and RobSlave program should be started on the contoller For RobSlave please refer to chapter 2 5 Motor power can be also controlledwith NetwoRC provider For details please refer to CaoTask Execute motor command in 4 2 39 controller setting external automatic mode connect Motor on start RobSlave pac caoEngine Initialize caoEngiine AddWorkspace robot moves robot stops disconnect caoWorkspace AddController caoController AddRobot caoRobots Clear caoRobot Terminate caoControllers Remove ORiN Forum caoController Terminate caoEngine Terminate DENSO WAVE Inc NetwoRC provider user s guide ss 3 5 Robot Moves 3 4 1 Connection Please refer 3 2 1 for the procedure of creating CaoController object To move robot create CaoRobot object Following is an example code 1 Dim g robot as CaoRobot A variable to store CaoRobot object Set g robot g ctrl AddRobot Arm 3 4 2 Move and stop robot CaoRobot Move method moves the robot Please refer chapter 4 2 36 for the details of Move By adding NEXT option to Move CaoRobot Halt method can stop the robot motion while it is moving List 3 3 Robot frm Dim g eng As GaoEngine Dim g ctrl As CaoControl ler Dim g robot As GaoRobot Stop Move Private Su
54. b Command2 Click Q g robot Halt End Sub Start Move Private Sub Commandl Click Q g robot Move 1 0P P10 NEXT End Sub Private Sub Form Load Q Set g eng New GaoEngine Set g ctrl g eng Workspaces 0 AddControl ler CRC7M caoProv DENSO NetwoRC conn eth 10 6 235 60 Set g robot g ctrl AddRobot Arm End Sub Private Sub Form Un load Cancel As Integer g ctrl Robots Clear Set g robot Nothing g eng Workspaces 0 Control lers Remove g ctrl Index Set g ctrl Nothing Set g eng Nothing End Sub ESPA ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide un 3 9 Another samples Please refer to ORIN2XCAOXProviderLibYDENSOXNetwoRCXSample and its subdirectories of ORIN2 SDK for other samples Table 3 1 Sample program list CaoTask Display information and operate start and stop controller s task note The task cannot start with RC5 2 330 Robot CaoRobot Execute robot motlon command get robot current position call user extension command note RobSlave pac UserExtention pac and RobSlave h files stored at ORIN2 CAO ProviderLib DENSO NetwoRC Bin are necessary note Cannot use this with RC5 Trans CaoController Backup and restore Controller s all data Cao Variable CaoFile Info CaoController Display information of controller Cao Variable CaoRobot Tracking CaoRobot sample code for the Conveyer Tracking function e note Cannot use
55. beginning is treated as an user variable Please refer 4 3 Variable list about the system variable implemented in the NetwoRC provider 4 2 7 CaoController get TaskNames property A list of the PAC program name that can be specified by the AddTask method is acquired 4 2 8 CaoController get_VariableNames property A list of the variable identifier and the system variable identifier that can be specified by the AddVariable method is acquired 4 2 9 CaoController Execute method The argument of the Execute method of the CaoController class specifies the command name BSTR type The list of the command that can be specified 1s shown in Table 4 5 lt vntRet VARIANT gt Execute lt bstrCmd BSTR gt lt vntParam VARIANT gt bstrCmd in Command vntParam in Parameter vntRet out Return value Example Dim vRes as Variant vRes caoCtr Execute GetAutoMode 5 VT ARRAY VT VARIANT less than Ver1 1 0 VT ARRAYIVT BSTR ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide 40 Table 4 5 CaoController Execute method implemented command list GetAutoMode lt Mode VT I2 Get auto mode 0 Unkown Internal auto 2 External auto PutAutoMode lt Mode VT I2 Set auto mode Internal auto 2 External auto GetFileTransMode None lt Mode VT_ I4 Get file transfer mode File transfer mode 0 normal transfer Obit Old procedure Ibit ROM operation 2bit Status notification with OnMess
56. bstrName in Robot name bstrOption fin Option character string unused ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide Te a 4 2 5 CaoController AddTask method The argument of the AddTask method of the CaoController class specifies the task name BSTR type Task name specified here specifies a PAC program name For instance the CaoTask object is retreieved in the expression like AddTask pro1 AddTask lt bstrName BSTR gt lt bstrOption BSTR gt bstrName in Task name bstrOption in Option character string unused If ALL is specified as a task name a created CaoTask object provides CaoTask Start method and CaoTask Stop method for the all tasks 4 2 6 CaoController AddVariable method The AddVariable method of this CaoController class is a method for the access to the variable In the NetwoRC provider both the user variable and the system variable can be specified for the variable name User variable supports following variables i e controller variable I F V P J D T S I O and system parameter CNF Following is the argument specification of AddVariable AddVariable lt bstrName BSTR gt lt bstrOption BSTR gt bstrName in Variable name bstrOption fin Option character string Variable identifier I F V P J D T S IO TOOL WORK AREA ITP PAC DIO _ ARM SRV SPD VIS COM WDIn WDOut The character is not case sensitive uppercase and lowercase has same
57. c caoTask Stop cao lasks Clear cao lask Terminate disconnect caoControllers Remove caoController Terminate caoEngine Nothing Figure 3 4 Start and stop pac program 3 3 1 Connection Please refer 3 2 1 for the procedure of creating CaoController object Create CaoTask object to start and stop PAC program Following is an example code Dim g task as CaoTask A variable to store CaoTask Set g task g ctrl AddTask PROOI 3 3 2 Start Stop PAC program To start and stop PAC program use Start method and Stop method of CaoTask object Following is an example g task Start 2 Continuous execution g task Stop 3 Cycle stop 3 3 3 Sample Program Dim g eng As GaoEngine Dim g ctrl As CaoController Dim g task As GaoTask Private Sub Commandl Cl ick g task Start 2 End Sub ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide Private Sub Command2 Cl ick g task Stop 3 End Sub Private Sub Form Load Set g_eng New CaoEngine connect RC IP Port setting depends on your RC setting Set g ctrl g eng Workspaces 0 AddControl ler RC7 caoProv DENSO NetwoRC conn eth 192 168 0 1 Task Name PRO1 Set g task g ctrl AddTask CPRO1 End Sub Private Sub Form_Unload Cancel As Integer g ctrl Tasks Clear Set g task Nothing g eng Workspaces 0 Controllers Remove g ctrl Index Set g ctrl Nothing Set g_eng Nothing End Su
