ROBOT WINCAPSII GUIDE (Ver. 1.
Copyright © DENSO WAVE INCORPORATED, 2002 All rights reserved. No part of this publication may be reproduced in any form or by any means without permission in writing from the publisher. Specifications are subject to change without prior notice.
Preface Thank you for purchasing the WINCAPSII. It is designed for efficient program development and verification of the DENSO robot on your PC connected to the robot controller (NetwoRC). WINCAPSII also makes it possible to verify robot programs and data at a remote location via telephone line. On your PC, WINCAPSII allows you to simulate robot motions, variables, I/Os or manage program files in units of project, helping you easily develop and manage programs.
Contents of WINCAPS II Important To ensure operator safety, be sure to read the precautions and instructions in "SAFETY PRECAUTIONS" pages 1 through 9. NOTICE TO USER DENSO WAVE INCORPORATED grants you a non-exclusive, non-transferable license to use WINCAPSII ("Software"). 1. COPYRIGHT (1) The Software is protected by copyright laws and international copyright treaties, as well as other intellectual property laws and treaties.
Contents of WINCAPS II The WINCAPS II package consists of the following. Software < CD-ROM version> Instruction Manuals WINCAPS II GUIDE (this book) Note: The CD-ROM version contains this book in the PDF file format. 5. Required operating environments The following operating environments are required for running WINCAPSII smoothly. Table 3-5 Operating Environments for the PC Teaching System Software CPU Pentium or higher capacity OS Windows 95 or upper version (See Note 1.
Before Using WINCAPS II Before Using WINCAPS II 1. Release restrictions on WINCAPS II functions Without entry of User ID, WINCAPS II does not operate except “PRO1”, which is designed to operate for the trial purpose. On activation of WINCAPS II, the license information screen appears. Enter User ID printed in the license card. 2. Store the license card with care The User ID printed in the license card is your purchased product number. The User ID is needed when you receive after-sales service.
How the documentation set is organized How the documentation set is organized The documentation set consists of the following six books. If you are unfamiliar with this robot series, please read all four books and understand them fully before operating your robot. BEGINNER’S GUIDE Explains the outline of DENSO robot, operation with the teach pendant, and programming with WINCAPS II by giving practical examples. Use this guidebook when you want to know the fundamental usage of the robot.
How this book is organized How this book is organized This book is just one part of the documentation set. It consists of SAFETY PRECAUTIONS, ten chapters, appendices, and index SAFETY PRECAUTIONS Defines safety terms and related symbols and provides precautions to be observed. Be sure to read this section before operating your robot. Chapter 1 Outline of Personal Computer Teaching System Describes the configuration of the personal computer teaching system and its features.
How this book is organized Chapter 10 Operating Log Manager Describes Log Manager of WINCAPSII software functions.
SAFETY PRECAUTIONS SAFETY PRECAUTIONS Be sure to observe all of the following safety precautions. Strict observance of these warning and caution indications are a MUST for preventing accidents, which could result in bodily injury and substantial property damage. Make sure you fully understand all definitions of these terms and related symbols given below, before you proceed to the text itself.
1. Introduction This section provides safety precautions to be observed during installation, teaching, inspection, adjustment, and maintenance of the robot. 2. Installation Precautions 2.1 Insuring the proper installation environment 2.1.1 For standard type The standard type has not been designed to withstand explosions, dust-proof, nor is it splash-proof.
SAFETY PRECAUTIONS 2.3 Control devices outside the robot's restricted space The robot controller, teach pendant, and operating panel should be installed outside the robot's restricted space and in a place where you can observe all of the robot’s movements when operating the robot controller, teach pendant, or operating panel. 2.4 Positioning of gauges Pressure gauges, oil pressure gauges and other gauges should be installed in an easy-to-check location. 2.
2.8 Setting-up the safety fence or enclosure A safety fence or enclosure should be set up so that no one can easily enter the robot's restricted space. If it is impossible, utilize other protectors as described in Section 2.9. (1) The fence or enclosure should be constructed so that it cannot be easily moved or removed. (2) The fence or enclosure should be constructed so that it cannot be easily damaged or deformed through external force. (3) Establish the exit/entrance to the fence or enclosure.
SAFETY PRECAUTIONS 2.10 Setting the robot's motion space The area required for the robot to work is called the robot's operating space. If the robot’s motion space is greater than the operating space, it is recommended that you set a smaller motion space to prevent the robot from interfering or disrupting other equipment. Refer to the "INSTALLATION & MAINTENANCE GUIDE" Chapter 4. 2.11 No robot modification allowed Never modify the robot unit, robot controller, teach pendant or other devices. 2.
3. Precautions while robot is running Warning Touching the robot while it is in operation can lead to serious injury. Please ensure the following conditions are maintained and that the cautions listed from Section 3.1 onwards are followed when any work is being performed. 1) Do not enter the robot's restricted space when the robot is in operation or when the motor power is on.
SAFETY PRECAUTIONS 4) Implementation of measures for noise prevention 5) Signaling methods for workers of related equipment 6) Types of malfunctions and how to distinguish them Please ensure "working regulations" are appropriate to the robot type, the place of installation and to the content of the work. Be sure to consult the opinions of related workers, engineers at the equipment manufacturer and that of a labor safety consultant when creating these "working regulations". 3.
3.4 Inspections before commencing work such as teaching Before starting work such as teaching, inspect the following items, carry out any repairs immediately upon detection of a malfunction and perform any other necessary measures. (1) Check for any damage to the sheath or cover of the external wiring or to the external devices. (2) Check that the robot is functioning normally or not (any unusual noise or vibration during operation). (3) Check the functioning of the emergency stop device.
SAFETY PRECAUTIONS 3.8 Precautions in repairs (1) Do not perform repairs outside of the designated range. (2) Under no circumstances should the interlock mechanism be removed. (3) When opening the robot controller's cover for battery replacement or any other reasons, always turn the robot controller power off and disconnect the power cable. (4) Use only spare tools authorized by DENSO. 4. Daily and periodical inspections (1) Be sure to perform daily and periodical inspections.
10
CONTENTS Preface.................................................................................................................................................................................i Before Using WINCAPS II..............................................................................................................................................iv How the documentation set is organized...............................................................................................................
4.4 Window Menu .............................................................................................................................................. 4-30 4.4.1 PAC Manager ........................................................................................................................................... 4-30 4.4.2 Variable Manager ..................................................................................................................................... 4-30 4.4.3 DIO Manager .....
5.6 Tools Menu (PAC Program Manager) .......................................................................................................... 5-30 5.6.1 Options ..................................................................................................................................................... 5-30 5.6.2 Program Bank........................................................................................................................................... 5-36 5.6.3 Command Builder .........
7.2 File Menu (DIO Manager).............................................................................................................................. 7-8 7.2.1 New (Programmer Level)........................................................................................................................... 7-8 7.2.2 Open (Programmer Level).......................................................................................................................... 7-8 7.2.3 Save................................
8.5 View Menu (Arm Manager) ......................................................................................................................... 8-15 8.5.1 Arm .......................................................................................................................................................... 8-16 8.5.2 Tool .......................................................................................................................................................... 8-16 8.5.3 Work......
Chapter10 Operating Log Manager 10.1 Outline of Log Manager ............................................................................................................................... 10-1 10.1.1 Outline of Functions................................................................................................................................. 10-1 10.1.2 Tool Bar (Log Manager)...........................................................................................................................
Chapter 1 Outline of Personal Computer Teaching System This chapter describes the configuration of the personal computer teaching system and its features.
Chapter 1 Outline of Personal Computer Teaching System 1.1 Features of Personal Computer Teaching System The personal computer teaching system is designed to make program development and verification efficient by connecting a personal computer to the robot controller. It is possible to use this system to verify the robot program and/or data from a remote point using the telephone line.
1.2.1 RS232C Connection This connection method uses an RS232C standard serial communication port. Figure 1-1 shows the position of the RS232C communication port on the robot controller. Use the cross cable that conforms to the specifications described in “Communication Cable” of Owner’s Manual (Installation & Maintenance). Communication port Fig.
Chapter 1 Outline of Personal Computer Teaching System Figure 1-2 shows the configuration of the personal computer teaching system connected with RS232C. Robot Personal computer RS232C cable Robot controller Printer cable Between the main body Power cable Printer Operating panel Teach pendant CD-ROM Fig.
1.2.2 Ethernet Connection This connection method uses an Ethernet communication network. To effect this connection, ensure that the personal computer is compatible with Ethernet and can be connected to the network. The robot controller must be equipped with an Ethernet board (option). Note: Refer to “Ethernet Board” in Owner’s Manual (Installation & Maintenance) regarding Ethernet specifications. Ethernet Fig.
Chapter 1 Outline of Personal Computer Teaching System 1. Example 1 - Cross cable Personal computer Communication cross cable Robot Robot controller Printer cable Cable to the main body Power cable Printer Operating panel Example 2 - Straight cable Teach pendant Straight cable communication Personal computer Robot Straight cable communication Printer cable Straight cable communication Cable to the main body Robot controller Power cable Printer Operating panel Teach pendant Fig.
1.2.3 Modem Connection This subsection describes how to connect the robot with a remote personal computer through the telephone by connecting a modem to the RS232C communication port of the robot controller. This connection method requires a serial communication port obtained by connecting a modem to the personal computer. Figure 1-5 shows the RS232C communication port of the robot controller to which the modem is connected.
Chapter 1 Outline of Personal Computer Teaching System Figure 1-6 shows the configuration of the personal computer teaching system connected with a modem. Telephone Network Modular wall Modular wall Modem Modem Telephone set Telephone set Robot controller Personal computer Cable to the main body Power cable Robot Printer cable Printer Operating panel Teach pendant Fig.
1.3 Security For data control security reasons, the personal computer teaching system divides users into two levels to limit operation and information that can be can accessed. Higher order users are identified via password to allow access to higher operation and information. 1.3.1 User Level Table 1-1 indicates user levels. Table 1-1 User Level User level Operator Programmer Description Not allowed to modify contents. No password is required. May modify contents except system critical items.
Chapter 1 Outline of Personal Computer Teaching System 1.3.2 Password The user will be prompted to enter a password in the following cases: • When starting WINCAPSII • Immediately upon selecting Set in each Manager • Immediately upon selecting Print in each Manager Once correctly entered, the password will not be requested before the session is over. When a password is required, the Password window as shown in Fig. 1-7 will appear.
Fig. 1-9 Password Note: The user level is referred to when opening dialogue boxes. To change the user level when the dialogue box has already been opened by Set or Print command, close the dialogue box once, and reopen it. The new user level will then be enabled.
Chapter 2 Setting Personal Computer Teaching System This chapter describes how to connect and set the personal computer teaching system.
Chapter 2 Setting Personal Computer Teaching System 2.1 Installing WINCAPSII Software Install the WINCAPSII software on the personal computer to use the personal computer teaching system. Note (1): If the WINCAPSII software is already installed on the computer, first uninstall the existing WINCAPSII software and then reinstall it. For uninstall procedure, refer to “2.1.2 Uninstall”. Note (2): Always install or uninstall the software after quitting all the applications currently running.
2.1.1 Installation Procedures Install the WINCAPS II according to the following procedure. "STEP 1 Terminate all the currently running applications. "STEP 2 Insert the WINCAPS II CD-ROM in a CD-ROM drive of your personal computer. Denso NetwoRC screen appears. Select “Install WINCAPS II” from the menu. If the screen does not appear, proceed to the STEP 3. Note: f you install the WINCAPS II from the floppy disks, proceed to the STEP 3. "STEP 3 Click Start at Windows 95 and then click Run.
Chapter 2 Setting Personal Computer Teaching System "STEP 4 Click on OK in the WINCAPSII Setup window to start the WINCAPSII Setup program. "STEP 5 The directory where WINCAPSII will be installed is indicated at Directory. button to start setup. Proceed to STEP 13. If OK, click on To change the directory (not recommended), click on Change Directory.
"STEP 6 2-4 Enter a desired directory for installation. Click on OK to start Installation. Hereafter, proceed with your operation interactively according to the messages displayed on the screen.
Chapter 2 Setting Personal Computer Teaching System "STEP 7 Installation starts and the progress is indicated via a bar graph. "STEP 8 When installation is completed, the following message will appear on the screen. Click on OK. "STEP 9 Restart Windows 95. WINCAPSII is then ready for use.
2.1.2 Uninstall Note: Always quit all the applications currently running before you install or uninstall software. Shared components, if they are running, cannot be installed or uninstalled. If a shared component that WINCAPSII is to use is being used by another application, the install/uninstall process may fail. "STEP 1 Click on Start at Windows 95 and select and open Control Panel from the Settings menu. "STEP 2 Double click on Add/Remove Programs in the Control Panel window.
Chapter 2 Setting Personal Computer Teaching System "STEP 3 The dialogue box for Add/Remove Programs Properties appears on the screen. Click on Install/Uninstall tab and select WINCAPSII. "STEP 4 Click on Add/Remove .... . "STEP 5 Click on Yes in the Application Removal dialogue box. (All nonshared components are deleted.
"STEP 6 Uninstall begins. If the Shared Component window appears in the middle of the screen, click on Remove None. (Shared components are not deleted.) "STEP 7 Upon completion of uninstall, a dialogue box for confirming completion of processing will appear on the screen. Click on OK. "STEP 8 Upon completion of uninstall, restart Windows 95. 2-8 Note: Files created by WINCAPSII (such as *.pac, *.ini, etc.) are not deleted by uninstall operation. Delete files manually as needed.
Chapter 2 Setting Personal Computer Teaching System 2.2 How to Connect Personal Computer and Controller This section describes each of the three types of connections between the personal computer and the controller. Note: Always turn both the personal computer and the controller OFF before proceeding with connection work. Otherwise the equipment may be damaged. 2.2.1 RS232C This subsection describes RS232C connection. Use the COM2 port on the robot controller for communication with the personal computer.
"STEP 2 Connect the other end of the RS232C communication cross-cable to the communication port on the personal computer. Insert it securely in the computer and tighten the screws.
Chapter 2 Setting Personal Computer Teaching System 2.2.1.2 Setting Robot Controller Set up the robot controller to use the RS232C port for the personal computer teaching system. Make this setting using the teaching pendant. "STEP 1 Press F6 Set on the teaching pendant basic screen. The Settings (Main) window will appear on the screen.
"STEP 2 Press F4 Set Com. The Communications Setting Menu appears on the screen. "STEP 3 Press F2 Serial IF. The Set RS-232C window appears on the screen. "STEP 4 Select COM2 and press F5 Change. The Select Transmission Rate window appears on the screen.
Chapter 2 Setting Personal Computer Teaching System "STEP 5 Select the transmission rate and press OK. The screen returns to the Set RS-232C window. "STEP 6 Check the display contents and press OK. The set transfer rate becomes valid. The screen returns to the Communications Setting Menu window.
"STEP 7 Press F1 Permit. in the Communications Setting Menu window. The Communication Permission Settings window appears on the screen. "STEP 8 2-14 Select COM2 and press F5 Change. The Change Permission Settings window appears on the screen.
Chapter 2 Setting Personal Computer Teaching System "STEP 9 Select the necessary permission settings. The meanings of the permission settings are as follows: ⋅ Disable: Communication port is not used. ⋅ Read only: Personal computer is enabled to read the robot controller data. It is not allowed to send data to the robot controller. ⋅ Read/Write: Data exchange is allowed between the personal computer and robot controller. When creating a program, select Read/Write.
"STEP 10 Check the display contents and press OK. The permission setting is enabled. The screen returns to the Communications Setting Menu window. "STEP 11 2-16 Press Cancel twice. The display returns to the basic screen.
Chapter 2 Setting Personal Computer Teaching System 2.2.1.3 Setting Personal Computer Set the personal computer to enable the installed WINCAPSII software to communicate with the robot controller. Make this setting at your computer. "STEP 1 Start the System Manager from Programs by clicking on Start at Windows 95. The System Manager starts up and the System Manager window appears on the screen. Note: For the method of starting System Manager, refer to “3.
