Robots Family

C5GPlus
Control Unit

CONTROL UNIT USE

C5GPlus - R1C
Rel. 4.20.xxx
Access to system (power-on, shutdown, login,
logout), User Interfaces, TP5 Teach Pendant,

System Commands, WinCRC, Start and Stop Cycle,

I/O configuration, Tool, Uframe and positioners
Base automatic calculation, Payload Identification,
Comau WebServer, Software Options, CRC OPC UA
Server, SmartLogin, Maintenance Pages, Backward
interpretation, End User License Agreement for
Comau Software.

CR00758156_en-06/2021.03

Instruction Handbook
The information contained in this manual is the property of COMAU S.p.A.

Reproduction of text and illustrations is not permitted without prior written approval by COMAU S.p.A.

COMAU S.p.A. reserves the right to alter product specifications at any time without notice or obligation.

Copyright © 2008-2020 by COMAU - Date of publication 03/2021

 Comau Robotics Product Instruction

SUMMARY

SUMMARY

PREFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
Symbols used in the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Reference documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Modification History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

1. GENERAL SAFETY REQUIREMENTS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...26

Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Improper use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Essential safety requirements applied and fulfilled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Aspects of particular attention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Responsibilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

2. SYSTEM POWER ON AND SHUT DOWN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...35

Foreword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Main switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
System power-on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
STARTUP Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
System shut down . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

3. USER INTERFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...41

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Teach Pendant (TP5). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Front view. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Rear view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Interface on Personal Computer (WinCRC). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

4. ACCESS TO THE CONTROL UNIT (LOGIN/LOGOUT) . . . . . . . . . . . . . . . . . . . . . . ...45

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Login . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
User profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Administrator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
Default . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48
Programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48
Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48

1
Comau Robotics Product Instruction

SUMMARY

Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48
Technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48
Summary table of access rights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Logout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Automatic Timed Logout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

5. TP5 TEACH PENDANT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..52

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Modal selector switch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Keys, Pushbuttons and LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Blue keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .56
Special keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .56
General purpose keys. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .58
Navigation general keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59
Black keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59
BACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60
COORD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61
ARM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61
% + e - . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .62
JOG keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63
JPAD. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63
Other colours keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .64
RESET (white) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .64
HOLD (yellow) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .65
START (green) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .65
Keys to restart the Teach Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .65
Pushbuttons and LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Pushbuttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .65
Emergency Stop pushbutton . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .66
Enabling Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .66
LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .67
Green LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .67
Red LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .68
USB port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Touch screen calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Display areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Status bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73
Read-only fields . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73
Fields for direct access to environments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .76
Right Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79
Functional keys menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79
Pages Area. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80
User Interface Pages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Common keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Field types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Numeric field. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84
Textbox. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84

2
 Comau Robotics Product Instruction

SUMMARY

Combobox . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84
Combobutton . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84
Checkbox . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85
Checkgroup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85
Label. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85
List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85
Cell of a table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .86
TreeGrid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .87
Keyboards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Numeric keyboard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .88
Alphanumeric keyboard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89
PDL2 keyboard. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .91
Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .91
Variables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .92
Change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .92
History. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .93
Connection Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Dialogue and information window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Desktop Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Desktop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Active . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Favorites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Removing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .99
Exporting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .100
Home Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Basic information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Control Unit name. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .101
Arms name and type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .102
Motion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .102
Software version. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .102
Network address. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .103
Current Login . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .103
Language selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .104
Date and time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .104
User Tiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .105
Commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Login and Logout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .106
Login . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .106
Logout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .106
Restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .107
Cold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .107
Shutdown . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .108
Motion Page. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Basic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Arm\SyncArm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .110
COORD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .111
Tool, Frame, Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .111
Tool and Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .112
Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .113
Current arm position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .114
Payload. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .114

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Coop (optional feature). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

Coop Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .115
COOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .115
Advanced . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Incremental Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .116
J-Pad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .116
Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Collision Detection (optional feature) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .118
Palletizing (optional feature) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .119
Override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Conveyor Tracking (optional feature) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Alarm Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
Active . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
Ack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .123
Cause & Remedy Key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .123
History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
Notifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Prog Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
New program... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .128
Load.... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .128
Activate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .129
Convert conflicts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .129
Dependencies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .129
Load (with option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .129
with another .VAR (As) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .129
.VAR only (Var) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .129
Another .Var only (Var As) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .129
Save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .129
Save data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .130
Save code. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .130
Save variables as . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .130
Erase from execution memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .130
Edit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Select All. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .131
Deselect All. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .131
Invert Sel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .132
Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Open [ENTER] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .133
Activate. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .134
Deactivate. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .135
Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .135
Pause . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .135
Unpause . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .136
Step . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .136
View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Only . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .137
Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .137
Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
Show variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .138
Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .139
Edit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .140

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Add... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .141
Assign . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .142
View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .143
Callchain. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .144
Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .144
IDE Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Opening the IDE page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Description of the video screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
IDE status lines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .147
Editor area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .148
Colours . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .148
Cursors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .148
Available functions description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Open... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .151
<New...> . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .152
<Load...>. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .152
Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .153
Open... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .153
Save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .153
Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .154
Abort . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .154
Deactivate. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .154
Delete unused vars. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .154
Import . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .154
Step . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .155
Immediate execution. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .159
Edit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .160
Select . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .160
Paste. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .160
Delete line. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .160
Undelete line. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .161
Goto . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .161
Line. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .161
Set execution cursor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .161
Insert/remove break point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .161
Bypass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .162
Comment/Uncomment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .162
Insert. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .162
Guided insertion of a generic statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .163
Group of instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .164
REC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .166
REC setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .166
MOD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .167
Details. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .168
View variables in line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .168
View variables in program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .175
Callchain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .175
View motions of program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .175
Closure key. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .176
Display Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Creating a new combination. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178

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Viewing/modifying/deleting an already existing combination . . . . . . . . . . . . . . . . . . . . . . . . 180

Exporting the saved combinations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
DEVICE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .183
Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .183
Remote Inp. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .184
Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .185
PORTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .185
VARS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .186
Program Var . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .187
System Var . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .189
Installed applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .191
Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .192
Open... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .192
Save view... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .193
Save view as... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .193
Save values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .193
Edit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .194
Select All . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .194
Deselect All . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .195
Invert Sel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .195
Delete . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .195
Delete all . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .195
Add... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .195
Assign. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .196
On . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .197
Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .197
Valore... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .197
Current position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .197
Invert . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .197
PULSE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .197
Force . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .198
On . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .199
Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .199
Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .199
Value... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .199
Unforce . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .199
View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .199
ProgressBar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .199
Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .199
Appl Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
Files Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
Disk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
New . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .203
Backup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .203
Backup of Saveset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .205
Restore . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .206
Restore of Saveset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .208
Device change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .210
Device Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .210
Recycle bin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .211

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Edit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
Select all . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .212
Deselect all . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .212
Invert sel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .212
Select prompt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .212
Cut . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .212
Copy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .212
Paste . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .213
File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Open [ENTER] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .213
File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .214
Edit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .214
Send to . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .216
Rename . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .216
Delete . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .217
Delete Perm.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .217
Translate. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .217
Compress . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .218
Extract . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .218
Load and activate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .219
Install . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .219
View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
Refresh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .219
Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .220
Big icons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .220
Details. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .220
Sort by . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .220
Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Attribute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .221
Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .221
Data Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
Table. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .223
Reload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .223
Save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .223
Apply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .223
AutoApply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .224
Undo Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .224
Edit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .224
Select row . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .225
Select cell . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .225
Deselect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .226
Copy & paste . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .226
Insert row . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .227
Delete row. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .227
Closure key. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .228
System tables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
BASE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .230
TOOL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .230
FRAME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .231
Accessing system tables from within a PDL2 program . . . . . . . . . . . . . . . . . . . . . . . . . . .231
Routine for Tool and Frame setting for a specified Arm . . . . . . . . . . . . . . . . . . . . . . . . .231
Routine for Base setting for a specified Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .233

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Routines to get/set/save the Tool, Frame and Base value . . . . . . . . . . . . . . . . . . . . . . .233

Using the routines - examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .237
Error codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .238
Application tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
User tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
Setup page. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
IO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
FB_UTIL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .240
HAND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .240
One . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .241
Dual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .242
Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .242
Step . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .243
IO_CLONE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .243
IO_CNFG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .243
IO_MAP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .244
Motion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
Frames . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .245
Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .246
Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .246
Uframe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .247
AddLoad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .248
Calib . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .248
Turn Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .249
Calib . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .250
Save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .252
Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .252
Edit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .254
Column . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .254
Conveyor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .255
Tracking Table editing procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .257
eMtInc. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .260
ForceControl. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .261
FT sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .261
User Buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .261
IRegions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .262
Interference Regions editing procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .264
Tips about special shape regions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .269
Mounting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .271
MultiTurn. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .272
Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .273
Config . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .274
Routines for rotating tables calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .275
PAL. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .276
PalBooster . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .277
Payload. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .277
Portal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .277
Posit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .278
Creating a new configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .278
Modifying an already existing configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .281
Saving the configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .281
Posit_Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .281
Rail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .282

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StrokeEnd. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .283
System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .284
Ethernet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .285
Ethernet Annex . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .286
UsbToEthernet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .286
Autologout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .287
Backup-Restore . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .288
Backup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .288
Restore . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .290
Device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .292
Configure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .294
Customer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .295
Date-Time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .296
ExeHelp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .299
Install . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .299
Login. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .300
Users . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .301
Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .302
NoAlarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .303
Reload-Sw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .304
System and TP upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .305
Robot configuration upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .306
Completion of the System configuration (.C5G) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .307
TP only upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .309
Full loading of System and TP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .309
Safe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .313
C5GPlus (NoSafe) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .314
C5GPlus SAFE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .315
Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .317
Service Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318
Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318
Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .319
ForceControl. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .319
MultiArm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .320
View Coll. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .320
System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322
BCM - Board Charge Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .322
CauseRemedy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .323
Eco . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .323
Displayed fields. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .324
Functional keys. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .325
Execute. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .326
Info . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .328
Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .329
Environment description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .329
Page types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .332
Moni . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .332
Safe Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .335
C5GPlus (NoSafe) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .335
C5GPlus SAFE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .336
Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .336
Trace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .339

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USBClean. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .340
Tips Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
LUN_TP Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
QUICK Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
Viewing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
Creating/Modifying . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344
SYS_CALL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .344
PDL2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .344
Exporting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346
Customizations on the TP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
User table creation from DATA environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .348
Table (global) Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .348
Field Properties. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .352
Field of a POSITION Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .355
Variable <type>_signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .356
Variable <typename>validate_name_err . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .356
Sample program for a variable name validation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .357
Example program for a table creation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .358
Handling TP right menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359
XML Tag Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .360
Softkey Pressure and Release events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .361
Example of XML configuration file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .362
Example of right menu configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .363
Customizing the PDL2 Statements insertion, in IDE environment . . . . . . . . . . . . . . . . . . . . 364
Adding User Instructions to the PDL2 menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .364
Adding a Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .365
Adding a Routine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .365
Adding a Built-in Routine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .366
Creating user pages in VP2 language . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367
Adding Projects/Applications, installable from within SETUP Page . . . . . . . . . . . . . . . . . . . 368
Creating user tiles in the Home Page. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370
XML creation and customization of the User Maintenance Pages. . . . . . . . . . . . . . . . . . . . 372
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .372
XML file path. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .372
XML structure example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .372
XML description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .373
Compulsory tags for the XML structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .373
XML file title . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .373
Customizable Pages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .374
Dedicated Pages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .376
Setup Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .377
Useful tips to create the XML file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .379

6. SYSTEM COMMANDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..380

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
Commands sent from WinCRC (Terminal window) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380

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 Comau Robotics Product Instruction

SUMMARY

Command selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381

Call-up of recently used parameters (History) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381
Program commands sent via SYS_CALL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381
Option /4 to view in the 40 columns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
Wildcard use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
Command options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
Viewing and OUTPUT and NOPAGE options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
Access to the Control Unit (login) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
Directories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
Commands description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
CONFIGURE branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 390
Arm menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .390
CONFIGURE ARM CALIBRATE (CAC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .390
CONFIGURE ARM RETENTIVE MEMORY LOAD (CARL) . . . . . . . . . . . . . . . . . . . . . .390
CONFIGURE ARM RETENTIVE MEMORY SAVE (CARS). . . . . . . . . . . . . . . . . . . . . .391
CONFIGURE ARM TURN_SET (CAT). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .391
CONFIGURE ARM VIEW_CAL (CAV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .392
Cntrler Login menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .392
CONFIGURE CONTROLLER LOGIN ADD (CCLA). . . . . . . . . . . . . . . . . . . . . . . . . . . .392
CONFIGURE CONTROLLER LOGIN DELETE (CCLD) . . . . . . . . . . . . . . . . . . . . . . . .392
CONFIGURE CONTROLLER LOGIN GROUP (CCLG) . . . . . . . . . . . . . . . . . . . . . . . . .393
CONFIGURE CONTROLLER LOGIN MODIFY (CCLM) . . . . . . . . . . . . . . . . . . . . . . . .393
CONFIGURE CONTROLLER LOGIN STARTUP (CCLS) . . . . . . . . . . . . . . . . . . . . . . .394
CONFIGURE CONTROLLER LOGIN VIEW (CCLV) . . . . . . . . . . . . . . . . . . . . . . . . . . .394
Cntrler Restart menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .394
CONFIGURE CONTROLLER RESTART COLD (CCRC) . . . . . . . . . . . . . . . . . . . . . . .394
CONFIGURE CONTROLLER RESTART UPGRADE (CCRU) . . . . . . . . . . . . . . . . . . .395
CONFIGURE CONTROLLER RESTART SHUTDOWN (CCRS) . . . . . . . . . . . . . . . . . .396
CONFIGURE CONTROLLER STARTUP (CCS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .396
CONFIGURE CONTROLLER TIME (CCT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .396
CONFIGURE CONTROLLER VIEW (CCV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .397
Load menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .397
CONFIGURE LOAD ALL (CLA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .397
CONFIGURE LOAD CATEGORY submenu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .397
Save menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .400
CONFIGURE SAVE ALL (CSA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .400
CONFIGURE SAVE CATEGORY submenu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .400
DISPLAY branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403
Arm menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .403
DISPLAY ARM CURRENTS (DAC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .403
DISPLAY ARM DATA (DAD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .404
DISPLAY ARM FOLLOWING (DAF) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .404
DISPLAY ARM JOINT (DAJ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .404
DISPLAY ARM POSITION (DAP). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .404
DISPLAY ARM REVOLUTIONS (DAR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .404
DISPLAY ARM STATUS (DAS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .404
DISPLAY ARM TEMPERATURE (DAT). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .404
Close menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .404
DISPLAY CLOSE ARM (DCA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .404
DISPLAY CLOSE INPUT (DCI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .405

11
Comau Robotics Product Instruction

SUMMARY

DISPLAY CLOSE OUTPUT (DCO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .405

DISPLAY CLOSE PROGRAM (DCP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .405
DISPLAY CLOSE SELECT (DCS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .405
DISPLAY CLOSE TOTAL (DCT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .405
DISPLAY CLOSE VARS (DCV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .405
Input menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .405
DISPLAY INPUT AIN (DIA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .405
DISPLAY INPUT DIN (DID) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .406
DISPLAY INPUT FMI (DIF). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .406
DISPLAY INPUT GI (DIG) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .406
DISPLAY INPUT IN (DII) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .406
DISPLAY INPUT SYSTEM (DIS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .406
Output menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .406
DISPLAY OUTPUT AOUT (DOA). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .407
DISPLAY OUTPUT DOUT (DOD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .407
DISPLAY OUTPUT FMO (DOF) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .407
DISPLAY OUTPUT GO (DOG). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .407
DISPLAY OUTPUT OUT (DOO). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .407
DISPLAY OUTPUT SYSTEM (DOS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .408
DISPLAY PROGRAM (DP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .408
Vars menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .408
DISPLAY VARS BIT (DVB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .408
DISPLAY VARS TIMER_S (DVS). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .408
DISPLAY VARS TIMER (DVT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .408
DISPLAY VARS WORD (DVW) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .409
EXECUTE command (E) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 409
FILER branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 410
FILER COPY (FC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .411
FILER DELETE (FD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .411
FILER EDIT (FE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .411
FILER PRINT (FP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .412
FILER RENAME (FR). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .413
FILER TRANSLATE (FT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .413
UTILITY ATTRIBUTE menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .414
FILER UTILITY ATTRIBUTE ARCHIVE (FUAA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .414
FILER UTILITY ATTRIBUTE HIDDEN (FUAH) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .414
FILER UTILITY ATTRIBUTE READONLY (FUAR) . . . . . . . . . . . . . . . . . . . . . . . . . . . .414
FILER UTILITY ATTRIBUTE SYSTEM (FUAS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .414
Backup and Restore commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .415
FILER UTILITY BACKUP (FUB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .416
FILER UTILITY RESTORE (FUR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .417
Compressed files management commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .419
FILER UTILITY COMPRESS DELETE (FUCD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .419
FILER UTILITY COMPRESS EXTRACT (FUCE). . . . . . . . . . . . . . . . . . . . . . . . . . . . . .419
FILER UTILITY COMPRESS MAKE (FUCM). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .419
FILER UTILITY COMPRESS VIEW (FUCV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .420
Directory management commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .420
FILER UTILITY DIRECTORY CHANGE (FUDC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .420
FILER UTILITY DIRECTORY DELETE (FUDD). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .420
FILER UTILITY DIRECTORY MAKE (FUDM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .421
FILER UTILITY INSTALL (FUI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .421
FILER UTILITY PROTECT (FUP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .421
FILER UTILITY SEARCH (FUS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .421

12
 Comau Robotics Product Instruction

SUMMARY

FILER VIEW (FV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .421

MEMORY branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 422
MEMORY DEBUG (MD). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .423
ERASE menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .423
MEMORY ERASE ALL (MEA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .423
MEMORY ERASE PROGRAM (MEP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .423
MEMORY ERASE VARIABLE(MEV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .424
MEMORY LOAD (ML) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .424
MEMORY SAVE(MS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .425
VIEW menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .425
MEMORY VIEW DATABASE (MVD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .426
MEMORY VIEW PROGRAM (MVP). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .426
MEMORY VIEW SYSTEM (MVS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .427
MEMORY VIEW TREE (MVR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .427
MEMORY VIEW TYPE (MVT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .427
MEMORY VIEW VARIABLE (MVV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .427
MEMORY VIEW VP2 (MVV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .428
PROGRAM branch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 428
PROGRAM ACTIVATE (PA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .428
PROGRAM DEACTIVATE (PD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .429
PROGRAM EDIT (PE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .429
PROGRAM GO (PG) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .430
STATE menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .431
PROGRAM STATE BYPASS (PSB). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .431
PROGRAM STATE PAUSE (PSP). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .431
PROGRAM STATE UNPAUSE (PSU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .432
TEST branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .432
Break menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .432
PROFILE menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .433
STEP menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .434
PROGRAM VIEW (PV). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .435
SET branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 436
SET ARM menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .436
SET ARM DISABLE (SAD). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .436
SET ARM ENABLE (SAE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .437
SET ARM GEN_OVR (SAG) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .437
SET ARM NOSTROKE(SAN). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .437
SET ARM SIMULATE (SAS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .437
SET ARM TP_MAIN (SAT). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .437
SET ARM UNSIMULATE (SAU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .438
SET CNTRLR menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .438
SET CNTRL KEY_LOCK (SCK) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .438
SET CNTRL LANGUAGE (SCL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .438
SET CONTROLLER VIEW (SCV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .439
SET CONTROLLER WIN_CLEAR (SCW) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .439
SET INPUT menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .439
SET INPUT FORCE branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .439
SET INPUT REMOTE branch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .440
SET INPUT UNFORCE branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .440
SET INPUT VIEW branch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .441
SET LOGIN (SL). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .441
SET OUTPUT menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .442
SET OUTPUT FORCE branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .442

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SET OUTPUT UNFORCE branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .443

SET OUTPUT VIEW branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .443
UTILITY branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 444
UTILITY COMMUNICN menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .444
UTILITY COMMUNICN DISMOUNT (UCD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .444
UTILITY COMMUNICN MOUNT menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .444
UTILITY COMMUNICN PORT_CHAR (UCP). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .444
UTILITY COMMUNICATION SET_DEF (UCS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .445
UTILITY COMMUNICATION VIEW (UCV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .445
UTILITY LOG branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .445
UTILITY LOG ACTION (ULA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .445
UTILITY LOG ERROR (ULE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .446
UTILITY LOG FILEOPS (ULF) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .446
UTILITY LOG HISTORY (ULH) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .446
UTILITY LOG LATCH ACKNOWLEDGE (ULLA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .447
UTILITY LOG LATCH VIEW (ULLV). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .447
UTILITY LOG NOTES (ULN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .447
Available Files Types in the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447

7. WINCRC PROGRAM - INTERFACE TO C5GPLUS ON PERSONAL COMPUTER ..449

Foreword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449
WinCRC Activation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450
Connection to the Control Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450
Ethernet point to point connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 451
Ethernet connection to the local network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453
Remote connection via Internet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454
Network configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .454
VPN configuration in Windows XP environment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .456
Remote PC configuration (server VPN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .456
Local PC configuration (client VPN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .458
Connection procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .461
Remote PC side . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .461
Local PC side . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .462
FTP Server mode connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 462
Remote connection by Proxy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 463
Chat Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .464
WinCRC configuration in Proxy mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .464
WinCRC configuration in Remote mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .464
Auto Config . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .466
Using the Chat Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .466
Disabling the Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .467
User interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468
Tools panel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468
The Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .469
File Translation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .470
Cause/Remedy. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .471
History and Files operations viewing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .473
Files Manipulation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .473

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Axis check. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .475

Tool and Frame update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .476
Linear Shift . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .476
Linear Rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .477
Mirror . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .478
Calibration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .482
Sysdata adjust . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .482
Turn difference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .482
Dialogue box for File Manipulation settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .482
Viewing and editing of .UDB file (optional feature) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .484
Directories Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 485
Files Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 486
Output Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487
WinCRC operating parameters set-up. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488
Commands Menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 489
Files Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490
Edit Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491
View Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492
Manipulation Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492
Help Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493
Tools Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493
How to obtain a new licence for WinCRC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493
Most common problems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 494

8. FILE MANAGEMENT BETWEEN PC AND CONTROL UNIT. . . . . . . . . . . . . . . . . ...496

View files on PC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496
Delete files on PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496
File transfer from PC to Control Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496
File transfer from Control Unit to PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
Automatic file transfer from Control Unit to PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
Automatic file transfer from PC to Control Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497

9. SYSTEM OPERATING MODES AND STATES . . . . . . . . . . . . . . . . . . . . . . . . . . . ...499

Foreword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499
System operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499
System states . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 500
HOLD status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 501
AUTO status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 502
PROGR status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 502
ALARM status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 502
Stand-by function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 503

10. START AND STOP CYCLE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...504

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11. I/O CONFIGURATION PROGRAMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..505

IO_CNFG Program - I/O modules configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 506
Activation of IO_CNFG program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 506
Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508
Powerlink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .508
Add . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .510
Delete . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .510
Fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .510
X20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .516
System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .518
Virtual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .523
Add . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .523
Edit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .524
Delete . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .524
Acopos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 524
Annex . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 525
Save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 526
Exit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 526
FB_util Program - Fieldbus modules utility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528
Activation of FB_util . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528
Profinet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 529
Operational procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .532
First installation procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .532
Device replacement procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .533
Profibus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534
DeviceNET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534
Ethernet/IP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
Quit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
Project of a Master Fieldbus Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 536
Creating a new project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 536
Phase one - SYCON.net program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .536
Phase two - WinRC program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .545
Differences in creating a Master DeviceNet network . . . . . . . . . . . . . . . . . . . . . . . . . . . . .546
Differences in creating an Ethernet/IP Scanner network . . . . . . . . . . . . . . . . . . . . . . . . . .548
Modifying a project already saved onto the Control Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . 549
Phase one - WinCRC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .549
Phase two - SYCON.net. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .550
IO_MAP Program - I/O ports mapping. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 551
Activation of IO_MAP program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 551
Devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 552
Modify - Device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .553
Map or Modify - I/O points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .556
Clear - I/O points. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .558
Direction - I/O points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .558
Prev.page and Next page - I/O points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .558
Clean - Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .559
Move - Device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .559
Prev.page, Next page. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .560
USER Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .560
Port list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 562
Category - Port list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .562

16
 Comau Robotics Product Instruction

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Direction - Port list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .563

Prev.page and Next page - Port list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .563
Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 563
System Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .564
System Profile - Comau . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .564
System Profile - Custom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .567
Application Profile. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .569
Application Profile - Comau . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .570
Application Profile - Custom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .573
Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 575
Add - Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .575
Delete - Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .576
Prev.page and Next page - Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .576
Save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 576
Exit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 576
IO_CLONE Program - I/O Configuration Export/Import . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577
Activation of IO_CLONE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577
Export . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 579
Import . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 580
Save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 581
Quit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 581

12. TOOL, UFRAME AND POSITIONERS BASE AUTOMATIC CALCULATION . . . . ...582

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 582
Activating Frames environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 582
TOOL automatic calculation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584
Needed Tools. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584
Calibrated tool (Tool Master) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .584
Reference point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .585
General characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 585
Tool orientation calculation in case of Tool Master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .586
Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 586
LOCAL Tool calculation procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .587
Standard Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .587
4-points Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .592
REMOTE Tool calculation Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .598
Standard Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .599
4-points method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .603
UFRAME automatic calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 609
Introduzione . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 609
Needed tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 609
Tool with known dimensions mounted on Robot Flange . . . . . . . . . . . . . . . . . . . . . . . . . .609
General characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 609
3 Reference Points (ORIGIN, Xpos and XYpos) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .609
General characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 610
Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 610
LOCAL UFRAME automatic calculation procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .611
REMOTE UFRAME automatic calculation procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . .616

17
Comau Robotics Product Instruction

SUMMARY

BASE automatic calculation for positioners . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 618

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 618
Needed tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 618
Tool with known dimensions mounted on Robot Flange . . . . . . . . . . . . . . . . . . . . . . . . . .618
3 reference points (P1, P2, P3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .618
1 reference point (P1). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .618
General characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 618
Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 619
Auxiliary Axis Positioner Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .620
Arm Positioner Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .626

13. AUTOMATIC PAYLOAD IDENTIFICATION (OPTIONAL FEATURE). . . . . . . . . . . ..628

Basic concepts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 628
Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 629
Requirements to modify the Payload Identification programs . . . . . . . . . . . . . . . . . . . . . . . 629
Activation and execution of the Payload Identification procedure . . . . . . . . . . . . . . . . . . . . 630
Payload Validation Software (SMART Payload) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 639

14. COMAU WEBSERVER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..640

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 640
Basic issues . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 641
Adding an app . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 642
Example of Comau structure for user apps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 642
.xml file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 644
app main folder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 646
Available REST API functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 647
get functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 647
get?arm_pos. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .647
get?arm_jntp. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .648
get?arm_mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .648
get?arm_safe_mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .648
get?stroke_end. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .649
get?tool. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .649
get?arm_base. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .649
get?arm_uframe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .649
get?arm_type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .650
get?arm_cal_sys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .650
get?arm_cal_usr. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .650
get?sys_state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .651
get?scv . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .651
get?home_info . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .651
get?date_time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .652
get?sysvar=sysvar_name. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .652
get?dirList=path_specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .652
get?var=var_name&prog=prog_name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .652
get?varList&prog=prog_name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .653
get?app_list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .653

18
 Comau Robotics Product Instruction

SUMMARY

get?dev_list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .653
get?file_list&path=path_specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .653
run functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 654
run?program_go&prog=prog_name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .654
run?routine=rout_name&prog=prog_name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .655
run?program_deact&prog=prog_name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .655
set functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 655
set?var=var_name&prog=prog_name&value=nnn. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .655
Using an app . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 656
Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 657
DemoPage.xml. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 659
index.html . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 659
comau.css . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 661
comau.js. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 662

15. APPENDIX - SOFTWARE OPTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...665

16. APPENDIX - CRC OPC UA SERVER (OPTIONAL FEATURE) . . . . . . . . . . . . . . . ...667

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 667
Connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 667
CRC OPC UA Server structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 668
Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 669
Arms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 669
Commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 670
DynamicData . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 670
ErrorCode - ErrorCodeEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 671
I/O .................................................................. 671
SysInfo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 672
SystemVariables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 673

17. APPENDIX - SMARTLOGIN (OPTIONAL FEATURE) . . . . . . . . . . . . . . . . . . . . . . ...674

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 674
WinCRC/Roboshop users . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 676
SmartLogin activation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 677
Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 677
Installation procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 677
SmartLogin deactivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 680
Deactivation procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 680

18. APPENDIX - BACKWARD INTERPRETATION . . . . . . . . . . . . . . . . . . . . . . . . . . . ...682

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 682
Basic rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 683
Motion instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 683

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Comau Robotics Product Instruction

SUMMARY

Local Motion Condition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 683

Routine calls. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 683
Programming rules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 684
Setting the Backward modality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 684
Execution direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 685
Specific behaviours . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 686

19. APPENDIX - END USER LICENSE AGREEMENT . . . . . . . . . . . . . . . . . . . . . . . . . ..687

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 Comau Robotics Product Instruction

PREFACE

PREFACE
– Symbols used in the manual
– Reference documents
– Modification History

Symbols used in the manual

The symbols for WARNING, CAUTION and NOTES are indicated below together with
their significance.

This symbol indicates operating procedures, technical information and precautions that
if ignored and/or are not performed correctly could cause injuries.

This symbol indicates operating procedures, technical information and precautions that
if ignored and/or are not performed correctly could cause damage to the equipment.

This symbol indicates operating procedures, technical information and precautions that
it are important to highlight.

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Comau Robotics Product Instruction

PREFACE

Reference documents
This document refers to the C5GPlus Control Unit.
The complete set of manuals for the C5GPlus consists of:

Comau C5GPlus Control – Technical Specifications

Unit – Transport and installation
– Maintenance
– Control Unit Use.

These manuals are to be integrated with the following documents:

Comau Robot – Technical Specifications

– Transport and installation
– Maintenance
Programming – PDL2 Programming Language
– VP2 - Visual PDL2
– Motion programming
Applications – According to the required type of
application.

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PREFACE

Modification History
– In 01/2018.09 manual version, the following topics have been added/updated:
• Touch screen calibration
• Safe - handling the SAFE system settings, available in the Setup page
• Safe Service - service operations for the SAFE system, available in the
Service Page.
– In 02/2019.01 manual version, the following topics have been added/updated:
• improved par. 5.17.2.8 IRegions on page 262 of chap.Setup page, adding
some notes and more details
• improved Chap. System Commands on page 380, adding more information
and fixing some errors.
– In 03/2019.06 manual version, the following topics have been added/updated:
• par. 5.17.2.7 ForceControl on page 261 to setup the Manual Guidance
(optional feature) functionality parameters
• par. 5.18.1.2 ForceControl on page 319 to handle the Force/Torque sensor
compensation, using the Manual Guidance (optional feature) functionality.
• Appendix - CRC OPC UA Server (optional feature) - describes the CRC OPC
UA Server optional feature, available on the Control Unit to read data and
information by means of an OPC UA Client.
– In 04/2019.10 manual version, the following topics have been added/updated:
• Chap. Comau WebServer on page 640 - describes the usage of the Comau
WebServer.
• Appendix - CRC OPC UA Server (optional feature) - added the description of
the Alarms node.
– In 05/2020.10 manual version, the following topics have been added:
• description of the SmartLogin optional functionality for system login/logout
by means of a SmartKey
• Chap. Appendix - SmartLogin (optional feature) on page 674 - new
chapter describing the functionality usage
• description of the user Maintenance Pages
• par. 5.22.7 XML creation and customization of the User Maintenance
Pages on page 372 - description of the XML structure to create and
customize the user Maintenance Pages
• par. 5.18.2.6 Maintenance on page 329 - usage description of the user
Maintenance Pages, within the Service Page - System - Maintenance
subpage.
– In 06/2021.03 manual version, the following topics have been added/updated:
• Chap. Appendix - Backward interpretation on page 682 to describe the
Backward Interpretation functionality,
• par. 5.12.3.2.8 Step on page 155 and par. Back on page 156 to describe
how to handle the Backward Interpretation,
• par. MOTION CURSOR on page 150; informational note about the effect of
the motion cursor, managing the Lookahead option
• par. 5.12.3.8.4 View motions of program on page 175, to describe the new
item in Details menu, to manage the Lookahead option.
• added Japanese language in par. 5.8.1.7 Language selection on page 104
and par. 6.9.7.2.2 SET CNTRL LANGUAGE (SCL) on page 438
• the range has been updated for times in Pulse and Step ssubpages
• added the description of the AddLoad subpage allowing to specify an
additional load on axis 3

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PREFACE

• added further information about the control knob displayed in the eMtInc
subpage
• added description about the Advanced fields, in the Rail subpage, available
to activate the dynamic model for the rail axis
• updated the Cyber Security information - par. 5.17.3.1 Network on page 284
• added description of the Move to SAFE LINE UP position button, in par.
Recovering the execution normal mode - SAFE Line Up procedure on
page 337
• added description of the program_deact function in Chap.14. - Comau
WebServer on page 640
• inserted Automatic collaborative/high-speed mode switch - CR17926227
option description, in Tab. 15.1 - C5GPlus Software Options on page 665
• updated the software license agreement information (Appendix - End User
License Agreement), to the 2021 version.

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Comau Robotics Product Instruction

PREFACE

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Comau Robotics Product Instruction

GENERAL SAFETY REQUIREMENTS

1. GENERAL SAFETY REQUIREMENTS

This chapter deals with general specifications that apply to the whole Robot System.
Considering its importance, this chapter is referred to unconditionally in every instruction
handbook of the system.

This chapter contains the following topics:

– Intended use
– Improper use
– Essential safety requirements applied and fulfilled
– Operating modes
– Aspects of particular attention
– Responsibilities

1.1 Intended use

The Robot and the Control Unit (when present) represent a robotic system made in
compliance with EN ISO 10218-1. Its performance must be exploited in industrial or
comparable areas, subject to current regulations, also complementary to the
aforementioned standard.
Installation, use, maintenance and disposal of the robotic system must be carried out by
authorized and trained personnel.

1.2 Improper use

The robotic system or its parts must not be used in environments that do not comply with
the technical specifications indicated in the relative handbooks. The use in
non-compliant environments, different from those required, uses beyond the expected
performances can create risks both for people and for the Robot system or its parts.
A non-careful integration according to the laws and regulations in force can also incur
the integrator to legal and criminal complications.

1.3 Essential safety requirements applied and fulfilled

The robotic system composed of Control Unit and SMART5 Robot series considers as
applied and fulfilled the following Safety Fundamental Requirements, Annex I of
Machinery Directive 2006/42/EC: 1.1.3 – 1.1.5 – 1.2.1 – 1.2.2 – 1.2.3 – 1.2.4.3 – 1.2.5
– 1.2.6 – 1.3.2 – 1.3.4 – 1.3.8.1 – 1.5.1 – 1.5.2 – 1.5.4 – 1.5.6 – 1.5.8 – 1.5.9 – 1.5.10 –
1.5.11 – 1.5.13 – 1.6.3 – 1.6.4 – 1.6.5 – 1.7.1 – 1.7.1.1 – 1.7.2 – 1.7.4.

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GENERAL SAFETY REQUIREMENTS

1.4 Operating modes

Installation and Start-up

– The startup is only possible when the Robot and Control System has been correctly
and completely installed.
– The system installation and startup is exclusively the task of the authorised
personnel.
– For Robots with no collaborative functionality:
• the system installation and startup is only allowed exclusively inside a
Protected Zone of an adequate size to house the Robot and the equipment it
is outfitted with, without passing beyond the protection barriers. It is also
necessary to check that in normal Robot movement conditions there is no
collision with parts inside the Protected Zone ( e.g structural columns, power
supply lines, etc.) or with the barriers. If necessary, limit the Robot workspace
by means of mechanical stop buffers (see optional units);
• any fixed Robot control protections are to be located outside the Protected
Zone and in a point where there is a full view of the Robot movements;
• install the Control Unit outside the Protected Zone: the Control Unit should not
be used as part of the fence.
– The Robot installation area is to be as free as possible from materials that could
impede or limit visibility.
– During installation, the Robot and the Control Unit must be handled as described
in the relative Instruction Handbooks; if lifting is necessary, check that the eyebolts
are fixed correctly and use only adequate slings and equipment.
– Fix the Robot to mount holder, with all the provided bolts and pins, tightened to the
tightening torques given in the related Instruction Handbooks.
– If present, remove the fastening brackets from the axes and check that the fixing
of the Robot fixture is secured correctly.
– Check that the Robot guards are correctly secured and that there are no moving or
loose parts. Check that the Control Unit components are intact.
– Check that the voltage value of the power mains is consistent with that indicated
on the nameplate of the Control Unit.
– Before electrically connect the Control Unit, check that the circuit breaker on the
power mains is locked in open position.
– The connection between the Control Unit and the power supply mains of the plant,
must be made through a cable of dimensions suitable for the power installed on the
Control Unit (for details refer to chapter “Power supply from the electric network:
features and connection” in the Control Unit Instruction Handbooks).
– Connect the ground cable (PE) then connect the power conductors to the main
switch.
– Connect the power supply cable, first connecting the ground cable to the circuit
breaker on the power mains line, after checking with a tester that the circuit breaker
terminals are not powered. It is recommended to connect the cable armor to the
ground.
– Connect the signals and power cables between the Control Unit and the Robot.

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GENERAL SAFETY REQUIREMENTS

– Connect the Robot to the ground through the Control Unit or specific terminals,
according to the prearrangements present on Robot and/or Control Unit.
– Where provided, check that the Control Unit door/s is/are closed with the
appropriate key.
– A wrong connection of the connectors may cause permanent damage to the
Control Unit components.
– The Control Unit manages internally the main safety interlocks (gates, enabling
push-buttons, etc.). Connect the Control Unit safety interlocks to the line safety
circuits, taking care to connect them as required by the Safety Standards. The
safety of the interlock signals coming from the transfer line (emergency stop, safety
fences etc.), i.e. the making of correct and safe circuits, is the responsibility of the
Robot and Control System integrator.

In the cell/line emergency stop circuit it is necessary to include the contacts of the
emergency stop push-buttons of the Control Unit available on the appropriate connector
(for details, refer to the electrical circuit diagrams and the specific Instruction Handbooks
according to the Unit Control model). The push-buttons are not interlocked inside the
emergency stop circuit of the Control Unit.

– The safety of the system cannot be guaranteed in case of interlocks erroneous,

incomplete or missing execution.
– The Robot emergency stop in AUTO/REMOTE mode is set in a controlled way
(IEC 60204-1, stop of category 1 or category 2*); it is also possible to set the stop
in category 0 by changing the related setting within the control logic of the Control
Unit safety aspects.
* the stop in category 2 is only possible for Robots with collaborative functionality

Setting the emergency stop in category 0 can result in mechanical damages to the tools
and loss of load if they are not properly designed.

– When preparing protection barriers (when required), especially for light curtains
and access doors, take into consideration the Robot stopping times and distances
according to the stop category (according to IEC 60204-1) and the weight of the
Robot.

The stop circuit timer is normally set to 1.5 seconds. This parameter can be changed if
heavy-duty implements (e.g. rotary tables, positioners, etc.) are matched with the Robot.
The stop circuit timer can be modified by changing its setting within the control logic of
the Control Unit safety aspects. For further details, refer to the paragraph “Safety stop
circuit timer” in the Control Unit Instruction Handbooks.

– Check that the environmental and operating conditions do not exceed the limits
specified in the specific Instruction Handbooks.
– The calibration operations must be carried out with utmost attention, as indicated
in the Instruction Handbooks of the specific product, and must be concluded by
checking the correct position of the machine.
– To load or update the system software (for example after boards replacing), use
only the original software handed over by COMAU. Scrupulously follow the system
software loading procedure described in the Instruction Handbooks supplied with

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GENERAL SAFETY REQUIREMENTS

the specific product. After loading, always make some Robot motion tests at low
speed remaining outside the Robot action radius.
– Check that the barriers of the Protected Zone (when present) are correctly
positioned.

Functioning in Programming mode

– The Robot is only to be programmed by the authorised personnel.
– Before proceeding with programming, the operator, remaining at the end of the
Protected Zone / Collaborative Zone, must:
• make sure that all the necessary protective guards and safety devices are
present and in working conditions;
• make sure that the Teach Pendant is functioning correctly (reduced speed,
enabling device, emergency stop device, etc.);
• check the Robotic system (Robot and Control Unit) to make sure that there
are no potentially dangerous anomalous conditions and that no person is
present in the Protected Zone / Collaborative Zone.
– As far as possible, the programming should be controlled from outside the
Protected Zone / Collaborative Zone.
– During the programming phases, only the operator with the Teach Pendant is
allowed inside the Protected Zone / Collaborative Zone.
– For Robots without collaborative functionality, if the presence of a second operator
is required in the workspace when checking the program, these people must have
their enabling device interlocked with the safety devices.
– Activation of the motors (DRIVE ON) must always be controlled from a position
outside the Robot area of action, after having verified that there is nobody in the
area concerned. The Drive On operation is considered complete when the relevant
machine status indication is shown.
– During programming the operator must remain at a distance from the Robot such
as to allow him to avoid any anomalous movements of the machine, and in any
case in a position to avoid possible risks of restraint between the Robot and parts
of the structure (columns, barrier, etc.), or between moving parts of the Robot itself,
including parts which, due to gravity, could perform movements downwards,
upwards or laterally (in the case of mounting on an inclined plane).
– The test of a programmed cycle at working speed with the operator inside the
Protected Zone / Collaborative Zone, in some situations where a close visual check
is necessary, must be activated after a complete test cycle at low speed has been
carried out. The test must be controlled from a safe distance.
– Special attention is to be paid when programming using the Teach Pendant: in this
situation, although all the hardware and software safety devices are active, the
Robot movement depends on the operator.
– During the execution of a new program or a varied sequence of instructions, make
sure that the movement of the Robot takes place along the intended path.
– Check while remaining out of the Robot action area and test the cycle at low speed.

Functioning in Auto / Remote Mode

– The activation of the automatic operation (AUTO and REMOTE statuses) is only
allowed with the Robotic system (Robot and Control Unit) integrated in a special
area with sufficient features to meet the needs of Protected Zone / Collaborative

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GENERAL SAFETY REQUIREMENTS

Zone (depending on the Robot type) as prescribed by the Safety Regulations in

force in the country where the installation is carried out.
– Before activating the automatic operation, the operator must check:
• the Protected Zone / Collaborative Zone to ensure that there are no potentially
dangerous anomalous conditions;
• that the Robot and Control System is not in a state of maintenance or repair
and that there are no potentially dangerous abnormal conditions;
• that the protection barriers (when present) are correctly positioned;
• that there is nobody inside the Protected Zone / Collaborative Zone;
• that the Control Unit doors are closed and locked with the appropriate key;
• that the safety devices are in working conditions;
– Special attention is to be paid when selecting the remote mode, in which the line
PLC can perform automatic operations of motors power up and program starting.

Functioning in Collaborative Mode

– The Comau collaborative Robots require an appropriate assessment of the risk of
the area in which they are integrated, combining the performances already
available in the collaborative solutions with additional safety devices.

The integrator is responsible for the correct integration of the collaborative Robot in the
complete cell/machine.

– The integrator shall consider at least the following aspects:

• the tool connected to the Robot, must be equipped with a solution compatible
with the collaborative mode of the Robot;
• the impact force of the Robot against the person, proportional to the
movement speed of the Robot itself;
• the Collaborative Zone, which must be sufficiently large, without edges or
structural parts that can block the operator without an escape route, possibly
trapped between the skin and a static structural element of the cell / machine;
• the stopping distance and time of the Robot, which must include a reasonable
distance to avoid crushing (see details in “Robot Technical Specifications”
handbook, paragraph “Robot stop modes and space” and “Sensorized skin
on AURA Collaborative Robot”* handbook, “paragraph Technical features”);
* only available in case of AURA Collaborative Robot

Robot axes brake release (where required)

– The movement of the Robot axes is possible by means of suitable control devices
(integrated, where provided, on Robot base, or available as optional devices
-brake releasing module-) and adequate lifting means. Such devices only enable
the brake deactivation of each axis. In this case, all the system safety devices
(including the emergency stop and the enabling push-button) are disabled; also the
Robot axes can move upwards or downwards because of the forces generated by
the balancing system or by gravity.

Before using manual brake releasing devices, it is recommended to sling the Robot, or
hook it to an overhead traveling crane.

– The brake releasing operation can generate crash risks caused by:

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GENERAL SAFETY REQUIREMENTS

• an incorrect reset after the brake release

• resumption of movement after an interruption of an incomplete MOVE (whose
typical function of trajectory recovery can generate unpredictable paths);
• subsequent resumption of the automatic cycle (similarly to what has been
described above, relating to the resumption of a not completed MOVE).
– Avoid moving the Robot in positions that are distant from the ones required for the
motion restarting; alternatively disable the outstanding MOVE programmes and/or
instructions.
– The procedure for the correct use of the brake releasing devices (integrated on
Robot base and/or optional brake releasing module) is shown in the “Maintenance”
section of the Instruction Handbooks of the specific Robot.

Maintenance and Repair

– The Robot (where required) is supplied with lubricants that do not contain any
harmful to health substances; however, in some cases, repeated and prolonged
exposure to the product may cause skin irritation, or if swallowed, sickness.
First Aid Measures. In case of contact with the eyes or skin: rinse the affected
areas with plenty of water; in case irritation persists, seek medical advice.
If swallowed, do not induce vomiting or administer anything by mouth; consult a
doctor as soon as possible.
– Maintenance, troubleshooting and repair operations are only to be carried out by
authorised personnel.
– When carrying out maintenance and repair operations, the specific warning sign
stating the maintenance status must be placed on the control panel of the Control
Unit, until the end of the operation, even if it should be temporarily suspended.
– Maintenance and replacement operations of the components or Control Unit must
be carried out (where provided and necessary) with the main switch in open
position and locked with a safety padlock.
– Even if the Control Unit is not powered (main switch open), there may be
interconnected voltages deriving from connection to peripheral units or external
power sources (e.g. 24 Vdc input/output). Power off the external sources when
operating on involved system parts.
– Removal of panels, protection shields, grids, etc. is only allowed with the main
switch open and padlocked (where provided and necessary).
– Faulty components are to be replaced with others having the same Part No., or
equivalent components defined by COMAU.

Where required, the replaced safety components must be configured with the same
parameters as those removed.

– Troubleshooting and maintenance activities:

• must be performed, as far as possible, outside the Protected Zone /
Collaborative Zone;
• on Control Units they must as far as possible be performed in the absence of
power;
• on the Robot must be performed with power supply deactivated (DRIVE
OFF).

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GENERAL SAFETY REQUIREMENTS

– If necessary, during troubleshooting, intervene with the Control Unit powered; all
the precautions specified by Safety Standards must be observed when operating
in presence of dangerous voltages.
– At the end of the maintenance and troubleshooting operations, all the deactivated
safety devices must be reset (panels, protection shields, interlocks, etc.).
– The maintenance, repair and troubleshooting intervention must be completed by
verifying the correct operation of the Robotic system (Robot and Control Unit) and
all safety devices performed outside the Protected Zone / Collaborative Zone.
– During the software loading phases (for example after replacement of electronic
boards) use only the original software handed over by COMAU. Scrupulously
follow the system software loading procedure described in the specific Instruction
Handbooks; after loading, always run a test cycle, remaining outside the Protected
Zone.
– The disassembly of Robot components (e.g. motors, balancing cylinders, etc.) may
cause uncontrolled movements of the axes in different directions: before starting a
disassembly procedure, refer to the warning plates affixed on the Robot and to the
supplied Instruction Handbooks.
– On Robots equipped with balancing springs, it is forbidden to remove the protection
cover of the springs.
– Where fitted, always restore the protective casing if previously installed.

Decommissioning and Dismantling

– The decommissioning and removal of the Robot and Control System is allowed
only to Authorized Personnel.
– Move the Robot in transport position and mount the axes blocking brackets (when
required) referring to the plate affixed to the Robot and to the Instruction
Handbooks of the Robot itself.
– Before proceeding with decommissioning it is mandatory, depending on the type of
Control Unit:
• on the Control Unit with power cable wired directly to the terminals of the main
switch:
• turn off the mains voltage at the Control Unit input, by disconnecting the
circuit breaker on the power mains and locking it in open position;
• check with a suitable instrument that the terminals are disconnected;
• disconnect the power supply cable from the circuit breaker on the power
mains, first disconnecting the power conductors and then the ground
conductor;
• Disconnect the power supply cable from the Control Unit and remove it.
• on Control Units equipped with a pre-assembled power cable, with a
“socket-plug” system:
• disconnect the power supply cable.
– First disconnect the connection cables between the Robot and the Control Unit,
then the earth cable.
– If installed, disconnect the pneumatic system from the air supply and blow off the
residual air.
– Check that the Robot is properly balanced and if necessary sling it correctly, then
remove the screws that fix the Robot to the supporting surface.

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– Remove the Robot and the Control Unit from the workspace, taking all the
requirements indicated in the products Instruction Handbooks; if lifting is
necessary, check the eyebolts proper fixing and use only suitable slings and
equipment.

The disposal operations must be carried out in compliance with the legislation in force
in the country where the Robotic system is installed; dispose of the batteries, oils and
other chemical liquids in an environmentally correct way and in accordance with the
regulations in force transferring them to specific waste collection centres.

– Consign the Robot and the Control Unit to a centre responsible for the dismantling
and disposal.

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1.5 Aspects of particular attention

The documentation of the robotic system required a subdivision of the contents into one
or more Instruction Handbooks. For this reason, the understanding of the functionalities
and the necessary attention to the requirements may require consultation of the entire
applicable documentation, always listed in the first pages of each handbook.

1.6 Responsibilities
The integrator is responsible for the correct integration of the robotic system or its parts
in accordance with the applicable legislation.
Comau is not responsible for any improper use of the robotic system or its parts.

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 Comau Robotics Product Instruction

SYSTEM POWER ON AND SHUT DOWN

2. SYSTEM POWER ON AND SHUT DOWN

2.1 Foreword
This chapter provides all information needed to switch the power on/off to C5GPlus
Control Unit.

The following topics are described in detail:

– Main switch
– System power-on
– System shut down

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Comau Robotics Product Instruction

SYSTEM POWER ON AND SHUT DOWN

2.2 Main switch

To Power on/off the System, it is needed to use the main switch.
It is placed on the Control Unit Cabinet door. Two versions are available:
– Europe and
– North America.
The main switch acts on the supply voltage of the Control Unit.

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SYSTEM POWER ON AND SHUT DOWN

2.3 System power-on

Please note that date and time of the last system startup, are displayed in Service Page
- System - Info.

To power on the C5GPlus Control Unit, proceed as follows:

a. close the Control Unit Cabinet door.

b. Check that the following cables are connected:

– power supply cable
– X10 and X60 cables towards the robot
– X30 safety devices cable
– ground cable between Control Unit and robot.

Wait at least 30 seconds after a power-off, before powering the Control Unit on again.

c. Switch on the electric power supply by turning the main switch to ON

Power is supplied to all the modules, upon Control Unit activation

d. in order for the user to be able to use the Teach Pendant, the system activates TP5
display, executes the STARTUP Procedure, displays the Home Page and makes
the Teach Pendant ready to use

WARNING
If the TP software version does not match with the one on the Control Unit, a message
is displayed stating that the system will automatically align the two versions, within 15
seconds. Press ‘Cancel’ to avoid it. It is anyway recommended to align the sw versions.

e. If the execution of any robot movements is expected (motion program activated by

the STARTUP program) it is needed to power the drives on (see the DRIVE ON
functionality description in par. 5.5.2.2 Right Menu on page 79) and press START
button (see the START (green) button description, in par. 5.3.1.3 Other colours
keys on page 64).

To handle automatic motion, please refer to Chap.10. - Start and Stop Cycle on
page 504.

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SYSTEM POWER ON AND SHUT DOWN

2.3.1 STARTUP Procedure

Fig. 2.1 - STARTUP Procedure

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SYSTEM POWER ON AND SHUT DOWN

– At power on, the system displays the Connection Page shown in the above
diagram (step 1). Do not shutdown the system until operations are completed.
– If the connection step takes more than 45 seconds, some update operations could
be running for additional firmware modules. If so, the Teach Pendant displays a
different message (step 2), and the user must wait for the operation to be
accomplished, without powering the system off.
– If such a connection step takes more than 10 minutes, the system displays an error
information on red background (step 4). Please, be sure that both the Control Unit
has properly been started up and the connections towards the Teach Pendant are
correct. In some cases, switching off and subsequent switching on the system
could help fixing the situation. Always refer to the Cause&Remedy information,
related to the shown error message on the Teach Pendant display. Any time
an error code is displayed on the Teach Pendant, a key is made available in the
Functional keys menu to open the Cause&Remedy environment (see par. 5.10.1.2
Cause & Remedy Key on page 123).
– During all the described above situations, the Teach Pendant continuously tries to
connect to the Control Unit. As soon as the connection is ok, the Home Page is
displayed (step 3) on the Teach Pendant and the system is ready.

WARNING
During the startup phase the following error message could appear:

37906-4 IP address of the Controller not assigned

This could happen because the IP address of the Control Unit main Ethernet interface
has not been properly assigned at SETUP phase, e.g. due to IP address conflicts among
devices on the network.

CONNECTION FAILURE
During any working phase, the communication between Control Unit and Teach
Pendant could fail due to connection lost, upon communication time-out.
An alarm message is displayed on yellow background (step 5), indicating the elapsed
time from connection lost.
If it is not restored within 1.5 minutes, an alarm message is displayed on red background
(step 4 and step 6), with the error code, to ask the user to check both the Control Unit
and the Teach Pendant connection states.
As soon as the proper working situation is restored, the Home Page (step 3) is displayed
and the system is ready again.

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SYSTEM POWER ON AND SHUT DOWN

2.4 System shut down

Even if the system can be shut down by just moving the Main switch to OFF, it is strongly
recommended the use of the software shutdown procedure, in order to avoid
unnecessary waste of UPS buffer battery cycles that would reduce the life of the battery:

a. set the system in DRIVE OFF

(see DRIVE OFF function description in par. 5.5.2.2 Right Menu on page 79)

b. activate the software shutdown, according to one of the following modalities:

b.1 by means of the TP5 Teach Pendant - in the Home Page, issue Restart, Shutdown
command;

b.2 from a Personal Computer (WinCRC program) - issue CONFIGURE

CONTROLLER RESTART SHUTDOWN (CCRS);

b.3 from within a PDL2 program - use SYS_CALL built-in routine, by specifying CCRS
command.

WARNING!
In the case in which the command comes from within a program (by means of
SYS_CALL), it is suggested to always check the SYS_CALL returned state in order to
be able to handle possible anomalous situations (the final SYS_CALL status is given
back by the $SYS_CALL_STS predefined variable).

c. 5 seconds later, the TP5 screen is cleaned off. Wait for at least 15 seconds more.

d. move the main switch to OFF.

(see par. 2.2 Main switch on page 36).

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USER INTERFACE

3. USER INTERFACE

3.1 Introduction
The C5GPlus Control Unit, for robot manual handling, to create, modify and run
programs, to modify step-by-step movements, to supply system control and monitoring
functions, requires the following user interfaces:
– Teach Pendant (TP5)
– Interface on Personal Computer (WinCRC)

3.2 Teach Pendant (TP5)

The C5GPlus Control Unit Teach Pendant is used to manually control the robot
movements, to program it and execute and modify step by step movements; it supplies
system control and monitoring functions, as well as including the safety devices
(enabling device and emergency stop pushbutton). It is user-friendly and is suitable for
both right-hand and left -hand use.
It includes the following components:
– Modal selector switch
– Display
– Keys
– Pushbuttons and LEDs
– USB port.

The TP5 Teach Pendant is connected to the Control Unit by a cable

For more detailed information about the Teach Pendant, see the following manuals:
– C5GPlus Control Unit - Technical Specification,Transport and Installation,
Maintenance manual - par. Teach Pendant:;
– Chap.5. - TP5 Teach Pendant on page 52.

The following Fig. 3.1 and Fig. 3.2 illustrate the components of the Teach Pendant. For
more detailed information about modal selector switch, keys, pushbuttons, LEDs,
display and communication port, see the following Chap.5. - TP5 Teach Pendant on
page 52.

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USER INTERFACE

3.2.1 Front view

Fig. 3.1 - TP5 front view

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USER INTERFACE

3.2.2 Rear view

Fig. 3.2 - TP5 rear view

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USER INTERFACE

3.3 Interface on Personal Computer (WinCRC)

WinCRC program is the interface on Personal Computer to C5GPlus Control Unit.
It includes a set of functions, which are:
– display of files existing in the Control Unit,
– possibility of editing them, translating them into executable format (.COD) and
running them,
– searching and displaying errors,
– possibility to issue commands to the Control Unit,
– conversion of already existing programs depending on new reference points.
For further details, see the Chap. WinCRC Program - Interface to C5GPlus on Personal
Computer on page 449.

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ACCESS TO THE CONTROL UNIT (LOGIN/LOGOUT)

4. ACCESS TO THE CONTROL UNIT

(LOGIN/LOGOUT)

4.1 Introduction
To access C5GPlus Control Unit, regardless of the device from which dialogue with the
Control Unit is desired (Teach Pendant or WinCRC program from PC), a Login is
necessary, otherwise the only available commands are for viewing.
To terminate access to the Control Unit, so that unauthorised personnel cannot enter, it
is necessary to execute a Logout.

