Specifications

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Chapter 7 Online Functions
7.1 Overview
These functions are for monitoring robot controller variables, I/O, and other aspects of operation and for checking
robot controller program operation under WINCAPS III control.
They cover all phases of robot application development.
Preliminary investigation with no actual equipment
• Equipment layout with 3D modeling
• Collision detection using this 3D model
• Dummy I/O input
Adjusting initial equipment setup
• Modifying variables and I/O
• Running programs
Troubleshooting equipment already in production use
• Monitoring variables and I/O
• Displaying error, operation, variable, I/O, and trace logs
7.1.1 Monitoring and debugging
The online functions serve two basic purposes.
Monitoring
This monitors the status of the robot controller.
Displays the robot's attitude in the Arm 3D view, and the variables, I/O, program executable lines. All types of
variables can be edited.
This software can receive all log data and preserve them.
Debugging
In addition to monitor functions, programs in the robot controller can be executed on your PC for debugging.
Caution
Debugging is not possible for robot controllers prior to Version 2.7.
The software also debugs programs, using the following functions.
• Adjust robot speeds
• Reset all programs
• Start/stop supervisory tasks
• Run programs
• Choice of Step-stop, Cycle-stop, Halt, and Program Reset
• Step in
• Toggle breakpoint
• Clear all breakpoints
• Breakpoint stop setting
• Dummy I/O for system inputs