"STEP 4 Select RS232C(R) in the Communication Device column. Set the data as shown below in the Optional Settings column. Timeout : 4000 msec Retry : 5 times Communication retry : 5 times "STEP 5 Click on RS232C tab. The ROBOTalk Manager window will change as follows: Select a communication port to use on the personal computer in the COM Port column. Select it according to the specifications of the personal computer. For the Baud Rate column, select the same speed as is set for the robot controller.
Chapter 2 Setting Personal Computer Teaching System 2.2.1.4 Connecting to the Robot Controller If RS232C is selected as the communication device in the preceding item for 2.2.1.3 “Setting Personal Computer”, the Setting communication button the system manager will appear as shown below: Fig. 2-1 Setting communication Button (RC232C) When the respective managers are started from the system manager button will appear on each manager button.
2.2.2 Telephone Line A telephone line needs to be set up for the personal computer and robot controller for telephone communication. 2.2.2.1 Connecting Modem To make connection via a telephone line, a modem must be installed. To do this, use Modems on the Control Panel in Windows. For the connection of a personal computer and modem, refer to the respective instruction manual as it varies depending on the hardware.
Chapter 2 Setting Personal Computer Teaching System 2.2.2.2 Setting Robot Controller "STEP 1 Press F6 Set on the basic screen of the teach pendant. The Settings (Main) window will appear on the screen. "STEP 2 Press F4 Set Com. The Communications Setting Menu window appears on the screen.
"STEP 3 Press F3 Modem. The Set Modem window appears on the screen. "STEP 4 Select the communication port of the controller to which the modem is connected. Select COM2 and press OK. The following system message appears. "STEP 5 Check the system message and press OK.
Chapter 2 Setting Personal Computer Teaching System 2.2.2.3 Setting Personal Computer "STEP 1 Click on Setting communication button of the System Manager. The ROBOTalk Manager starts and the ROBOTalk Manager window appears on the screen. If a password is not yet input, the Password dialog box appears. In this case, input the password. For the method of entering a password, refer to “1.3.2 Password”. "STEP 2 Double-click on the Telephone tab.
2.2.2.4 Connecting to Robot Controller Upon selecting the telephone line for the communication device as a result of the setting operation in the preceding item “2.2.2.3 Setting the Personal of the System Manager will Computer, the Setting communication button appear as shown below: Fig. 2-2 Setting communication Button (Telephone) When the respective managers are started from the system manager button will appear on each manager button.
Chapter 2 Setting Personal Computer Teaching System 2.2.3 Ethernet Setting is required to enable communication between the personal computer and the robot controller by connecting them via Ethernet. 2.2.3.1 Connecting Cable The personal computer and the robot controller need to be connected via an Ethernet network. For information regarding this connection, refer to “1.2.2 Ethernet Connection”.
2.2.3.2 Setting Robot Controller Set the robot controller to use the Ethernet port for the personal computer teaching system. Make this setting using the teach pendant. Specify the permission setting. In the present stage, you cannot set the IP address (your IP address) and gate address (gateway IP address). "STEP 1 Press F6 Set on the basic screen of the teach pendant. The Settings (Main) window appears on the screen.
Chapter 2 Setting Personal Computer Teaching System "STEP 2 Press F4 Set Com. The Communications Setting Menu window appears on the screen. "STEP 3 Press F1 Permit. The Communication Permission Settings window appears on the screen. "STEP 4 Select Ethernet and press F5 Change. The Change Permission Settings window appears on the screen.
"STEP 5 Select Read/Write. The meanings of the permission settings are as follows: When using Ethernet, select Read/Write. • Disable: Communication port is not used. • Read only: Personal computer is enabled to read the robot controller data. It is not allowed to send data to the robot controller. • Read/Write: Data exchange is allowed between the personal computer and robot controller. Upon making section, press OK. The screen returns to the Communication Permission Settings window.
Chapter 2 Setting Personal Computer Teaching System "STEP 6 Check the display contents and press OK. The permission setting becomes valid. The screen returns to the Communications Setting Menu window.
"STEP 7 Press F4 Set Address. The Set Controller IP Address window appears. "STEP 8 Press F5 Change and enter a required address. In the example here, IP Address is set to 192.168.0.1 and Subnet Mask to 255.255.255.0. "STEP 9 Press Cancel twice. The display returns to the basic screen.
Chapter 2 Setting Personal Computer Teaching System 2.2.3.3 Setting Personal Computer "STEP 1 Click on the Setting communication button of the System Manager. The ROBOTalk Manager starts and the ROBOTalk Manager window appears on the screen. If a password is not yet input, the Password dialog box appears on the screen. In such a case, enter the password. For information regarding how to enter a password, refer to “1.3.2 Password” on page 1-9. "STEP 2 Click on the Ethernet tab.
"STEP 3 Enter data in Controller IP, Connection Port, and Local Port at Optional Setting and then click on OK. Controller IP is the IP address of the party at the destination. Match it to the desired party for connection. (For example, an IP address such as 192.168.0.1). Communication Port is the local port number of the opposite party at destination. Match it to the desired party for connection. (For example, 4112). Local Port is the port number for own use.
Chapter 2 Setting Personal Computer Teaching System 2.2.3.4 Setting Network Environment To effect connection by Ethernet, it is necessary to set up Windows 95. The network environment setting procedures will be described here preconditioned on the fact that the network card (adapter) is installed, First, add TCP/IP to the protocol to be used in the network environment. Next, set up an IP address for the TCP/IP.
"STEP 2 Click on Network in the Control Panel window. The Network dialog box will appear on the screen. "STEP 3 Click on the Configuration tab. If the TCP/IP item is not found in the currently installed network components, click on Add. If TCP/IP exists, jump to STEP 6.
Chapter 2 Setting Personal Computer Teaching System "STEP 4 The Select Network Component Type dialog box appears on the screen. Select Protocol click the type of network component you want to install and click on Add. "STEP 5 The Select Network Protocol dialog box will appear on the screen. Select Microsoft from Manufacturers. Select TCP/IP in Network Protocols that appears on the right-hand side and click on OK. This results in the addition of the TCP/IP protocol.
"STEP 6 2-36 Again select the Configuration tab in the Network dialog box. Then, select the TCP/IP item from the following installed network components and click on Properties.
Chapter 2 Setting Personal Computer Teaching System "STEP 7 Select IP Address tab and click to specify an IP address. Then input required data in IP Address and Subnet Mask. For the actual values of the IP address and subnet address, inquire to the network administrator in charge of the pertinent network. If the network is local (for example, an environment for connecting the personal computer and the robot controller only), the IP address can be set as desired.
"STEP 8 2-38 Lastly select Identification tab and input a computer name and a workgroup. The computer name may be entered as desired, but give it the same name here as the login name entered at Windows startup. The work group will be tentatively made to read fa.denso.co.jp. Click on OK. This completes the network environment setting. Refer to the Windows 95 instruction manual or ask the network administrator for further information.
Chapter 2 Setting Personal Computer Teaching System 2.2.3.5 Connecting to Robot Controller If Ethernet is selected for the communication device according to “2.2.3.3 Setting Personal Computer” and “2.2.3.4 Setting the Network environment” of the System thus far described, the Setting communication button Manager will be displayed as shown below: Fig. 2-3 Setting Communication Button Display (Ethernet) When the respective managers are started from the system manager button appear on each manager button.
Chapter 3 Starting Teaching System and Knowing Each Manager This chapter describes the procedures for starting and terminating the personal computer teaching system and outlines the functions of each Manager.
Chapter 3 Starting Teaching System and Knowing Each Manager 3.1 Starting Personal Computer Teaching System Let’s start and run the WINCAPS II on your personal computer in order to input, edit, and verify the robot operation programs. Starting the System Manager DENSO application software WINCAPS II for personal computer teaching system consists of the following function modules.
"STEP 2 The WINCAPS II Information window appears. Read the information and click OK. Note: If you click the check box “Omit this message” at the lower left of the screen, the above window will not appear from the next startup operation. "STEP 3 The License Information window does not appear until you enter your license key. Enter User ID printed in the license card and click OK. Note: For detail on entering the license key, refer to 4.5.3 License Key.
Chapter 3 Starting Teaching System and Knowing Each Manager "STEP 6 When the WINCAPS II is activated the second time and after, the dialog box "Open Project" appears. Select a desired project. The default is the previously used project. "STEP 7 The Password window appears. Select the user level from the pop-up menu, enter the password if necessary, and then click OK. Note: For the password, refer to “1.3.2 Password”. "STEP 8 The dialog box appears with the message “Connect with the controller? ”.
3.2 Terminating Personal Computer Teaching System To terminate the personal computer teaching system, you need to terminate the programs of both personal computer and Robot Controller. 3.2.1 Terminating Personal Computer "STEP 1 Clicking the close box at the upper right of the System Manager window will terminate all the software for WINCAPS II running on your personal computer. "STEP 2 Terminate the Windows 95 and turn off the personal computer, if necessary. 3.2.
Chapter 3 Starting Teaching System and Knowing Each Manager 3.3 Function Outline of Each Manager The application software for the personal computer teaching system consists of the various Managers classified by their functions. The following table lists the function outline of each Manager. Manager System Manager: Totally controls the personal computer teaching system. Functions Reference 1. Starts each Manager. 4.1.2 2. System project management 4.1.3, 4.2 l Creates a new project.
Manager Functions Reference Variable Manager: 1. Monitor the variables. 6.4 Backs up or monitors the variables used by the Robot Controller. 2. Operates the variables data. 6.1.3 3. Prints the variables table. 6.2.6 4. Backs up data in the variables table. 6.2.4 5. Creates a macro definition file for variables. 6.2.7 6. Transfers the variables table between personal computer and the Controller. 6.2.5 7. Sends messages via RS232C. 6.5.2 1. Monitors the I/O status. 7.4.3 2.
Chapter 3 Starting Teaching System and Knowing Each Manager Manager Vision Manager: Supports creation of vision program using PAC language. LOG Manager: Functions Reference 1. Opens the image data. 9.2.7 2. Connects with the Robot Controller. 9.3.1 3. Creates a macro definition file for vision. 9.4.2 4. Displays the camera image. 9.4.6 5. Edits the window. 9.4.3 6. Edits the search model. 9.4.4 7. Executes the camera CAL. 9.4.5 8. Uses the image analysis tool. 9.4.6 1.
Chapter 4 System Manager This chapter describes the function and operation of the System Manager, which constitutes the nucleus of the WINCAPSII software used in the personal computer teaching system.
Chapter 4 System Manager 4.1 Outline of System Manager 4.1.
4.1.2 Tool Bar Tool bar Communication set button PAC Program Manager button Variable Manager button DIO Manager button Arm Manager button Log Manager button Vision Manager button Fig. 4-2 Tool Bar PAC Program Manager Button Click on this button to start the PAC Program Manager. For descriptions on the operating procedures of the PAC Program Manager, refer to Chapter 5 “Operating PAC Program Manager” and Chapter 3 “3.5 Entering and Editing Programs” in this manual.
Chapter 4 System Manager Vision Manager Button Click on this button to start the Vision Manager. For Vision Manager operating procedures, refer to Chapter 9 “Operating Vision Manager” in this manual. When the Vision Manager is connected to the Robot Controller, the button icon display changes to . Log Manager Button Click on this button to start the Log Manager. For Log Manager operating procedures, refer to Chapter 10 “Operating Log Manager” in this manual.
4.1.3 System Project Management When developing a program using WINCAPSII, in addition to the program data, a number of data such as variables and parameters that accompany the operation of the program have to be processed. With WINCAPSII, the System Manager manages programs and the related groups of data, in terms of a system project. This management information is stored in the system project file (SPJ file). The system project file controls all information needed for operating a unit of the robot. 4.1.
Chapter 4 System Manager System Manager (including communication setting) ∗.SPJ Program Manager System project file (including communication setting) Variable Manager DIO Manager Arm Manager Vision Manager Log Manager ∗.VAR ∗.DIO ∗.ARM ∗.VIS ∗.LOG Variable file DIO file Arm file Vision file Log file ∗.BNK ∗.PPJ var_tab .h Program bank file Program project file Micro definition file arm_cnf .h ∗.MDL Model data file com_chf .h Arm configuration macro definition file ∗.LNK *.
Desktop Personal computer 3.5 inch FD (A:) (C:) Program files Wincaps 2 ∗BNK Program bank file Ira-0000 ∗SPJ System project file (including communication setting) ∗.LOG Log file ∗.VIS Vision file ∗MDL Model data file ∗.ARM Arm file ∗.DIO DIO file ∗.VAR Variable file ∗.PPJ Program project file ∗PAC Program file ∗.h Macro definition file Fig.
Chapter 4 System Manager 4.1.3.2 File Management by System Manager The System Manager manages the relation of data files generated by other groups of Managers. The system project file (*.spj) generated by the System Manager has data files which are referenced by each Manager. When starting each Manager, the System Manager specifies the reference data files for the started Manager. Therefore each Manager can use the groups of programs or variables that differ by project, without confusion.
4.1.4 Menu List The System Manager command menu has the following tree structure: File New Project Open Project Save Project Save Project As Transfer Project Project information Exit Tools Set Communication Change Password...........(Programmer Level) Re-Login Read FD Images Write FD Images Window PAC Manager Variable Manager DIO Manager Arm Manager Vision Manager LOG Manager Help License Key System Extension About System Manager Fig.
Chapter 4 System Manager 4.2 File Menu The System Manager FILE menu contains commands for controlling the project, besides the command for exiting the System Manager. Fig. 4-6 File Menu Note: The New Project and Open Project menu commands are invalid when any of PAC, DIO Arm, Vision and LOG Managers is connected. 4.2.1 New Project This command is used for creating a new system project. After selecting this command, the Create New Project dialog box appears on the screen.
• Robot Series: • Type: • Environment: • Additional Axis: • Stroke: • Project Name: • Folder: • Output Code: • Facility Type: • New Folder: Select a desired robot series. Select a robot type from "Robot Series." Select environment according to the selected robot. Select whether there is an additional axis. Displayed for each robot type as required. Select this item according to the selected robot. Enter the project name. Describes a folder for storing the project.
Chapter 4 System Manager 4.2.2 Open Project This command opens the existing projects. When this command is specified, the Open project window appears. Fig. 4-10 Open Project Window The files that contain the project management information have the extension file name “.spj”. Select a file having the “.spj” extension for the project name. or the folder in the display Click on the Move up one holder level button box, and you can change the path. When you click on a file having an “.
4.2.5 Transfer Project This command transmits the system project data. In the Robot Controller, this command is used for backing up the data. Data may be transmitted in a batch, or may be transmitted in parts by selecting each Manager data from the transmission table. Note: To transmit data selectively under the control of a manager other than the System Manager, you can use the Transmit command in the File menu of each respective Manager. Fig. 4-11 All Data Batch Transfer Window 4.2.
Chapter 4 System Manager 4.3 Tools Menu Fig. 4-12 Tools Menu 4.3.1 Set Communication When you select “Set Communication” in the Tools menu, the ROBOTalk Manager dialog appears. Click on the set communication button , to display the ROBOTalk Manager dialog. The ROBOTalk Manager dialog box is used to set the communication device and communicating conditions, and to perform service processing of the communication protocol for the robot.
Fig. 4-13 ROBOTalk Manager Window Clicking on the ROBOTalk tab enables you to make settings, as described in the following section downward. When all the settings have been completed, click on OK. When you lick on Cancel, the ROBOTalk Manager dialogue box is closed without any change of set values. Press Stop in such cases where you want to interrupt transmission from the personal computer, no response is returned from the other party, or you want to stop the ongoing transmission.
Chapter 4 System Manager [ 1 ] ROBOTalk Click on ROBOTalk tab in the ROBOTalk Manager window, and the screen shown in Fig. 4-14 appears. Fig. 4-14 ROBOTalk Communication Device Select a communication device to use for communication with the Robot Controller by clicking on a desired device. in the System Manager changes to the The Set Communication button icon communication device selected here. RS232C is selected. Telephone line is selected. Ethernet is selected.
[ 2 ] RS232C Click on RS232C tab of the ROBOTalk Manager window to display the screen shown in Fig. 4-15. Set the required data on this screen to enable connection between the personal computer and the Robot Controller directly with the RS232C cable. Fig. 4-15 RS232C COM Port Select the communication port to be used on the personal computer. When you click on the arrow , the options appear in a pull-down menu. Baud Rate Select the baud (communication) rate.