58. cified in rpm to the percentage 9o of the maximum internal speed in PTP motion ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide ae lg MPS lt MPS value VT R4 gt SPEED value Convert the speed value VT R4 gt specified in mm sec to the percentage 9o of the maximum internal speed in CP motion The argument of the Execute method of the CaoRobot class specifies command number parameter by the VARIANT array Example Dim vRes as Variant vRes caoRobot Execute GetUntData Array 1 6 6th joint motor current speed rpm caoRobot Execute ExtSpeed Array 50 0 25 0 25 0 external speed 50 acceleration 25 deceleration 25 caoRobot Execute APPROACH Array 1 P11 GP 100 NEXT APPROACH P P11 P 100 NEXT The user can enhance an original command by defining an additional command in the UserExtention program of the UserExtention pac file and describing the execution code corresponding to it Following is an concrete code example when GETSRVDATA and the GETJNTDATA command are added 1 UserExtention pac and RobSlave h are acquired Refer to ORIN2 CAO ProviderLib DENSO NetwoRC Bin folder 2 Define the corresponding command number into RobSlave h Define the corresponding command number and add it into RobSlave h The value of RBS CMD EXTENTION is 10000 It is defined by RobSlave h User Extention Commands Def def ine RBS CMDEX APPROACH L
59. e set II RBS IDX STATE RBS STA DONE When a value is returned substitute the value in TIRBS IDX RESULT and set IIRBS IDX STATE RBS STA RETVAL In this case Execute method of CaoRobot class will have return value of VARIANT array and each elements of TIRBS IDX RESULT is stored in the array 4 Update CRC32 information of the UserExtention pac file CRC32 information of UserExtension pac is recorded in RobSlave h CRC code def ine RBS SLVCRC CODE11 amp H62cb2dc4 def ine RBS EXTCRC CODE amp H1e5d8368 Calculate CRC32 of UserExtension pac and update the value of RBS EXTCRC CODE Otherwise the error occurs when the operation command is executed The value of CRC32 can be acquired in the CRC system variable of the CaoFile class 5 Execute CaoRobot Execute method with UserExt command Command UserExt array of VARIANT GetJntData 1 6 Parameter lt additional command gt lt argl gt lt arg2 gt Example vRes CaoRobot Execute UserExt Array 10004 1 6 essential requisites At the current implementation RobSlave pac and UserExtention pac programs need to be executed beforehand on the robot controller to execute Execute method of CaoRobot class RobSlave pac and UserExtention pac are in ORIN2YCA OYProviderLibYDENSOYNetwoRCYB n 4 2 40 CaoTask AddVariable method The argument of the AddVariable method of the CaoTask class specifies the system variable name Pl
60. e data ED RobSlave DEVH lt P type nl POSEDATA C0 gt lt P type Calculates destination lt P type n2 POSEDATA C0 gt VT_R4 VT_ARRAY gt coordinates based on tool coordinates If n1 gt 1 then P lt n1 gt P lt n2 gt x P lt n2 gt y P lt n2 gt z P lt n2 gt rx P lt n2 gt ry P lt n2 gt rz H If nl 0 then DESTPOS P lt n2 gt x P lt n2 gt y P lt n2 gt z P lt n2 gt rx P lt n2 gt ry P lt n2 gt rz H If nl 1 then CURPOS P lt n2 gt x P lt n2 gt y P lt n2 gt z P lt n2 gt rx P lt n2 gt ry P lt n2 gt rz H ED RobSlave ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide DEV lt P type nl POSEDATA CO gt lt P type n2 POSEDATA C0 gt TrackDatalnitlal ze lt Initialization mode VT_12 gt TrackDataSet conveyer number VT 12 gt lt num ber of recognized workpieces VT I2 recognized workpiece posit 10n POSEDATA CO gt TrackDataGet lt conveyer number VT_12 gt lt data number VT_ 12 gt ORiN Forum lt P type VT R4 VT_ARRAY gt number of remaining data items VT I2 recognized workpiece _ position VT_R4 VT_ARRAY gt 66 Calculates destination coordinates based on base coordinates If n1 gt 1 then P lt n1 gt P lt n2 gt x P lt n2 gt y P lt n2 gt z P lt n2 gt rx P lt n2 gt ry P lt n2 gt rz If n1 0 then DESTPOS P lt n2 gt x P lt n2 gt y P lt n2 gt z P lt n2 gt rx P lt n2 gt ry P
61. ease refer Table 0 8 for the list of 1mplemented system variables II CRC32 of RobSlave pac ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide e 4 2 41 CaoTask get VariableNames property A list of the variable identifier and the system variable identifier that can be specified by the AddVariable method is acquired 4 2 42 CaoTask Start method a2 330 Start PAC program corresponding to the object This method has the following two arguments Start lt Mode LONG gt lt bstrOpt BSTR gt IMode in Start mode 1 1 Cycle execution 2 Cyclic execution 3 1 Step forward 4 Step baelewerd 5 Resume all bstrOpt in Option character string unused If this method is called with mode 5 Resume then all suspeneded programs in the robot controller are resumed 4 2 43 Cao Task Stop method Stop PAC program corresponding to the object This method has the following two arguments Stop lt IMode LONG gt lt bstrOpt BSTR gt IMode fin Stop mode 1 Instant stop 2 Step stop 3 Cycle stop 4 Initialized stop 5 Suspend all bstrOpt in Option character string unused 0 default stop is the same as 1 Instant stop If this method is called with mode 5 Suspend then all programs in the robot controller are suspeneded 4 2 44 CaoVariable get Value property Get the value of the variable that corresponds to the object Please refer 2 3 for implementation situation and supported data type 4
62. et An special program called RobSlave runs on the controller for handshaking and operating robot For details please refer chapter 5 Application ORIN NetwoRC PAC Variable 1 RobSlave Robot Figure 3 2 Outline of programing NetwoRC provider establishes communication between the PC and the robot controller by the following procedure ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide 26 e Create CaoEngine Create CaoWorkspace Create CaoController After the communication is established variables in the controller will be access by creating Cao Variable object and robot motions will be initiated by creating CaoRobot object Examples in the following section explain the procedure of robot programming 3 2 Variable Read Write Figure 3 3 shows the procedure to read and write variables caoEngile Initialize manneck caoEngile AddWorkspace caoWorkspace AddController caoController AddVariable read variable caoVariable get_Value write variable caoVariable put_Value caoVariables Clear caoVariable Terminate disconnect caoControllers Remove caoController T erminate caoEngine Nothing Figure 3 3 Read and write variable 3 2 1 Connection Following is the procedure to establish connection to the robot contr
