Specifications

ii
CONTENTS
Chapter 5 Writing Programs ............................................................. 70
5.1 Creating a New Program..................................................................................... 70
5.2 Leveraging Existing Files .................................................................................... 71
5.3 Saving a Program................................................................................................ 72
5.4 Editing a Program................................................................................................ 73
5.4.1 Finding and replacing strings...................................................................................... 74
5.4.2 Other editing functions................................................................................................ 75
5.5 Program Bank ..................................................................................................... 82
5.5.1 Adding a program to a project .................................................................................... 82
5.5.2 Adding a program to the program bank...................................................................... 83
5.5.3 Adding a category....................................................................................................... 84
5.6 Editing a Teach Pendant (TP) Panel................................................................... 85
5.6.1 Editing a TP panel ...................................................................................................... 85
5.7 Folder Functions.................................................................................................. 86
5.7.1 Creating a folder ......................................................................................................... 86
5.7.2 Importing an entire folder............................................................................................ 87
5.8 Making Executables ............................................................................................ 88
5.8.1 Checking syntax ......................................................................................................... 88
5.8.2 Making executables.................................................................................................... 89
5.9 Simulation function .............................................................................................. 90
5.9.1 Grammar check of simulation function ....................................................................... 90
5.9.2 Simulation function and global variables .................................................................... 90
5.9.3 Precautions for simulation function............................................................................. 90
5.9.4 List of supported commands ...................................................................................... 91
Chapter 6 Arm 3D View Window ...................................................... 92
6.1 Screen Descriptions ............................................................................................ 92
6.1.1 Arm 3D view ............................................................................................................... 92
6.1.2 Arm modeling ............................................................................................................. 95
6.1.3 Arm operation ............................................................................................................. 97
6.2 Simple Modeling.................................................................................................. 98
6.2.1 Adding objects ............................................................................................................ 99
6.2.2 Saving objects .......................................................................................................... 103
6.2.3 Importing objects ...................................................................................................... 104
6.3 Importing 3D Data ............................................................................................. 105
Chapter 7 Online Functions ............................................................ 107
7.1 Overview ........................................................................................................... 107
7.1.1 Monitoring and debugging ........................................................................................ 107
7.2 Monitoring.......................................................................................................... 108
7.2.1 Initiating monitoring .................................................................................................. 108
7.2.2 Monitoring variables ................................................................................................. 109
7.2.3 Monitoring I/O ........................................................................................................... 112
7.2.4 Monitoring robot........................................................................................................ 113
7.2.5 Errors during monitoring ........................................................................................... 113
7.2.6 Validate the controller function extension................................................................. 114
7.3 Using Debugging .............................................................................................. 115
7.3.1 Initiating debugging .................................................................................................. 115
7.3.2 Launch the program from WINCAPS III. .................................................................. 118
7.3.3 Controller settings..................................................................................................... 119
7.3.4 Input signal dummy operation .................................................................................. 120
Chapter 8 Logging .......................................................................... 124
8.1 Log record timing............................................................................................... 125
8.1.1 Recording by program commands ........................................................................... 126