Hi4aHV051001FME1 HYUNDAI ROBOT Function Manual HRView
The information presented in the manual is the property of HHI. Any copy or even partial is not allowed without prior written authorization from HHI. It may not be provided to the third party, nor used for any other purposes. HHI reserves the right to modify without prior notification. Printed in Korea - Oct. 2005. 1st Edition Copyright ⓒ 2005 by Hyundai Heavy Industries Co., Ltd.
Contents 1. Overview ................................................................................................ 1-1 1.1. HRView Overview..........................................................................................1-2 1.2. Function.........................................................................................................1-2 1.3. Ethernet Communication ...............................................................................1-3 1.4. Caution ..............................
7. Transferable Files (in case of Hi4a Controller) ....................................7-1 8. Troubleshooting.....................................................................................8-1 9. Release note...........................................................................................9-1 Figure Contents Fig 1.1 Use of HRView............................................................................................. 1-2 Fig 2.1 HRView installation screen ...............................
HRView Function Manual 1. Overview 1.
1. Overview HRView Function Manual 1.1. HRView Overview HRView is software for transmission and reception of files contained in HHI’s Hi3, Hi3TB and Hi4 robot controllers via RS-232C cable or Ethernet to and from external PCs. Ethernet is available only for Hi3TB. Fig 1.1 Use of HRView 1.2. Function This program can perform the following jobs for Hi3, Hi3TB and Hi4 robot controllers.
HRView Function Manual 1. Overview 1.3. Ethernet Communication Communication function through Ethernet can be used only when Ethernet interface board (BD473), one of the options of Hi3TB robot controller is attached. (For Ethernet file transmission and reception of Hi4 robot controller, use FTP function.) 1.4. Caution More than two HRViews cannot be connected at the same time to the controller through Ethernet. As long as first connected HRView remains, other HRViews cannot be connected.
HRView Function Manual 2. HRView Installation Method 2.
2. HRView Installation Method HRView Function Manual 2.1. User Environment Table 2-1 HRView user environment H/W O/S Robot controller Pentium or higher compatible PC, 16MB, VGA 640x480 256 colors and more recommended Window 95/98/ME/NT/2000/XP Hi3 controller system main S/W V07.02-01 and higher can be used. However, Ethernet is available only in Hi3TB.
HRView Function Manual 2. HRView Installation Method 2.2. Installation Fig 2.1 HRView installation screen Insert HRView disk and run setup.exe. Then, InstallShield Wizard starts. Select language in the first dialog box. If Korean is selected, Korean HRView is installed. If English is selected, English HRView is installed. Continue to set installation directory and program icon directory by clicking appropriate files are copied to the directory, and installation is completed. 2-3 .
HRView Function Manual 3. Controller Parameter Setup 3.
3. Controller Parameter Setup HRView Function Manual Hi3 controller has two serial ports. One is for T/P, and the other serial port #1 is for HRView. Ethernet is not available. Hi3TB and Hi4a robot controllers have four serial ports. Two of them can be used for HRView. Serial port #1 in condition setup is RS-232C port attached to controller cabinet front. In case of Hi3TB, serial port #2 is connected to RJ-45 port through Ethernet adopter. (Check the option applied to the robot controller to be used.
HRView Function Manual 3. Controller Parameter Setup 3.1. Hi3 Controller (1) To use Ethernet: Ethernet is not available. (2) For RS-232C use: Condition setup and controller parameter should be the same as follows. The Baudrate of the Serial Port 1 should have the same setup as HRView setup. However, the rest of the communication options should be the same as follows.
3. Controller Parameter Setup HRView Function Manual 3.2. Hi3TB Controller (1) For Ethernet use: Condition setup and controller parameter should be the same as follows. The Baudrate of the Serial Port 2 should have the same setup as BD473 setup. However, the rest of the communication options should be the same as follows.
HRView Function Manual 3. Controller Parameter Setup (2) To use RS-232C: Condition setup and controller parameter should be the same as follows. The Baudrate of the Serial Port 2 should have the same setup as BD473 setup. However, the rest of the communication options should be the same as follows. When both 『27: Serial Port 1』 and 『33: Serial Port 2』 are set as “FileMng,” Serial Port 1 has a priority, and HRView communication can be done only with Serial Port 1.