63. ex V103 Example 1 Rotate V1 V2 V3 45 8 V4 QE ROTATE V1 V2 V3 DE 45 8 V4 Example 2 Rotate V 0 0 1 V 0 1 0 V 0 0 0 30 0 V 0 0 0 E pose 1 NEXT Example3 Rotate XY 90 0 V 0 0 0 P Example4 Rotate XYH 45 0 V 250 0 0 0150 Rotation surface is specified by three V type variables The three points in base coordinate system defines the surfaces Argument vntRotSuf specifies three V type variables in BSTR string type variable separated by comma space or tab Rotation center point vntPivot 1s specified by a V type variable expressed in BSTR string type 4 2 38 CaoRobot Speed method 22 330 The internal movement speed of the robot is specified This method corresponds to SPEED and JSPEED instruction PAC language About the external movement speed of the robot please use ExtSpeed command of CaoRobot Execute Following is the Speed argument specifications ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide DO Speed IAxis LONG gt fSpeed FLOAT lAxis in axis number effective to Tool axis SPEED O effective to all axis JSPEED fSpeed in speed 4 2 39 CaoRobot Execute method 22 330 The Execute method defines peculiar operation commands to the robot that isn t supported by the CaoRobot class and offers the function to implement them lt vntRet VARIANT Execute lt bstrCmd BSTR gt lt vntParam VARIANT gt
64. lt element n gt an element of variable either P T or J P lt x gt lt y gt lt z gt lt rx gt lt ry gt lt 1rz gt lt fig gt J lt 1 gt 32 gt 33 gt 34 gt 35 gt lt 36 gt lt 37 gt lt 8 gt T lt x gt lt y gt lt z gt lt ox gt lt oy gt lt 0z gt lt ax gt lt ay gt lt az gt lt fig gt Note For 4 axis robot T element of P type variable corresponds to lt rz gt rx and ry are not used lt pass motion O0 P ME or lt value gt beginning displacement gt lt extended joints gt The syntax of an exteded joints option is shown below Please specify the extended joints option after the pose data and blank To use extended joint option please define extended joint related settings e g arm group definition on the controller and use TakeArm command to select arm group for controlled extended joint ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide 49 EX lt JointNumberl gt lt RelativeDistancel gt lt JointNumber2 gt lt RelativeDistance2 gt or EXA lt JointNumberl gt lt AxisCoordinates1 gt lt JointNumber2 gt lt AxisCoordinates2 gt Example 1 Move 1 P P1 NEXT MOVE P P P1 NEXT Example2 Move 3 P1 E P2 MOVE C P1 E P2 Example 3 Move 2 100 MOVE L 0 P 307 1856 157 8244 107 0714 160 0 0 1 P 307 1856 157 8244 107 0714 160 0 0 1 Example 4 Move 4
65. ly duas netus xc orales 46 4 227 CaoFile get_Type property assistant cidad inicia 46 4 2 28 GaoFile get Value propeltty ec tao EE oda e lll lio il oie o e Sapl 46 4229 Caorile put Valle prOpelly oscars r a lamelli midi CUaR us Um De il 46 4 2 30 CaoRobot Acceleraemethod MMMMA e e e e m m gt gt gt Zm gt m gt m m m m m m 46 4 2 31 CaoRobot AddVariable method sss eee 46 4 2 32 CaoRobot get VariableNames property esse eee e ee ee 46 42 39 00 RODO Hall INGO ss unici iii iaa 46 42 94 GaohHobot ohahge Metodista 47 4 2 35 Gaohobot Brive method o oia 47 4 250 Gaohobol Move melliog i eccle bee cta ati 47 42 371 GA ORONO Rotate TOT TIO io ist opaca 51 4 2 30 Gdohobot Speed mielliod iiie cio o orta Sinai tin ic pat ade me i ens 52 ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide 6 4 2 39 Gaohobot Execute method ie io debt E 53 4 2 40 CaoTask AddVariable method sse 72 4 2 41 CaoTask get VariableNames property 73 42 42 GAO T Slab MCI MOG ssn ii a T T 73 4 2 49 690 Task SOP mielliOd ssl 73 4 2 44 CaoVariable get_ Valueproperiy nnns 73 4 2 45 CaoVariable put Value property sese eee ee eee e eee eee 73 4246 ao Vanable put ID DrO Deny dcdit oai add liia Dou esa dca o foc oue man t msi ula dele 73 4 2 47 CaoVariable get_ID property sees eee eee ee eee 74 4 2 48 CaoVariable get Microsecond property sse eee eee 74
66. m Releases robot control priority JJ RobSlave SetHighPathAccuracy None None High path accuracy mode ON ResetHighPathAccuracy None None High path accuracy mode OFF ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide 70 SetSingularAvoid lt Mode VT I2 0 OFF 1 0N gt None Singular point avoidance mode ON OFF Mode 0 OFF 1 0N FigAprp Reference position Fig VT D FIGAPRP POSEDATA CO P type only Calculates figures at an Approach length VT R4 gt approach position and a standard position available to move in PTP motion ed RobSlave FigAprl Reference position Fig VT D FIGAPRL POSEDATA CO P type only Calculates figures at an Approach length VT R4 gt approach position and a standard position available to move in CP motion tJ RobSlave GetCollisionForce Max value Get a maximum external VT RAINT ARRAY gt force value ClearCollisionForce Clear a maximum external force value ResetCollisionJnt Axis No VT I2 Disable collision detection for the specified axis SetCollisionJnt Axis No VT I2 Enable collision detection for the specified axis SetCollisionLevel Axis No VT I2 Set collision detection level Detection Level VT IA 1 500 SetExtForceDetect Enable VT 12 0 1 gt Enable Disable collision detection Axis No VT I2 SPEED value 96 Convert the rotation speed of RPM value VT R4 gt VT R4 gt the specified joint which is spe
67. m g ctrl As CaoController Dim g val As CaoVariable Private Sub Form_Load Set g eng New GaoEngine connect RC IP Port setting depends on your RC setting Set g ctrl g eng Workspaces 0 AddControl ler CRC7 caoProv DENSO NetwoRC conn eth 192 168 0 1 41125 variable name 10150 Set g val g ctrl AddVariable 101507 End Sub Private Sub Form Un load Cancel As Integer destroy variable g ctrl Variables Clear Set g val Nothing destroy contorol ler g eng Workspaces 0 Control lers Remove g ctrl Index Set g ctrl Nothing Destroy CaoEngine Set g_eng Nothing End Sub Private Sub Commandl Click read variable Textl lext g val Value End Sub Private Sub Command2 Cl ick Q write variable g val Value CBool Text2 Text End Sub PT 3 3 Start and stop PAC program PAC To start and stop PAC program used the procedure described in Figure 3 4 The controller should be set to external auto mode to start PAC program Also the controller start right should be given to the IP address of the ORIN installed PC For details please refer chapter 2 4 ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide 29 i controller setting i external automatic mode Executable Token e caoWorkspace AddController caoController AddTask start pac caoTask Start stop pa