Starting from 4.11.003 system software version, an optional functionality is available,

referred to as SmartLogin, allowing to automatically login/logout by means of
inserting/removing an USB flash disk (SmartKey) on the Teach Pendant.
Refer to Chap. Appendix - SmartLogin (optional feature) on page 674 for a full
description.

4.2 Login
If the user is working with the Teach Pendant, the Login functionality is available in the
Teach Pendant Home Page, either:
– by means of shortly touching the Login command, in the Functional keys menu
(highlighted in red in the following figure)

or
– by touching the Login field (highlighted in red in the following figure)

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ACCESS TO THE CONTROL UNIT (LOGIN/LOGOUT)

Using one of the listed above modalities, the system access environment (login/logout)
is then activated.
When working on a PC (WinCRC program), the system asks the user to perform a Login
operation at connection time towards the Control Unit; it is available the SET LOGIN
(SL) command in the commands menu.
The following topics are now fully described:
– User profiles,
– Summary table of access rights.

4.2.1 User profiles

It is always needed to specify a Username and a Password which have to be
acknowledged by the Control Unit to be interfaced; these must be defined and saved
beforehand in the Control Unit database.
There are six types of predefined and recognised by the Control Unit users:
– Administrator
– Default
– Maintenance
– Programmer
– Service
– Technology
They are described in the following sections.
The access rights are associated to each of these categories, and enable or disable the
use of a certain command, also according to the system status.
These profiles definition is assigned to an administrator user who can declare them,
after Logging in on the Control Unit, in the data base of the Control Unit itself, sending:
– Add command, available by pressing Users softkey in the Setup page - Login
subpage on the Teach Pendant, or
– CONFIGURE CONTROLLER LOGIN ADD (CCLA) command and the associated
option, from within the WinCRC Terminal window.
Then, it is necessary to execute
– Configure command, available in the Setup page, son the Teach Pendant, or
– CONFIGURE SAVE ALL (CSA) command, from WinCRC, on PC

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The C5GPlus Control Unit is delivered to the customer with the following predefined
users:
– programmer user
Username: pu
Password: pu
– maintenance user
Username: mu
Password: mu
– administrator user
Username: admin
Password: admin
To do so, from administrator user, issue Add command, available by pressing Users
softkey in the Setup page - Login subpage on the Teach Pendant, or CONFIGURE
CONTROLLER LOGIN ADD (CCLA) command and the associated option, from within
the WinCRC on Personal Computer.
The programmer login is the default one that is held after a Restart Cold, since it is
saved as Startup Login (Startup command from Users subpage, Setup page on the
Teach Pendant).
If the predefined users (programmer or maintenance) don’t meet the final client
requirements, it is possible to define more profiles.
To do so, from administrator user, issue Add command, available by pressing Users
softkey in the Setup page - Login subpage on the Teach Pendant, or CONFIGURE
CONTROLLER LOGIN ADD (CCLA) command and the associated option, from within
the WinCRC on Personal Computer.

4.2.1.1 Administrator
The only task of this user is to enter and/or delete the users in the data base (file .UDB)
that gives access to the system; therefore many other commands are not enabled for
the Administrator.
Each time it is wished to add (or remove) a user level, it is necessary to perform the
following steps:

a. enter the system as administrator user (Login key from the Teach Pendant Home
Page). If a new profile for the administrator has not already been defined, the
Username admin and the Password admin are predefined in the system;

b. to add a new user, issue either Add command, available by means of Users key,
in the Setup page, Login subpage on the Teach Pendant or CONFIGURE
CONTROLLER LOGIN ADD (CCLA) command and the associated option, from
within WinCRC, on a PC

c. to check that the insertion has taken place, select Login subpage, Users key in the
Setup page

d. perform the Logout to exit from the system as administrator: from the Teach
Pendant Home Page, select the Logout option by long touching the Login key

e. Login again entering the newly defined Username and Password, to check it has
been properly set;

f. save the settings using one of these methods:

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ACCESS TO THE CONTROL UNIT (LOGIN/LOGOUT)

f.1 issue Configure command, available in the Setup page, on the Teach Pendant, or

f.2 issue CONFIGURE SAVE ALL (CSA)command, from within WinCRC, on the PC.

4.2.1.2 Default
The type of user to be identified is the operator running a production line. The main
operations he/she requires are to start and stop programs, to delete alarms, manual
movements, override modification, restart and shut down of the Control Unit.

4.2.1.3 Programmer
The programmer user is enabled, mainly, to execute operations associated to the
development, the verification and the setting up of the programs.

4.2.1.4 Maintenance
The type of user to be identified is the integrator. This user is more powerful than the
programmer.

4.2.1.5 Service
This kind of user represents the After Sales Service and is enabled to execute
operations connected to system updating, using commands for software loading and
machine calibration.
Access to the Control Unit with this profile, is exclusive: if a user connects to the system
as Service, it will be possible to connect to the Control Unit, from other devices, only
specifying the same Username and the same Password.

4.2.1.6 Technology
The Technology user allows accessing to some functionalities related to the currently
installed application, typical of such an application.
It implies the definition of some using levels depending on the application and the
INTEGER value which has been specified as a parameter at the profile definition time.
Please refer to the application manual to better understand which value is to be
assigned to such a parameter (indicating the technology).
It can be either associated to a profile chosen among Programmer, Service, etc. or
customized by means of the .UDB file, from within WinCRC (see par. 7.5.1.6 Viewing
and editing of .UDB file (optional feature) on page 484).

4.2.2 Summary table of access rights

The following table indicates the current settings about access rights of the listed above
predefined users. The codes in the table, associated to the users are: D for Default, A
for Administrator, M for Maintenance, P for Programmer and S for Service.
As far as the Technology user, the access rights are the same of the associated profile
(either Programmer, Service or Maintenance).

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The corresponding command from SYS_CALL is indicated in brackets.

COMMAND PROGR LOCAL REMOTE

Add a login to the database (CCLA) A A A
Delete a login from the database A A A
Assign the Startup Login (CCLS) P,M,S P,M,S P,M,S
Assign the Startup program (CCS) P,M,S P,M,S P,M,S
Assign the time (CCT) M,S M,S M,S

Jog an arm D,P,M,S

Modify the override (SAG). Set the active arm for the Teach Pendant
D,P,M,S D,P,M,S D,P,M,S
(SAT)
Disable stroke ends errors (SAN) P,M,S
Turn Set operation on the axes (CAT) D,P,M,S
Load axis data from retentive memory (CARL) M,S
Save data in retentive memory (CARS) M,S M,S M,S
Arm: enable (SAE), disable (SAD), simulation (SAS), simulated state
S S S
removal (SAU).
Calibration of an arm (CAC) S

Control Unit restart (CCRC) A,D,P,M,S A,D,P,M,S A,P,M,S

Control Unit shut-down (CCRS) D,P,M,S D,P,M,S D,P,M,S

Load Control Unit system software (CCRR) M,S

Lock keyboard (SCK) M,S M,S M,S

Load configuration file .c5g and User Data Base file .UDB (CLA,CLC) M,S
Save configuration file .c5g and User Data Base file .UDB (CSA, CSC) A,P,M,S P,M,S P,M,S

Execution of an instruction (E) P,M,S P,M,S S

Delete(FD), rename (FR), translate (FT) a file A,P,M,S P,M,S P,M,S

Create (FUDM), delete (FUDD) a directory A,P,M,S P,M,S P,M,S
Compressed files management (FUC) A,P,M,S P,M,S P,M,S
Applications installation (FUI) P,M,S P,M,S P,M,S
Copy file from external device (FUR) P,M,S P,M,S P,M,S
Change attributes of a file (FUA) M,S M,S M,S
Access to Memory Debug environment (MD) P,M,S P,M,S
Program Edit and IDE environment P,M,S P,M,S P,M,S

Load programs in memory (ML). Save in UD: (MS) A,P,M,S P,M,S P,M,S
Delete programs (MEP), variables (MEV), both (MEA) from memory A,P,M,S P,M,S M,S

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COMMAND PROGR LOCAL REMOTE

Program activation (PA), deactivation (PD), loading and activation
A,D,P,M,S D,P,M,S M,S
(PG)
Programs debug: temporary interruption of execution (PSP), resume
execution (PSU), bypass on suspensive instruction (PSB), breakpoint P,M,S P,M,S
insertion/deletion (PTB)
Change program step (PTS) P,M,S P,M,S P,M,S

Operations on Inputs (except access to privileged inputs) (Set Input…) P,M,S P,M,S P,M,S
Operations on Outputs (SetOutput…) P,M,S P,M,S P,M,S

Forcing of privileged inputs (SIFP…) / outputs (SOFP.) S S S

Start / interrupt a protocol (UCM, UCD…), set properties of a port
P,M,S P,M,S M,S
(UCP), or the default port (UCS)

Access to all devices S S S

Deactivate all programs through Cntrl Y M,S
Display contents of all log files S S S
Table opening (from the TP Data Page) A,M,P,S A,M,P,S A,M,P,S
Table modification (from the TP Data Page) A,M,P,S A,M,P,S A,M,P,S
Program Editing (from the TP IDE Page) (*) A,M,P,S A,M,P,S A,M,P,S
Program Viewing (from the TP IDE Page) A,M,P,S A,M,P,S A,M,P,S
D: default, the user who is defined by Setup page - System - Login - Users - Add without options.
A: Administrator, defined with Setup page - System - Login - Users - Add selecting /Admin profile
M: Maintenance, defined with Setup page - System - Login - Users - Add selecting /Maintenance profile
P: Programmer, defined with Setup page - System - Login - Users - Add selecting / Programmer profile
S: Service, defined with Setup page - System - Login - Users - Add selecting / Service profile

(*) compliant with the Profile rights

It is also allowed to set a startup login used by the Control Unit at each restart (either
(Setup page - System - Login - Startup command on the Teach Pendant, or
CONFIGURE CONTROLLER LOGIN STARTUP (CCLS)) from within WinCRC, on
Personal Computer).

4.3 Logout
If working with the Teach Pendant, apply a long touch on Login key in the Functional
keys menu in the Home Page, and choose Logout to start the logout operation.
If working on WinCRC, press the disconnection key, or select SET LOGIN (SL)/Logout
command from the command menu.

4.3.1 Automatic Timed Logout

This function has been implemented to prevent unauthorized people executing
potentially hazardous operations during the system processing cycle.
The main purpose is that the system generates a Logout after the Teach Pendant user

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has remained inactive for a certain period of time.

This time is linked to the keyboard and touch screen activity: there is a timeout to shut
down the Teach Pendant screen after a period of keyboard and touch screen inactivity
(see par. 5.5 Display on page 70).
From that instant the time count starts, after which the system executes the automatic
Logout.
When a user wishes to use the Teach Pendant after an automatic Logout, it is
necessary to access again (Login).
When an automatic Logout takes place, some environments carry out special
operations. In particular:
– Files Page - the system resets the current directory to UD:
– Data Page - the system closes all the open tables. For any modifications (either not
applied or not saved), the user is asked what to do; leaving the environment is only
allowed if the user answers to the prompt message.
– IDE Page - the system closes the current editing session. If such an operation
requires viewing one or more dialogue windows towards the user (for example
relating to the cursor position and modifications that have not been saved), the
automatic Logout procedure is suspended until the user answers these questions.
Leaving the environment is only allowed if the answer is a confirmation. On the
contrary, it is needed to suitably place the cursors manually befor closing.

For further information about configuring this functionality by the user, see Autologout in
the Setup page.

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TP5 TEACH PENDANT

5. TP5 TEACH PENDANT

5.1 Introduction
The current chapter provides detailed information on how to use TP5 Teach Pendant.

1 - Modal selector switch 2 - Emergency Stop pushbutton

3 - Display 4 - Blue keys
5 - Other colours keys 6 - LEDs
7 - JPAD 8 - Black keys

The following subjects are dealt with:

– Modal selector switch
– Keys, Pushbuttons and LEDs
– USB port
– Display
– User Interface Pages

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5.2 Modal selector switch

Two different models of modal selector switch are available:
– 3 positions key selector (T1, AUTO-LOCAL and AUTO-REMOTE)
– 2 positions selector (T1 and AUTO-REMOTE)
The positions meaning is as follows:
– T1 - The programmer operator can carry out editing sessions, teaching positions
and checking the programs properly work. The robot moves at low speed, not more
than 250 mm/s at flange centre, at tool centre point (TCP) and at any extreme tool.
The operator can operate inside the cell.

Warning! The program ALWAYS starts at low speed, and the user, if wished, CAN
increase it to the working speed. If jogkeys are used, the system will AUTOMATICALLY
reduce the speed to below the limit of 250 mm/s at flange centre.

T1P Status
In addition to the standard T1 status which is suitable for programming, T1P staus exists
(which can be enabled/disabled by pressing the dedicated ‘T1P’ key in the Right Menu)
to better execute the technological processes in programming mode, always complying
with the safety speed constraint of 250 mm/s.
Note that T1P stauts DOES NOT refer to a different position of the modal selector
switch!

Main functions and limitations:

– switching from T1 to T1P and viceversa can be only performed with DRIVEs OFF.
– In T1P mode the speed is limited to 250 mm/s, like it happens in T1 mode.
– The trajectories the robot executes in T1P status and the ones in Automatic cycle,
are exactly the same, with the above mentioned maximum speed constraint.
– Jogging is NOT allowed in T1P status.
– Switching from T1P to Automatic (either AUTO or REMOTE) and switching back
the selector to T1, the previous T1P setting is lost.

– AUTO-LOCAL - The operator can check the program functioning at working

speed, by activating the start commands from the Teach Pendant. The operator
cannot work inside the cell.

This command mode is NOT available in North America versions.

– AUTO-REMOTE - The program execution is controlled by external equipment (for

example, line PLC or local control panels). The operator cannot work inside the
cell.
In case of TP5 Europe version, the modal selector key can be pull out in all the positions.

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Fig. 5.1 - TP5 modal selector switch

Europe version North America version

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5.3 Keys, Pushbuttons and LEDs

– Keys
– Pushbuttons and LEDs

5.3.1 Keys
The Teach Pendant keyboard is basically arranged in the following manner:
– Blue keys
– Black keys
– Other colours keys.

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TP5 TEACH PENDANT

5.3.1.1 Blue keys

– Special keys
– General purpose keys
– Navigation general keys.

5.3.1.1.1 Special keys

– MENU
– SPLIT
– TOGGLE
– QUICK.

MENU

Pressing this key allows accessing the main page containing the icons of all the
available environments.

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Select the wished page by means of either the touch screen or the arrow keys.
Please refer to Chap. Desktop Page on page 97 for a detailed description.

SPLIT
Pressing the SPLIT key does not take any effect. It is reserved to future
implementations.
Viceversa, by pressing SHIFT and SPLIT keys at the same time, the currently displayed
page is captured.
If a USB flash disk is inserted into the USB port on the Teach Pendant, such an image
is saved to the TX: device; to TD: otherwise.
A suitable message warns the user about the capture (see next image).

TOGGLE
This key allows moving the cursor among the panels belonging to the currently active
page on the TP screen.
Example (see next image), the main page, called the Desktop Page, is composed by
three panels: Desktop, Active, Favorites.
The cursor circularly moves among such panels, upon each TOGGLE key pressure (in
the following figures, the cursor has moved from Desktop panel to Active panel).

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This key does not take any effect if the currently displayed page has just got one panel.

QUICK

This key allows handling “short commands” created by the user.

When pressing it, the already existing short commands are made available and the user
is allowed to create new ones.
In the following example, an already existing short command, called ml_p1, is displayed.

Please refer to Chap. QUICK Page on page 343 for a detailed description.

5.3.1.1.2 General purpose keys

– SHIFT
– MORE.

SHIFT

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Always in combination with other keys; the use changes according to the environment
and the function of the key it is associated to.

MORE

When the Right Menu keys are more than 6, the MORE key allows scrolling of them all.
They are displayed circularly.

5.3.1.1.3 Navigation general keys

– ENTER and ESC
– Cursor keys (up/down/right/left).

ENTER and ESC

– ENTER to confirm the current operation.

– ESC to go back, deleting the current operation.

Cursor keys (up/down/right/left)

They allow moving among the different objects in the TP display; they can also be used
in combination with the SHIFT keys.

5.3.1.2 Black keys

These keys are dedicated to the robot motion.
– BACK
– COORD
– ARM

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– % + e -
– JOG keys
– JPAD.

5.3.1.2.1 BACK

Causes the movement backwards to the start position of the current movement, during
step-by-step checking of a program.
Pressing the BACK key allows executing the Backward Interpretation, namely the
backwards execution of the program within the IDE environment, when the system
status is PROGR, the modality is Step - Statement.
A detailed description of the functionality and its operational restrictions, is provided in
Chap.18. - Appendix - Backward interpretation on page 682.
Refer to par. 5.12.3.2.8 Step on page 155 - IDE Page, for further information about the
BACK key settings.

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5.3.1.2.2 COORD

Selects the Reference System:

– JOINT - JOINT mode. The keys are associated to each of the axes of the selected
arm; any auxiliary axes, if present, follow those of the arm. Pressing one of such
keys determines the movement of the corresponding axis in positive or negative
direction, according to the direction indicated by the plate on the arm.
– UFRAME - linear movement mode, according to the User Reference Frame x, y, z
(for example the frame of the being machined workpiece).The first three keys allow
linear movements in the direction of the three axes of the user reference frame
(defined by $UFRAME predefined variable); the next three keys allow tool rotations
around the same axes keeping the TCP position unchanged.
– BASE - linear movement mode according to the World Reference Frame x, y, z
(the workshop reference frame). The first keys allow linear movement in the
direction of the three axes of the world reference system, the next three keys allow
the tool rotation around the same axes keeping the TCP position unchanged. Note
that the World Frame is not directly defined by any system variable; in fact, it is the
robot base that is represented referred to the world, through the $BASE variable.
– TOOL - linear movement mode according to the Tool Reference Frame x, y, z (or
TCP frame).The first three keys allow linear movement in the direction of the three
axes of the Tool Reference Frame (defined by $TOOL predefined variable); the
next three keys allow tool rotation around the same axes keeping the TCP position
unchanged (tool work point).
– WR-BASE, WR-TOOL, WR-UFRAME - if pressed together with the SHIFT key, the
COORD key allows passing among Cartesian movement modes (BASE, TOOL,
USER) and Wrist JNT (X,Y,Z and joints of axes 4,5,6).
For further information see Chap.4. - Robot motion in Programming mode on page 36 -
Motion Programming manual.

5.3.1.2.3 ARM

In Multiarm systems, it is used to manage the index of the main Arm and the
synchronised Arm, with subsequent displaying in the Status bar, in exactly the same
way as by entering in the Motion Page, sub-page Basic and modifying Arm\SyncArm
field.

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In DRIVE-OFF - pressing ARM increases in circular mode the index of the main Arm,
never altering the Arm quantity in the Status bar (if there is only one Arm, it remains one,
if there are two Arms, two remain).
The new value is the first valid Arm index after an increment.
Pressing SHIFT+ARM increases in circular mode the index of the synchronized Arm. It
is the only combination of keys able to change the quantity of Arms in the Status bar.
It always passes to two Arms when there is only one Arm in the Status bar.
It returns to one Arm when the index of the second Arm becomes equal to the first Arm.
In DRIVE-ON - pressing ARM has two effects:
– if DRIVE-ON has taken place with only 1 selected Arm ($TP_SYNC_ARM[2]=0),
the Arm index is incremented, as for DRIVE-OFF;
– if DRIVE-ON has taken place with 2 selected Arms, the selection is inverted for the
Arm that will be moved with jog keys.
For example, if there are 3 Arms and the current situation is Arm: 2<1 , where Arm 2
is the one moved by jog keys, the index is NOT incremented (it does NOT change to 3)
pressing ARM key, but the situation becomes Arm: 1<2 , i.e. the Arm moved by jog
keys is now number 1.
The first displayed number is always the Arm moved by jog keys. SHIFT+ARM
cannot be pressed.

A LONG PRESSURE of the ARM key cyclically displays possible indexes of the main
Arm: when the required index is reached, releasing the key makes this choice definite.
While the key is pressed, the index is displayed in brackets. When the final choice is
made, the brackets disappear.

5.3.1.2.4 % + e -

They can be used to change the OVERRIDE. Combined with SHIFT key the following
values can be obtained:
– SHIFT -% --> 25%
– SHIFT +% --> 100%

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5.3.1.2.5 JOG keys

Such keys can be used to move the robot axes. Keys are available for all the axes the
Control Unit can handle, i.e. 1 to 10.

Note that, in some particular scenarios, JOG keys could be disabled by the System.
Please refer to either the Robot or the Control Unit Maintenance manual, to get more
specific information.

5.3.1.2.6 JPAD

The JPAD group allows jogging referred to the USER position. Furthermore:
– the two arrow keys on the left refer to movements along axis z: upward and
downward movements
– the four keys on the right are respectively for movements along x axis (upward
arrow and downward arrow) and along y axis (left arrow and right arrow). The
movements along x axis are for moving away, and for approaching the user; the
movements along y axis are for moving left and right, always referred to the user.
These keys are NOT allowed in the following cases:
– when either a cooperative motion is active or with remote toool or conveyor,
– on disabled axes

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– when a jog key is already pressed.

WARNING
– for configuration with Integrated Portal (iPortal) with 2 linear axes, the JPAD
group is managed according to the actual configuration of the portal (e.g. if
it is configured as X and Z, the JPAD keys will consequently move the portal
X and Z axes);
– for configuration with Integrated Portal (iPortal) with 3 linear axes, the JPAD
group is managed in the following modality:
• the two left arrow keys refer to movements of the portal auxiliary axis
configured as Z
• the four right arrow keys refer respectively to movements of portal
auxiliary axis configured as X (up arrow and down arrow) and to
movements of auxiliary axis configured as Y (left arrow and right arrow).

The user position does NOT affect the JPAD functioning, and therefore the controls in
Advanced sub-page of Motion Page, DO NOT affect moving by means of JPAD.
Portal movement by means of JPAD is the same as by using JOG keys 7-8-9-10.

Please remember that any movement executed using JPAD is always according to the
user reference ($UFRAME), except for iPortal movements with 3 or 2 linear axes, which
are always joint movements.

The user position can be configured in the Advanced sub-page of the Motion Page.

5.3.1.3 Other colours keys

– RESET (white)
– HOLD (yellow)
– START (green).

5.3.1.3.1 RESET (white)

Pressing this key allows resetting the ALARM state; in case in which the alarm has been
caused at safety devices level (e.g.: TP5 mushroom button, external mushroom button,
automatic line barrier, etc.), the alarm is not deleted until the cause has been removed.
The corresponding Red LED is associated to the RESET key.

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5.3.1.3.2 HOLD (yellow)

Pressing this key causes all the HOLDable programs and all the ARMs movements to
be stopped. At the next pressure, the HOLD state is removed.

5.3.1.3.3 START (green)

in PROGR mode it is used to execute the current statement (from either edit/debug
environment or EXECUTE command) for all the time it is kept pressed.
In LOCAL mode it runs the motion programs that are in READY state, waiting for this
key to be pressed.

5.3.1.4 Keys to restart the Teach Pendant

If the Teach Pendant becomes locked in a condition from which autonomous

re-enabling is not possible, or in any case a restart is necessary for other reasons, press
simultaneously the four pushbuttons 7+, 8+, 9+ e 10+ .

5.3.2 Pushbuttons and LEDs

– Pushbuttons
– LEDs

5.3.2.1 Pushbuttons
– Emergency Stop pushbutton
– Enabling Device.

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5.3.2.1.1 Emergency Stop pushbutton

On the front face of the Teach Pendant, at the top right position, there is the Emergency
Stop pushbutton; the operating modes are as follows:
– activate by pressing
– release by screwing (clockwise).
Upon this button pressure, the robot stop takes place with a controlled deceleration
ramp, according to IEC 60204-1 , class 1.

Upon pressing the Emergency Stop Button, if the Quick E-STOP option is active, the
deceleration time is reduced with respect to the standard deceleration time, with a
greater stress for mechanical components.

5.3.2.1.2 Enabling Device

Fig. 5.2 - Enabling Device

On the Teach Pendant rear there are two pushbuttons operating as the Enabling Device.
They are inclined in respect to the Teach Pendant plane, in order to allow the thumb to
easily reach the front keys (see Fig. 5.3).
Right pushbutton and left pushbutton operate in exactly the same way.
Each of these is a three-position safety device that is to be kept pressed in the
intermediate position, to allow movements when the system is in Programming mode.
When this pushbutton is pressed the motors are automatically activated (DRIVE ON).
The type of operation for each of them is as follows:

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– released - Drive OFF

– intermediate pressure - Drive ON
– fully pressed - Drive OFF (anti-panic)
– pressing both these pushbuttons at the same time is i an error, therefore only one
at a time is to be used. It is anyway allowed to press them both at the same time,
for a short predefined time interval, in order to be able to alternate hands.
A schematic diagram of the functioning is shown in Fig. 5.3.

Fig. 5.3 - Enabling Device operating mode

1. intermediate pressure 2. pressed fully down 3. press

4. press 5. release 6. release

5.3.2.2 LEDs
The available LEDs on the Teach Pendant front are the following:

– Green LED
– Red LED.

5.3.2.2.1 Green LED

When on, it means DRIVE ON.

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As far as DRIVE ON and DRIVE OFF functionalities, please refer to Enabling Device
and Right Menu

5.3.2.2.2 Red LED

When this LED, associated to the RESET (white) key, is blinking, it means whichever
Alarm (except Warning type indications).

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5.4 USB port

In the front part of the Teach Pendant there is a USB port (vd.Fig. 5.4).

Fig. 5.4 - Porta USB

It is recommended to use the USB port to connect a storage device such as a Flash Disk
USB one.

Only USB Flash Disk devices with a single FAT16 or FAT32 partition are supported.
Multi-partitioned devices are not supported.

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5.5 Display

Fig. 5.5 - Teach Pendant Display

The display of TP5 Teach Pendant is a graphic 6.4" TFT colour display; resolution
640x480 pixel.
It is composed by:
– graphic colour display,
– analog resistive touch screen,
– 7” TFT wide screen,
– LED backlighting,
– resolution 800x480 pixel,
– WVGA.
After a few minutes that it is not used, the display switches off; to switch it on again just
press any key.

5.5.1 Touch screen calibration

Carefully read THE WHOLE procedure before starting!

Execute the following steps to perform the touch screen calibration:

a. reboot the Teach Pendant (par. 5.3.1.4 Keys to restart the Teach Pendant on
page 65)

b. wait about 13 seconds until the TP5 splash screen appears

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c. after about 7 seconds, pay attention to the black-screen flashing for 2 seconds

d. as soon as the TP5 logo appears again, press SHIFT RIGHT and MENU buttons
at the same time

e. this operation must be repeated within 4 seconds until a little panel appears on the
screen. If no panels appear, repeat the procedure starting again from the beginning
(a. step).

f. Touch Display key to view the Calibration Page

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g. Touch Touch Calibrate key. The Calibration Page is automatically opened

h. Perform the Touch Screen Calibration by accurately pressing the four crosses that
appear in sequence on the screen. If such a procedure is not executed carefully
enough, the user is asked to repeat it again.

i. Touch Back key

j. Touch Exit key

k. The Teach Pendant automatically reboots and proceeds to load the remaining
C5GPlus Control Unit software modules.

CAUTION - It is very important not to switch the Teach Pendant off during this phase,
waiting for the copy operation end.

5.5.2 Display areas

The Teach Pendant display can be considered as divided into the following areas:
– Status bar
– Right Menu
– Functional keys menu
– Pages Area.

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5.5.2.1 Status bar

The Status bar is composed by

– Read-only fields and
– Fields for direct access to environments.

5.5.2.1.1 Read-only fields

– Restart notification
– System state
– State of Holdable programs and motion while programming
– Motion current state
– Arm state
– Total amount of currently active programs
– SHIFT key state
– Error messages.

Restart notification

When the system detects the need of restarting, to make any saved modifications
operational, a flashing icon is displayed in the first field of the status bar. Such an icon
disappears as soon as the Restart operation is executed.

System state

Progr programming

T1P programming sub-state

Local local automatic

Remote remote automatic

– In PROGR and LOCAL states, an exclamation mark ‘!’ could be displayed

preceding the status string. It indicates that some remote input signals (START,
HOLD, DRIVE ON, DRIVE OFF) are disabled.
– When the system is in DRIVE ON state, “ON” is displayed too.

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State of Holdable programs and motion while programming

**** Indicates that no motion programs (holdable) are running

The HOLD pushbutton is pressed and therefore the execution of
HOLD holdable programs and all arms movements are stopped; it is shown
on an OCHRE background.
RUN At least one holdable program is running

Motion current state

READY Everything is ready to move.

JOG A manual movement is in progress. OCHRE background.

FORW A FORWARD movement is in progress. OCHRE background.

BACK A BACKWARD movement is in progress. OCHRE background.

When the Enabling Device is pressed, “ED” is displayed too.

In error state, the background is RED.

Arm state

– ‘-’ - arm properly configured and ready for moving

– ‘Turn’ - arm requires the turn-set operation
– ‘NotCal’ - not calibrated arm
– ‘Simu’ - simulated arm
– ‘Dis’ - disabled arm
– ‘Coop’ - arm-arm (‘An, Am’) or axis-arm (‘Ji, An’) cooperation
– ‘Pallet’ - active palletizing functionality
– ‘Res’ - arm needs to be resumed
– ‘Lock’ - locked arm.

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Total amount of currently active programs

It is the currently active programs counter. It includes both the active programs displayed
in the Prog Page (Not Protected) and the not displayed ones (Protected).

SHIFT key state

‘S’ is displayed when one of the SHIFT keys is pressed

Error messages

This field displays the last occurred error/alarm message. The message includes the
following information:
– signal code of 5 digits, which identifies each message in an unique way
– error/alarm severity level
– error/alarm message description string.
The background may be:
– transparent: no alarms/errors currently occurred;
– dark green: an INFORMATIONAL alarm is currently active. The system is NOT in
ALARM state
– blue: WARNING message
– white: the text is black. This is a Latched type message, so the user must explicitly
confirm it. To do so, from within the Alarm Page, remove the alarm cause and then
press Ack
– ochre: this is an error generated by the application process. The system is not in
ALARM state; the message disappears only when it is reset. To do so, from within
the Alarm Page, remove the alarm cause and then choose one of the available
commands in the Functional keys menu.
– red: this message is an ERROR message. The system is in ALARM state (an
example is shown in the following figure).
– purple: this is a FATAL message. The system is in FATAL ERROR state.

For further details about the messages management, see the related par. 5.10 Alarm
Page on page 122

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5.5.2.1.2 Fields for direct access to environments

– Alarm
– GenOVR
– Arm
– Coord.

Alarm

Touch the leftmost field in the bar to directly access the Alarm Page.

GenOVR
This field, third from the right, displays the General Override current value for the main
Arm, as well as enabled/disabled state for incremental movement. if this field displays
the character 'I' (e.g.: '75%(I)'), it means that the system is in incremental movement
mode. In this case the background color is ochre.

Touch this field to directly access the simplified page to handle such data: Arm Override
Page.

Arm Override Page

In this page the user is allowed to

– modify the general override for the active Arm
– enable/disable Incremental Jog.
To increment/decrement the general override, act in one of the following ways:
– tap + and - keys
The increment/decrement quantity is 5% . If the starting value is less equal 5%,
increment/decrement is 1%.

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– tap the diagram bars

The override is set to the displayed value below the tapped bar.
In the following example, tapping the 75% bar comes to an override value set to
75%.
.

Enabling/disabling the incremental jog, is controlled by selecting/unselecting the

corresponding checkbox (as shown in the figure above).
If the General Override is set to a value less than 1%, FINE string is displayed both
above the bars diagram and in the status bar, to indicate that the motion termination is
“fine”.

Furthermore, if General Override is decreased again, the displayed text string becomes
V-FINE to indicate that the motion termination is “very fine”.

Arm
This field, second from right in the bar, indicates the current combination of Arm and
SyncArm (if present).

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In a Multiarm system with synchronised motion enabled, this field contains the number
of the main Arm first, and then the one of the SyncArm; example:
Arm:1<2 means Arm 1 is the main Arm and Arm 2 is the synchronised Arm.
For information regarding modification of the Arm indexes (main and synchronised) by
means of ARM key, refer to par. 5.3.1.2.3 ARM on page 61.
Touch this field to access the associated simplified environment in which the user can
set the wished combination: Arm Settings Page.

Arm Settings Page

This page allows setting the following choices:

– combination of Arm and SyncArm if existing - select the wished item in each one
of the two Checkgroups
– modality for handling the jog motion coordinates. Select the wished modality
among the ones displayed in the Coord Checkgroup:
• TP JOG mode
• JOINT
• BASE
• TOOL
• UFRAME
• WRIST mode (motion referred to the robot wrist)
• WR-BASE
• WR-TOOL
• WR-UFRAME.
– enabling/disabling the ARM_COOP modality which is currently set in the COOP
subpage of the Motion Page.

Coord
This field, last field in the bar (see the following figure), displays the current modality
used for the coordinates in Jog movements.

Touch this field to access the associated simplified environment in which the user can

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set the wished choice: Arm Settings Page.

5.5.2.2 Right Menu

This menu is dedicated to technological commands such as grippers opening or
closings, welding parameters hardware settings and managing Technological Process
status in Programming mode (T1P substate)

Local Remote Progr Description

The meaning of the keys is different depending on the system
state.
Keys U1..U4 are available for user customized needs.

– in Local or Remote state, the 5th key is always dedicated

to Drives on/off according to the following rules:
• in Local state it represents DRIVE ON and DRIVE
OFF commands; the corresponding LED is green
when drives are ON;
• in Remote state it represents DRIVE OFF command
(DRIVE ON command comes from PLC); ithe
corresponding LED is green when drives are ON.
– In Progr state
• The 5th and il 6th keys are dedicated to Hand1 and
Hand2 functions for controlling tools 1 and 2,
switching between OPEN and CLOSE.
• The 7th key, T1P (available by pressing MORE key),
acts on di T1P substate, according to well defined
rules and limits, described in par. T1P Status on
page 53.

Pressing one key causes the corresponding command to be executed and its state to
be displayed (green led = active command; black led = NOT active command).

CAUTION!
About releasing the Right Menu keys, as soon as the user’s finger leaves one of such
keys, either for releasing it or for moving the finger towards the display border in order
to cancel the release command, such movement is ALWAYS and ONLY intended as a
RELEASE command and the associated functionality is then performed.
This means that any actions of pressing the Right Menu keys CANNOT be cancelled by
the user.

If the user wishes to create a customized Right Menu, it is necessary to write a PDL2
program as described in par. 5.22.2 Handling TP right menu on page 359.

5.5.2.3 Functional keys menu

This menu is a group of 8 function keys, contextual to the selected item (current state
and page, selected field, etc.). The shown functions correspond to the possible actions
on the selected item.

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In the figure below, the functional keys menu available for the Home Page is shown as
an example.

Usually, when touching a functional key, the associated function is activated.

Anyway, some keys exist which are associated to a submenu: this is indicated by means
of a small triangle in the topmost right angle of the key (e.g. the Restart key in the Home
Page Functional keys menu).
Either use the touchscreen or move in the submenu by means of the cursor keys, then
press ENTER to confirm, in order to make the wished choice.
A key can also be associated to a functionality with some optional settings: this kind of
elements are identified by a small icon representing a clock, in the topmost right angle
of the key (e.g. the Login key in the Home Page Functional keys menu).
A short touch on such a key, causes the function execution according to a default
choice; a long touch opens a pull-up submenu for choosing the wished option.
The pull-up submenu is closed as soon as either a choice is made, or the ESC key is
pressed (this deletes any action).
The meaning of the function keys is described in the corresponding User Interface
Pages.

5.5.2.4 Pages Area

This is the part of the display for viewing the User Interface Pages.
The name of the ACTIVE Page is written in the topmost right corner of the screen,
besides the symbol for closing the page.
Each Page refers to specific functions in a precise ENVIRONMENT (for example Motion
environment, I/O environment, alarms environment, etc.).

Fig. 5.6 - Page example

For a detailed description of the available pages and for any information related to their
use, as well as the general internal navigation rules, see User Interface Pages section.

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5.6 User Interface Pages

The purpose of this section is to give a detailed description of the pre-defined Pages
available for the user, and how to use them in the User Interface.
In particular, information is given about:
– Common keys
– Field types
– Keyboards
– Connection Page
– Dialogue and information window
– Desktop Page
– Home Page
– Motion Page
– Alarm Page
– Prog Page
– IDE Page
– Display Page
– Appl Page
– Files Page
– Data Page
– Setup page
– Service Page
– Tips Page
– LUN_TP Page
– QUICK Page
– Customizations on the TP.

5.6.1 Common keys

All the User Pages have some common features (which can be activated by means of
either membrane keys or touch keys):
– Closing current page
– Minimizing current page
– Navigation in the current page
– Editing fields
– Icons View mode
– Handling errors
– Common keys for Setup VP2 Pages.

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– Closing current page

To close the current page, act in one of the following ways:
• tap the key containing the white ‘x’ symbol (red background), displayed in the
Functional keys menu (heighlighted in blue),
• tap the white ‘x’ symbol (red background) displayed in the rightmost top
corner, beside the page name (highlighted in red)
• press ESC key.
– Minimizing current page
This functionality is just available for some specific page types.
To minimize (put to icon) the current page, touch ‘-’ symbol (white symbol in yellow
background) available in the Functional keys menu (highlighted in purple).
– Navigation in the current page
In all the pages the user can navigate both by means of the touchscreen and the
use of cursor keys plus ENTER and ESC keys available in the Membrane
keyboard. Special use are described in the specific environments paragraphs.
– Editing fields
The editing modalities of each field are different depending on the Field types. If
the selected field is editable (white background), the corresponding edit tool is
automatically opened. TP5 Teach Pendant provides some Keyboards of various
type and functionality, in order to operate on each field type.
– Icons View mode
In all the pages including icons, a dedicated key is available in the Functional keys
menu (highlighted in red in the following figures) allowing to switch to the viewing
by rows mode, in order to be able to view icons with very long titles too.

– Handling errors
When needed, each time an error code is displayed, a dedicated Cause & Remedy
Key is available in the Functional keys menu allowing to read the Cause&Remedy

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of the occurred alarm.

In the shown above example, when touching such a key (highlighted in red), the
Cause&Remedy page is opened in which some detailed information can be found
about the possible cause and remedy related to the displayed error type.
– Common keys for Setup VP2 Pages
In the VP2 Pages activated from within Setup page, there are some common keys
with the following funcitonalities:
• Apply - modifications become operational and the program is not closed
• OK - modifications become operational and the program is closed
• Cancel - closes the program without saving any modifications.
Some samples are shown in the following pictures.

5.6.2 Field types

The available field types are:
– Numeric field
– Textbox
– Combobox
– Combobutton
– Checkbox
– Checkgroup
– Label
– List
– Cell of a table
– TreeGrid.

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5.6.2.1 Numeric field

When this field type is selected, the system automatically opens the Numeric keyboard.

5.6.2.2 Textbox

When this field type is selected, the system automatically opens the Alphanumeric
keyboard, unless the field includes or is intended to include a PDL2 statement: in such
a case, the PDL2 keyboard is automatically opened.

5.6.2.3 Combobox

When this field type is selected, a list is made available (in the above example, there is
a list of variables types) in which the user is allowed to choose the wished one. Tap such
an item and touch OK to confirm.

5.6.2.4 Combobutton

It allows opening a further page (the TOOL table in the above example). The displayed
text string depends on the current settings contained in such a page.

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5.6.2.5 Checkbox

To switch the value in this field, just touch it.

5.6.2.6 Checkgroup

This field type is similar to the previous one (Checkbox); the only difference is that there
are two or more “buttons” and just one at a time can be activated.

5.6.2.7 Label

This field type can only be modified by means of the available key displayed in the
Functional keys menu, associated to the selected field.
When the background is GREY, the corresponding field can not be modified.

5.6.2.8 List
Lists can be displayed in the following ways:
– large icons - displays the information with a large icon
– details - besides the name and the icon of each item in the list, further information
is given (for example the size of the files and the date of the last change are listed).
– sort by
• name
• date
• type
• dimension.

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To sort the list content, two methods are available:

– dedicated functional key (if available in the user page), as e.g. View - Sort by key
in the Files Page
– columns titles - touching one of the columns titles, causes the list elements to be
sorted according to such a column (name, date, etc.). A graphic sign (up/down
arrow displayed beside the column title), indicates whether sorting is upwards or
downwards. The example in the following figure shows a list sorted by downwards
Size.

large icons details

Touch the wished list element, to select it. For multiple selection of the list elements,
touch the first element of the selection and then the last element together with the SHIFT
key.
Furthermore, it is allowed to make a multiple selection by means of the touch method:
touching an element and dragging the finger (never detaching it from the screen)
towards subsequent or previous elements, all the touched elements are then selected.

5.6.2.9 Cell of a table

Touch twice to open the associated edit tool (either the suitable keyboard or a list of
items among which choosing the wished one), to edit a cell of a table.

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5.6.2.10 TreeGrid
It is a special table structure displaying information in rows which are connected by a
hyerarchical relationship, like a tree (see the figure below). Touch one row of the table
to open or close the “children” list of such an element.

5.6.3 Keyboards
Some general rules exist to be taken in account when using a keyboard:
– Cursor keys (up/down/right/left) can be used to move among the pages fields,
instead of touch keys
– SHIFT keys are always to be combined together with other keys; its use depends
on the environment and the functionality of the key it is associated to
– all keys existing on the touchscreen, i.e. “touchable” keys, activate the associated
functions just tapping them

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– simple tap, double tap and swipe are available to select/modify a text. Further
details are provided in the following sections.
Available keyboards on TP5 Teach Pendant are:
– Membrane keyboard
always available (for the functionalities related to this kind of keyboard, please refer
to par. 5.3.1.1 Blue keys on page 56)
As far as these keys usage while editing values and texts, to substitute or help
using the Touchable keyboards, please refer to the specific environments (see
par. 5.6.3.1 Numeric keyboard on page 88 and par. 5.6.3.2 Alphanumeric
keyboard on page 89).
– Touchable keyboards
available on the Display, depending on the context.
They are classified as:
• Functional keys menu
• Numeric keyboard
• Alphanumeric keyboard
• PDL2 keyboard.

5.6.3.1 Numeric keyboard

This keyboard is made available by the system, whenever editing a numeric field is
required.

Fig. 5.7 - Numeric keyboard

In the example shown in Fig. 5.7, the numeric keyboard (figure on the right) is activated
by tapping the Day field (highlighted in red in the figure on the left - previous figures),
from DateTime page.
The value in the selected field can be modified by means of the following functionalities,
available from both the touchable keyboard and the Membrane keyboard:
– direct type the new value (1 - highlighted in green in Fig. 5.8)
– decrement/increment (2 - highlighted in blu in Fig. 5.8)
– big decrement/big increment (3 - highlighted in red in Fig. 5.8)
– up cursor - increment
– down cursor - decrement
– right cursor - move the cursor of one character right
– left cursor - move the cursor of one character left

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– SHIFT + up cursor - big increment

– SHIFT + down cursor - big decrement
– SHIFT + right cursor - select/unselect (depending on the current state) the first digit
on the right of the cursor
– SHIFT + left cursor - select/unselect (depending on the current state) the first digit
on the left of the cursor.
– white ‘x’ in grey background - delete the whole field.

Fig. 5.8 - Editing a numeric value (touchable keyboard)

Touch OK to confirm the new value. Touch Cancel to exit without modifying.
Please note that the maximum and minimum allowed values are displayed above the
edit field, if existing.

5.6.3.2 Alphanumeric keyboard

Fig. 5.9 - Alphanumeric keyboard

This keyboard is made available by the system, whenever editing an alphanumeric field
is required.
In the example of Fig. 5.9, the alphanumeric keyboard (on the right) is activated by
tapping on the Custom ID field (highlighted in red in the figure on the left).
The value in the selected field can be modified tapping the keyboard touchkeys.
Press OK to confirm the new value. Press Cancel to exit without modifying.
Several options exist, available both from the touchable keybaord and the Membrane
keyboard, to insert/edit an alphanumeric text string:

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– capability of choosing among the 15 last used items.

When tapping the highlighted in red key, in the left figure below, the history of the
used items (up to 15) in the alphanumeric keyboard, is made available as shown
in the right figure below.
The user is allowed to choose one of them to be inserted in the current field; then
either tap OK or press ENTER to confirm.

– standard use of the Copy, Cut and Paste touch keys (highlighted in red in the
following figure), for the currently selected part of text (e.g. ‘SIM’ text string)

– tap - select the tapped word

– double tap - select the whole text
– swipe - select the characters string between the first touched character and the last
touched character, continuously swiping (never detach the finger)
– up cursor - move the cursor to the text beginning
– down cursor - move the cursor to the text end
– right cursor - move the cursor of one character right
– left cursor - move the cursor of one character left
– SHIFT + up cursor - select all, from the cursor current position to the text beginning
– SHIFT + down cursor - select all, from the cursor current position to the text end
– SHIFT + right cursor - select/deselect (depending on the current state) the first
character on the right of the cursor
– SHIFT + left cursor - select/deselect (depending on the current state) the first
character on the left of the cursor.
– white ‘x’ in grey background - delete the whole field.

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5.6.3.3 PDL2 keyboard

This keyboard is made available by the system, whenever editing a PDL2 statement is
required.

Fig. 5.10 - PDL2 keyboard

Typically, this happens in IDE environment but also in other contexts, e.g. EXECUTE
command or while creating a PDL2 macro in the QUICK Page.
In the shown example (see Fig. 5.10), touching the command or the field for inserting
the instruction, the PDL2 keyboard is opened by the system.
A statement can be directly typed in by means of the keyboard: the editing modality for
text strings is exactly THE SAME as described for the Alphanumeric keyboard.
The significant difference between the PDL2 keyboard and the Alphanumeric one
consists of
– dedicated touchable keys (available in the Functional keys menu):
• Statement
• Variables
• Change
– dedicated History function.

5.6.3.3.1 Statement
This functional key opens the menu containing the available PDL statements, among
which the user can choose the wished one (see figure below, on the left).
Touch an icon (e.g. Flow) to cause the statements belonging to such a group to be
displayed (see figure below, on the right); then touch the chosen statement twice or
touch it once and then press ENTER, to finally insert the statement.
Moving the cursor on the statements icons, a string (help) is displayed above the
functional keys menu, describing the currently selected statement.

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In the functional keys menu a key is available Add to favorites, in order to add the
wished statements to the favorite items to be able to retrieve them in an easier way in
the future.

5.6.3.3.2 Variables
It opens the environment for viewing all existing variables (following figure on the left)
and creating new ones (following figure on the right).

Touch the New... command to create a new variable. Then the dedicated page is
opened (previous figure, on the right).

5.6.3.3.3 Change
This key is available just if the currently selected text is a PDL2 reserved word
representing a value; it allows accessing all the available values of such a type and
selecting the wished one.
In the following example, selecting the reserved word ‘TRUE’ activates Change key; the
pull up menu displays all the available choices for such a type. Touch the wished value
to insert it into the statement.

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A special case is modifying a motion statement: as soon as a reserved word is selected,

related to a MOVE type instruction, Change key is made available to provide a list of
allowed MOVE types (see the following figure).
The user can touch the wished type, causing the being edited MOVE statement to be
modified.

5.6.3.3.4 History
Touch the symbol highlighted in red in the following figure (on the left), to open the
History page associated to the PDL2 keyboard. It includes the following information:
– last 15 used STATEMENTS (Recent section)

– most used DEFAULT values (PDL Default section)

– most frequently used components in PDL2 programs: variables names, constants
names, routines names, statements, etc. (EXE Help section).

Touch the wished element to select it, then either touch OK or press ENTER to confirm.
Such an item is inserted in the current program line.

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5.6.4 Connection Page

The Connection Page is the environment in which all information is displayed, about the
state of the Teach Pendant when trying to connect to the Control Unit.

Fig. 5.11 - Connection Page

For further details about the system behaviour in such situations, as well as about
displayed messages with different severity, please refer to the CONNECTION FAILURE
note, in par. 2.3.1 STARTUP Procedure on page 38.

5.6.5 Dialogue and information window

When needed, the system opens a dedicated page in which the user is asked to confirm
an operation or to enter a password, or to give information about the result of the
required command.
Therefore, some suitable windows are available, having different background colour
according to the message enclosed in the window:
– blue - request for confirmation or information by the system

If the user does not wish to answer back to the system request, He/She should press
the ESC key.

– yellow - system warning message

– red - command failure due to a serious error.
When the user asks for the execution of a certain command, the system opens a
warning page containing “Operation in progress...” message and keep it displayed until
the execution is finished.

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While running, the Abort command is made available to be able to permanently interrupt
the command (see the figure below).
In the most cases the execution is so fast that the blue page isn't even seen by the user.
According to the command execution status, the following situations might occur:
– the command has been successfully completed. The system could
• display no messages because this status is already obvious;
• display a message (blue background) in the Error messages field, stating that
the command has been completed;

• display message (yellow background) stating the completion of the command

and the total amount of skipped operations (by means of the Continue key);
a closing key (see par. 5.6.1 Common keys on page 81) is available to exit
from the command.

– It has not been possible to execute the command - the system displays a message
with a yellow background, to explain to the user the problems found. The following
softkeys are available:
• Login - if the error message is “Insufficient Rights”, this means that the Login
operation has not been performed yet. The user has to press Login key to do
so. After the login operation is accomplished, the system will automatically
execute the previously requested command again.

– It has not been possible to execute the command - the system displays a message
with a yellow background, to explain to the user the problems found. The following
softkeys are available:
• Continue - if the command consists of a sequence of several operations, it
may happen that one or more cannot be executed. In this case the system

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stops the command execution and informs the user: if the user wishes to skip
the current operation and go on executing the following one, the Continue
key must be pressed.
• Closing key - quits the current command. In case of operations sequence, it
does not execute the subsequent commands and quits (see par. 5.6.1
Common keys on page 81).

• Retry - if the system stops the command execution for any reason, the user
can remove the problem and then press this key: the command will be run
again.
• Cause & Remedy Key - displays detailed information about the current error,
first of all its cause and the related remedy, if existing.
• Close - exits from the current command. In case of sequence of operations,
it does not run the subsequent commands and quits.

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5.7 Desktop Page

5.7.1 Overview
This Page is always active; it allows accessing all the User Interface Pages.
From within whatever environment, the user is always allowed to view the
Desktop Page by simply pressing MENU special key belonging to the membrane
keyboard.

NOTE
The user can go back to Desktop Page main view any time, by pressing the MENU key
twice, irrespective of the currently active subpage.
To go back to the subpage which was active before pressing the MENU key, just use
Active panel.

Three panels are available:

– Desktop
– Active
– Favorites.

5.7.2 Desktop
Fig. 5.12 - MENU Page - Desktop Panel

This panel includes all the icons allowing access to the User Interface Pages. Either
touch the corresponding icon or use the cursor keys and then press ENTER to confirm,
to activate the wished environment.
In the Functional keys menu the following keys are available (see Fig. 5.12):
– Add favorites (highlighted in red in Fig. 5.12) - it allows adding the currently
selected environment to the “favorites” list.
In the shown below example, the selected environment is Motion. The Add
favorites key is pressed.

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An informational message states that the operation has been successfully

executed.

STARTUP PAGE SETTING

A log touch on Add favorites key causes a menu to be opened allowing to set the
currently selected page as the STARTUP PAGE.
A suitable message warns the user when such a setting is done and the corresponding
icon is displayed together with a green S (see the following figure on the right). In the
shown example, the newly selected startup page is the Home Page.
To remove such a setting, select the currently set startup page (Home Page in our
example) and do a long touch on the Add favorites key.
The suitable command to remove it becomes then available (see the following figures).

– View change (highlighted in blue in Fig. 5.12) - it allows switching to the viewing
by rows mode, in order to be able to view icons with very long titles too.
See also par. 5.6.1 Common keys on page 81.
– Properties - it allows viewing the Property Notes corresponding to the currently
selected object.

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As far as handling each User Interface Pages, please refer to the dedicated chapters.

5.7.3 Active
Fig. 5.13 - MENU Page - Active panel

This panel displays the currently active pages icons.

In the example of Fig. 5.13, the currently active pages are Alarm Page, Date-Time which
is a subpage of Setup page, IDE Page and Motion Page.
The user can switch from an active environment to another, by simply touching the
existing icons in this page.
To quickly close the active pages, with no needs to open each one of them and then to
touch the closure key, just select the icon representing the page to be closed and touch
the only available key in the Functional keys menu (as shown in the following figure).

In the previuos figure, touching the above described key causes the Alarm Page
environment to be immediately closed.

5.7.4 Favorites
This page displays the icons corresponding to the “added to favorites” environments
(see par. 5.7.2 Desktop on page 97).
The associated environment chan be activated by simply touching the existing icons.

5.7.4.1 Removing
A key is available in the Functional keys menu, to Remove favorites (highlighted in red
in the following figure).

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The currently sected icon is removed from the page, by simply touching such a key. The
user is anyway asked for confirmation, before completing the operation.

In the above example, if the answer is Yes, the icon of the Motion Page is then removed.

5.7.4.2 Exporting
One more key is also available, represented by a USB Flash Disk icon (see previous
figure, on the left - highlighted in blue): it allows Exporting favorites to an external device,
currently inserted into one of the system USB ports.

To activate exporting, simply touch such a key (see the above figure) and select the
wished USB port.
The user is asked for confirmation before starting the export operation.
Answer Yes to start the export procedure. A suitable message is displayed to notify the
operation completion (see next figures).

The name of the newly created folder onto the USB Flash Disk is MyFAVORITES; it
includes all currently added favorites.
Touch the Closing current page key to close the Export environment.

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5.8 Home Page

Fig. 5.14 - Home Page

It is the System basic page, i.e. the one including all the basic information and allowing
System power on and power off, as well as accessing Control Unit (login and logout).
The following topics are described:
– Basic information
– Commands.

5.8.1 Basic information

– Control Unit name
– Arms name and type
– Motion
– Software version
– Network address
– Current Login
– Language selection
– Date and time
– User Tiles.

5.8.1.1 Control Unit name

It is the name chosen by the user and included into $CUSTOM_CNTRL_ID predefined
variable.
Touching this field (see following figures), this information can be inserted/modified by
the User in the Customer subpage of the Setup page.
Note that, if the Control Unit name has not been inserted yet, ‘$CUSTOM_CNTRL_ID’
string is displayed.

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5.8.1.2 Arms name and type

These fields (see previous figure on the right) show the following choices made by the
user:
– Arm name, CUSTOM_ID (field of $ARM_DATA predefined variable), e.g. ‘Rob_1’,
‘Racer’, etc; like for the Control Unit name, if the Arm name has not been inserted,
the following string is displayed: ‘CUSTOM_ID’. This value can be
inserted/modified by the User in the Customer subpage of the Setup page, simply
touching the Control Unit name field (highlighted in red in the above figure on the
left);
– Type of associated Arm for each of the 4 allowed Arms (content of $RB_NAME
predefined variable); e.g. ‘NJ4 165 3.4 SH’.

5.8.1.3 Motion

Touch this field (highlighted in red in the above figure on the left) to access the Motion
Page.

5.8.1.4 Software version

This field displays two information:
– Control Unit software version
– Teach Pendant software version
they are displayed on two lines, each of them associated to the corresponding icon:
C5GPlus and TP5.

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In case in which both C5GPlus and TP5 software versions are the same, the information
is displayed on one line only (see previous figure on the left).
Touch this field to directly access the Info subpage in which System information is
displayed (as shown in the below figure, on the right)

5.8.1.5 Network address

This field displays the address of the Control Unit on the factory network. Touch it to
directly access the Network environment in the Setup page (see the following figures).

5.8.1.6 Current Login

This field displays the currently active login.

Touch it to directly open the system access environment (Login and Logout).

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5.8.1.7 Language selection

This field displays the currently selected language (highlighted in red in the following
figure, on the left) for the User Interface.

Touch it to access all the available languages:

– Chinese
– Czech
– Deutsch
– English (UK)
– English (US)
– Espanol
– Français
– Italiano
– Japanese
– Polish
– Portugues (for Brazil)
– Portogues (for Portugal)
– Russian
– Turkish.
Touch the an icon to select the corresponding language.

The difference between British English and American English is just in the format used
for the date and the time.

5.8.1.8 Date and time

This field displays the current date and time, according to the specified time zone and
the Daylight Saving Time functionality.
Touch this field to access the Date-Time subpage in the Setup page (as shown in the
following figure).

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5.8.1.9 User Tiles

Some empty “tiles” (touch screen areas which any information and/or functionality can
be associated to) are available in the Home Page, as highlighted in the following left
figure.
They can be used for
– monitoring a system variable
– monitoring a program variable
– associating an action to be executed upon touch
– being notified upon any modifications of the monitored variable value.

Please refer to par. 5.22.6 Creating user tiles in the Home Page on page 370, for a full
description of the creation procedure.
An example of user tiles is shown in the previous right figure.
Simply touch an available user tile, to activate it.

5.8.2 Commands
The available functions for this page, in the Functional keys menu, are as follows:
– Login and Logout
– Restart.

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5.8.2.1 Login and Logout

This command, depending on how the associated key is touched, allows to perform the
following operations:
– Login,
– Logout.

5.8.2.1.1 Login
Short touch allows accessing the system by authorized personnel; the system asks for
username and password for executing the wished login type (see the following figures).
Specify the needed data and either touch OK or press ENTER, to confirm.