3. Controller Parameter Setup HRView Function Manual 3.3. Hi4a Controller Hi4 controller has the same function as Hi3TB. However, rapid Baudrate speeds are added and screen structure is different. (1) For Ethernet use: Use FTP function for Ethernet file transmission/reception. (2) For RS-232C use: Condition setup and constant setup should be the same as follows.
HRView Function Manual 3. Controller Parameter Setup 『[PF2]: System』 → 『2: Controller Parameter』 → 『2: Serial ports』 → 『4: Serial Port #2 (OPSIO)』 08:09:05 *** Serial port#2 *** A:0 S:4 Baudrate = <-,19200,38400,57600,115200> Character length = <7,8> bit Stop bit = <1,2> bit Parity bit = < Disable,Odd,Even > Echo = < Disable,Enable > Serial port usage = < FileMng,Sens,LVS > Press [SHIFT]+[<-][->] Key.
HRView Function Manual 4. Cabling Method 4.
4. Cabling Method HRView Function Manual (1) RS-232C Cable RS-232C cable connection is as follows. 25pin - 25pin RS-232C Cable Hi3, Hi3TB, Hi4 Controller serial port#1 Tx Rx GND M 2 3 7 25pin - 9pin RS-232C Cable F PC Serial port Hi3, Hi3TB, Hi4 Controller serial port#1 Tx 2 3 Rx 7 GND Tx Rx GND M F 2 3 7 PC Serial port 2 Rx Tx 3 5 GND 9pin - 9pin RS-232C Cable Hi3, Hi3TB, Hi4 Controller mainboard CNSIO port Tx Rx GND M 2 3 5 F PC Serial port 2 Rx 3 Tx 5 GND Fig 4.
HRView Function Manual 5. HRView Operating Guide 5.
5. HRView Operating Guide HRView Function Manual 5.1. Run and End Double-click the HRView icon on the desktop or select HRView after clicking Start button. Then, the following window appears. Drag the corners with the mouse to adjust the window size. Fig 5.1 HRView main dialog box Press to end.
HRView Function Manual 5. HRView Operating Guide 5.2. Password Input for Ethernet Access If last communication setup was Ethernet, an ID and password input dialog box will appear. This process is for authentication to access the controller of the IP address shown in the dialog box. To access the controller of the IP address, input ID and password, and click OK button. Then, the controller will be connected and HRView will start.
5. HRView Operating Guide HRView Function Manual 5.3. Communication Setup and Connection Click , and communication setup dialog box will appear. Fig 5.3 Communication setup dialog box ① Click to control the connection status. If this button is pressed, this means connected status. If not, this means disconnected status. ② As to RS-232C, set each communication parameter (it should be the same as that of the controller) on the left in the disconnected status, click click button, and to end.
HRView Function Manual 5. HRView Operating Guide 5.4. List Indication, Transfer and Deletion of Files Fig 5.4 List indication, transfer and deletion of files ① Click on the left. Then, a file list of the controller is transferred. ② To store one file in PC, click the file with the left button of mouse in the controller list box, and click . When transfer is completed, a message box appears. To select several files, click files with Ctrl or Shift .
5. HRView Operating Guide HRView Function Manual 5.5. Other Functions ① Select a file in the PC list box, and click to edit the file in a Notepad format. (Text file only) ② Select a file in the PC list box, and click to rename the file. ③ Select program files in the PC list box, and click (Step On) to number all steps of the files. If the files are already numbered, the files are re-numbered. Click (Step Off) to remove the numbers of all steps.
HRView Function Manual ⑧ Click 5. HRView Operating Guide to create a new directory in the PC list box. ⑨ Select program files in the PC list box, and click version 1.0 to version 1.5. Click . Then, the files are changed from , and then the files are changed from version 1.5 to version 1.0. (Hi3 controller mv6.09-11 and less versions use program file version 1.0. Hi3 controller’s higher version and Hi3-TB, Hi4a controllers use program file version 1.5 and version 1.0. Only program file version 1.
HRView Function Manual 6. Etc. Setting 6. Etc.
6. Etc. Setting HRView Function Manual Select 『Setting → Etc』 menu, and then an other setup dialog box appears. Enter necessary setup, and click OK. Fig 6.1 Etc. setting dialog box ① Update file List after send This check box determines whether to renew a file list of the controller list box after transferring a file to the controller.
