Chapter 2

SETTING UP EGD ON THE ROBOT

Contents

Chapter 2 SETTING UP EGD ON THE ROBOT ......................................................... 2–1

2.1 OVERVIEW ................................................................................................. 2–2
2.2 EGD PRODUCER TAGS ............................................................................ 2–2
2.3 EGD CONSUMER TAGS ............................................................................. 2–3
2.4 CONFIGURING TIMEOUT BEHAVIOR ......................................................... 2–5
2.5 EGD CONFIGURATION EXAMPLES .......................................................... 2–6
2.5.1 Example: Two Robots Exchanging I/O: One Producer and One
Consumer .................................................................................................. 2–6
2.5.2 Example: Two Robots Exchanging I/O: Two Producers and Two
Consumers ................................................................................................ 2–8
2.5.3 Example: One Robot Producing Same Output to Two Robots ................. 2–10
2.5.4 Example: Three Robots ........................................................................... 2–13
2.5.5 Summary ................................................................................................. 2–16

2–1
2. SETTING UP EGD ON THE ROBOT MAROCEGDA08051E Rev E

2.1 OVERVIEW
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DQG UHFHLYH GDWD

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2.2 EGD PRODUCER TAGS

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(*' 3URGXFHU 7DJV

Table 2–1. EGD Producer Screen Setup Items

Field Name Description

Remote IP address/hostname This item is the IP address or the host name. If the host name is entered, ensure that DNS
option is installed or the host name is entered in the host entry table. Refer to "Setting up
TCP/IP" in the Internet Options Manual for more details on the host entry table.

Exchange ID This is the EGD exchange ID that will be sent along with the data to the remote device.
Make sure that the exchange ID is what the remote device is configured to receive.

Data size This item is the size of the data in bytes that should be sent to the remote device. The
maximum allowable value is 256 bytes.

Interval This item is the time interval in milliseconds that the data should be produced. The
smallest value that it can be set to is 8 ms. It is recommended that if more than one
tag is being used, a value of 24 ms or higher is used for each tag or the communication
processor and the network will be overloaded.

Slot This item is the slot number for rack 88 that should be sent out. If slots for two tags are the
same then both the devices associated with the two tags will receive the same data.

Procedure 2-1 Setting Up the EGD Producer Tags

1. 3UHVV 0(186

2–2
MAROCEGDA08051E Rev E 2. SETTING UP EGD ON THE ROBOT

2. 6HOHFW ,2
3. 3UHVV ) >7<3(@ DQG VHOHFW (*' ,2 <RX ZLOO VHH D VFUHHQ VLPLODU WR WKH IROORZLQJ

EGD Detail 1/17

EGD Producer Configuration:
Host Id Size Int Slot
1 *************** 0 0 100 1
2 *************** 0 0 100 2
3 *************** 0 0 100 3
4 *************** 0 0 100 4
5 *************** 0 0 100 5
6 *************** 0 0 100 6
7 *************** 0 0 100 7
8 *************** 0 0 100 8

4. 7\SH WKH IROORZLQJ LQIRUPDWLRQ RQ WKH VFUHHQ

• Remote IP address/hostname
• Exchange ID
• Data size
• Interval
• Slot

5HIHU WR 7DEOH ± 

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2.3 EGD CONSUMER TAGS

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(*' FRQVXPHU

2–3
2. SETTING UP EGD ON THE ROBOT MAROCEGDA08051E Rev E

Table 2–2. EGD Consumer Screen Setup Items

Field Name Description

Exchange ID This item is the ID that will be sent with the data by the remote device.

Data size This item is the maximum size of data in bytes that will be sent by the
remote device. The maximum allowable value is 256 bytes.

Timeout This item represents the time in milliseconds between two messages that
the tag will wait before posting an error indicating a timeout. Ethernet
communications do not provide any guarantee on when the message will
be delivered. UDP/IP used for EGD does not provide any guarantee that
the message will be delivered without loss (best-effort protocol). Therefore,
there are no timing or delivery guarantees that the I/O message will be
received on time. A value should be chosen based on network topology
and the network components involved in transmission of the message.
Consult your network administrator before selecting a value. A value
too small might result in too frequent timeouts causing the processes
to be interrupted. A value of 3 times the expected consumption rate is
recommended--for example, if updates should be received every 24ms, a
timeout of of 72ms would be recommended.

Status This item is a display only field. A status of OFF indicates that the tag has
not been initialized and is not being used. A status of IDLE indicates that
data is not being received. A status of ON indicates that data is being
received periodically from the remote producer.