68. mber Axisl lt Axis2 number lt Axis2 Coordinate Axis2 coordinate number lt Axis2 Coordinate gt lt Axis8 lt Axis8 number lt Axis8 number gt lt Axis8 coordinate gt Coordinate gt NEXT option VT BSTR NEXT Executes the relative motion of each axis ED RobSlave RotateH lt pass lt Relative rotation angle None ROTATEH lt Pass start around approach displacement gt lt Relative vector gt POSEDATA C2 gt rotation angle around option VT BSTR NEXT approach vector gt NEXT Executes rotary motion by taking an approach vector as an axis ED RobSlave ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide Arrive PosClr Interrupt ST aspACLD ST aspChange ST SetGravity ORiN Forum lt Motionratio VT_R4 gt JntNumber VT 12 gt VT 12 0 OFF 1 ON gt Mass of payload VT R4 lt Payload center of gravity coordinate X VT R4 lt Payload center of gravity coordinate Y VT R4 lt Payload center of gravity coordinate Z VT R4 gt lt Mode VT_12 gt None None None None None None BL gt ARRIVE lt Motionratio gt Defines the motion ratio relative to the programmed full travel distance to the target point in order to make the current program stand by to execute the next step until the robot reaches the defined motion ratio ED RobSlave POSCLR lt JntNumber gt Forcibly restores the cur
69. method VT_I2 P 2 L gt lt pass vector POSEDATA C1 gt Loption VT BSTR NEXT 25315 xdWAITSPLINE lt Viapoint number gt lt Waiting condition gt Waits for the free curve to pass the designated viapoint ed RobSlave Wait for robot motion end ED RobSlave MotionSkip Aborts running motion commands ED RobSlave MotionComp Judges whether execution of running motion commands is complete ED RobSlave Motor ON OFF ed RobSlave For define tool in auto mode ed RobSlave For define work in auto mode ED RobSlave For define area 1n auto mode ED RobSlave DRAW lt Interpolation method gt lt pass gt lt x gt lt y gt lt z gt NEXT Executes the relative movement designated in the work coordinate system ED RobSlave DENSO WAVE Inc NetwoRC provider user s guide 56 DriveAEx lt pass Axisl number gt None DRIVEA lt Pass start AXIS displacement gt Axisl coordinate gt POSEDATA C3 gt number gt lt Axisl lt Axis2 number gt Axis2 Coordinate lt Axis2 coordinate number lt Axis2 Coordinate gt lt Axis8 lt Axis8 number lt Axis8 number gt lt Axis8 coordinate gt Coordinate gt NEXT option VT BSTR NEXT Executes the absolute motion of each axis ED RobSlave DriveEx lt pass Axisl number gt None DRIVE lt Pass start Axisl displacement Axisl coordinate POSEDATA C3 gt nu
70. n is prepared NO nts to rum without ORIN2 NO CAO YES Ex HALCON Add in YES NO YES as COM AP YES skill Software Architecture NO v v v v v OPC CaoSQL b CAP E App 4 App 5 App 2 App 3 App 6 Add in CaqOPC CaoSQL DENSO b CAP 5 Guide User s Guide NetwoRC_Win3 User s Guide 2 ja pdf Y Y y Prototyping CaoOPC CaoSQL NetwoRC dll r COM API COM API Y Win32 API ORiN2 CAO COM API v DENSO NetwoRC Provider EE NetwoRC b CAP Provider Provider Provider User s Guide User s Guide Proprietary Protocol E ORIN2 b CAP ROBOTalk Figure 1 1 Robot connection ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide 11 2 Setup 2 1 Emergency stop device position A robot emergency stop switch should be prepared and set up near a robot operator before operating the robot so that the switch can immediately stop the robot motion in an emergency situation The robot emergency stop switch should meet the following requirement 1 The emergency stop switch should be red colored 2 After the emergency stop switch is activated the switch should not return to normal robot operating position automatically or by other operator s careless action 3 Arobot emergency stop switch should be set up separately from the power switch The emergency stop device shall be in accordance with IEC 60204 1 2005 10 7 and ISO 13850 2 2
71. neral OP eis adaba dl iliki ados erede imla testa 18 2 3 2 I O treatment for controllers witihli Oextensionboard 18 2 4 Robot controller s Executable Token ccooccccccccocccccncconococnononocanononnnnnnonanononnnannnnnnonaninaninnnns 20 2 4 1 Basic knowledge concerning robot controller s Executable Token 20 2 42 NotesinANSltiyperobotcontroller 20 2 5 Transternag PAG PrODF Msi Ml onla Sa kaya la aileni ia 23 2 6 Imiroducllon o1 RODMaSTO rosita 23 3 Programming with NetwoRC provider 25 CN CONC II a A A RT 25 22 e gz e e ya e RE EE DL E RT eT ne eo fae 26 9 2 We OMMO OTT e 5 scam ence Mae cee teense dt elle e EM R RR E e Pe 26 92 2 Read Wilte VATA e RE A Sai amd GN a A 27 322 3 DISCOMMECH ON HH 27 9 2 4 Sampe POD di ocd 28 3 6 olattand Slop PAG Program PAC assi aiii dead 28 So Be ca Teen e dni 29 R ZT LST e PAD eeel 29 9 9 9 eee e Prora T 29 AO Ni e 30 34 GORE E 31 34 2 Move and stop rODO leeran dd 31 EA Is A MR Nue cito dtm aM Leu teens 32 4 Outline of provider oocccocccccccconncccnncocncoonoconononnnonnnnonnnnncnnnnnonanonnnnnnnness 33 o o 33 42 Method and Prosa o ed as 34 4 2 1 CaoWorkspace AddController method sss see eee 34 225p oHm ODIO A eee o A nit patct Eun EAM Cim tee eye 35 ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide e
72. ntifier Explanation I type variable The variable number is specified behind the variable name F type variable The variable number is specified behind the variable name D type variable The variable number is specified behind the variable name The variable number is specified behind the variable name The data type has three elements The variable number is specified behind the variable name The data type has seven elements the variable name i The data type has six elements The variable number is specified behind the variable name i The data type has ten elements VT BSTR S type variable The variable number is specified behind the variable name IO VT BOOL IO type variable The variable number is specified behind the variable name VT ARRAY TOOL The variable number 0 or greater 1s specified Attribute S ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide 76 VT ARRAY AREA The variable number 0 or greater is specified Y y behind the variable name V 0 V 8 IO Pos Err Enable V 0 V 8 area l I O port number position number error flag function enable disable ITPCNF The variable number is specified behind the variable name PACCNF The variable number is specified behind the variable name DIOCNF The variable number is specified behind the variable name ARMCNF The variable number is specified behind the variable n
73. number VT 12 gt lt reco WAITTRACKMOVE gnized workpiece position P Waits for tracking target type POSEDATA C0 gt lt timeout V workpiece to enter into a T D gt tracking start area ED RobSlave WaitTrackMoveEx conveyer number VT 12 gt lt reco error information VT I WAITTRACKMOVEEX gnized workpiece position Pm Waits for tracking target type POSEDATA C0 gt lt timeout V workpiece to enter into a T 2 gt tracking start area e RobSlave CurTrackSpd conveyer number VT I2 conveyer speed VT R4 CURTRACKSPD gt Obtains the speed of the conveyer specified in lt conveyer_number gt ED RobSlave ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide 68 CalcWorkPos lt conveyer number VT_12 gt lt work position CALCWORKPOS piece position at recognitin P VT RAIVT ARRAY gt Obtains the current position type POSEDATA C0 gt lt encode va of the specified workpiece lue at recognition VT_14 gt eS RobSlave SetTrackMove lt conveyer number VT I2 None SETTRACKMOVE Starts the tracking operation for the specified conveyer ED RobSlave ResetTrackMove None RESETTRACKMOVE SetTrackStartArea ClearSrvLog StartSrvLog StopSrvLog SetSrvLogCond lt conveyer number VT_12 gt lt conv eyer upstream side tracking st art position VT 12 gt lt conveyer do wnstream side tracking start p osition VT 12 gt None None None lt Axis number number 1 VT I2 Data number V