HRView Function Manual 6. Etc. Setting re-search time interval. Two minutes and thirty seconds (150 seconds) is appropriate. ⑥ Close coercively HRView automatically disconnects Ethernet interface board (BD473) after some time. This option allows setting disconnection time.
HRView Function Manual 7. Transferable Files (in case of Hi4a Controller) 7.
7. Transferable Files (in case of Hi4a Controller) HRView Function Manual Table 7-1 Transferable file types (in case of Hi4a controller) File Type Filename Extension 5.0 program file 001~999 6.0 program file 001~999 Controller / Robot parameter file / Module Robot File C00 / C01 / CM0 (Hi4a only) Error / Stop history file E01 / S01 Operation history file TR0 IO Name file IM0 Global pose file POSE.G00 Global shift file SHIFT.G00 Local pose file POSE.L00 Local shift file SHIFT.
HRView Function Manual 7. Transferable Files (in case of Hi4a Controller) Stored format by HRView is the same as stored format by PC-card. In other words, Files transferred to PC via HRView can be re-stored in the controller via PC-card. If moves that are not supported are performed, a message 『File name is not pertinent』 appears on HRView. As to old version controller, some file types cannot be transferred according to the version.
HRView Function Manual 8. Troubleshooting 8.
8. Troubleshooting HRView Function Manual (1) If connection is not done in the communication setup dialog box, ① Check if setup such as port or speed is appropriate and if the setup is the same as controller setup. ② Press Ctrl+Alt+Del to check the program manager dialog box to see if more than one HRView is running. If so, remove other HRViews. (2) If all type of communication such as receiving file list or transfering files, ① Check communication setup of PC and controller respectively.
HRView Function Manual 9. Release note 9.
9.Release note HRView Function Manual 1. version 1.0 (First release version) - 1999.06. 2. version 1.1 - 1999.07. (1) Load completion protocol upgrade: Load error detection of a single packet (2) File list directory item sort upgrade (3) File list renewal option (after transfer) added (4) Multiple files transfer function added (5) Transfer result message upgrade (6) Conveyor sync reflected on encoder value grammar check 3. version 1.11 - 1999.07.
HRView Function Manual 9. Release note 7. version 1.18 - 2000.02.18 (1) Program operated in the previous setup environment such as communication and other setup (stored in registry) (2) When multiple files were transferred or deleted, an error occurred. Every time, users had to click OK on the message box. The error message is outputted on the lower end monitor and output form is reorganized. (3) Message box appears only once after the entire file transfers.
9.Release note HRView Function Manual (4) “Grammar check before transfer” in other setup changed to an item recommended not to use. (5) When details are outputted in the controller file list box, the details are arranged after all the details are received. (6) In the “Store” function, error messages from the controller are not outputted: The problem solved. 12. version 1.41 - 2001.06.
HRView Function Manual 9. Release note occurs while file transfer. 17. version 1.53 - 2002.03.13 (1) LOAD changed to Download. SAVE changed to Upload. (2) During Upload (save), progress bar rises. However, the rising move repeats until transfer ends, because file size is not predictable. (3) During Upload, in case that the file already exists, if the file is read-only file, it is considered as an error. Otherwise, a dialog box asks whether to rewrite the file. 18. version 1.55 - 2002.03.
9.Release note HRView Function Manual (1) When file transfer to PC failed, the beginning and end parts of next file were cut, and the message said “Success.”: The problem solved. (2) When forced to end by end button during transfer, transfer was not canceled properly: The problem solved. (3) Folder was not created under drive route: The problem solved. (4) When several files are transferred to PC, the file names appear in the list box one by one after file transfer is completed.
HRView Function Manual 9. Release note (1) When some files such as fbu are copied to PC, \r is added to the first character of some strings. The strings have problems, when copied to Notepad. 27. version 1.64 build 0005 - 2003.12.23 (1) Korean characters in dialog boxes were broken: The problem solved. 28. HRView.DLL ver 1.31 build 0001 - 2003.12.23 (1) In WinNT/2000/XP, serial communication occupied almost all CPU after serial communication is open: The problem solved. (2) COM4~COM8 added.
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