Chapter 4 System Manager Stop Bit Length Select the stop bit length. Click on the arrow down menu. to display the options in a pull- Normal Set all RS232C related items to normal settings. Communication port : COM1 Baud rate : 19200 Parity bit : N-No parity Data bit length :8 Stop bit length :1 [ 3 ] Telephone Click on Telephone tab in ROBOTalk Manager dialogue box to display the screen shown in Fig. 4-16.
TEL Number Enter the telephone number of the other party to which you intend to connect. Only enter the numerical characters. Hyphen, bracket, or the other signs are not usable for entry of telephone number. Automatic Answer If you put a checkmark in Automatic Answer check box, the personal computer automatically answer the calls. Set Modem This column shows the property of the selected modem. For details on modem property setting, refer to the instruction manual for Windows 95.
Chapter 4 System Manager [ 4 ] Ethernet Click on Ethernet tab on the ROBOTalk Manager dialogue box to display the screen shown in Fig. 4-17. Set the required data on this screen to enable connection between the personal computer and Robot Controller using Ethernet. Fig. 4-17 Ethernet Controller IP Enter the IP address or the host name of the opposite station. Connection Port Enter the port number of the opposite station. Always set this number to 4112.
[ 5 ] Communication Log Click on Comm. Log tab on the ROBOTalk Manager dialogue box to display the screen shown in Fig. 4-18. The communication log function is used for checking the communication state. Use this function for checking the line condition, should you have a communication error. Fig.
Chapter 4 System Manager 4.3.2 Changing Password (Programmer Level) To change the password, select Change Password from the Tools menu. The Changing password window appears. Fig. 4-19 Changing Password Window At User Changed to, select the user level whose password is to be changed. At Old Password, enter the previous password. At New Password, enter a new password. At Verify New Password, re-enter the new password for verification. After correctly entering all the items, click on OK.
4.3.3 Re-Log In Use this function when changing the user level. "STEP 1 Select Re-Login from the Tools menu in the System Manager. The password window appears on the screen. "STEP 2 Select the user level from the popup menu. "STEP 3 Input the password correctly and click on OK. The user level has been changed. Note: If you press Cancel without entering password, you will be requested to enter the password when you specify the data setting, printing, or communication commands.
Chapter 4 System Manager 4.3.4 Reading FD Images Data may be exchanged by using a floppy disk as the media between the Robot Controller, instead of data transmission using communication. When reading data from a floppy disk, read the FD images. "STEP 1 Select Read FD Image from the Tools menu. The dialogue appears requesting you to end the System Manager. Click on Yes.
"STEP 2 Click on Next. Creating new system project: Merging to existing project: Reference: Back: Next: Cancel: "STEP 3 Select a data object and click on Next. Select the data attached with a check mark as the object. Select All: Back: Next: Cancel: 4-24 A folder and a system project file are newly created. The read data is merged in that project. The read date is merged in the existing project. Select an existing system project. Return to the initialize the screen.
Chapter 4 System Manager "STEP 4 The following message appears requesting you to insert the floppy disk. Insert the floppy disk containing the read data into the floppy drive and click on OK. If the floppy disk has different data from the object being read, a message appears prompting you to change disks. Replace with the correct disk and click on OK. Clicking on Cancel returns the display to the object data select screen. If the floppy disk is neither inserted nor formatted, an error message appears.
"STEP 5 When the data is read normally, an indication to that effect appears. Click on Complete. 4.3.5 Write FD Images Data can be exchanged by using a floppy disk as the media between the personal computer and the Robot Controller, instead of data transmission using communication. When recording data to a floppy disk, write the FD images. "STEP 1 Select Write FD Image from the Tools menu. A dialogue appears requesting you to save the project. Click on Yes.
Chapter 4 System Manager "STEP 2 Click on Next. Reference: Back: Next: Cancel: "STEP 3 Select an optional system project. Return to the initial screen. Proceed to the write object data select screen. End Select the object data and click on Next. Select data by attaching a check mark for the write object. Select All: Back: Next: Cancel: Select all object data for writing. Return to the select screen of the system project. Write to a floppy disk.
"STEP 4 The following message appears requesting you to insert formatted floppy disk. Insert a formatted floppy disk into the floppy drive and click on OK. If the inserted floppy disk already has data on it, the system asks if it is OK to delete it. Clicking on Yes deletes the file on the floppy disk. Clicking on No returns the display to the object data select screen. If the floppy disk is neither inserted nor formatted, an error message appears. Insert the correct disk and click on OK.
Chapter 4 System Manager "STEP 5 When data is written normally, an indication to that effect appears. Click on Complete.
4.4 Window Menu Fig. 4-20 Window Menu 4.4.1 PAC Manager Start the PAC Program Manager. The PAC Program Manager may be started by clicking on the PAC Program . Manager button For details on the PAC Program Manager, read Chapter 5, “Operating PAC Program Manager” and Chapter 3, subsection 3.5 “Entering and Editing Program” on page 3-22, of this instruction manual. When PAC Program Manager is connected to the Robot Controller, the button . icon display changes to 4.4.
Chapter 4 System Manager 4.4.4 Arm Manager Start the Arm Manager. . The Arm Manager may be started by clicking on Arm Manager button For details on the Arm Manager, refer to Chapter 8 “Operating Arm Manager”. While the Arm Manager is connected to the Robot Controller, the button icon . display changes to 4.4.5 Vision Manager Start Vision Manager. . Vision Manager may be started by clicking on Vision Manager button For details on the Vision Manager, refer to Chapter 9 “Operating Vision Manager”.
4.5 Help Menu The Help menu provides useful information on how to use WINCAPSII. Fig.
Chapter 4 System Manager 4.5.1 License Key Register the license key of your WINCAPS II. This registration allows you to use all the WINCAPS II functions. "STEP 1 Enter the User ID printed in the license card and click Add. "STEP 2 Confirm that the entered User ID is displayed in the license key list and then click OK.
4.5.2 System Extension Even in WINCAPSII Version 1.9 or later, you may resist or delete optional functions that the robot controller will use. When WINCAPSII and the controller are in connection, select the “System Extension” of the Help Menu. The System Extension screen appears. After inputting the specified ID Number, resist or delete the optional function by pressing the “Add” or “Remove” button. Examples of optional functions Optional function ID No.
Chapter 5 Operating PAC Program Manager This chapter describes how the PAC Program Manager, within WINCAPSII software, functions and is used by the personal computer teaching system.
Chapter 5 Operating PAC Program Manager 5.1 Outline of PAC Program Manager 5.1.1 Outline of Functions The PAC Program Manager is a comprehensive support tool for developing structured robot language for the PAC program. In addition to general functions of the text editor, the Program Manager enables you to create programs with ease, using the PAC language command builder, program bank and other tools. The PAC Program Manager starts when the System Manager button is clicked on or from the Window menu.
SAVE PROJECT Button Saves the state of all programs and projects currently being edited. CREATE EXECUTION PROGRAM Button Creates a program in the executable format from the program registered to the project. SYNTAX CHECK button Checks the syntax of the selected program. TRANSMIT Button Transmits data between the Robot Controller and the personal computer. SELECT ACTION OBJECT List Selects the action object.
Chapter 5 Operating PAC Program Manager 5.1.3 Basic Usage The following illustrates the basic flow of the PAC Program Manager. Figure 5-2 shows the monitoring program operation flow. Figure 5-3 shows the program creation design flow. Start Select a program that you want to monitor. Start monitor Refer to “SELECT ACTION OBJECT List” on page 5-2. Refer to “5.6.4 Program Monitor”. End Fig.
Start Add new program Program input Creating execution format file Refer to “5.4.1 New”. To renew a project, read “5.2.1 “New Project”. Refer to “5.6.3 Command Builder”. Refer to “5.2.8 Make Exec. Program”. No Number of errors = 0 Yes Transmit program Program start Refer to “5.2.6 Transmit Project”. For operation of the teach pendant, read “1.5 Automatic Operation” in Owner’s Manual (Setting-up). No Motion OK? Yes End Fig.
Chapter 5 Operating PAC Program Manager 5.1.4 File Management Figure 5-4 illustrates the types of files that can be managed with the PAC Program Manager. Descriptions of each file are given below: Program Manager ∗.BNK Program bank file ∗.LNK ∗.PPI Make file Program project file ∗.PAC Program file ∗.RIC Intermediate file ∗.MAP ∗.NIC Execution format file Cross reference file Fig.
5.1.4.1 Program Project File (*.PPJ) Program Project refers to a group of programs used simultaneously. Only one program project can be opened at a time. The Program project file saves the program source file reference information, included in the program project. The program project file extension is “.PPJ”. The System Manager controls which program project to use with the currently selected system project. The System Manager specifies which program project file to use when it starts the program manager.
Chapter 5 Operating PAC Program Manager 5.1.4.5 Executable File (*.NIC) Accommodates format program data execution. The file extension is “.NIC”. 5.1.4.6 Cross Reference File (*.MAP) A file that accommodates cross reference is automatically generated when converting a program into an executable. The file extension is “.MAP”. 5.1.4.7 Make File (*.LNK) A file that accommodates link information is automatically generated when converting a program into an executable. The file extension is “.LNK”.
5.1.5 Menu List (PAC Program Manager) The PAC Program Manager command menu has the following tree structure: File New Project (Programmer Level) *1 Open Project (Programmer Level) *1 Save Project Save Project As (Programmer Level) *1 Set Project Transmit Project (Programmer Level) Print Make Exec.
Chapter 5 Operating PAC Program Manager 5.2 File Menu (PAC Program Manager) PAC Program Manager File menu is shown below: Fig. 5-6 File Menu 5.2.1 New Project (Programmer Level) Create a new program project and simultaneously save it to the new program project file. 5.2.2 Open Project (Programmer Level) Select and open the program project file. 5.2.3 Save Project Save the program project information currently under editing to the program project by overwriting. provides the same function.
5.2.5 Set Project (Programmer Level) Creates project settings. Upon selecting Set Project from FILE menu, the Set Project dialog box appears. Click on OK to register the change content. To erase the change content, click on Cancel. 5.2.5.1 Document Click the Document tab to enter the document name used when creating the project. Fig.
Chapter 5 Operating PAC Program Manager 5.2.5.2 Program Click the Program tab to set the variable parameters to be used by the project. For details on the parameters, refer to “Appendix” in Owner’s Manual (Programming). Fig. 5-8 Program Tab (Set Project) Dialog Note: The asterisks (*) under the property are the parameters of which settings are prohibited because of the programmer level selected when you log in to the WINCAPS II.
5.2.5.3 Interpreter Click the Interpreter tab to set the parameters to be used by the project execution program. Set the variable parameters to be used by the project. For details on the parameters, refer to “Appendix” in Owner’s Manual (Programming). Fig. 5-9 Interpreter Tab (Set Project) Dialog 5.2.5.4 Group Click the Group tab to group the programs. After setting the groups, all the programs registered to the groups can be handled as action objects. Fig.
Chapter 5 Operating PAC Program Manager Set up the groups using the following procedures: "STEP 1 Register the group name. Input an optional group name. "STEP 2 Input the group members. Input the program names to be registered to the group. Input a semi-colon at the end of each program name. (Example) PRO1; PRO2; PRO3; 5.2.5.5 Related File Click the Related File tab to register the include files of own creation or related files, created with other application software here.
If you put a checkmark at Open with Special Text Editor, the dedicated text editor is used. If the application software used to create the file is not defined, the file is opened with the normal editor. Fig. 5-12 Operation with Dedicated Editor : Saves the file currently being edited. : Cuts out selected range data. Cut data can be used with the Paste command. The same operation can be accomplished with [Ctrl]+[X]. : Copies selected range data. The copied data can be used with the Paste command.
Chapter 5 Operating PAC Program Manager 5.2.6 Transmit Project Program data may be transmitted or received only when the Robot Controller is in connected communication state. When the Transfer dialog box appears, select the data to be transmitted and click on Transmit or Receive to send or receive data. . The same result can be achieved by clicking on the Transmit button Fig. 5-13 Transmit Dialog Box 5.2.6.1 Program/Interpreter Table • Program table Shows the project setting data described in “5.2.5.
5.2.7 Print Prints the program list and the parameter table of the PAC Program Manager. 5.2.7.1 Print Object The Print Manager dialog box appears on the screen. Select the Print Object tab. Select the item to be printed and click on Print to print the specified data. Fig. 5-14 Print Object Tab (Print Manager) Dialog Box • Select All: • Set: • Preview: • Cancel: • Print: Supplement: Selects all objects for printing at one time. The printer data setting dialog appears.
Chapter 5 Operating PAC Program Manager Fig. 5-15 Preview Window : Moves the cursor to the top/end of the page. : Moves the cursor to the preceding/following page. : Selects the display size (Reduced/Standard/Expanded) : Sets the printing conditions. You can specify the printing range (in pages) of the object file. Fig. 5-16 Print Widow : Exports the object file. Outputs destination after converting to a specified file format. Fig.
5.2.7.2 Option Selecting the Option tab displays print options. Fig. 5-18 Option Tab (Print Manager) Dialog • Print Continuously : When this box is checked, several programs are continuously printed without change of page. • Print Line No. : When this box is checked, the line numbers are also printed.
Chapter 5 Operating PAC Program Manager 5.2.8 Make Exec. Program Translates a program file, contained in the project, into an executable format. Consecutively displays the state of execution to the message display. The contents of errors generated during translation are displayed in the message pane. Double-clicking on the error line in the message pane jumps the display to the location of the error. The same function is available by clicking on the Make Exec. Program button . Fig.
5.3 Edit Menu (PAC Program Manager) This Edit menu functions as a standard editing menu, adopted from application software for Windows 95. The editing object consists of character strings, handled in the program editing window. Fig. 5-20 Edit Menu 5.3.1 Undo Cancels the previous operation and restored the initial state. 5.3.2 Cut Cuts out selected range data. The cut data can be used with the PASTE command. 5.3.3 Copy Temporarily memorizes selected range data.
Chapter 5 Operating PAC Program Manager 5.3.7 Search When you select Search from the Edit menu, the Search dialog box appears on the screen. Specify the necessary items and click on Find Next. The specified character string is then searched for. The found character string is displayed in reverse video. To close the dialog, click on Cancel. Fig. 5-21 Search Dialog Box • Find What • Search • Object • Match Case : Enter a character string that you want to search. : Specify the searching direction.
5.3.8 Replace This function replaces the specified character string with a separately specified character string. When the Replace dialog box appears, specify the necessary items and click on Find Next. The found character string is displayed in reverse video. Click on Replace, and the found character string is replaced. If you click on Replace All, all the occurrences of the selected character string will be replaced. Fig.
Chapter 5 Operating PAC Program Manager 5.3.9 Jump To Displays a specified line of a specified program. When the Jumping Line No. dialog box appears on the screen, specify all necessary items and click on GOTO. The specified program is displayed and the cursor is set to the head of the specified line. Fig. 5-23 Jumping Line Number Dialog Box • Program Name: When clicked on, the program file names appear in a pulldown menu for selection. • Line Number: Input to specify a line number.
5.4 Program Menu Manages the program files. Fig. 5-24 Program Menu 5.4.1 New Creates a new program file and adds it to the project. A new file is added to the end of the PAC Program Manager file name list and the Edit window automatically opens. . The same function is available by clicking on the new program button 5.4.2 Save Saves the selected program file.
Chapter 5 Operating PAC Program Manager 5.4.3 Save As Saves a program file with a new file name. When the Save Project As dialog box appears, specify the path, program name and click on Save to save the program. Fig. 5-25 Save Project As Dialog Box Note: To newly save the program, save the current content to a program source file under a separate name. Update the program project reference information so that is references the new program source file.
5.4.4 Add This function adds the existing program to the current project. When the Adding program dialog box appears, specify the path, program name and click on Open. . The same function is available by clicking on the add program button When specifying several programs simultaneously, click on the files while pressing the shift key or the control key. Fig. 5-26 Add Program Dialog Box Note: When sharing one program among several program projects, use the Add Program function.