74. oCommand Execute method A command is executed Please refer to Table 4 5 for necessary parameters for command execution and returned result Parameters necessary to execute command need to be specified by PutParameters property beforehand 4 2 12 CaoCommand get Parameters property Get currently set execution parameters 4 2 13 CaoCommand put Parameters property Set command execution parameters Required parameters differ depending on the command to be executed Please refer Table 4 5 for command name and parameters to be set Even if the content of the parameter doesn t match the specification of executed command this property doesn t return an error The error is returned when the command is executed 4 2 14 CaoFile AddFile method Create an file object like in the same way as 4 2 3 The file path corresponding to the created CaoFile object is lt path of the parent object gt lt fine name specified in AddFile gt ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide SAGS 4 2 15 CaoFile AddVariable method The argument of the AddVariable method of the CaoFile class specifies the system variable name Please refer Table 0 9 for the list of 1mplemented system variables 4 2 16 CaoFile get_VariableNames property A list of the variable identifier and the system variable identifier that can be specified by the AddVariable method is acquired 4 2 17 CaoFile Copy method Copy a file corresponding to the
75. object to the specified place 4 2 18 CaoFile Delete method Delete a file corresponding to the object After de deletion of the file object is not deleted If the object 1s not necessary client program need to delete the object 4 2 19 CaoFile Move method Move a file corresponding to the object The placement of the corresponding file is changed but object name is not changed 4 2 20 CaoFile get DateCreated property Get the file creation date of the file corresponding to the object 4 2 21 CaoFile set DateLastAccessed property Get the last file access date of the file corresponding to the object 4 2 22 CaoFile get_DateLastModified property Get the last file modification date of the file corresponding to the object 4 2 23 CaoFile get_FileNames property Get a list of file in the directory Only executable when the path corresponding to the object 1s a directory 4 2 24 GaoFile get Attribute property Get the attribute of the file corresponding to the object 8 VT ARRAY VT VARIANT less than Ver1 1 0 VT ARRAY VT BSTR ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide 46 4 2 25 CaoFile get_Path property Get the path to the file corresponding to the object The retrieved value does not include file name 4 2 26 CaoFile get Size property Get the size of the file corresponding to the object 4 2 27 GaoFile get Type property Get the extension of the file corresponding to the object
76. of CaoVariable for the accessed variable Following is an example code of accessing the 10 element of P type variable g val g ctrl AddVariable P10 3 2 2 Read Write Variabl To read and write the connected variable value use Value property of CaoVariable object To read and write value another variable with the suitable type for the connected variable should be prepared Following is an example code Dim vntPotision as Variant vntPotision g val Value Read value g val Value Array 50 50 50 0 0 0 1 Write value 3 2 3 Disconnection To disconnect from the controller delete not only created object itself but also delete the object from a collection class that manages the object Following 1s an example code g ctrl Variables Clear Delete all objects from CaoVariables Set g val Nothing Delete CaoVariable g wrks Controllers Remove g ctrl Index Delete CaoController from CaoControllers Set g ctrl Nothing Delete CaoCtonroller g eng Workspaces Remove g wrks Index Delete CaoWorkspace from CaoWorkspaces Setg wrks Nothing Delete CaoWorkspace Setg eng Nothing Delete CaoEngine ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide 28 3 2 4 Sample program Following is an example program written with VB6 IP and Port should be set to the value for the target controller This sample program uses following value IP 192 168 0 1 Port 4112 List 3 1 Variable frm Dim g_eng As CaoEngine Di
77. oller 1 Create a variable to store object CaoEngine object CaoWorkspace object and CaoController object are required to establish communication to the robot controller CaoWorkSpace need not prepare a variable if it is directory acquired from CaoWorkspaces CaoVariable object is also necessary to access to variables Following is a code example in VB6 Dim g eng as CaoEngine CaoEngine object variable Dim g wrks as caoWorkspace CaoWorkspace object variable Dim g ctrl as CaoController o CaoController object variable Dim g val as CaoVariable CaoVariable object variable 2 Create CaoEngine object CaoEngine object is created with New keyword ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide 2A Set g eng New CaoEngine CaoEngine object creation 3 Acquire or create CaoWorkspace object When created CaoEngine object automatically creates one Caoworkspaces object and one Caoworkspace object The next sample program uses the automatically created workspace Following 1s a code example of creating new CaoWorkspace object g wrks g ctrl Addworkspace NewWrks 4 Create CaoController object To create a CaoController object specify the provider name and its parameters NetwoRC provider specifies destination controller IP address as an option Following is an example code g ctrl g wrks AddController RC CaoProv DENSO NetwoRC conn eth 192 168 0 1 5 Create CaoVariable object Create an object