Procedure 2-2 Setting Up the EGD Consumer

1. 3UHVV 0(186
2. 6HOHFW ,2
3. 3UHVV ) >7<3(@ DQG VHOHFW (*' ,2
4. 0RYH WKH FXUVRU WR WKH OLQH DIWHU EGD Consumer Configuration  6HOHFW HDFK RI WKH IROORZLQJ
LWHPV DQG VHW WKHP DSSURSULDWHO\

• Exchange ID
• Data Size
• Timeout
• Status

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WDJ QXPEHU RQ WKH (*' ,2 VFUHHQ XQGHU EGD Consumer Configuration.

2–4
MAROCEGDA08051E Rev E 2. SETTING UP EGD ON THE ROBOT

EGD Consumer Configuration:

Id Size Timeout Status
1 0 0 300 OFF
2 0 0 300 OFF
3 0 0 300 OFF
4 0 0 300 OFF
5 0 0 300 OFF
6 0 0 300 OFF
7 0 0 300 OFF
8 0 0 300 OFF

2.4 CONFIGURING TIMEOUT BEHAVIOR

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$EGD_CFG.$ERR_SV

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2–5
2. SETTING UP EGD ON THE ROBOT MAROCEGDA08051E Rev E

2.5 EGD CONFIGURATION EXAMPLES

2.5.1 Example: Two Robots Exchanging I/O: One Producer and One Consumer

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 ZLOO FRQVXPHUHFHLYH WKH  E\WHV DV  GLVFUHWH LQV

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,3 DGGUHVV LV JUHDWHU WKDQ  6HH )LJXUH ± 

Figure 2–1. Two Robots Exchanging I/O

Producing Robot: 192.168.1.1 Consuming Robot: 192.168.1.2

ExchangeId: 12
Size: 2 bytes

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2–6
MAROCEGDA08051E Rev E 2. SETTING UP EGD ON THE ROBOT

Figure 2–2. Robot 192.168.1.1 EGD Configuration

EGD Detail 1/17

EGD Producer Configuration:
Host Id Size Int Slot
1 192.168.1.2 12 2 100 1
2 *************** 0 0 100 2
...
EGD Consumer Configuration:
Id Size Timeout Status
1 0 0 300 OFF
2 0 0 300 OFF
...

Figure 2–3. Robot 192.168.1.1 I/O Digital Out Configuration

I/O Digital Out JOINT 100 %

1/2
# RANGE RACK SLOT START STAT.
1 DO[ 1- 16] 88 1 1 ACTIV
6 DO[ 17- 512] 0 0 0 UNASG

Figure 2–4. Robot 192.168.1.2 EGD configuration

EGD Detail 1/17

EGD Producer Configuration:
Host Id Size Int Slot
1 *************** 0 0 100 1
2 *************** 0 0 100 2
...
EGD Consumer Configuration:
Id Size Timeout Status
1 12 2 300 ON
2 0 0 300 OFF
3 0 0 300 OFF
...

2–7
2. SETTING UP EGD ON THE ROBOT MAROCEGDA08051E Rev E

Figure 2–5. Robot 192.168.1.2 I/O Digital In Configuration

I/O Digital In JOINT 100 %

1/2
# RANGE RACK SLOT START STAT.
1 DI[ 1- 16] 88 1 1 ACTIV
6 DI[ 17- 512] 0 0 0 UNASG

2.5.2 Example: Two Robots Exchanging I/O: Two Producers and Two Consumers

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 E\WHV  GLVFUHWH LQV 5RERW  ZLOO FRQVXPH  E\WHV DV  GLVFUHWH LQV DQG SURGXFH
 E\WHV DV  GLVFUHWH RXWV

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RI  IRU WKH FRQQHFWLRQ ZKHUH 5RERW  SURGXFHV WR 5RERW  6HH )LJXUH ± 

Figure 2–6. Two Robots Exchanging I/O

Robot: 192.168.1.1 Robot: 192.168.1.2

ExchangeId: 12
Size: 2 bytes

ExchangeId: 21
Size: 4 bytes

%HORZ DUH H[DPSOHV RI WKH (*' DQG 'LJLWDO ,2 VFUHHQV KDYLQJ WKH YDOXHV GLVFXVVHG DERYH DSSOLHG

2–8
MAROCEGDA08051E Rev E 2. SETTING UP EGD ON THE ROBOT

Figure 2–7. Robot 192.168.1.1 EGD Configuration

EGD Detail 1/17

EGD Producer Configuration:
Host Id Size Int Slot
1 192.168.1.2 12 2 100 1
2 *************** 0 0 100 2
3 *************** 0 0 100 3
...
EGD Consumer Configuration:
Id Size Timeout Status
1 21 4 300 ON
2 0 0 300 OFF
3 0 0 300 OFF
...