For further information about LOGIN, refer to Chap.4. - Access to the Control Unit
(login/logout) on page 45.
For user settings, open the Login subpage in the Setup page.

5.8.2.1.2 Logout
Long touch makes available the associated command to activate the Logout procedure
(see the figure below, on the left).
A message informs the user when the logout operation has been successfully
completed (see the figure below, on the right).

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A specific Automatic Logout function is also available (see par. 4.3.1 Automatic Timed
Logout on page 50).

CAUTION - The Logout procedure could not continue in case in which there are any
unresolved situations, such as an open and modified program in IDE Page or open and
modified tables in Data Page. The user is invited, by means of suitable informational
messages, to decide how to close such environments. Then the Logout command will
be properly accomplished.

5.8.2.2 Restart
Touching this key, a pull-up menu is opened as shown in the following figure.

The following commands are available:

– Cold
– Shutdown
Touch the wished item to choose.

5.8.2.2.1 Cold
This command performs the Control Unit complete Restart.

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As far as the startup procedure, refer to par. 2.3.1 STARTUP Procedure on page 38.

When selected, the system propts the user for confirmation, before running the Restart
Cold procedure (see the figure below, on the left)

Touch OK to confirm or touch Cancel to exit.

The acknowledgement of the command starts a count down (see above figure, on the
right) which ends when both Control Unit and Teach Pendant restart.
In case of mismatch between memory content and disk content, a message is issued to
prompt the user for continuing the Restart operation.

A key is made available in the Functional keys menu, referred to as View command (see
figure above, on the left). Touching it, the involved files are displayed (e.g. figure above,
on the right), allowing the user to handle them and complete the restart command with
a consistent situation.
For further information about Restart Cold operation, refer to Chap. System
Commands on page 380.

Note that, at the end of the Restart operation, the current directory is
UD:\USR

5.8.2.2.2 Shutdown
This command performs the Control Unit shutdown.
When selected, the system propts the user for confirmation, before running the

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Shutdown procedure (see the figure below)

Touch OK to confirm or touch Cancel to exit.

The acknowledgement of the command starts a count down (see figure below on the
left) which ends with a message suggesting the user to switch off the system (see figure
below on the right).

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5.9 Motion Page

This User Page manages information regarding the robot motion environment and
allows the user to display and change it.
It is divided into sub-pages, that can be selected through the corresponding labels
– Basic
– Coop (optional feature)
– Advanced
– Status
– Override
– Conveyor Tracking (optional feature).

5.9.1 Basic
Fig. 5.15 - Basic sub-page

The Basic sub-page contains the following fields:

– Arm\SyncArm (red)
– COORD: Current coordinates system (yellow)
– Tool, Frame, Base: Current reference systems (green)
– Current arm position (blue)
– Payload (purple).
A detailed description of all fields follows.

5.9.1.1 Arm\SyncArm
It is a menu showing the Arm/Synchronized Arm combinations currently existing in the
system.
To modify such a configuration, touch the field and select the wished choice in the Arm
Settings Page which is automatically opened by the system (see Fig. 5.16 - figure on the
right).

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Fig. 5.16 - Choosing Arm\SyncArm

5.9.1.2 COORD
This field indicates the current coordinates system according to which the arm moves
will be made, in manual movement and in programming. The user can choose a
coordinates system that is different to the current one, selecting from the following (as
shown in Fig. 5.17):
– for TP JOG mode:
• JOINT
• BASE
• TOOL
• UFRAME
– for the WRIST mode (movement carried out to the robot wrist):
• WR-BASE
• WR-TOOL
• WR-UFRAME
To modify such a configuration, touch the field and select the wished choice in the Arm
Settings Page which is automatically opened by the system (see Fig. 5.17 - figure on the
right).

Fig. 5.17 - Choosing the coordinates system

5.9.1.3 Tool, Frame, Base

These three fields allow selecting the reference frames to be used during manual motion
while programming, choosing among the ones stored in the System tables of the Data
Page (TOOL, UFRAME, BASE tables).

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It is also specified whether the selected tool/frame is remote or not.

To act on the wished reference frame, touch the corresponding field. The available
sub-environments are as follows:
– Tool and Frame
– Base.

5.9.1.3.1 Tool and Frame

Note that the selected Tool must always be consistent with the selected Frame. If, for
example, a remote Tool is to be chosen, the user must take care of choosing a Frame
with the same attribute. At the end of the modifications, the needed check are performed
and any invalid settings are refused.

When the user chooses to modify either Tool or Frame, touching the wished field
causes the corresponding Data Page table to be opened.
Touch the row of the wished either Tool or Frame and confirm the coice by touching OK
key.

Fig. 5.18 - Choosing Tool and Frame

Act in the same way to choose the other item, if needed, by either confirming the current
value or selecting a different one.
An example is provided in the following figures, of choosing the Uframe.

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Always touch OK key to confirm.

If the system detects any inconsistencies between the chosen Tool and Frame, the
required modification is refused.
On the contrary, if the choice is correct, the control goes back to the Basic Motion page.

Touch Cancel key to exit from the sub-environments without making any modifications.

5.9.1.3.2 Base

Note that, unlike what happens for Tool and Frame, the Base can be autonomously
selected, not related to the other two reference frames, so no consistency checks are
performed.

When it is wished a Base changing operation, the system displays the corresponding
Data Page table. Touch the wished Base row and confirm it by touching OK key. The
control is given back to the Basic Motion page.

Fig. 5.19 - Choosing the Base

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Touch Cancel key to exit from the sub-environments without making any modifications.

5.9.1.4 Current arm position

This section of the Basic sub-page (light blue in Fig. 5.15) gives the current values of:
– ARM_POS - Cartesian position of the specified arm (expressed in millimetres for
X, Y and Z, and in degrees for the orienting angles A, E and R)
– ARM_JNTP - joint position (expressed in degrees or in millimetres, according to
the axis configuration)
– config - configuration string (attitude flag and multirev flag).

If the axis is NOT calibrated, or has lost the number of revolutions, these values are NOT
available (and the '--' string is displayed).

5.9.1.5 Payload
Indicates the payload value.

5.9.2 Coop (optional feature)

This subpage allows managing the cooperative motion (for further information, see
Chap.8. - Cooperative Motion (optional feature) on page 146 in Motion Programming
manual).

Fig. 5.20 - Coop subpage

The Coop subpage provides the following sections:

– Coop Status - cooperation status,
– COOP - using the cooperative motion commands.

For further information, see par. 5.12 Integrated Movement on page 95 in Motion
Programming Manual.

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5.9.2.1 Coop Status

This section is read-only and displays information about the currently active
cooperations status. See example in Fig. 5.21.

5.9.2.2 COOP

Fig. 5.21 - Cooperation commands

In the current section some cooperation built-in routine calls (ARM_COOP,

AUX_COOP, ARM_MCOOP) can be set up by the user, in order to activate the
associated type of cooperation later on, when needed:
– open COOP menu and select the wished routine,
– insert the suitable values into the fields associated to such a routine,
– activate the wished cooperation type, by touching the corresponding ON key.
See the example shown in Fig. 5.21: 4 different calls to cooperation routines have been
set up. The currently active cooperation type is the green one. The inactive ones are
grey.
Furthermore, about the shown above example, the currently active status (for
ARM_MCOOP) is displayed in the Coop Status section: the Worker Arm is Arm 2, the
Positioner Arm is Arm 1 and the auxiliary axis of the Positioner is axis 8, as stated by
the characters string
P-A:2 W-A:1 AUX: 8.
Obviously, nothing is active for the other two available cooperation states (ARM_COOP
and AUX_COOP).

Also refer to:

– built-in ARM_COOP, AUX_COOP and ARM_MCOOP in chap. BUILT-IN Routines
list of PDL2 - Programming Language manual
– par. Arm Settings Page on page 122 for ARM_COOP modality enabling/disabling.

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5.9.3 Advanced
Fig. 5.22 - Advanced subpage

In the Advanced sub-page, data may be modified about

– Incremental Jog mode
– use of J-Pad.
A detailed list of each one of them is given below.

5.9.3.1 Incremental Jog mode

In this section it is possible to modify, in millimetres or degrees, the distance that is
covered each time an axis jog key is pressed (+ or -) - see par. 5.3.1.2.5 JOG keys on
page 63. Touch the Enable field to enable this mode.
In this way Linear and Angular fields can be accessed to make the suitable settings.
By either touching one of these fields or moving focus to each one of them, some
functional keys (small, med and large) are made available in the Functional keys menu
which allow more quickly entering values into these fields (Fig. 5.22).

5.9.3.2 J-Pad
For further information see also the JPAD keyboard description.
This section is divided into two parts, as can be seen in the figure below:

– Type (Linear/Angular)
These fields indicate whether, using JPAD, the robot makes a linear move (Linear)
or a rotation (Angular).

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– Angle
This field indicates the user position in relation to the robot; such a position is
pointed out by the Teach Pendant icon, which moves to the requested angular
position, around the robot. Touching the Angle field or when the focus is on it,
some commands are made available in the Functional keys menu (front 0°, back
180°, right 90°, left-90°) which allow quicker specifying the new User's position.
However, the value may be modified directly touching the Angle field and typing
the new value in the Numeric keyboard which is automatically opened by the
system (see figure below on the right).

Fig. 5.23 - Use of the Angle field

5.9.4 Status
Fig. 5.24 - Status subpage

The Status sub-page is related to the Arm state (red) and the Axes state (yellow).
For the Arm state (red) the available values are:
– Need for Unlock, Not in LOCK, Need to Resume
– Simulated, Unsimulated
– Mov. enabled, Mov. disabled
– DRIVE ON, DRIVE OFF - state of drives
– Stroke end enabled, Stroke end disabled.
– On trajectory, NOT on trajectory
– Absolute Accuracy enabled/disabled - the machine is/is NOT kinematically
compensated.

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Furthermore, some optional fields are provided which are displayed only if the
corresponding optional functionality has been purchased:
– Coop (optional feature)
– Collision Detection (optional feature)
– Palletizing (optional feature).

When navigating on these fields, in the Functional keys menu there are commands
available, that correspond to the selected state, and allow it to be changed. For example:

Fig. 5.25 - Not in LOCK

For the Axes state (yellow in Fig. 5.24), the available values are:
– calibrated
– NOT calibrated
– NOT in Turn-set
– NOT connected, for example in case of electric gun change
– NOT Present.
Also for the Axes state, touching the different fields or moving focus onto them, some
keys are shown in the Functional keys menu that correspond to the selected state, and
that allow to modify it.
For both the state of the arm and of the axes, under normal operating conditions, all the
text strings of the different fields are BLACK; otherwise in case of an anomalous arm
condition or if the calibration or Turn-set data is missing, the colour is RED.

5.9.4.1 Collision Detection (optional feature)

If the System also includes the Collision Detection optional functionality, the Status
subpage provides the following information (see Fig. 5.26 - yellow highlighted fields):
– Collision Disabled - Collision Detection functionality is disabled
– Collision Enabled - Collision Detection functionality is enabled
When the field representing the Collision Detection status either is touched or focus is
on it, a command is made available in the Functional keys menu, to allow enabling
(Enable Coll.) or disabling (Disable Coll.) the functionality, depending on the current
status (see Fig. 5.26 - red highlighted keys).

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Fig. 5.26 - Collision Detection

5.9.4.2 Palletizing (optional feature)

If the System also includes the Palletizing optional feature, the Status subpage provides
the following information (see Fig. 5.27 - yellow highlighted fields):
– Palletizing ON - Palletizing functionality is enabled
– Palletizing OFF - Palletizing functionality is disabled

Fig. 5.27 - Palletizing functionality

When the field representing the Palletizing status either is touched or focus is on it, a
command is made available in the Functional keys menu, to allow enabling (Enable) or
disabling (Disable) the functionality, depending on the current status (see Fig. 5.27 -
red highlighted keys)).
In the Status bar, when the Palletizing functionality is enabled, the string ‘Pallet’ is
displayed.

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5.9.5 Override
Fig. 5.28 - Override sub-page

The Override sub-page contains the overall pre-defined values (red) and single joints
(yellow) relating to the current arm. All the information can be changed by the user by
touching the wished field. The system automatically opens the Numeric keyboard
(Fig. 5.28, on the right) and the user is allowed to insert the new value.
For further details about the above mentioned predefined variables, please refer to
PDL2 Programming Language Manual, chap.PREDEFINED VARIABLES.

5.9.6 Conveyor Tracking (optional feature)

This sub-page is available only if the System is provided with the Conveyor Tracking
option. It is used to handle such an optional feature.

The left section in the above figure is read-only and displays the Conveyor current
status:
– Active table - is the index of the currently active $TRK_TBL table
– Conveyor type
• 0: linear cartesian tracking;
• 1: circular cartesian tracking;
• 3: trans-rotational cartesian tracking (Robot controlling a bending-press).
– Position - is the conveyor current position, in mm
– Velocity - is the conveyor instantaneous velocity, in m/s
– Angle - only existing for conveyor of type 3 (trans-rotational cartesian tracking) and
representing the V-opening in radians

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– Windows - the first value represents the conveyor quote from which the robot must
start with tracking; the second value represents the conveyor quote after which no
tracking with the robot is allowed
– Error - indicates the conveyor error status. When red, resetting it is allowed by
means of Reset Err. key.
The right section includes some menus to set up the CONV_TRACK built-in routine
parameters:
– Command - this menu allows choosing among one of the following commands:
• Initialize - initialize (-1)
• Initialize + On - initialize and activate (1)
• On - activate (2)
• Off - deactivate (0)
– Table Index- is the index of the tracking table in which new settings are wished
– Arm - is the number of the Arm involved in the tracking functionality
– Offset - is the distance between the sensor and the being tracked object, at the
conveyor initialization time; the default is 0.
When the CONV_TRACK built-in routine setup is completed, touch Conv_Track key to
execute it.

For further information, please refer to par. 5.17.2.5 Conveyor on page 255 - Setup
page).

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5.10 Alarm Page

This User Page allows managing information related to alarms/errors that have occurred
in the system.
It consists of 3 sub-pages, which may be selected through their corresponding labels:
– Active
– History
– Notifications.

Sometimes, some alarm messages could occur for which it is not so easy to understand
the error cause and the corresponding remedy.
In such scenarios, to better decide what to do, it is suggested to use both the Control
Unit and the specific Robot Maintenance manuals.

Alarm in AUTO-REMOTE status

It is allowed to configure the system so that the Alarm Page is automatically displayed
as soon as an error occurs while the system is in REMOTE status. To do so, set to 1 bit
1 in $CNTRL_CNFG2 predefined variable.
Please refer to PDL2 Programming Language manual - chap.BUILT_IN Routines
List for further information.

5.10.1 Active

The Active sub-page displays the active alarms, i.e. alarms that require confirmation
from the user, and provides the following information:
– alarm ordinal number
– date and time
– error code and severity
– message text
Alarm code, severity and message text are also displayed in the Status bar, as long as
the alarm is active.

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The EXCL key allows excluding, for a limited time interval, the effect of alarms such as
those related to an electrical stroke end.
This key is always available. As soon as the axis is moved beyond the electrical stroke
end, an error message is generated and the robot is put to DRIVE OFF state. To exit
from such a scenario, touch EXCL key, switch the system to DRIVE ON state and jog
the axis in the opposite direction in respect to the one of the stroke end.

5.10.1.1 Ack
To confirm an alarm, touch it to select it. In such a way the Ack command is made
available in the Functional keys menu allowing to confirm the selected alarm (see the
figure below).
The user should also use this page to confirm the so called latched alarms, to clear
them from such status.

For further information about Latched alarms, refer to PDL2 Programming Language,
manual, $LATCH_CNFG predefined variable.

5.10.1.2 Cause & Remedy Key

Whenever needed, i.e. every time an error code is displayed, a key is made available in
the Functional keys menu which allows investigating about the Cause and the
corresponding Remedy of such an alarm.

Touching this key (highlighted in red in the left image) causes a page to be opened

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containing some detailed information about the cause and the corresponding remedy for
the current error (right image). The same happens by touching the alarm code
highlighted in blue in the left image).
At the end, close the Cause&Remedy page by means of the dedicated close key.

5.10.2 History
It is a unique log environment, including both trace of the occurred Errors and the
performed Actions on the Control Unit.

By means of Errors and Actions functional keys, the user is allowed to filter the log
messages viewing, by including the ones and/or the other ones, depending on his/her
specific needs.
For each occurred error (errors log), the following information is displayed:
– alarm ordinal number
– date and time
– error code and severity
– message text.
Use the cursor up/down keys to scroll them all.

The errors that are stored in the errors LOG file are only those that change the system
state.

If further errors or actions occur while the History page is displayed, a Refresh key is
made available in the Functional keys menu (next figure).
The occurred events are added to the currently displayed History page list, by simply
touching such a key.

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Furthermore, the Cause & Remedy Key is available in the Functional keys menu to get
information about the possible cause and remedy related to the selected element.

5.10.3 Notifications
The Notification subpage displays alarms with severity 2 (warning), generated by
means of ERR_POST. They are inserted in a circular buffer of 50 elements.

When calling ERR_POST, it is allowed to specify whether such a warning message is

to be inserted into the circular buffer or not, by the use of bit 28. The notification is sent
just when it is inserted into the buffer.

Please refer to Chap.Built-in Routines List in PDL2 Language manual for a detailed
description of ERR_POST and its bit 28 usage.

All warning messages for which a notification is expected, are displayed in this subpage,
with the following information:
– alarm ordinal number
– date and time
– error code and severity
– message text.
Use the cursor up/down key to showthem all.
They DO NOT need any acknowledgment nor they can be eliminated from the subpage.

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5.11 Prog Page

Purpose of this User Page is to handle the programs.

Programs Categorization

Programs for the C5GPlus Control Unit are written in PDL2 Programming language.
We can classify them into two main categories, depending on the assigned
holdable/non-holdable attribute:
– ‘holdable’ Programs (i.e with HOLD attribute) - their execution is controlled by the
HOLD (yellow) and START (green) keys; a Program including motion statements
MUST be a ‘holdable’ Program.
– ‘non-holdable’ Programs (i.e with NOHOLD attribute) - they are usually used for
process controlling. They CANNOT include motion statements, even if they are
allowed to use positional variables as well, for other purposes.
The default attribute is HOLD; if it is wished to write a ‘non-holdable’ Program, it is
needed to explicitly insert the NOHOLD attribute.

In this page a table is displayed , including the loaded programs list in the execution
memory.

To sort the list content, act in the following way:

– columns titles - touching one of the columns headers, the table elements are sorted
according to such a column (Name, Attr., etc.). A graphic sign (up/down arrow
displayed beside the column title), indicates whether sorting is upwards or
downwards.
Refer to par. 5.6.2.8 List on page 85 for further details.

The following information is shown for each displayed item:

– Status LED - provides visual information (colour) about the program current state:
• grey - not active program
• yellow - program in Hold state
• red - program in Suspended state
• green - program in Running state

The program state is also specified by means of a dedicated style (see previous figure),
used for any related information and having the following meaning:
– bold - the program is Active
– italic - the program has been modified but not saved yet.

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– Name - program name (32 characters max. length)

– Attr. - program attribute (motion (HOLD), no motion (NOHOLD) programs)
– Saved - state of the program file (already saved (Saved), not saved yet
(Not Saved))
– Status - program execution state (interrupted (Held), executing (Running), not
active (Not Active), etc.)
– Line - number of the being executed line
– Owner - name of the program that owns the currently being executed line (the line
belongs to such a program code)
– $CYCLE - value of $CYCLE predefined variable belonging to the program
– $ERROR - value of $ERROR predefined variable belonging to the program
– Arm - program main arm
– Step - program step modality (Statement, Disable, etc.)
– Path .COD - directory path to reach the program .COD file
– Time .COD - creation date or last change of .COD
– Size (KB) - size of the program in kB
– Path .VAR - directory path to reach the program .VAR file
– Time .VAR - creation date or last change of .VAR
In the Prog Page Functional keys menu the following keys are available to allow the user
operating on the currently selected program:
– Memory
– Edit
– Program
– View
– Details.

5.11.1 Memory
Fig. 5.29 - Memory menu

Touch this key to open the following commands menu:

– New program...
– Load...

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– Load (with option)

– Save
– Save data
– Save code
– Save variables as
– Erase from execution memory.

5.11.1.1 New program...

Allows creating a new program to be developped in IDE. The following situations might
occur:
– the requested program already exists in execution memory: the command does not
take any effect
– the requested program exists as a .COD file in UD:. The command loads it into the
execution memory and opens it, asking the user for confirmation.
– the requested program does not exist as a .COD file in UD:. Two scenarios might
occur:
• a .PDL file exists with such a name. It is then translated to .COD, loaded into
the execution memory and opened, asking the user for confirmation;
• a .PDL file does not exist with such a name. The .COD file is created in the
execution memory and opened.

5.11.1.2 Load...
Loads the selected program(s) and the corresponding variables file(s).
The user is allowed to specify the wished device, directory and file before activating such
a command, as well as setting some options.

To be able to use a different Device than the current one, just touch Disk key and
choose the wished item in the Device change list (see above right figure).
The Load options are available as checkboxes:
– Activate
– Convert conflicts
– Dependencies.

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5.11.1.2.1 Activate
Touch this item to load the selected program into execution memory and activate it.

5.11.1.2.2 Convert conflicts

This option is useful in case of conflicts detected during a loading operation, when they
are solvable (e.g. a conflict of array or string size).

5.11.1.2.3 Dependencies
In addition to the requested program, this option automatically loads code and vars of
any programs that are called up by it.
If the referred files are in different directories than the loaded program, it is necessary to
set $DEPEND_DIRS predefined variable with the search path used by Load command.

5.11.1.3 Load (with option)

The user is also allowed to load a program with the following options (see Fig. 5.29):
– with another .VAR (As)
– .VAR only (Var)
– Another .Var only (Var As)

5.11.1.3.1 with another .VAR (As)

This option allows to load a program with variables file (.VAR) different from the .COD
file. For example program file PALLET.COD can be loaded together with
PALLET_12.VAR variables file.

5.11.1.3.2 .VAR only (Var)

Touch this item to load the selected variables file only.

5.11.1.3.3 Another .Var only (Var As)

Allows only a variables file (.VAR) to be loaded, associating it to a program entry with a
different name. The program entry is to be selected from the list of the existing .COD.
The name of the variables file is to be chosen from the .VAR list.

Note that this command DOES NOT load the .COD.

5.11.1.4 Save
Save in UD: code and variables of a program, from the execution memory in a file on
the default device.

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See NOTE regarding the total amount of entries in the UD: root directory.

5.11.1.5 Save data

Saves the variables of the selected program

5.11.1.6 Save code

Saves the code of the selected program

5.11.1.7 Save variables as

Saves the program variables in a file with different a name than the program one.
This option does not allow using the wildcard.

5.11.1.8 Erase from execution memory

This submenu contains commands to delete a program and its variables from the
execution memory. If other programs are associated to a routine or to variables of the
being deleted program, an error occurs.
The available functions provided are as follows:
– Erase code and variables - Cancels both selected program code and variables.
– Erase code only - Cancels the selected program code only.
– Erase variables only - Cancels all the selected program variables.

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5.11.2 Edit

Touch this key to access a menu which operates on the displayed programs.
The available commands are as follows:
– Select All
– Deselect All
– Invert Sel.

Multiple selection
Multiple selection of elements is available by using both SHIFT and ENTER keys at the
same time, when the cursor is placed onto the being added program.
Note that the currently selected program is always included into the selection.
Furthermore, it is allowed to make a multiple selection by means of the touch method:
touching an element and dragging the finger (never detaching it from the screen)
towards subsequent or previous elements, all the touched elements are then selected.

5.11.2.1 Select All

Touch this command to select all the currently displayed programs.

5.11.2.2 Deselect All

Touch this command to unselect all the currently selected programs. See the figures
below for the situations before (on the left) and after (on the right) using such a

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command.

5.11.2.3 Invert Sel

Touch this command to cause all the selected programs to be unselected and viceversa.
See the figures below for the situations before (on the left) and after (on the right) using
such a command.

5.11.3 Program
As shown in the figure below, the available choices are as follows:
– Open [ENTER]
– Activate
– Deactivate
– Reset
– Pause
– Unpause
– Step.

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5.11.3.1 Open [ENTER]

Touch this command to open the selected program in IDE environment. If the program
is not currently active, it is automatically activated and put into Held state.

If the selected program is a NOHOLDable one, the user is allowed to open it in text editor
mode, within the Prog environment, so that the IDE environment functionalities are
available.
Before opening such an edit session, the user is asked for confirmation, as shown in the
following figure.

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Make the wished modifications and close the file saving it (touch File key and choose
Save item).

Caution!
The performed modifications are just saved to disk. Load the program to execution
memory (see Memory menu, Load... command) in order to make them operational.
A suitable message is displayed to warn the user about that.

5.11.3.2 Activate
Allows to start the execution of the selected program. If it is a holdable program, the
command sets it in Held state; press START (green) key to start the execution.
On a non-holdable program, the command has immediate effect and sets it directly into
Running state.

Only one holdable program at a time can be activated, unless the DETACH attribute is

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specified in the header of the programs which are to be simultaneously executed.

Before the program is activated, it has to be already loaded into the execution memory
(Load... ).

5.11.3.3 Deactivate

Deactivates the selected programs which, anyway, still remain in the execution memory.

5.11.3.4 Reset
This command allows deactivating the selected programs and then activating them
again.
The system displays a suitable message to prompt the user for confirmation (see the
figure below).

Answer Yes to make the command operational.

5.11.3.5 Pause
Suspends the execution of the selected programs, setting them to Suspended state. To
continue the execution it is necessary to issue the Unpause command

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5.11.3.6 Unpause
Resumes the execution of the selected programs, removing them from the Suspended
state. The program is set to the Running status provided that no other program
suspension condition subsists. To resume the execution of holdable programs, START
(green) key has to be pressed.

5.11.3.7 Step
This menu allows defining the program execution step.
It is mainly used upon the program debug.

Usually, the program execution is continuous, i.e. without interruption. The execution
step allows defining the moment in which the program execution shall be interrupted.
A new execution step is started each time the START key is pressed.
The available commands are:
– Statement - The execution is interrupted at each statement. The protected
Routines (whose body is not displayed) are run as they were a single statement;
the execution of non protected Routines (whose body may be displayed) is
interrupted at each statement.
– Disable - Stops the step-by step execution and hence the program is run in
continuous mode.
– Routine - Similar to Statement, however routines are run as they were single
statements.
– MOVE - The execution is interrupted at each individual movement. This is not
allowed on non-holdable programs.

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– MOVEFLY - Executes fly movements before interrupting the program execution.

Similar to MOVE, however the program execution does not stop after the
MOVEFLY statement. This is not allowed on non-holdable programs.
– CYCLE - Defines an individual program cycle, as the step option; the selected
program must contain the CYCLE or BEGIN CYCLE statement.

5.11.4 View
This menu provides some commands to customize programs viewing, according to
some wished filters (Only) and Levels.
The currently active filter and level types, are displayed in the field below the programs
table (as highlighted in the below figure).

5.11.4.1 Only

The following filter choices are available:

– Not protected - displays not protected programs only
– Holdable - displays programs with HOLD attribute only
– Active - displays currently active programs only
– Not saved - displays modified but not saved programs yet only.
The currently selected “Only” filter is displayed in the line above the Functional keys
menu (see previous figure, highlighted in red).

5.11.4.2 Level
This command displays the allowed actions level for the selected program. Both
viewing actions and editing actions are available.
For further information about levels, refer to par. HANDLING PROGRAMS EDITING
AND VIEWING LEVELS on page 146.
The current Level is displayed, together with the current filter (Only command), in the
line above the Functional keys menu (see previous figure, highlighted in red).

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5.11.5 Details
Allows the user to display some specific data related to the selected program.

The available choices are as follows:

– Show variables
– Callchain
– Properties
A detailed description follows for each one of them.

5.11.5.1 Show variables

It displays the variables of the selected program, with the following information:
– owning program (Owner)
– variable name (Name)

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– Value
– Comment.
When any of the variables is selected, the following keys are available in the Functional
keys menu:
– Window
– Edit
– Add...
– Assign
– View.

5.11.5.1.1 Window

This key opens a menu including commands related to the viewing window:
– Open...
– Save view...
– Save view as...
– Save values.

Open...
This command allows opening a previously saved viewing, passing through the main
page of the Display Page environment.

Save view...
This command allows saving the current viewing in the SAVED folder of the Display
Page environment. The involved file is the currently open one.
If there are NO open viewing files, the user is asked to specify a new filename.

Save view as...

This command allows saving the current viewing in the SAVED folder of the Display
Page environment, specifying a filename.

Save values
This command allows saving, to the execution memory, the modified variables values.

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5.11.5.1.2 Edit
This key opens a menu including commands to select and cancel variables, as well as
to modify their values:
– Select All
– Deselect All
– Invert Sel
– Delete
– Delete all
– POS SHIFT.

Select All
This command selects all the currently displayed variables.

Deselect All
This command unselects all the currently selected variables.

Invert Sel
This command selects the unselected variables and unselects the currently selected
ones.

Delete
This command deletes from viewing the currently selected variables only.

Delete all
This command deletes from viewing all the displayed variables.

POS SHIFT
This function allows “moving” in the space, positions that belong to the selected
program, modifying its coordinates.
Typically, it is useful to translate the execution of an already taught path, by acting on
the positions belonging to such a path.

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Touching this key, a page is opened in which the user is allowed to specify the wished
offsets, related to the current components for X, Y and Z (the inserted values represent
the translation millimeters along all three directions of the cartesian coordinates
system), as well as to select the wished reference frame, as shown in the below figure.

If the selected variable is just one, the system displays its name and the corresponding
modifications are just referred to it (see the highlighted area in the previous figure).
Viceversa, when more than one variables are selected (as shown in the following
example, figure on the left) the system displays the text “multiple selection” instead of
the variable name (see the following figure on the right) and the translation is referred to
all the selected variables.

Finally, touch Apply key to confirm the modifications.

At the end of the operation, the system prompts the user with a suitable message.

5.11.5.1.3 Add...
This command allows adding some new elements to the current viewing. It is very useful
when, besides the current program variables, it is wished to view also some I/O points,
predefined variables or some other programs variables.

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In such a case, the Display Page environment viewing functionality is automatically

used. This command opens the main page of such an environment, in which the icons
of all the viewable Elements are available (see the previous figure).
One or more elements can be added by simply touching the corresponding icon.

Please refer to Chap.5.13 - Display Page on page 177 for further details.

5.11.5.1.4 Assign
This command allows assigning a value to the selected variable.

The available chooices are:

– On
– Off
– Value...
– Current position
– Invert
– PULSE.

On
Assigns TRUE value to the selected BOOLEAN variable or I/O point.

Off
Assigns FALSE value to the selected BOOLEAN variable or I/O point.

Value...
Assigns a suitable value to the INTEGER, REAL, STRING, etc. selected variable.

Current position
Assigns the arm current position to the selected positional variable.

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Invert
Inverts the value of the selected BOOLEAN variable (ON -> OFF, OFF -> ON).

PULSE
This command simulates a pulse, i.e. inverts the selected port value for the time interval
[ms] specified by the user.
The figures below show an example of a 2 seconds PULSE, on $BIT[13] variable.
Specify the wished time and touch OK to confirm.

5.11.5.1.5 View
This command allows choosing how to view the selected elements:
– ProgressBar
– Format.

ProgressBar
This command allows viewing analog ports by means of a Progress Bar.

Format
This command allows specifying the base in which the selected values are displayed:
– Binary
– Octal
– Decimal
– Hexadecimal.

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5.11.5.2 Callchain
Displays the nesting of routines calls for the selected program (see Fig. 5.30).
The following information is given:
– routine name
– number of line where the call is made
– status
– program the routine belongs to (owner)
– program context (type): main, interrupt routine, routine, etc.

Fig. 5.30 - Callchain command

This command is allowed for active programs ONLY.

5.11.5.3 Properties
Allows displaying the Property Notes of the file including the selected program
(see Fig. 5.31).
– revision
– title
– help
– version

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– date - creation date

– Author
– Host - host device on which the file has been created
– User View Level - user level for viewing actionslivello utente per la modifica
– User Modify Level - user level for editing actions.

Fig. 5.31 - Properties

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5.12 IDE Page

GLOSSARY
It is recommended to carefully read the following glossary, since in this paragraph the
terms MODAL and NODAL are often referred to.
Such words are to be understood as follows:
– modal - move and destination instructions only (example: MOVE TO pos1)
– nodal with clause WITH - settings that are only valid for the instruction where they
are specified.
– customized nodal - very compact syntax, containing in a single line all the
customising required by the customer. The description of this type of instruction is
not contained in the standard manual, but only in the Nodal Moves manual, handed
over to the customer for whom it has been developed. Therefore it is not dealt with
herein.

IDE environment (Integrated Development Environment) is used to develop motion

programs (programs with HOLD attribute).
The following paragraphs give some information about:
– Opening the IDE page
– Description of the video screen
– Available functions description

5.12.1 Opening the IDE page

The IDE environment is used to edit a program which is active, with HOLD attribute
(default).

HANDLING PROGRAMS EDITING AND VIEWING LEVELS

Two values are associated to each program file, which are included in the corresponding
$PROP_UVL and $PROP_UML predefined variables (see PDL2 Programming
Language manual - chap.Predefined Variables List); both an editing level and a viewing
level are associated to each User; it is allowed to assign such levels by editing the .UDB
file from within WinCRC program (see par. 7.5.1.6 Viewing and editing of .UDB file
(optional feature) on page 484).

Such predefined variables values have the following meaning:

– the User is allowed to edit the program, only if he/she has got an editing level
>= the file $PROP_UML value;
– the User is allowed to view the program, only if he/she has got a viewing level
>= the file $PROP_UVL value.

Accessing the IDE Page can be performed in one of the following ways:
– from the main page, i.e. the Desktop Page, by choosing IDE icon, or
– by means of Open [ENTER] command, from within the Prog Page.
In such a case the selected program is opened. It must be a HOLDable program.

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5.12.2 Description of the video screen

When the IDE environment is active and there is an open program, the display screen
of the Teach Pendant shows the following sections, which are peculiar to IDE:

– IDE status lines

– Editor area.

5.12.2.1 IDE status lines

These are two areas of the display where the following information is shown:
– upper status window (highlighted in red in the previous figure), containing
• active program name (running program)
• current program name (program displayed; for example it might be different
than the running program if routines are called from other programs)
• modifications saving status (saved, not saved)
• step mode:
• statement - stmt (on single statement)
• disable - dsbl (disabled step mode)
• routine - rout (on routine)
• move - MOVE (on motion statement)
• fly - MOVEFLY (on motion in fly)
• cycle - CYCLE (on program cycle)
• backward/forward - BACK ED/FORW ED
• active tool name
• active frame name

Touching one of such latest two fields, the corresponding TOOL or FRAME table is
opened in the Data Page environment.

• if the system is executing a motion statement in an external program, the

MOTION CURSOR symbol is shown, together with the name of the external
program and the number of the line that contains such a motion statement;
– lower status window (highlighted in blue in the previous figure), containing the REC
key current settings.

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5.12.2.2 Editor area

This is the window where program statements are displayed. In this window, the user
can edit and debug the active program, as well as follow its execution (see note about
Displaying the currently being executed statement).
For an easy and efficient use of the editor area, the colours in which the program lines
are displayed and the cursors that point to them have special meanings.
A detailed description follows of:
– Colours
– Cursors.

5.12.2.2.1 Colours
The different components of the program lines are displayed with different colours, as
follows:
– comment - green, bold
– key word - black, bold
– reserved word - blue
– variable name - black
In the figure below an example is shown about the listed above components.

1 - comment

2 - value

3 - keyword

4 - reserved word

5 - variable name.

5.12.2.2.2 Cursors
Three types of cursor could be displayed:
– EDIT CURSOR
– EXECUTION CURSOR
– MOTION CURSOR.

EDIT CURSOR
It corresponds to the instruction that may be modified by the user.
The whole statement line is highlighted with light green background, which means the
line is editable.
Press ENTER to enter editing mode on the selected line
During the editing session, the user can operate in one or more of the following

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modalities:
– editing an already existing program line - just move the edit cursor to the involved
line and touch twice or press ENTER. In this way the editing mode is entered and
it is then possible to operate like for Insert command completion.

A special situation is editing a motion statement (MOVE), already existing in the

program.
When the edit cursor is on any keywords related to motion, Change command is made
available in the functional keys menu: if touched, it opens a list of available modifications
(see next figure):
– MOVE type and
– trajectory type.
See par. 5.6.3.3.3 Change on page 92, par. 5.12.3.7 MOD on page 167.

– inserting either a new program line or a complex statement - it is needed to use

Insert command. It causes the PDL2 keyboard to be opened.
– deleting either an already existing program line or a complex statement - the use
of Delete line command is needed, which is part of the Edit menu.

If executing the current statement is required, press the START (green) button and, if it
is a motion statement, press the Enabling Device too.
Such a statement is then executed according to the current settings (see par. 5.12.3.2.8
Step on page 155).

EXECUTION CURSOR
It is represented by an arrow in two different colours (figures below):
– yellow - indicating the next statement to be executed
– green - indicating the currently being executed statement.

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When the system is executing a protected routine, an icon identified by EXT string is
displayed instead of the arrow.

MOTION CURSOR
It indicates the motion statement the Arm is currently executing; if there is no movement
in progress, it points to the last executed motion statement. The associated icon is that
of a robot, plus integrating symbols that indicate the motion status:
– the robot is on the trajectory but the movement is not completed yet

– the robot has reached the final position

– the robot is out of trajectory

– the current movement has been aborted.

Displaying the currently being executed statement

If the opened program is running, IDE displays the currently being executed statements,
by means of the EXECUTION CURSOR. The execution may be followed by the user by
looking at the cursors moving through the program statements.

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Starting from 4.20.xxx system software version, the OPTIONAL Lookahead

functionality is available which allows the Program Interpreter to take into
consideration a greater amount of motion statements with the ADVANCE Clause, up to
a maximum of 7 FLY motion statements ahead.
Therefore, the farther the lookahead is, the greater will be the distance between
MOTION CURSOR and EXECUTION CURSOR.
Refer to par. 5.10.2.1 Lookahead functionality (optional feature) on page 75 - Motion
Programming manual and par. 4.1 Motion instructions interpretation and
execution and par. 4.2.4.1 ADVANCE Clause in the PDL2 Programming Language
manual, for further information.

At program activation in IDE environment, if the program is not being executed, the
EXECUTION CURSOR is placed on the first executable statement after the BEGIN
statement.

5.12.3 Available functions description

If there is not any open program, the displayed page is like the following one:

The only available functionality in the Functional keys menu, is

– Open...
On the contrary, if there is an already open program, the displayed page is the one
described in par. 5.12.2 Description of the video screen on page 147 and the available
functionalities in the Functional keys menu are as follows:
– Program
– Edit
– Line
– Insert
– REC
– MOD
– Details
– Closure key.

5.12.3.1 Open...
Allows either opening an already existing HOLDable program or creating a new one.

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Touching the Open... key causes to access the page shown in the following figure.

The available options are

– <New...>
– <Load...>

5.12.3.1.1 <New...>

Opens a page in which the user can specify the wished path, name and model.
Choosing the path (to reach the folder in which the program is being created) allows
specifying
– a Device
– a Directory.
The wished Name is required. The default prefix is prog_ .
The system predefined Extension cannot be changed: .PDL .
The user is allowed to specify a Template which means creating a new program just
alike an already existing one or a default program (model).
A program can be referred to as a model only if it has previously been stored in the
following directory:
UD:\SYS\TP5\IDE\templates
If no model is specified, the default one is used.
Touch OK key to confirm, when all the required data have been inserted.
The newly created program is then opened in IDE environment and activated.

5.12.3.1.2 <Load...>
This command works like Prog Page environment Load... command, so please refer to

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it for a detailed description.

The loading option is always Activate in IDE environment.
As soon as the program is loaded, the system opens it in IDE environment.

5.12.3.2 Program
Allows operating on the currently open program.

As shown in the figure above, the following functions are available:

– Open...
– Save
– Reset
– Abort
– Deactivate
– Delete unused vars
– Import
– Step
– Immediate execution.
A detailed description follows about each one of them.

5.12.3.2.1 Open...
Please refer to par. 5.12.3.1 Open... on page 151 for a detailed description on how this
command works in case of no open program existing in IDE Page.
Viceversa, when there is an already open and active program, as in the previous figure
example, this command deactivates the currently open program; if it has been modified,
the user is asked to save it if wished and then the specified program is opened and
activated.

5.12.3.2.2 Save
Allows accessing the saving commands for the currently open program:
– Save (cod, var)
– Save all mod progs (cod,var).

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Save (cod, var)

Saves both the .COD and the .VAR for the currently open program, in the directory from
which it was downloaded; the program remains open.

Save all mod progs (cod,var)

Saves all the changed programs in IDE environment, both .COD and .VAR.

5.12.3.2.3 Reset
Deactivates and activates the current program again.

5.12.3.2.4 Abort
Aborts the current statement execution.

5.12.3.2.5 Deactivate
Deactivates the current program.

5.12.3.2.6 Delete unused vars

Deletes the declarations for any variables which are not used by the program, after the
user confirmation.

5.12.3.2.7 Import
It allows to import the declarations from another program that have either the
EXPORTED FROM clause or the GOLOBAL attribute, and insert them in the declaration
section of the currently open program in IDE environment.

If either a data type, or a variable, or a routine have the GLOBAL attribute, IDE
environment inserts only one program line like the following:
IMPORT ‘<name of the program from which importing>’

Otherwise, explicit declaration is inserted as it is, like in the program from which it is
imported.
Example:
importing kk variable from prog_1 program, Import command will insert the following:

TYPE gg=record
i:integer
ENDRECORD

var kk:gg exported from prog_1

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The classes of importable declarations are:

– Routine
– Type
– Variable
– Program.
When Program item is selected, a list is displayed of all programs currently loaded in
memory. The User has to choose the wished program. This causes the IMPORT
statement to be inserted in the currently open program in IDE environment.
Such a choice allows to import from the chosen program, without declaring any of them,
all the objects (types, variables, routines) having the GLOBAL attribute.
Example
If Program command is selected and prog_2 is chosen from within the programs list,
IDE inserts the following statement in the currently open program:

IMPORT ‘prog_2’

For further information about IMPORT statement and GLOBAL attribute, see PDL2
Programming Language manual - par. IMPORT Statement.

5.12.3.2.8 Step
Sets the program execution step mode.
The current type of Step is indicated by a tick (in the below example the current step type
is Back).

The available commands are:

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– Statement
– Disable
– Routine
– MOVE
– MOVEFLY
– CYCLE.
– Back.
Carefully read the Operational note about the use of SHIFT+START keys, for a special
functionality of the program controlled execution.

Statement
The execution stops after each statement. The protected Routines (whose content is not
displayed) are executed as a single statement; the execution of non-protected Routines
(whose the content is visible) stops at the end of each statement.

Disable
Stops the program execution in steps, causing it to be continuous.

Routine
The execution stops at the end of the routine (the routine is always completely executed:
it never stops on any statement inside the routine itself).

MOVE
The execution stops after each single movement. It cannot be executed on non-holdable
programs.

MOVEFLY
It causes to execute two or more fly movements before suspending the program
execution. It is similar to MOVE option, but the execution does not stop after the
MOVEFLY statement. It cannot be executed on non-holdable programs.

CYCLE
The chosen step mode is a single program cycle, that has to include the CYCLE or
BEGIN CYCLE statement.

Back
This item allows setting the wished type of Backward Interpretation, namely the
selection criteria for the instructions to be backward executed upon press of the BACK
key.
the available items are:
– Motion & routines
If the BACK key is set to this modality, the following statements are backward

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executed
• motion statements (with the restrictions described in par. 18.2.1 Motion
instructions on page 683)
• routines calls (with the restrictions described in par. 18.2.3 Routine calls on
page 683)
• PROCEDURE, or FUNCTION called as PROCEDURE - backward
executed, starting from the routine END
• FUNCTION - forward executed, starting from the routine BEGIN, since
the return value must be calculated.
• BEGIN - jumps out of the context if not in the main body
• CYCLE - the backward execution starts from the program end, if at least one
cycle has been executed. On the contrary, if no cycles have been performed,
the following warning occurs
19009 - no instructions for BACK execution
• CALL - the backward execution starts from the END statement of the called
program
• CALLS - the backward execution starts from the END statement of the called
program or routine.
– All Statements
If the BACK key is set to this modality, the following statements are backward
executed
• routine call (procedure or function called as procedure) - the cursor points to
the routine END statement; it is the user’s care to guarantee the proper
execution of the flow (e.g. skipping the RETURN statement, accurately
handling the conditional statements, etc) and taking care of the variables
proper initialization
• function call - the cursor points to the function BEGIN statement. Then the
execution continues in forward direction, to calculate and assign the return
value
• all the common statements - it is the user’s care to guarantee the proper
execution of the flow
• all the motion statements (with the restrictions described in par. 18.2.1 Motion
instructions on page 683)
– Motion in context
If the BACK key is set to this modality, the motion statements only are backwards
executed in the current context (main, routine), not leaving such a context.
Obviuosly, with the restrictions described in par. 18.2.1 Motion instructions on
page 683.

Note that in all the listed above backward modalities, pressing the BACK key does not
take any effects when the cursor points within a multi-line statement such as
CONDITION..ENDCONDITION, OPEN FILE..ENDOPEN, MOVE..ENDMOVE type.

As a basic guideline, in all cases in which the system cannot backward execute a
statement, even if required, a warning notification occurs, anyway.

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Operational note

SHIFT+START
Pressing both the two keys at the same time, causes the program to be executed in
Disable type, which means continuous execution, irrespectively of the currently set
Step. The SHIFT key can be released as soon as the execution starts: pressing the
START key is enough.
As soon as the execution is either completed or the START key is released, the
previously set Step mode is resumed.
This special behaviour can be used to modify positions along FLY movements,
executing the whole program or just a part of it, without having the needs to change the
Step setting again and again:
– let’s suppose to be in Statement mode
– press SHIFT+START to move in continuous mode
– release the START key some program lines before reaching the being modified
position, causing the robot to stop
– press the START key again to resume motion and move towards the being
modified position.

WARNING - When the START key is released during the execution of FLY movements,
the destination at the motion resume time depends on the moment in which the key has
been released.
If it happened AFTER starting the FLY segment, the resumed movement will stop on P3
final position.
If it happened BEFORE starting the FLY segment, the resumed movement will stop on
P2 intermediate position.
Such two scenarios are shown, respectively, in the following Fig. 5.32 and Fig. 5.33.

Fig. 5.32 - START key released AFTER FLY beginning

A - SHIFT + START
B - Release START key
C - Final destination

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Fig. 5.33 - START key released BEFORE FLY beginning

A - SHIFT + START
B - Release START key
C - Final destination

5.12.3.2.9 Immediate execution

It allows executing a statement which is not included in the current program body (but
anyway taking effect on its execution: e.g. by immediately executing an assignement of
a value to a variable belonging to the current program, such a variable content is actually
modified).

The system opens the shown above page, containing the field in which the being
executed single statement must be inserted. Touching such a field, the PDL2 keyboard
is opened for choosing the wished instruction. Refer to par. 5.6.3.3 PDL2 keyboard on
page 91 for a detailed use description.
After selecting the wished instruction, either touch OK or press ENTER, to confirm it.
Then touch Exec key to start the execution.
As already mentioned, IDE allows monitoring, in the Editor area, the currently open
program execution (see Displaying the currently being executed statement)..

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5.12.3.3 Edit

This key allows accessing the following commands:

– Select
– Paste
– Delete line
– Undelete line
– Goto

5.12.3.3.1 Select
Activates marking the lines which the EDIT CURSOR is moving on. In the Functional
keys menu the following commands become available:
– Cut - cuts the selected lines
– Copy - copies the selected lines
– Deselect - deactivates marking.

Selecting several program lines is allowed by means of combining SHIFT+cursor.

5.12.3.3.2 Paste
Allows pasting the previously cut or copied lines, inserting them above the program line
which is currently pointed by the EDIT CURSOR.

5.12.3.3.3 Delete line

Deletes the program line which is currently pointed by the EDIT CURSOR.

If the selected instruction is a structured one (e.g. IF, FOR, etc.), this command deletes
the whole structure and NOT only the selected line (from IF to ENDIF, from FOR to
ENDFOR, from WHILE to ENDWHILE, etc).

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5.12.3.3.4 Undelete line

Inserts the last deleted statement again, at the line pointed by the EDIT CURSOR.

5.12.3.3.5 Goto
Allows the EDIT CURSOR to be moved to the specified line:
– Begin - moves the cursor to the current context BEGIN statement
– End - moves the cursor to the current context END statement
– Line - moves the cursor to the specified program line (within the current context).
The Numeric keyboard is opened to ask the user to insert the wished line number.

5.12.3.4 Line

This key allows accessing the following commands:

– Set execution cursor
– Insert/remove break point
– Bypass
– Comment/Uncomment.

5.12.3.4.1 Set execution cursor

Allows moving the program execution to a different line from the one actually pointed by
the EXECUTION CURSOR. Move the EDIT CURSOR and touch this command.

5.12.3.4.2 Insert/remove break point

Inserts or removes a break point (execution interruption point) within the program.

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The break point is positioned where the EDIT CURSOR currently is. The program
execution will be interrupted before the line identified by such a break point.
To remove a break point, simply select the line where it has been set, and use this
command again.

5.12.3.4.3 Bypass
Allows the program execution to continue, in case the program is waiting for the
completion of a suspending instruction such as WAIT FOR <condition>, DELAY <time>,
etc.

5.12.3.4.4 Comment/Uncomment
Allows the current program line to become a "comment" or to be considered as an
executable statement, by putting or removing the comment symbol ('--'). As already
mentioned, the commented line is displayed in green (see the below figure on the right).

5.12.3.5 Insert
Allows inserting a new PDL2 language program line, in the currently open program.
Touching this key, causes the system to immediately activate the PDL2 keyboard.

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Refer to par. 5.6.3.3 PDL2 keyboard on page 91 for detailed descriptions of such a
keyboard as well as Statement, Variables, Change and History commands.

5.12.3.5.1 Guided insertion of a generic statement

Let’s insert a new program line containing the FOR instruction.
After selecting the wished statement type (by means of the Statement key), confirm it
(either OK or ENTER) to prepare its insertion.

The system displays the corresponding template of the chosen statement (in our
example the FOR instruction - see figure above).
The user is requested to complete all the variable fields (moving among them by means
of either using the Next key, identified by a green arrow, or touching them), then to
confirm the statement insertion by either touching OK or pressing ENTER.

The system checks the syntax correctness; if the inserted statement is not correct, an
error message is displayed.
After the error has been fixed, the statement has to be confirmed again by either
touching OK or pressing ENTER.
If the instruction is correct and complete, its insertion is terminated.

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Note that the system has also inserted the ENDFOR line (see the previous figure on the
right), to complete the structure of the chosen instruction.

5.12.3.5.2 Group of instructions

Touching Statement key, the following groups are made available:
– Arm
– Call
– Flow
– IO
– MOVE
– PROGRAM
– SYS_ARM
– SYS_PROG.
– Applications
– iTP[IDE].

Arm
Including statements related to:
– Cooperative Motion between Arms and between Axes and Arms
– Arm ATTACH and DETACH
– Arm and Auxiliary Axes status (LOCK, RESUME, CANCEL, AUX_DRIVES, HOLD,
etc.).

Call
Including statements related to:
– calling REMOTE Tool, Uframe and Base calculation routine
– Call, Calls
– Call_prog (calling a routine belonging to an external program)
– SUB (creation of a subroutine within the current program; the new routine is
created as exportable, by default).
They all directly insert the corresponding routine IMPORT clause: so, declaring them as
‘importable is not needed.

Flow
Including all the needed statements to control the program execution flow:
– assignment, increment, decrement
– CASE, FOR, IF, SELECT, WHILE, etc.
– CYCLE, DELAY
– GOTO
– etc.

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IO
Including statements to handle:
– DIN, DOUT and HAND related ports
• DIN (TEST, WAIT_FOR)
• DOUT (INVERT, OFF, ON, etc.)
• HAND (CLOSE_HAND, OPEN_HAND, RELAX_HAND)
– assignment to other ports (AOUT, FMO, TIMER, WORD, etc.)
– I/O ports built-ins (BIT_CLEAR, BIT_SET, BIT_TEST, etc.)
– WRITE.

MOVE
Including:
– statements to handle motion related predefined variables ($FLY_DIST,
$FLY_PER, $STRESS_PER, etc)
– motion statements
• with FLY,
• with different destinations,
• with different trajectory types.

PROGRAM
Including statements related to the programs status:
– ACTIVATE/DEACTIVATE,
– EXIT CYCLE
– PAUSE/UNPAUSE,
– etc

SYS_ARM
Including:
– statements to handle ARM category predefined variables ($ARM_OVR,
$JNT_OVR, $LIN_SPD, etc), which are still valid even after the program
deactivation
– Base and ToolFrame routines calls.

SYS_PROG
Including:
– statements to handle ARM predefined variables within the current program only
($PROG_ACC_OVR, $PROG_DEC_OVR, $SPD_OPT, etc)

Applications
The templates of the specific Technological Instructions to the currently installed
applications, will be available in dedicated folders.

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iTP[IDE]
This group allows handling the transition of the IDE environment on the previous
generation Teach Pendant (iTP) to the new generation current one (TP5).
It will be cancelled as soon as possible, and the currently included statements will be
moved to other groups.

5.12.3.6 REC
Short touching this key, the following items are inserted in the program:
– a motion instruction and
– the declaration of the corresponding positional variable that is assigned the
current arm position.
Long touching this key, the REC setup environment is activated (see the following
figure).

Its current settings are displayed in the line above the Functional keys menu of the IDE
Page.

5.12.3.6.1 REC setup

Touching the REC setup item, a dedicated environment is opened allowing to setup all
the peculiar features of the motion instruction which is inserted each time the REC key
is touched.

When opening IDE Page, the REC key is set to modal joint, if it has not been previously
setup.

The user has to define

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– the motion instruction type (MOVE or MOVEFLY)

– the trajectory type (JOINT, LINEAR, CIRCULAR)
– the being inserted positional variable type (JOINTPOS, POSITION, XTNDPOS).
Furthermore, the following functions can be set for synchronized motion:
– whether the SyncMove clause it to be used or not
– the possibility of writing the motion instruction on more than one line, i.e. included
between the key words MOVE and ENDMOVE. To enable/disable this function,
select or unselect the Multi-line checkbox
– the trajectory type (JOINT, LINEAR, CIRCULAR)
– the being inserted positional variable type (JOINTPOS, POSITION, XTNDPOS).

NOTES TO TEACH POSITIONS IN MOVE..SYNCMOVE

– to be able to learn positions related to both Arms, referred by the MOVE ...
SYNCMOVE, with the IDE session open on the current program, it is necessary to
insert in the program, and run the following statement
ATTACH Arm[n]
for both the involved Arms in the MOVE ... SYNCMOVE statement. The execution
of such a statement must take place BEFORE teaching any point, otherwise, when
the Arm is changed, if the Arm selected by the Teach Pendant is different than the
PROG_ARM, the IDE session will be closed by the system.
Example:
If the program uses
MOVE Arm[2] ...SYNCMOVE Arm[1],
at the BEGINNING of the program it is necessary to insert the following statement
ATTACH Arm[1],Arm[2].
– To be able to teach the involved Syncmove positions, it could be needed to change
the current Arm, in order to be able to refer to the Arm of the wished being taught
position. Usually, pressing the ARM key once, could (in case of a 3 or 4 Arms
system) select an Arm which is different from either the PROG_ARM or the one
involved in the ATTACH statement; the currently open program is thus closed (‘No
programs available in IDE’ error occurs) and suitable questions are made to the
user about saving code and/or variables. In order to avoid such a situation, it is
recommended to KEEP PRESSED the ARM key until the wished Arm is reached
(indicated in the Status bar). Then release the ARM key.

Finally, touch the OK key to confirm the made settings.

Note that the new REC settings are NOT kept upon a system restart. To make them
permanent, a Configure Save operation is needed (Configure in Setup page).

5.12.3.7 MOD
Allows modifying the coordinates value of an existing position. Upon touching this key,
the system displays a dialogue window in which the user is prompted to confirm the
selected variable name.
Such a window displays, in the bottom section, joint and cartesian coordinates of the

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robot current position (as shown in the following figure).

If the set tool and frame for the current MOVE are different than the ones of REC setup,
the system will refuse changing.

5.12.3.8 Details

This key allows accessing the following commands:

– View variables in line
– View variables in program
– Callchain
– View motions of program.

5.12.3.8.1 View variables in line

Displays all variables that are on the program line currently indicated by the EDIT
CURSOR. The information of their values is refreshed in realtime.

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In our example, issuing this command causes the following page to be displayed:

– Window
– Edit
– Add...
– Assign
– View.

Window
This key opens a menu including commands related to the viewing window:
– Open...
– Save view...
– Save view as...
– Save values.

Open...
This command allows opening a previously saved viewing, passing through the main
page of the Display Page environment.

Save view...
This command allows saving the current viewing in the SAVED folder of the Display
Page environment. The involved file is the currently open one.
If there are NO open viewing files, the user is asked to specify a new filename.

Save view as...

This command allows saving the current viewing in the SAVED folder of the Display
Page environment, specifying a filename.

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Save values
This command allows saving, to the execution memory, the modified variables values.