78. oller without I O extension board Please close Mini I O general purpose system I O connector CNS terminal No 11 By closing the signal Step stop All tasks signal port number 0 becomes ON and robot and program execution 1s enabled Close Mini I O General purpose System I O connector CN5 No 11 SAFETY BOX SAFETY BOARD Only for global type with safety box Only for global type with safety board Figure 2 8 Step stop All tasks treatment ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide 18 amp E vever 1 Joint motel Oz 1 0 Monitor LminilO minil0 Assginl e Enable Auto Deadman SH r Robot stop SI Dedct IN Dedct IN Mo Dedct IN Mos Dedct IN Stop all steps Strobe signal Data Data 1 4 lDedct IN BLR JDedct IR 6 JDedet IN nm Dedct IN Data 2 Command ommand 1 Command 2 Confirm Step Stop All Bra Ienri m Bco penri TN Bra icenri an Ba IGenrl IN tasks signal 1s ON Bra penri TN Bra Ienri Era Genri in cis penr IN F5 0K Turns the selection on or off EN a Back Next Jump To Dummy m ON OFF E e Figure 2 9 Signal confirmation after 1 0 treatment This type of I O does not have Instantaneous stop signal so no treatment is necessary 2 3 1 1 Mini I O All general option Mini I O All general option available on Version 2 90 or later is for robot system that does not require special I O port assigned to mini I O By activating the option all mini
79. oordinates This method corresponds to MOVE instruction PAC language Following 1s the Move argument specifications Move lt IComp LONG gt lt vntPose POSEDATA gt lt bstrOpt BSTR gt IComp in Interpolation 1 MOVE P 2 MOVE L 3 MOVEC 4 MOVE S vntPose in Pose data bstrOpt in Motion option NEXT Asynchronus call Please refer to 6 1 3 Appendix APOSEDATA type definition for the POSEDATA type The form and the meaning when the character string 1s specified by the POSEDATA type are as follows ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide 48 In case of VT BSTR If Comp 1 2 lt pass motion beginning displacement gt lt pose gt lt extended joints gt ex PI P T100 WE J520 If Comp 3 lt pose 1 gt lt extended joints gt lt pass motion beginning displacement gt lt pose 2 gt lt extended joints gt nose and pose 2 need to be same variable type ex Pl WE P2 T100 P T101 If Comp 4 lt pass motion beginning displacement gt lt free curve trajectory number gt lt extended joints gt ex N b P 20 E 5 lt free curve trajectory a decimal number 1 to 20 number gt lt pose gt lt variable type gt lt variable number gt or variable type gt lt element1 gt lt element2 gt lt variable type gt One character either P T or J variable number gt a decimal number
80. ot exist in the robot 0x80000801 E CAOP NO ROBSLAVE controller RobSlave program in the robot controller is 0x80000802 E CAOP ROBSLAVE NOT READY not running 0x80000803 E CAOP ROBSLAVE CRC ERROR RobSlave program CRC error 0x80000804 E CAOP ILLEGAL CTRLVER Illegal robot controller version 0x80000805 E CAOP NO EXECTOKEN No executable token 0x80000806 E CAOP ILLEGAL ROBSLAVE Illegal RobSlave version The count of connections is over the possible 0x80000807 E CAOP NO LICENSE number Please purchase an additional license 0x80000900 E TIMEOUT Timeout occurred 0x80010900 E SEND NAK NAK occurred ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide 0x80010902 E REJECTED Reject occurred 104 0x80010903 E ABNORMAL R PACKET Receive packet broken 0x80010904 ORiN Forum E ABNORMAL S PACKET Send packet broken DENSO WAVE Inc NetwoRC provider user s guide 105 Appendix F Non Stop Motion Calculator Trajectory Generator Command for Non Stop Inspection Appendix F 1 Parameter Following is details of Position gt parameter and Area parameter of GenerateNonStopPath command Position VT VARIANT VT ARRAY X VT R4 Y VT R4 Z VT R4 lt RX VT R4 lt RY VT R4 gt lt RZ VT_R4 gt lt Fig VT 14 gt lt J7 VT_R4 gt lt J8 VT R4 Motion Velocity VT R4 gt 0 0 1 0 Motion Pattern VT I4 0 P
81. ovider m PC side o Are the command names and parameters correctly Check the command funtion specification specified ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide 98 Appendix D Controllers supported by NetwoRC provider Table 6 3 List of supported Controllers Class Property Method Event Description 1 998 higher 2 330 higher CaoController E ea CommmdNams P R v Commands PT RP YP ExtensionNames P R d Y Yoo Extensions PR A a Ys Filenames PR gt A a Yoo mis P R NN Hp PRI YA A Do R 2 Aa v index PYR AA a ys Name P R A a Ys RobotNames PT RR YP Robots PT RT A ay mew y E TaskNames PRO A N asks P R NN VariableNames P R vy J Jv Variables PT RT YP AddCommand M S yf ly A Exemin M 8 Y v Ape MP Ss VPP Ad Robor M S YP PT aaas ME S8 YP N Adae M S yey ewe MS VP y GetMessage MR Y vg OnMessage EPR gt Y YT ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide 99 Gea awe e 3 HE EK Help I D ma RA mw gt w N N ma m N N BEEN CFle jAmbue PTR VP YP DateCreated P R N N DateLastaccessed P R V v L DateLastModified P RJ Y Vv P FileNames Sew mls EC SO EC IE me w w m w w 1 1 1 1 ORiN Forum DENSO WAVE Inc
82. ovider user s guide 93 Appendix B PAC Commands supported by NetwoRC 282 330 provider Table 6 2 List of PAC Commands Motion Control APPROACH y ow a DRIVEA pw p H frome H pewm H fom H jew H em f je f osm f sms opem ewe wwe H rosa r 3 eem 3 ORiN Forum INTERRUPT ON OFF Speed Control ope f ess 3 Teese ae 3 DENSO WAVE Inc NetwoRC provider user s guide Tense UC Motor Power Particular Control L mE ST aspChange L L ST_ResetGravity seson seem seca ERN ST ResetCurLmt forsen suem 0 3 C 5 i 3 seme 3 Iret EHH Ira T seme 5 sem seme seme om seme sr secme 4 ST ResetCompJLimit seme sre 3 seme sese 3 owe 0 3 seem sme 0 3 ORiN Forum lt a 2 e L J 94 EN ST ResetZBalance Pose Data Type Transformation Lee 0 O J2T T2P y Conveyer Tracking TRACKDATAINITIALIZE y mpa 3 pnp T na T Tas T H Tr 3 Lewes 3 Ts 3 nas 3 Tar Tm 3 jew encan ewcomwmos Tronas 3 me A seminer MotionSkip DENSO WAVE Inc NetwoRC provider user s guide 9595 emm 3 SYSSTATE A lans 3 Taa 3 eene 3 ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide Appendix C Trouble Shooting 96
83. rProvName BSTR gt lt bstrPcName BSTR gt lt bstrOption BSTR gt bstrCtrIName in Controller name bstrProvName in Provider name Fixed to CaoProv DENSO NetwoRC bstrPcName in Provider execution machine name bstrOption in Option character string lt option1 gt lt option2 gt Following 1s a list of option string items Table 4 2 Option cstring of CaoWorkspace AddController ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide MOD om OOOO 777 Conn lt connected parameter gt Mandatory Communication method and connection parameters are set Refer 2 2 1 1 for details MyIP lt local IP address gt local Specify the IP address and UDP port number of the local UDP port number machine In case of multiple NICs MyIP option is used to specify a NIC If this option was omitted the first NIC is selected automatically If an invalid IP was set an error occurs If the UDP port number is not specified the system assigns an appropriate port number automatically In case of RS232c this option is ignored Timeout lt Time out time gt Communication time out time default 400 msec TORetry lt Retry count gt Communication retry count 1 7 default 5 It is treated as 1 in case of 1 or less It is treated as 7 in case of 7 or more CtrlChk True False Connection check default False In case of RS232C only one CaoController object is creatable for one RS232C port