Chapter 5 Operating PAC Program Manager 5.4.7 Import Registers a specified file name to the program project after copying it to the folder in which the project is contained. If imported, the program is not shared with other program projects. Note: When sharing one program among several program projects, use the Add Program function. For details, refer to Chapter 5 “5.4.4 Add” in this manual. In this case, note that change of the shared program in a project will affect the other projects. 5.4.
5.4.9.1 File Name Rearranges the program files in order of file name; the file names are listed according to the ASCII code. 5.4.9.2 File Date Rearranges the program files in order of date; recently updated or created files come to the top. 5.4.9.3 Program Name Rearranges the program files in order of program name; the program names are listed according to the ASCII code. Note: When Rearrange is executed, the date check option is temporarily turned OFF.
Chapter 5 Operating PAC Program Manager 5.5 Actions Menu (PAC Program Manager) The Actions menu has the following commands. The tool bar of Program Manager has the buttons that correspond to these commands and have the same effect. Fig. 5-28 Action Menu and Buttons 5.5.1 Show Displays the edit window of the program selected from the Select action object list. The edit window also appears when you double-click on the program file name in the list. 5.5.
5.6 Tools Menu (PAC Program Manager) 5.6.1 Options Used to set the operating conditions of PAC Program Manager. After selecting Options from the Tools menu, the Options dialog box appears on the screen. Note: Items that can be edited differ by user level. For restrictions by user level, refer to Chapter 1 “1.3 Security”. To change the access level in the middle of program editing, refer to Chapter 4 “4.3.3 ReLog In” in this manual.
Chapter 5 Operating PAC Program Manager 5.6.1.1 Editor Fig. 5-30 Editor Tab (Options Dialog Box) • Font Name: Specifies the font to use for text editing. Clicking on displays the list of selection items. the arrow displays • Size: Specifies the font size. Clicking on the arrow the list of selection items. • Foreground: Specifies the color of the foreground. Clicking on the displays the list of selection items. arrow • Background: Specifies the color of the background.
Execute Search by Key PRO1 Edit Window Appears
Chapter 5 Operating PAC Program Manager 5.6.1.2 Make Click the Make tab to set the conditions for execution program. Fig. 5-33 Make Tab (Options Dialog Box) • Execution Filename: Specifies a file name when renaming the execution file. By default, a program project file name having the extension “nic” is specified. If you do not wish to overwrite this file or wish to unify all the projects in an executable file name, change this value.
If execution file is not specified (default) ira-0000.ppj ira-0000.nic If execution file is specified ira-0000.ppj Specified file name Fig.
Chapter 5 Operating PAC Program Manager 5.6.1.3 Compiler Click the Compiler tab to Make settings for creating an execution program. Fig. 5-35 Compiler Tab (Options Dialog Box) • Explicit Type Declaration: Error will occur unless local variables are explicitly declared with a specification statement or postfix. If this option is found invalid, without explicit descriptions, it will be regarded as a single accuracy variable.
5.6.1.4 Display (Programmer Level) Makes the SHOW/HIDE settings of display options. Fig. 5-36 Display Tab (Options Dialog Box) • File Expansion Menu: Used to extend FILE (F) menu of the PAC Program Manager. For details, refer to Subsection 5.1.5, “Menu List” in this chapter. • Batch Transfer of PAC Programs: This option allows you to select all the PAC programs so that the project can be transferred at a time. To transfer the programs one by one, set this check box empty. 5.6.2 Program Bank 5.6.2.
Chapter 5 Operating PAC Program Manager Input character string of desired input Program title Name of program maker State the date State the E-mail address State the program name to be concatenated State the file name input to the program State the program name to be called in the program Select the program name registered to the class Fig. 5-37 Program Information - Program Bank Dialog Box Opens the registered program bank. Saves a new library to the program bank.
Displays the descriptions of the selected program. Writing enabled. Fig. 5-39 Document – Program Bank Dialog Box Shows the selected program. Writing enabled. Fig.
Chapter 5 Operating PAC Program Manager 5.6.2.2 Basic Usage [ 1 ] Adding Libraries to a Project "STEP 1 Select a class. "STEP 2 Select a program. "STEP 3 Click on the button. STEP 3 STEP 2 STEP 1 [ 2 ] Registering a Program to Program Bank "STEP 1 Select a class. "STEP 2 Click on the "STEP 3 Select a program to be registered. button.
"STEP 4 Click on Register. STEP 2 STEP 1 STEP 3 STEP 4 [ 3 ] Deleting Program Registered to Program Bank "STEP 1 Select a program to be deleted. "STEP 2 Click on the "STEP 3 Click on Yes. button.
Chapter 5 Operating PAC Program Manager 5.6.2.3 Updating Program Bank You can freely customize the program bank by adding or deleting programs. However, the number of libraries, which is supplied to each version as a standard, increases each time you upgrade the software version. When you update WINCAPSII to a newer version, you need to import program bank related contents customized in the old version into the newer one. WINCAPSII Version 1.
[ 2 ] Manual importing facility The manual importing facility is executed by clicking the “Merge Program Bank” button. "STEP 1 Click the button on the tool bar of the program bank. “Merge Program Bank” button. "STEP 2 The “Open Program Bank” screen appears/ Select the program bank that you want to merge.
Chapter 5 Operating PAC Program Manager 5.6.3 Command Builder 5.6.3.1 Outline of Functions Assists correct input of commands and arguments, when making and/or editing a program. When you select the Command Builder from the Tools menu, the Command Builder dialog box appears on the screen. Enter an argument value used in the selected program. Argument name of the selected command Select a class. Select a command name registered in the class Fig. 5-41 Command Builder Dialog Box Shows the previous class.
5.6.3.2 Basic Usage This subsection describes the method of editing program using the command builder. The following is an example program line: MOVE P, P1, S = 50 MOVE PTP TO P1 AT 50% INSIDE SPEED "STEP 1 Move the cursor to a desired input position in the Program Edit window. "STEP 2 Open the command builder and select the Robot control statement from the class selection list. "STEP 3 " Select the MOVE command from the command list.
Chapter 5 Operating PAC Program Manager 5.6.4 Program Monitor 5.6.4.1 Outline This command monitors the execution progress of programs. As shown below, the running step is displayed in red, helping you debug efficiently. Fig. 5-41-1 Monitor Window 5.6.4.2 Menu The command menu of the Program Monitor is shown below. Project *1 Program Display Hide Actions Tools *1 Settings *1 Menus exclusively prepared for vision equipment (µVision-21).
5.6.4.3 Program menu The Program menu of the Program Monitor is shown below. Fig. 5-41-2 Program Menu Display/Hide: Displays or hides the contents of programs. If Display is executed, the contents of a program selected in the program status list will appear; if Hide, the program status list will appear. 5.6.4.4 Tool menu The Tool menu of the Program Monitor is shown below. Fig. 5-41-3 Tool Menu Settings: Sets the operating environment of the program monitor.
Chapter 5 Operating PAC Program Manager General tab: Makes general settings for the Program Monitor. Fig. 5-41-5 Settings Dialog Box (General tab) Step-motion: Determines whether or not the confirmation message will appear before the execution of a program step. Monitor: Determines whether or not the Program Monitor will get the latest data stored in the controller every time the controller changes the mode.
5.6.4.5 Operating procedure This section describes how to monitor the program [PRO1]. "STEP 1 Click a program ([PRO1] in this example) to be monitored by Program Monitor. Fig. 5-41-6 Selecting a Program "STEP 2 Click the Display button to show the contents of the selected program. The running step is displayed in red. Fig.
Chapter 5 Operating PAC Program Manager 5.7 Help Menu Use the Help menu to view descriptions on how to use WINCAPSII. Fig. 5-42 Help Menu 5.7.1 About PAC Manager Displays the version information on PAC Program Manager.
Chapter 6 Operating Variable Manager This chapter describes the Variable Manager functions, in the WINCAPSII software, that may be used with the personal computer teaching system.
Chapter 6 Operating Variable Manager 6.1 Outline of Variable Manager 6.1.1 Outline of Functions The Variable Manager provides variable data backups and monitoring functions for the Robot Controller. Through connection with the Arm Manager and/or the Vision Manager off-line teaching is possible. After starting the Variable Manager the Variable Manager window is displayed. Tool bar Variable scope Fig. 6-1 Variable Manager Window 6.1.1.
6.1.1.6 Type P (Position Type) Variables Clicking on the Type P tab displays a list of Type P (Position type) variables. 6.1.1.7 Type J (Joint Type) Variables Clicking on the Type J tab displays a list of Type J (Joint type) variables. 6.1.1.8 Type T (Homogeneous Conversion Type) Variables Clicking on the Type T tab displays a list of Type T (Homogeneous conversion type) variables. 6.1.1.
Chapter 6 Operating Variable Manager 6.1.3 Basic Usage When designing Start Determine number of variables Refer to Chapter 6 “6.1.3.1 Determining Number of Variables”. Set application and macro name of each variable Refer to Chapter 6 “6.1.1 Outline of Functions”. Creating macro definition file Refer to Chapter 6 “6.2.7 Create Macro Define File”.
When monitoring Start Connect to the Robot Controller Select type and range of variables to monitor Start monitoring Change values as may be required End 6-4 Refer to Chapter 6 “6.4.1 Connect”. Refer to Chapter 6 “6.4.3 Monitor”. Refer to Chapter 6 “6.4.3 Monitor”. Refer to Chapter 6 “6.1.1 Outline of Functions”.
Chapter 6 Operating Variable Manager 6.1.3.1 Determining Number of Variables You can change the number of variables in either of the following two methods: n Setting with Pendant "STEP 1 Set the variable number with the pendant. For the data setting procedure, refer to Owner’s Manual (Setting-up). "STEP 2 Click on the connect button in Variable Manager to establish a to display the connection, then click on the TRANSMIT button TRANSMIT dialogue on the screen.
n Setting with PAC Program Manager You can set the number of variables by selecting [Tools], [Set], and [Variable] in this order. Refer to “6.5.1.2 Variables”.
Chapter 6 Operating Variable Manager 6.1.3.2 Editing Variables [ 1 ] Editing Controller Variable Table "STEP 1 Click on button to establish a connection to the Robot Controller. button is displayed in the pressed state. STEP 2 STEP 1 "STEP 2 Click on button and acquire the variable information, instantaneously indicated from the Robot Controller. The values of the Robot Controller variables are indicated in the grid. "STEP 3 Select the variable grid you wish to change and input the new values.
[ 2 ] Editing Personal Computer Variable Table "STEP 1 Click on button to disconnect from the Robot Controller. The button is shown expanded. At this time, the values of the variable table currently being edited, by the personal computer, is displayed in the grid. STEP 1 "STEP 2 Select the variable grids to change and input the new values.
Chapter 6 Operating Variable Manager [ 3 ] Transmitting Controller Variable Table "STEP 1 Change the values of the variable table on the personal computer, as instructed to in Chapter 6, subsection 6.1.3.2 [2] “Editing the Personal Computer Variable Table” on page 6-8 of this instruction manual. "STEP 2 Transmit the variable table from the personal computer to the Robot Controller according to the procedure described in 6.2.5 “Transfer File” on page 6-14.
[ 4 ] Backing Up Controller Variable Table "STEP 1 Receive the Robot Controller variable table, following the instructions in Chapter 6, subsection 6.2.5 “Transfer File” on page 6-14 of this instruction manual. The values of personal computer variable table change to the new values, received from the Robot Controller. "STEP 2 Save the personal computer variable table as a VAR file, following the instructions in Chapter 6, subsection 6.2.3 “Save File” on page 6-13 of this instruction manual.
Chapter 6 Operating Variable Manager 6.1.4 Files to Be Managed Figure 6-2 shows the file types managed by the Variable Manager. The following subsections explain each variable. Variable Manager *.var var_tab h. Variable file Macro definition file Fig. 6-2 Files Managed by Variable Manager 6.1.4.1 Variable File (*.VAR) The Variable file saves the variable information used for the program project.
6.1.5 Menu List The Variable Manager command menu has the following tree structure: File New (Programmer Level) *1 Open (Programmer Level) *1 Save Save As (Programmer Level) *1 Transfer Print Make Macro Define File Import Macro Define File Close Edit Copy Paste Search on Grid Actions Connect Snapshot Monitor Get Pose Move Tools Options RS232C Dummy Input Calculator Help About Variable Manager Fig.
Chapter 6 Operating Variable Manager 6.2 File Menu (Variable Manager) Variable Manager uses the VAR file (variable file) to save variable information (variable table). The Variable Manager file menu is used for managing this VAR file. Fig. 6-4 File Menu 6.2.1 New (Programmer Level) Creates variable information (variable table). 6.2.2 Open (Programmer Level) Opens the existing VAR file. Since the standard Windows dialogue box appears, select a VAR file to open, click on [OPEN] to open the desired file.
6.2.4 Save As (Programmer Level) Saves the variable information (variable table) to a new VAR file. The standard Windows dialogue box appears. Select the path, input the file name and click on SAVE to save data. Fig. 6-6 Newly Saving File Dialogue Box 6.2.5 Transfer When the communication with the Robot Controller is ON, the variable table data may be transmitted or received. The variable table refers to an array of variable data.
Chapter 6 Operating Variable Manager 6.2.6 Print Prints variable tables for respective variable types. 6.2.6.1 Print Object When the Print Manager dialogue box appears on the screen, select the Print Object tab, select the table and click on Print to print the data. Fig. 6-8 Print Object Tab (Print Manager Dialog Box) • Select All: • Set: • Preview: • Cancel: • Print: • Option: TIP: Selects all objects for printing simultaneously.
Fig. 6-9 Preview Window : : : : Moves to the head/tail end of the page. Moves to the immediately preceding/following page. Selects display (Reduction/Standard/Expansion) Sets print execution The printing range (specific pages) of an object file can be specified. Fig. 6-10 Print Window : Exports the object file. The selected object file will be converted into the file format specified in Format and outputted (saved) to the Destination. Fig.
Chapter 6 Operating Variable Manager 6.2.6.2 Option Selecting the Option tag will display the print options. Note: Print option is not available from the Variable Manager. 6.2.7 Make Macro Define File Create a “var_tab.h” file in the folder where the variable file (*.VAR) resides. The “var_tab.h” file contains the variable macro name, listed by type and information corresponding to variable numbers. 6.2.8 Import Macro Define File Reads the macro definition file (var_tab.
6.3 Edit Menu (Variable Manager) Fig. 6-13 Edit Menu 6.3.1 Copy Temporarily stores the same data as that in the selected range. temporarily stored by copying can be used with the Paste command. Data 6.3.2 Paste Pastes temporarily stored data by cutout or copying to a specified location.
Chapter 6 Operating Variable Manager 6.3.3 Search on Grid Searches for a specified character string from an application field or macro name field. When the Search on Grid dialogue box appears on the screen, specify the necessary items and click on Find Next. The line containing the found character string is displayed in reverse. Fig. 6-14 Grid Search Dialogue Box • Find What: • Field Name: • Search: • Object: • Match Case: Enter a character string to be searched.
6.4 Actions Menu (Variable Manager) The commands in this actions menu can be specified also with the buttons. Fig. 6-15 Actions Menu and Buttons 6.4.1 Connect Establishes communication with the Robot Controller. During connection with the Robot Controller, a checkmark appears in the menu. button has the same function as the connect button. When connected, the button is displayed in the pressed state. 6.4.2 Snapshot Acquires variable data of the moment from the Robot Controller.
Chapter 6 Operating Variable Manager 6.4.4 Get Pose With this command, the personal computer captures the current robot position data from the Arm Manager to the currently selected variables of type P, J, or T. (In the Variable Manager window, variable types and numbers are displayed in reverse video.) If the Arm Manager is connected, you can obtain the actual robot position. button has the same function as the Get Pos. command. 6.4.
6.5 Tools Menu (Variable Manager) 6.5.1 Options Used to set the operating conditions of Variable Manager. When you select Options from the Tools menu, the Options dialogue box appears on the screen. Note: Items that can be edited differ by user level. For restrictions, by user level, refer to Chapter “1.3 Security” in this manual. For how to change the access level in the middle, refer to Chapter 4 “4.3.3 Re-Log In” in this manual. 6.5.1.1 Monitor Fig.