Edit
This key opens a menu including commands to select and cancel variables, as well as
to modify their values:
– Select All
– Deselect All
– Invert Sel
– Delete
– Delete all
– POS SHIFT
– Create new variable.

Select All
This command selects all the currently displayed variables.

Deselect All
This command unselects all the currently selected variables.

Invert Sel
This command selects the unselected variables and unselects the currently selected
ones.

Delete
This command deletes from viewing the currently selected variables only.

Delete all
This command deletes from viewing all the displayed variables.

POS SHIFT
This function allows “moving” in the space, positions that belong to the selected
program, modifying its coordinates. Typically, it is useful to translate the execution of an
already taught path, by acting on the positions belonging to such a path.
Touching this key, a page is opened in which the user is allowed to specify the wished
offsets, related to the current components for X, Y and Z (the inserted values represents
the translation millimeters along all the three directions of the cartesian coordinates
system), as well as to select the wished reference frame, as shown in the below figure.

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If the selected variable is just one, the system displays its name and the corresponding
modifications are just referred to it (see the highlighted area in the previous figure).
Viceversa, when more than one variables are selected (as shown in the following
example, figure on the left, in which command View variables in program has been
chosen) the system displays the text “multiple selection” (next figure on the right) and
thus the translation is referred to all the selected positional variables.

Finally, touch Apply key to confirm the modifications.

At the end of the operation, the system prompts the user with a suitable message.

Create new variable

This command allows adding a new program variable, inserting its declaration into the
VAR section.
Touching Create new variable item, causes a page to be displayed in which the user
should insert any needed information for the new variable (see the following figure).

Type in the wished name by means of the alphanumeric keyboard which is opened upon
touching Name field.
Then choose the wished type from the displayed list, by touching Type field.

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In the summarizing page (see next figure on the left), touch OK key to confirm. The new
variable declaration is then inserted into the program (see the highlighted in red
statement, in the next figure on the right).

Add...
This command allows adding some new elements to the current viewing. It is very useful
when, besides the current program variables, it is wished to view also some I/O points,
predefined variables or some other programs variables.
In such a case, the Display Page environment viewing functionality is automatically
used. This command opens the main page of such an environment, in which the icons
of all the viewable Elements are available (see the following figure).

One or more elements can be added by simply touching the corresponding icon.

Please refer to Chap.5.13 - Display Page on page 177 for further details.

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Assign
This command allows assigning a value to the selected variable.

Depending on the variable type, the available chooices are:

– On
– Off
– Value...
– Current position
– Invert
– PULSE.

On
Assigns TRUE value to the selected BOOLEAN variable or I/O point.

Off
Assigns FALSE value to the selected BOOLEAN variable or I/O point.

Value...
Assigns a suitable value to the INTEGER, REAL, STRING, etc. selected variable.

Current position
Assigns the arm current position to the selected positional variable.

Invert
Inverts the value of the selected BOOLEAN variable (ON -> OFF, OFF -> ON).

PULSE
This command simulates a pulse, i.e. inverts the selected port value for the time interval
[ms] specified by the user.
The next figures show an example of a 2 seconds PULSE, on $BIT[13] variable. Specify
the wished time and touch OK to confirm.

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View
This command allows choosing how to view the selected elements:
– ProgressBar
– Format.

ProgressBar
This command allows viewing analog ports by means of a Progress Bar.

Format
This command allows specifying the base in which the selected elements values are to
be viewed:
– Binary
– Octal
– Decimal
– Hexadecimal.

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5.12.3.8.2 View variables in program

Displays all the variables belonging to the currently open program. The information of
their values is refreshed in realtime.
In our example, issuing this command causes the following page to be displayed:

The following keys are available in the Functional keys menu, as for previous View
variables in line command:
– Window
– Edit
– Add...
– Assign
– View.

NOTE - for a detailed description of the listed above commands, please refer to
par. 5.12.3.8.1 View variables in line on page 168.

5.12.3.8.3 Callchain
It displays the routine calls nesting for the currently selected program (see Fig. 5.30 in
Chap.5.11 - Prog Page on page 126).
The following information is provided:
– routine name (routine)
– line number of the call (line)
– program state (status)
– routine owning program (owner)
– program context type: main, interrupt routine, routine (type).
The Bypass key, available int the Functional keys menu, allows skipping the current
statement while debugging the program. This command is useful whenever the program
is waiting for a condition. It cannot be used when the system is in FATAL state.

5.12.3.8.4 View motions of program

With the Lookahead option (see par. 5.10.2.1 Lookahead functionality (optional
feature) on page 75), starting from 4.20.xxx system software version, this command is

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available to view information about the fly motion statements currently taken into
account by the Interpreter.
The following information is provided:
– name of the owning program (Owner)
– program line including the motion statement (Line)
– MOVE type (Move type)
– target position (Goal)
– VIA position, if any (Via)
– comment, if any (Comment).
Full information related to 2, 3 or 8 motion statements is displayed, depending on the
currently set lookahead mode.
An example is given viewing motion information for a lookahead mode with
$ADVANCE=2.

Refer to Motion programming manual, par. 5.10.2.3 Joint FLY on page 77,
par. 5.10.2.4 Cartesian FLY on page 81 and mainly par. 5.10.2.1 Lookahead
functionality (optional feature) on page 75, for further details about the Lookahead
option, available from 4.20.xxx system software version.

5.12.3.9 Closure key

Touch this key (white cross in red background) to close IDE Page: the program remains
in the state it was before the closure. Refer also to par. 5.6.1 Common keys on page 81
for further details.
If there is a misalignment between the EDIT CURSOR and the EXECUTION CURSOR,
the user is asked if the execution is to be continued from the edit cursor position. It is
only possible to exit from the environment if the reply is affirmative. Otherwise it is
necessary to manually realign the cursors before closing.
If the program has been changed, the user is asked if it is to be saved.

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5.13 Display Page

5.13.1 Introduction
This environment DISPLAYS information about the following elements:
– existing I/O points, associated or not to the Devices which are present in the
System,
– Program and System Variables
– variables belonging to any installed applications onto the Control Unit.

The user is allowed to combine such Elements as wished, depending on how many and
which of them he/she would like to view.
Dedicated Commands are available for this environment, to create, modify, export and
display such combinations of elements.
– Creating a new combination
– Viewing/modifying/deleting an already existing combination
– Exporting the saved combinations
– Elements
– Commands.

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5.13.2 Creating a new combination

a. Touch New Display icon

b. Access the sub-environments icons by touching either the area indicated in the
following figure (highlighted in red) or Window - Open... command.

c. All the existing Display sub-environments icons are made available for the user to
choose, as shown in the following figure.

Display the wished element (see par. 5.13.5 Elements on page 182) by touching
the icon of the corresponding sub-environment.
In the shown example, the VARS icon is selected.

d. Select the wished element and provide the needed information to complete its
insertion.
In the shown example, it is required to insert a System Var (see par. 5.13.5.3
VARS on page 186).

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The required being inserted data are Variabile name, first Index, second Index if
needed, Arm and Comment, as shown in the following figure.

For further information about how to handle the specific element, refer to par. 5.13.5
Elements on page 182 and to par. 5.13.6 Commands on page 191.

e. Add some more elements, if wished, by touching Add... key to view the Elements
icons again.

f. Repeat d. and e. steps, until completion of inserting all the wished elements.

g. Modifiy the new combination, if needed, by means of Edit command.

h. Save the new combination to a file, by means of either Window - Save view... or
Window - Save view as....
For any variable belonging to programs which are currently loaded into memory, it
is also available Window - Save values command, to save the modified variables
values to the execution memory. Such values are NOT saved to the file.

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Note that the file names must be chosen by the user.

i. Exit from the sub-environment by means of the closure key (see par. 5.6.1
Common keys on page 81 for further details).

5.13.3 Viewing/modifying/deleting an already existing

combination
a. Touch SAVED icon to open the already existing combinations environment.

b. The system displays the existing files in SAVED folder. Touch the icon related to
the wished file to display its variables.
In our example, the only existing file is my_disp_vars. If it is wished to cancel it,
touch Delete key.

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c. Opening the selected file, the system displays all the contained variables.

If wished, the user can edit the file content in order to modify the displayed
Elements combination.

d. Use Edit, Add..., Assign, Force commands, to modify the displayed combination.

Refer to par. 5.13.6 Commands on page 191 for further information about handling each
element.

At the end, save the combination to make any modification operational, by means
of either Window - Save view... or Window - Save view as..., depending on saving
to the same file or to a file with a different name. For any variable belonging to
programs which are currently loaded into memory, it is also available
Window - Save values command, to save the modified variables values to the
execution memory. Such values are NOT saved to the file.

Note that the file names must be chosen by the user.

e. Exit from the sub-environment by means of the closure key (see par. 5.6.1
Common keys on page 81 for further details).

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5.13.4 Exporting the saved combinations

In the functional keys menu a key is available represented by a USB Flash Disk icon: it
allows Exporting the existing combinations in the SAVED folder, to an external device,
currently inserted into one of the system USB ports.

To start exporting, simply touch such a key (see figure above) and select the wished
USB port.
The user is asked for confirmation before starting the export operation.

Answer Yes to start the export procedure. A suitable message is displayed to notify the
operation completion (see above figures).
The name of the newly created folder onto the USB Flash Disk is MyDISPLAY; it
includes all currently existing combinations inside the SAVED folder.
Touch the Closing current page key to close the Export environment.

5.13.5 Elements
Questo paragrafo descrive gli ambienti che contengono tutti gli elementi visualizzabili
(tra i quali l’utente può scegliere per creare la propria combinazione personalizzata):
– DEVICE
– PORTS
– VARS
– Installed applications.

Refer to par. 5.13.2 Creating a new combination on page 178 and to par. 5.13.3
Viewing/modifying/deleting an already existing combination on page 180 to group at the
user’s liking the wished elements, and to save such combinations to different files.

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5.13.5.1 DEVICE
This environment displays the existing Devices families, in the System.

NOTE
From within this page, the user is allowed to access any system variables related to the
Safe Logic, by selecting PLC_SAFELOGIC.

The device (either physical or virtual) name, type and state (connected, not connected,
disabled), are indicated in the lowest part of the screen, above the Functional keys
menu, highlighted in red in the following figure.

Note that the icons, representing the Devices State, are refreshed in realtime.
The C5GPlus icon represents the Primary Slave.

Touching once the icon associated to a certain device, the following keys are made
available in the Functional keys menu:
– Device
– Remote Inp.
– Properties.
Touching twice (which means touching again an already selected icon) instead, the icon
associated to a certain device, causes to enter the associated I/O ports display page.

5.13.5.1.1 Device

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This functional key is available for either User devices, i.e. belonging to a Profibus,
DeviceNet, Profinet, Ethernet/IP, EtherCAT type Fieldbus, or Virtual devices.
Touch Device and choose Disable item, to disable the selected device (see previous
figure).
On the contrary, touch Device key and choose Enable item, to enable a disabled
device.
If the user wishes to display the devices related icons in a Compact way, long touch the
Icons View mode key: it is then made available a menu including Compact command.

Touch such an item to change the viewing mode.

Repeat the same operation to go back to the previous viewing mode.

5.13.5.1.2 Remote Inp.

This functional key is only available if the selected device is a primary slave; use it to
enable/disable one of the following signals from remote: START, HOLD, DRIVE ON,
DRIVE OFF.
Pressing this key, a menu is opened in which the user can choose either Enable or
Disable command.

If Disable command is chosen, the system will not take the listed above signals (such
signals only), coming from PLC, into account. Obviously, the system will take them into
account again as soon as the Enable command is issued.

Note that when signals from remote are disables, an exclamation mark ‘!’ is displayed in
the Status bar (as shown in the following figure) beside the current state indication
(either PROGR or LOCAL).

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5.13.5.1.3 Properties

By means of Properties key, a sub-page is displayed showing additional information

about the currently selected Device (see above figures).
To go back to the Device sub-page, simply touch the closure key (see par. 5.6.1
Common keys on page 81).

5.13.5.2 PORTS
This sub-page allows displaying all existing ports in the System (below figure on the left),
grouped by port type.
Touching the wished icon, depending on the required port type, the system could display
a screen in which the user is asked to specify the range of the being displayed ports (as
shown in the following example, figure on the right).
Specify the range by means of the suitable keyboard which is activated by the system.

Touch OK key to confirm the choice and to get the required ports list to be displayed,
with the following information:
– Owner - indicates whether such a row information is associated to an I/O type
element or to a program variable element; in that case the owning program name
is displayed
– Name - element name
– Value - element current value
– Comment - element description.

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Refer to par. 5.13.6 Commands on page 191 for all commands to handle each single I/O
Port.

5.13.5.3 VARS
This subenvironment displays
– variables belonging to PDL2 programs currently loaded in memory (Program Var),
– a subset of PDL2 language predefined variables (System Var).

Different selection pages are opened, depending on the wished variable, in which the
user should insert the needed information.
In the following figures, the left one refers to Program Var choice, whereas the right
figure refers to System Var one.

Program and Variable fields are to be completed by the user; the system provides a list
of available choices, by simply touching them.
Touching the other fields (Index, Arm, Comment), causes the suitable keyboard to be
opened by the system.

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NOTE
If the wished variable is an ARRAY, the user is allowed to specify just some elements.
The syntax allows specifying both an elements interval (e.g. 1-3 means elements [1], [2]
and [3]) and a list of not sequential elements (e.g. 2, 6, 9 means element [2], element [6]
and element [9]. See example in Fig. 5.34.

A detailed description follows for each one of the involved elements categories:
– Program Var
– System Var.

5.13.5.3.1 Program Var

Touch Program field and choose from the displayed list, to select the owning program
of the wished variables.
.

Then choose the wished variable(s), among the one belonging to the selected program.
The user is allowed to select them all, simply touching Select all variables checkbox
(highlighted in red in the previous right figure).
If selecting just some of them is wished, instead, touch Variable field to open the
complete list (see next figure).

In the following figure a selection example is shown (see figure on the left).

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Multiple selection
A multiple selection is allowed of some elements in the list, by moving the cursor to the
wished variable and pressing SHIFT and ENTER keys at the same time.
The element currently pointed by the cursor, is included in the sNella selezione verrà
incluso anche l’elemento attualmente puntato dal cursore.
Furthermore, it is allowed to make a multiple selection by means of the touch method:
touching an element and dragging the finger (never detaching it from the screen)
towards subsequent or previous elements, all the touched elements are then selected.

Among the selected variables, if wished, the user is allowed to MODIFY the value of the
following datatypes ones:
– INTEGER
– BOOLEAN
– REAL
– STRING.
An example is provided, in the following figures, of modifying an INTEGER variable.
Select the being modified variable and choose Value... item from Assign menu, to
cause opening the numeric keyboard which allows the user to insert the new value.

Touch OK key to confirm and view the newly inserted value.

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The user is allowed to assign the Arm Current position to positional variables (see the
following figure)

5.13.5.3.2 System Var

Touch Variable field to select the wished System Variable. The system opens a
TreeGrid structure including all the user accessible system variables (see next figure on
the right).

Open the suitable tree branch, select the wished system variable and touch OK key to
confirm.

If the wished System Var is not already included inside the displayed structure, the user
is allowed to select it anyway, by touching the first key on the left, in the functional keys
menu (see previous figure on the left, highlighted in blue key). It opens the alphanumeric
keyboard to allow the user to type in the wished System Var name.

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Touch OK both in the keyboard page and in the Sys Var page, to insert such a variable
into the being created/modified combination.
As for Program Vars, the user is allowed to modify System Vars value too. The
procedure is the same and, as for Program Vars, the editable variables types are just
the following ones:
– INTEGER
– BOOLEAN
– REAL
– STRING.

The user is allowed to assign the Arm Current position to positional System Vars (see
the following figure)

Example - selecting array elements

As already described in the previous NOTE, the user is allowed to select just some
elements of an array. An example follows here on.

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Fig. 5.34 - Selecting array elements

5.13.5.4 Installed applications

When one or more applications are installed in the system, their variables can be
displayed, handling them by means of the Display Page, exactly like for Program Vars
and System Vars.
In the following example, some variables belonging to SmartHand application are
displayed.

5.13.6 Commands
In this section the available commands are described, corresponding to the currently
displayed elements.

Note that when one or more elements are displayed, their values are realtime refreshed.

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Fig. 5.35 - Commands

– Window
– Edit
– Add...
– Assign
– Force
– View.

5.13.6.1 Window
Touch this key to access commands acting on files contained in the SAVED folder:
– Open...
– Save view...
– Save view as...
– Save values

5.13.6.1.1 Open...
This command displays the main page of the Display environment, in which all the
viewable Elements icons are included.

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Touching one of those icons, the user can insert one or more included elements, in the
current combination.

5.13.6.1.2 Save view...

This command allows saving the currently displayed elements combination to SAVED
folder. The related file is the currently open one.

Note that in case of new combination (see par. 5.13.2 Creating a new combination on
page 178), Save... command is automatically switched to Save view as... command.

5.13.6.1.3 Save view as...

This command allows saving the currently displayed combination of elements to the
SAVED folder. The filename must be specified by the user by means of the
automatically opened keyboard.

5.13.6.1.4 Save values

This command allows saving to the execution memory the new values of the displayed
elements combination. It is just meaningful for variables belonging to currently loaded to
memory programs.
The system prompts the user to confirm saving, by means of a suitable message.

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5.13.6.2 Edit

This key opens a menu to handle the being viewed elements selection.
The available commands are as follows:
– Select All
– Deselect All
– Invert Sel
– Delete
– Delete all.

5.13.6.2.1 Select All

Choose this command to select all the currently dispalyed elements.

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5.13.6.2.2 Deselect All

Choose this command to unselect all the currently selected elements.

5.13.6.2.3 Invert Sel

Choose this command to unselect all the currently selected elements and select the
currently not selected ones.

5.13.6.2.4 Delete
This command deletes the currently selected elements.

5.13.6.2.5 Delete all

This command deletes all the currently displayed elements.

5.13.6.3 Add...

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This command displays the main page of the Display environment, in which all the
viewable Elements the user is allowed to add are included.

Touching one of such icons, the user can add one or more elements to the current
combination.

5.13.6.4 Assign
This command allows assigning a value to the selected element.

This functionality is not available for $AIN/$AOUT ports.

WARNING
Program Vars can be assigned new values only if they belong to currently loaded to
memory programs!

The available choices are:

– On
– Off
– Valore...
– Current position
– Invert
– PULSE.

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5.13.6.4.1 On
Assigns TRUE value to the selected element.

5.13.6.4.2 Off
Assigns FALSE value to the selected element.

5.13.6.4.3 Valore...
Assigns a suitable value to the INTEGER, REAL, STRING, etc. selected element.

5.13.6.4.4 Current position

Assigns the arm Current position to the selected positional variable (vedere esempio
nella figura seguente).

5.13.6.4.5 Invert
Inverts the value of a BOOLEAN variable (ON -> OFF, OFF -> ON).

5.13.6.4.6 PULSE
This command simulates a pulse, i.e. inverts the selected port value for the time interval
[ms] specified by the user.
The figures below show an example of a 2 seconds PULSE, on $BIT[13] variable.
Specify the wished time and touch OK to confirm.

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5.13.6.5 Force
This command forces the value of a certain I/O. The physical port is no longer
considered and the forced value is used.
In order for such an I/O point to be able to assume the current value, the Unforce
command must be used.
A forced I/O point is displayed in red.

This functionality is not available for $AIN/$AOUT, $GI/$GO and $FMI/$FMO.

The available choices are:

– On
– Off

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– Current
– Value...
– Unforce.

5.13.6.5.1 On
Forces the specified I/O point to TRUE.

5.13.6.5.2 Off
Forces the specified I/O point to FALSE.

5.13.6.5.3 Current
Forces the specified I/O point to its current value.

5.13.6.5.4 Value...
It is just like the preceeding ones, but refers to I/O points composed by more than one
bit.

5.13.6.5.5 Unforce
Removes the forced status for the selected I/O point, and restores its original physical
configuration; the user must specify one of the following options:
– Current - removes the forced status for the selected I/O point, setting the current
value
– All - removes the forced status of all I/O points of the selected type.

5.13.6.6 View
This command allows choosing how to view the selected elements:
– ProgressBar
– Format.

5.13.6.6.1 ProgressBar
This command allows viewing analog ports by means of a Progress Bar.

5.13.6.6.2 Format
This command allows specifying the base in which the selected elements values are to
be viewed:
– Binary
– Octal
– Decimal
– Hexadecimal.

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5.14 Appl Page

This page is the User Interface of the application packages installed on the Control Unit
Unit.
It is different depending on the application which it is referred to.
The below figure shows the SmartSpot application main page as an example of
application page.

To properly handle the application User Interface, refer to the specific application
manual.

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5.15 Files Page

The User page of File Manager (Files) allows to carry out any operations concerning
files: copy, cancel, create and remove files and folders, etc.
The Files Page is a list, displayed as a table (see the figure below).

To sort the content of such a list, two methods are available:

– dedicated functional key, View - Sort by
– columns titles - touching one of the columns titles, causes the list elements to be
sorted according to such a column (Name, Size, etc.). A graphic sign (up/down
arrow displayed beside the column title), indicates whether sorting is upwards or
downwards. The example in the following figure shows a list sorted by downwards
Size.
Refer to par. 5.6.2.8 List on page 85 for further details.

The available functions are:

– Disk
– Edit
– File
– View
– Details.

5.15.1 Disk

This menu includes the following utility commands, peculiar of such an environment:

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– New
– Backup
– Backup of Saveset
– Restore
– Restore of Saveset
– Device change
– Device Properties
– Recycle bin.

5.15.1.1 New
Creates a new File, Directory or compressed file (.ZIP).
Specify the new element name by means of the automatically activated keyboard. If it is
a file, indicate the extension too.
Touch OK to confirm.

5.15.1.2 Backup
This command copies a range of files (specified by means of either a name or a
Saveset) towards the default backup/restore device ($DFT_DV[3]). The user is also
allowed to select some options related to the command.

This is the most complete way to use the Backup command.

To activate this command, operate as follows:

a. select Backup command;

b. choose whether the File Name or the Saveset is to be used

b.1 if File Name has been selected, proceed as follows

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b.1.1 Specify the wished Destination. If nothing is specified, the default backup/restore
device is used (i.e. the current value of $DFT_DV[3]);

b.1.2 insert the wished command options, by selecting the corresponding checkbox:
– Date(/After)=copy all the files which have been created/modified either
before or after a specified date or a certain amout of days,
– Incremental(/Incremental)=copy all the files which have NEVER been
saved in previous backup operations
and any required additional information (e.g. for the Date(/After) option it is needed
to insert the either date or the amount of day).

b.2 If, on the contrary, Saveset was specified, proceed as follows

b.2.1 touch the field containing the Savesets list;

b.2.2 the system opens a subenvironment in which the available Savesets are listed;
touch the name of the wished Saveset and touch OK key to confirm;

To check whether the being selected Saveset name, the associated options and the
corresponding files group match, it is strongly suggested to open the Backup sub-page
in the Setup page.

The corresponding options of the selected Saveset have already been inserted from the
Setup page, at the Saveset definition time.
It is anyway allowed to specify some more options, provided that they are compatible in
respect with the already specified ones.
The allowed options for the Backup Savesets, at this level, are Date(/After) and
Incremental (/Incremental).

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c. touch OK key to confirm;

d. as shown in the figure above, the system asks for a confirmation to go ahead with
the Backup operation. Confirm by touching Yes key to start its execution.

HINTS FOR BACKUP AND RESTORE USE

It is recommended to follow the listed below hints, in order to better understand the
difference between executing a simple file copy (FILER COPY (FC) command) and
performing well organized Backup/Restore operations:
– always verify the execution memory and the UD: device to be consistent (no
unsaved programs and/or data files) before going on with any Backup or Restore
operation.
– Always save the configuration file (Save in the Setup page) before issuing a
Backup command; always load the configuration file (Load in the Setup page) after
a Restore operation, in order to restore the same working conditions, based on
.C5GPlus file, after Restart.
– Schedule periodic Backup operations, preferably when NO technological
operations are running, when motor drives are off (DRIVE-OFF) and when the
system is in programming status.

5.15.1.3 Backup of Saveset

This command copies all files belonging to the specified Saveset, towards the default
backup/restore device ($DFT_DV[3]).
The specified Saveset must have already been defined in the Setup page; the user is
not allowed to modify in any way the Saveset, at this level.

This is the simplest way of using the Backup command.

Operate as follows, to activate such a Backup command:

a. choose the Backup of Saveset item selecting the wished Saveset ;

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Among the available Savesets, there is a predefined one, called Srv (see above figure),
which is to be used to save a specific situation before calling COMAU Assistance.
It is suggested not to activate such a command during the process: it could slow it
down.

b. the system displays the current Backup destination device; if wished, it is allowed
to modify it;

c. touch OK key to confirm;

d. the System asks the user again for confirmation, before starting to execute the
Backup operation. Touch Yes key to confirm.

5.15.1.4 Restore
This command restores all files (specified by means of either a name or a Saveset) from

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the default backup/restore device ($DFT_DV[3]), to the device from which they had
been previously saved by means of a Backup command. The user is also allowed to
insert some options associated to the command.

This is the most complete way to use the Restore command.

Read carefully the NOTE about the total amount of entries in the UD: root directory.

See also HINTS FOR BACKUP AND RESTORE USE.

To activate this command, operate as follows:

a. select Restore command;

b. chose whether a File Name or a Saveset is to be used

b.1 if File Name has been specified, proceed as follows

b.1.1 specify the desired Source. If nothing is specified, the default backup/restore
device (i.e. the current value of $DFT_DV[3]) is used;

b.1.2 insert the wished command options, by selecting the corresponding Checkbox:
– Date(/After)=restores all the files which have been created/modified before
or after a specified date or amount of days,
– Newer=restores if more recent only,
– Overwrite=overwrite also read-only files,
and any required additional information (e.g. for the Date(/After) option it is needed
to insert either the date or the amount of days).

b.2 If Saveset has been specified, proceed as follows

b.2.1 touch the Saveset campo, to open the list;

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b.2.2 the system opens a subenvironment in which the available Savesets are listed;
touch the wished Saveset name and confirm touching OK key;

To check whether the name of the being selected Saveset, the associated options and
the corresponding files group match, it is strongly suggested to open the Restore
sub-page in the Setup page.

Any allowed corresponding options for the selected Saveset have already been inserted
from the Setup page, at the Saveset definition time.
It is anyway allowed to specify some more options, provided that they are compatible in
respect with the already specified ones.
The allowed options for the Backup Savesets, at this level, are Date(/After), Newer and
Overwrite.

c. press OK (F5) to confirm;

d. as shown in the figure above, the System asks the user again for confirmation,
before starting to execute the Restore operation. Touch Yes to start the Restore
execution.

5.15.1.5 Restore of Saveset

This command copies all files belonging to the specified Saveset, to the device from
which they had been previously saved by means of a Backup command.
The specified Saveset must have already been defined in the Setup page; the user is
not allowed to modify the Saveset setup, at this level.

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This is the simplest way of using the Restore command.

Operate as follows, to activate such a Restore type command:

a. activate the Restore of Saveset command by selecting the wished Saveset;

b. the system displays the currently active Restore source device; it is editable, if
wished;

c. touch OK to confirm the choice;

d. the System asks the user again for confirmation, before starting to execute the
restore operation. Answer by touching Yes to confirm.

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5.15.1.6 Device change

This command allows changing the device for displaying the files list. The allowed
devices depend on the hardware detected by the system.

Access to a different device may depend on whether or not the Login has been
executed.
If a removable device is to be used, insert it in the suitable housing (e.g. a USB flash
disk in a USB port) before using the required command.
In such a way the wished device will be listed among the selectable devices and the user
will be able to choose it.

5.15.1.7 Device Properties

This command displays information about the current storage unit (UD:):
– graphic representation of free space and occupied space
– unit name
– available space
– used space
– unit size.

Fig. 5.36 - Device Properties

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5.15.1.8 Recycle bin

Displays the recycle bin content related to the selected directory. The following functions
are available in the Functional keys menu:
– Empty
Empties the bin.
– Erase
Permanently removes the selected file from the bin.
– Restore
Restores the selected file and put it again in the current directory.

5.15.2 Edit
This menu allows executing some operations to handle the currently displayed files.

– Select all
– Deselect all
– Invert sel
– Select prompt
– Cut
– Copy
– Paste.

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5.15.2.1 Select all

Selects all the files included in the current folder.

5.15.2.2 Deselect all

Deselects any already selected files.

5.15.2.3 Invert sel

Inverts the current selection (the selected files are unselected and the non-selected
ones are selected).

5.15.2.4 Select prompt

Sets the criterion to be used to select the files. The user is asked to insert the wished
selection criterion; the use of the wildcard is allowed.

In the shown above example, the selection creterion is “select all .cod files.

5.15.2.5 Cut
Cuts the selected files.

5.15.2.6 Copy
Copies the selected files.

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5.15.2.7 Paste
Copies the previously cut or copied files to the current folder.

5.15.3 File

The available choices are:

– Open [ENTER]
– Send to
– Rename
– Delete
– Delete Perm.
– Translate
– Compress
– Extract
– Load and activate
– Install.
A detailed description is provided for all the listed above functionalities.

5.15.3.1 Open [ENTER]

This command opens the file in ASCII editing mode.

In this environment, the available keys in the Functional keys menu are as follows:
– File

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– Edit.

5.15.3.1.1 File

This menu allows activating the following commands:

– Reload
– Save
– Save as.

Reload
Reloads the last saved version of the currently opened file in edit environment.

Save
Saves the current file with the same name, keeping it open for editing.

Save as
Saves the current file content with a different name and/or destination, keeping it open
for editing.

To save the file, see NOTE regarding the total amount of entries in the UD: root
directory.

5.15.3.1.2 Edit

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The classic edit commands for a text file are available in this menu:
– Copy
– Paste
– Cut
– Go to..
– Find...
– Find next
– Insert line
– Delete selected lines.

Go to..
This command allows positioning the cursor to the wished line.
Touch to select it. The system automatically opens the Numeric keyboard to allow the
user inserting the wished program line number.

Find...
This command allows finding a text string within an open for editing file.
Touching this command, the system automatically opens the Alphanumeric keyboard to
allow the user to insert the being searched text string.
Insert the wished string and touch OK to confirm.
The cursor is then positioned to the line where the requested string is found.
If not found, a suitable informational message is displayed.

Find next
This command allows finding the next occurrence of an already found text string within
an open for editing file.
If not found, a suitable informational message is displayed.

Insert line
This command opens the PDL2 keyboard to allow the user inserting a new program line,
with the wished content.
The PDL2 keyboard allows inserting PDL2 statements as well as simply typing text
strings.

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Delete selected lines

This command acts on the currently open file content.
Select the being deleted line or lines land then activate the command.

5.15.3.2 Send to
Copies the selected file to the specified device.

5.15.3.3 Rename
Allows specifying a different name for the currently selected file.

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When the Rename command is touched, the system automatically opens the
Alphanumeric keyboard and displays the current filename, to allows the user to insert a
new filename. Insert it and touch OK key to confirm.

5.15.3.4 Delete
Deletes the selected file. It can be restored by means of the Recycle bin command:
select the being restored file and touch the Restore key.

The selected file is taken away from the Recycle bin and put into the directory from
which the Recycle bin command was issued.
Note that one Recycle bin for each folder is available.

5.15.3.5 Delete Perm.

Permanently deletes the selected file. The user is no longer allowed to restore it.

5.15.3.6 Translate
Converts:
– a PDL2 program in ASCII source code (.PDL), to an executable code (.COD) file
and vice versa;
– a file of variables in ASCII source format (.LSV), to a file of variables with a loadable
format for the Control Unit (.VAR) and vice versa.
If the destination file (e.g. .COD) is already existing, the copy is saved with a different
extension (e.g. .BKC) before the new file is created.
If reports or errors are detected during the conversion, they are displayed in the scrolling
window and recorded in <file_name>.ERR file.

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This command can also be used to convert system binary files (.C5GPlus), to the
corresponding ASCII format (.PDL).

5.15.3.7 Compress
This command allows compressing a file, thus reducing its size. The compressed file
has .ZIP extension.
In the below example, new_mot_1.cod file has been compressed into
compressed_file.zip file.

Touching Compress command, the system opens a subpage in which the user should
specify the Device, the Directory and the compressed file Name. The Alphanumeric
keyboard is automatically opened to type in the file name.

Touch OK to start the operation.

5.15.3.8 Extract
Extracts files from a compressed file (.ZIP) and put them to the same folder. Note that if
the currently selected file is NOT a compressed one, this command is NOT available.

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5.15.3.9 Load and activate

Loads the selected file into the execution memory and then activates it. Obviously, the
only loadable and activable files are the executable ones. Load and activate command
is not available in any other situations.

5.15.3.10 Install
Opens the selected .zip file and installs the included application program. The
corresponding command to be used from within WinCRC environment is FILER
UTILITY INSTALL (FUI).

5.15.4 View
Handles the files information viewing and how the related icons are displayed.

– Refresh
– Mode
– Sort by.

5.15.4.1 Refresh
Updates the information included in the files list.

NOTE: to be sure that the displayed information is always consistent, refreshing is to be

called; in fact, refreshing is NOT automatically carried out since the displayed
information is static.

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5.15.4.2 Mode
Specifies how the files list icons are displayed.

– Big icons
– Details.

5.15.4.2.1 Big icons

Allows displaying the information with large-sized icon.

5.15.4.2.2 Details
This command allows viewing the files list with the detailed information:
– Name - it is the filename
– Size - it is the file size in bytes
– Time - it is the last modification date.

5.15.4.3 Sort by

This command allows viewing the list of files according to different criteria:
– Name - alphabetical order
– Date - date of modification (from top downwards, first the oldest files are displayed,
followed by the most recent ones)
– Type - type of extension.
– Size - file size.

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Note that the first time a criterium is selected (e.g. “Sort by Name”), the increasing sort
is used (e.g. from A to Z); selecting the same criterium again, the decreasing sort is used
(e.g. from Z to A).

5.15.5 Details

Allows viewing some detailed information about the currently selected file(s):
– Attribute
– Properties.

5.15.5.1 Attribute
Allows to assign the selected file or to remove from it one of the following attributes:
– Hidden - not viewable files
– Read-only - read only files
– System - system files.
To remove an attribute, just select it again (toggle type function).

5.15.5.2 Properties
Allows viewing the selected file Property Notes.

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5.16 Data Page

The User DATA page of the Teach Pendant allows to read and modify all the data tables
stored in C5GPlus Control Unit .

Sorting such tables according to the columns titles is not available in this environment.

The following tables can be managed in the Data Page:

– System tables
– Application tables
– User tables.

5.16.1 General information

When the Data Page is opened, the list is shown of all the existing tables on the Teach
Pendant display.
Touch the corresponding icon to open a table.
Touch twice the open table cells to edit them. In such a way, the corresponding
keyboard is automatically opened which allows inserting the wished value (see example
in the below figures).

When a table is open, the available commands in the Functional keys menu, sare as
follows:
– Table

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– Edit.

5.16.1.1 Table
This menu provides commands to operate on the table and on its corresponding file.

– Reload
– Save
– Apply
– AutoApply
– Undo Changes.

5.16.1.1.1 Reload
Reloads the value of the variables from the file.

5.16.1.1.2 Save
Saves the changes both in the execution memory and in the file. The Table remains
open.

See NOTE about the total amount of entries in the UD: root directory.

5.16.1.1.3 Apply
Saves the applied changes in the execution memory. The table keeps open, but the
changes are NOT stored in the file.
Note that the modifications are written in in Italic until they are not applied to the table
(see example in the following figure).
Furthermore, in the topmost field, besides the table name, a “Not apply” text is displayed
(see the following figure on the left, highlighted in red).

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As soon as the Apply command is activated, such a text becomes “Not saved” (see
previous figure on the right, highlighted in red).

5.16.1.1.4 AutoApply
Editing in AutoApply mode means to make the changes applied to the table cells (i.e.
copied in execution memory) get automatically operating, with no needs of using Apply
command.
If a table may be edited in AutoApply mode, such a functionality is enabled when the
table is opened (a lighted green ”led” is displayed on the left of the command ).
This mode can be disabled/enabled by touching the key again, toggle type functioning.

5.16.1.1.5 Undo Changes

Cancels all modifications in the cells where the Apply command has not been used yet.

5.16.1.2 Edit

Allows editing the table content.

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The following commands are available:

– Select row
– Select cell
– Deselect
– Copy & paste
– Insert row
– Delete row.

Multiple selection
A multiple selection of the table elements is allowed by moving the cursor to the wished
element and pressing SHIFT and ENTER buttons at the same time, to insert it to the
selection.
The currently pointed element will also be included to the selection.
Furthermore, it is allowed to make a multiple selection by means of the touch method:
touching an element and dragging the finger (never detaching it from the screen)
towards subsequent or previous elements, all the touched elements are then selected.

5.16.1.2.1 Select row

Touch this command to select (see the figure below on the right) the row where focus is
currently placed (see the figure below on the left).

If focus is not placed on any cell, this command does not take any effect.

5.16.1.2.2 Select cell

If focus is onto a cell (see left figure below), touching this command causes the cell to
be selected (see right figure below).

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5.16.1.2.3 Deselect
Deselect all currently selected cell/row.

5.16.1.2.4 Copy & paste

This command allows pasting the contents of the currently selected cell or row by
copying exactly when the paste operation is performed.
This is very useful when handling tables whose content is changing very fast in real time
thus, copying/pasting in two different moments, would mean to paste an already
meaningless value, due to the elapsed time.
To properly use this command, it is needed to

a. touch the being copied cell or one cell of the being copied row (in the shown below
example a cell is copied&pasted)

b. select such a cell or row (Select cell or Select row command)

c. touch the destination cell or one cell belonging to the destination row

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d. touch Copy & paste command.

5.16.1.2.5 Insert row

Inserts a new row in the table, in alphabetical order, by Name.
Touching this command, the system automatically opens the alphanumeric keyboard to
allow the user inserting the new row name (see example in the figures below).

The new row is inserted in the proper position, according to the alphabetical order (see
the figure below).

5.16.1.2.6 Delete row

This command cancels a row complying the following requirements:
– row owning the currently focused cell, or
– row owning the currently selected cell, or
– currently selected row.
Before deleting, the system prompts the user for confirmation.

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Answer Yes to execute the wished operation.

The remaining rows are moved to the top.
If neither a cell nor a row is selected, nor element is focused , this command does not
cause any effect.

5.16.1.3 Closure key

Allows closing the Data environment. Please, also refer to par. 5.6.1 Common keys on
page 81.
If any not saved changes are detected, the system prompts the user with a warning
message and waits for an answer.

Touch OK key to continue closing operation, without saving.

If, on the contrary, it is wished to save before closing, touch Cancel key and arrange for
saving to be performed (see par. 5.16.1.1.2 Save on page 223), before asking again for
closing DATA environment.

ATTENTION
– when the modal selector is switched to LOCAL, if bit 23 of $CNTRL_CNFG
predefined variable is set to 1, the current values in DATA environment are
AUTOMATICALLY SAVED.

5.16.2 System tables

‘System Tables’ refers to the automatically created tables, by Control Unit software
(see Fig. 5.37):
– BASE
– TOOL

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– FRAME.

Fig. 5.37 - System tables

They are directly accessible when entering the Data Page.

It is also allowed accessing them from within a PDL2 program, by means of dedicated
routines (see par. 5.16.2.4 Accessing system tables from within a PDL2 program on
page 231).

For further information, please refer to par. 5.9.1.3 Tool, Frame, Base on page 111 in
Motion Page.

NOTE that both in AUTO and REMOTE status, tool/base/frame changing is disabled.

The meaning of the several columns of the system tables is shortly described in the line
placed above the Functional keys menu. The following Fig. 5.38, Fig. 5.39 and Fig. 5.40
are shown as an example.

Fig. 5.38 - BASE table - ‘Position’ column

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Fig. 5.39 - TOOL table - ‘REMOTE Flag ’ column

Fig. 5.40 - FRAME table - ‘Main Inertia moment’ column

A detailed description follows about the listed above system tables.

5.16.2.1 BASE
The BASE type structure includes, among other elements, the following ones:
– a Base0, unique in the system
– a BASE type 34 elements array, including all the Bases.
Each element is composed by the following information fields:
– Name
– Base Position
– Description.

5.16.2.2 TOOL
The TOOL type structure includes, among other elements, the following ones:
– a Master Tool for each Arm
– a Tool0, unique in the system
– a Tool0 Remoto, unique in the system
– a TOOL type 64 elements array, including all the Tools, both normal and remote
ones.
Each element is composed by the following information fields:
– Name

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– Remote Tool Flag

– Tool Position
– Mass
– Tool Center Position
– Tool Extreme Position
– Main inertia moments
– Description.

5.16.2.3 FRAME
The FRAME type structure includes, among other elements, the following ones:
– a Frame0, unique in the system
– a Frame0 Remoto, unique in the system
– a FRAME type 64 elements array, including all the Frames, both normal and
remote ones.
Each element is composed by the following information fields:
– Name
– Remote Frame Flag
– Frame Position
– Mass
– Frame Center Position (for Remote Frame only)
– Main inertia moments (for Remote Frame only)
– Frame Extreme Position (for Remote Frame only)
– Description.

5.16.2.4 Accessing system tables from within a PDL2 program

To access the described above system tables from within a PDL2 program, and process
their contents, some dedicated routines are provided:
– Routine for Tool and Frame setting for a specified Arm
– Routine for Base setting for a specified Arm
– Routines to get/set/save the Tool, Frame and Base value
– Using the routines - examples
– Error codes.

5.16.2.4.1 Routine for Tool and Frame setting for a specified Arm
– ToolFrame routine
– RmtToolFrame routine.

ToolFrame routine
It activates, at the same time, both the NON REMOTE Tool index and Frame index to

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be used for a specified Arm.

This Routine must be imported into the calling program, in the following way:

ROUTINE ToolFrame(ai_tool : INTEGER(); ai_frame : INTEGER(); ai_arm : INTEGER())

EXPORTED FROM TT_TOOL GLOBAL

Calling sequence: ToolFrame (ai_tool, ai_frame, ai_arm)

Parameters Range
ai_tool : index of the being used Tool 1 .. 64
ai_frame : index of the being used Frame 1 .. 64
ai_arm : index of the Arm for which Tool and Frame are to be set 1..4

The three parameters are optional. In single Arm systems, it is suggested to ALWAYS
specify the first two ones.

In multiarm systems, the Arm index is already specified in the table but, for the PDL2
program better readability and for a proper use of the tool0, it is suggested to ALWAYS
specify the third parameter too.

RmtToolFrame routine
It activates, at the same time, both the REMOTE Tool index and Frame index to be used
for a specified Arm.
This Routine must be imported into the calling program, in the following way:

ROUTINE RmtToolFrame(ai_tool : INTEGER(); ai_frame : INTEGER(); ai_arm :

INTEGER()) EXPORTED FROM TT_TOOL GLOBAL

Calling sequence: RmtToolFrame (ai_tool, ai_frame, ai_arm)

Parameters Range
ai_tool : index of the being used Remote Frame 1 .. 64
ai_frame : index of the being used Remote Frame 1 .. 64
ai_arm : index of the Arm for which Remote Tool and Frame are to be set. 1..4

The three parameters are optional. In single Arm systems, it is suggested to ALWAYS
specify the first two ones.

In multiarm systems, the Arm index is already specified in the table but, for the PDL2
program better readability and for a proper use of the tool0, it is suggested to ALWAYS
specify the third parameter too.

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WARNING - Setting a REMOTE tool or frame is NOT allowed if the other element is not
remote!

WARNING - in order to make the WinCRC file managing to work properly, it is a good
habit to always insert the calling sequence to both ToolFrame routine and
RmtToolFrame routine at the beginning of each routine including motion statements.

5.16.2.4.2 Routine for Base setting for a specified Arm

Base routine
It activates the Base for a specified Arm.
This Routine must be imported into the calling program, in the following way:

ROUTINE base(ai_b_num : INTEGER; ai_arm : INTEGER ()) EXPORTED FROM TB_BASE GLOBAL

Calling sequence: Base (ai_base, ai_arm)

Parameters Range
ai_base : index of the being used Base 1 .. 34
ai_arm : index of the Arm for which the specified Base is to be set 1..4

5.16.2.4.3 Routines to get/set/save the Tool, Frame and Base value

These routines are used to get/set/save, without using it, either the Tool, the Frame or
the Bse value, from within a PDL2 program.
– ttri_tooldata_get routine
– turi_framedata_get routine
– tbri_basedata_get routine
– ttri_tooldata_set routine
– turi_framedata_set routine
– tbri_basedata_set routine
– ttri_tooldata_save routine
– turi_framedata_save routine
– tbri_basedata_save routine.

ttri_tooldata_get routine
It allows reading the specified Tool value, from within a program.
This Routine must be imported into the calling program, in the following way:

ROUTINE ttri_tooldata_get(ai_t_num : INTEGER; ap_pos : POSITION; ab_remote :

BOOLEAN) : INTEGER EXPORTED FROM TT_TOOL

Calling sequence: ttri_tooldata_get (ai_tool, ap_pos, ab_remote)

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Parameters Range
ai_tool : index of the Tool the user wishes to get the value 1 .. 64
ap_pos : Tool position, returned by the routine
ON = remote
ab_remote : remote Tool flag, returned by the routine
OFF = normal

Returned values:
– 0 -> the routine has been properly executed
– 1 -> wrong parameter(s).

turi_framedata_get routine
It allows reading the specified Frame value, from within a program.
This Routine must be imported into the calling program, in the following way:

ROUTINE turi_framedata_get(ai_f_num : INTEGER; ap_pos : POSITION; ab_remote :

BOOLEAN) : INTEGER EXPORTED FROM TU_FRAME

Calling sequence: turi_framedata_get (ai_frame, ap_pos, ab_remote)

Parametri Range
ai_frame : index of the Frame the user wishes to get the value 1 .. 64
ap_pos : Frame position, returned by the routine
ON = remote
ab_remote : remote Frame flag, returned by the routine
OFF = normal

Returned values:
– 0 -> the routine has been properly executed
– 1 -> wrong parameter(s).

tbri_basedata_get routine
It allows reading the specified Base value, from within the program.
This Routine must be imported into the calling program, in the following way:

ROUTINE tbri_basedata_get(ai_f_num : INTEGER; ap_pos : POSITION) : INTEGER

EXPORTED FROM TB_BASE
ROUTINE tbri_basedata_save : INTEGER EXPORTED FROM TB_BASE

Calling sequence: tbri_basedata_get (ai_base, ap_pos)

Parameters Range
ai_base : index of the Base the user wishes to get the value 1 .. 34
ap_pos : Base position, returned by the routine

Returned values:
– 0 -> the routine has been properly executed

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– 1 -> wrong parameter(s).

ttri_tooldata_set routine
It is allowed to call this routine from within a program, in order to set a specified Tool.
This Routine must be imported into the calling program, in the following way:

ROUTINE ttri_tooldata_set(ai_t_num : INTEGER; ap_pos : POSITION; ab_remote :

BOOLEAN) : INTEGER EXPORTED FROM TT_TOOL

Calling sequence: ttri_tooldata_set (ai_t_num, ap_pos, ab_remote)

Parameters Range
ai_tool : index of the being set Tool 1 .. 64
ap_pos : being set Tool position for the specified Tool
ON = remote
ab_remote : it indicates whtether the specified Tool is to be set as Remote or not
OFF = normal

Returned values:
– 0 -> the routine has been properly executed
– 1 -> wrong parameter(s).

turi_framedata_set routine
It is allowed to call this routine from within a program, in order to set a specified Frame.
This Routine must be imported into the calling program, in the following way:

ROUTINE turi_framedata_set(ai_f_num : INTEGER; ap_pos : POSITION; ab_remote :

BOOLEAN) : INTEGER EXPORTED FROM TU_FRAME

Calling sequence: turi_framedata_set (ai_frame, ap_pos, ab_remote)

Parameters Range
ai_frame : index of the being set Frame 1 .. 64
ap_pos : being set Frame position for the specified Frame
ON = remote
ab_remote : it indicates whtether the specified Frame is to be set as Remote or not
OFF = normal

Returned values:
– 0 -> the routine has been properly executed
– 1 -> wrong parameter(s).

tbri_basedata_set routine
It is allowed to call this routine from within a program, in order to set a specified Base.
This Routine must be imported into the calling program, in the following way:

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ROUTINE tbri_basedata_set(ai_f_num : INTEGER; ap_pos : POSITION; ai_ArmOptional :

INTEGER()) : INTEGER EXPORTED FROM TB_BASE

Calling sequence: tbri_basedata_set (ai_base, ap_pos)

Parameters Range
ai_base : index of the being set Base 1 .. 34
ap_pos : being set Base position for the specified Base

Returned values:
– 0 -> the routine has been properly executed
– 1 -> wrong parameter(s).

ttri_tooldata_save routine
It allows saving modifications made by means of the ttri_tooldata_set routine.
This Routine must be imported into the calling program, in the following way:

ROUTINE ttri_tooldata_save : INTEGER EXPORTED FROM TT_TOOL

Calling sequence: ttri_tooldata_save

No input parameters.
Returned values:
– 0 -> the routine has been properly executed
– -1 -> saving not performed.

turi_framedata_save routine
It allows saving modifications made by means of the turi_framedata_set routine.
This Routine must be imported into the calling program, in the following way:

ROUTINE turi_framedata_save : INTEGER EXPORTED FROM TU_FRAME

Calling sequence: turi_framedata_save

No input parameters.
Returned values:
– 0 -> the routine has been properly executed
– -1 -> saving not performed.

tbri_basedata_save routine
It allows saving modifications made by means of the tbri_basedata_set routine.
This Routine must be imported into the calling program, in the following way:

ROUTINE tbri_basedata_save : INTEGER EXPORTED FROM TB_BASE

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Calling sequence: tbri_basedata_save

No input parameters.
Returned values:
– 0 -> the routine has been properly executed
– -1 -> saving not performed.

5.16.2.4.4 Using the routines - examples

.....
VAR li_id : INTEGER
VAR lr_x, lr_y, lr_z, lr_e1, lr_e2, lr_e3 : REAL
VAR ls_cnfg : STRING[15]
VAR li_node : INTEGER
VAR lp_tmp_pos : POSITION
VAR li_tmp : INTEGER
VAR lb_remote : BOOLEAN
VAR li_dato : INTEGER
VAR li_test : INTEGER
VAR ls_dato : STRING[5]
VAR li_num_arm_base : INTEGER
.....
BEGIN
li_node := 0
IF li_tool_type = ki_tool THEN -- Tool on the robot flange
FOR li_id := 1 TO ki_max_tool_frame DO
-- If not configured with Nodal Move
IF bit_test($CNTRL_CNFG, 24, OFF) THEN
li_tmp:=ttri_tooldata_get(li_id, lp_tmp_pos, lb_remote)
.....
-- load the calculated Tool values in the Position Table
-- corresponding to the declared Tool number (li_dato)
li_test:= ttri_tooldata_set(li_dato, $ARM_DATA[vi_num_arm].TOOL, TRUE)
-- load the calculated Remote Tool values in the Position Table
-- corresponding to the declared Tool number (li_dato)
li_test:= ttri_tooldata_set(li_dato, $ARM_DATA[vi_num_arm].TOOL, FALSE)

.....
li_test:=turi_framedata_set(li_dato,$ARM_DATA[vi_num_arm].UFRAME, TRUE)

.....
li_test:=tbri_basedata_set(li_dato,$ARM_DATA[vi_num_arm_base].BASE,
li_num_arm_base)
.....

.....
-- Tool is unchanged and Frame is changed (4th table element)
ToolFrame(, 4)
.....
-- Frame is unchanged and Tool is changed (8th table element)
ToolFrame(8)
.....

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-- Frame and Tool are not changed: it doesn’t perform any action
ToolFrame(, , 1)

5.16.2.4.5 Error codes

Code Description
43050 not existing Tool
43051 not existing Frame
43053 not existing Base
43054 wrong Arm
43056 uninitialized Variabile
43059 wrong Parameters Data Type
43060 uninitialized Tool/Frame
43062 Remote Tool inconsistency
43063 not existing Remote ToolMaster
43064 wrong Parameters

5.16.3 Application tables

The Application tables are created and provided by the Comau application supplier.
As already explained in the previous sections, touch the corresponding icon to select the
wished table.
In the same way, once the table is open, the user can act inside it.
Note that opening and editing the application tables, are either enabled or not depending
on the system state and the login profile required by the specific application.
Depending on the installed application, the loaded tables can be different. Please refer
to the specific application manuals for a detailed description about them.

5.16.4 User tables

By means of the PDL2 language, the user can create customized tables to be handled
in this User Page.

The procedure to create and add them to the Data Page is described in par. 5.22.1 User
table creation from DATA environment on page 347.

Once created and added to the DATA Page, such tables are handled in exactly the
same way as the System tables and Application tables.
This means that, to select the required table, touching the corresponding icon is needed.
Furthermore, as already explained in the previous paragraphs, once the table is opened,
it is possible to act inside it exactly in the same way.
Note that opening and modifying user tables are enabled/disabled depending both on
the system state and the login profile (see Chap.4. - Access to the Control Unit
(login/logout) on page 45 - par. 4.2.2 Summary table of access rights on page 48 of
current manual).

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5.17 Setup page

The Setup page is used to read and change the system settings
To access this page, touch Setup icon (as shown in the below figure).

All the subenvironments are classified into the following groups:

– IO
– Motion
– System.

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5.17.1 IO

This group includes all programs related to the I/O modules configuration,
importing/exporting configurations, Fieldbus modules utilities, I/O ports mapping, Hands
handling:
– FB_UTIL
– HAND
– IO_CLONE
– IO_CNFG
– IO_MAP.

5.17.1.1 FB_UTIL
This icon allows accessing the Fieldbus modules configuration program.
For any information about the use of such a program, refer to Chap. FB_util Program -
Fieldbus modules utility on page 528.

5.17.1.2 HAND
This icon allows accessing to Hands configuration for all the existing Arms in the system.

For any information related to the use of the PDL2 Hand dedicated instructions, refer to
PDL2 Programming Language manual, par.4.5 HAND Statements.

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In this environment, first of all the user should select Arm and Hand which it is wished
to operate on, by touching the related row.

In the new page, touch the Working mode field to choose the wished element from the
displayed list (previous figure, on the right).
Select it and touch OK to confirm.
The available working modes are as follows:
– One
– Dual
– Pulse
– Step.
To insert the required data, the suitable keyboard is automatically opened (see
par. 5.6.3 Keyboards on page 87). Then touch OK to confirm.
After all needed data have been inserted, touch OK key again to confirm.
The system goes back to HAND environment main page.
Touch Apply key to make settings operational, remaining in HAND environment.
A suitable message (see folowing figure) asks the user whether the system
configuration is to be saved, to make current settings permanent. Answer Yes.
Touch OK key to quit the HAND environment.

5.17.1.2.1 One
To configure the Hand with a single output line.

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This choice causes the system to display some more fields shown in the below figure.

The User has to supply the following information:

– specify whether the Open Hand signal has to be TRUE (positive logic), or FALSE
(negative logic);
– specify $DOUT port index where the output is to be mapped [1..2048].

5.17.1.2.2 Dual
Allows configuring the Hand with two output lines.

This choice causes the system to display some more fields shown in the below figure.

The User has to supply the same information as for One Working Mode, but for both the
Output ports.

5.17.1.2.3 Pulse
Allows configuring the Hand in Pulse mode, with two output lines.

This choice causes the system to display some more fields shown in the below figure.

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The information to be supplied by the User is the same as for the Dual operating mode,
but it is now necessary to also specify the pulse duration (20 ..5000 ms), indicated by
Time [msec] field.

5.17.1.2.4 Step
Allows configuring the Hand in Step mode, with two output lines.

This choice causes the system to display some more fields shown in the below figure.

The information to be supplied by the User is the same as for the Dual operating mode
(to which reference is made), but it is now necessary to specify also the time interval
between one step and the next one (20 ..5000 ms), in the Time [msec] field.

5.17.1.3 IO_CLONE
This icon allows accessing the program for importing/exporting the Input/Output
modules configuration.
For detailed information about such a program, please refert to Chap. IO_CLONE
Program - I/O Configuration Export/Import on page 577.

5.17.1.4 IO_CNFG
This icon allows accessing the program to configure the I/O modules in the system.

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For detailed information about such a program, please refert to Chap. IO_CNFG
Program - I/O modules configuration on page 506.

5.17.1.5 IO_MAP
This icon allows accessing the program to map the I/O points belonging to all the
existing Devices in the system.
For detailed information about such a program, please refer to Chap. IO_MAP Program
- I/O ports mapping on page 551.

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5.17.2 Motion
This group allows accessing all tools to setup the main Arm and any other Arms and
Auxiliary axes movements (reference systems calculation and payload identification,
calibration, turn-set, special Arms and Auxiliary axes configurations, interference
regions, stroke-ends, etc).
The available sub-environments depend on both the system configuration and the
purchased optional features.

– Frames
– AddLoad
– Calib
– Cobot (when present - it allows configuring the User Button and recovering the
robot functionality upon a collision, as described in the dedicated manual)
– Column
– Conveyor
– eMtInc
– ForceControl
– IRegions
– Mounting
– MultiTurn
– PAL
– PalBooster
– Payload
– Portal
– Posit
– Posit_Arm
– Rail
– StrokeEnd.

5.17.2.1 Frames
This subenvironment allows calculating the values for positioners BASE, TOOL and

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UFRAME, in automatic and guided way.

Refer to Chap. TOOL, UFRAME and Positioners BASE automatic calculation on

page 582 for a detailed description.