84. ram to a robot controller Using RobMaster exe tool included ORIN SDK Mini pendant mini TP or Teach pendant TP is necessary for these method RobMaster exe is a tool to show robot controller status and to control RobSlave task directly from PC and the tool program is stored in NetwoRC provider installation folder lt ORIN2 installation folder gt YCAOYProviderLibYDENSOYNetwoRCYBin Start RobMaster exe and follow this procedure to setup the controller 1 Start robot controller and change to manual mode 2 Start RobMaster exe program Start gt All Programs gt ORIN2 gt CAO gt ProviderLib gt RobMaster 3 Press Connect button to connect the program to the robot controller 4 Press Setup button of RobMaster exe and follow the instructions to send necessary PAC programs to the robot controller 2 6 Introduction of RobMaster 92 330 Bundled tool RobMaster is connected to a robot controller and offers the following function 1 Set up a robot controller to be used with ORIN 2 Start and stop the controller s RobSlave task 3 Turn on and off the motor power of the controller 4 Display robot controller error status and clear error 5 Display robot controller tatues Following is the introduction of RobMaster functions lt ORiN2 SDK install folder gt CAO ProviderLib DENSO NetwoRC Bin RobMaster exe ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide 2 RobMast E Connection
85. rent position of a joint to 0 mm or 0 degree ED RobSlave INTERRUPT ON OFF Interrupts a robot motion ED RobSlave ST aspACLD Changes the internal load condition values ED RobSlave ST aspChange Selects the internal mode for proper control setting of motion optimization ed RobSlave ST SetGravity Compensates for the static load gravity torque applied to each joint and attains balance with gravity torque ED RobSlave DENSO WAVE Inc NetwoRC provider user s guide ST ResetGravity None None None ST SetGrvOffset ST ResetGrvOffset None ST SetCurLmt AxisNumber VT I2 None Value VT R4 ST ResetCurLmt AxisNumber VT I2 None ST SetEralw AxisNumber VT I2 None Value VT R4 gt ORiN Forum 58 ST ResetGravity Disables the balance setting between the limited motor torque and gravity torque which is made with ST SetGravity ed RobSlave ST SetGrvOffset Compensates the torque of each joint programmed with ST SetGravity for gravity torque ED RobSlave ST ResetGrvOffset Disables the gravity offset function ED RobSlave ST SetCurLmt Sets the limit of motor current to be applied to the specified axis ED RobSlave ST ResetCurLmt Resets the motor current limit of the specified axis e RobSlave ST SetEralw Modifies the allowable deviation of the specified axis ED RobSlave DENSO WAVE Inc NetwoRC provider user s guide ST_ResetEralw
86. riable type pass type and aux axis specified by number lt Pass start displacement gt lt Vector V type I Cl format exl OP V20 String QP V20 VARIANT type array Array 20 V BC variable type and pass type specified by string VARIANT type array array 208 D variable type and pass type specified by number ex2 E V 0 0 125 5 50 0 String QE V 0 0 125 5 50 0 VARIANT gpeamy PRSE immediate value with variable Av e el A A VU y type and pass type specified by Array wW V QE 50 0 string VARIANT opeamay TRR frete immediate value with variable V 0 0 0 v 1 125 5 v 2 50 0 wW Z VU VT RA VT ARRAY type and pass type specified by Array vV 3 2 number ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide 90 lt Pass start displacement gt lt Value gt lt ExJnt gt exl P 1 C2 format p 1 Array 1 Qp String VARIANT type array variable type and pass type specified by string VARIANT type array Array 1 71 70 variable type and pass type specified by number ex2 P 1 56 QP 1 56 Array 1 56 0P String VARIANT type array variable type and pass type specified by string VARIANT type array Array 1 96 71 1 variable type and pass type specified by number Pass start displacement gt lt Element1 gt lt Element 2 gt lt ExJnt gt exl OP 1 30 0 C3 format
87. ry task To enable a supervisory task the following steps are required 1 Add 1111 and 1112 options Top screen gt Set F6 gt Options F7 gt Extension F8 e amp dq B vwee76 a Joint Morel i mem System Extension Key 19980512 Supervisor TASK Supervisor TASK Expansion 1112 F5 Input ID for new function F4 Remove function L bebe 2 Restart the controller 3 Enable a supervisory task Top screen gt SHIFT gt S TASK F2 gt Setting F2 ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide 85 8 Ma a vseszze AL Joint Hoto iz Supervisor TASK Setting Setting F2 4 4 lt Mode ccupy F81 ie F19 Cancel Close this window Cr 4 Restart the controller again 6 1 2 Make a supervisory task The following sample program writes I O when it gets notification from an external PC The controller is set as a server and its input port number is 4 and its TCP port number is 5001 List 6 1 TSR1 pac PROGRAM TSR Defint lval Defstr sval Do Wait for a TCP connection com state 4 lval If Ival lt gt 1 Then Exit Do Delay 100 Loop Do Wait for a command Input 4 sval 4 TCP 5001 port Ival Val sval Covert character string to a number If Ival gt 0 Then Set lO lval 7128 gt 10 128 ON Print 44 sval ON Else Reset lO lval 2128 gt 10 128 OFF Print 4 sval OFF End If Loop END Con
88. select external automatic mode in ANSI type controller Note The ext button ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide AS on RobMaster does not work for ANSI type robot controllers 4 Mode selection procedure using the teach pendant After the following procedure is completed and robot is set to automatic mode robot mode will be changed to the selected internal or external automatic mode D 2 Figure 2 11 Internal external automatic mode selection by teach pendant 5 Mode selection procedure using the mini pendant After the following procedure is completed and robot is set to automatic mode robot mode will be changed to the selected internal or external automatic mode ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide ORiN Forum Aux Function Maintnanc Option Cancel OK aum f TO TET p GOJ gt rm aer ferrer E i Al Ea Sin glPtCtrl ntetnal Cancel OK 992 Internal Auto Mode External Auto Mode Figure 2 12 Internal external automatic mode selection by mini pendant DENSO WAVE Inc NetwoRC provider user s guide 297 2 5 Transferring PAC program 2 330 To execute robot motion commands refer to Table 0 3 with NetwoRC provider following PAC programs RobSlave pac RobSlave h and UserExtention pac need to be sent to the robot controller and need to be executed To transfer PAC prog