Chapter 6 Operating Variable Manager 6.5.1.2 Variables (Programmer Level) Fig. 6-17 Variable Tab (Options Dialog Box) • Click the variable tab to sets the number of variables for each type. If you modify the number of variables, take the following procedure to bring the modified result into the internal data of the robot. "STEP 1 Recompile the source file into the executable file. Refer to Subsection 5.2.8, "Make Exec. Program.
6.5.1.3 Display (Programmer Level) Click the display tab to set the display option for Show/Hide. A display tab is indicated when the user level is higher than the programmer. Fig. 6-18 Display Tab (Options Dialog Box) • File Expansion Menu: Used to extend FILE (F) menu of the PAC Program Manager. For details, refer to Subsection 6.1.5, "Menu List” in this chapter.
Chapter 6 Operating Variable Manager 6.5.2 RS232C Dummy Input Note: To execute RS232C Dummy Input command, ensure the following conditions are met: • RoboTalk is set in RS232C. • Each WINCAPSII manager is not connected. Since RS232C Dummy Input command uses the RS232C port of the personal computer. Therefore, if a Manager is connected to the Robot Controller, an error will occur due to conflict. The message entered in the dialogue box is transmitted to the Robot Controller via RS232C.
6.6 Help Menu Descriptions on how to use WINCAPSII can be read by using the help menu. Fig. 6-19 Help Menu 6.6.1 About Variable Manager Displays the version information on Variable Manager.
Chapter 7 Operating DIO Manager This chapter describes the WINCAPSII software DIO Manager functions that are used with the personal computer teaching system.
Chapter 7 Operating DIO Manager 7.1 Outline of DIO Manager 7.1.1 Outline of Functions The DIO Manager can monitor I/O status and/or manage the I/O layout table. In addition, the program can be debugged prior to the completion of the facility to test the program by adjusting Dummy SW ON or OFF to vary the I/O state falsely. When the MONITOR SW is turned ON or OFF and the DIO Manager connected, the status of an I/O can be changed. There are three methods for displaying I/Os: table, oscilloscope and panel.
7.1.2 Tool Bar CONNECT button to make connection with the Robot Controller. SNAPSHOT button to input the I/O status of the Robot Controller a single time only. MONITOR button to input the I/O status of the Robot Controller in succession. TRANSMIT button to either transmit or receive environmental table data. DUMMY INPUT/OUTPUT button to select whether to use the dummy I/O in the Robot Controller. It selects the I/O number for which the DUMMY SW grid is set to ON.
Chapter 7 Operating DIO Manager 7.1.3 Table Item Fig. 7-2 Table Items • Number: • State: I/O layout number. Status of I/O. In the MONITOR state, it indicates the status of the Robot Controller I/O or the emulated I/O (memory) in the personal computer. It is able to operate (ON-OFF) the Robot Controller I/O or the emulated I/O in the personal computer except when in the continuous monitor state.
7.1.4 Basic Usage When designing Start DIO layout mode setting Setting of respective I/O number application and macro name Creating Macro definition file End 7-4 Refer to “7.5.1.4 Hardware”. Refer to “7.1.1 Outline of Functions”. Refer to “7.2.7 Make Macro Define File”.
Chapter 7 Operating DIO Manager When monitoring Start Connect to Robot Controller Refer to “7.4.1 Connect”. Select variable type and range to monitor Refer to “7.4.3 Monitor”. Select display format Refer to “7.4.5 Display Format”. Start monitoring Change values as may be needed Refer to “7.4.3 Monitor”. Refer to 7.1.1 “Outline of Functions”.
7.1.5 Files to Be Managed Fig. 7-3 shows the types of files managed by the DIO Manager: DIO Manager ∗.DIO DIO File dio_tab .h I/O Distribution Macro Definition File dio_cnf .h Configuration Macro Definition File Fig. 7-3 Files Managed by DIO Manager 7.1.5.1 DIO File (*.DIO) The DIO file saves I/O information used for the project. Since a separate file is created for each project, respective I/O information can be managed without confusion even if multiple projects are involved.
Chapter 7 Operating DIO Manager 7.1.6 Menu List (DIO Manager) The DIO Manager command menu has the following tree structure: File New (Programmer Level) *1 Open (Programmer Level) *1 Save Save As (Programmer Level) *1 Transfer Print Make Macro Define File Import Macro Define File Close Edit Copy Paste Find on Grid Selected Range All ON Selected Range All OFF Actions Connect Snapshot Monitor Pseudo input/output Display Style Tools Options DIO Command Viewer Help About DIO Manager Fig.
7.2 File Menu (DIO Manager) The DIO Manager has the DIO files for saving I/O data. The File menu of DIO Manager is used for managing the DIO files. Fig. 7-5 File Menu 7.2.1 New (Programmer Level) Creates new I/O information. 7.2.2 Open (Programmer Level) Opens an existing DIO file. When the standard Windows dialog box appears on the screen, select the DIO file to open, and click on OPEN to open the file. Fig. 7-6 Open Project Dialog Box 7.2.
Chapter 7 Operating DIO Manager 7.2.4 Save As (Programmer Level) Saves I/O information to a new DIO file. When standard Windows dialog box appears on the screen, select the path, input file name, and click on SAVING to save the data. Fig. 7-7 New File Save Dialog Box 7.2.5 Transfer When the Robot Controller is connected for communication, it is capable of transmitting or receiving the environmental table data. The environmental table refers to an array of data the robot needs to operate.
7.2.6 Print Prints the DIO Manager environment table and I/O layout table. 7.2.6.1 Print Object When the Print Manager dialog box appears on the screen, select the Print Object tab, the table, and then click on Print to print the data. Fig. 7-9 Print Object Tab Print Manager Dialog Box • Select All: • Set: • Preview: • Cancel: • Print: • Option tab TIP: Selects all objects for printing. Displays the printer set dialogue and makes various printer settings.
Chapter 7 Operating DIO Manager Fig. 7-10 Preview Window : : : : Moves to the head/tail end of the page. Moves to the immediately preceding/following page. Selects display (Reduction/Standard/Expansion) Sets print execution The printing range (specific pages) of an object file can be specified. Fig. 7-11 Print Window : Exports the object file. The selected object file will be converted into the file format specified in Format and outputted (saved) to the Destination. Fig.
7.2.6.2 Option Selecting the Option tag will display the print options. Note: Print option is not available from the Variable Manager. 7.2.7 Make Macro Define File Create a "dio_tab.h" file in the folder where the DIO file (*.DIO) resides. The "dio_tab.h" file contains the I/O numbers and macro name information. 7.2.8 Import Macro Define File Reads the macro definition file (dio_tab.h) and expands in the "Use" and "Macro Name" columns on the screen. 7.2.
Chapter 7 Operating DIO Manager 7.3 Edit Menu (DIO Manager) Fig. 7-14 Edit Menu 7.3.1 Copy Temporarily stores a specified range of data. Data temporarily stored by copying can be used by the Paste command. 7.3.2 Paste Pastes the temporarily stored data by cutting or copying to a specified location. This operation is enabled in the “Application” and “Macro name” fields only.
7.3.3 Search on Grid Searches for a specified character string from either the application or macro name field. When the SEARCH ON GRID dialog box appears on the screen, specify the necessary items and click on FIND NEXT. The line containing a found character string is displayed in reverse video. Fig. 7-15 Search on Grid Dialog Box • Find What: • Field Name: • Search: • Object: • Match Case: 7-14 Enter a desired character string to be searched.
Chapter 7 Operating DIO Manager 7.3.4 Selected Range All ON Multiple monitor and dummy switches may be selected and turned ON simultaneously. As Fig. 7-12 shows, first select the I/O number of the desired item (monitor or dummy switch), then select Selected Range All ON. The menu content can be more easily displayed by clicking the right button of the mouse to select the command as shown below. Fig. 7-16 Selected Range All ON 7.3.
7.4 Actions Menu (DIO Manager) The Actions menu commands are also issued by depression of the tool buttons. Fig. 7-18 Action Menu and Buttons 7.4.1 Connect Connects the communication line with the Robot Controller. When connected, check mark is attached to the menu. button works the same as the Connect command. When connected it is displayed as if depressed. 7.4.2 Snapshot Acquires the data of the moment from the Robot Controller. button has the same function as the Snapshot command.
Chapter 7 Operating DIO Manager 7.4.3 Monitor Acquires data in succession from the Robot Controller. button has the same function as the Monitor command. Before executing the Monitor command, ensure that the Manager is connected with the Robot Controller. During monitoring, the DIO Manager acquires the data only of I/O numbers displayed on the screen from the Robot Controller, and does not acquire the I/O number data not displayed on the screen.
7.4.5.1 Table When you select the table type display, the I/O states are displayed in the table type as shown in the list. Fig. 7-20 Table Display (DIO Manager) Window In the table type display, I/Os are displayed in different colors depending on the classification group. Tables 7-1 and 7-2 outline the colors and classifications in the standard mode and compatible mode for the conventional type.
Chapter 7 Operating DIO Manager Table 7-1 I/O Colors and Classifications (Standard Mode) Classification Color Standard input White Delimit Layout 0 0 (64 points) Name System input 33 34 Standard output Pink (64 points) 47 45 48 48 55 55 56 56 63 63 64 64 71 71 72 72 103 104 Internal I/O Yellow (384 points) DeviceNet input (256 points) DeviceNet output (256 points) Green Blue 127 127 128 128 511 511 512 512 551 547 552 552 767 767 768 769 799 1246 800 800
Table 7-2 I/O Colors and Classifications (Previous Model − compatible Mode) Classification Color Standard input White Delimit Layout 0 0 (64 points) Name System input 33 34 Standard output Pink (64 points) 47 45 48 48 55 55 56 56 63 63 64 64 71 71 72 72 103 104 Internal I/O Yellow (384 points) DeviceNet input Green 127 127 128 128 511 511 512 512 535 534 536 536 767 767 768 769 799 1246 800 800 1023 1023 (256 points) DeviceNet output (256 points) 7-20
Chapter 7 Operating DIO Manager 7.4.5.2 Oscilloscope Upon selecting the oscilloscope display type, the I/O statuses are displayed in graphical form as on an oscilloscope. When displayed in the table type, turn the Monitor SW grid of the desired I/O display to ON. The maximum number of I/Os that can be displayed simultaneously is 8. or Next button scrolls the list by one page. Clicking the Return button Fig.
7.4.5.3 Panel Upon selecting the panel display type, the I/O states are displayed in panel. When displayed in the table type, turn the Monitor SW grid of the desired I/O display to ON. The maximum number of I/Os that can be displayed simultaneously is 32. scrolls the list by one page. or Next button Clicking on the Return button Fig.
Chapter 7 Operating DIO Manager 7.5 Tools Menu (DIO Manager) 7.5.1 Options Makes various types of settings needed for the DIO Manager. Upon selecting Options from the Tools menu, the Options dialog box appears on the screen. Clicking the tab enables each item to be set. Checking Create Header File creates the configuration macro definition file (dio_cnf.h). The dio_cnf.h file contains the macro definition information for hardware settings.
7.5.1.2 Oscilloscope Fig. 7-24 Oscilloscope Tab (Options) Dialog Box • Background: • Scale color: • Measured: 7.5.1.3 Specify the background color of the oscilloscope. Specify the scale color of the oscilloscope. Specify the color of measured values in the oscilloscope. Panel Fig. 7-25 Panel Tab (Options) dialog Box • Color at ON: • Color at OFF: 7-24 Specify the color at ON in the panel display. Specify the color at OFF in the panel display.
Chapter 7 Operating DIO Manager 7.5.1.4 Hardware Click the Hardware tab to set various parameters needed for DIO operation. For the meanings and element numbers of parameters, refer to “Appendix” in PROGRAMMER’S MANUAL. The left side of the I/O layout frame displays I/O device, the right side displays I/O layout. I/O layout I/O device Fig. 7-26 Hardware Tab (Options) Dialog Box 7.5.1.5 M-DNet Click the M-DNet tab to set the parameters needed for establishing the Device Net master mode.
7.5.1.6 Display Click the Display tab to set SHOW/HIDE option for display. This display tab appears when the user level is higher than the programmer. Fig. 7-23 Set/Display Menu Fig. 7-27 Display Tab (Options) Dialog Box • File extension menu: Extends the Files menu of the DIO Manager. For details, refer to 7.1.6 “Menu List”.
Chapter 7 Operating DIO Manager 7.5.2 DIO Command Viewer The DIO command viewer shows the bit pattern of DIO command. For information on the DIO commands, refer to chapter 5 “Robot Controller Interface” of the Instruction Manual (Installation and Maintenance). Fig.
7.6 Help Menu The Help menu provides explanations on how to use WINCAPSII. Fig. 7-29 Help Men 7.6.1 About DIO Manager Displays the version information on DIO Manager.
Chapter 8 Operating Arm Manager This chapter describes the WINCAPSII software Arm Manager functions that are used with the personal computer teaching system.
Chapter 8 Operating Arm Manager 8.1 Outline of Arm Manager 8.1.1 Outline of Functions The Arm Manager is a tool provided for monitoring the current robot arm position, effective tool number, and effective work number. Since robot actions can be simulated without actually operating the robot, robot programs can be developed efficiently and safely from the initial stage of development.
8.1.2 Tool Bar (Arm Manager) Main Tool Bar CONNECT button. Refer to “8.4.1 Connect”. SNAPSHOT button. Refer to “8.4.2 Snapshot”. MONITOR button. Refer to “8.4.3 Monitor”. TRANSMIT button. Refer to “8.2.5 Transfer Project”. WORK COORDINATE SYSTEM SET button. Refer to “8.6.1.6 Work”. TOOL COORDINATE SYSTEM SET button. Refer to “8.6.1.5 Tool”. AREA COORDINATE SYSTEM SET button. Refer to “8.6.1.7 Area”. REMOTE OPERATION button. Refer to “8.6.2 “Remote Operation”. OBJECT TREE button. Refer to “8.6.
Chapter 8 Operating Arm Manager Operating Bar (2) WIRE FRAME button. Changes the robot arm drawing to a wire frame. FLAT SHADING button. Changes the robot arm drawing to flat shading. SMOOTH SHADING button. Changes the robot arm drawing to smooth shading. PROJECT button. Specifies whether to display the robot in perspective. VIEWPOINT SHIFT Y-AXIS ROTATION bar. Rotates the robot display around the Y-axis. Operating Bar (3) LOCK Z button which sets the viewpoint in the direction of Z-axis.
8.1.3 Basic Application This subsection describes the flow of off-line point teaching. Note: Since the current Arm Manager has no such accuracy in calibration to provide teaching with precision, rough point teaching is conducted to check program operation. During designing Start Monitor Monitorstarted startedwithout connection without connection Robot operation with simulation images Input the current pose to variable Refer to “8.4.3 Monitor”. Refer to “8.6.2 Remote Operation”. Refer to “6.4.
Chapter 8 Operating Arm Manager During Monitoring Start Connected to Robot Controller Refer to “8.4.1 Connect”. Select item desired for monitoring Refer to “8.6.1.1 Monitor”. Start monitor Refer to “8.4.3 Monitor”.
8.1.4 Files to Manage Fig. 8-2 shows the files that the Arm Manager manages. The following are the description of each file. Arm Manager *.ARM Arm file arm_cnf .h Arm configuration definition file Fig. 8-2 Files Managed by Arm Manager 8.1.4.1 Arm Files (*.ARM) The Robot Controller servo information used for a project and other information used for setting and reading using the SET command in the Arm Manager TOOL menu are saved in an Arm file.
Chapter 8 Operating Arm Manager 8.1.5 Menu List (Arm Manager) The Arm Manager command menu has the following tree structure: File New (Programmer level) *1 Open (Programmer level) *1 Save Save As (Programmer level) *1 Transfer Print Close Edit Cut Copy Paste Rename Rebuild Actions Connect Snapshot Monitor View Arm Tool Work Area Obstacle Tools Options Remote Operation Object Trees Pose Conversion Help About Arm Manager Fig.