– Base
– Tool
– Uframe

5.17.2.1.1 Base
This subenvironment allows calculating the positioners BASE, according to the
following requirements:
– Cooperative Motion (optional feature) (CR17926200) software option must have
beed enabled
– the user must be logged in on the TP5 Teach Pendant
– positioners axes must be present in the system configuration
The home page of the Base subenvironment is shown in the following figure.

Refer to par. 12.5 BASE automatic calculation for positioners on page 618 for a detailed
description.

5.17.2.1.2 Tool
This subenvironment allows defining the working tool dimensions when mounted
onto the robot flange.
In such a situation the robot is used as a measurement device.
The tool calculation must always be executed the first time a tool is mounted onto the
flange, or when, referred to the initial situation, the robot has been moved or calibrated.
The main page of the Tool subenvironment is shown below.

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Refer to par. 12.3 TOOL automatic calculation on page 584 for a detailed description.

5.17.2.1.3 Uframe
This subenvironment allows defining a new reference frame for teaching the work
positions. The calculation accuracy is the one of the robot, used as a measurement
device in this situation.
The main page of the Uframe subenvironment is shown below.

Refer to par. 12.4 UFRAME automatic calculation on page 609 for a detailed
description.

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5.17.2.2 AddLoad

When the system configuration allows it, this subpage is made available in order to
specify an additional payload on axis 3.

The user should insert the following information:

– Mass - mass of the additional payload [kg]
– Distance of barycentre - distance of the additional payload centre of gravity, from
the mounting frame (shown in the figure above and also specified in the robot
specific manual) [mm]
– Estimated inertia - if the additional payload inertia values are not known, this
checkbox must be selecteed to apply a general theoretical formula which
calculates such values starting from the declared mass
– Inertia values - additional payload specific inertia values.
After the listed above values have been specified, touch Save key to confirm and then
touch Close key to exit the subpage.

5.17.2.3 Calib

Refer to the Maintenance manual of the involved robot, for a detailed description of the
Turn Set and Calibration procedures.
The only target of the following sections is to describe the Teach Pendant User
Interface.

This subenvironment provides a set of commands allowing the Arm configuration,

according to the user’s needs.

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Operate from within the Motion Page, Basic subpage, if changing the current arm is
required.

The available keys in the Functional keys menu are as follows:

– Turn Set
– Calib
– Save
– Load
– Edit.

In these sub-pages, editable data are just the ones included in columns with a white
background (CAL_USER and CAL_DATA). The other ones are read-only data.

5.17.2.3.1 Turn Set

Sets the encoder turns counter at the motion software level. Before issuing the
command, the arm has to be manually moved (jog) to the calibration position (within an
encoder turn quadrant) by means of the calibration notches. This command is useful in
case the pre-setting has been lost, e.g. due to a read error of the motors turns.

– The system has to be in PROGR status (modal selector switch on T1 position) and
the drives must be kept ON during the whole turn-set operation.
– This command is disabled for REBEL robots since it does not make sense for
them.

To activate the Turn Set procedure, short touch the Turn Set key. Before starting
execution, the System prompts the User for confirmation:

Fig. 5.41 - Turn Set command confirmation

Answer Yes to execute the command.

It is also allowed to use the previously taught User Calibration Position (Turn Set
command - Fig. 5.42). To activate it, long touch Turn Set key, then touch User item.

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Fig. 5.42 - Turn Set command

The system prompts the user for confirmation before executing the Turn Set operation.
Touch Yes to confirm.

5.17.2.3.2 Calib
Short touching this key, it is allowed to execute the calibration procedure either for the
whole Arm or for the specified axis/axes of such an arm.
Before issuing the command, the Arm must be manually moved (jog) to the Calibration
Position. To indicate the wished axis, select it before starting the procedure. Selecting
all the axes (touch + SHIFT) means to calibrate the whole current arm.

NOTE THAT data are just saved when ALL the axis have been calibrated.

This command CANNOT be used if the user profile is NOT Service profile.

The system must be in PROGR state and the drives must be kept ON for the whole
calibration operation.

The calibration data are automatically saved in NVRAM memory, in the configuration file
(<$SYS_ID>.C5G) and in the ASCII calibration file <$SYS_ID>_CAL<num_arm>.PDL.

The system prompts the user for confirmation before executing the Calibration
operation.

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Touch Yes to confirm.

If instead the user wishes to activate the calibration operation using any options, long
touch the Calib key (see Fig. 5.43).

Fig. 5.43 - Calibration options

The available options are as follows:

– Learn (CAC/L)
Learns the current position as the user calibration position ($CAL_USER). The
learning procedure is executed on all the selected axis. This command DOES NOT
perform any saving operation.
– NoSave (CAC/N)
NO saving is automatically performed of .C5G file, of
<$SYS_ID>_CAL<num_arm>.PDL ASCII calibration file and of the calibration data
in NVRAM memory.
– User (CAC/U)
The previously taught or assigned user position ($CAL_USER) is used as the
calibration position.
– User NoSave (CAC/UN)
This is a combination of previous User (CAC/U) and NoSave (CAC/N) options.
Touch the wished opion: a prompt message is displayed waiting for the User to confirm
it. Answer Yes to start the Calibration procedure; No to cancel it.

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Fig. 5.44 - Data handling in Turn set (CAT) and Calibration (CAC)
commands

5.17.2.3.3 Save
Short touching this key causes the axes related data to be saved, from the Control Unit
memory to NVRAM memory, and to automatically update <$SYS_ID>.C5G
configuration file and <$SYS_ID>_CAL<num_arm>.PDL calibration file.
The user can also select some options, by long touching Save key and then the item
corresponding to the wished operation.
The available options are as follows:
– NoFile (CARS/N)
this disables automatic saving of both <$SYS_ID>.C5G configuration file and
<$SYS_ID>_CAL<num_arm>.PDL calibration file
– Motors (CARS/M)
this handles saving the calibration data to the individual motors flash.

A suitable message is dispalyed after saving the calibration data, to suggest to the user
to save the system configuration.

5.17.2.3.4 Load
Short pressing this key causes the arm data (calibrated axes mask) and each axis data
(axis length, calibration values and calibration constants), to be loaded from NVRAM

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memory to the Control Unit. The configuration file (<$SYS_ID>.C5G) and the calibration
file (<$SYS_ID>_CAL<num_arm>.PDL) are automatically updated.
It is also allowed to choose among some options, by long touching Load key and
touching the wished item.

The available options are as follows:

– LoadFile (CARL/L)
to enable axes data to be loaded, directly reading them from the calibration file, and
both <$SYS_ID>.C5G configuration file and NVRAM memory saving.
A .COD file is automatically created having the same name of the calibration file
(<$SYS_ID>_CAL<num_arm>.PDL) which is executed.
– NoFile (CARL/N)
to disable automatic saving for both <$SYS_ID>_CAL<num_arm>.PDL calibration
file and <$SYS_ID>.C5G configuration file.
– Motors (CARL/M)
To handle the calibration data to be loaded from the individual motors flash.
A diagram follows to summarize the described above commands (Save and Load):

Fig. 5.45 - Saving and loading calibration data

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5.17.2.3.5 Edit

Touching this key (see above figure on the left) a subpage is opened in which the user
is allowed to modify CAL_USER and CAL_DATA values related to the selected axis, as
shown in the above figure on the right. Touch OK key to confirm the modifications and
close the subpage.

5.17.2.4 Column

This environment allows handling settings for the integrated rotating column.

CAUTION
The Integrated Column configuration must be executed by using auxiliary axis no.7.

The user has to specify the following data:

– Column radius "R" (mm)
radius of the column holding the robot
– Column height "H" (mm)
height of the column holding the robot
– Positive Stroke-End (°) and Negative Stroke-End (°)
positive and negative stroke-ends of the column
– Calibration position (°)
calibration position of the column
– TX_RATE value
transmission rate value

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– TX_RATE sign
transmission rate sign.

Furthermore, the robot mounting position must specified, i.e.:

– whether ceiling or shelf

– relative position between the column base and the robot base.

5.17.2.5 Conveyor
This environment allows handling setup operations for tracking functionality, by means
of sensors, conveyor trucks, etc., integrated into the robotic system.

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Fig. 5.46 - Tracking tables summary table

The main page includes a Summary Table of 10 elements corresponding to the currently
existing Tracking tables in the system.
The Summary Table columns contain the following informationi:
– Index
is the Tracking Table index
– Mask of Arms
is the Arm Mask, associated to such a Tracking Table; only the selected Arms will
be enabled for tracking
– Application
is the application (e.g. Conveyor) which is associated to such a Tracking Table.
The following commands are available in the Functional keys menu:
– Edit - allows editing the selected Tracking Table (see Tracking Table editing
procedure)
– Reset - all data in the selected table are set back to the default values; the user is
asked to confirm

– Save - saves all data belonging to the Summary Table to .C5G file, WITHOUT
leaving the Tracking environment.

Perform a Control Unit Cold Restart (see par. 5.8.2.2.1 Cold on page 107) operation,
in order to make all settings operational.

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– Quit - quits the Tracking environment without saving; the User is asked to confirm.

5.17.2.5.1 Tracking Table editing procedure

a. Select the wished Tracking Table touching the corresponding row.

b. Touch the Edit key

b.1 If it is a new Tracking Table, the only displayed field is Application. If it is n already
existing table, instead, all the fields are displayed, thus directly go to c. step

b.2 Touch the Combobox to open the Applications list.

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b.3 Touch the wished application to select it.

c. The complete page includes the following fields (see Fig. 5.47):
– Application - is the wished tracking application type (e.g. Conveyor)
– Kit - is the Tracking device. The available ones are
• Predefined
• User defined
– FMI - in case of Predefined Kit, $FMI is automatically set by the system; in
case of User defined Kit, the User must specify the wished $FMI
– Conversion factor - is the conversion factor from the input port value unit of
measure to the the conveyor unit of measure
– Conveyor type - is one of the following
• linear
• circular
• bending
– Conveyor radius - to be specified (in mm) only for circular Conveyor
– Mask of Arms - indicates the enabled Arms for tracking operations to the
C5GPlus Control Unit. Select the wished checkbox(es).

Fig. 5.47 - Definition/Edit Page

Select the wished values in the listed above fields according to the editing modes
of the different Field types.

d. To properly perform tracking operations, a base frame is needed on the conveyor

base. Touch ConvBase key to view the current Base used by the selected
Tracking Table (see image on the left in Fig. 5.48). If the User wishes to modify
such values, it is needed to access them from within the Motion Page - par. 5.9.6
Conveyor Tracking (optional feature) on page 120 (see figure below, on the right).

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Fig. 5.48 - ConvBase

e. Touch Previous key to go back to the previous page and continue editing the
wished Tracking Table (see Fig. 5.47)

f. Touch Kinematics key to define the following values, associated to the selected
tracking Table:
– Maximum speed and Maximum acceleration - they are limit values for the
robot speed (in m/s) and acceleration (in m/s2), to be used while tracking
– Tracking window (1 and 2) - the first value specifies the conveyor quote from
which the robot must start with tracking; the second value represents the
conveyor quote after which no tracking with the robot is allowed.

Fig. 5.49 - Kinematics

Perform the wished modifications, according to the editing modes of the different
Field types.

g. Touch Previous key to go back to the previous page (Fig. 5.47) and complete the
definition/edit session

h. Touch either OK key to confirm all the data in the selected Tracking Table, or
Cancel to delete all the modifications.
In any case, the program goes back to the Summary Table (Fig. 5.46) in the
Conveyor main page.

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5.17.2.6 eMtInc

This functionality is currently available for RACER and REBELrobot models ONLY. For
any further information about such models, refer to the dedicated Technical
Specifications manuals.

During the robot standard usage, the acceleration default setting is chosen by the
system as the best value in order to optimize performances and vibrations during the
positioning phase.
In case in which high accelerations are required to reduce the cycle time during an
operation, increasing the acceleration value is allowed.
If an acceleration value greater than the default is used, the robot could be affected by
vibrations, current saturations (or overload alarms) and overheating during contiuous
working.
Basically, trajectories are always kept (except in case of servo following errors) when
such a value is modified.
In order to modify it by means of the User Interface, act on the control knob provided in
the current subpage (as shown in the figures above).
The allowed steps are as follows:
– 1 - 100%
– 2 - 105%
– 3 - 110%
– 4 - 115%
– 5 - 120%
This subpage is displayed and made available with Rebel and some Racer robot
models.
After selecting the wished value (touching it on the screen), use the Apply key to make
the modification operational.
Touch OK key to exit from the environment.

The use of values greater than 1 is just suggested for strictly necessary situations.
Refer to par. 5.6.2 Extra acceleration on page 65 in Motion programming manual, for
further detailed information.

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5.17.2.7 ForceControl
This setup environment is dedicated to the Manual Guidance functionality (optional
feature).

Refer to Motion Programming manual, Chap.22. - Manual Guidance (optional feature)

on page 288, for further operational information.

The ForceControl page allows setting the parameters related to the FT sensor and
configuring the User Buttons, as shown in the two figures below.

5.17.2.7.1 FT sensor
In this subpage the following values can be set (figure above, on the left):
– Sensor - it is the model of the wished Force/Torque sensor
– Sensor frame - it is the position (PDL2 POSITION variable) form the robot flange
center to the sensor center
– Sensor mounting - it indicates how the sensor is mounted. The choice is between
• Series (sensor and MG device directly mounted on the flange)
• Parallel (sensor and MG mounted on a device displacing it from the flange
center).

5.17.2.7.2 User Buttons

The available settings in this subpage (figure above, on the right) are related to the two
buttons whose function can be customized by the user.
It is allowed to associate two functionalities to each button (left or right), depending on
how it is pressed: press and long press.
The available functionalities are:
– no action - pressing the button does not take any effects
– custom - at the button press, the system executes the PDL2 instructions inserted
into the routine called ru_customUserButtons within the
UD:\SYS\UTIL\FC_CustomUserButtons.cod program.
– Path Learning - pressing the button, the trajectory acquisition starts and is
automatically saved to a MONI file of REPLAY type.
As soon as the same button is pressed again, the path learning ends.

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The created file is available to be specified in a MOVE FROM ... REPLAY

statement, in order to replay such a trajectory execution.

Refer to Chap. Path Learning on page 317 in the Motion Programming manual, for
further details.

– translation/rotation - pressing the button enables only translation, only rotation,

both movements, in circular sequence
– change sensitivity - pressing the button changes the Manual Guidance
sensitivity level, in circular sequence: low, medium, high.

5.17.2.8 IRegions
This environment allows handling Interference Regions setup; they are
interference/interchange volumes shared between Robot and Robot, and among Robot
and structures.

For further detailed information, refer to Chap.17. - Interference Regions (optional

feature) on page 266 in Motion Programming manual.

The home page shows the Interference Regions (IR) table, including 32 elements
(see Fig. 5.50).

Fig. 5.50 - Interference Regions (IR) Table

Columns include the following information:

– #
is the ordinal index of the selected IR
– Name
is the IR name, assigned by the User
– Type

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– To use the Forbidden (Cartesian only), Monitored (Joint and Cartesian) and
Allowed (Joint and Cartesian) regions types, the Interference Regions option -
code CR17926216 - is required.
– To use the Hybrid (Cartesian only) region type, the Advanced Interference Regions
option - code CR17926218 - is required, in addition to the Interference Regions
option - code CR17926216.

is the Region Type, chosen among the following

• Forbidden (Cartesian only)
the TCP (Tool Center Point) will never be allowed to enter such a Region. The
System takes care of decelerating the robot in advance, in order to reach zero
speed on the Region boundary. It is exactly the opposite of the Allowed (Joint
and Cartesian) region.
• Allowed (Joint and Cartesian)
with this type of region, the TCP (Tool Center Point) is only allowed to move
INSIDE it. The System takes care of decelerating the robot in advance, in
order to reach zero speed on the Region boundary. It is exactly the opposite
of the Forbidden (Cartesian only) region.
• Monitored (Joint and Cartesian)
each time the TCP either enters or leaves such Regions, a logical Output port
(chosen by the User) is modified to the predefined value.
• Hybrid (Cartesian only)
the use of such a region type is upon “reservation”, by means of assigning a
boolean value to the associated Output port; the access consent is given
when the status modification of the associated Input port. One more Output
port is used to indicate the Arm presence/absence in the region.
– Active
indicates whether the IR is currently active or not.
This could occur after the region parameters have been definined and the
Permanent flag is enabled (by this interface)
– Perm
indicates whether or not the IR has been activated by this interface. No one else
can modify its parameters, just reading them. The Region can be left by
deselecting the Permanent flag in the suitable Region page (see Fig. 5.53).
– Status
indicates whether the associated Arm is inside or outside the Region
– Arm
is the Arm which is associated to the Region
– Shape
is one of the following Region shapes
• parallelepiped,
• sphere,
• cylinder,
• plane,
• joints (Allowed and Monitored only).
The available keys in the functional keys menu of this Page, are the following:
– Edit - allows data editing for the selected region (see par. 5.17.2.8.1 Interference
Regions editing procedure on page 264)

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WARNING - The regions can be modified by this interface, in PROGR status ONLY.

– Reset - sets back all the selected region data to the default values
– Save - the regions configuration is saved to .C5G file (see Fig. 5.51).

Fig. 5.51 - Save command

– Quit - exits from the environment, prompting the User for confirmation
(see Fig. 5.52). Any modification is lost if not previously saved (by means of the
described above Save command).

Fig. 5.52 - Quit command

5.17.2.8.1 Interference Regions editing procedure

a. Select the wished region, in the table,

b. touch either Edit key or press ENTER in the Membrane keyboard.

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Fig. 5.53 - Edit page - example

c. First of all choose a Name and type it in the suitable field. Press OK to confirm;

d. to specify the region Shape, touch Shape field to open the corresponding menu;

e. choose the wished shape and touch OK to confirm;

f. to specify the region Type, touch Type field to open the corresponding menu;

g. choose the wished type and touch OK to confirm.

h. If the chosen Type needs some logic ports (either Monitored (Joint and Cartesian)
or Hybrid (Cartesian only) region - see examples in Fig. 5.54), also indicate
– port Type ($DOUT, $OUT, $BIT, $WORD, $FMO, $DIN, $IN, $FMI)
– Index
– Logic to be used (ON / OFF). As soon as the Arm enters such a region, the
port is set to the value which is indicated by this field.
When using analog ports (e.g. $WORD), also specify the Bit chosen as the Output
signal.

WARNING - all the specified logic ports must have already been mapped!

Confirm each data insertion according to the used Field types.

Fig. 5.54 - Examples - Monitored and Hybrid Regions

i. indicate the Arm associated to such a region;

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j. touch Permanent checkbox if it is wished to activate the region as soon as the

region data editing is completed;

k. touch either Next to continue, or Cancel to delete the current operation and go
back to the Interference Regions (IR) Table, starting again from a. step.

WARNING - FORBIDDEN Region

When Next key is touched, Permanent checkbox is selected and the robot is INSIDE
the region, if the user tries to jog the robot arm, the system displays the following
message:

62541 - IR yy reached

Act in the following way:

– deselect Permanent checkbox
– jog until the robot is outside the Forbidden region
– select Permanent checkbox again.

l. A page is displayed, which is different depending on the region shape, allowing to

enter any other needed data (in the example shown in Fig. 5.55 the cylinder base
radius is required).

For Joint type regions, refer to par. 5.17.2.8.2 Tips about special shape regions on
page 269.

Fig. 5.55 - Inserting Shape specific data

m. Touch Teach.. key to continue. Except for Joint regions, it is needed to teach some
points to unambiguously define the region.

For Plane type regions, refer to par. 5.17.2.8.2 Tips about special shape regions on
page 269.

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Fig. 5.56 - Arm settings for the TEACH phase

An informational page is displayed about Tool and Base coordinates which are used for
the TEACH phase (see Fig. 5.56 on the left): they are the currently selected ones from
Motion General sub-page (see Fig. 5.56 on the right)

n. Touch either Next key to continue, or Cancel key to delete the operation and go
back to the previous page (Fig. 5.55), leaving the Teach phase.

o. One page is displayed for each needed point to define the currently selected
region. The total amount of points depends on the chosen shape type.
In the topmost row (see Fig. 5.57 on the left, highlighted in red), the current TEACH
phase step is displayed as well as the total amount of required steps for the chosen
shape type.
Two columns are also displayed:
– left column shows the TCP current position coordinates in the WORLD
reference frame,
– right column shows the coordinates of the position pointed out by the yellow
arrow (if previously taught).

Fig. 5.57 - TEACHing positions - 1

Jog the Arm to the wished position, which will thus be associated to the point
indicated by the yellow arrow (see above figure, on the right).

p. Touch Teach key to record the position.

q. Touch either Next key to teach the next point, or Cancel to delete the TEACH
phase and go back to l. step; the user is prompted for confirmation before deleting
the TEACH operation.

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r. A page is dispalyed to TEACH the next point (see Fig. 5.58, on the left); operate as
described for o. step, for each displayed page.

Fig. 5.58 - TEACHing positions - 2

s. At the end of the TEACH phase for each required point, either touch Next key to
continue, or Cancel key to delete the TEACH phase and go back to l. step.

NOTE THAT if the Arm must be moved to a taught position, the Move to key is available,
keeping both the DRIVE ON status and the START button pressed; to interrupt the
movement, use the Abort key.
Such a movement is of joint type.

t. A summarizing page is displayed of all the calculated values, also including the
User Frame associated to such a region (see Fig. 5.59); in our example the
cylindrical region height has been calculated.
The data are read-only.

Fig. 5.59 - Calculated Frame

Touch either
– OK key to confirm the results and exit from the TEACH phase, affirmatively
answering to the related prompt; or
– Previous to go back to the previous page (step r.), or
– Cancel to delete the TEACH phase and go back to l. step

u. Go back to the initial table (Interference Regions (IR) Table).

Please, note that the calculated values are NOT saved in the .C5G file, until this is
explicitly requested by means of Save command, from the main Page of the current
functionality (see Fig. 5.50)!

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5.17.2.8.2 Tips about special shape regions

The following regions, having special shapes, have to be handled in different ways while
editing them.
A detailed description of the required steps is provided, for the regions with the following
shape:
– Plane,
– Joint.

Plane

When the region shape is a PLANE, this environment allows choosing between two
different modalities, in order to teach the region points (see figure above).
The user must choose between the following TEACH modalities:
– Any orientation plane
– Horizontal/vertical/lateral orientation plane.

Any orientation plane

In this case three points are required to unambiguously define the plane.
The procedure is similar to the previously descibed one for Cylinder, Parallelepiped and
Sphere (from n. step to the end of the procedure).

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Horizontal/vertical/lateral orientation plane

In these cases the system requires to teach just one position.

Touching Next key, the first TEACH page is displayed.
The region is defined depending on whether the WORLD reference frame is either
inside or outside, referred to it.
The three described cases are shown in the figures above.
The user is requested to specify the characteristics of the wished Plane region
– Region
• WORLD is inside (left high example)
• WORLD is outside (high and center right examples)
– Plane
• Horizontal
• Frontal
• Lateral
and perform the TEACH phase for just one point, which is enough to define the Plane,
provided that the plane orientation has already been specified. At the end, go back to
the Interference Regions editing procedure execution, from s. step till the end.

Joint
In the displayed page three columns are shown which include information for each joint
of the Arm:
– Negative - negative stroke end for the joint
– Positive - positive stroke end for the joint
– ARM_JNTP - joint current position.
The values belonging to the first two columns (stroke end) are only visible if the

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corresponding checkbox is selected (example: see joint 1 and 2 in the figure below).

To define a region, different from the one defined by the stroke end values (without
anyway modifying them), touch the checkbox associated to the being modified joint(s),
to select it; edit the required value (as shown in the following figure, on the left) and then
touch OK key to confirm.

At the end of the editing phase, continue the procedure from s. step till the end.

5.17.2.9 Mounting
When Mounting icon is selected, a screen page is displayed showing the current
mounting position; the user is allowed to modify it in order to declare to the System how
the robot is actually mounted:
– on ceiling,
– on floor.

If the robot type can be mounted onto an inclined plane, there are two more mounting
modes:

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– on inclined plane referred to the floor,

– on inclined plane referred to the ceiling.

Mounting onto an inclined plane is only allowed for NS, NJ, SIX robots and some Racer
models.
Some Racer and Rebel models can also be mounted on the Wall.
For detailed information, refer to the corresponding robot Technical Specifications,
Transport and Installation manual.

To declare a robot Mounting type, act as follows (please refer to the shown above
figures):

a. touch the wished choice, to select it (On ceiling or On floor); if Mounting mode
does not include an INCLINED PLANE, go to step b.

a.1 if it does include an INCLINED PLANE, insert the Angle of inclination;

b. save the modified configuration by touching either Apply key (does not quit
Mounting environment) or OK key (quits the Mounting environment). In both cases
the user is asked whether the system configuration is to be saved.

5.17.2.10 MultiTurn
This tool is dedicated to the mutiturn tables automatic calibration setup.
It can be accessed from Setup page, Motion group, as shown in the following figure:

MultiTurn tool is only available when at least one multiturn table exists in the system.

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MultiTurn includes two panels with the following funtionalities:

– Display - showing some information related to the table current status
– Config - providing the user with some commands dedicated to the table
configuration.
The tool execution is stopped when Closing current page key is touched, in both panels.
If there are any not saved modifications, they are lost.

The purpose of this tool is to allow the user to configure and read the multiturn tables
parameters, executing the First Calibration, if required.
Any further operation, such as the Automatic Calibration, is NOT performed by this
tool. The user should take care of it, by means of his/her own PDL2 program.
For this purpose two routines are provided that the user should properly insert into
his/her PDL2 program which handles the multiturn table:
– cal_usr ROUTINE
– TRri_cal_at_turn ROUTINE.
For a detailed description, please refer to par. 5.17.2.10.3 Routines for rotating tables
calibration on page 275.

5.17.2.10.1 Display

This read-only page, displays all information related to the table current status:
– Turns completed
is the total amount of complete turns executed by the table, counted during the last
calibration
– Current joint degrees
is the total amount of degrees covered by the table during the current not
completed turn
– Turns before automatic calibration
is the total amount of completed turns left before the Automatic Calibration
execution. Note that the maximum number of turns between an Automatic
Calibration and the next one, must be setup by the user in the Config page
– HDIN Status
this boolean value indicates the current status of the rotating table calibration
sensor, associated to the High Speed Input port.

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5.17.2.10.2 Config

This page allows setting parameters and issuing commands, related to the multiturn
tables configuration.
The available information is:
– Maximum number of turns
indicates the maximum allowed number of turns. It is used by the system to setup
the new Stroke-Ends.
– Automatic calibration after turns
indicates after how many complete turns the Automatic Calibration must be
executed.
– Rotation
indicates whether the rotation is executed Clockwise or Anticlockwise. This
setting must comply with the working cycle and is used by the system to setup the
new Stroke-Ends.
The black arrow displayed in the page, graphically represents the made selection.
The following commands are available in the Functional keys menu to act on such
parameters:
– Modify
– Learn.

Modify
This command allows accessing the displayed parameters and modifying them.
All fields become editable by the user, simply touching this key, as shown in the
following figure.

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When all modifications are done, act in either one of the following modes:
– touch Save key to save and make all modifications operational. Depending on the
modification level, the program requires a system restart or not (follow the
instructions displayed in the dialogue windows);
– touch Cancel key to exit from the program without keeping any modifications.

Learn
Once the suitable values have been set in the Config page fields, touch this key to start
the First Calibration guided procedure, on user position.
A dialogue window is displayed asking the user to keep START button pressed, until the
procedure completion. Carefully follow each indication provided by the guided
procedure.
Pressing this softkey causes to start init_cal_usr ROUTINE execution.

5.17.2.10.3 Routines for rotating tables calibration

init_cal_usr ROUTINE

ROUTINE init_cal_usr(ai_axis : INTEGER) EXPORTED FROM TRmturn

This routine performs the First Calibration. It is executed by the Multiturn Tables
configuration tool, upon touching Learn key in Config page.
First phase - the table moves to zero quote, at regular speed. Note that in such a position
the standard calibration reference marks are aligned.
Second phase - a movement is executed at reduced speed in order to search for the
calibration sensor. The detected position at the research end, is saved as master, for
further calibrations.

cal_usr ROUTINE

ROUTINE cal_usr(ai_axis : INTEGER) EXPORTED FROM TRmturn

This routine performs the Automatic Calibration.

First phase - the table moves at regular speed and in the set direction, completing the
current turn, until the reference marks are aligned. Note that such reference marks are
the standard calibration ones.
Second phase - a movement is executed at reduced speed in order to search for the
calibration sensor. The detected position at search end, is compared to the one saved
during the First Calibration.
In case of not good result, an anomaly is signalled.
Acknowlede such an anomaly in the Alarm Page and perform the Calibration procedure
again (Retry key).

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Please remember that it is the user responsibility calling this routine to execute the
Automatic Calibration, choosing to call it either when the turns number reaches the
maximum set value, or in any other moment.
For this purpose the user should properly insert the routine call statement in his/her
PDL2 program.

TRri_cal_at_turn ROUTINE

ROUTINE TRri_cal_at_turn(ai_arm : INTEGER) : INTEGER EXPORTED FROM TRmturn

This routine returns the corresponding value of the Automatic calibration after turns field.
More specifically, it is used by the user program to decide whether calling cal_usr
ROUTINE is needed or not, comparing with the table current position.

For this purpose the user should properly insert the routine call statement in his/her
PDL2 program.

5.17.2.11 PAL
This environment allows specifying that the current Arm works as a palletizer.

Touch the checkbox to select it (see previous figure), in order to specify the robot is a
palletizer.

Touch either Apply key to save the configuration and remain inside the environment, or
OK key to save it and quit the environment.

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5.17.2.12 PalBooster
This environment allows modifying the torque value for the first axis, in case of palletizer
robots.

Touch + and - buttons to modify the torque value.

The displayed chart (on the right in the figure above) represents the time trend of the
percentage of temperature related to axis 1 Current value (blue line), calculated as the
ratio between the absorbed average value and the motor characteristic.
Such a percentage must alway stay below the yellow dotted line, i.e. the Warning
threshold, to be sure that axis 1 motor is working without any damage risks.
The red line, on the contrary, represents the Alarm threshold.
The shown above diagram refers to a scenario in which axis 1 is in a steady state.

5.17.2.13 Payload
This icon allows activating the Automatic Payload identification (optional feature)
program.
For further information refer to the dedicated chapter.

5.17.2.14 Portal
This environment allows setting needed parameters to configure:
– Gantry with 2 linear axes - in this screen page the user has to specify, for each
axis
• the axis type (X, Y and Z),
• positive and negative stroke-ends
• calibration position for each axis.
Furthermore the following information is also to be specified:
• mounting angle of the robot on the gantry
• offset.
– Gantry with 3 linear axes - like the previous one, but referred to trhree axes
– Trans-rotational column - in this screen page (see an example in the below
figure), like the previous ones, the user has to specify positive and negative
stroke-ends and the calibration position.
The following parameters have to be specified too:
• ROBOT. MOUNT. ANG. - robot mounting angle on column overhanging
beam;
• ROBOT. MOUNT. POS. - robot mounting position on column (low/high);

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• COLUMN HEIG. [mm] - column height;

• RADIUS [mm] - radius (from column centre to robot base centre);
• ANGLE - column mounting angle on slide [°];
• OFFSET [mm] - column mounting offset on slide.

5.17.2.15 Posit
This environment, for a Positioner seen by the system as an AXIS, allows to
– Creating a new configuration or
– Modifying an already existing configuration,
– Saving the configuration.

A different environment is available to handle Positioners seen by the system as ARMs.

For further information refer to par. 5.17.2.16 Posit_Arm on page 281.

5.17.2.15.1 Creating a new configuration

In the main screen (see figure above) specifying the following data is needed:
– ARM - the arm associated to the being configured positioner.
– POSITIONER - the positioner index; C5GPlus system can manage up to 4
positioners
– TYPE - the being configured positioner type. The choice is among:
• PTDO-PTDV-PTS ROTATIONAL AXIS
• TDB-TLS PERPENDICULAR AXES
• TDO NOT PERPENDICULAR AXES

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• TLS “L” AXES.

When all the needed data heve been inserted and confirmed according to each field type
modality, touch Save key to save the newly created configuration.

PTDO-PTDV-PTS ROTATIONAL AXIS

On this screen page the user has to specify the maximum radius of the part overall
dimensions [mm].

TDB-TLS PERPENDICULAR AXES

The user has to enter the following data:

– radius R1 and radius R2 of the maximum overall dimensions of the being machined
part [mm]
– 1st axis length (L1)
– 2nd axis offset (L2)

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TDO NOT PERPENDICULAR AXES

– radius R1 and radius R2 of the maximum overall dimensions of the being machined
part [mm]
– 1st axis length (L1) [mm]
– 2nd axis length (L2) [mm]
– angle (alpha) between rotation axis of 1st axis and the vertical referred to the
positioner base [°]
– 2nd axis offset (L2) [mm]

TLS “L” AXES

– radius R1 and radius R2 of the maximum overall dimensions of the being machined
part [mm]
– 1st axis length (L1) [mm]
– 2nd axis offset (L2) [mm]
– ARM - the arm which the being configured axis (axes) is associated to.

An “L” type positioner with 2 degrees of freedom, having the second axis length (L2 in
the documentation diagrams) manually variable, can be handled by setting the
dedicated variable:
$CNRT_DATA[n_arm].VAR_OFST[n_ax]
at the beginning of the working program.
Such a modification does NOT need to configure the positioner again, save and restart.

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5.17.2.15.2 Modifying an already existing configuration

When the positioner has already been previously configured, the associated data are
displayed by the program, giving the User the opportunity of modifying just some data
related to the radius values (the other fields are read-only as shown in the below figure):
this allows to adjust the maximum overall dimension in order to assure the safety speed
while programming.

If, on the contrary, the user wishes to modify other already set values, Adv.Edit
command is available which allows modifying any fields in the page. The system
prompts the user for confirmation, before going ahead (next figure, on the left).
If the user confirms, all the fields become editable (e.g. in the following figure on the
right, 1st axis and Type fields are now editable for such a positioner).

5.17.2.15.3 Saving the configuration

At the end, touch either Apply key to save all the inserted configuration data and remain
inside the environment, or OK to save all the inserted configuration data and quit the
page.
In both cases, a suitable message prompts the user for saving the newly modified
configuration.

5.17.2.16 Posit_Arm
This environment allows creating/modifying the configuration of a Positioner seen as an
ARM by the system.
Posit environment descriptions and configurations are still valid from the user interface
stand point. The system itself will take care of handling the inserted data, as belonging
to an ARM.

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5.17.2.17 Rail
To configure the integrated slide, the displayed fields parameters have to be inserted
(see figure below).

– Height - distance (mm) between the floor and the robot base (installed on the slide)
– Calib.position - slide axis calibration position (mm)
– Stroke-end Pos (mm) / Stroke-end Neg (mm) - positive stroke-end positivo and
negative stroke-end (mm)
– Angle (°) - mounting angle of the robot on the slide, measured anticlockwise from
the slide axis to the Xbase robot axis.
– TX_RATE value - transmission rate value
– Integrated - if selected, it indicates that the slide is handled in integrated mode
– TX_RATE Sign - transmission rate sign (Positive / Negative)
– Enable check of C5G-SLS status - if enabled, it allows the user to choose the
severity level for the message corresponding to the rail lubrication status (either
Warning or Error); if disabled, the message severity level is not handled by the user
– Enable as Warning - the severity level for the message corresponding to the rail
lubrication status is just informational (Warning)
– Enable as Error - the severity level for the message corresponding to the rail
lubrication status is Error.

WARNING - In case of Integrated Slide, Safe axis 7 configuration, please refer to the
dedicated USO del RoboSAFE Use manual, par.9.2 Joint/Speed RoboSAFE
functionalities for a detailed description of the configuration procedure.

Enter the required values. Touch OK to confirm. Touch Cancel or press ESC to cancel.
To activate the dynamic model on the Rail axis, touch the Advanced (F1) key (as shown
in the figure below on the left), available in the Functional keys menu.

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Insert the required data in the displayed fields (barycentre and additional mass) and
touch OK key to confirm, as shown in the previous figure on the right.

5.17.2.18 StrokeEnd
By selecting the StrokeEnd icon, the software stroke ends of all axes of the current arm
(i.e. the currently set one in the Motion Page, Basic sub-page) can be changed.

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5.17.3 System

This environment allows setting values for the following subenvironments:

– Network
– Autologout
– Backup-Restore
– Configure
– Customer
– Date-Time
– ExeHelp
– Install
– Login
– NoAlarm
– Reload-Sw
– Safe
– Startup.

5.17.3.1 Network

The Ethernet Network functionality, included in the Control Unit, is available for industrial
connections in order to integrate it in a manufacturing and automation process in closed
and dedicated network. If exposing the Control Unit to an open network is needed, it is
recommended to integrate firewalls and active protection systems, in order to avoid that
the Control Unit Operating System could be the object of any cyber attacks or tampering
attempts.

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The following network settings environments are available from within the listed below
folders:
– Ethernet
– Ethernet Annex
– UsbToEthernet.

5.17.3.1.1 Ethernet

It handles active network settings on the Control Unit. The following data are displayed:
– network address (IP address) of the APC board
– mask for the local network (Subnet Mask), referred to the APC board
– Gateway on the APC
– MAC address of the existing Ethernet ports in the system.
The user is allowed to modify only the three first fields. The other field is read-only.
To make any changes effective, save the configuration file: enter the Configure
environment (in the SETUP-System page) and touch Save key.

WARNING
In startup phase the following error message could occur:

37906-4 Controller IP address not assigned

This could happen because of a failure in the IP address attribution of the Control Unit
main Ethernet interface, e.g. due to IP addresses conflict among devices on the
network.

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WARNING
In case of error no. 34847, possibly due to inconsistency between HOST control address
and chosen subnet mask, check that the address assignment rules have been complied
with.
Example of wrong configuration
The combination between IP address 10.138.201.63 and Subnet Mask
255.255.255.192 is wrong, since only 62 reachable addresses are allowed, 1 to 62
(values 0 and 63 are reserved to the system).
For further verifications about proper settings, contact your network administrator.

WARNING
If a network address of 192.168.xxx.yyy type is used, the 101 and 102 subnetworks
cannot be used (i.e. 192.168.101.yyy and 192.168.102.yyy).

5.17.3.1.2 Ethernet Annex

This is an environment in which the user is allowed to configure an extra Ethernet
module (Ethernet Annex).

The displayed data are as follows:

– network address (IP address) referred to the APC board
– mask for the local network (Subnet Mask), referred to the APC board
– MAC address of the existing Ethernet ports in the system.
The user is allowed to modify the first two fields only. The third one is read-only.
When all the configuration data have been inserted, touch either OK to confirm or
Cancel to exit without any modifications.
To make the new configuration data operational, save the configuration file: enter the
Configure environment (in the SETUP-System page) and touch Save key.

5.17.3.1.3 UsbToEthernet
This is an environment to configure the USB cable to/from Ethernet.
After selecting Enable USB to Ethernet checkbox, the system displays the default
values, useful to the user as a help to the being inserted data format:
– IP address of the C5GPlus Control Unit,

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– mask for the local network (Subnet Mask)

– IP address of the Remote Host.
Insert the wished values.
At the end of the configuration data insertion, touch either OK to confirm or Cancel to
finish without any modifications.

To make any changes effective, save the configuration file: enter the Configure
environment and touch Save key.

5.17.3.2 Autologout
This is the subpage to configure the “Automatic Logout” functionality.

For further information about such a functionality, see par. 4.3.1 Automatic Timed
Logout on page 50.

The user is allowed to modify the following fields:

– Timed Logout - enable/disable the automatic logout fonctionality
– Timeout - it is the time in minutes which lasts between screen off and Automatic
Logout execution.

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CAUTION! when a Startup Login has been defined in the system, this will be the user
level the Automatic Logut switches to: this means, in fact, that in case of Automatic
Logout the system performs a logout of the current user and immediately logs in the
Startup user (see par. 5.17.3.9.2 Startup on page 302).
If the Automatic Logut is just needed to avoid access to the current user, DO NOT set
any Startup user!

5.17.3.3 Backup-Restore

This environment is used to set the SaveSets and the Device for the Backup / Restore
operations.
IT DOES NOT EXECUTE THESE OPERATIONS: to do so, after having defined the
Saveset, it is necessary to access Files Page, command Disk, Backup, Backup of
Saveset or Restore, Restore of Saveset.
.
See also HINTS FOR BACKUP AND RESTORE USE.

If the user wishes to create a new SaveSet or to modify an already existing one, the
procedure is basically as follows:

a. touch a row to select it (either associated to an already existing Saveset to modify

it, or empty to create a new one)

b. touch Edit key

c. insert the wished changes or create the new Saveset. The needed tools are
automatically made available by the system

d. touch OK key or press ENTER key to confirm, or cancel by pressing ESC key.
The following setup commands are provided for these functions:
– Backup
– Restore
– Device

5.17.3.3.1 Backup
Displays, allows to create and modify the Savesets to be used to carry out the Backup
operation (as shown in the figure below).

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Every Saveset holds information about device, files and sub-directories to be copied
towards the default backup/restore device (which is displayed in Device sub-page), as
well as all options to be used for such a Saveset.

Among the available Savesets, there is a predefined one, called Srv, which is to be used
to save a specific situation before calling COMAU Assistance.
It is recommended not to activate the backup operation with such a Saveset, during the
process: it could slow it down.

The user can define some new Savesets:

– The displayed value in the first column on the left, is the index of the predefined
variable $BACKUP_SET[ ] associated to such a Saveset.
– The string displayed in the NAME column specifies the name of the Saveset that
can be used by the system during a backup operation (carried out from the Files
Page, Disk subpage - Backup or Backup of Saveset, when the Saveset option is
selected).
– DEFINITION is the content of this Saveset. Characters following the slash (‘/’)
represent the available options associated to such a Saveset.
To operate on Savesets, act as follows:

a. touch the wished line, to select it

b. touch Edit to open the next subpage and modify the included settings.

c. Touch Name field if wished to be modified

d. touch OK to confirm.

e. Select the Saveset to modify its Definition if wished to

f. touch Edit to open next page which allows specifying: source device,
subdirectories, names of the files to be backed-up and options associated to the
Saveset.

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g. Insert the wished modifications into the File field (by means of the Alphanumeric
keyboard opened by the system) and then touch OK to confirm them.

h. To add one or more options, touch the corresponding checkbox. If a checkbox is

selected, the corresponding option is added to the Saveset definition.
Note that if the chosen option is either Date or Exclude files, one more field is
open allowing the user to insert the corresponding string. The available options are
as follows:
– Subdirectories (/S) - the Saveset also includes all subdirectories of the
specified directory
– Incremental (/I) - the Saveset only includes files which have never been
saved before (without archived attribute, ‘a’)
– Unset archived marker (/U) - the archived attribute (‘a’) will not be set for the
files belonging to this Saveset
– Date (/A) - the files to be included to this Saveset depends on their date:
• -n = all files of n days before today
• -gg-mm-aa = all files before the specified date
• gg-mm-aa = all files after the specified date.
– Exclude Files (/X) - the indicated files will not be included in this Saveset.
Specify them separated by ‘;’ . Ex. *.aa;*.bkc

i. To insert some more RULEs to be associated to this Saveset, a new line must be
used of the main page, and steps from a. to h. must be performed.

j. Touch OK to confirm, when all the modifications are complete.

The Saveset is now ready to be used from within the Files Page during the execution of
a Backup operation.

For further information, refer to par. 6.9.4.8 Backup and Restore commands on
page 415, in Chap.6. - System Commands on page 380.

5.17.3.3.2 Restore
Displays and allows to modify and create Savesets to be used for Restore operations.

See NOTE regarding the total amount of entries in the UD: root directory.

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Every Saveset holds information concerning device, files and possible sub-directories
to be restored from the default backup/restore device (displayed in the Device subpage),
as well as all options to be used for such a Saveset.
The user can define new Savesets:
– the value displayed in the first left column is the index of $RESTORE_SET[ ]
predefined variable, for such a Saveset.
– The displayed string in NAME column indicates the Saveset name that can be
used by the system during restore operations (performed from within the Files
Page, Disk subpage - Restore or Restore of Saveset, when the Saveset option is
selected).
– DEFINITION indicates the content of this Saveset. Characters following the slash
(‘/’) represent the possible options associated to the Saveset.
To operate on Savesets, act as follows:

a. touch the wished row to select it,

b. touch Edit to access the next page and modify its settings.

c. Touch Name field if it is wished to be modified

d. touch OK to confirm any modification.

e. If wished, touch the Saveset to select it and then edit the Se lo si desidera,
selezionare il Saveset per modificarne la Definizione

f. touch Edit to open the next page allowing to specify: source device, subdirectories,
names of the files to be restored and options associated to the Saveset.

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g. Type in the modifications in the File field and then touch OK to confirm them.

h. To add one or more options, touch the corresponding checkbox. If a checkbox is

selected, the corresponding option is added to the Saveset definition.
Note that if the chosen option is either Date or Exclude files, one more field is
open allowing the user to insert the corresponding string. The available options are
as follows:
– Subdirectories (/S) - the Saveset also includes all subdirectories of the
specified directory
– Overwrite (/O) - in the Restore operation also the read-only files, belonging
to the Saveset, will be overwritten
– Newer (/N) - in the Restore operation all files belonging to the Saveset, which
are newer than the ones included in the .LST file, will be restored
– Date (/A) - the files to be included to this Saveset depends on their date:
• -n = all files created/modified n days before today
• -gg-mm-aa = all files created/modified before the specified date
• gg-mm-aa = all files created/modified after the specified date.
– Exclude Files (/X) - the indicated files will not be included in this Saveset.
Specify them separated by ‘;’ . Ex. *.aa;*.bkc

i. To insert some more RULEs to be associated to this Saveset, a new line must be
used in the main page, and steps from a. to h. must be performed.

j. Touch OK to confirm, when all the modifications are complete.

The Saveset is now ready to be used from within the Files Page during the execution of
a Restore operation.

For further information, refer to par. 6.9.4.8 Backup and Restore commands on
page 415, in Chap.6. - System Commands on page 380.

5.17.3.3.3 Device
This subpage allows to setup the default device for backup/restore operations. It is the
default destination device for the Backup command and the default source device for
the Restore command.

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This device represents the content of $DFT_DV[3] predefined variable.

To modify the default device, act as follows:

a. touch Backup/Restore Device field; the system opens the available devices list

b. touch the wished device name, to select it. If the user wishes to define a
customized path (device, directory, subdirectory, etc), select New item...

c. If New item... is the choice, the alphanumeric keyboard is displayed by the system
to allow the user to type in the wished path

d. touch OK to confirm.

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5.17.3.4 Configure

In this subenvironment the user can activate some functions related to the configuration
files, by means of the following keys existing in the Functional keys menu (see figure
above):
– Save
allows saving modifications, related to the configuration predefined variables
values and User data base values; creates a new <$SYS_ID>.C5G configuration
file and a new <$SYS_ID>.UDB user data base file.
Note that it is allowed to modify the related data (below figure, on the left), i.e.
Device, Directory and Name of the file, before going on with Saving operation, by
simply touching File combobox.
The system prompts the user for confirmation. Answer Yes to start the operation
execution (see below figure, on the right).

For further information about this functionality, refer to System Commands chapter,
CONFIGURE SAVE ALL (CSA) paragraph.

– Load
allows loading all values contained in <$SYS_ID>.C5G and <$SYS_ID>.UDB files
to the corresponding predefined variables.
Note that, like for Save command, it is allowed to modify the related data, before
asking for Loading operation, simply touching File combobox.
The system prompts the user for confirmation. Answer Yes to start the operation
execution (see below figure, on the right).

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For further information about this functionality, refer to System Commands chapter,
CONFIGURE LOAD ALL (CLA) paragraph.

In the page of File and path choice, opened by touching File combobox, a Browse...
command is available (see previous figure on the left) allowing to specify wished device
and folder, for <$SYS_ID>.C5G and <$SYS_ID>.UDB configuration files, surfing within
the directories tree.
In order to use a different Device than the current one, touch Device field and choose
the wished one from the displayed list.

View command allows choosing how files and folders icons are displayed (either Big
icons or Details).
At the end of the choice (in the shown above example, CNTRLC5G_0.c5g file has been
selected) , touch OK key to confirm.

5.17.3.5 Customer

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This environment allows the user to initialize/modify some fields of the Home Page:
– CUSTOM_CNTRL_ID, is the Control Unit name assigned by the user
(corresponding to the content of $CUSTOM_CNTRL_ID predefined variable).
Touch the field to open the Alphanumeric keyboard. Insert the wished data and
touch OK to confirm.
– CUSTOM_ID, are the names assigned by the user of the possible 4 Arms
(corresponding to the content of the $CUSTOM_ID predefined variable 4
elements)
Touch each being modified/initialized field, to open the Alphanumeric keyboard.
Insert the wished data and touch OK to confirm it.
Finally, touch OK to exit from Customer sub-page saving modifications. Touch Cancel
to exit without saving anything.

5.17.3.6 Date-Time
This icon allows the user to access both date and time and daylight saving time setting
environment.
The user can operate on the wished data, by selecting the corresponding field:
– Manual settings
– Automatic settings
– Daylight saving time.

Manual settings
The User can edit Day, Month and Year fields for the current DATE, and Hour, Min and
Sec for the current TIME (as shown in the below figure).
Touch the wished fields, use the automatically opened keyboard and touch OK key each
time, to confirm.

Automatic settings
The user is allowed to synchronize the system clock by means of the SNTP (Simple
Network Time Protocol) protocol.
To do so, the following fields must be configured:
– IP address SNTP server to synchronize the required setting,
– wished TIME ZONE, with Hour and Min fields. The allowed range for such fields is:
• Hour field -12 to +13
• Min field 0 to 59.

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The typical use of such a modality, is timing synchronization of several Control Units on
the same network.

Daylight saving time

Regardless of previous settings (either manual or automatic), the user can access the
Daylight Saving Time settings by pressing the corresponding Combobutton (Daylight
saving time field in the above figure).
The system displays a page for the daylight saving time settings.
The available functionalities are as follows:
– Disable - when selected, the system does not take into account using the Daylight
Saving Time. Such a choice causes the Daylight Saving Time field in the
Date-Time main page, to be set to OFF (next figure, on the right).

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– Enable - when selected (below figure, on the left), the system switches to the
Daylight Saving Time immediately. Such a choice causes the Daylight Saving Time
field in the Date-Time main page, to be set to ON (below figure, on the right).

– Planning - when selected (below figure, on the left), the user is allowed to
schedule the beginning and the end of the Daylight saving time, according to the
following criteria:
• week of the month - first..fourth, or simply the last of the month.
• day of the week - sunday..saturday
• month of the year - january..december
• time of the day - 0..23.

For each being inserted value, touch the corresponding field to select it: the system
opens either the suitable list or keyboard. After inserting the wished value, touch
OK to confirm.
Such an information is to be provided both for the Daylight saving time beginning
and end.
Finally, touch either OK to confirm or Cancel to exit without modifying.
Such a choice causes the Daylight Saving Time field in the Date-Time main page,
to be set to AUTOMATIC (above figure, on the right).
At the end of the settings, from within the main screen of Date-Time environment,
touch either OK to confirm or Cancel to exit without modifying.

In case of either the SNTP IP and/or the Daylight Saving Time have been modified, the
user is prompted to save the configuration file (see the Save command description)!

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5.17.3.7 ExeHelp
This environment allows inserting, in a suitable predefined array ($EXE_HELP[]), the
most used components in the user’s PDL2 programs: variable names, constants,
routines, statements, etc.
The main page shows the currently inserted elements.

To add a new element, touch twice an empty row: the system automatically opens the
PDL2 keyboard.

Insert the wished string according to such a keyboard modalities; touch OK to confirm.
Once they are inserted in this environment, all the elements are available in the History
which is the list associated to the PDL2 keyboard (next figure, on the right).

To view it, touch the red highlighted symbol in the following left figure.

5.17.3.8 Install
Allows to install the specified application. The user has to:

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a. select the device from which the files of the being installed software must be read,
i.e. touch Device field

b. touch the wished device name, to select it

c. touch OK key to confirm.

d. Touch Project/Application field (the system automatically opens a list of the

available applications)

e. choose the wished Project/Application, touching its name in the list.

Note that the available Projects/Applications, listed in the current menu, correspond to
the existing .APPL files in the selected device (step b.) root.
The user/integrator can customize his/her Projects/Applications menu (according to
what’s described in par. 5.22.5 Adding Projects/Applications, installable from within
SETUP Page on page 368).

f. Touch OK key to confirm.

g. Depending on the chosen Project/Application, select the existing either the

multi-application or the standard application sections.

h. If all the page settings are ok, touch Install key to install all the requested objects
(as shown in the next figure). If they are not ok, on the contrary, such a key is not
enabled and a suitable message warns the user about the situation.

5.17.3.9 Login
This environment provides information and allows modifications, as far as concerns the

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System access (Login).

The displayed information is:
– Username
– Startup - flag indicating whether this login is used or not upon the system restart.
– Profile - associated user profile to this username.

The following commands are available in the Functional keys menu:

– Users
– Startup.

5.17.3.9.1 Users
Allows adding/modifying/deleting the configured users. The Administrator profile login is
required, to be allowed executing these commands.

The available commands are as follows:

– Add

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Adds a User (Login).

The operator is asked to specify Username and Password. The user Privileges
are to be specified too. In case the user does not give the requested information,
the default privileges are used (Programmer profile)

While defining the Technology profile, a positive numeric value must be specified,
otherwise such a profile will not be taken into consideration.

– Delete
Cancels the selected user from the system database.
Select the being deleted user, by touching the corresponding row, then touch
Delete command.
– Modify

Allows modifying the selected user’s access rights: user profile and, in case of
Technology, profile type (either 1 or 2). It is enough to edit the wished fields and
then confirm by touching OK.

5.17.3.9.2 Startup
Enables/disables the selected login to be used upon the system restart.
Touch the wished profile row, to select it.
Touch Startup key; a page is displayed in which the user is asked to insert the selected
profile password.
Save the system configuration file (by means of Save command in Configure
environment) to make the modifications operational.
Note that only one Startup Login at a time is allowed.

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5.17.3.10 NoAlarm
It allows to exclude notifying some alarms towards PLC.
A suitable subenvironment is displayed including the codes list (maximum of 8
elements) associated to alarms which are NOT to be sent to the PLC.

To add a new element, touch an empty row. The system opens the numeric keyboard.
Insert the wished code and touch OK key to confirm. The displayed text in the row is
viewed in Italic style.

Touch either Apply or OK key, to cause the new code to be immediately operational.
Then displayed text in the row is then displayed in the default style. Touch OK key to
quit the page.
Touch Delete key to cancel the currently selected alarm from the list. Multiple selection
of alarms is also allowed, in order to cancel them all issuing just one command. The
system does NOT prompt the user for confirmation before deleting.
If it is wished to keep the modification also upon shutdown, save the system

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configuration.

5.17.3.11 Reload-Sw
The current sub-page allows executing operations related to System Software
load/update.

PAY ATTENTION!
Before selecting the Reload-Software icon, insert, in the Control Unit USB port, a
disk-on-key containing the image of the System Software released by Comau, including
the subdirectories. The main directory of the software version has a name like the
following:
C5G_<V>_<v>
where ‘V’ and ‘v’ stand for the full identifier of the being loaded version.
For example:
C5G_3_11
is the main directory where 3.11 Software version is contained.

As soon as the Reload-Software environment is entered, the page shown in the above
figure is displayed.
Touch DEVICE field to select the port where the USB Flash Disk containing the being
loaded software has been inserted, from the displayed list.
In the two VERSION fields the full identifier of the current System Software version is
displayed. In the shown above example the being loaded version is 3.11.
Please, note that the USB Flash Disk could include several different Software versions.
Then the user must choose the wished one, among the following procedures:
1. System and TP upgrade - it allows to UPGRADE both the System Software and
the Teach Pendant Software
2. Robot configuration upgrade - it allows to UPGRADE the System data files without
losing the current configuration, set by means of Comau official tools
(e.g. stroke-ends, integrated slide data, etc.)
3. Completion of the System configuration (.C5G) - it allows to INTEGRATE further
axes and/or arms to the current configuration
4. TP only upgrade - it allows to UPGRADE, if needed, the Teach Pendant Software
and the User Interface Software
5. Full loading of System and TP - it allows to perform COMPLETE LOADING of the
Control Unit System Software, the Teach Pendant Software and the robot
configuration.

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Tab. 5.1 - System configuration recovery (vars and I/Os) according to

the sw reloading configs

OPERATION CONFIGURATION DESCRIPTION

The current configuration is held.
System Variables The existing .C5G file is used; it is automatically updated at
Upgrading restart time, according to the new software requirements.
1, 3, 4
software The current configuration is held.
I/O Configuration The existing .CIO file is used; it is automatically updated at
restart time, according to the new software requirements.
The configuration is recovered.
A new .C5G file is generated.
Upgrading System Variables The .PDL files, currently stored in UD:\SYS\CNFG\PDL
2 configuration (generated by means of Comau official PDL2 tools) are
file automatically run to recover the previous configurations.
The current configuration is held.
I/O Configuration
The content of the existing .CIO file is held.
The configuration can be recovered.
A new .C5G file is generated.
The .PDL files, currently stored in UD:\SYS\CNFG\PDL
System Variables
(generated by means of Comau official PDL2 tools) can be
manually used to recover the configurations existing before
loading.
5 Full loading The configuration can be recovered.
If the .CIO file is already existing, it is automatically used when
the same $SYS_ID containing its name is assigned during the
loading procedure; otherwise it is newly generated.
I/O Configuration
The .PDL files corresponding to the existing I/Os, currently
stored in UD:\SYS\CNFG\PDL (generated by means of Comau
official PDL2 tools) can be manually used to recover the
configurations existing before loading.