89. t C1 format lt Pass start displacement gt lt Value gt lt ExJnt gt C2 format lt Pass start displacement gt lt Element1 gt lt Element 2 gt lt ExJnt gt C3 format Appendix A 1 Examples lt Pass start displacement gt lt Pose P T J type lt ExJnt gt CO format ex1 T200 a aaoo a a E E 0 TUDIN ETA E variable type specified by string VARIANT type array Array 200 0 5000 00 variable type specified by ex2 OP J100 String m oum e RG variable type and pass type specified by string emp e variable type and pass type specified by number String VARIANT rn ie Ma immediate value with P 0 10 0 p 1 10 5 p 2 34 6 p 3 0 0 I Array is a function to return an array composed of the argument to the function Array function of VB6 ORIN Forum DENSO WAVE Inc NetwoRC provider user s guide 89 variable type and pass type p 4 90 0 p s 0 0 p 6 1 0 PO eos specified by string Array vP P QE VARIANT type array Dim p 6 as Single Dim vP as Variant immediate value with P 0 10 0 p 1 p 4 90 0 p 5 variable name and pass type vP pO Array vP 0 2 10 5 p 2 34 6 p 3 0 0 0 0 p 6 1 0 specified by number String VARIANT type array variable type pass type and aux axis specified by string VARIANT type array va
90. this with RC5 SrvLog CaoRobot Single axis control log acquisition note Cannot use Run and Motor command with RCS 92 330 ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide ug 4 Outline of provider 4 1 List of method Table 4 1 List of method Category Method Property Function caoWorkspace Addcontroller Connects communication to RC P 34 caoController AddCommand P 36 AddFile Connects to file or folder PAC system file P 36 AddRobot Connects robot P 3 AddTask Connects task P 38 AddVariable Connects variable P 38 get TaskNames Get list of tasks P 39 get VariableNames Get list of variables P 39 Execute Execute command of controller P 39 OnMessage Event of OnMessage P 43 CaoCommand Execute Execute command P 44 get Parameters Get parameter of execution P 44 put parammeters Set parameter of execution P 44 CaoFile AddFile Connect pac file or controller folder P 44 AddVariable Connect system variable of files P 45 get VariableNames Get list of system variable name P 45 Copy Copy file P 45 Delete Delete file P 45 Move Move file P 45 get DateCreated Get created date P 45 get DateLastAccessed O Get accessed date P 45 get DateLastModified Get Modified date P 45 get FileNames Get list of files P 45 get Attribute Get attributes of file P 45 get Path Get path of file P 46 get Size Get size of file P 46 get Type Get extension of file P 46 get Value Get value of file P 46
91. tion and the posture of the tool tip under the compliance control exclusively designed for 6 axis robots ED RobSlave ST ResetCompEralw Initializes the allowable deviation values of the position and the posture of the tool end under the compliance control exclusively designed for 6 axis robots ED RobSlave DENSO WAVE Inc NetwoRC provider user s guide lt DampRate along X VT R4 gt ST SetDampRate lt DampRate along Y VT R4 gt lt DampRate along Z VT_R4 gt about lt DampRate X VT_R4 gt lt DampRate about Y VT_R4 gt lt DampRate about Z VT R4 gt None ST ResetDampRate ST SetZBalance ST ResetZBalance value VT I2 SYSSTATE ORiN Forum None None None None None None 63 ST SetDampRate Sets the damping rates under the compliance control exclusively designed for 6 axis robots ed RobSlave ST ResetDampRate Initializes the damping rates under the compliance control exclusively designed for 6 axis robots ED RobSlave ST SetZBalance Sets the gravity compensation value of the Z and T axes exclusively designed for 4 axis robots ED RobSlave ST ResetZBalance Disables the gravity compensation function exclusively designed for 4 axis robots ED RobSlave Msec Suspends program processing for a designated period time ed RobSlave SYSSTATE Gets the system status of the robot controller ed RobSlave DENSO WAVE Inc
92. to set the executable token for turning ON OFF the motor or starting the program from the ORIN application Refer to 2 2 1and 2 2 2 For the safety reason and to meet with Single point of control requirement only the selected equipment can control a robot controller from the outside Moreover the robot controller becomes executable only in the external automatic mode as for turning ON OFF the motor and starting the task from the ORIN application The executable token changes as shown in the following figures Executable token rs232c Ethernet Transition timing of Executable Token CO 1 ANSI Std When switching with TP miniTP Note 1 2 Std When switching with I O 3 Std When switching with PC ORIN 4 Std When a error occurred External to Internal o 1 ANSI Std When switching with TP miniTP Note 1 Note 1 The switching procedure depends on the specification Figure 2 10 Transition of executable token 2 4 2 Notes in ANSI type robot controller As previously stated turning ON OFF the motor and starting a program from the ORIN application is possible only if the controller is in the external automatic mode For the robot controller of the ANSI type please note that you need to go to I O Auxiliary Function single point of control menu and select External automatic operation to change the robot controller to external automatic mode Following is the procedure to
93. troller setting Top screen gt Set F6 gt Set Com F5 gt Server F11 ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide 86 8 e amp a vs 65776 ar Joint noto iz Server Settings cr 6 1 3 Notify to a supervisory task from a PG The following sample program using Stream provider notifies to a supervisory task from a PC The IP address and the port number should be changed according as set above List 6 2 Client frm Private eng As CaoEngine Private WithEvents ctrl As CaoControl ler Private Sub Form Load Set eng New CaoEngine Connect to NetwoRC controller as a client Set ctrl eng Workspaces 0 AddController Client _ CaoProv DNWA STREAM _ Connzeth 192 168 0 1 5001 End Sub Private Sub Commandl Click Send data ctrl Execute Send text1 Text Ex 128 gt 10128 0N End Sub Receive data Private Sub ctrl_OnMessage ppCaoMess As CAOLib CaoMessage get data text2 Text ppCaoMess Value End Sub PT ORiN Forum DENSO WAVE Inc NetwoRC provider user s guide 87 Appendix A POSEDATA type definition In the NetwoRC provider POSEDATA is defined so that the pose data type data and the vector type data of DENSO robot by VARIANT variable POSEDATA type VARIANT VT BSTR lt Pass gt lt Variable type gt lt Index gt lt ExJnt gt or lt Pass gt lt Variable type gt lt Element 1 gt

NetwoRC provider user's guide - Carafa Christian Engineering

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