Figure 2–8. Robot 192.168.1.1 I/O Digital Configuration

I/O Digital Out JOINT 100 %

1/2
# RANGE RACK SLOT START STAT.
1 DO[ 1- 16] 88 1 1 ACTIV
2 DO[ 17- 512] 0 0 0 UNASG
I/O Digital In JOINT 100 %
1/2
# RANGE RACK SLOT START STAT.
1 DI[ 1- 32] 88 1 1 ACTIV
2 DI[ 33- 512] 0 0 0 UNASG

Figure 2–9. Robot 192.168.1.2 EGD configuration

EGD Detail 1/17

EGD Producer Configuration:
Host Id Size Int Slot
1 192.168.1.1 21 4 100 1
2 *************** 0 0 100 2
3 *************** 0 0 100 3
...
EGD Consumer Configuration:
Id Size Timeout Status
1 12 2 300 ON
2 0 0 300 OFF
3 0 0 300 OFF
...

2–9
2. SETTING UP EGD ON THE ROBOT MAROCEGDA08051E Rev E

Figure 2–10. Robot 192.168.1.2 I/O Digital Configuration

I/O Digital Out JOINT 100 %

1/2
# RANGE RACK SLOT START STAT.
1 DO[ 1- 32] 88 1 1 ACTIV
2 DO[ 33- 512] 0 0 0 UNASG
I/O Digital In JOINT 100 %
1/2
# RANGE RACK SLOT START STAT.
1 DI[ 1- 16] 88 1 1 ACTIV
2 DI[ 17- 512] 0 0 0 UNASG

2.5.3 Example: One Robot Producing Same Output to Two Robots

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KHUH LV WZRIROG )LUVW ZH PXVW VHWXS WZR SURGXFLQJ FRQQHFWLRQV WKDW VHQG GDWD IURP WKH VDPH VORW
QXPEHU 6HFRQG ERWK FRQQHFWLRQV PXVW XVH WKH VDPH ([FKDQJH ,'

Figure 2–11. One Robot Producing Same Output to Two Robots

Producing Robot: 192.168.1.1 Consuming Robot: 192.168.1.2

Exchange ID: 12

Exchange Id: 12

Consuming Robot: 192.168.1.3

2–10
MAROCEGDA08051E Rev E 2. SETTING UP EGD ON THE ROBOT

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VHQW RXW ERWK SURGXFLQJ FRQQHFWLRQV

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Figure 2–12. Robot 192.168.1.1 EGD configuration

EGD Detail 1/17

EGD Producer Configuration:
Host Id Size Int Slot
1 192.168.1.3 12 2 100 1
2 192.168.1.2 12 2 100 1
3 *************** 0 0 100 3
4 *************** 0 0 100 4
...
EGD Consumer Configuration:
Id Size Timeout Status
1 0 0 300 OFF
2 0 0 300 OFF
...

Figure 2–13. Robot 192.168.1.1 I/O Digital Configuration

I/O Digital Out JOINT 100 %

1/2
# RANGE RACK SLOT START STAT.
1 DO[ 1- 16] 88 1 1 ACTIV
2 DO[ 17- 512] 0 0 0 UNASG

2–11
2. SETTING UP EGD ON THE ROBOT MAROCEGDA08051E Rev E

Figure 2–14. Robot 192.168.1.2 EGD configuration

EGD Detail 1/17

EGD Producer Configuration:
Host Id Size Int Slot
1 *************** 0 0 100 1
2 *************** 0 0 100 2
...
EGD Consumer Configuration:
Id Size Timeout Status
1 12 2 300 ON
2 0 0 300 OFF
3 0 0 300 OFF
...

Figure 2–15. Robot 192.168.1.2 I/O Digital Configuration

I/O Digital In JOINT 100 %

1/2
# RANGE RACK SLOT START STAT.
1 DI[ 1- 16] 88 1 1 ACTIV
2 DI[ 17- 512] 0 0 0 UNASG

Figure 2–16. Robot 192.168.1.3 EGD configuration

EGD Detail 1/17

EGD Producer Configuration:
Host Id Size Int Slot
1 *************** 0 0 100 1
2 *************** 0 0 100 2
...
EGD Consumer Configuration:
Id Size Timeout Status
1 12 2 300 ON
2 0 0 300 OFF
2 0 0 300 OFF
...