5.17.3.11.1 System and TP upgrade

a. After the procedure has been started, a subpage is displayed to inform that
upgrading is going on. A vertical progress bar, on the screen right side, shows the
working progress for the required operation.

b. When needed, the Teach Pendant loads the BSP software on the flash memory: if
executed, this operation takes about 10 minutes and includes the following steps:

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b.1 be sure to have a USB Flash Disk available containing update.img file and update
folder, released together with the software version and existing in the version TP
subfolder. Insert such a USB flash disk into the Teach Pendant TX: port.

b.2 Restart the Teach Pendant by touching at the same time the suitable keys (see
par. 5.3.1.4 Keys to restart the Teach Pendant on page 65) AX 7+, 8+, 9+, 10+.

b.3 The Teach Pendant detects the presence of the USB flash disk and displays the
Update Page (see the figure below). No further choices are needed: the operation
is automatically performed.

CAUTION - Do not switch the device off, do not remove the USB flash disk and do
not disconnect TP5 from the Control Unit, during the whole procedure.

b.4 As soon as the upgrade is completed, the Teach Pendant shows the Touch Screen
Calibration page (see par. 5.5.1 Touch screen calibration on page 70).

b.5 At the reboot end, the Teach Pendant displays the Startup page (the default is
Desktop Page).

5.17.3.11.2 Robot configuration upgrade

This procedure allows to upgrade the configuration files for each already configured
object (robot, axes, etc.), loading them from the USB flash disk which is currently
inserted in the specified device.

a. The procedure runs SETUP 1 program with the following start page:

b. Select the wished language for executing the procedure, by touching the language
name.

c. Touch DEVICE field in the next screen page

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d. choose the wished device by touching its name in the list, then touch OK key to
confirm.

e. The program then updates the configuration files.

f. The user is prompted for touching OK to confirm each file.

g. Touch one of the following keys to complete the procedure:

• Save - to save the inserted data. At the end of the saving operation, touch
Restart key.
• Restart - to exit from the procedure. The System is restarted. If the inserted
data have NOT been saved, e.g. for any wrong operations, an informational
message warns the User about that. Provide for saving them and touch
Restart key again.

5.17.3.11.3 Completion of the System configuration (.C5G)

This procedure allows to complete the already existing configuration, adding further
auxiliary axes and/or arms.

a. SETUP 1 program is automatically run

b. Select the wished language, by touching the language name.

c. the program loads the required data and displays a screen page in which the User
is requested to select or confirm the device and touch Next key to continue.

d. If an auxiliary axis is to be added, touch the corresponding field

e. select it by touching its name, from the list opened by the system

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f. touch OK key to confirm.

g. The Type field is then displayed in which the user should specify the wished
auxiliary axis type.

h. Select it by touching its name, from the list opened by the system

i. touch OK key to confirm.

j. Then the program displays some fields related to the chosen auxiliary axis, in
which the User must insert the required values:
• Address - motor drives address - usually, the number in the upper field is
equal to the number of the arm which the axis belongs to; it is the value which
is preset on T2 rotary switch (see Fig. 5.61).
The lower field includes a sequential value which is the first availabe value,
starting from 4: 1, 2 and 3 values are reserved to the Robot axes; such a value
is the one preset on T1 rotary switch (see Fig. 5.61).
• Axis - logical index of the being added auxiliary axis

For further information, please refer to par. POWERLINK Ethernet, in C5GPlus Control
Unit - Technical Specification, Transport and Installation manual.

• Channel - section of the motor drives module; it is needed to specify such an

information if the module is double.

Note that when the module is double and the first section has already been used, the
User must confirm the same module and select channel no.2.

• Safe - enables/disables using Safe Motion functionality for the involved axis.

k. After the above data insertion, add further auxiliary axes and/or arms, by means of
AUX2 and/or n.Arm keys.

l. To accomplish the data insertion, touch:

• Next key to confirm them
• Back key to modify them.

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m. The System is automatically set to Minimal Configuration. Going on with the

procedure, a screen page is displayed in which the User must specify some
settings for the Control Unit:
• Serial Number CRC - it is the Control Unit serial number together with
indication of the referred Country
• Language - it is the default language for the Control Unit
• Move Programming - set to MODAL by default
• Safety stop time - in case of PDTV/O (/ORB), the user is requested to specify
the value, in seconds, for setting the safety stop time.

See also par. Safety Stop: setting the stop circuit timer, in the C5GPlus Control Unit -
Technical Specification, Transport and Installation, manual, for further information.

n. To complete the procedure, touch one of the following keys:

• Save - to save the inserted data. At the saving end, touch Restart key.
• Restart - to exit from the procedure. The System is restarted. If the inserted
data have NOT been saved, e.g. for any wrong operations, an informational
message warns the User about that. Provide for saving them and touch
Restart key again.

5.17.3.11.4 TP only upgrade

This procedure allows to upgrade the Teach Pendant Software only, without modifying
in any case the Control Unit Software.
The procedure steps are the same of the System and TP upgrade procedure, as far as
concerns the TeachPendant section: from step b. to the procedure end.

5.17.3.11.5 Full loading of System and TP

This procedure allows to load all the Control Unit System Software, the Teach Pendant
BSP Software, the TeachPendant User Interface Software and the robot configuration.

a. After starting the procedure, the steps are the same of System and TP upgrade
procedure.

b. The System is switched to minimal configuration. At the end of data upgrading, a

restart cold operation is automatically performed (par. 5.8.2.2.1 Cold on page 107).

c. The procedure runs SETUP 1 program:

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Fig. 5.60 - SETUP 1 - Language selection

d. Select the wished language, by touching its name

e. the program loads the needed data and displays a screen page in which the user
should either select or confirm the device and then touch Next to continue.

f. Some screen pages are displayed in which the User is requested to insert
information such as:
• arm number (ARM field)
• ROBOT Family
• ROBOT Type
• Serial Number ROBOT

g. If Control Unit/Robot are of SAFE type, select the SAFE axes (all, in case of robot
axes)

h. After the data insertion is completed, touch Next key to continue.

i. The User is asked to confirm the current Arm data. Touch OK key to confirm;
SETUP 1 program is ready for further auxiliary axes adding, if required.

j. If wished, add an auxiliary axis, selecting it from the menu which is opened as soon
as the External Axes field is touched

k. touch OK key to confirm.

l. Select the axis Type, from the field which is then displayed

m. touch OK key to confirm.

n. The program displays some fields related to the chosen auxiliary axis, in which the
User should insert the required values:

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• Axis - logical index of the being added auxiliary axis

• Address - motor drives address - usually, the number in the upper field is
equal to the number of the arm which the axis belongs to; it is the value which
is preset on T2 rotary switch (see Fig. 5.61).
The lower field includes a sequential value which is the first availabe value,
starting from 4: 1, 2 and 3 values are reserved to the Robot axes; such a value
is the one preset on T1 rotary switch (see Fig. 5.61).

For further information, please refer to par. Ethernet POWERLINK address,

chap. Details about the C5GPlus Control Units, in C5GPlus Control Unit - Technical
Specification, Transport and Installation manual.

Fig. 5.61 - Rotary switch for motor drives address setting

• Channel - section of the motor drives module; it is needed to specify such an

information if the module is double.

Note that when the module is double and the first section has already been used, the
User must confirm the same module and select channel no.2.

• Safe - enables/disables using the Safe Motion functionality for the involved
axis.

o. After the above data insertion, add further auxiliary axes and/or arms, by means of
AUX2 key. If a new Arm is wished, touch n.Arm key. No matter of which is the
coice (either adding axis, or adding arm, or going on with the procedure), the
program displays the inserted values and waits for the User to confirm them.

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p. Touch OK key to confirm.

q. Let’s suppose the User has touched n.Arm key to add a new Arm. Select the
wished device or confirm the current one by touching OK.

r. Like described above for adding a new axis, some screen pages are displayed in
which the User is requested to sequentially insert the needed information for the
new Arm:
• ROBOT Family
• ROBOT Type
• Serial Number ROBOT
• Axis - logical index for the axis of the being added Arm
• Address - motor drives address - usually, the number in the upper field is
equal to the number of the arm which the axis belongs to; it is the value which
is preset on T2 rotary switch (see Fig. 5.61).
The lower field includes a sequential value which is the first availabe value,
starting from 4: 1, 2 and 3 values are reserved to the Robot axes; such a value
is the one preset on T1 rotary switch (see Fig. 5.61).

For further information, please refer to par. Ethernet POWERLINK address, chap.
Details about the C5GPlus Control Units, in C5GPlus Control Unit - Technical
Specification, Transport and Installation manual.

• Channel - section of the motor drives module; it is needed to specify such an

information if the module is double.
• Next key to confirm them
• Back key to modify them.

s. The User is asked to confirm the data both for Arm 1 and Arm 2.

t. Touch OK key to confirm.

u. Touch Next key again in the next screen page.

v. A screen page is displayed in which the User must specify some settings for the
Control Unit:
• Serial Number CRC - it is the Control Unit serial number together with
indication of the referred Country
• Language - default language for the Control Unit
• Move Programming - set to MODAL by default
• SAFE options - the user is requested to specify the wished SAFE option.

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v.1 Touch SAFE options field to open the corresponding list. An example of some
available choices is shown in the figure below

v.2 Select the wished option

v.3 Touch OK key to confirm

w. To complete the procedure, the User can choose one of the following keys (as
shown in the above figure):
• Save - to save the inserted data. Touch Restart at the end of saving
operation.
• Restart - to exit from the procedure. The System is restarted. If the data have
NOT been saved, e.g. for any wrong operationy, an informational message
warns the User about that. Provide saving data and then touch Restart key
again.

5.17.3.12 Safe
This page allows handling the SAFE LOGIC settings, both for C5GPlus (NoSafe) and
for C5GPlus SAFE.
To access it a dedicated login is provided (figure below on the left).
The tools to create and modify the users for handling the SAFE environment, are
available in the SAFE main page.

The Home page of the Safe environment (previous figure on the right) allows accessing
the available functionalities, depending on the system type:
– C5GPlus (NoSafe)
– C5GPlus SAFE.

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5.17.3.12.1 C5GPlus (NoSafe)

For this system configuration, the Control Unit safeties are handled by the SL144
X20SL8110 module.

The only accessible environments are:

– System
– Save.
Touch the Back key (leftmost corner in all the pages - following figure, highlighted in red)
to go back to the SAFE environment Home page, from within any pages.

System

The following Safe settings are available from within this page:
– Safe intervention time in case of gates opening (Braking time)
– Profinet SAFE module address (PS F- Address)
– signals mapping on safe outputs (Status Signals). They are set to ON depending
on the specified condition.

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Save

Access this page to save the made settings.

5.17.3.12.2 C5GPlus SAFE

The Safe functionalities for this System configuration are enlarged to the whole word of
SAFE types handling: joint areas, monitoring point, tool orientation, etc.

In case of C5GPlus SAFE, all the functionalities are available:

– System
– Joint spaces
– Cell
– Dynamic Volumes
– Functional Spaces A e Functional Spaces B
– Speed
– Monitoring Points
– Brake
– Safe Outputs
– Tool Orientation
– Import/Export
– Save.

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Touch the Back key (see the example in the figure above, highlighted in red) to go back
to the SAFE environment home page.

For any detailed information about the Safe Motion environment, refer to USE of
RoboSAFE funcitonality manual.

System

The following Safe settings are available from within this page:
– Safe intervention time in case of gates opening (Braking time)
– Profinet SAFE module address (PS F- Address)
– signals mapping on safe outputs (Status Signals). They are set to ON depending
on the specified condition.

Import/Export

These commands are dedicated to save and load the SAFE cell configurations.

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– Export command - saves the current configuration to a PC. The user can specify
the wished folder and filename. The destination is an XML file.
– Import command - reads the configuration from a previously created XML file,
specified by the user, and loads its to the current SAFE system.

Save

Use this command to save the made settings.

5.17.3.13 Startup
In this sub-page it is allowed specifying the name of the startup program which is to be
run each time the system restarts (STARTUP field in the below left figure).
Such a program may be holdable or non holdable; running a holdable program only
starts when the START pushbutton is pressed.
The name of the startup program is stored in $STARTUP predefined variable.

To choose it, touch STARTUP field (previous letf figure) in order to enable accessing to
the page for choosing the wished program (previous right figure).
Select the wished file and touch OK to confirm.
Selecting Automatic save field, AUTOSAVE functionality is enabled for both ODE and
DATA environments, when the system status switches to LOCAL.

If no program name is selected with this command, the contents of variable $STARTUP
are reset, therefore, if the setting is saved, no startup program will be run at the Control
Unit restart time.

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5.18 Service Page

This User Page is the starting point for the service operations.
It is composed by two subenvironments, selectable by touching the corresponding
icons:
– Motion
– System.
Select the icon related to the wished subpage.

5.18.1 Motion

– Arm
– ForceControl
– MultiArm
– View Coll.

PAY ATTENTION!
The use of the other environments is reserved to Comau After Sales Service.

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5.18.1.1 Arm

Fig. 5.62 - Arm subpage

This page includes more specific information than the one in Basic subpage (Motion
Page), related to the axes existing in the system (see Fig. 5.62). These are read-only
data:
– Currents - indicates the current of the axis motor (ampere)
– Follow - indicates the error between the current position of the axis and the wanted
one, expressed in motor turns
– Revolutions - indicates the current position of the axis, expressed in motor turns
– Temperat. - indicates the temperature of the motor relating to that axis, as a
percentage of the ratio between the mean value absorbed and the motor
characteristics. More precisely, the calculation of this value is based upon a
formula using the square of the average current taken by the motor and the square
of such a motor characteristic.
– Jointpos - indicates the current joint position of each axis of the current arm

5.18.1.2 ForceControl

This environment is only available with the Manual Guidance option.

This page is dedicated to handle the Force/Torque sensor Compensation:

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– creating a new Compensation (par. 22.3.4 Force/Torque sensor compensation

procedure on page 300),
– checking the status of an already existing Compensation (par. 22.3.5
Compensation status check procedure on page 304),
– displaying all data related to the selected Compensation.

Refer to Motion Programming manual, Chap.22. - Manual Guidance (optional feature)

on page 288, for further operational information.

5.18.1.3 MultiArm

Displays the current position (in Joint and in Cartesian mode) of all the axes of all the
existing Arms in the System.
The maximum number of displayed axes is 40.

5.18.1.4 View Coll

This environment allows viewing the current settings of the Collision Detection (optional
feature) algorithm (Motion programming manual).

The displayed information is:

– Enabled/Disabled - indicates whether the Collision Detection functionality is
enabled or not
– Search mode - is a special mode for search and pick applications, in order to
handle light collisions whose occurrence is expected a priori (not accidental
collisions).

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– The needle indicates the current sensitivity level:

• High sensitivity
• Medium sensitivity
• Low sensitivity.
The exact calculation of the sensitivity is made by the algorithm.
The user is released from the need of choosing the collision thresholds. Anyway, the
user can modify them by means of the CD_SET built-in routine, by specifying whether
a high, medium or low sensitivity is wished.
Both enabling/disabling the Collision Detection functionality and choosing the Collision
mode, can be performed by means of the CD_SET built-in routine.

Refer to PDL2 Programming Language manual, chap.Built-in Routines List, for

further details.

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5.18.2 System

– BCM - Board Charge Module

– CauseRemedy
– Eco
– Execute
– Info
– Maintenance
– Moni
– Safe Service
– Trace
– USBClean.

PAY ATTENTION!
The use of R.o.o.t. environment is reserved to Comau After Sales Service.

5.18.2.1 BCM - Board Charge Module

This subpage is dedicated to the BCM unit (Board Charge Module which handles the
24V power supply branches).

The allowed actions are:

– view the following data

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• Instant value - line A and line B current instant values (indicated by the grey
needle; see example in the above figure, Line B Current)
• Peak value - line A and line B current peak value (indicated by the red needle)
• Cycles - total amount of detected power failures
• Activation - year of the current battery activation
• Battery charge percentage (graphic representation)
• Diagram of the Control Unit cooling fan speed (both numeric value and colour
representation - green, yellow, red)
• Overload Status - status of any overload situation on each power supply
branch
• Overload Counter - total amount of detected overload states for each power
supply branch
– reset the current peak value of the associated power supply line, by means of the
two Reset A and Reset B keys in the functional keys menu.

5.18.2.2 CauseRemedy
This subpage allows getting information about a specified error code, as it happens in
the Alarm Page (see par. 5.10.1.2 Cause & Remedy Key on page 123).

Touch Error number field (see figure above, on the left). The numeric keyboard is
automatically opened (see figure above on the right). Insert the error code and touch OK
key. The associated Cause and Remedy are displayed.

5.18.2.3 Eco
This page displays the robot consumption and forecast diagnostics.
The Eco page is shown in the following figure.

– Displayed fields

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– Functional keys.

5.18.2.3.1 Displayed fields

In the topmost side, two fields are displayed indicating, respectively
– Start analysis - date and time of Start key last pressure.
– Stop analysis - date and time of Stop key last pressure.

In the LEFT side of the screen, the Power and Energy

realtime data are displayed.
They are referred to the period starting from the latest time
Start key has been pressed, until either the current moment
or the time Stop key has been pressed:

– Instant power absorbed by the robot (Watt).

– Average power absorbed by the robot(Watt).
– Max power absorbed by the robot (Watt).
– Energy consumption (kWh) by the robot.

The RIGHT side of the screen is divided into two sections:

– data related to the robot consumption forecast.

Two fields are displayed in such a section, available for the user to setup the
following values:
• Acquisition period - it is the robot cycle duration in seconds. Touching this
field causes the suitable keyboard to be opened in order to allow inserting the
wished value (previous figure on the right, upper image)
• Forecast time - it is the time interval for which the consumption forecast is
wished. Touching this field a list is opened (Toccando questo campo si apre
un elenco (previous figure on the right, lower image) in which the user is
requested to choose the wished item.
At Start key pressure, the Consumption forecast (kWh) is computed on the last
4 cycles; the value is displayed in the dedicated field (previous figure on the left).

– Diagrams of the instant trend of

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• absorbed Power (W), referred to the time (next figure, on the left)
• energy Consumo consumption (kWh), referred to the robot cycles (next
figure, on the right).
Two dedicated Diagrams keys are available.

5.18.2.3.2 Functional keys

The Eco Page provides the following functional keys:

– Start
– Stop
– Reset
– Standby
– Diagrams keys
– Closure key.

Start
Pressing this key causes a new diagnostic session to start. The Instant Power and
Consumption fields are updated and the Consumption forecast is calculated on 4 robot
cycles according to the user settings.
Date and time are displayed in the Start analysis field as soon as this key is pressed.

Stop
Pressing this key causes the current diagnostic session to be stopped. The Instant
Power and Consumption fields are no longer updated.
Date and time are displayed in the Stop analysis field as soon as this key is pressed.

Reset
Pressing this key causes the Energy consumption field to be put to zero.

Standby
Pressing this key causes the robot to be put in standby, stopping the working cycle. The

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corresponding led is on while the robot is in standby.

Diagrams keys

The left key (above figure) allows to switch displaying between Absorbed power
diagram and Energy consumption diagram.
The right key (above figure) erases the currently displayed diagram, in order to restart
with a new viewing.

Closure key
Touching the closure key (see par. – Closing current page on page 82), the user is
prompted for confirmation: when answering OK, the diagnosis session is interrupted.
Otherwise,

Otherwise, if continuing with diagnosis is wished also during other activities on the
Teach Pendant, press MENU button.
The Eco Page is then among the active functionalities (see next figure) and the user
interface is anyway available.

5.18.2.4 Execute
This subpage is used to execute an instruction without the need to have it in the body of
a PDL2 program.
The editable fields (as shown in the following left figure) are:
– Execute
is a field containing the being executed instruction. Usually such an instruction

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should have a short execution time, however it is possible inserting more than one
instruction in this field, separating them by ';' (semi colon).
– Context Program
touch the corresponding combobutton. A list is displayed including all the currently
loaded programs into the execution memory. Select the wished program and touch
OK key to confirm.

It is to be specified only when the being executed instruction contains references to

predefined variables (preceded by $, e.g. $CYCLE) belonging to “Program Stack”
category (see PDL2 Programming Language manual, chapter PREDEFINED
VARIABLES LIST).

If a Context Program is specified (name of a PDL2 program), the predefined

variable will belong to it. If such a program is not active, an error occurs.
If no Context Programs are specified instead, the program stack type predefined
variables belong to the virtual EXECUTE program, existing during the execution
only.

To use the Execute command, proceed as follows:

a. touch Execute field to open the PDL2 keyboard

b. a list of predefined choices is displayed when touching the red highlighted field (see
previous right figure), to help inserting the instructions. Note that the being
executed instruction can also be either directly typed in or chosen by touching
Statement key.

c. When the wished instruction has been inserted (e.g. DELAY 10000), touch OK key
to confirm it.

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d. If needed, insert the context program, owning the used variables in the being
executed statement.

e. To start the execution, short touch Exec key in the Functional keys menu.

During the execution, the Abort key is available in the Functional keys menu to
interrupt the required operation, if needed (see the shown example in the above
figure).

5.18.2.5 Info

Displays the following information groups in a TreeGrid type structure:

– CONFIGURATION
– SOFTWARE VERSIONS
– SOFTWARE OPTIONS
– HARDWARE
– COMMUNICATION.
Save to command, in the Functional keys menu, allows to save System information into
a text file according to the following rules:
– the default Name is <$SYS_ID>_SYSINFO.txt
– the default Device, when NO USB flash disks are inserted, is TD:
otherwise, when a USB flash disk is inserted, the default device is the port in which
the USB flash disk is currently inserted.
When the insertion is completed, touch OK key to confirm saving.

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5.18.2.6 Maintenance
This subpage allows accessing the user Maintenance Pages.

By default, such pages are not displayed on the Teach Pendant screen: to make them
viewable, the user must create and insert them into a specific path on the Control Unit.

Click Maintenance icon to enter the specific environment which includes the user
Maintenance Pages created and customized by means of the XML file.
A sample page description follows.
– Environment description
– Page types.

NOTE
Carefully follow par. 5.22.7 XML creation and customization of the User Maintenance
Pages on page 372 to create the user Maintenance Pages.

5.18.2.6.1 Environment description

As shown in the figure above, the page can be divided into the following areas,
highlighted with different colours:

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– Operation title (red)

– Current status (purple)
– Image (yellow)
– Comment (blue)
– History (green).

Operation title
All the maintenance operations inserted in the XML file, are displayed in this area.

A panel is available for each operation, selectable by means of the corresponding tab.
Touching the wished tab, the page information is automatically updated, displaying the
one related to the specified operation.

Current status
The current status of the selected maintenance operation is displayed in this area.
As shown in the figure below, a progress bar is displayed with 2 values on its side,
indicating, respectively, the start value (0 h) and the maximum one (15000 h) set up as
the total amount of hours for the specified maintenance operation.

Above the progress bar a value is displayed of the already spent hours (7296 in our
example), which increases together with the Progress Bar.
The hours count can be of the following 2 types:
– Type 1 -> (Hours) - for the current maintenance operation, HOURS are used as
reference to calculate the time progress; this means that, regardless of whether the
robot is working or not, the counter is increased while the time goes on.
– Type 2 -> (Hmtrs) - for the current maintenance operation, DRIVE ON HOURS are
used as reference to calculate the time progress; this means that the counter is
increased only when the robot is working.
The progress bar colour (see next figure), towards the set up maximum value, changes
from green (<=69%) to orange (>=70% and <=89%) and then to red (>=90%).

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Image
The image associated by the user to the maintenance operation type, is displayed in this
area.

The image is optional; if not specified, the corresponding space remains empty.

Comment
A comment related to the performed maintenance operation, is displayed in this area. It
is saved and displayed in the History area.

The user comment is optional.

During the monitoring start phase, the comment textbox is disabled since in that case
the displayed message is always "MONITORING START" in order to know when the
monitoring phase is started.

History
The history of the last 4 recorded actions is displayed in this area for each performed
maintenance operation.
An example is shown in the following figure.

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5.18.2.6.2 Page types

Regardless of the customization implemented by the user in the XML file, 3 different
pages are available:
– Customizable Pages
– Dedicated Pages
– Setup Page.

For any further details about each page type, refer to par. 5.22.7 XML creation and
customization of the User Maintenance Pages on page 372.

5.18.2.7 Moni
Moni is a debug tool, so the user should use it just in case of probable problems for the
Arm (or for the Arms), in order to collect data about it.
Such data are saved into binary files which should be sent to Comau in order to analyze
the situation.

First of all, the User must select the motion characteristics to be monitored:
– Joint/Cartesian - indicates the being monitored motion type, thus the acquired
data type. If Cartesian is selected, Ax1..Ax6 checkgroup is not available; the only
available is All checkbox (figure above on the right).

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A Safe field could be present too, in case of COBOT robots only. Refer to the dedicated
manual, for further details.

– ARM - indicates the involved Arm for the data acquisition

– Multiarm - if checked, it causes the ARM choice to be automatically uninfluential

(because the Multiarm moni is performed on all the Control Unit Arms).

– Circular - indicates whether the data file will be cyclically overwritten, until the
specified error in field Stop when error is triggered
– Stop when error - this field is displayed just when Circular field is selected. It
indicates the error code whose occurrence is to be monitored. As soon as such an
error occurs, the program closes the data file and ends with data acquisition.

– Ax1..Ax6 and subsequent ones / All - indicate the axes whose data will be
collected
– Sampling - indicates the number of interpolator ticks ($IPERIOD) between an
acquisition and the following one
– Length (sec) - indicates the data file dimension (the longer the acquisition time,
the bigger the file).
After setting the wished features, touch Start key to begin data acquisition. A progress
bar on the right, informs the User about the status of the operation. Touch OK when
completed.

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The program creates a binary file called ‘moni.log’, in TD:\ root folder.

WARNING - Each new data acquisition will overwrite the previous file and the possible
Control Unit shutdown will cause the file to be deleted. It is then strongly recommended
to save it with a meaningful name, in order not to lose the acquired information.

It is allowed to create a copy of ‘moni.log’ file of the collected data, with a name chosen
by the user, on the wished device (as shown in the previous left figure).
To do so, act in the following way:

a. select the device in Copy to field

b. insert the wished name in New File field

c. Touch Copy key; please note that to copy to COMP: device, it must have
previously been set in the suitable WinCRC window (‘File Transfer Folder’ field,
Properties Window).

d. Finally, touch OK key.

e. If no further acquisition is requested, touch Exit key to finish.

The data file should be sent to Comau to analyze the situation.

Before using Moni environment, please contact Comau After Sales Service for
information about optimal acquisition conditions and problem analysis.

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5.18.2.8 Safe Service

This environment allows issuing some service commands towards the SAFE LOGIC
devices, both for C5GPlus (NoSafe) (figure below on the left) and the C5GPlus SAFE
(figure below on the right).
Such commands allow executing maintenance operations due to inconsistent positions
or system objects fixing and/or replacing (retentive key, modules, firmware), handling
the SAFE firmware.

Refer to par. 5.18.2.8.3 Procedures on page 336 for any operational details about the
procedures using the listed above commands.

The CONTROLLER ID top right LED indicates the Safe Logic Unit status. It is also
associated to the Control Unit name chosen by the user (CUSTOM_CNTRL_ID).
When green, it indicates that the Safe Logic Unit is in “ready” status, which means
normal execution.
The available functions in this page should be executed upon specific requirement of the
system. The need is indicated by means of dedicated messages, displayed in the
Message bar.
When required, such messages clearly ask the user to recover from a situation which is
preventing the system from being in the “ready” state.

5.18.2.8.1 C5GPlus (NoSafe)

The C5GPlus safety system is handled by SL144 X20SL8110 SAFE LOGIC which
needs a safe firmware and commands; the current environment is thus available, in
order to allow the needed Reload/Acknowledge operations.

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The available functions, which can be activated on the TP5, are:

– Safe PLC objects acknowledgment (by means of dedicated buttons)
• retentive memory key (Safe-Key) containing both the Comau Safe Software
and the user configuration parameters - Format Safe-Key, Acknowledge
Safe-Key, Reload software RS commands
• safe modules (1..N) - Acknowledge modules command
• SAFE firmware - Acknowledge firmware command.

5.18.2.8.2 C5GPlus SAFE

This Control Unit configuration uses the C5GPlus (NoSafe) same functionalities,
together with the NORMAL mode Recovery handling.

The available functionalities in this TP5 page, allow handling the following topics:
– Safe PLC objects acknowledgment (by means of dedicated buttons)
• retentive memory key (Safe-Key) containing both the Comau Safe Software
and the user configuration parameters - Format Safe-Key, Acknowledge
Safe-Key, Reload software RS commands
• safe modules (1..N) - Acknowledge modules command
• SAFE firmware - Acknowledge firmware command.
– Recovering the execution normal mode - SAFE Line Up procedure (by means of
dedicated buttons)
• NORMAL MODE - it is the running mode in which the robot should always
work, i.e. a completely consistent situation.
• RECOVERY MODE - it is a mode in which a minimal mobility is active for the
RoboSAFE system, to allow recovering from the current situation.

For any detailed information about the Safe Motion environment, refer to USE of
RoboSAFE funcitonality manual.

5.18.2.8.3 Procedures
– Safe PLC objects acknowledgment
– Recovering the execution normal mode - SAFE Line Up procedure.

Safe PLC objects acknowledgment

The RoboSAFE issues a message to ask the user to acknowledge an object (new
Safe-key, new hardware modules, new firmware).

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The status LED is yellow in such situations. The background of the button related to the
being acknowledged object is yellow too. An example of the retentive Safe-key
acknowledgment is shown in the following figures.

If acknowledging all the objects is required, the proper sequence is

1 - Safe-Key,
2 - modules
3 - firmware.

a. Touch the yellow button. Note that, in case of modules acknowledgment, the yellow
button is the one corresponding to the total amount of being acknowledged
modules: such a number depends on the configuration and on the currently active
modules; usually it is N. Anyway, individual keys are available until 4 replaced
modules. Starting from 5 modules, N key must be used.

b. The system displays an informational message to notify the user that the
acknowledge operation is in progress, as shown in the right figure above.

c. Wait for the operation completion. It could take some minutes.

d. If required, by means of a suitable message and the corresponding button turned

to yellow, perform the acknowledgment of the subsequent object, starting the
procedure again from step a.

As far as the Reload software RS command (in case of SAFE System only), the Safe
Logic is restarted after such a command execution and the status turns to RECOVERY
MODE.
A System restart is needed (Restart Cold) to go back to NORMAL MODE.

Recovering the execution normal mode - SAFE Line Up procedure

The RoboSAFE system displays the Please execute recovery procedure to recover
safe position message: executing SAFE Line Up Procedure is then needed.
Requirements:
– system in Progr status (T1)
– drives must be off (DRIVE-OFF).
Act as follws:

a. touch the RECOVERY MODE button

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a. the system prompts the user for confirmation before going on

b. Answer Yes

c. The new status is Recovery Mode, so the LED of the corresponding button turns
to yellow

d. A minimum mobility is still active in this status. Switch the drives to on (DRIVE ON).

e. Jog the robot towards the calibration position.

f. When close to such a position (user calibration), execute

MOVE TO $CAL_USER

by means of the Execute command.

Note that a dedicated Move to SAFE LINE UP position button is available, to
move to the SAFE LINE UP position, as shown in the figure above.

g. Touch the NORMAL MODE button to go back to the normal execution status

h. the system prompts the user for confirmation.

i. Answer Yes.

i.1 If no errors occur, wait for going back to the Normal Mode. Go to step j.

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i.2 If any errors occur, go back to step e. to improve the positioning accuracy.

j. The NORMAL MODE button LED turns to green: the situation is recovered and the
status is normal execution. The displayed message (figure below) states that no
actions are needed.

5.18.2.9 Trace
This subpage allows collecting data about drives communication problems on the
POWERLINK network.
Such data are saved into files which should be sent to Comau in order to analyze the
situation.
After selecting the required data type, touch Start key to start collecting them.

Touch OK key when completed.

Now the program allows copying the collected data to a binary file: select the wished
device onto which the file is to be created, by means of Copy to field and touch Copy
key.

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At the operation completion, touch OK key.

If no further acquisition is requested, touch Exit key to finish.
The data file should be sent to Comau to analyze the situation.

Before using Trace environment, please contact Comau After Sales Service for
information about optimal acquisition conditions and problem analysis.

5.18.2.10 USBClean
This environment allows to recover a USB Flash Disk device, currently inserted into the
Teach Pendant TX: port, in case it cannot be recognized and then mounted by the
system.

Touch Execute key to start the recovery process.

The operation progress is displayed by the corresponding bar.
A message notifies the user about the result, at the end of the process.

Note that the described above operation could take several minutes and it is not
guaranteed that any Flash Disk USB is acknowledged by the Teach Pendant, even after
the recovery process.
Anyway, this functionality has been checked for the majority of the existing Flash Disk
USB.

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5.19 Tips Page

In this environment, accessible from Desktop Page, descriptions are provided, about the
most significant functionalities recently added to the Teach Pendant and the Control
Unit. This is a read only page, just to be consulted.

Touch Tips icon, to open the corresponding environment.

The following figure shows an example in which a short description is provided about
how to sort data in tables, according to the columns headers.

The Functional keys menu provides two dedicated keys, green arrows (highlighted in
red in the previous figure), to sequentially move backwards and forwards among Tips
subpages

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5.20 LUN_TP Page

This page is the display window of TP-INT Page existing in the previous generation
Teach Pendant (iTP).

In the TP5 Teach Pendant, its purpose is to show any user/system messages which are
not taken into account by the alarms/actions handling system.

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5.21 QUICK Page

– Overview
– Viewing
– Creating/Modifying
– Exporting
– Examples.

5.21.1 Overview
The QUICK Page allows accessing an environment for the use of “short commands”
created by the user.
More in details, this page allows Viewing/Creating/Modifying/Exporting such
commands.
A “short command”, from now on referred to as “macro”, includes one or more repetitive
or frequently used operations, associated to a name chosen by the user.
Press QUICK special key, belonging to the membrane keyboard, to access this page,
as shown in the below figure.

5.21.2 Viewing
The already existing macroes are displayed when accessing to the QUICK Page.

Fig. 5.63 - QUICK Page

In the shown above example, two macroes are already present, referred to as Incr and
load_prg. To use them, just tap the corresponding icon.

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5.21.3 Creating/Modifying
Tap Add... key to create a new macro; a wizard is activated, in which the user must
choose whether it will include commands or PDL2 instructions.

To do it, the following options are available:

– SYS_CALL
– PDL2.
Please note that to modify an already existing macro, Modify function is available
(see Fig. 5.63) which operates like Add... function which creates a new one.

5.21.3.1 SYS_CALL
It is to be used for macro including commands executed by means of SYS_CALL built-in
routine.
Touching Command field, the Alphanumeric keyboard is displayed. Type in the wished
command and either tap OK or press ENTER to confirm.
Tap Save key in the Wizard page, insert the name to be assigned to the newly created
macro and confirm. In the example, shown in the following figure, the chosen name is
run_a1.

5.21.3.2 PDL2
This choice is to be used for creating macroes which immediately execute PDL2
statements; thus, EXECUTE command rules have to be complied with.
Tapping Statement field, the PDL2 keyboard is displayed in order to allow the user to
insert the wished PDL2 instruction.

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Tap OK key or press ENTER to confirm.

Tap Save key in the Wizard page, insert the name to be assigned to the newly created
macro and confirm. In the example, shown in the following figure, the chosen name is
set_10.

When executing a sequence of operations is needed, the user can create a routine
containing them and then create a macro, calling such a routine.

5.21.4 Exporting
In the functional keys menu a key is available represented by a USB Flash Disk: it allows
Exporting the QUICK Page existing macroes towards an external device properly
inserted into one of the system USB ports.

To activate exporting, simply touch such a key (see figure above) and select the wished
USB port.
The user is asked for confirmation before starting the export operation.

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Answer Yes to start the export procedure. A suitable message is displayed to notify the
operation completion (see previous figures).
The name of the newly created folder onto the USB Flash Disk is MyQUICK; it includes
all currently existing macroes in the QUICK Page.
Touch the Closing current page key to close the Export environment.

5.21.5 Examples
Some sample pages follow to show the use of the QUICK Page functionalities.

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5.22 Customizations on the TP

Current section contains information about the following topics:
– User table creation from DATA environment
– Handling TP right menu
– Customizing the PDL2 Statements insertion, in IDE environment.
– Creating user pages in VP2 language
– Adding Projects/Applications, installable from within SETUP Page
– Creating user tiles in the Home Page
– XML creation and customization of the User Maintenance Pages.

5.22.1 User table creation from DATA environment

Please, refer to par. 5.16 Data Page on page 222, for further information.

The PDL2 language allows the user to create a table and add it to the TP interface in
the Data Page.
The operation to be done are as follows:

a. Table type definition: a RECORD must be defined which fields are the columns of
the table.

b. Table elements definition: the rows of the table are variables declared of the above
type, as in a. step.

Variables of the above type that do not need to be displayed in the DATA table, must be
declared with the NODATA attribute (please refer to par. VAR Statement in PDL2
Programming Language manual).

c. Table viewing: the TABLE_ADD built-in procedure must be called.

Here follows a sample program.

PROGRAM exampletable NOHOLD

TYPE usertable = RECORD
col1 : INTEGER
col2 : BOOLEAN
col3 : REAL
ENDRECORD

VAR line1, line2 : usertable

line3_6 : ARRAY[4] OF usertable
BEGIN
line1.col1:=10
line1.col2:=TRUE
line1.col3 :=4.5

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TABLE_ADD('usertable', $PROG_NAME, $PROG_NAME)

END exampletable
– The table contents are stored in a .VAR file specified in the TABLE_ADD Built-In
Procedure, PDL2 Programming Language manual.
– The table is removed from the DATA Page issuing the TABLE_DEL Built-In
Procedure, PDL2 Programming Language manual.
In the following sections detailed information is given about:
– Properties
– Variable <type>_signal
– Variable <typename>validate_name_err
– Example program for a table creation.

5.22.1.1 Properties
It is possible to associate some properties to the whole table or to fields of it. Detailed
information is provided in the following paragraphs.
For doing it, some variables have to be defined in the program header, according to the
following syntax:
<type_name>_<operation> : when the operation is applied to the table.
<type_name>_<field_name>_<operation> : when the operation is applied to a field of
the table.
<type_name>_<field_name>_<field_of_a_position>_<operation> : when the
operation is applied to a field of a positional variable belonging to the table.
<type_name> is the table;
<field_name> is the field of the table;
<field_of_a_position> is a field of a positional variable belonging to the table;
<operation> is one of the predefined functions listed here below.
They are grouped as follows:
– Table (global) Properties
– Field Properties
– Field of a POSITION Properties.

5.22.1.1.1 Table (global) Properties

The listed below properties apply to the whole table (i.e. they are “global” to the table).

NOTE that the Table Property Name must always be preceeded by <type_name>
(i.e. the table typename).
Example:
if the table typename is “mytable”, the “_get_active_element” property must be written
as
mytable_get_active_element

– _get_active_element
– _get_auto_editable
– _get_can_auto_apply

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– _get_editable
– _get_max_entries
– _get_msg_on_save
– _get_refresh_event
– _get_title
– _get_var_path
– _integer_get_max
– _integer_get_min
– _integer_get_step
– _real_get_max
– _real_get_min
– _real_get_step
– _get_default_name
– _get_all_variables.

_get_active_element
Name _get_active_element
Description Get the active element in the table
Data type STRING
Read upon modifying the value of the variable (it is used for monitoring a variable)
Default value none

_get_auto_editable
Name _get_auto_editable
Description Enabling flag for the table modification when the state of the Control Unit is LOCAL. It is
checked before enabling the modification of a field.
Data type BOOLEAN
Read upon table modification (of a field)
Default value modifying is not enabled in LOCAL state

_get_can_auto_apply
Name _get_can_auto_apply
Description Enabling flag for the automatic apply function, which consists in the copy of the data viewed, in
the table, directly in variables loaded in execution memory.
Data type BOOLEAN
Read upon table opening
Default value Auto apply is enabled by default

_get_editable
Name _get_editable
Description Indicates whether that table can be edited or not

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Data type BOOLEAN

Read upon table opening
Default value TRUE (by default, modification is always permitted)

_get_max_entries
Name _get_max_entries
Description Maximum number of rows in the table
Data type INTEGER
Read upon adding a new row to the table
Default value none

_get_msg_on_save
Name _get_msg_on_save
Description Generation of a message upon the event of table saving
Data type STRING
Read upon table saving
Default value none

_get_refresh_event
Name _get_refresh_event
Description Indicates the PDL2 event used to inform the DATA Page that a global property has changed.
Data type INTEGER
Read upon table opening
Default value 0 (by default, no event is provided)

_get_title
Name _get_title
Description Table name
Data type STRING
Read upon table opening
Default value table name

_get_var_path
Name _get_var_path
Description Path (directory and file name) in which saving the .VAR file containing the table data.
The ‘\‘ character used in the directory path specification must be replaced by ‘\\'
Data type STRING
Read upon table saving
Default value the same path used upon table load

_integer_get_max
Name _integer_get_max

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Description Maximum value for INTEGER fields

Data type INTEGER
Read upon table opening
Default value none

_integer_get_min
Name _integer_get_min
Description Minimum value for INTEGER fields
Data type INTEGER
Read upon table opening
Default value none

_integer_get_step
Name _integer_get_step
Description Incremental and decremental step for INTEGER fields
Data type INTEGER
Read upon table opening
Default value 1

_real_get_max
Name _real_get_max
Description Maximum value for REAL fields
Data type REAL
Read upon table opening
Default value none

_real_get_min
Name _real_get_min
Description Minimum value for REAL fields
Data type REAL
Read upon table opening
Default value none

_real_get_step
Name _real_get_step
Description Incremental and decremental step for REAL fields
Data type REAL
Read upon table opening
Default value 0.1

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_get_default_name
Name _get_default_name
Description Predefined prefix for new elements name
Data type STRING
Read upon table opening
Default value none (the new variables haven’t got a predefined prefix)

_get_all_variables
Name _get_all_variables
Description Enable reading variables from all loaded programs into memory
Data type BOOLEAN
Read upon table opening
Default value FALSE (by default, variables of the owning program only are read)

5.22.1.1.2 Field Properties

The listed below properties apply to the fields of the table.

NOTE that the Field Property Name must always be preceeded by both <type_name>
and <field_name> (i.e. the table typename and name of the field which it applies to),
separated by ‘_’ character.
Example:
if the table typename is “tab”, and the field name is “curr”, the “_get_editable” field
property must be written as
tab_curr_get_editable

– _get_alignment
– _get_editable
– _get_format
– _get_item_list
– _get_item_values
– _get_max
– _get_min
– _get_msg_on_change
– _get_step
– _get_tip
– _get_title
– _get_visible.

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_get_alignment
Name _get_alignment
Description indicates the text alignment inside the columns. The following values are to be specified:
– 0 left alignment
– 1 center
– 2 right alignment.
Data type INTEGER
Read upon table opening
Default value String values are right aligned, boolean values are centered, numerical values are right aligned.

_get_editable
Name _get_editable
Description Read-only flag for the field
Data type BOOLEAN
Read upon enabling the field modification
Default value FALSE, which means that the field is enabled to the modification

_get_format
Name _get_format
Description Formatting floating point values in a field of the table. Used syntax for rounding type is ...0.01,
0.1 , 1 ,10, 100...
Data type REAL
Read upon table opening
Default value no predefined format

_get_item_list
Name _get_item_list
Description List of possibile items associated to a field of the table
Data type ARRAY OF STRING
Read upon table opening
Default value none

_get_item_values
Name _get_item_values
Description List of values related to each item listed with the _get_item_list property
Data type ARRAY OF INTEGER
Read upon table opening
Default value 0 .. [max_items-1]

_get_max
Name _get_max
Description Maximum value for the field

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Data type INTEGER or REAL

Read upon selecting the field for being modified
Default value maximum limit of the PDL2 data type

_get_min
Name _get_min
Description Minimum value for the field
Data type INTEGER or REAL
Read upon selecting the field for being modified
Default value minimum limit of the PDL2 data type

_get_msg_on_change
Name _get_msg_on_change
Description Prompt a message after a field modification
Data type STRING
Read upon Apply command is issued on the field
Default value none

_get_step
Name _get_step
Description Incremental/decremental step for the field
Data type INTEGER or REAL
Read upon selecting the field for being modified
Default value 1 for INTEGERs and 0.1 for REALs

_get_tip
Name _get_tip
Description Help string assignement
Data type STRING
Read upon table opening
Default value no Help string

_get_title
Name _get_title
Description Field name
Data type STRING
Read upon table opening
Default value field name

_get_visible
Name _get_visible

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Description Flag for enabling the viewing of a field of the table

Data type BOOLEAN
Read upon table opening
Default value TRUE, which means that the field is always viewed

5.22.1.1.3 Field of a POSITION Properties

The listed below properties apply to the Position type fields of a table.

NOTE that the Positional Fields Property Name must always be preceeded by
<type_name>, <field_name> and <field_of_a_position> (i.e. the table typename, the
name of the field and the name of the positional field, which it applies to), separated by
‘_’ character.
Example:
if the table typename is “tab”, the field name is “pos1” and the field of the position is “x”,
the “_get_max” field property must be written as
tab_pos1_x_get_max

– _get_max
– _get_step
– _get_min.

_get_max
Name _get_max
Description Maximum value for a field of a POSITION
Data type INTEGER or REAL
Read upon selecting a field for being modified
Default value max limit of the PDL2 data type

_get_step
Name _get_step
Description Increment of a POSITION field
Data type INTEGER or REAL
Read upon selecting a field for being modified
Default value 1 for INTEGERs and 0.1 for REALs

_get_min
Name _get_min
Description Minimum value for a field of a POSITION
Data type INTEGER or REAL
Read upon selecting a field for being modified
Default value minimum limit of the PDL2 data type

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5.22.1.2 Variable <type>_signal

Such a variable is used by the user interface to signal an event to the PDL2 program
which handles the tables. The PDL2 program has to check the variable value, in order
to know whether the event occurred or not. The predefined value (0) indicates that none
happened. In case of special events (for example table saving), for which a notification
to the PDL2 program is needed, the user interface modifies its value as follows:

Event type Variable value When is it modified?

Saving a table At the end of saving operations, if successfully
1
completed
Reloading a table At the end of reloading operations, if successfully
2
completed

It is up to the PDL2 program to reset the variable (to the default value of 0) at the end of
the event service routine, otherwise a further event of the same type could be not
detected (since the value of the variable wouldn’t change!).
If such a variable is not in the table, the user interface doesn’t handle it at all.

5.22.1.3 Variable <typename>validate_name_err

This variable is used to validate the name of new elements in tables belonging to DATA
environment.
– In the PDL2 program which handles the table, a routine should be defined having
the following name:
<typename>_validate_name(name: STRING)
– When a new row is inserted in the table, the TP asks for the new element name
and calls such a routine. The passed parameter contains the name typed in by the
user:
• if the oruitne does not exist, no errors occur: the TP goes on inserting the new
element into the table (this is for compatibility with the current PDL2 programs
which don’t have such a routine).
• On the contrary, if it is defined, the PDL2 routine performs all the required
checks and sets a STRING type variable:
VAR <typename>_validate_name_err: STRING[nn]
– The TP reads such a variable in the following way:
• if <typename>_validate_name_err variable either does not exist, or is
UNINIT, or is empty, the name chosen by the user is considered as a valid
name and a new row is created in the table.
• If <typename>_validate_name_err variable includes a text, it is displayed to
the user and the new row creation does not continue.

A PDL2 sample program follows, with guide-lines for creating a complete program.

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5.22.1.3.1 Sample program for a variable name validation

PROGRAM test_var NOHOLD

TYPE usertable = RECORD

col1 : REAL
col2 : REAL
col3 : REAL
col4 : REAL
col5 : REAL
ENDRECORD

VAR line1, line2 : usertable

line3_4 : ARRAY[2] OF usertable
usertable_validate_name_err : STRING[50]

-- Routine called by the TP

ROUTINE usertable_validate_name(name : STRING) EXPORTED FROM test_var
ROUTINE usertable_validate_name(name : STRING)

BEGIN
-- Perform the needed check on the variable name
-- If usertable_validate_name_err variable either does not exist, or is UNINIT,
-- or is empty, the name chosen by the user is assumed as valid and a new row
-- is created in the table. Otherwise the user is warned by means of the message
-- included in the variable itself
usertable_validate_name_err := 'the variable has got a wrong name'
END usertable_validate_name

BEGIN
usertable_validate_name_err := ''
.....
TABLE_ADD('usertable', $PROG_NAME, $PROG_NAME)

END test_var

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5.22.1.4 Example program for a table creation

PROGRAM test_tab NOHOLD

TYPE tab_def = RECORD
curr : REAL
curr1 : REAL
volt1 : REAL
volt2 : REAL
pressure : REAL
spd : INTEGER
acc : INTEGER
jerk : INTEGER
dec : INTEGER
mass : REAL
enabled : BOOLEAN
stokeend : BOOLEAN
opened : BOOLEAN
pos : POSITION
ENDRECORD
VAR
tab_def_get_title : STRING[13] ('Test Table') NOSAVE
tab_def_max_entries : INTEGER (5) NOSAVE
tab_def_get_msg_on_save : STRING[44] ('Sample save message') NOSAVE
tab_def_curr_get_title : STRING[7] ('Current') NOSAVE
tab_def_curr_get_tip : STRING[13] ('Total current') NOSAVE
tab_def_curr_get_max_value : REAL (3.0) NOSAVE
tab_def_curr_get_min_value : REAL (-3.0) NOSAVE
tab_def_curr1_get_visible : BOOLEAN (FALSE) NOSAVE
tab_def_get_auto_editable : BOOLEAN (FALSE) NOSAVE
tab_def_spd_get_item_list : ARRAY[3] OF STRING[10]
tab_def_mass_get_editable : BOOLEAN (TRUE) NOSAVE
tab_def_mass_get_msg_on_change : STRING[30] ('Sample edit message') NOSAVE
tab_def_get_editable : BOOLEAN (TRUE) NOSAVE
tab_def_get_refresh_event : INTEGER (50100) NOSAVE

tab1 : tab_def
tab2 : tab_def
tab3 : tab_def
tab4 : tab_def
tab5 : tab_def
tab6 : tab_def
tab7 : ARRAY[3] OF tab_def

BEGIN
-- Creates the table
TABLE_ADD('tab_def', $PROG_NAME)

tab_def_spd_get_item_list[1] := 'low'
tab_def_spd_get_item_list[2] := 'medium'
tab_def_spd_get_item_list[3] := 'high'

CYCLE
-- Makes the table editable
tab_def_get_editable := TRUE
-- Changes other properties
-- . . .
-- Informs the TP
SIGNAL EVENT 50100 -- uses the tab_def_get_refresh_event value
-- Wait 30 seconds
DELAY 30000

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-- The table is not editable anymore

tab_def_get_editable := FALSE

-- Changes other properties

-- . . .

-- Informs the TP
SIGNAL EVENT 50100 -- uses the tab_def_get_refresh_event value

-- Wait 30 seconds
DELAY 30000

END test_tab

5.22.2 Handling TP right menu

Please, refer to par. 5.5.2 Display areas on page 72, for further information.

There are 6 keys on the TP that can be programmed by the user basing on the
application to be developed.
Each page of the application could need more than 6 keys; pressing MORE key (on the
right of the right menu) the remaining softkeys of the current page are displayed.
The changing from one page to another is circularly handled via the MORE key and the
swapping occurs when the last softkey of the page has been displayed.
It is possibile to disable a softkey but it is not allowed to disable a page of softkeys.
Each softkey can be in the following status:
– Enabled or disabled.
– The pressure of a disabled softkey does not have any effect. Please note that the
key aspect remains unchanged in respect to when it is enabled: the PDL2 softkey
handler program has to modify the key in terms of color, icon, text so to underline
the disabled key status.
– Pressed or Released
– When the softkey is in the pressed state, the softkey is represented like if it were
embedded.
A configuration file in XML format has to be written containing the definition of the
softkeys; this file must be stored in the following folder:
UD:\SYS\TP\CONFIG\RIGHTMENU
Upon the Control Unit restart, all the files contained in the above directory are
automatically loaded, in alphabetical order, on the TP.
Each page corresponds to the definition of a group of softkeys, which can be more than
6. The syntax is as follows:

<?xml version="1.0"?>

<NewMenu>
<group>
<progName>GroupName</progName>
<numItems>Number</numItems>

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<arName>Names</arName>
<arIconName>Icons</arIconName>
<arStatus>Colours</arStatus>
<arEnabled>Enabled</arEnabled>
<evPressed>NumberOfEvent</evPressed>
<evLongPressed> NumberOfEvent </evLongPressed>
<evReleased> NumberOfEvent </evReleased>
</group>

</NewMenu>
The words included between < > should always be present. The words specified in bold
have to be replaced by a true parameter.
Example: 2 XML files are defined. In the first file, one group with 8 softkeys is defined;
in the second one, 2 groups with 3 softkeys each are defined. TP will create the following
pages:
– One page with the first 6 softkeys of the group of the first file
– One page with the remaining 2 softkeys of the group of the first file
– One page with the 3 softkeys of the first group of the second file
– One page with the 3 softkeys of the second group of the second file.
A detailed description follows about the following topics:
– XML Tag Parameters
– Softkey Pressure and Release events
– Example of XML configuration file
– Example of right menu configuration.

5.22.2.1 XML Tag Parameters

Here follows the description of the XML tag parameters to be defined in the group
specification.

<progName> ... </progName> Softkeys handler

The information required for handling each key belonging to a group are stored in
variables which should be loaded in execution memory (Load command). The definition
and the initialisation of these variables should be included in this program. The program
should be loaded by the Control Unit startup program.

< numItems >...</numItems > Number of items to be considered

This XML parameter indicates the number of elements which should be considered
inside the array variables which contain the properties for each softkey.
The arrays could have a greater dimension but the number of elements taken into
account is the one indicated by this parameter.

<arName>...</arName> Labels for the softkeys

This is the name of a PDL2 variable, defined in the <progName> program, which
contains the labels associated to the softkeys of the group. This variable should be
defined as an ARRAY OF STRING. The maximum number of characters of each label
depends on the dimension of the key and by the font used for the label. The strings
which overflow the key dimension are truncated.
The TP continuously monitors the content of the array, and if it changes the effect on the
softkey is immediate.

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<arIconName>...</ arIconName > Icons for the softkeys

This is the name of a PDL2 variable, defined in the <progName> program, which
contains the icons associated to the softkeys of the group. This variable should be
defined as an ARRAY OF STRING. The content of each element is the name of the file
(.GIF) containing the icon. This file should be stored in the same folder of the .XML file.
For example, if the element 5 of the PDL2 variable <arIconName> defined in
<progName> program has the value ‘TEST’, the TP shows the icon present in
TEST.GIF.
The TP continuously monitors the content of the array, and if it changes, the effect on
the softkey is immediate.

< arEnabled >...</ arEnabled > Softkey Enabling / disabling flag

This is the name of a PDL2 variable, defined in the <progName> program, which
contains the enabling/disabling flag for the softkeys of the group. This variable should
be defined as an ARRAY OF BOOLEAN. The value FALSE disallowes the pressure of
the corresponding softkey. Please note that the look and feel of the softkey is not
changed at all by the TP; the softkey handler program <progName> should eventually
handle a change of aspect of the key.
The TP continuously monitors the content of the array, allowing the content to be
changed anytime and the effect on the softkey is immediate.

< arStatus>...</ arStatus > Softkey colour

This is the name of a PDL2 variable, defined in the <progName> program, which
contains the colour for the softkeys of the group. This variable should be defined as an
ARRAY OF INTEGER. The possible values are the predefined constants related to the
colours : WIN_BLUE, WIN_RED, WIN_... (please refer to table 2.3 - Predefined
Constants in PDL2 Programming Language manual).
The TP continuously monitors the content of the array, and if it changes the effect on the
softkey is immediate.

5.22.2.2 Softkey Pressure and Release events

There are three kind of events related to the pressure of a softkey:
– Softkey Pressure Event (< evPressed >...</ evPressed >)
– Softkey Release Event (< evReleased >...</ evReleased>)
– Softkey ‘long lasting’ pressure Event (< evLongPressed>...</ evLongPressed >)
They are described here below.

< evPressed >...</ evPressed >

An event of key pressure can be associated to each softkey.
A user event CONDITION (WHEN EVENT ... ) statement should monitor the triggering
of these kind of events. The class of user events is identified in the range of errors
included between 49152 and 50175. This XML tag should contain the event number
associated to the first softkey of the group. The TP will automatically assign the events
for the other softkeys of the group in a sequential order. For example, defining
<evPressed >50100</ evPressed> in a group of 6 softkeys, the event 50100 will be
generated upon the key pressure of the first softkey of the group, the event 50105 will
be generated upon the key pressure of the 6th softkey of this group.

< evReleased >...</ evReleased>

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An event of key release can be associated to each softkey.

The way for using it is the same as for the key pressure described above. The only
difference is in the XML tag definition.

< evLongPressed>...</ evLongPressed >

This event triggers when the softkey of the TP is maintained pressed for more than 2
seconds.
The way for using it is the same as for the key pressure described above. The only
difference is in the XML tag definition.