8.2 File Menu (Arm Manager) The Arm Manager has an ARM file to save information on trajectory generation. The Arm Manager File menu is used for managing the ARM files. Fig. 8-4 File Menu 8.2.1 New (Programmer level) Creates new robot arm information. 8.2.2 Open (Programmer level) Opens an existing ARM file. When the standard Windows dialog box appears on the screen, select an ARM file to open, and click on OPEN to open the file. Fig. 8-5 Open Project Dialog Box 8.2.
Chapter 8 Operating Arm Manager 8.2.4 Save As (Programmer level) Saves the current robot arm information to a new ARM file. When the standard Windows dialog box appears on the screen, select the path and input the file name. Click on Save to save the data. Fig. 8-6 New Saving of File Dialog Box 8.2.5 Transfer When communication with the Robot Controller is ON, this enables it to transmit or receive the environmental table data.
8.2.6 Print Prints the Arm Manager environmental table. 8.2.6.1 Print Object The Print Manager dialog box appears on the screen. Select the Print Object tab and select the object to be printed. Click on Print to print data. Fig. 8-8 Print Object Tab (Print Manager Dialog Box) • Select All: • Set: • Preview: • Cancel: • Print: • Option: TIP: Selects all of the environmental tables as the object for simultaneous printing. Displays the printer SET dialog box and makes various printer settings.
Chapter 8 Operating Arm Manager Fig. 8-9 Preview Window : : : : Moves to the head/tail end of the page. Moves to the immediately preceding/following page. Selects display (Reduction/Standard/Expansion) Sets print execution The printing range (specific pages) of an object file can be specified. Fig. 8-10 Print Window : Exports the object file. The selected object file will be converted into the file format specified in Format and outputted (saved) to the Destination. Fig.
8.2.6.2 Option Selecting the Option tag will display the print options. Note: Print option is not available from the Arm Manager. 8.2.7 Close Ends Arm Manager and closes the Arm Manager window.
Chapter 8 Operating Arm Manager 8.3 Edit Menu (Arm Manager) This menu is for editing the object tree. Fig. 8-13 Edit Menu 8.3.1 Cut Cuts data out of the selected range. The cutout data can be used with the Paste command. Note: Only the selected data is cut out. Note that the data that exists on the lower level than the selected data will be also deleted. 8.3.2 Copy Temporarily stores the same data as in the selected range. Data temporarily stored by copying can be used in the PASTE command. 8.3.
8.4 Actions Menu (Arm Manager) The Actions menu commands can be also issued by depression of the buttons on the tool bar. Fig. 8-14 Actions Menu and Button 8.4.1 Connect Connects communication between the Robot Controller. When connected the menu is attached with a check mark. works the same as the Connect command. When The connect button connected it is displayed as if depressed. 8.4.2 Snapshot Acquires the data of the moment from the Robot Controller. has the same function as the Snapshot command.
Chapter 8 Operating Arm Manager 8.5 View Menu (Arm Manager) Specifies the elements to be displayed in the robot display. Arm Work Obstacle Tool Area Fig.
8.5.1 Arm Specifies display of the robot arm. When Arm on the menu is check-marked, the robot arm is displayed. 8.5.2 Tool Specifies display of the tool coordinates. When Tool on the menu is checkmarked, the tool is displayed. 8.5.3 Work Specifies display of the work coordinates. When Work on the menu is checkmarked, the work coordinates are displayed. 8.5.4 Area Specifies display of the area. When AREA on the menu is check-marked, the area is displayed.
Chapter 8 Operating Arm Manager 8.6 Tools Menu (Arm Manager) Fig. 8-16 Tools Menu 8.6.1 Options Makes various settings that are necessary for Arm Manager. Select Options from the Tools menu to display the Options dialog box. Click on the tab and set the required data at the respective items. When you put a checkmark at Create Header File, the macro definition file (arm_cnf.h) for arm configuration is created. Note: The items that can be edited vary with the user level.
8.6.1.1 Monitor Check this box when displaying the monitored values. Fig. 8-17 Monitor Tab (Options Dialog Box) • Timer intervals: Sets the intervals for acquiring data on the monitor. Default is 500 msec. • Action history: When drawing the trajectory of a robot, this specifies how many points of position data to draw. Default is 10 points.
Chapter 8 Operating Arm Manager 8.6.1.2 Configuration Click the Config. tab to set various parameters that affect acceleration, deceleration, and positioning. For the meaning of each parameter, refer to “4.6 Control Sets of Motion Optimization”, “4.7 Setting the Master Control Parameters in User Preferences” and “Appendices” in the Programmer’s Manual. Fig. 8-18 Config. Tab (Options Dialog Box) 8.6.1.
8.6.1.4 Servo Click the Servo tab to set various parameters necessary for the robot arm servo system. Change parameters by rewriting the set value grid in the list. For the meaning of parameters, refer to “Appendix” in Owner’s Manual (Programming). Fig. 8-20 Trajectory Generation Tab (Options Dialog Box) 8.6.1.5 Tool Click the Tool tab to define the tool coordinates to be displayed on the robot display. will open the same Clicking on the tool coordinate system set button Options dialog box. Fig.
Chapter 8 Operating Arm Manager 8.6.1.6 Work Click the work tab to define the work coordinates to display on the robot display. will open the same Clicking on the work coordinate system set button Options dialog box. Fig. 8-22 Work Tab (Options Dialog Box) 8.6.1.7 Area Click the Area tab to define the area to display on the robot display. will open the same SET dialog box. Clicking on the area set button Fig.
8.6.1.8 Display Click the Display tab to set the display option between Show and Hide. This display tab appears when the user level is higher than the programmer. Fig. 8-24 Display Tab (Options Dialog Box) • File extension menu: Extends the Files menu of the Arm Manager. For details, refer to 8.1.5 “Menu List”.
Chapter 8 Operating Arm Manager • Displaying details of arm objects [Ver. 1.8 or later] When “Detailed display of arm objects” is selected, the screen shows all the robot objects in the object tree from base to flange. The screen is changed when the WINCAPSII is activated. Fig. 8-24b Object Tree Dialog Box 8.6.2 Remote Operation Selecting the remote operation command displays the Remote Operation dialog box.
8.6.3 Object Trees Defines the object to draw on the robot display. Select Object Tree from the Tools menu to display the Object Tree dialog box. Corresponding axis Moving direction and scale Additional buttons Fig. 8-26 Object Tree Dialog Box • [+] mark: Indicates that the hierarchical structure of the lower order of the object tree is hidden. Clicking will show the hierarchical structure of the lower order. • [−] mark: Indicates that the hierarchical structure of the lower order is displayed.
Chapter 8 Operating Arm Manager 8.6.3.1 Adding New Objects to Object Trees "STEP 1 Select an object to be added. "STEP 2 Right-click to display the contents menu, and copy the object. "STEP 3 Right-click to display the contents menu, and paste the object.
8.6.3.2 Deleting Objects "STEP 1 Select an object to be deleted. "STEP 2 Right-click to display the contents menu and cut the object.
Chapter 8 Operating Arm Manager 8.6.4 Pose Data Conversion This is the tool for converting the data type between the three types of pose data (P type, J type and T type). Conversion is made on the basis of the specified work coordinate system (WORK) and tool coordinate system (TOOL). Clicking on the work coordinate system, tool coordinate system or the data type will run the calculations for conversion. Fig.
8.7 Help Menu Descriptions on how to use WINCAPSII can be viewed using the Help menu. Fig. 8-28 Help Menu 8.7.1 About Arm Manager Displays the version information on Arm Manager.
Chapter 9 Operating Vision Manager The Vision Manager handles the functions of the vision control device. This chapter describes the WINCAPSII Vision Manager used by the personal computer teaching system.
Chapter 9 Operating Vision Manager 9.1 Outline of Vision Manager 9.1.1 Outline of Functions The Vision Manager supports the creation of vision programs in PAC. The Vision Manager enables you to interactively proceed with the defining vision processing windows, create search model, and lookup tables. Image data can be backed up in BMP format, while search model data can be backed up by user defined specific formats.
Teaching Panel: When editing the window shape and/or search model shape, adjust the shape with the teaching panel, using the mouse. Display Screen Status: Displays the current screen displayed state on the Vision Monitor. The camera or processing screen state is also displayed here. Object Screen Status: Displays the screen analysis processing object (Process Screen 0 to 3). Image Data Status: Displays the attributes of image data displayed on the teaching panel. 9.1.1.2 Options Window Fig.
Chapter 9 Operating Vision Manager 9.1.1.3 Edit Macro Name Window Fig. 9-3 Edit Macro Name Window Edits the macro names of the windows and search models. The macro name definition file can be created from the input macro name. The macro name can then be used in programs.
9.1.1.4 Various Tool Windows Fig. 9-4 Various Tool Windows The Tool window is called from the main window. The work objective is carried out through a combination of these tool windows.
Chapter 9 Operating Vision Manager 9.1.2 Tool Bar Main tool bar Shape edit tool bar Fig. 9-5 Main Window and Tool Bar Main Tool Bar Connects with the Controller. Acquires controller information. Displays the environmental table transmit dialog. Displays the screen display tool. Displays the camera input tool. Displays search model edit tool. Displays the window edit tool. Displays the area, center of gravity and spindle tools. Displays the binary processing registration tool.
9.1.3 Basic Application During image analysis Start Connect the Robot Controller Display camera images by selecting display screen Input camera images Register a window to use for analysis Chapter 9, subsection 9.4.6.3 “Select Display Screen." Chapter 9, subsection 9.4.6.2 “Camera Input." Chapter 9, subsection 9.4.3 “Edit Window." Register the binary-coded level to use for analysis Chapter 9, subsection 9.4.6.4 “Binary-coded Registration.
Chapter 9 Operating Vision Manager 9.1.4 Files to Be Managed Fig. 9-6 shows the five files that the Vision Manager manages. vis_cnf .h vis_tab .h Vision manager Macro definition file Configuration macro definition file *mdl *.bmp Bit map file Model data file *vis Vision file Fig. 9-6 Management Files of The Vision Manager 9.1.4.1 Vision File (*.vis) Contains set information about the vision board including window, search model, calibration, lookup table and system settings.
9.1.4.4 Macro Definition File (vis_tab.h) Contains the correspondence definition, between the window macro name and number, and the macro name and number of search model. The macro definition file is located wherever the vision file (*.vis) is. The file name is “vis_tab.h”. 9.1.4.5 Configuration Macro Definition File (vis_cnf.h) Contains the vision set data macro definition information. The configuration macro definition file is located wherever the vision file (*.vis) is. The file name is “vis_cnf.h”.
Chapter 9 Operating Vision Manager 9.1.
9.2 File Menu The file stores necessary information for operating the vision device and it also reflects the contents of editing with the Vision Manager. The following shows the list of data stored: • • • • • System set data (camera setting, etc.) Lookup table data Window data Search model data Calibration data (teaching point data and conversion factor) 9.2.1 New (Programmer level) Creates a new set file for an editing object. Default is stored when making a new file. 9.2.
Chapter 9 Operating Vision Manager 9.2.5 Transfer 9.2.5.1 Transmitting Set Data Transmits set data between the Robot Controller and the personal computer. This function is used for transmitting set data edited by the Vision Manager or for receiving Robot Controller (backup) set data. To transmit set data, it is necessary to be connected to the Robot Controller. For instructions how to establish a connection, refer to Chapter 9 “9.3.1 Connect” in this manual. 9.2.5.
9.2.5.3 Image Data Transmit Procedure (1) Check image data (A) in the Transfer Environment Table dialog. A B C D (2) Click on either Transmit or Receive. The data update check dialog appears on the screen, click on Yes. The Transfer Image Data dialog appears. (3) Set the processing screen (B) and the drawing screen (C) as the object screen for transmission. Image data is transmitted between the processing screen, specified here, and the teaching panel. (Drawing Screen is for Ver.1.6 or later.
Chapter 9 Operating Vision Manager 9.2.5.4 Image Data Screen Size Determine the size of image data to be received using the Screen Size setting in the Transfer Image Data dialog. The 1/1 screen receives all the image data on the processing screen. The 1/4 screen receives the image data on the processing screen by thinning the data to 1/4. When 1/4 screen is selected, time required for data transmission is reduced to 1/4 of the 1/1 screen thus saving time.
9.2.8 Print Prints the set data currently being edited with the Vision Manager. 9.2.8.1 Print Object • Select All: • Set: • Preview: • Cancel: • Print: • Option: TIP: Selects all of the environmental tables as the object for simultaneous printing. Displays the printer SET dialog box and makes various printer settings. Enables viewing of the print status prior to actual printing. Closes the dialog box without printing. Prints the table. Print options appear.
Chapter 9 Operating Vision Manager Preview Window : : : : Moves to the head/tail end of the page. Moves to the immediately preceding/following page. Selects display (Reduction/Standard/Expansion) Sets print execution The printing range (specific pages) of an object file can be specified. Print Window : Exports the object file. The selected object file will be converted into the file format specified in Format and outputted (saved) to the Destination.
9.2.8.2 Option Selecting the Option tag will display the print options. Note: Print option is not available from the Vision Manager. 9.2.9 Make Macro Definition File Prepare the data created using the macro-name-edit function. This function is used to create the macro definition file (vis_tab.h) in the folder having the vision (*.VIS) file. By reading the macro definition file into the program, you can use the macro names entered using the macro edit function. 9.2.
Chapter 9 Operating Vision Manager 9.3 Actions Menu 9.3.1 Connect Sets the connection object (edit object) of the Vision Manager. By establishing a connection, communication with the Controller becomes possible. As a result, editing of the controller setting (window and search model) and image analysis can be performed. If set for non-connection, the Vision Manager sets the file on the personal computer as the object to be edited. Connection selection method 1: Q Click on Actions in the menu bar.
9.3.1.1 Edit Object of Vision Manager The objects to be edited using Vision Manager can be mainly classified into the following three types: Type A, editing only the files in the personal computer. After editing, the set value is transmitted to the Controller. (Objects: general setting, lookup table, and calibration data). Type B, editing both the settings of the Controller and the personal computer files.
Chapter 9 Operating Vision Manager 9.3.2 Get Info To edit Controller Types B and C settings, as described in Chapter 9 “9.3.1.1. Edit Object of the Vision Manager” in this manual, you must read the Robot Controller information into the personal computer in advance. Without getting information on the Controller, the Vision Manager cannot correctly edit the Robot Controller settings. To get information, connect the Vision Manager with the Controller in advance.
9.4 Tools Menu 9.4.1 Options Creates the various settings needed by the Vision Manager. Checking the Create Header File creates configuration macro definition file (vis_cnf.h). Q Click on Tools in the menu bar. The Tools menu appears. R Click on Options. The Options window appears. Note: Items that can be edited differ by the user level. As to restrictions by user level, refer to Chapter 1 “1.3 Security” in this manual. To change the access level in the middle of operation, refer to Chapter 4 “4.3.
Chapter 9 Operating Vision Manager 9.4.1.1 Look-up Table Click the Look Up tab to set the lookup table characteristics. By changing the lookup table the user can change the camera image input characteristics, camera images and processing screen display characteristics. 0 to 4, in the lookup table, are reserved by the system. 5 to 15, in the lookup table, can be changed by general users. Graphic display of characteristics Q Drag scroll bar (A) to display the table of characteristics in the list (B).
9.4.1.2 General Setting Click the General Setting tab to make various settings for Vision Board. For parameter definitions and element numbers, refer to “Appendix” in Owner’s Manual (Programming). Note: If you put a checkmark at Create Header File and select OK, the parameter macro definition file “vis_cnf.h” is automatically created. To use macro name with GETENV and LETENV in PAC language, you must include this file. Q Double-click the cell (A) to change the set value.
Chapter 9 Operating Vision Manager (3) Synchronous method Set the synchronous method in the camera. Since all the cameras are simultaneously set, it is not possible to discretely change the camera settings. For internal synchronization, set camera input with the Vision Board internal synchronous signal. For external synchronization, set camera input with the camera synchronous signal.
9.4.1.3 Display Click the Display tab to set the display option between Show and Hide. This display tab appears when the user level is higher than the programmer. • File extension menu: Extends the File menu of Vision Manager. For details, refer to Chapter 9 “9.1.5 Menu List” in this manual.
Chapter 9 Operating Vision Manager 9.4.2 Edit Macro Name Edit window and search model macro names and usage. A Macro definition file is created from the input macro name, which can be used in the program. Only single-byte characters can be used for macro names, as shown below. Using any other characters than these, the macro definition file will be created but it cannot be used in the program.