2–12
MAROCEGDA08051E Rev E 2. SETTING UP EGD ON THE ROBOT

Figure 2–17. Robot 192.168.1.3 I/O Digital Configuration

I/O Digital In JOINT 100 %

1/2
# RANGE RACK SLOT START STAT.
1 DI[ 1- 16] 88 1 1 ACTIV
2 DI[ 17- 512] 0 0 0 UNASG

2.5.4 Example: Three Robots

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(DFK URERW KDV WZR SURGXFLQJ FRQQHFWLRQV DQG WZR FRQVXPLQJ FRQQHFWLRQV 7KH ([FKDQJH ,'V DQG
GDWD VL]HV ZH¶YH VHOHFWHG DUH GHSLFWHG LQ WKH LOOXVWUDWLRQ LQ WKH IROORZLQJ IRUPDW <ExchangeID>
::<Data Size> )RU H[DPSOH  PHDQV ([FKDQJH,'  ZLWK D GDWD VL]H RI  E\WHV 1RWLFH WKDW
HDFK ([FKDQJH ,' LQ WKLV H[DPSOH LV XQLTXH DQG XVHV WKH FRQYHQWLRQ ZH HVWDEOLVKHG LQ 6HFWLRQ  
%HORZ DUH GLVSOD\HG WKH (*' VFUHHQ RI HDFK URERW

Figure 2–18. Three Robots

Robot: 192.168.1.1 Robot: 192.168.1.2

12::6
21::6

13::4 23::12

31::4 32::12

Robot: 192.168.1.3

2–13
2. SETTING UP EGD ON THE ROBOT MAROCEGDA08051E Rev E

Figure 2–19. Robot 192.168.1.1 EGD configuration

EGD Detail 1/17

EGD Producer Configuration:
Host Id Size Int Slot
1 192.168.1.3 13 4 100 1
2 192.168.1.2 12 6 32 2
3 *************** 0 0 100 3
4 *************** 0 0 100 4
...
EGD Consumer Configuration:
Id Size Timeout Status
1 31 4 300 ON
2 21 6 300 ON
3 0 0 300 OFF
4 0 0 300 OFF
...

Figure 2–20. Robot 192.168.1.1 I/O Digital Configuration

I/O Digital Out JOINT 100 %

1/2
# RANGE RACK SLOT START STAT.
1 DO[ 1- 32] 88 1 1 ACTIV
2 DO[ 33- 80] 88 2 1 ACTIV
3 DO[ 81- 512] 0 0 0 UNASG
I/O Digital In JOINT 100 %
1/2
# RANGE RACK SLOT START STAT.
1 DI[ 1- 32] 88 1 1 ACTIV
3 DI[ 33- 80] 88 2 1 ACTIV
2 DI[ 81- 512] 0 0 0 UNASG

2–14
MAROCEGDA08051E Rev E 2. SETTING UP EGD ON THE ROBOT

Figure 2–21. Robot 192.168.1.2 EGD configuration

EGD Detail 1/17

EGD Producer Configuration:
Host Id Size Int Slot
1 192.168.1.1 21 6 100 1
2 192.168.1.3 23 12 48 2
3 *************** 0 0 100 3
4 *************** 0 0 100 4
...
EGD Consumer Configuration:
Id Size Timeout Status
1 12 6 96 ON
2 32 12 96 ON
3 0 0 300 OFF
4 0 0 300 OFF
...

Figure 2–22. Robot 192.168.1.2 I/O Digital Configuration

I/O Digital Out JOINT 100 %

1/2
# RANGE RACK SLOT START STAT.
1 DO[ 1- 48] 88 1 1 ACTIV
2 DO[ 49- 144] 88 2 1 ACTIV
3 DO[ 145- 512] 0 0 0 UNASG
I/O Digital In JOINT 100 %
1/2
# RANGE RACK SLOT START STAT.
1 DI[ 1- 48] 88 1 1 ACTIV
3 DI[ 49- 144] 88 2 1 ACTIV
2 DI[ 145- 512] 0 0 0 UNASG

2–15
2. SETTING UP EGD ON THE ROBOT MAROCEGDA08051E Rev E

Figure 2–23. Robot 192.168.1.3 EGD configuration

EGD Detail 1/17

EGD Producer Configuration:
Host Id Size Int Slot
1 192.168.1.1 31 4 100 1
2 192.168.1.2 32 12 32 2
3 *************** 0 0 100 3
4 *************** 0 0 100 4
...
EGD Consumer Configuration:
Id Size Timeout Status
1 13 4 300 ON
2 23 12 144 ON
3 0 0 300 OFF
4 0 0 300 OFF
...

Figure 2–24. Robot 192.168.1.3 I/O Digital Configuration

I/O Digital Out JOINT 100 %

1/2
# RANGE RACK SLOT START STAT.
1 DO[ 1- 32] 88 1 1 ACTIV
2 DO[ 33- 128] 88 2 1 ACTIV
3 DO[ 129- 512] 0 0 0 UNASG
I/O Digital In JOINT 100 %
1/2
# RANGE RACK SLOT START STAT.
1 DI[ 1- 32] 88 1 1 ACTIV
3 DI[ 33- 128] 88 2 1 ACTIV
2 DI[ 129- 512] 0 0 0 UNASG

2.5.5 Summary

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