< evShow>...</ evShow > Force the viewing of a softkey group

It is possibile to force the viewing of a group of softkeys. For doing this a user event
must be defined (WHEN EVENT..) which will trigger upon a SIGNAL EVENT of the
same number. The TPshows the group when the event triggers.

5.22.2.3 Example of XML configuration file

This example file defines two groups of softkeys. The first group has 4 keys with the
names defined in ‘nomi’, the icons are defined in ‘icone’, the enabling is stored in ‘en’
and the colours are defined in ‘colori’. The handler program is ‘group1’.
The second group defines 2 softkeys and the attributes are stored in the same variables.
The handler program is ‘group2’.

<?xml version="1.0"?>

<NewMenu>
<group>
<progName>group1</progName>
<numItems>4</numItems>
<arName>nomi</arName>
<arIconName>icone</arIconName>
<arStatus>colori</arStatus>
<arEnabled>en</arEnabled>
<evPressed>50100</evPressed>
<evLongPressed>50120</evLongPressed>
<evReleased>50130</evReleased>
</group>

<group>
<progName>group2</progName>
<numItems>2</numItems>
<arName>nomi</arName>
<arIconName>icone</arIconName>
<arStatus>colori</arStatus>
<arEnabled>en</arEnabled>
<evPressed>50150</evPressed>
<evLongPressed>50160</evLongPressed>
<evReleased>50170</evReleased>
</group>

</NewMenu>

This example program, assigns a colour to the key which has been pressed and
disables the other softkey.

PROGRAM group1 NOHOLD

VAR

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nomi : ARRAY[5] OF STRING[10]

icone: ARRAY[5] OF STRING[10]
en : ARRAY[5] OF BOOLEAN
colori : ARRAY[5] OF INTEGER
BEGIN
CONDITION[1] NODISABLE :
WHEN EVENT 50100 DO -- press. of the 1st softkey of the group
colori[1] := WIN_RED -- make RED the first softkey
en[2] := FALSE -- disable the second softkey
WHEN EVENT 50101 DO -- press. of the 2nd softkey of the group
colori[2] := WIN_GREEN -- make GREEN the first softkey
en[1] := FALSE -- disable the first softkey
ENDCONDITION
ENABLE CONDITION[1]
CYCLE
---
DELAY 1000
---
END group1

5.22.2.4 Example of right menu configuration

This XML file defines a group with 5 softkeys. The handler program is called ‘rightmenu’.
The names are stored in ‘nomi’, the icons in ‘icone’, the enabling in ‘en’ and the colours
in ‘colori’. The event for the press of the 1st softkey is 50100. The event for the long
press of the 1st softkey is 50120. The first event for releasing the 1st softkey is 50130.

<?xml version="1.0"?>

<RightMenu>

<group>
<progName>rightmenu</progName>
<numItems>5</numItems>
<arName>nomi</arName>
<arIconName>icone</arIconName>
<arStatus>colori</arStatus>
<arEnabled>en</arEnabled>
<evPressed>50100</evPressed>
<evLongPressed>50120</evLongPressed>
<evReleased>50130</evReleased>
<evShow>50000</evShow>
</group>

</RightMenu>

This program initializes the first four softkeys of the right menu.

PROGRAM rightmenu NOHOLD

VAR
nomi : ARRAY[5] OF STRING[10]
icone : ARRAY[5] OF STRING[10]
en : ARRAY[5] OF BOOLEAN
colori : ARRAY[5] OF INTEGER
BEGIN
-- first softkey initialization
nomi[1] := 'S1'
icone[1] := 'i1'
en[1] := TRUE

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colori[1] := WIN_BLUE

-- second softkey initialization

nomi[2] := 'S2'
icone[2] := 'i1'
en[2] := TRUE
colori[2] := WIN_RED

nomi[3] := 'S3'
icone[3] := 'i1'
en[3] := TRUE
colori[3] := WIN_YELLOW

nomi[4] := 'S4'
icone[4] := 'i1'
en[4] := TRUE
colori[4] := WIN_GREEN

CONDITION[1] NODISABLE :
WHEN EVENT 50100 DO
colori[1] := WIN_RED
colori[2] := WIN_GREEN
WHEN EVENT 50101 DO
colori[1] := WIN_PINK
colori[2] := WIN_RED
ENDCONDITION
ENABLE CONDITION[1]

CYCLE
DELAY 1000
icone[2] := 'i2'
DELAY 1000
icone[2] := 'i1'
END rightmenu

5.22.3 Customizing the PDL2 Statements insertion, in IDE

environment
In IDE environment (on the Teach Pendant), the user is allowed to customize the PDL2
menu, adding new instructions to it.

5.22.3.1 Adding User Instructions to the PDL2 menu

To do that, the user has to create an XML file to fully describe the structure of the being
added instruction.
The XML file must be included in the suitable directory of the Control Unit, so that it is
listed together with all the already available instructions.

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Three examples follow, of XML files, for

– Adding a Statement,
– Adding a Routine,
– Adding a Built-in Routine.

5.22.3.1.1 Adding a Statement

In the following example, the DELAY instruction template is described by means of an
XML file, to obtain the template shown in Fig. 5.64. Such file must be saved to the
following folder:
UD:\SYS\TP5\IDE\KEYWORDS\

Fig. 5.64 - DELAY statement template

<keyword>
<text>DELAY % </text>
<param>
<text>time</text>
</param>
</keyword>

– <text>DELAY % </text> states that a string will be displayed containing the

instruction name (DELAY), with one parameter.
– The section included between <param> and </param> describes the structure of
parameter:
• the field name displayed in the template (<text>time</text>).

5.22.3.1.2 Adding a Routine

In the following example, a Routine Calling template is described by means of an xml
file, to obtain the template shown in Fig. 5.65. Such file must be saved to the following
folder:
UD:\SYS\TP5\IDE\KEYWORDS\

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Fig. 5.65 - Routine Calling template

<keyword>
<import>
<progName>tt_tool</progName>
<type>
<typeName>routines</typeName>
<name>a_tool</name>
</type>
</import>

<text>A_TOOL (%) </text>

<param>
<text>index</text>
</param>
</keyword>

– the section between <import> and </import>, describes any information which is
needed to EXPORT the routine FROM
– <progName>tt_tool</progName> is the name of the owning program (tt_tool) the
routine is to be EXPORTED FROM
– <typeName>routines</typeName> indicates the type of the object to be
EXPORTED FROM
– <name>a_tool</name> is the routine name
– <text>A_TOOL (%) </text> states that a string will be displayed in the template,
containing the routine name (A_TOOL), with one parameter
– The section included between <param> and </param> describes the structure of
parameter:
• the field name displayed in the template (<text>index</text>).

5.22.3.1.3 Adding a Built-in Routine

In the following example, the AUX_COOP Built-in Routine calling template is described
by means of an xml file, to obtain the template shown in Fig. 5.66. Such a file must be
saved in the following directory:
UD:\SYS\TP5\IDE\KEYWORDS\

Fig. 5.66 - Built-in calling template

<keyword>
<text>AUX_COOP (%, %, %) </text>

<param>
<text>flag</text>

<context>ON</context>
<context>OFF</context>

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</param>

<param>
<text>aux_joint</text>
</param>

<param>
<text>arm_num</text>
</param>

</keyword>

– <text>AUX_COOP (%, %, %) </text> states that a string will be displayed in the

template, containing the routine name (AUX_COOP), with three parameters
– The three sections included between <param> and </param> describe the
structure of the parameters:
• the field names displayed in the template (<text>flag</text>,
<text>aux_joint</text>, <text>arm_num</text>)
• <context>ON</context> and <context>OFF</context> indicate the strings
to be displayed in the menu which becomes available when the ‘flag’ field is
selected.
When the AUX_COOP.xml file is created in the suitable directory, the AUX_COOP
built-in routine is immediately available.

5.22.4 Creating user pages in VP2 language

This functionality allows accessing to new user pages, written in VP2 language.
To do so, for each new user page it is needed to create an XML file including the name
of the being activated user program, together with the path to reach the .COD file; the
XML file must be stored in the following folder

UD:\SYS\TP5\PAGES
together with the corresponding icon image (if existing), having the following
characteristics:
– format - png,
– dimensions - 48x48 pixel
– image filename - <name>.xml.png , where <name> is the same name of the XML
file describing the new user page.

Please, NOTE THAT both the XML file and the associated icon png file, MUST be stored
in the same folder!

A full example of a VP2 program creating a new user page (PDL file) and an XML file to
access it, is shown below:
– VP2 program to create the SpinDial user page (SpinDial.PDL file):

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PROGRAM SpinDial NOHOLD

IMPORT 'VP2_LIB.COD'

VAR ve_screen : vp2screen

vi_scrn_id : INTEGER
ve_spin : vp2spindial

BEGIN
ve_screen.x := 0
ve_screen.y := 0
ve_screen.w := -1
ve_screen.h := -1
ve_screen.name := $PROG_NAME

ve_spin.x := 50
ve_spin.y := 50
ve_spin.w := 200
ve_spin.h := 32
ve_spin.value := 42

vi_scrn_id := VP2_SCRN_CREATE(ve_screen)
VP2_ADD(ve_screen, ve_spin)

-- Make it available in the Desktop Page

VP2_SCRN_AVAIL(vi_scrn_id, IP_TO_STR($SYS_PARAMS[61]), '255.255.255.0')

PAUSE
END SpinDial

– XML file to access the SpinDial user page (SpinDial.XML file)

<?xml version="1.0" ?>

<config>
<pageID>
<class-name>VP2</class-name>
<prog-name>UD:\Usr\SpinDial</prog-name>
</pageID>
</config>
The words included between < > should always be present.
The content of this file, indicates that SpinDial.cod file is stored in
UD:\Usr\SpinDial folder.
– The icon image file name must be SpinDial.XML.png and it must be store in the
same folder of SpinDial.XML file.

5.22.5 Adding Projects/Applications, installable from within

SETUP Page
This functionality allows creating a customized installation program for an application to
be listed in the SETUP\INSTALL (FUI) Page of the Teach Pendant.

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To do so, it is needed to create a .APPL file for each application to be displayed in the
Project/Application list. Each file can include more than one “Type”, and such an
organization is useful, e.g. to handle different configurations of the same application.
The following skeleton is provided as an example:
The required information, for each “type”, is listed below:
– name and path of the .ZIP file including the being installed files
– name of the being executed .COD program within the .ZIP file. After extracting all
files from .ZIP file, the TP runs such a program which will copy/install the files in the
suitable directories
– Synchronization variables with the TP. Such variables must be declared and
handled by the .COD program in order to indicate both the operation status in the
User Interface (e.g. operation in progress, operation completed, etc.) and any error
message.
The following skeleton is provided as an example:

<?xml version="V1.0"?>
<proj>
<type>
<name>”TYPE NAME”</name>
<appl>
<file> ”NAME AND PATH OF THE .ZIP SOURCE FILE”</file>
<help>
<it>”ITALIAN DESCRIPTION or HELP”</it>
<en>”ENGLISH DESCRIPTION or HELP”</en>
</help>
<progr-name>”NAME OF THE BEING RUN PROGRAM(CONTAINED IN.ZIP)”</progr-name>
<var-result>”NAME OF THE RETURNED RESULT VARIABLE”</var-result>
<var-message>”NAME OF THE MESSAGE VARIABLE FOR THE USER”</var-message>
<new-zip>”NAME OF THE BEING USED DESTINATION .ZIP FILE“</new-zip>
</appl>
</type>

<type>
.... further types
</type>

</proj>
The words included between ‘< >’ should always be present.
Both the .APPL files and the corresponding .ZIP ones, must be created in the root
directory of the device that will be specified in the Install SETUP subpage, during the
installation operation. In this way, all related Projects/Applications are listed in the menu
and the user is able to ask for them to be installed.

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5.22.6 Creating user tiles in the Home Page

In the Home Page there are three available empty areas (tiles), to be customized by the
user. They can be used for
– monitoring a system variable
– monitoring a program variable
– associating an action to be performed upon touching the tile
– being notified as soon as the monitored variable value changes.
In the following figure two user tiles are shown, created in spaces 2 and 3.

To create a user TILE, it is needed to create an XML file, including the required
information; such an XML file must be stored in the following folder

UD:\SYS\TP5\TILES
and must have one of the following names:
– tile1.xml for the left upper tile
– tile2.xml for the right upper tile
– tile3.xml for the lower tile.
Furthermore, an icon can be associated to the tile, whose image must have the following
characteristics:
– format - png,
– dimensions - 48x48 pixel
– image filename - defined in the XML file, <icon> section.

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The XML file structure is as follows:

<?xml version="1.0"?>
<tile>

<title> tile title if existing</title>

<icon>
Path (on C5GPlus) and name of the icon image, PNG format
</icon>

<page>
The following information can be specified:
1. path of the being run xml
2. user VP2 page (if existing) ID
</page>

<watch>

monitoring a SYSTEM VARIABLE

<sysvar>$NomeVariabile</sysvar>

or, AS AN ALTERNATIVE, monitoring a PROGRAM VARIABLE

<var>
<owner>(Owning program name) cl_alarm</owner>
<name>(Being displayed variable name) file_txt</name>
<badge>
Name of a BOOLEAN variable included in the program.
If TRUE, a notification badge is displayed on the tile.
</badge>
</var>

</watch>
</tile>

Example
An example is provided below of creating a user tile in the left upper space, to monitor
the value of $SYS_STATE predefined variable.
The corresponding XML file (that should be named tile1.xml) has the following content:

<?xml version="1.0"?>
<xmlroot>
<tile>
<title>$SYS_STATE</title>
<icon>UD:\USR\TILES\ICO.PNG</icon>
<page>UD:\SYS\TP5\PAGES\PageMotion.xml</page>
<watch>
<sysvar>$SYS_STATE</sysvar>
</watch>
</tile>
</xmlroot>

The newly created tile is shown in the figure below:

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5.22.7 XML creation and customization of the User Maintenance

Pages

5.22.7.1 Introduction
The current section fully describes how to create and customize the User’s own
Maintenance Pages.

The usage of such pages is described in par. 5.18.2.6 Maintenance on page 329 of the
Service Page.

The subsections topics are as follows:

– XML file path
– XML structure example
– XML description
– Useful tips to create the XML file.

5.22.7.2 XML file path

In order to display the Maintenance Pages in the TP5 Desktop Page, the user should
create a properly structured XML file and insert it into the UD:\sys\TP5\Pages\ path.
If wished, a dedicated subfolder can be added, e.g. Maintenance.
In such a case, the XML file is inserted into UD:\sys\TP5\Pages\Maintenance\.

5.22.7.3 XML structure example

<?xml version="1.0"?>
<pagedefinition>
<side>left</side>
<title>MaintenanceLog</title>

<page>
<class>com.comau.pages.service.maintenance.PageMaintenanceMain</class>
<params>
<index>1</index>
<name>Oil</name>
<image>maint_oil.png</image>
<type>2</type>
</params>
</page>

<page>
<class>com.comau.pages.service.maintenance.PageMaintenanceBcm</class>
<params>
<index>2</index>
</params>
</page>

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<page>
<class>com.comau.pages.service.maintenance.PageMaintenanceSetup</class>
</page>
</pagedefinition>

5.22.7.4 XML description

– Compulsory tags for the XML structure
– XML file title
– Customizable Pages
– Dedicated Pages
– Setup Page.

5.22.7.4.1 Compulsory tags for the XML structure

<?xml version="1.0"?>
<pagedefinition>
<side>left</side>
...
</pagedefinition>

5.22.7.4.2 XML file title

<title>MaintenanceLog</title>

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5.22.7.4.3 Customizable Pages

<page>
<class>com.comau.pages.service.maintenance.PageMaintenanceMain</class>
<params>
<index>1</index>
<name>Oil</name>
<image>maint_oil.png</image>
<type>2</type>
</params>
</page>

The Customizable Pages have a fixed basic structure in which the user can specify
some information to be displayed in the page.
– Customizable Page class address
– PDL2 array index
– Maintenance operation name
– Image name
– Maintenance operation type.

Customizable Page class address

<class>com.comau.pages.service.maintenance.PageMaintenanceMain</class>

PDL2 array index

<index>1</index>

It is the PDL2 index of the array including full information about the page. It can be used
for background checks (optional feature). It is a progressive number from 1 to 10.

CAUTION
To properly handle the Maintenance Pages, it is recommended never to use the same
index for 2 different pages.

Maintenance operation name

<name>Oil</name>

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Image name

<image>maint_oil.png</image>

Name of the image associated to the maintenance operation, to be displayed within the
corresponding page.
This image file must be stored into UD:\data\maintenance\images\ path.
It is an optional parameter; if missing, the space is empty.
Image maximum dimension:
– width - 219 pixel
– height - 180 pixel.
The supported formats are PNG, JPEG, JPG.

Maintenance operation type

<type>2</type>

Type 1 -> (Hours) - this maintenance operation page uses HOURS as reference to
calculate the time progress; this means that, regardless of whether the robot is working
or not, the counter is increased.

Type 2 -> (Hmtrs) - this maintenance operation page uses DRIVE ON HOURS as
reference to calculate the time progress; this means that the counter is increased only
when the robot is working.

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5.22.7.4.4 Dedicated Pages

<page>
<class>com.comau.pages.service.maintenance.PageMaintenanceBcm</class>
<params>
<index>2</index>
</params>
</page>

In the Dedicated Pages the user is not allowed to customize any information to be
displayed.

– BCM Dedicated Page class address

– PDL2 array index.

BCM Dedicated Page class address

<class>com.comau.pages.service.maintenance.PageMaintenanceBcm</class>

The BCM Dedicated Page allows checking the Control Unit battery status and recording
actions, if any, related to such a battery.

The BCM Dedicated Page does not need any threshold value, so there are no related
items displayed in the Setup page.
This page does not include a progress bar, since it does not perform a count between
an operation and the subsequent one, instead it monitors the system signals in order to
understand whether one more operation is required or not; so it is not needed to start
the maintenance page monitoring.

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PDL2 array index

<index>2</index>

It is the PDL2 index of the array including full information about the page. It can be used
for background checks (optional feature). It must be a progressive number from 1 to 10.

CAUTION
To properly handle the Maintenance Pages, it is recommended never to use the same
index for 2 different pages.

5.22.7.4.5 Setup Page

<page>
<class>com.comau.pages.service.maintenance.PageMaintenanceSetup</class>
</page>

– Setup Page class address

– Start monitoring the maintenance operation.

Setup Page class address

<class>com.comau.pages.service.maintenance.PageMaintenanceSetup</class>

The Setup Page does not need any parameter since, at the opening phase, it directly
reads the Customizable Pages information.
In this page, by means of the spindial field shown in the previous figure, the user is
allowed to specify the threshold maximum value within which the maintenance operation
must be performed.
The right label (see previous figure) specifies whether the count is of either Hour type or
Hmtrs type, for each maintenance operation.

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Start monitoring the maintenance operation

The maintenance operation monitoring cannot start with a value of “0” as the maximum
threshold value.

The user should then set, from the Setup page, a threshold value greater than 0, touch
APPLY key and touch Yes key to confirm.

As soon as the threshold maximum value has been set up, it is allowed to touch START
key and then Yes key to confirm, to start monitoring the maintenance operation.

A box is also displayed in the History column, with the following information (as shown
in the next figure):
– monitoring start date and time [2020-08-04 11:41]
– user profile of the operator performing the action [MAINT25]
– DriveON hours (total of the Robot) at the action start [Hmtrs 5] (this information is
always displayed, even when the operation is configured as Hours)

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– optional comment about the performed operation [MONITORING START].

5.22.7.5 Useful tips to create the XML file

1. The XML file must comply upper and lower case letters, as shown in the example,
since reading the file is CASE SENSITIVE (if, touching the icon, the pages are not
opened, check the whole XML file).
2. It is allowed to handle a maximum of 10 maintenance operations (Customizable
Pages and Dedicated Pages).
3. It is suggested to insert a maximum of 5 maintenance operations in each XML file;
it is allowed to create 2 different XML files with 5 maintenance operations each
(even using more than one XML file, do not use the same index for 2 different
pages).
4. It is allowed to add the Setup Page both within the XML file together with
Customizable Pages and Dedicated Pages, and in a dedicated XML file for such a
page only.

After a system restart, if the Setup Page is in a separated XML file and modifying a setup
parameter is wished, open at least once all the XML files with the Customizable Pages,
so that all Customizable Pages information is loaded into memory and then the values
are properly displayed in the Setup Page too.

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SYSTEM COMMANDS

6. SYSTEM COMMANDS

6.1 Introduction
This chapter describes the system commands available for the C5GPlus Control Unit.
The commands described can be entered from the following interfaces:
– PDL2 program - using the pre-defined SYS_CALL routine
– From PC - WinCRC program, Terminal window menu
The items of the commands are shown here in the most extended form, as they are seen
on the WinCRC screen page.
Fig. 6.1, shows the WinCRC Terminal windows.

Fig. 6.1 - Commands window on PC (WinCRC)

Terminal window on WinCRC

In particular, the following are dealt with:

– Commands sent from WinCRC (Terminal window)
– Program commands sent via SYS_CALL
– Wildcard use
– Command options
– Viewing and OUTPUT and NOPAGE options
– Access to the Control Unit (login)
– Directories
– Commands description
– Available Files Types in the System.

6.2 Commands sent from WinCRC (Terminal window)

The following subjects are dealt with in this paragraph:

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SYSTEM COMMANDS

– Command selection
– Call-up of recently used parameters (History)

6.2.1 Command selection

The commands can be entered using one of these methods:
– using the cursor keys. Enter it using the ENTER key.
After the selection, another menu of commands or a brief description of the
command is displayed above the selected item.
The selected command is only executed after the ENTER key has been pressed.
In WinCRC, disabled or protected menu commands are shown with the first
character in lower case, whereas all the commands that are available have the first
character in upper case.
– Press the function keys (F1 - F8) on the PC keyboard to execute the
corresponding command. For example, if F2 is pressed, DISPLAY from the main
menu will be executed.
– Press the key that corresponds to the first letter of the command. For
example, if D is pressed, DISPLAY from the main menu will be executed.
In some cases, after a command has been issued, prompts are shown to ask for
additional information called parameters. For example, PROGRAM GO displays a
prompt that requires a program name. To enter parameters as the answer to a prompt,
use the alphanumeric keys of the PC keyboard.
The answer to a parameter prompt is to be typed before pressing ENTER. To move the
cursor on the answer line, the arrow keys can be used leftwards or rightwards. The
delete key removes the first character on the left of the cursor, whereas left and right
arrow keys pressed together with SHIFT key, move the cursor to the answer beginning
and end position.

6.2.2 Call-up of recently used parameters (History)

The upward arrow key is used to call the last ten parameters entered for the command
category they belong to. This avoids rewriting the same parameter for several
commands.

6.3 Program commands sent via SYS_CALL

The predefined PDL2 SYS_CALL routine can be used to execute most of the commands
described in this chapter from within the program, except those which require direct
interaction with the user (for example, Program Edit). For the same reason the requests
for confirmation are not displayed and the default answer for such a command is
assumed. The codes that are shown in brackets, next to the title of each command, are
those to be specified as first parameter for the SYS_CALL.
The required parameters by each command have to be specified as STRINGs (for
example: SYS_CALL ('ML' , 'prog_1') ).

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For further details about SYS_CALL syntax, see PDL2 Programming Language
manual.

6.3.1 Option /4 to view in the 40 columns

The /4 option serves to format the displays so that the information shown does not
exceed a width of 40 columns. This option is only available from SYS_CALL and only
for those commands that display data that covers over 40 columns.

6.4 Wildcard use

The wildcard (*) can be used in a parameter to substitute the beginning, the end, or the
whole parameter. It allows one command to act on several items.
For example, MEMORY LOAD (ML) requires a program name parameter that can be
substituted with a wildcard as shown below:
ML * loads all the programs
ML arc* loads all the programs that start with arc
For each parameter only one wildcard can be used (*arc* generates error). This
character cannot be inserted inside the parameter (a*rc generates error).

6.5 Command options

For some commands there are options available. If a command has options, the code
'(OPT)' is shown after the prompt that requires the last parameter. The slash (/)
separates the option from the command. For example:
FC/C -- FILER COPY with CONFIRM option
Pressing / key, the command associated options are displayed.
To navigate among the options, use cursor keys, then press ENTER key to select.
If an option that is already displayed is requested, such an option is removed. For further
information about options, see the individual commands descriptions.

6.6 Viewing and OUTPUT and NOPAGE options

Commands to view information by default direct the output to the system screen
scrolling window on the used device; therefore:
– for WinCRC Terminal, to the window identified by LUN_CRT
– for SYS_CALL, to the window identified by LUN_TP (unless the predefined
$SYS_CALL_OUT variable is changed, a copy of which exists for every PDL2
program)
Using /OUTPUT option allows to redirect viewing towards a file. The file extension is .txt,
unless otherwise specified; in such a file all informational messages coming from the

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command are redirected and, if the command is a viewing one, any data that would have
been displayed too. If the specified file already exists, the information is added, NOT
overwritten.
When the information called by a certain command occupies more than one page, the
display is held at the end of page until the user presses any key to show the next page
of information. From WinCRC the lines can be scrolled one at a time by pressing the
space bar of the PC keyboard.
Commands that show more than one page of information have the /NOPAGE option
used to scroll all the information without pauses.

6.7 Access to the Control Unit (login)

To obtain access to C5GPlus Control Unit from a certain device (Teach Pendant or
WinCRC program from PC), a Login is needed, otherwise the only available commands
are the viewing ones.
A detailed description of the needed operations is provided in Chap. Start and Stop
Cycle on page 504.

6.8 Directories
Directories (up to 8 depth levels) are managed on C5GPlus Control Unit. The directory
specification and the associated device follow the MS-DOS syntax:

<name of device>:\<directory>
For example:

UD:\directory\filename
The directory and the default device used by the commands are set in a field of
$DFT_DV variable.

6.9 Commands description

The menus are collected in the following branches:
– CONFIGURE branch
– DISPLAY branch
– EXECUTE command (E)
– FILER branch
– MEMORY branch
– PROGRAM branch
– SET branch
– UTILITY branch

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The following table lists all the available commands, in alphabetical order. The string of
characters that, in most cases, is shown in brackets, is the code of the first parameter
to be used when the corresponding command is to be sent from SYS_CALL. If the code
is not displayed, the command cannot be called from SYS_CALL.

Command and code for the first SYS_CALL parameter

CONFIGURE ARM CALIBRATE (CAC)
CONFIGURE ARM RETENTIVE MEMORY LOAD (CARL)
CONFIGURE ARM RETENTIVE MEMORY SAVE (CARS)
CONFIGURE ARM TURN_SET (CAT)
CONFIGURE ARM VIEW_CAL (CAV)

CONFIGURE CONTROLLER LOGIN ADD (CCLA)

CONFIGURE CONTROLLER LOGIN DELETE (CCLD)
CONFIGURE CONTROLLER LOGIN GROUP (CCLG)
CONFIGURE CONTROLLER LOGIN MODIFY (CCLM)
CONFIGURE CONTROLLER LOGIN STARTUP (CCLS)
CONFIGURE CONTROLLER LOGIN VIEW (CCLV)

CONFIGURE CONTROLLER RESTART COLD (CCRC)

CONFIGURE CONTROLLER RESTART UPGRADE (CCRU)
CONFIGURE CONTROLLER RESTART SHUTDOWN (CCRS)
CONFIGURE CONTROLLER STARTUP (CCS)
CONFIGURE CONTROLLER TIME (CCT)
CONFIGURE CONTROLLER VIEW (CCV)

CONFIGURE LOAD ALL (CLA)

CONFIGURE LOAD CATEGORY ARM (CLCA)
CONFIGURE LOAD CATEGORY CONTROLLER (CLCC)
CONFIGURE LOAD CATEGORY IO (CLCI)
CONFIGURE LOAD CATEGORY LOOP (CLCL)
CONFIGURE LOAD CATEGORY RETENTIVE (CLCR)
CONFIGURE LOAD CATEGORY SETTINGS (CLCS)

CONFIGURE SAVE ALL (CSA)

CONFIGURE SAVE CATEGORY ARM (CSCA)
CONFIGURE SAVE CATEGORY CONTROLLER (CSCC)
CONFIGURE SAVE CATEGORY IO (CSCI)
CONFIGURE SAVE CATEGORY LOOP (CSCL)
CONFIGURE SAVE CATEGORY RETENTIVE (CSCR)
CONFIGURE SAVECATEGORY SETTINGS (CSCS)

DISPLAY ARM CURRENTS (DAC)

DISPLAY ARM DATA (DAD)

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Command and code for the first SYS_CALL parameter

DISPLAY ARM FOLLOWING (DAF)
DISPLAY ARM JOINT (DAJ)
DISPLAY ARM POSITION (DAP)
DISPLAY ARM REVOLUTIONS (DAR)
DISPLAY ARM STATUS (DAS)
DISPLAY ARM TEMPERATURE (DAT)

DISPLAY CLOSE ARM (DCA)

DISPLAY CLOSE INPUT (DCI)
DISPLAY CLOSE OUTPUT (DCO)
DISPLAY CLOSE PROGRAM (DCP)
DISPLAY CLOSE SELECT (DCS)
DISPLAY CLOSE TOTAL (DCT)
DISPLAY CLOSE VARS (DCV)

DISPLAY INPUT AIN (DIA)

DISPLAY INPUT DIN (DID)
DISPLAY INPUT FMI (DIF)
DISPLAY INPUT GI (DIG)
DISPLAY INPUT IN (DII)
DISPLAY INPUT SYSTEM (DIS)

DISPLAY OUTPUT AOUT (DOA)

DISPLAY OUTPUT DOUT (DOD)
DISPLAY OUTPUT FMO (DOF)
DISPLAY OUTPUT GO (DOG)
DISPLAY OUTPUT OUT (DOO)
DISPLAY OUTPUT SYSTEM (DOS)

DISPLAY PROGRAM (DP)

DISPLAY VARS BIT (DVB)

DISPLAY VARS TIMER_S (DVS)
DISPLAY VARS TIMER (DVT)
DISPLAY VARS WORD (DVW)

EXECUTE command (E)

FILER COPY (FC)

FILER DELETE (FD)
FILER EDIT (FE)
FILER PRINT (FP)

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Command and code for the first SYS_CALL parameter

FILER RENAME (FR)
FILER TRANSLATE (FT)

FILER UTILITY ATTRIBUTE ARCHIVE (FUAA)

FILER UTILITY ATTRIBUTE HIDDEN (FUAH)
FILER UTILITY ATTRIBUTE READONLY (FUAR)
FILER UTILITY ATTRIBUTE SYSTEM (FUAS)

FILER UTILITY BACKUP (FUB)

FILER UTILITY RESTORE (FUR)

FILER UTILITY COMPRESS DELETE (FUCD)

FILER UTILITY COMPRESS EXTRACT (FUCE)
FILER UTILITY COMPRESS MAKE (FUCM)
FILER UTILITY COMPRESS VIEW (FUCV)

FILER UTILITY DIRECTORY CHANGE (FUDC)

FILER UTILITY DIRECTORY DELETE (FUDD)
FILER UTILITY DIRECTORY MAKE (FUDM)

FILER UTILITY INSTALL (FUI)

FILER UTILITY PROTECT (FUP)

FILER UTILITY SEARCH (FUS)

FILER VIEW (FV)

MEMORY DEBUG (MD)

MEMORY ERASE ALL (MEA)

MEMORY ERASE PROGRAM (MEP)
MEMORY ERASE VARIABLE(MEV)

MEMORY LOAD (ML)

MEMORY SAVE(MS)
MEMORY VIEW DATABASE (MVD)
MEMORY VIEW PROGRAM (MVP)
MEMORY VIEW SYSTEM (MVS)
MEMORY VIEW TREE (MVR)
MEMORY VIEW TYPE (MVT)
MEMORY VIEW VARIABLE (MVV)

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Command and code for the first SYS_CALL parameter

MEMORY VIEW VP2 (MVV)

PROGRAM ACTIVATE (PA)

PROGRAM DEACTIVATE (PD)
PROGRAM EDIT (PE)
PROGRAM GO (PG)

PROGRAM STATE BYPASS (PSB)

PROGRAM STATE PAUSE (PSP)
PROGRAM STATE UNPAUSE (PSU)

PROGRAM TEST BREAK INSERT (PTBI)

PROGRAM TEST BREAK PURGE (PTBP)
PROGRAM TEST BREAK VIEW (PTBV)

PROGRAM TEST PROFILE DISABLE (PTPD)

PROGRAM TEST PROFILE ENABLE (PTPE)
PROGRAM TEST PROFILE RESET (PTPR)
PROGRAM TEST PROFILE VIEW (PTPV)

PROGRAM TEST STEP CYCLE (PTSC)

PROGRAM TEST STEP DISABLE (PTSD)
PROGRAM TEST STEP FLY (PTSF)
PROGRAM TEST STEP MOVE (PTSM)
PROGRAM TEST STEP ROUTINE (PTSR)
PROGRAM TEST STEP STATEMENT (PTSS)
PROGRAM TEST STEP VIEW (PTSV)

PROGRAM VIEW (PV)

SET ARM DISABLE (SAD)

SET ARM ENABLE (SAE)
SET ARM GEN_OVR (SAG)
SET ARM NOSTROKE(SAN)
SET ARM SIMULATE (SAS)
SET ARM TP_MAIN (SAT)
SET ARM UNSIMULATE (SAU)

SET CNTRL KEY_LOCK (SCK)

SET CNTRL LANGUAGE (SCL)

SET CONTROLLER VIEW (SCV)

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Command and code for the first SYS_CALL parameter

SET CONTROLLER WIN_CLEAR (SCW)

SET INPUT FORCE AIN (SIFA)

SET INPUT FORCE DIN (SIFD)
SET INPUT FORCE FMI (SIFF)
SET INPUT FORCE IN (SIFI)

SET INPUT REMOTE DISABLE (SIRD)

SET INPUT REMOTE ENABLE (SIRE)

SET INPUT UNFORCE AIN (SIUA)

SET INPUT UNFORCE DIN (SIUD)
SET INPUT UNFORCE FMI (SIUF)
SET INPUT UNFORCE IN (SIUI)
SET INPUT UNFORCE TOTAL (SIUT)

SET INPUT VIEW AIN (SIVA)

SET INPUT VIEW DIN (SIVD)
SET INPUT VIEW FMI (SIVF)
SET INPUT VIEW GIN (SIVG)
SET INPUT VIEW IN (SIVI)
SET INPUT VIEW SYSTEM (SIVS)

SET LOGIN (SL)

SET OUTPUT FORCE AOUT (SOFA)

SET OUTPUT FORCE DOUT (SOFD)
SET OUTPUT FORCE FMO (SOFF)
SET OUTPUT FORCE OUT (SOFO)

SET OUTPUT UNFORCE AOUT (SOUA)

SET OUTPUT UNFORCE DOUT (SOUD)
SET OUTPUT UNFORCE FMO (SOUF)
SET OUTPUT UNFORCE OUT (SOUO)
SET OUTPUT UNFORCE TOTAL (SOUT)

SET OUTPUT VIEW AOUT (SOVA)

SET OUTPUT VIEW DOUT (SOVD)
SET OUTPUT VIEW FMO (SOVF)
SET OUTPUT VIEW GOUT (SOVG)
SET OUTPUT VIEW OUT (SOVO)
SET OUTPUT VIEW SYSTEM (SOVS)

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Command and code for the first SYS_CALL parameter

UTILITY COMMUNICN DISMOUNT (UCD)

UTILITY COMMUNICN MOUNT C5G_Int (UCMC)

UTILITY COMMUNICN PORT_CHAR (UCP)

UTILITY COMMUNICATION SET_DEF (UCS)

UTILITY COMMUNICATION VIEW (UCV)

UTILITY LOG ACTION (ULA)

UTILITY LOG ERROR (ULE)
UTILITY LOG FILEOPS (ULF)
UTILITY LOG HISTORY (ULH)

UTILITY LOG LATCH ACKNOWLEDGE (ULLA)

UTILITY LOG LATCH VIEW (ULLV)
UTILITY LOG NOTES (ULN)

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6.9.1 CONFIGURE branch

A description of these subjects follows:
– Arm menu
– Cntrler Login menu
– Cntrler Restart menu
– Load menu
– Save menu

6.9.1.1 Arm menu

The ARM menu displays a menu of commands to configure the arm.

6.9.1.1.1 CONFIGURE ARM CALIBRATE (CAC)

Runs a calibration procedure on the whole arm or on specific axes of the arm. Before
the command is sent, the arm must be placed in calibration position. If the arm number
is not specified, the default arm indicated on the prompt is used, whereas the number of
the axis must always be specified. To indicate a complete arm, use the wildcard (*).
This command is only allowed in PROGR state by Service user profile.
The system has to be in PROGR status and the drives must be on. The calibration data
is automatically saved in NVRAM, in the configuration file ($SYS_ID>.C5G) and in the
calibration file <$SYS_ID>_CAL<num_arm>.PDL.
Options: /Learn stores the current robot position as the user calibration
position ($CAL_USER).
The axis number is asked for, so as to allow the learning of the
position ($CAL_USER) axis by axis.
/Nosave disables the automatic saving of the configuration file,
the calibration file and the calibration data in the NVRAM
memory;
/User for the user calibration position the system uses that learnt
or assigned previously ($CAL_USER).
Syntax: CAC <arm_num><axis_num>
CAC/L <arm_num><axis_num>
CAC/N <arm_num><axis_num>
CAC/U <arm_num><axis_num>

6.9.1.1.2 CONFIGURE ARM RETENTIVE MEMORY LOAD (CARL)

Loads the data into memory that relates to the arm (calibrated axes mask) and to the
separate axes (length of axes, calibration values and calibration constants) contained in
the NVRAM retentive memory of the Control Unit and automatically updates the
configuration file (<$SYS_ID>.C5G) and the calibration file
(<$SYS_ID>_CAL<num_arm>.PDL).
This command is only allowed in PROGR state by Maintenance or Service user profile.
Options: /Loadfile - data related to robot kinematics are loaded from the
calibration file and are automatically saved to the configuration

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file and the NVRAM memory. This command creates a .COD file
with the same name as the calibration file
(<$SYS_ID>_CAL<num_arm>.PDL) and executes it.
/Motors - the calibration data are loaded from each individual
motor flash.
/Nofile disables the automatic saving of calibration and
configuration files
Syntax: CARL <arm_num>
CARL/L <arm_num>
CARL/M <num_arm>
CARL/N <arm_num>

6.9.1.1.3 CONFIGURE ARM RETENTIVE MEMORY SAVE (CARS)

SAVE command stores the data regarding the axes from the Control Unit memory to the
NVRAM memory and automatically updates the configuration file <$SYS_ID>.C5G and
the ASCII calibration file <$SYS_ID>_CAL<num_arm>.PDL.
This command is allowed by Maintenance or Service user profiles.
Options: /Motors - the calibration data are saved to the individual motors
flash.
/Nofile - disables the automatic saving of the data in the
calibration and configuration files.
Syntax: CARS <arm_num>
CARS/M <num_arm>
CARS/N <arm_num>

6.9.1.1.4 CONFIGURE ARM TURN_SET (CAT)

This command is disabled for REBEL robots because it does not make sense for them.

Sets the counting of the encoder turns in the motion software. Before entering the
command, the arm must be placed in calibration position (within an encoder dial turn).
This command is useful if the pre-set is lost, for example following a motor revolutions
reading error.
If the arm number is not specified, the default arm is used, whereas the number of the
axis must always be specified. To indicate all the arm axes, use the wildcard (*).
To run this command the system must be in PROG status and power to the drives must
be on.
Options: /Auto available in any system status, but from SYS_CALL only.
/User uses the user calibration position previously learnt or
assigned.
Syntax: CAT <arm_num> <axis_num>
CAT/A <arm_num> <axis_num>
CAT/U <arm_num> <axis_num>

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6.9.1.1.5 CONFIGURE ARM VIEW_CAL (CAV)

Displays the calibration constants.
Options: /4 (see Option /4 to view in the 40 columns)
/Nopage
/Output
Syntax: CAV <arm_num>
CAV/4 <arm_num>
CAV/N <arm_num>
CAV/O <arm_num>

6.9.1.2 Cntrler Login menu

This menu allows operation on the Control Unit database relating to the login profiles
that can be used on the system.

6.9.1.2.1 CONFIGURE CONTROLLER LOGIN ADD (CCLA)

Adds a Login to the system database. A user identification, the Username and Password
have to be specified. It is advised to always specify, using the options associated to the
command, the required user profile. Otherwise a default profile will be assigned with a
restricted number of operations enabled.
This command is only allowed to a user who has the Admin profile.
Options: /Administ assigns the Administrator level to the login definition
/Group adds a user to an already existing Group
/Maintain assigns the Maintenance level to the login definition
/Programmr assigns the Programmer level to the login definition
/Service assigns the Service level to the login definition
/Technolgy allows accessing to some parameters of the
installed application, depending on the application itself. See the
application manual for further details.

While defining a Technology profile, a positive numeric value must be inserted,

otherwise the profile will not be taken into consideration.

Syntax: CCLA <UserID><Username><Password><PasswordAgain>

CCLA/A <UserID><Username><Password><PasswordAgain>
CCLA/G <UserID><Username><Password><PasswordAgain>
<GroupName>
CCLA/M <UserID><Username><Password><PasswordAgain>
CCLA/P <UserID><Username><Password><PasswordAgain>
CCLA/S<UserID><Username><Password><PasswordAgain>
CCLA/T
<UserID><Username><Password><PasswordAgain><TechnologyAcce
ss>

6.9.1.2.2 CONFIGURE CONTROLLER LOGIN DELETE (CCLD)

Deletes the user specified as parameter from the Control Unit database.

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This command is only allowed to a user who has the Admin profile.
Syntax: CCLD <Username>

6.9.1.2.3 CONFIGURE CONTROLLER LOGIN GROUP (CCLG)

Adds a Login of Group type in the System data base. The user is requested to specify
the Group Identifier. It is recommended to always specify, by means of the
corresponding options, the wished user profile. If not, a default profile will be assigned,
having a restricted number of enabled operations.
This command is only allowed to a user who has the Admin profile.
Options: /Administ assigns the Administrator level to the being defined
login
/Maintain assigns the Maintenance level to the being defined
login
/Programmr assigns the Programmer level to the being defined
login
/Service assigns the Service level to the being defined login
/Technolgy assigns the Technology level to the being defined
login; this profile allows accessing to some functionalities
belonging to the installed application, depending on the
application itself. Refer to the specific application manual for
further information.
Syntax: CCLG <GroupName>
CCLG/A <GroupName>
CCLG/M <GroupName>
CCLG/P <GroupName>
CCLG/S <GroupName>
CCLG/T <GroupName><TechnologyAccess>

6.9.1.2.4 CONFIGURE CONTROLLER LOGIN MODIFY (CCLM)

This command allows to redefine access rights for a certain User or Group. The newly
defined settings override the existing ones.
This command also allows to associate a specified User to an already existing Group.
This command is only allowed to a User who has the Admin profile.
If a User belongs to a Group, it is only allowed to redefine the Group rights and not the
User rights.
If no options are specified, the assigned rights to the specified User/Group are the ones
of the Default profile.
Options: /Administ assigns the Administrator rights to the specified
User/Group
/Group defines a member of the specified Group
/Maintain assigns the Maintenance rights to the specified
User/Group
/Programmr assigns the Programmer rights to the specified
User/Group
/Service assigns the Service rights to the specified User/Group
/Technolgy assigns the Technology rights to the specified
User/Group and allows modifying the Technology profile type (1
or 2)
Syntax: CCLM <UserID>

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CCLM/A <UserID>
CCLM/G <UserID><GroupName>
CCLM/P <UserID>
CCLM/S <UserID>
CCLM/T <UserID><TechnologyAccess>

6.9.1.2.5 CONFIGURE CONTROLLER LOGIN STARTUP (CCLS)

Is to be used to have access to the Control Unit after a restart (Restart).
This command is only allowed to Programmer, Maintenance and Service users.
Options: /Reset allows deleting the startup login. To make this deletion
operational, use ConfigureSave (All or Category Controller)
Syntax: CCLS <UserID> <Password>
CCLS/R <UserID> <Password>

6.9.1.2.6 CONFIGURE CONTROLLER LOGIN VIEW (CCLV)

Displays the currently defined Logins in the system. The given information is:
Username, the number of active Logins with such a Username, and the associated
access rights.
Options: /Full full information
/Nopage
/Output
Syntax: CCLV <UserID>
CCLV/F <UserID>
CCLV/N <UserID>
CCLV/O <UserID><output_dev>

6.9.1.3 Cntrler Restart menu

This menu allows the Control Unit to be restarted in different modes without cutting out
the power supply.
A program can be run before the Restart command is completed.
To do this, enter the name of the program to be run in the predefined $RESTART
variable. The $RESTART_MODE variable contains instead a number that indicates the
restart mode in which this program will be considered : 0 for Cold, 1 for shutdown, 2 for
reload; if the variable is equal to -1, the program will not be run.
The system waits until the program remains deactivated for a maximum time indicated
in the variable $TUNE[4].

6.9.1.3.1 CONFIGURE CONTROLLER RESTART COLD (CCRC)

Restarts the system software and clears the memory. It is very useful if the system has
been altered by the user. The command activation is preceded by the display of a
confirm prompt. After the command has been executed the system I/Os ($SLI[n] /
$SLO[n]) are updated to the current situation. For the user I/Os ($DIN [n]/ $DOUT [n]),
the output status is reset and the inputs are updated to the current system situation. The
PDL2 holdable/noholdable programs are deactivated and deleted from the execution
memory.
Syntax: CCRC

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Note that, at the end of the Restart operation, the current directory is
UD:\USER

6.9.1.3.2 CONFIGURE CONTROLLER RESTART UPGRADE (CCRU)

Updates the system software, copying and running the SETUP0.PDL program.

For full details about the software reload complete procedure, please refer to
Chap. Setup page on page 239 - par. 5.17.3.11 Reload-Sw on page 304.

Before issuing this command, be sure that all needed settings have been performed in
WinCRC Properties Window, shown in the following picture (highlighted in red):

Fig. 6.2 - Properties Window set-up

They are:
– File Transfer Folder (it is the directory including the Software version)
– FTP Server
• always enabled
• from this CRC only
Furthermore, an FTP User must have been configured (Users... key in the FTP section
- see Fig. 6.2 highlighted in green; needed information: User name and Home Directory,
i.e. the File Transfer Folder specified in the Properties Window in Fig. 6.2).

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Fig. 6.3 - FTP User configuration

The User will be asked for the User name (in our example it is ‘u9’ - see Fig. 6.3,
highlighted in purple) during CCRU command execution.
Issuing this command, SETUP0 program is copied and activated.
Syntax: CCRU

6.9.1.3.3 CONFIGURE CONTROLLER RESTART SHUTDOWN (CCRS)

Before cutting out the main switch of the Control Unit this command can be entered for
the explicit saving of data that is otherwise automatically saved by the system if there is
a voltage drop. This avoids using the battery to power the system while saving the data,
thus lengthening the battery life. The command is useful for those who usually shut
down the Control Unit at set times (for example at the end of the day).
Syntax: CCRS

6.9.1.4 CONFIGURE CONTROLLER STARTUP (CCS)

Sets the name of the program that is run automatically at every Control Unit restart. This
program, referred to as "startup", may be either holdable or non holdable type; the
execution of a holdable program only starts when the START button is pressed.
Startup program name is stored in the $STARTUP variable. If this command is sent
without specifying the name of the program, the $STARTUP variable is assigned a null
string.
Syntax: CCS <program_name>

6.9.1.5 CONFIGURE CONTROLLER TIME (CCT)

Sets the time (HH:MM:SS) and the date (DD-MM-YY) according to the specified
parameters. The month is indicated with a numeric value (1-12). This command can be
used by a user with Maintenance and Service profile.
Syntax: CCT <hour> <date>
Example: CCT 13:00:00 01-01-15 —13hours (1 p.m.) of January 1st

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6.9.1.6 CONFIGURE CONTROLLER VIEW (CCV)

Displays:
– the system software version both for the Control Unit and TP5 Teach Pendant
– the Control Unit ID
– type of machine, name and number of axes for each arm
– date and time.
The screen page is the same that appears when the Control Unit is switched on.
Options: /4 (see Option /4 to view in the 40 columns)
Syntax: CCV

6.9.1.7 Load menu

6.9.1.7.1 CONFIGURE LOAD ALL (CLA)

Assigns to the predefined variables in memory the values stored in both the
Configuration file and User Data Base file that may be the default ones,
<$SYS_ID>.C5G and <$SYS_ID>.UDB, or any other files specified in the associated
parameter.
If no parameter is specified, the values will be read from the <$SYS_ID>.C5G and
<$SYS_ID>.UDB files and assigned to the predefined variables in memory.
The system is to be in PROGR state with drives off. The user profile can only be
Maintenance and Service.
From SYS_CALL, 'CL' parameter, previously corresponding to ConfigureLoad, is
interpreted as 'CLA' (to maintain the compatibility with the old PDL2 programs written on
former Control Units).
Options: /Auxiliary - variables related to auxiliary axes
/Calibrate - calibration variables
/coLlision -collision detection variables
/conFigure - Arm configuration variables
/cHain - variables related to frames and payload
/Rules - $CRC_RULES, PDL2 Programming Language
manual, chap. Predefined Variables List - variables according
to predefined rule
/Sensor - sensors variables
Syntax: CLA <file_name>
CLCA/A <file_name>
CLCA/C <file_name>
CLCA/L <file_name>
CLCA/F <file_name>
CLCA/H <file_name>
CLA/R <file_name> <rules>
CLCA/S <file_name>

6.9.1.7.2 CONFIGURE LOAD CATEGORY submenu

Assigns the values stored in the configuration file (<$SYS_ID>.C5G) or in the file

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specified as parameter to this command and previously created through a CONFIGURE

SAVE CATEGORY submenu command to the predefined variable belonging to the
indicated category. If specified, the file is searched for in the currently selected directory.
Otherwise the search is made in the system directory (UD:\SYS\CNFG). The variables
that do not belong to the indicated category are ignored.
,

MINOR CATEGORY
Besides the Load Category, available as COMMAND, there is a Minor Category,
available as OPTION for each of the predefined variables.
In the following paragraphs, for each ConfigureLoadCategory and
ConfigureSaveCategory command, the Minor Categories provided are listed.
For further information, and above all, to know whether a certain variable will be loaded
or saved sending a ConfigureLoadCategory or ConfigureSaveCategory command, see
the PDL2 Programming Language manual, chapter Predefined Variables List, item
Minor Category (sub-category of Load Category) in the table related to the involved
variable.
For example:
$SENSOR_ENBL belongs to Arm Load Category and to Sensor Minor Category.
Therefore reference will be made to ConfigureSaveCategoryArm and
ConfigureSaveCategoryArm/Sensor commands (or ConfigureLoadCategoryArm and
ConfigureLoadCategoryArm/Sensor).

Syntax: CLCx <filename> --where x is the Load Category

– CONFIGURE LOAD CATEGORY ARM (CLCA)

– CONFIGURE LOAD CATEGORY CONTROLLER (CLCC)
– CONFIGURE LOAD CATEGORY IO (CLCI)
– CONFIGURE LOAD CATEGORY LOOP (CLCL)
– CONFIGURE LOAD CATEGORY RETENTIVE (CLCR)
– CONFIGURE LOAD CATEGORY SETTINGS (CLCS).

CONFIGURE LOAD CATEGORY ARM (CLCA)

Loads variables that have Arm as the Load Category. See previous note about MINOR
CATEGORY.
Options: /Auxiliary - variables related to the auxiliary axes
/Calibrate - calibration variables
/coLlision - collision detection variables
/conFigure - Arm configuration variables
/cHain - variables related to frames and payload
/Rules - $CRC_RULES PDL2 Programming Language
manual, chap. Predefined Variables List - variables according
to predefined rule
/Sensor - variables related to sensors
Syntax: CLCA <file_name>
CLCA/A <file_name>
CLCA/C <file_name>
CLCA/L <file_name>
CLCA/H <file_name>
CLCA/R <file_name> <rules>

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CLCA/S <file_name>

CONFIGURE LOAD CATEGORY CONTROLLER (CLCC)

Loads the variables that have Cntrl as the Load Category. See previous note about
MINOR CATEGORY.
Options: /Environ - Environment subcategory variables
/Flow - Flow Modulate variables
/Irr - Interference Region variables
/Parameter - reserved parameters
/Rules - $CRC_RULES PDL2 Programming Language
manual, chap. Predefined Variables List - variables according
to predefined rule
/Shared - Shared subcategory variables
/T - Tracking, available from SYS_CALL onlyL
/Unique - Unique subcategory variables
/Vars - Vars subcategory variables
Syntax: CLCC <file_name>
CLCC/E <file_namev>
CLCC/F <file_name>
CLCC/I <file_name>
CLCC/P <file_name>
CLCC/R <file_name> <rules>
CLCC/S <file_name>
CLCC/T <file_name>
CLCC/U <file_name>
CLCC/V <file_name>

CONFIGURE LOAD CATEGORY IO (CLCI)

Loads the variables that have Input/output as the Load Category. See previous note
about MINOR CATEGORY.
Options: /Configure - I/O configuration variables
/Fieldbus - Fieldbuses I/O related variables
/Hand - Hand related variables
/Rules - $CRC_RULES PDL2 Programming Language
manual, chap. Predefined Variables List - variables according
to predefined rule
Syntax: CLCI <file_name>
CLCI/C <file_name>
CLCI/F <file_name>
CLCI/H <file_name>
CLCI/R <file_name> <rules>

CONFIGURE LOAD CATEGORY LOOP (CLCL)

Loads Loop_Data variables (Load Category). See previous note regarding MINOR
CATEGORY.
Options: /Rules - $CRC_RULES PDL2 Programming Language
manual, chap. Predefined Variables List - variables according
to predefined rule

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Syntax: CLCL <file_name>

CLCL/R <file_name> <rules>

CONFIGURE LOAD CATEGORY RETENTIVE (CLCR)

Loads the variables that have Retentive as the Load Category. See previous note
regarding MINOR CATEGORY.
Options: /Rules - $CRC_RULES PDL2 Programming Language
manual, chap. Predefined Variables List - variables according
to predefined rule
Syntax: CLCR <file_name>
CLCR/R <file_name> <rules>

CONFIGURE LOAD CATEGORY SETTINGS (CLCS)

Loads the variables that have Settings as the Load Category. See previous note
regarding MINOR CATEGORY.
Options: /Rules - $CRC_RULES PDL2 Programming Language
manual, chap. Predefined Variables List - variables according
to predefined rule
Syntax: CLCS <file_name>
CLCS/R <file_name> <rules>

6.9.1.8 Save menu

6.9.1.8.1 CONFIGURE SAVE ALL (CSA)

Creates both a new Configuration file with the predefined variable values according to
the data currently in the system memory, and a new UDB file including the System User
Data Base.
The file names and extensions are, by default, <$SYS_ID>.C5G and <$SYS_ID>.UDB
and the files are saved in the UD:\SYS\CNFG system directory. If a diferent filename is
specified, this is stored by default in the current directory.
From SYS_CALL the 'CS' parameter, that in the past corresponded to ConfigureSave,
is interpreted as 'CSA' (to maintain compatibility with old PDL2 programs).
Options: /Rules - $CRC_RULES, PDL2 Programming Language
manual, chap. Predefined Variables List - variables according
to predefined rule
Syntax: CSA <file_name>

6.9.1.8.2 CONFIGURE SAVE CATEGORY submenu

To save in a file the stored values of predefined variables belonging to the indicated
category.
The user may need to:
– Create a file containing ONLY the values of variables of the indicated category.
This file will be used for partial loading of the values in the memory (CONFIGURE
LOAD CATEGORY submenu commands) or it will be copied on several Control
Units to unify certain initializations. The name of the file is to be specified in the

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command and it is to be different from the name of the <$SYS_ID>.C5G

Configuration file. The directory, if not specified, will be the one currently selected
on the device the command is sent from and the file extension will be .C5G.
– Save data of the category indicated in the global Configuration file
(<$SYS_ID>.C5G). In this case only the section containing the variables of the
pre-selected category will be updated; the values of the other variables in the file
will remain unaltered. To do this, the command must be sent without specifying the
name of the file.
,

See MINOR CATEGORY note.

Syntax: CSCx <filename> --where x is the Load Category

– CONFIGURE SAVE CATEGORY ARM (CSCA)

– CONFIGURE SAVE CATEGORY CONTROLLER (CSCC)
– CONFIGURE SAVE CATEGORY IO (CSCI)
– CONFIGURE SAVE CATEGORY LOOP (CSCL)
– CONFIGURE SAVE CATEGORY RETENTIVE (CSCR)
– CONFIGURE SAVECATEGORY SETTINGS (CSCS).

A command belonging to the ConfigureSaveCategory submenu, if executed on a .C5G

file created with a software version prior to that loaded, is allowed, providing that
variables of the involved category have not been changed in either number or size.