9.4.3 Edit Window To edit the Robot Controller window settings, it is necessary to get the Robot Controller information on the personal computer, in advance. For the method of getting information, refer to Chapter 9 “9.3.1 Connect” and “9.3.2 Get Info” in this manual. 9.4.3.1 Window Editing Tool Edit the window (register, delete, etc.). Displays an edit object window. Window edit tool Displays previously displayed tool. Creates a new window. Deletes an edit object window.
Chapter 9 Operating Vision Manager 9.4.3.2 New When newly registering a window, click on New. The Create Window appears in the window edit tool. To validate this window, you must register the window. Window edit tool C A B Q Click in the tool bar. The Window edit tool appears. R Click New. The Create Window dialog box appears. S Set a window number. (By default, an unused window number is automatically set.) T Set the window shape (B). The example screen shows “Rectangle”. U Click OK.
9.4.3.3 Modify Windows Edit the edit object window with the teaching panel. To validate the window after editing, you must register the window. (1) Edit with the teaching panel Window edit tool A Q Click on in the tool bar. The window edit tool appears. R Select window (A) as the object to be changed. The window shape in the edit object appears on the teaching panel. If connected, the window shape appears on the Vision Monitor.
Chapter 9 Operating Vision Manager (2) Edit by numerical value input Q Click on in the tool bar. The window edit tool appears. R Select a window (A) to be edited. S Double-click on the cell (B) to change the set value. Cell characters are displayed in reverse video. A T When you enter a value, it replaces (or is inserted into) the reversed value. U Click on Register in the window edit tool. The set value (B) in the window edit tool is registered to the B window.
9.4.3.4 Delete Window Delete a window selected for editing. Q Click on in the tool bar. The window edit tool appears. R Select the window to be deleted in the cell (A). S Click on Delete. The selected window is deleted. Window edit tool A 9.4.3.5 Register Window Register a window selected for editing. Q Click on in the tool bar. The window edit tool appears. Window edit tool R Select the window to be registered in the cell (A). S Edit the window set values (B). A B 9-30 T Click on Register.
Chapter 9 Operating Vision Manager 9.4.3.6 Editing Windows with Teaching Panel (1) Window size change and shift To change the window size or shift the window, click on Change-shaft in the shape edit tool bar. Size change Shift To change the size, To change the drag the handle size, drag the handle. To shift, drag the To shift, drag outer shape the outer shape. Handle (2) Window rotation To rotate, click on (Rotate) in the shape edit tool bar.
9.4.3.7 Projection Window For window shape parts (rectangle and sector), it is necessary to set the mode. The mode is a parameter for specifying the window projection shape. It is quite important when measuring the edge. For measuring shapes, other than the edge, it is necessary to set the mode = 2 (all projection). When a window is newly created or a window shape is changed, it is set to mode = 2. Set the mode parameter according to the purpose.
Chapter 9 Operating Vision Manager 9.4.4 Edit Search Model To edit a search model in the Robot Controller, it is necessary to get the Robot Controller information on the personal computer, in advance. For the method of getting information, refer to Chapter 9 “9.3.2 Get Info” in this manual. 9.4.4.1 Search Model Edit Tool Edit (register, delete, etc.) the search model. Editing of a search model is possible only when the Vision Manager is connected to the Robot Controller with a built-in vision board.
9.4.4.2 Search Model Reference Display the search model image registered to the vision board on the Vision Monitor. Search model edit tool A Q Click on in the tool bar. The Edit Search Model window appears. R Select a search model to be referenced in the cell (A). S Click on Model Disp. The search model image appears on the Vision Monitor.
Chapter 9 Operating Vision Manager 9.4.4.3 New Use the New command to register a search model. When the search model is newly created, the search model edit tool shows the range of images to be registered to the vision board. To register the search model image to the vision board, a registration process is required. Search model edit tool B Q Click on in the tool bar. The search model edit tool appears. R Click on New. The Create model dialog box appears. S Set the search model number (A).
9.4.4.4 Delete Search Model Delete the edit object search model. Q Click on in the tool bar. The Edit Search Model window appears. R Select the search model to be deleted in the cell (A). S Click on Delete. The selected search model is deleted.
Chapter 9 Operating Vision Manager 9.4.4.5 Editing Search Model with Teaching Panel (1) Changing size and moving the search model Change size Move To change the size, drag the handle. To move the search model, drag the frame. Handle (2) Changing the offset position Change the offset position To change the offset position, drag the cross. (3) Changing the offset angle Change the offset angle To change the offset angle, drag the long bar of the cross.
9.4.5 Calibration 9.4.5.1 Camera Calibration Tool Specifies the object (white/black) to be measured. Camera calibration tool Displays the binary coded level used for measuring the center of gravity. A Specifies where the point is registered. Returns to the previously screen. Displays Binary Processing Registration Tool Executes calibration. Obtains camera image. Displays camera screen Displays the cross cursor. Sets Window. Measures the center of gravity in the Window.
Chapter 9 Operating Vision Manager 9.4.5.3 Entering Vision Coordinates There are the following three methods for entering vision coordinates: (1) Numerical Input Method (2) Cursor Input Method. This method is a method of marking while checking the images on the vision monitor screen (cursor) (3) Measurement Input Method. This method uses the center of gravity data, in the image, as the input value by using the image analysis function The following are the procedures of the above methods.
(2) Cursor input You can enter the vision coordinates while observing the camera images using the cross cursor. A B C Cross cursor Q Enter the camera images to the processing screen. R Display the processing screen with the camera image on the vision monitor. S Select Point 1 at Registration (A) where the coordinates are to be entered. T Click on Cursor. The cross cursor appears on the teaching panel and on the vision monitor. U Move the cross cursor by dragging or key operation.
Chapter 9 Operating Vision Manager (3) Measurement input Center of gravity can be obtained from the camera image, through image analysis, and entered as the vision coordinates. A B C D E Window Q Enter the camera images to the processing screen. R Display the processing screen with the camera image on the vision monitor. S Select Point 1 at Registration (A) where the coordinates are to be entered. T Set object (B). U Click on Set Window. A window appears on the teaching panel.
9.4.5.4 Entering Robot Coordinates Input the robot coordinates with either of the following two methods: (1) Input numerals directly (2) Use the coordinates stored in the P variables of the robot, as the input values. The following are the procedures of the above methods. Note: Always input the robot coordinates at a position corresponding with the input point number of the vision coordinates. (1) Numeral input Q Double-click on the cell (A) of the robot X coordinates. The cursor appears in the cell.
Chapter 9 Operating Vision Manager (2) Variable input Coordinates stored by the P variables of a robot can be used as the input values. A B C Q Select Point 1 at Registration (A) where the coordinates are entered. R Specify the P variable number where the point coordinates are stored at Variable P No. (B). S Click on Get (C). The robot variable coordinates are entered in the robot coordinates of Point 1 set at Registration (A) (and displayed in the coordinate list).
9.4.5.5 Executing Camera Calibration When you execute camera calibration, the Vision Manager calculates the coordinate conversion coefficients from the entered vision coordinates and the robot coordinates. Then, the Manager stores the calculation results in the file specified on the personal computer. To register the calibration data to the Controller, you need to transmit the data to the Controller from the personal computer.
Chapter 9 Operating Vision Manager 9.4.6 Image Analysis 9.4.6.1 Image Analysis Tool in General [ 1 ] Common Button Functions Buttons shared by each tool are arranged in the image analysis tool. The shared buttons include Input and Cam Image. Click on Input, and the Vision Manager enters the camera images to the processing screen under the condition set using the camera input tool. The Manager displays the obtained image data of the processing screen on the vision monitor.
9.4.6.2 Camera Input [ 1 ] Camera Input Tool This tool inputs images from the camera to the processing screen. Camera input tool Selects the camera of which image is taken. Displays the previously displayed tool. Inputs camera images to the processing screen. Specifies the lookup table used for input. Specifies the processing screen where camera images are stored. [ 2 ] Input Video Image Q Click on in the tool bar. The camera input tool appears.
Chapter 9 Operating Vision Manager 9.4.6.3 Selecting Display Screen [ 1 ] Display Screen Tool Select a screen (camera, processing screen and drawing screen) to be display on the vision monitor. Display screen tool Selects the drawing screen to display. Displays the previously displayed tool. Selects the vision monitor display for a specified screen. Selects the camera screen or processing screen to display. Selects the lookup table used for display.
9.4.6.4 Binary-coded Registration [ 1 ] Binary-coded Registration Tool Register the binary-coded level with the image analysis tool. The detection method for the binary-coded level includes manual and automatic methods (mode method, discriminant analysis method and P tile method). Optimal condition can be verified by using the binary-coded register tool. Binary-coded register tool Selects a window that specifies the range of processing. Selects the select mode for binary-coded level.
Chapter 9 Operating Vision Manager - Histogram - Here, histogram refers to the counting of the frequency of appearance of brightness values, for a range specified by the window of the image data input from the camera. When graphically displayed, the histogram provides ease of understanding the distribution state of brightness, which makes it easier to determine the binary-coded level, when image data is being binary-coded.
[ 2 ] Binary-coded Level Registration (1) Manual Binary process registration tool B C A Q Click on in the tool bar. The binary process registration tool appears. R Select a window for measuring the histogram with process range (A). S Set the detection mode (B) to Manual. T Click on Histogram. The histogram appears. U Drag the slider (C) and set the lower limit of binarycoding level. V Drag the slider (D) and set the upper limit of binarycoding level.
Chapter 9 Operating Vision Manager [ 3 ] Selecting Display The binary-coded register tool can display the camera screen and the process screen currently displayed on the vision monitor in a binary-coded format. In binary-coded display, it is possible to check the binary-coded results without having the actual data binary-coded. Binary process registration tool B C Q Click on in the tool bar. The binary process registration tool appears. R Click on Binary Data.
[ 4 ] Binary Process Registration Screen Converts the specified range of the currently displayed processing screen to the binary codes. Q Display the processing screen to be binary-coded on the vision monitor by using the monitor display. in the tool bar. R Click on The Binary Process Registration window appears. S Select a window for specifying the binary-coding range at Process Range (A). T Click on Execute. The specified range of the processing screen is binary-coded.
Chapter 9 Operating Vision Manager 9.4.6.5 Area, Center of Gravity, and Principal Axis [ 1 ] Area, Center of Gravity and Principal Axis Measuring Tool Measure the area, center of gravity, and principal axis in a specified window. Set the binary processing level to use with the image analysis tool using the binary-coded register tool. Area, center of gravity and principal axis measuring tool Specifies a window for specifying the range of measurement. Displays the previously displayed tool.
- Area Window 1 (white) area = 13 0 (black) area = 12 - Center of gravity X Window Y Object Major axis Minor axis X θ 9-54 The object from the image data input from the camera forms a plane. The center of gravity refers to the point at which the weight of an object on the plane would remain in equilibrium. The µVision board obtains the center of gravity from white(1) or black (0) pixels within the range specified by the window after image data is binary-coded.
Chapter 9 Operating Vision Manager [ 2 ] Measuring Area, Center of Gravity and Principal Axis Area, center of gravity, and principal axis measuring tool A B D Q Click on in the tool bar. The Area, Gravity Center, Principal Axis measuring window appears. The window shape appears on the teaching panel and the vision monitor. R Select object window (A). The range of the specified window shall be the object of measurement. S Select measurement mode (B).
9.4.6.6 Labeling [ 1 ] Labeling Measuring Tool Measure the labeling in a specified window. Set the binary-coded level to be used with the image analysis tool using the binary-coded register tool. Labeling measurement tool Specifies the window used to specify the range of measurement With. Displays the previously displayed tool Displays the window edit tool. Displays binary-coded register tool. Measures the labeling. Inputs the camera images. Displays the camera screen.
Chapter 9 Operating Vision Manager [ 2 ] Measuring Labeling Labeling measuring tool D E C B F A Q Click on in the tool bar. The labeling measuring tool appears. The window shape appears on both the teaching panel and the vision monitor. R Select an object window (A). The object of measurement shall be the range of the specified window. S Select the sort mode (B) from Labeling Order, Area Descending Order, and Area Ascending Order. Measuring results are displayed in the specified order.
9.4.6.7 Edge [ 1 ] Edge Measuring Tool Measure the edge in a specified window. Use projection window (mode = 0 or 1). Read 9.4.3.7 “Projection Window." Edge measuring tool Specifies a window to specify the range of measurement with. Displays the previously displayed tool. Displays the window edit tool. Displays binary-coded register tool. Displays the measuring condition and set screen. Displays the distribution graph screen. Measures the edge. Inputs the camera image. Displays the camera screen.
Chapter 9 Operating Vision Manager [ 2 ] Measuring Edge Edge measuring tool F E D C B A Q Click on in the tool bar. The Edge measuring tool window appears. The window shape appears on both the teaching panel and the vision monitor. R Select Object Window (A). The specified window range is to be measured. S Select Detection System (B) from among Brightness absolute value, Brightness differential value, Area absolute value, and Area differential value.
[ 3 ] Distribution Graph A The edge measuring tool can display the distribution graph of a measured window. According to this distribution graph, variation of brightness in the window and the area can be checked. By linking the distribution graph and the distribution data display, brightness and area of the graph-specified point can be checked with ease. Displays distribution graph Q Click on Graph. A distribution brightness graph appears.
Chapter 9 Operating Vision Manager [ 4 ] Setting Measuring Conditions Specify the level at which to detect the edge. If the detection system is based on brightness absolute value and differential value, specify brightness (0 to 255). If the detection system is based on the area absolute value and differential value, specify area value (0 to 512).
9.4.6.8 Model Search [ 1 ] Model Search Measuring Tool This function searches and measures the specified search model inside a specified window. It is necessary to register, in advance, the search model used for measurement. Model search-measuring tool Specifies the window where you specify the range of measurement. Displays the previously displayed tool. Displays the window edit tool. Displays the search model edit tools. Performs search measurement. Reads camera image. Displays the camera screen.
Chapter 9 Operating Vision Manager - Search - Search refers to searching for a point of concordance, by moving the standard image data (search model), registered in advance, within the range for search (within the window range) of the object to be measured. (Refer to Fig. 1) With the µVision board, the standard image data is called “search model” which consists of image data and reference coordinates (OX, OY). (Refer to Fig.
[ 2 ] Model Search Measuring Model search measure tool H G F E D C B A Q Model search measure tool in the tool bar. The Model Search window appears. The window shape appears on both the teaching panel and the vision monitor. R Select Object Window (A). The specified window range will be the object for measuring. S Select Search Model (B). T Specify Coincidence (C). U Select Detection unit (D) from Pixel or Sub-pixel. V Specify Detection number (E). W Specify Start Angle (F). X Specify End Angle (G).
Chapter 9 Operating Vision Manager [ 3 ] Setting Measuring Conditions 9.4.6.9 Object window The range of a specified window shall be the object of measuring. Search model Runs the search/process inside the window by using a specified search model. Concordance Position having the concordance value greater than specified will be handled as the result. Unit of detection Specifies accuracy (pixel or sub-pixel) of the coordinates to be search-measured.
[ 2 ] Code Reading Measuring Q Click on in the tool bar. The Read Code window appears. The window shape appears on both the teaching panel and vision monitor. R Select Object Window (A). The range of a specified window will be the object of measuring. S To perform automatic binary processing, check the Automatic check box (B). If you do not select automatic binary processing, set the binary code level with the binary processing registration tool. T Click on Execute.
Chapter 9 Operating Vision Manager 9.5 Visually Calibrating Robot Position This section describes the procedures for visually correcting the robot position. In the example shown, a series of operations are performed, that includes: Q Moving the robot to the standby position (P1), R Moving the robot to the work position detected with the camera (P2) and holding the work, S Moving the work to the pallet position (P3) and unload. Camera P1 P3 P2 (work) 9.5.
9.5.2 Calibration of Robot Coordinates and Vision Coordinates To visually correct the robot position using measured coordinates, it is necessary to convert the vision coordinates to robot coordinates. To do this, it is necessary to obtain the relationship between the vision and the robot coordinates, in advance. The work for acquiring this relationship is called camera calibration.
Chapter 9 Operating Vision Manager 9.5.3 Camera Calibration Procedure Obtain camera calibration data (coordinate conversion coefficients) according to the following procedures. This operation will complete preparation for running visual robot position correction. Ry1 Ry Vy1 Vx1 Q Input vision coordinates (Vx1, Vy1) of Point S1 and the robot coordinates (Rx1, Ry1, Rz1) for Point 1 of the camera calibration tool.
9.5.4 Program Example The following program list represents an example of visual robot position correction. Take note on how to use the coordinate conversion library. This program enables you to check the method for moving a robot by converting the coordinates measured with vision to the robot coordinates. Program List “PRO1” “Robot position correction” #INCLUDE "dio_tab.h" PROGRAM PR1 Specify the I/O macro definition file. For details, refer to Chapter TAKEARM 3, subsection 3.4.
Chapter 9 Operating Vision Manager 9.5.5 Executing Program Execute the program according to the following procedures: Q Create a new project. R Create a new program and input the program from Chapter 9, subsection 9.5.4 “Program Example” of this instruction manual. S Add the “viTrans6” library to the project from the program bank. T Define macro names “ioChuck, ioUnChuck” to be used with the hand chuck for general output of the DIO Manager. U Create the DIO Manager macro definition file.
9.6 Help Menu The Help menu provides explanation on how to use WINCAPSII. Fig. 9-8 Help Menu 9.6.1 About Vision Manager Displays the version information on Vision Manager.
Chapter 10 Operating Log Manager This chapter describes the WINCAPSII software Log Manager that is used with the personal computer teaching system.
Chapter 10 Operating Log Manager 10.1 Outline of Log Manager 10.1.1 Outline of Functions The Robot Controller holds the record of operation as a log. The personal computer teaching system Log Manager inputs this log to the personal computer and controls it in batch. The Log Manager can run log search, display graphics, or reproduce action with the Arm Manager, error monitor, etc. It can implement the initial stage of the maintenance operation from a remote location by using the communication function.
10.1.1.2 Error Log If an error is generated during robot operation, this log records the content of the error together with the time of generation. To acquire the error log, run the operation given in 10.2.5 “Receive Data” on page 10-11 and receive the Error Log from the robot controller. Fig. 10-2 Error Log 10.1.1.3 Operation Log Click the Operation Log to record the content of operation from the teach pendant. To acquire the operation log, run the operation given in 10.2.
Chapter 10 Operating Log Manager 10.1.1.4 Control Log Click the Control Log to record the command value, encoder value, current value and load ratio for each respective operating axis. Although the number of control axes differs by model, the record for the number of control axes is retained. To acquire the control log, run the operation given in 10.2.5 “Receive Data” on page 10-11 and receive the Control Log from the robot controller. Fig. 10-4 Control Log 10.1.1.
10.1.1.6 Version Records the version of each respective section of the Robot Controller. To acquire the version log, run the operation in 10.2.5 “Receive Data” on page 1011 and receive the Version Log from the robot controller. Fig. 10-6 Version 10.1.1.7 Error Detection If an error occurs, the error detection lamp in the Log Manager window changes from green to red and the detected error appears in the Search conditions (C) dialogue box.
Chapter 10 Operating Log Manager 10.1.1.8 Communication Specifications Click the Comm.spec.tab to record the contents of the Robot Controller communication setting. For communication use, run the operation in 10.2.5 “Receive Data” on page 10-11 and receive the Communication Application Log from the robot controller. Fig.
10.1.2 Tool Bar (Log Manager) Tool bar Fig. 10-9 Tool Bar CONNECT button: Establishes connection to the Robot Controller. When connected, this button is displayed as if depressed. SNAPSHOT button: Records the current status of the Robot Controller once. MONITOR button: succession. Records the status of the Robot Controller in RECEIVE button: Receives the Controller data. CONTROL LOG START button: Starts the recording of the control log at the Robot Controller.
Chapter 10 Operating Log Manager 10.1.3 Basic Usage During monitoring Start Connect to Robot Controller Select and receive a log desired to acquire Log analysis Refer to “10.4.1 Connect”. Refer to “10.2.5 Receive Data”. Refer to “10.3.9 Search on Grid”.
10.1.4 Files to Be Managed The Log Manager manages log files (*.LOG) as shown in Fig. 10-10. Log Manager *.LOG Fig. 10-10 File Managed by Log Manager 10.1.4.1 Log File (*.LOG) A log file stores the log information of project. Since log information is stored in separate files for each project, the log information can be managed without confusion even when multiple projects are involved. The extension of the file reads “.LOG”.
Chapter 10 Operating Log Manager 10.1.5 Menu List (Log Manager) The command menu of the Log Manager has the following tree structure: File New *1 Open *1 Save Save As *1 Receive Print Import Export Close Edit Undo Cut Copy Paste Delete Select All Search Replace Search on Grid Actions Connect Snapshot Monitor Begin Control Log End Control Log Clear Control Log Reproduce Control Log Action Graph Control Log Tools Options Analyze by Control Log Servo Joint Graph Help About Version Fig.
10.2 File Menu (Log Manager) The Log Manager File menu is used for managing files of saved logs. A file used for saving the content of a log is attached with “.log” as the extension. Fig. 10-12 File Menu 10.2.1 New (Programmer Level) Newly creates a LOG file for saving the contents of a log. The extension reads “.log”. 10.2.2 Open (Programmer Level) Opens an already existing LOG file. When the standard Windows dialog box appears, select a log file to open, and click on Open to open the file. Fig.
Chapter 10 Operating Log Manager 10.2.4 Save As (Programmer Level) Saves the content of the current log to a new file. When the standard Windows dialog box appears, select a path, input the file name, and click on SAVE to save the log data. Fig. 10-14 Save As Dialog Box 10.2.5 Receive Receives log data in the Robot Controller. This command can be operated using Receive. When the Receive Table dialog box appears, check select the desired item and click on Receive.
10.2.6 Print Prints each log. 10.2.6.1 Print Object When the Print Manager dialog box appears, check select the desired item and click on PRINT. Clicking on PREVIEW allows the printed image to be reviewed on the screen. Check selecting the optional PRINT LINE NUMBER adds the line number for printing. Fig. 10-16 Print Manager Dialog • Select All: • Set: • Preview: • Cancel: • Print: • Option: TIP: Selects all objects for printing simultaneously.
Chapter 10 Operating Log Manager Fig. 10-17 Preview Window : : : : Moves to the head/tail end of the page. Moves to the immediately preceding/following page. Selects display (Reduction/Standard/Expansion) Sets print execution The printing range (specific pages) of an object file can be specified. Fig. 10-18 Print Window : Exports the object file. The selected object file will be converted into the file format specified in Format and outputted (saved) to the Destination. Fig.
10.2.6.2 Option Selecting the Option tab will display the print options. Fig. 10-20 Option Tab (Print Manager Dialog Box) • Print Line No.: Selecting this with a check mark will print the selected program together with the line numbers. 10.2.7 Import Reads "Servo Single-Axis Data Log" data stored in the CSV format. The read data can be displayed graphically with "Servo Single-Axis Data Graph" on the TOOL menu. The Windows standard dialog box appears.
Chapter 10 Operating Log Manager 10.3 Edit Menu (Log Manager) This EDIT menu has the standard editing menu functions as are in any application software used for Windows 95. Fig. 10-21 Edit Menu 10.3.1 Undo Cancels immediately preceding operation to "document" to restore the original status. 10.3.2 Cut Cuts out a selected range of data of the “document.” Cut data can be used by the Paste command. 10.3.
10.3.7 Search Searches for the specified character string in the “document.” When the Retrieve dialog box appears, specify the necessary item and click on Find Next. Detected character strings are displayed in reverse. Fig. 10-22 Search Dialog Box • Find What: Input the desired character string for search here. • Replace With: Input character string desired for replacement here. • Search Direction: Specify the direction of the search.
Chapter 10 Operating Log Manager 10.3.8 Replace Replaces the specified character string in the “document” with the separately specified character string. When the Replace dialog box appears, specify the necessary item and click on Find Next. Detected character strings are displayed in reverse. Clicking on Replace replaces the character string currently being displayed in reverse. Clicking on Replace All replaces every applicable element in the selected object. Fig.
10.3.9 Search on Grid Searches the Error log and Operation log grids. The basic operation is the same as described in 10.3.7 “Retrieving” on page 10-14, but the field name is added to the retrieving condition. The search runs for the field specified in the Field Name box. If a matching character string is found the appropriate page is displayed. Fig.
Chapter 10 Operating Log Manager 10.4 Actions Menu (Log Manager) Commands arranged in this Actions menu can be also specified by the buttons shown below. Fig. 10-25 Actions Menu and Buttons 10.4.1 Connect Makes connection for communication with the Robot Controller. When connected, the menu has a check mark. works the same way as the CONNECT command. The CONNECT button When connected, it is displayed as if depressed. 10.4.2 Snapshot Acquires the instantaneous data from the Robot Controller.
10.4.4 Begin Control Log Starts recording the control log at the Robot Controller. To run the Begin Control Log command, it is necessary for the communication to be set up in advance. works the same as the Begin Control Log The START LOG button command. It has the same function as the PAC STARTLOG command. Refer to “19.2 STARTLOG (Statement)” in Part 2 of Owner’s Manual (Programming). 10.4.5 End Control Log Stops recording the control log at the Robot Controller.
Chapter 10 Operating Log Manager "STEP 3 Click the button of Arm Manager to enter Monitor status. "STEP 4 Click the button. STEP 4 Log Manager This completes the preparation. Run respective reproduction operation according to the following descriptions: Start 1-Step Reproduces one step portion of the currently selected control log. Start 1-Cycle Reproduces robot action using the Arm Manager and the command value recorded in the control log of Log Manager every 8 msec.
10.5 Tools Menu (Log Manager) The Tools menu has these commands. Fig. 10-26 Tools Menu 10.5.1 Options Selecting Options command in the Tools menu and the Options dialog box appears. Clicking on the table displays the respective option items. Note: Items that can be edited vary depending on the user level. For restrictions by user level, refer to “1.3 Security”. For the method of changing the access level, refer to “4.3.3 Re-Log In”. 10.5.1.1 Monitor Fig.
Chapter 10 Operating Log Manager 10.5.1.2 Editor Fig. 10-28 Editor (Options) Dialog Box arrow • Font name: Specifies font to be used in the document. Clicking on opens the list of selection items. • Size: Specifies the font size to be used in the document. Clicking on arrow opens the list of selection items. • Foreground: Specifies the color of foreground to be used in the document. arrow opens the list of selection items.
10.5.1.4 Error Detection Click the Error Detection tab to specify the processing performed upon generation of an error. The detection condition of errors displayed in ERROR DETECTION in the main Log Manager window, conforms to the setting in ERROR DETECTION of the SET dialog box. For more information on Error Detection in the Log Manager window, refer to “10.1.1.7 Error Detection”. For actual error detection, the Controller must be constantly supervised.
Chapter 10 Operating Log Manager 10.5.1.5 Display (Programmer Level) Click the Display tab to set the display options between show and Hide. This item only displays on the programmer level. Fig. 10-31 Display Tab (Options Dialog Box) • File extension menu: Extends File menu For details, refer to “10.1.5 Menu List.
10.5.2 Control Log Analysis Performs analysis on the basis of control log data and displays the expected load ratio, maximum load ratio and expected rotational resistance load ratio of each respective axis. Fig. 10-32 Analysis Results Dialog Box Paste the results of analysis in the document, check (d) and click on OK. The analytical results of the displayed control log will then be added to the document described in “10.1.1.1 Document”. 10.5.
Chapter 10 Operating Log Manager 10.6 Help Menu Descriptions on how to use WINCAPSII can be viewed using the Help menu. Fig. 10-33 Help Menu 10.6.1 About Log Manager Displays the version information of the Log Manager.
10.7 New Control Log (Ver. 1.20 or newer) 10.7.1 New Control Log Function WINCAPSII version 1.20 or newer supports a new control log whose operation status will change as illustrated below.
Chapter 10 Operating Log Manager NOTE 1: If the log is switched from a recording stop (recording aborted) to the ring buffer mode after the removal of an error, data can be fetched until the ring buffer will stop next. If ClearLog is executed, data can be no longer fetched. NOTE 2: If the log is switched to a recording stop due to a full buffer by user operation, it cannot be switched back to the ring buffer mode until it gets ClearLog.
10.7.3 Setting the Ring Buffer for Preserving Data You may change the ring buffer settings from the teach pendant or in WNCAPSII. The ring buffer settings include two types of parameters--control log record mode and control log sampling interval. The new settings you made will take effect when power supply is turned on next time. Control log record mode Any of integers 1 to 3. The number of sampling times will change according to the mode.
Chapter 10 Operating Log Manager Parameter setting procedure from the teach pendant Access: Top screen –[F2 Arm]–[F6 Aux.]–[F7 Config.] Setting the Ring Buffer that Preserves Data Modify the Control log mode and Control log sampling time parameters. Parameter setting procedure in WINCAPSII Setting the Ring Buffer that Preserves Data Enter into WINCAPSII by 1-Programmer level. Open Arm Manager and select [Tool] [Options] [Config.].
10.7.4 StartLog That is, the log of process from StartLog to the full buffer state can be fetched. Time StartLog command Buffer After execution of StartLog, if the ring buffer becomes full, the process will be stopped. Log is recorded here. 10.7.5 Stoplog The current ring buffer can be stoped at the same time as StopLog. 10.7.6 ClearLog Restarts the ring buffer. Restarts the sampling process which has been stopped with StartLog or StopLog. 10.7.
Chapter 10 Operating Log Manager Log saving/deleting procedure from the teach pendant Access: Top screen –[F2 Arm]–[F6 Aux.]–[F11 Log] Control Log Menu [F7 SaveLog.] Saves the control log into the flash memory. [F12 DelLog.] Deletes the control log from the flash memory. 10.7.8 Fetching Control Log You may fetch the control log only in WINCAPSII. Receive the control log from LogManager.
10.7.9 Saving Control Log to Floppy Disks If you fetch log data with the FDD function, the control log will also be saved onto the floppy disk. For details, refer to the OWNER'S MANUAL, "Setting-up." To fetch the control log from the flash memory, press [F7 SaveLog] on the controller log menu, then select "Enable" option, making the Saving of control log possible. Enabling Control Log Saving NOTE: When the controller starts, the parameter for saving the control log in the flash area is set to Disable.
Index
A About Arm Manager .............................. 8-28 About DIO Manager .............................. 7-28 About Log Manager ..............................10-27 About PAC Manager .............................. 5-49 About Variable Manager ........................ 6-26 About Vision Manager ........................... 9-72 ADD PROGRAM Button........................... 5-1 Adding Libraries to a Project.................. 5-39 Adding New Objects .............................. 8-25 Area.........................
M Macro Definition File (var_tab.h)............ 6-11 Macro Definition File (vis_tab.h) .............. 9-8 Make File (*.LNK) .................................... 5-7 Measuring Area, Center of Gravity and Principal Axis .................................... 9-55 Measuring Edge .................................... 9-59 Measuring Labeling............................... 9-57 Menu Tree of Arm Manager ..................... 8-7 Menu Tree of Log Manager .................... 10-9 Model Data File (*.mdl)...............
V Variable File (*.VAR).............................. 6-11 Variable Manager Button ........................ 4-2 Variable Manager Menu Tree................. 6-12 Version (Robot Controller sections) ........ 10-4 VIEWPOINT SHIFT VERTICAL bar (Arm Manager)..................................... 8-3 VIEWPOINT SHIFT X-AXIS ROTATION bar (Arm Manager)..................................... 8-3 VIEWPOINT SHIFT Y-AXIS ROTATION bar (Arm Manager)..................................... 8-3 Vision File (*.vis) ...............
WINCAPSII GUIDE (Ver. 1.95) First Edition April 1999 eleventh Edition June 2002 DENSO WAVE INCORPORATED Factory Automation Division 6D**C The purpose of this manual is to provide accurate information in the handling and operating of the robot. Please feed free to send your comments regarding any errors or omissions you may have found, or any suggestions you may have for generally improving the manual.