CONFIGURE SAVE CATEGORY ARM (CSCA)

Saves the values of variables that have Arm as the Load Category. See previous note
regarding MINOR CATEGORY.
Options: /Auxiliary - auxiliary axes related variables
/Calibrate - calibration variables
/coLlision - collision detection variables
/conFigure - Arm configuration variables
/cHain - frames and payload related variables
/Rules - $CRC_RULES, PDL2 Programming Language
manual, chap. Predefined Variables List - variables according
to predefined rule
/Sensor - sensors related variables
Syntax: CSCA <file_name>
CSCA/A <file_name>
CSCA/C <file_name>
CSCA/L <file_name>
CSCA/F <file_name>
CSCA/H <file_name>
CSCA/R <file_name> <rules>
CSCA/S <file_name>

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CONFIGURE SAVE CATEGORY CONTROLLER (CSCC)

Saves the values of variables that have Cntrl as the Load Category. See previous note
regarding MINOR CATEGORY.
Options: /Environ - Environment subcategory variables
/Flow - Flow Modulate subcategory variables
/Irr - Interference Region subcategory variables
/Parameter - reserved parameters
/Rules - $CRC_RULES PDL2 Programming Language
manual, chap. Predefined Variables List - variables according
to predefined rule
/Shared - Shared subcategory variables
/T - Tracking, available from SYS_CALL only
/Unique - Unique subcategory variables
/Vars - Vars subcategory variables
Syntax: CSCC <file_name>
CSCC/E <file_name>
CSCC/F <file_name>
CSCC/I <file_name>
CSCC/P <file_name>
CSCC/R <file_name>
CSCC/S <file_name>
CSCC/T <file_name>
CSCC/U <file_name>
CSCC/V <file_name>

CONFIGURE SAVE CATEGORY IO (CSCI)

Saves the values of variables that have Input/output as the Load Category. See previous
note regarding MINOR CATEGORY.
Options: /Configure - I/O configuration variables
/Fieldbus - Fieldbuses I/O related variables
/Hand - Hand variables
/Rules - $CRC_RULES PDL2 Programming Language
manual, chap. Predefined Variables List - variables according
to predefined rule
Syntax: CSCI <file_name>
CSCI/C <file_name>
CSCI/F <file_name>
CSCI/H <file_name>
CSCI/R <file_name> <rules>

CONFIGURE SAVE CATEGORY LOOP (CSCL)

Saves the values of variables whose Load Category is Loop_Data. See previous note
regarding MINOR CATEGORY.
Options: /Rules - $CRC_RULES, PDL2 Programming Language
manual, chap. Predefined Variables List - variables according
to predefined rule
Syntax: CSCL <file_name>

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CSCL/R <file_name> <rules>

CONFIGURE SAVE CATEGORY RETENTIVE (CSCR)

Saves the values of variables whose Load Category is Retentive. See previous note
regarding MINOR CATEGORY.
Options: /Rules - $CRC_RULES, PDL2 Programming Language
manual, chap. Predefined Variables List - variables according
to predefined rule
Syntax: CSCR <file_name>
CSCR/R <file_name> <rules>

CONFIGURE SAVECATEGORY SETTINGS (CSCS)

Saves the values of variables whose Load Category is Settinggs. See previous note
regarding MINOR CATEGORY.
Options: /Rules - $CRC_RULES, PDL2 Programming Language
manual, chap. Predefined Variables List - variables according
to predefined rule
Syntax: CSCS <file_name>
CSCS/R <file_name> <rules>

6.9.2 DISPLAY branch

The DISPLAY branch displays a commands menu that open viewing windows with
information that is continually updated until the DisplayClose command is sent.
Several windows can be opened at the same time.
In the case of SYS_CALL the DISPLAY commands direct the display by default to the
Terminal window shown by WinCRC program (if connected).
A description of these subjects follows:
– Arm menu
– Close menu
– Input menu
– Output menu
– DISPLAY PROGRAM (DP)
– Vars menu

6.9.2.1 Arm menu

The ARM menu contains a commands menu for viewing information about the specified
arm.

6.9.2.1.1 DISPLAY ARM CURRENTS (DAC)

Displays the currents of the axis motors in amperes.
Syntax: DAC <arm_num>

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6.9.2.1.2 DISPLAY ARM DATA (DAD)

Displays data about the arm interpolator.
Syntax: DAD <arm_num>

6.9.2.1.3 DISPLAY ARM FOLLOWING (DAF)

Displays the axis following errors in bit units.
Syntax: DAF <arm_num>

6.9.2.1.4 DISPLAY ARM JOINT (DAJ)

Displays the current position target of each axis, in degrees.
Syntax: DAJ <arm_num>

6.9.2.1.5 DISPLAY ARM POSITION (DAP)

Displays the current Cartesian position target, indicating x,y,z location, Euler angles and
configuration string; the joints values (in mm, for translating axes, or in degrees for
rotating axes) of the auxiliary component in a system with auxiliary axes.
Syntax: DAP <arm_num>

6.9.2.1.6 DISPLAY ARM REVOLUTIONS (DAR)

Displays the number of motor revolutions.
Syntax: DAR <arm_num>

6.9.2.1.7 DISPLAY ARM STATUS (DAS)

Displays the current status of the arm (calibrated, in lock, etc.), the number of joints that
form the arm, the co-operative movement and the state of the auxiliary axes (connected,
enabled, disabled). It is also indicated whether the robot is along the programmed path
(On Trajectory).
Syntax: DAS <arm_num>

6.9.2.1.8 DISPLAY ARM TEMPERATURE (DAT)

Displays the axis motors temperatures as percentage of the maximum allowed
temperature for the motor.
Syntax: DAT <arm_num>

6.9.2.2 Close menu

The CLOSE menu removes the DISPLAY windows from the screen.

6.9.2.2.1 DISPLAY CLOSE ARM (DCA)

Closes all the windows opened with the DISPLAY ARM command.
Syntax: DCA

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6.9.2.2.2 DISPLAY CLOSE INPUT (DCI)

Closes all the windows related to inputs.
Syntax: DCI

6.9.2.2.3 DISPLAY CLOSE OUTPUT (DCO)

Closes all the windows related to outputs.
Syntax: DCO

6.9.2.2.4 DISPLAY CLOSE PROGRAM (DCP)

Closes the window related to the active PDL2 programs.
Syntax: DCP

6.9.2.2.5 DISPLAY CLOSE SELECT (DCS)

Allows the operator to select the display window to be closed.
Syntax: DCS

6.9.2.2.6 DISPLAY CLOSE TOTAL (DCT)

Closes all the windows opened by DISPLAY commands.
Syntax: DCT

6.9.2.2.7 DISPLAY CLOSE VARS (DCV)

Closes all the windows opened with the DISPLAY VAR commands.
Syntax: DCV

6.9.2.3 Input menu

With the INPUT menu the state of the inputs can be viewed, both those defined by the
user and the system ones.
A text string, set by the user, can be associated to the displayed Inputs. To assign such
descriptions to the Input points, use IO_MAP Program - I/O ports mapping,
par. 11.4.2.1.1 Map or Modify - I/O points on page 556. The System Inputs HELP strings
are always present.

6.9.2.3.1 DISPLAY INPUT AIN (DIA)

Displays the values of the user defined analog inputs ($AIN), in decimal format. If the
value is forced, it is shown in red instead of blue on the WinCRC screen.
Several indexes can be specified in the parameter for the command: to indicate different
indexes, use dashes (-) to separate them; to indicate an interval between indexes, use
two dots (..).
Syntax: DIA <string_of_numbers>
Example: DIA 1

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DIA 1- 2 - 4..7

6.9.2.3.2 DISPLAY INPUT DIN (DID)

Displays the values of the user defined digital inputs ($DIN), where 1 = TRUE and
0 = FALSE. If one of these values is forced, an “F” (forced to false) or a “T” (forced to
true) is shown instead of 0 or 1.
If a number of input is typed, a series of digital inputs is displayed.
Syntax: DID
Example: DID 1

6.9.2.3.3 DISPLAY INPUT FMI (DIF)

Displays the values of the user defined flexible multiple inputs ($FMI), in hexadecimal
format.
Several indexes can be specified in the parameter for the command: to indicate different
indexes, use dashes (-) to separate them; to indicate an interval between indexes, use
two dots (..).
Syntax: DIF <indexes>
Example: DIF 1- 2 - 4..7

6.9.2.3.4 DISPLAY INPUT GI (DIG)

Displays the values of general system inputs ($GI). To move with the cursor along the
bits use the LH and RH arrow keys, to change module use the UP and DOWN arrow
keys.
Syntax: DIG

6.9.2.3.5 DISPLAY INPUT IN (DII)

Displays the values of the user defined privileged digital inputs ($IN), where 1 = TRUE
and 0 = FALSE. If one of these values is forced, an “F” (forced to false) or a “T” (forced
to true) is shown instead of 0 or 1.
If a number of input is typed, a series of digital inputs is displayed.
Syntax: DII
Example: DII 1

6.9.2.3.6 DISPLAY INPUT SYSTEM (DIS)

Displays the digital inputs defined in the system ($SLI, $BDI). SEL key works exactly
like DISPLAY INPUT GI (DIG) command.
Syntax: DIS

6.9.2.4 Output menu

The OUTPUT menu displays the state of the user defined outputs and of the system
ones.
A text string, set by the user, can be associated to the displayed Outputs. To assign such

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descriptions to the Output points, use the IO_MAP Program - I/O ports mapping,
par. 11.4.2.1.1 Map or Modify - I/O points on page 556. The System Outputs HELP
strings are always present.

6.9.2.4.1 DISPLAY OUTPUT AOUT (DOA)

Displays the values of the analog outputs ($AOUT), in decimal format. Forced values,
are shown in red on the WinCRC screen.
Several indexes can be specified in the parameter for the command: to indicate different
indexes, use dashes (-) to separate them; to indicate an interval between indexes, use
two dots (..).
Syntax: DOA <string_of_numbers>
Example: DOA 17
DOA 17-18-25..27

6.9.2.4.2 DISPLAY OUTPUT DOUT (DOD)

Displays the values of the user defined digital outputs ($DOUT), where 1 = TRUE and
0 = FALSE. If one of these values is forced, an “F” (forced to false) or a “T” (forced to
true) is displayed instead of 0 or 1.
When a number of output is typed, a set of digital outputs is displayed.
Syntax: DOD
Example: DOD 17

6.9.2.4.3 DISPLAY OUTPUT FMO (DOF)

Displays the values of the user defined flexible multiple outputs ($FMO), in hexadecimal
format.
Several indexes can be specified in the parameter for the command: to indicate different
indexes, use dashes (-) to separate them; to indicate an interval between indexes, use
two dots (..).
Syntax: DOF <indexes>
Example: DOF 17-18-25..27

6.9.2.4.4 DISPLAY OUTPUT GO (DOG)

Displays the values of general system outputs ($GO). SEL key works exactly like
DISPLAY INPUT GI (DIG) command.
Syntax: DOG

6.9.2.4.5 DISPLAY OUTPUT OUT (DOO)

Displays the values of the user defined privileged digital outputs ($OUT), where
1 = TRUE and 0 = FALSE. If one of these values is forced, an “F” (forced to false) or a
“T” (forced to true) is shown, instead of 0 or 1. If a number of output is typed a series of
digital outputs is displayed.
Syntax: DOO
Example: DOO 17

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6.9.2.4.6 DISPLAY OUTPUT SYSTEM (DOS)

Displays the digital outputs defined by the system ($SLO, $BDO). SEL key works exactly
like DISPLAY INPUT GI (DIG) command.
Syntax: DOS

6.9.2.5 DISPLAY PROGRAM (DP)

PROGRAM displays information about the active PDL2 programs.
A particular program name can be specified. It is also possible to insert a wildcard in the
program name. If no parameter is given, the information is displayed regarding all the
activated programs.
The information shown is the same as for the PROGRAM VIEW (PV) command.
Options: /Full will display also all the programs with protected code, that
are not usually displayed.
Syntax: DP <program_name>
DP/F <program_name>

6.9.2.6 Vars menu

The VARS menu contains the commands to display current values of the memory arrays
commonly used by programs that use the $BIT and $WORD variables.

6.9.2.6.1 DISPLAY VARS BIT (DVB)

Displays $BIT, where 1 = TRUE and 0 = FALSE, according to 2 different displays:
Several indexes can be specified in the parameter for the command:
– To indicate different indexes, separate them with dashes (-);
The maximum number of $BIT that can be displayed at the same time is 4 (for the
Teach Pendant) and 11 (for WinCRC).
For example: "DISPLAY VAR BIT" "1-35-100" displays the value of $BIT[1],
$BIT[35] and $BIT[100].
– To indicate an interval between indexes, use two dots (..). A maximum of 16 bits
(on Teach Pendant) and 32 bits (for WinCRC) can be displayed at the same time.
"DISPLAY VAR BIT" "1..15" displays all the $BIT having an index from 1 to 15.
Syntax: DVB

6.9.2.6.2 DISPLAY VARS TIMER_S (DVS)

Displays $TIMER_S variable
Syntax: DVS <timer_idx>

6.9.2.6.3 DISPLAY VARS TIMER (DVT)

Displays $TIMER variable
Syntax: DVT <timer_idx>

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6.9.2.6.4 DISPLAY VARS WORD (DVW)

Displays the value of a $WORD in decimal format.
Several indexes can be specified in the parameter for the command: to indicate different
indexes, use dashes (-) to separate them; to indicate an interval between indexes, use
two dots (..).
Options: /Hex displays the data in hexadecimal format
/Binary displays the data in binary format
Syntax: DVW <string_of_numbers>
DVW/H <string_of_numbers>
DVW/B <string_of_numbers>

6.9.3 EXECUTE command (E)

With the EXECUTE command a PDL2 instruction can be executed from commands
level. This type of execution is also called immediate execution, because the
instructions have to be short and not locking (for example to assign a value to a
predefined variable).
The first parameter is the instruction to be executed. If the instruction refers to program
variables, the name of the program they belong to has to be specified in the second
parameter.
Options: /Context is available in the prompt of the second parameter. It is
specified ONLY when the instruction contains references to
predefined variables (preceded by $, such as $CYCLE) that
belong to the "Program Stack" category (see PDL2
Programming Language Manual, chapter Predefined
Variables List); the /Context option indicates that the predefined
variable will be that of the program indicated as second
parameter.
If this option is not used, the program stack type predefined
variables will be those of the virtual EXECUTE program, that only
have life for the duration of the command. When this option is
used the program specified as parameter must be active,
otherwise an error will be generated.
Syntax: E instruction <program_name>
Example: E 'I:=10' 'test_1' - Assigns the value 10 to variable i of program
test_1. Program test_1 must be loaded in memory.
E ‘WRITE($ERROR,NL)’ ‘test_1’ — Value 0 will be shown
E/C ‘WRITE($ERROR, NL)’ ‘test_1’ — The value of test_1
$ERROR will be shown
The following instructions cannot be used with the EXECUTE command:
– WAIT
– CONDITION
– ENABLE CONDITION
– DISABLE CONDITION
– PURGE CONDITION
The program variables cannot be declared and created with this command.

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The execution can be deactivated by pressing ^C.

To execute instructions that require movements, the following rules are valid:
– the modal selector switch is to be set for programming
– all movements are executed at safe reduced speed
– the enabling device is to be kept pressed during the motion execution
– START is to be kept pressed to maintain the movement
– press HOLD to interrupt the movement (this movement can be resumed by
pressing START)

6.9.4 FILER branch

The FILER branch displays a menu of file management commands.
For most FILER commands it is necessary to indicate as parameters the file names,
devices, name and extension:
dv:file_name.ext
The name of the device can be formed by one to four characters followed by the colon
(:) symbol. Some commands are only operative with certain devices. For further details,
see the individual commands.
The filename can be from 1 to 256 characters sempre vero, that may be letters, digits
and subscripts (_). However, if the file is to contain a program name, the maximum size
for the name is 32 characters.
The extension starts with a dot (.) and consists of three characters that can be letters,
digits and subscripts (_).

For a complete list of the expected system software extensions, see par. 6.10 Available
Files Types in the System on page 447.

Some commands are only operational with a special extension. For details, see the
individual commands.

NOTE
In the UD root directory : there is a limitation to the maximum number of entries (512).
A file name longer than 8 characters occupies more than one entry in the FAT (File
Allocation Table).
The problem does NOT exist in subdirectories, where the maximum entry limit is higher
(more than 65000).
If the root directory is too much occupied, it is advised to use file names with a maximum
of 8 characters, or to work in subdirectory.
Furthermore, it is advised to periodically delete the .BK* files in a permanent manner.

Besides the individual commands, the following are also described:

– UTILITY ATTRIBUTE menu
– Backup and Restore commands
– Compressed files management commands
– Directory management commands

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6.9.4.1 FILER COPY (FC)

COPY command creates copies of files. No change is made to the original file.
Specify the source file and the destination file. For the extensions and the file names a
wildcard can be used.

See NOTE about the total amount of entries in the UD: root directory.

It is advised to use FILER UTILITY BACKUP and FILER UTILITY RESTORE (instead
of FILER COPY) if all the files from/to the default backup device ($DFT_DV[3], usually
XD: or COMP:) are to be copied.
Options: /Confirm requires confirmation before copying each file.
/Overwrite rewrites the existing files without displaying the
confirmation prompt.
Syntax: FC <source_file> <dest_file>

6.9.4.2 FILER DELETE (FD)

Removes the files from the user device.
It is asked to specify the files. For the extensions and the filenames the wildcard can be
used. If no device is specified, the default device is used.
The user is asked for confirmation before each file is deleted.
If the command is sent without the /Permanent or /Cleanup option, the files are not
permanently deleted and can therefore be recovered with the /Undelete option.
Options: /Cleanup empties the bin containing the previously deleted files
/Noconfirm does not ask the user for confirmation before
deletion.
/Output
/Permanent deletes the files permanently.
/Undelete allows the recovery of a file that has been deleted
(providing the /Permanent option has not been used when
deleting the file).
Syntax: FD <file_name>

6.9.4.3 FILER EDIT (FE)

EDIT command calls the ASCII files editor. This can be used to create or to edit ASCII
files on the user disk (UD:).

See NOTE about the total amount of entries in the UD: root directory.

A parameter is required for the filename. The wildcard cannot be used. Only the user
disk UD: can be used as device. If no extension is specified, the extension .PDL is used.
This command cannot be used if any other type of Editor is active and it is not allowed

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from SYS_CALL.
Syntax: FE <file_name>

6.9.4.4 FILER PRINT (FP)

To display the content of a file on the screen (WinCRC Terminal) or on another file.
The destination device may consist of the Teach Pendant monitor or the PC, a file,
communication port or a window defined by the user. If no destination device is
specified, the device from which the command has been sent will be used.
The name of the start file is required as parameter. For the extension and file name the
wild card can be used. If no device is specified, the default device is used ($DFT_DV[2]).
The Filer Print command is used to view the contents of binary files: .COD or .BKC
program files; .VAR or .BKV variable files; files in the system directories (.C5G
configuration files, .LBC and .LBH log files). It is assumed that all the other files are in
ASCII format.
The command is also a means to convert binary files to the corresponding ASCII format.
In the case of FilerPrint command for a .VAR file to an .LSV file or for a .COD to a .PDL
one, a back-up file is created with extension .BKL and .BKP respectively for that .LSV
file. If no destination device is specified, the file is printed on the video.
If a .COD file contains checksum errors or other damaged data and it is not possible to
recover a backup copy of the same file, FILER PRINT can convert the program to an
ASCII file to be saved in the user disk (UD:).

See NOTE about the total amount of entries in the UD: root directory.

The ASCII file can then be edited to correct the instructions and corrupted identifiers that
are distinguished by three question-marks (“???”). At the end, use FILER TRANSLATE
to convert the file again to a file with .COD extension.
Further information can be printed, using /Property option. Standard attributes
(Property) associated to the files are the following:
– file name
– author
– file creation date
– version
– revision
– host where file was created
– title
– help.
Options: /Full prints a variables file without shortening the names of the
identifiers contained (variables, programs, routines and data
classes).
/List generates a listing file (.LIS) from a .COD or .BKC file. The
listing file gives the name of the program and the line number at
the side of each PDL2 instruction.

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/Overwrite Overwrite rewrites the old copy of the corresponding

file without asking for confirmation of the user.
/Nopage
/Property to print the file properties (drawn up by, date of
creation, version, device where it was created).
/Range to print the lines of a file between the serial and final line
specified as additional parameters.
Syntax: FP <file_name> <dest_device>
FP/L <file_name> <dest_device>
FP/N <file_name> <dest_device>
FP/P <file_name> <dest_device>
FP/R <file_name> <dest_device> <start_line><end_line>

6.9.4.5 FILER RENAME (FR)

RENAME changes the name and/or extension of an existing file.
It is necessary to specify as parameters the original file (source) and the new file
(destination). A wildcard can be used for the extension. If no device is specified for the
source file, the default device is used. It is not possible to specify different devices for
the source file and the destination file.
If a new file already exists, before the original file is renamed, a prompt is displayed
asking for confirmation.
Renaming of a program file (.COD or .BKC) is not allowed if the new name is present as
identifier inside the file. This type of error is only detected when the program is loaded.
Options: /Confirm displays a confirm prompt before each file is renamed.
/Overwrite rewrites the existing files without displaying any
confirm prompt.
Syntax: FR <source_file> <dest_file>

6.9.4.6 FILER TRANSLATE (FT)

TRANSLATE command converts:
– a PDL2 program, from ASCII source code (.PDL) to executable code (.COD) and
vice versa
– a variables file in source ASCII format (.LSV), to a variables file in loadable format
to the Control Unit (.VAR) and vice versa.
– system binary files (.C5G, .LBC, .LBH) in the corresponding ASCII format (.PDL,
.LOG).
The name of the source code file is required. In the name of the start file the asterisk can
be used. The only available device is UD: user disk.

See NOTE about the total amount of entries in the UD: root directory.

If the extension is not given, .PDL extension is used.

If the destination file (for example .COD) already exists, the back-up copy is saved
changing the extension (for example .BKC) before creating the new file.

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If indications or errors are found during the translation, these are displayed in the
scrolling window and recorded to <file_name>.ERR file.
Options: /Back converts a .COD file to a .PDL file.It is the same as the
Filer Print command of a .COD file to a .PDL.
/Confirm asks the user for confirmation before the conversion of
each file.
/List generates a listing file (.LIS) including line number, etc, and
can only be used with /Back option.
/Output redirects the file on another directory.
/Variables converts a variables .LSV ASCII file in a .VAR file.
When used with the /Back option, it converts a .VAR variables file
to the corresponding .LSV with ASCII format.
/Xml
Syntax: FT <file_name>

6.9.4.7 UTILITY ATTRIBUTE menu

Contains commands to change the file attributes. Access is allowed to "Maintenance" or
"Service" user profile.

6.9.4.7.1 FILER UTILITY ATTRIBUTE ARCHIVE (FUAA)

To set/remove the attribute archived ('a') to a file.
Options: /Reset deletes attribute archived ('a') to the specified file.
Syntax: FUAA <file_name>
FUAA/R <file_name>

6.9.4.7.2 FILER UTILITY ATTRIBUTE HIDDEN (FUAH)

Sets “hidden” attribute to a file that therefore will not be displayed on the user disk UD:.
With this attribute set, the file, if a .COD, can however be loaded in the execution
memory (Memory Load).
Options: /Reset deletes hidden attribute.
Syntax: FUAH <file_name>
FUAH/R <file_name>

6.9.4.7.3 FILER UTILITY ATTRIBUTE READONLY (FUAR)

Sets “read only” attribute to a file. When this attribute is set, the file cannot be edited or
deleted.
Options: /Reset deletes read only attribute.
Syntax: FUAR <file_name>
FUAR/R <file_name>

6.9.4.7.4 FILER UTILITY ATTRIBUTE SYSTEM (FUAS)

Sets the system attribute for a file. When set, this attribute prevents file deletion.
Options: /Reset deletes the system attribute.
Syntax: FUAS <file_name>

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FUAS/R <file_name>

6.9.4.8 Backup and Restore commands

For better understanding the difference between a simple file copy (FILER COPY (FC))
and a backup/restore operation properly organized, follow the listed below tips:
– always make sure that execution memory and UD: device are aligned (there
shouldn’t be any not saved programs or data), before starting any Backup or
Restore operation;
– always perform a ConfigureSaveAll command (Save in the Setup page) before any
Backup operation and a ConfigureLoadAll command (Load in the Setup page) after
a Restore operation to restore the same work conditions, based on .C5G file, after
Restart;
– schedule periodic Backup operations, better if during the night;
– possibly use the .LST file created during the Backup operations, when it is useful
to compare several backups with each other to see possible differences;
– compress the Backup in a.ZIP file. Execute the Restore decompressing the.ZIP
file.
If WinCRC acts as server for the Control Unit, the configuration of the backup and
restore operations requires that the NETx: devices are set correctly. This can be done
by entering sub-page FTP Users Configuration. The system allows definition of a
Username and a Password for the user requesting the operation, for each NETx: device,
and the base Directory for backup and restore operations. When these operations are
required, the specified user has to be already defined and logged on the Control Unit.
The NET_C checkbox indicates that the parameters associated to it will be used to
automatically configure the different $NET_C system variables (see PDL2
Programming Language manual - chap.Predefined Variables List). Therefore it is
not necessary that the user sets them.

Fig. 6.4 - FTP Users Configuration

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NOTES FOR BACKUP / RESTORE

As from system software version 3.20, it is possible to obtain the backup and restore of
files contained in a certain device (UD:, LD:, VD:, TD:), keeping the original structure of
the directories and selecting them according to:
– either a date or a number of days,
– whether they have already been saved in a backup or not,
– whether they are newer,
– whether they belong to a certain directory or Saveset.
Note that the backup operation should preferably be executed when NO technological
processes are running, when motor drives are off (DRIVE-OFF) and when the system
is in programming status.

The backup can be sent to a USB flash disk (XD: or TX:), including subdirectories,
COMP: (device WinCRC), NETx: (device client FTP), TD: .
At each backup (e.g. FUB/T * NET8), a <$SYS_ID>.LST file is created on the specified
device, in the specified base directory, containing the information related to the backup
operation.
Information regarding several backups is inserted at the bottom of the file. At each
backup operation, these files are updated.

Example:
##################################################
# Backup created 15-MAY-15 16:17:00
# Backup appended 15-MAY-15 16:44:40
# Backup appended 15-MAY-15 16:48:57
# Backup appended 15-MAY-15 16:49:55
UD:\box.pdl@12-04-15 11:24:08
UD:\brac_7ax1.cod@14-03-15 14:32:48
UD:\brac_7ax1.pdl@14-03-15 14:32:44
UD:\brev_002_r2.cod@13-11-14 10:18:16
UD:\brev_002_r2.lsv@19-11-14 13:34:44
UD:\brev_002_r2.pdl@12-11-14 18:54:44
UD:\brev_002_r2.var@16-11-14 11:30:20

When a file is copied in a backup, it is "marked" by attribute ‘a’.

To be able to use these functions, there are some options described in the following
sections (see par. 6.9.4.8.1 FILER UTILITY BACKUP (FUB) on page 416 and
par. 6.9.4.8.2 FILER UTILITY RESTORE (FUR) on page 417):
– For Backup operation - /Saveset, /After, /Increment, /To
– For Restore operation - /Saveset, /After, /From, /Newer, /Overwrite.

6.9.4.8.1 FILER UTILITY BACKUP (FUB)

Copies the files from the selected directory when executing the command to the default
backup device ($DFT_DV[3]). If no file is specified, all the files of the current directory
are copied.
Options: /After copies files that are more recent than a certain date.
To specify date or count of days a sign can be indicated that has
the meaning of "before" (‘-’) or "after" the indicated date or count
of days. INTEGER to indicate the total amount of days BEFORE

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today; DATE format with sign to indicate BEFORE or AFTER the

specified date
Examples:
-1 means all files before 00 of today;
-18-06-08 means files before 18/06/08;
18-06-08 means files EQUAL and AFTER that date.
/Increment copies all files that have NOT been saved in previous
Backups (the system uses the 'a' attribute that indicates "file
already archived").
/Saveset is used to specify a predefined saveset that indicates
where the files are to be copied from.The saveset must have
already been created. If, for example, the use of a Saveset
referred to as ‘set1| UD:\dir1\*.*/s’ is required, the Backup
command must be issued by specifying ‘set1’ as parameter. In
such a way, all the files will be copied that are contained in
UD:\dir1 and the associated subdirectories.
/To copies on a device that is not the default ($DFT_DV[3]). The
required directory can be specified on this device.
Syntax: FUB <file_name>
FUB/A <date_or_days>
FUB/I
FUB/S <saveset_name>
FUB/T <device_name>
Examples: FUB * XD:r026 copies in subdirectory r026 of device XD:
FUB/A0 executes backup of today's files
FUB/A-1 executes backup of files from yesterday
FUB/I * executes backup of files not yet saved in a previous
backup
FUB/T * NET8: executes backup on another device

Using Savesets in the Backup command

As already said describing the /Saveset option, it is possible to specify a Saveset name
instead of a filename (in such a case, when issuing the command, the /Saveset option
must be inserted).
The specified Saveset must have already been created in the corresponding Backup
subpage of Setup page.

In this way, using a single command it is possible to execute the backup of files from
different devices or directories, files with a certain name, include the subdirectories,
exclude some files, etc.

6.9.4.8.2 FILER UTILITY RESTORE (FUR)

The RESTORE command allows to copy files back from default backup/restore device
($DFT_DV[3]) to the device from which such files had been saved by the Backup
operation.

See NOTE regarding the total amount of entries in the UD: root directory.

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See NOTES FOR BACKUP / RESTORE.

Options: /After copies files that are more recent than a certain date. It is
useful to restore files from a certain date, for example, today.
To specify date or count of days a sign can be indicated that has
the meaning of "before" (‘-’) or "after" the indicated date or count
of days.
Examples:
0 means files as from today
-1 means all files before 00 of today;
-18-06-08 means files before 18/06/08;
18-06-08 means files OF THAT DATE and AFTER IT.
/Configure allows to recover the old configuration file that, after
being copied with .C5G extension, is loaded on the Control Unit.
This is followed by ConfigureSaveAll operation.
/From copies files that are not on the default device
($DFT_DV[3]). It is possible to specify the source directory on
this device.
/Newer executes the restore of files that are more recent than the
ones already existing in the destination.
/Overwrite overwrites also read-only files.
/Saveset to specify a predefined Saveset that indicates where
the files are to be taken from to be copied.
The Saveset must have already been created.
For example, if it is required to use a Saveset referred to as
‘set1|UD:\dir1\*.*’, parameter ‘set1’ must be specified when
issuing the Restore command. In that way, any files included in
UD:\dir1 and corresponding subdirectories, will be restored.
Syntax: FUR <file_name>
FUR/S <saveset_name>
Examples: FUR executes restore of all files, from backup, and leaves the
archive bit not set
FUR *.cod executes restore of all files with extension .cod
FUR/A-1 executes restore of new files, up to yesterday
FUR/F executes restore from a different device
FUR/N executes restore of new files (‘new’ is referred to the
previous backup)
FUR/S executes restore, including subdirectories
FUR/S all executes restore of ALL Savesets

Please note that after a Restore operation, the files attributes are no longer read-only.
Even if no files are restored, no error messages are displayed.

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Using Savesets in the Restore command

As already said describing /Saveset option, it is possible to specify a Saveset name

instead of a filename (in such a case, when issuing the command, the /Saveset option
must be inserted).
The specified Saveset must have already been created in the corresponding Restore
subpage of Setup page.

In this way, using a single command it is possible to restore files with a certain name to
different devices and/or directories, include the subdirectories, exclude some files, etc.

6.9.4.9 Compressed files management commands

6.9.4.9.1 FILER UTILITY COMPRESS DELETE (FUCD)

Deletes a file from a compressed archive (.ZIP)
Options: /Noconfirm
/Output
Syntax: FUCD <archive_name> <file_name>
FUCD/N <archive_name> <file_name>
FUCD/O <archive_name> <file_name><output_dest>

6.9.4.9.2 FILER UTILITY COMPRESS EXTRACT (FUCE)

Extracts the files contained in a compressed archive (.ZIP). The files extracted from the
archive will have the same attributes as the source file used to create the archive.
Options: /Noconfirm
/Output
Syntax: FUCE <archive_name> <file_name>
FUCE/N <archive_name> <file_name>
FUCE/O <archive_name> <file_name><output_dest>

6.9.4.9.3 FILER UTILITY COMPRESS MAKE (FUCM)

Creates a compressed file archive (.ZIP).
Options: /After only files with a date later than that specified are included
in the archive
/Before only files with a date prior to that specified are included
in the archive.
/NoDirPath The specification of the directories folder is not
included in the archive.
/Output
/Refresh The archive is updated with the files that have been
changed after the creation of the said archive .
/Subdir Files contained in subdirectories are also included.
Syntax: FUCM <archive_name> <file_name>
FUCM/A <archive_name> <file_name><date_after>
FUCM/B <archive_name> <file_name><date_before>

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FUCM/N <archive_name> <file_name>

FUCM/O <archive_name> <file_name><output_dev>
FUCM/R <archive_name> <file_name>
FUCM/S <archive_name> <file_name>

6.9.4.9.4 FILER UTILITY COMPRESS VIEW (FUCV)

Lists the files contained in a compressed archive (.ZIP).
Further information can be viewed, using /Property option. Standard attributes
(Property) associated to compressed files are the following:
– author
– file creation date
– version
– host where file was created.
Options: /Bare displays only the file name and not the other detailed
information.
/Property displays file properties (drawn up by, date of creation,
version, device where it was created)
Syntax: FUCV <archive_name> <file_name>
FUCV/B <archive_name> <file_name>
FUCV/P <archive_name> <file_name>

6.9.4.10 Directory management commands

The DIRECTORY branch displays a menu of commands to operate on the structure of
the directories on the user disk UD:.

6.9.4.10.1 FILER UTILITY DIRECTORY CHANGE (FUDC)

This command allows switching to the wished directory, specifying its name. For
example, to have access to UD:\dir_1 directory, the following command must be issued:
FUDC dir_1
starting from the root of UD: user disk.
To return to the upper directory level, just specify ‘..’ as parameter.
Specify ‘\’ as parameter, to switch to the root.
This command is not allowed from SYS_CALL. Use DIR_SET predefined routine to
change the directory from within a PDL2 program.
Syntax: FUDC <directory_name>

6.9.4.10.2 FILER UTILITY DIRECTORY DELETE (FUDD)

This command deletes the specified directory.
Options: /Noconfirm no confirm prompt
Syntax: FUDD <directory_name>
FUDD/N <directory_name>

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6.9.4.10.3 FILER UTILITY DIRECTORY MAKE (FUDM)

This command allows creating a new directory starting from the current position in the
directories structure.
Syntax: FUDM <directory_name>

6.9.4.11 FILER UTILITY INSTALL (FUI)

It allows to install the specified application program, by automatically executing all the
required operations: backup device identification from which files are to be copied
($DFT_DV[6] which is ‘COMP:’ by default), copy of the application installation file on UD:
user disk and its activation.
The compulsory parameter is the application installation file name ( .COD file name).
$FUI_DIRS predefined variable contains the directory path where the being installed
application is serached for.
Syntax: FUI <installation_file>
If the Ethernet network is to be used to install the required application, all $NET_ prefix
predefined variables containing references about the HOST where the desired
application files are being installed, must be configured in advance.
For further details about Ethernet network configuration, see PDL2 Programming
Language manual, predefined $NET_xx. variables description.

6.9.4.12 FILER UTILITY PROTECT (FUP)

Allows protecting .COD files on the Control Unit. The user is requested to specify the
filename and the wished password. The use of wildcards is allowed. On the Control Unit
the password is case insensitive.
Options: /Noconfirm eliminates the confirm prompt
/Unprotect clears the file protection
Syntax: FUP <file_name> <password> <password_again>
FUP/N <file_name> <password> <password_again>
FUP/U <file_name> <password>

6.9.4.13 FILER UTILITY SEARCH (FUS)

Can be used to find a string inside a file on UD: user disk .
To run this operation a file and the string to be searched for have to be specified. For
the file wildcards can be used.
Syntax: FUS <file_name> <string_searched_for>
Example: FUS '*.COD' '$DOUT'

6.9.4.14 FILER VIEW (FV)

The VIEW command displays the contents of the specified disk (UD: by default) in the
directory currently selected on the device from which the command is sent. For each file
the date of creation, the size in bytes, the attributes, the name and the extension are
displayed.

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If the file has a Readonly or System attribute this is indicated by ‘r’ or ‘s’ character
accordingly.
To know the attributes of a file from within a PDL2 program, use the predefined
FL_STATE routine.
One or more files can be specified as parameter. If no parameter is specified, all the files
are listed.
At the bottom of the files list the total amount of files contained in the selected directory
is indicated, with the number of occupied bytes. Also the size, in bytes, of UD: disk is
indicated, with the total amount of occupied and free bytes.
Options: /After - after a date: 1=yesterday; 0=today. This parameter can
have two different formats: INTEGER or DATE-TIME. For the
both of them the meaning is as follows: POSITIVE=AFTER,
NEGATIVE=BEFORE.
/Bare show the list of the file names, hiding the information
regarding the date and the occupation
/Deleted display only the deleted files (in a non-permanent
mode)
/Length display the list of files from the smallest to the largest
/Modified show the list of files starting from that with the oldest
changes to the most recent
/Nopage
/Subdir display also the list of files included in the subdirectories
/Unsorted do not sort
Syntax: FV <file_name>
FV/A <file_name> <after_date>
FV/B <file_name>
FV/D <file_name>
FV/L <file_name>
FV/M <file_name>
FV/N <file_name>
FV/S <file_name>
FV/U <file_name>
Examples: examples of using /After option:
FV/A * -1 displays all files before yesterday
FV/A * 1 displays all files after yesterday
FV/A * 0 displays all files which have been modified today
FV/A * -0 displays all files which have been modified before today

If today is 29-10-2009, then:

FV/A * 28-10-2009 : all files which have been modified since
yesterday
FV/A * -28-10-2009 : all files which have been modified before
yesterday

6.9.5 MEMORY branch

The MEMORY branch provides commands to manage programs and variables in the
execution memory.
Besides the individual commands, also the following are described:
– ERASE menu

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– VIEW menu

6.9.5.1 MEMORY DEBUG (MD)

If IDE page is open (even if without a displayed program) on the Teach Pendant, close
it in order to make this command operational.

The DEBUG command calls the editor in view and debug program mode; the program
must have previously been loaded to the execution memory.
This function allows the programmer to carry out the following operations:
– change the currently being run statement
– change positional variables
– display program execution
– display interaction among programs
– change parameters that control the execution, such as break-point step, insertion
of points
– change the program text (only if loaded with /FULL option).

If the program has been loaded with the /FULL option, the text can also be changed.
Programs loaded with the /PERMANENT option, only available from SYS_CALL, cannot
be used in MEMORY DEBUG command.

The program name is a compulsory parameter for such a command.

To use this command the Control Unit must not be in FATAL state.DEBUG cannot be
used if FILER EDIT, PROGRAM EDIT or MEMORY TEACH commands are active, or if
IDE environment is open.
This command is not allowed from SYS_CALL.
Syntax: MD <program_name>

6.9.5.2 ERASE menu

A menu of commands to delete data and programs from memory. A wildcard can be
used for programs and variables names.

6.9.5.2.1 MEMORY ERASE ALL (MEA)

Deletes both code and variables of the specified program.
Options: /Noconfirm - no confirm prompt.
Syntax: MEA <program_name>

6.9.5.2.2 MEMORY ERASE PROGRAM (MEP)

Deletes the code of the specified program. If PROGRAM VIEW is already active, MEP
cannot be used.
Options: /Noconfirm - no confirm prompt.

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Syntax: MEP <program_name>

6.9.5.2.3 MEMORY ERASE VARIABLE(MEV)

Deletes one or more variables of the specified program and not referred by a loaded
program. The variable name must be specified as a parameter.
Options: /Noconfirm - no confirm prompt.
Syntax: MEV <program_name> <variable_name>

6.9.5.3 MEMORY LOAD (ML)

LOAD command is used to load the program code (.COD) and variables (.VAR) to the
execution memory from the default storage device (UD),
The being loaded program name must be specified as a parameter; a wild card can be
used. If a program does not have a data file (.VAR), variables are created in memory
while loading.
A program cannot be loaded when it is in ready, paused or running condition.

If a program cannot be loaded due to damage to data contained in the .COD file, recover
a backup copy of the same file (.BKC) or translate the program into ASCII format using
the FILER TRANSLATE command. Next, edit the obtained ASCII file and fix the
damaged instructions and identifiers, that are distinguished by three question marks
("???"). Once the corrections have been made, translate the file to .COD using FILER
TRANSLATE command.

Options: /As to load programs with a different data file (.VAR), specified as
a parameter. Asterisks cannot be used with this option.
/Convert converts, where possible, conflicts between data file
and the program
/Depend automatically loads the code and the variables of the
programs referred in the program code specified as parameter to
MEMORY LOAD. If the referred files are in different directories
the predefined variable $DEPEND_DIRS has to be set, that
contains the path that the Load command will use in the search.
/Full loads the entire program with the related comments, wrong
statements and empty lines. This option is useful for no motion
programs. All other kind of programs are already entirely loaded.
/Nosavevars disables the saving of the variables (or VAR) when
MEMORY SAVE is executed on this program. This option is only
available if used together with the internal SYS_CALL routine.
/Permanent loads the program code in the memory in permanent
mode, not permitting deletion. The code uses less memory
because of the optimizing of the loading process. To recover the
memory, the Control Unit has to be restarted. This option is only
available if used together with the internal SYS_CALL routine.
/Variables only loads the specified program variables file.
/Xml
Syntax: ML <program_name>
ML/A <data-file program_name>
ML/F <program_name>

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6.9.5.4 MEMORY SAVE(MS)

The SAVE command saves the file containing code and/or variables of a loaded
program.
If no option is specified, this command only saves program variables by default, creating
a new .VAR file with the program name.
The directory where variables file is saved to, is (in the sequence indicated here below):
– the one from where the .VAR was originally loaded;
– the directory from where the .COD file was loaded, if no .VAR file was loaded;
– the directory which is currently selected on the device from where the save
command is issued (programming unit, Terminal of WinCRC, currently selected
directory in case of SYS_CALL), if no .COD was loaded.

MemoryViewProgram (MVP) command is useful to check which file and directory have
been used to load a specified program code and variables.

Issue the /Code option to save the code.

If there is already another data or program file with the same name, this will be renamed
and it will be assigned a .BKV or .BKC extension .
If data have not been loaded with /Nosavevar option, this program variables cannot be
saved.
Options: /As allows the saving of the program code or data in a file with
the name indicated in the second parameter. The asterisk cannot
be used with this option.
/Code saves the code of a program (instead of the variables),
loaded with the /FULL option and if it has been modified since
when it was loaded.
/Dirorig saves the file of variables with the same name and
directory used while loading.
/Overwrite if the file already exists in the user disk, it is replaced
without the display of the confirm prompt.
/Total (only from SYS_CALL).
Syntax: MS <program_name>
MS/A <program_name> <file_for_saving>
MS/C <program_name>
MS/D <program_name>
MS/O <program_name>
MS/T <program_name>

6.9.5.5 VIEW menu

VIEW menu is used to have access to a commands menu to display the memory
contents.
All MEMORY VIEW commands support the /NOPAGE option.

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6.9.5.5.1 MEMORY VIEW DATABASE (MVD)

Displays a currently present in memory Database. The use of wildcard ‘*’ is allowed. If
the wildcard is used as first parameter, all the currently present in memory Databases
are displayed; if it is specified as second parameter, the command displays all the
records belonging to the Database which is selected by the first parameter.
Options: /Nopage
/Output
Syntax: MVD <database_name> <record_key>

6.9.5.5.2 MEMORY VIEW PROGRAM (MVP)

Displays information about loaded programs and data about the memory occupation as
described here below:
– program name
– program attributes (H=hold, N=nohold, A=attach, D=detach)
– data files name (.VAR) used for loading (- indicates not loaded from a file)
– program code (.COD) occupation (0 indicates not loaded) and total amount of lines
– data size (0 indicates not loaded) and total amount of variables
– creation date and time of .COD and .VAR files loaded to memory for this program.
To obtain this information the /Full option is needed
– a symbol indicating whether loaded statements or variables have been changed in
memory, but not saved on the user disk. Entering this command by WinCRC or by
SYS_CALL, the symbol is displayed beside the code and variables size. If instead
the command is sent from the teach pendant, also the /Full option has to be
entered. The following symbols are used:
• “S” indicates that the program code or variables have been saved
• “*” indicates that the program code or variables have been changed, but not
saved
• “-” indicates that the program code or variables have not been loaded into
memory
• “P” indicates that the program code has been loaded by SYS_CALL with
/Nosavevars option
• “?” indicates that the file is no longer present, so it is not possible to compare
with the current situation in memory.
Further information can be viewed, using /Property option. Standard attributes
(Property) associated to the files are the following:
– author
– file creation date
– version
– host where file was created.
Options: /Full displays all the information referring to the program.
/Nopage
/4 (see Option /4 to view in the 40 columns)
/Output
/Property displays program properties (drawn up by, date of
creation, version, host where it was created).

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Syntax: MVP <program_name>

MVP/F <program_name>
MVP/N <program_name>
MVP/4 <program_name>
MVP/P <program_name>

6.9.5.5.3 MEMORY VIEW SYSTEM (MVS)

Displays the specified system variable.
Options: /Nopage
/Output
/Rules
Syntax: MVS <system_variable_name>
MVS/N
MVS/R

6.9.5.5.4 MEMORY VIEW TREE (MVR)

Displays all the Tree structures currently loaded in memory. The use of the wildcard ‘*’
is allowed.
Options: /Full provides full information, not only the hierarchy
/Nopage
/Output
Syntax: MVR <tree_structure_name>
MVR/F <tree_structure_name>

6.9.5.5.5 MEMORY VIEW TYPE (MVT)

Displays the user defined data type (TYPE declarations in the loaded programs), as
follows:
– name of data type (TYPE)
– size in bytes
– counter of references to this data type from programs or variables
– number of fields
– structure type (record or node)
– fields description (information about name and data type of each field).
The user defined data type are system global. However they remain in memory as long
as there is a loaded program or a program referring variables.
If no type is specified as parameter, information is displayed about all the loaded types.
The wildcard can be used.
Options: /Nopage
/Output
Syntax: MVT <type_name>

6.9.5.5.6 MEMORY VIEW VARIABLE (MVV)

Displays information about the loaded variables:

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– variable name
– variable type
– references counter (total amount of loaded programs that refer to such a variable)
– status (private, exported, local routine)
– value.
If the program or variable name are not specified as parameters, the information is
displayed about all the loaded variables. A wildcard can be used instead of program or
variable name.
If an asterisk was used in the declaration of STRING or ARRAY type variables and for
which the real size has not been declared, are displayed with size 0.
Options: /Nopage
/Output
Syntax: MVV <program_name> <variable>

6.9.5.5.7 MEMORY VIEW VP2 (MVV)

Displays the VP2 components of the specified program.
Options: /Full displays the components names in full mode, i.e. without
any truncation due to the length.
/Nopage
/Output
Syntax: MVV <program_name>
MVV/N
MVV/F

6.9.6 PROGRAM branch

PROGRAM branch displays a menu of commands used to develop and run the
programs.
Besides the individual commands, the following are also described:
– STATE menu
– TEST branch

6.9.6.1 PROGRAM ACTIVATE (PA)

The effect of the ACTIVATE command depends on the holdable/non-holdable attribute
of the program specified as parameter:
Activating a holdable program, it is put in ready state. To run it, press the START button.
Activation of a non-holdable program sets it directly to running state.
If a holdable program is already active on an arm and one of the programs has the
DETACH attribute specified, a prompt will be displayed to confirm whether two or more
programs are to remain active on the same arm. If a holdable program is still active and
the DETACH attribute is specified, a message will be displayed indicating that the arm
is already “DETACHed”.
Before it can be activated, the program has to be loaded into memory. The wildcard

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cannot be used. The system must not be in FATAL state.

The following options, except the ARGUMENT option, can be used to activate the
program with a step other than the default step. See the indications regarding
PROGRAM TEST STEP to have the exact significance of each step.
The ARGUMENT option is used to specify a parameter to pass to the program, when it
is activated. This parameter is automatically saved in the predefined variable
$PROG_ARG, and can be used within the program, if wished.
Options: /Argument - to pass a parameter to a program when it is
activated
/Cycle
/Disable
/Fly
/Move
/Routine
/Statement
Syntax: PA <program_name>

6.9.6.2 PROGRAM DEACTIVATE (PD)

DEACTIV command deactivates running, ready, paused or unpaused programs. After
they have been deactivated the programs remain in memory, but the execution cannot
continue. To do so, PROGRAM ACTIVATE is to be used.
The being deactivated program must be specified as a parameter. The wildcard can be
used inside the parameter to deactivate more than one program. The system must not
be in FATAL state.
Options: /Confirm displays the confirm prompt before the program
deactivation.
Syntax: PD <program_name>
All active programs can be deactivated by PD * or CTRL Y (^Y). CTRL Y can be issued
regardless of the active menu level; it is only valid if the active system mode is PROG
and there is no active protection.
Protected programs cannot be deactivated by this command, to deactivate them PDL2
DEACTIVATE instruciton must be used.

6.9.6.3 PROGRAM EDIT (PE)

The EDIT command is an integrated programming environment that allows the
programmer to edit, teach points and check PDL2 programs by executing them.
The program editor uses files containing PDL2 programs code (.COD), stored in the
user disk (UD:). The program namemust be specified as parameter and using wildcars
is not allowed.
When called, the editor tries to enter DATA mode, by default. Programs can be edited
in DATA mode only when the modal selector switch is set to T1 and the program is not
active.
If entering in DATA mode is not possible, the program is opened in CODE mode, which
allows the programmer to change the program instructions, but not to check it or to teach
variables. The CODE mode has to be used to make changes in the declarations section
of a program. In CODE mode any program can be edited, whether activated or loaded.

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If it is not possible to load the program due to damage to the data contained in the file,
recover a backup copy of the same file or convert it to an ASCII file using FILER PRINT
command.

This command is not allowed from SYS_CALL.

The EDIT command cannot be used when the system is in FATAL state; the same
applies when FILER EDIT, MEMORY DEBUG or PROGRAM EDIT (DATA or CODE
mode) commands are active or when IDE environment is enabled.

If the IDE page is open (even without a displayed program) on the Teach Pendant, close
it in order to make EDIT command operational.

Options: /Code calls up editing in CODE mode, allowing the programmer

to edit program statements, but not to teach or programto check
the program. CODE is to be used to make changes in the
declaration section of a program.
While in CODE mode, it is possible to edit any program, even if active or loaded.
Syntax: PE <program_name>

6.9.6.4 PROGRAM GO (PG)

GO command loads and activates the specified program. It is a combination of
MEMORY LOAD (ML) and PROGRAM ACTIVATE (PA) commands.
If a holdable program is already active on an arm and for one of the programs the
DETACH attribute is specified, a prompt will be displayed to confirm whether two or
more programs are to remain active on the same arm. If a holdable program is still active
and the DETACH attribute is not specified, a message will be displayed indicating that
the arm is already “ATTACHed”.
If the program is already active the programmer is asked if it is to be deactivated.
If the program is already loaded and the .COD file belongs to a more recent version than
the loaded one, the operator will be asked whether the new version is to be loaded. The
wildcard cannot be used.
The command cannot be used when the system is in FATAL state.
For a holdable program, the program first movement is executed at reduced speed; this
also happens for the first movement after an action interrupting the current movement
(e.g. by moving the cursor in IDE environment or ^C from WinCRC).
This safety function reducing speed can be disabled by setting the suitable bits in the
$PROG_CNFG predefined variable. Please refer to $SAFE_ENBL predefined variable
to establish whether a move is executed at reduced speed.

If it is not possible to load the program due to damage to the data contained in the file,
recover a backup copy of the same file or convert it to an ASCII file using the FILER
PRINT (FP) command. For further information about this procedure see FILER PRINT
(FP) command.

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The following options, except for /Update and /Argument, can be used to activate the
program with a step that is not the default step. See PROGRAM TEST STEP command.
UPDATE option disables prompting to the user, when the being activated program is
already loaded and/or active in memory and in the user disk there is a more recent
version.
The ARGUMENT option is used to specify a parameter to be passed to the program,
when it is activated. This parameter is automatically saved in $PROG_ARG predefined
variable, and can be used within the program, when needed.
Options: /Argument - to pass a parameter to a program at activation time
/Cycle - run program with CYCLE step
/Disable - disable the current step modality
/Fly - run program with FLY step
/Move - run program with MOVE step
/Routine - run program with ROUTINE step
/Statement - run program with STATEMENT step
/Update - replaces the program in memory, even if active,
loading the new copy from the user disk and activating it.
Syntax: PG <program_name>
PG/A <program_name><program_parameters>
PG/C <program_name>
PG/D <program_name>
PG/F <program_name>
PG/M <program_name>
PG/R <program_name>
PG/S <program_name>
PG/U <program_name>

6.9.6.5 STATE menu

The STATE menu provides commands to change the execution state for an active
program.

6.9.6.5.1 PROGRAM STATE BYPASS (PSB)

Allows the programmer to skip the current statement when checking the program. This
is useful if the program is suspended, for example waiting for a certain condition to be
verified. BYPASS cannot be used when the system is in FATAL state.
Syntax: PSB <program_name>

6.9.6.5.2 PROGRAM STATE PAUSE (PSP)

Changes the program state from running to paused. Both holdable and non holdable
programs are set in paused state.
The wildcard can be used in the program name. The command cannot be used when
the system is in FATAL state.
Options: /Confirm prompts the user for confirmation before setting
programs in paused state.
Syntax: PSP <program_name>

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6.9.6.5.3 PROGRAM STATE UNPAUSE (PSU)

Continues the execution of the previously paused program. Holdable programs are put
to ready state and pressing START button is needed to resume them. Non holdable
programs are directly put to running state.
The wildcard can be used for the program name. The command cannot be used when
the system is in FATAL state.
Syntax: PSU <program_name>

6.9.6.6 TEST branch

The TEST branch provides a commands menu to debug a program without being inside
an editor environment. TEST cannot be used when the system is in FATAL state.
The following topics are described:
– Break menu
– PROFILE menu
– STEP menu

6.9.6.6.1 Break menu

BREAK menu provides commands used to set and use break points in a program.
A break point is a point within the program where its execution stops, setting the
program to ready. To resume it, press RUN. For holdable programs pressing START
button is also needed.
The BREAK commands can be used for any loaded programs, including currently active
programs. Break points are automatically numbered by the system.

PROGRAM TEST BREAK INSERT (PTBI)

Inserts a break point. The inserted break points have immediate effect.
The required parameters are program name and line number. Interruption takes place
on the specified line number, before the statement is executed. If no line number is
specified, an error message is displayed.
Options: /Label to specify a label instead of the line number.
/Routine to specify a routine name instead of the line number.

Both /LABEL and /ROUTINE options are to be used to specify a label inside a routine.

Syntax: PTBI <program_name> <line_number>

PTBI/L <program_name> <label>
PTBI/R <program_name> <routine_name>
PTBI/LR <program_name> <routine_name> <label>
PTBI/RL <program_name> <routine_name> <label>

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PROGRAM TEST BREAK PURGE (PTBP)

Removes break points from within a program. The break point number has to be
specified, or a wildcard can be used to remove all of them.
Syntax: PTBP <brk_pt_num> <program_name>

PROGRAM TEST BREAK VIEW (PTBV)

Displays a break points list. A wildcard can be used to specify the program name.
Options: /Nopage
Syntax: /PTBV <program_name>

6.9.6.6.2 PROFILE menu

PROFILE menu displays a commands menu to check performances as for CPU
utilization time by active programs. This information is useful when several programs are
executed at the same time.

PROGRAM TEST PROFILE DISABLE (PTPD)

Disables the performance calculation. If PROFILE is already disabled, a warning
message occurs.
Syntax: PTPD

PROGRAM TEST PROFILE ENABLE (PTPE)

Enables the performance calculation. The CPU time calculation starts as soon as
PROFILE is enabled.
Syntax: PTPE

PROGRAM TEST PROFILE RESET (PTPR)

Resets the information related to the performances calculation.
Syntax: PTPR

PROGRAM TEST PROFILE VIEW (PTPV)

Displays performances information:
– PROFILE starting time
– PROFILE duration (elapsed time since its enabling)
– PROFILE state (enabled or disabled)
– information for each active program: program name, CPU used time, percentage
of CPU used time.
If during PROFILE enabling an EXECUTE command (E) has been issued, also the
calculations on the service related to its execution will be displayed, identified by the
program name "E".
The performance calculations listed near the program named “Free” indicate the not
used CPU time by the programs or by EXECUTE.

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Options: /4 (see Option /4 to view in the 40 columns)

Syntax: PTPV

6.9.6.6.3 STEP menu

The STEP menu provides commands that allow modifying the execution step of the
specified program. A step defines how many instructions at a time are to be executed.
As each step is completed, the program is put to READY state. To resume execution,
pressing START is needed for holdable programs, or RUN for the non holdable ones.
To set the execution step, the program name has to be specified (wildcard is allowed)
and it must be already loaded in memory.
When a program step is changed while running, the new step will immediately come into
effect after the current statement execution.

PROGRAM TEST STEP CYCLE (PTSC)

Defines the step as a single cycle inside the program. The program must contain CYCLE
or BEGIN CYCLE statement.
Syntax: PTSC <program_name>

PROGRAM TEST STEP DISABLE (PTSD)

Restores the program continuous execution mode and disables the previously set
execution step. Wildcards can be used to specify a program.
Syntax: PTSD <program_name>

PROGRAM TEST STEP FLY (PTSF)

Executes two movements in fly before suspending program running. Defines the step
as a single movement: it is similar to PROGRAM TEST STEP MOVE (PTSM), but the
execution does not stop after MOVEFLY. It cannot be used on non-holdable programs.
Syntax: PTSF <program_name>

PROGRAM TEST STEP MOVE (PTSM)

Defines a step as a single movement. It cannot be used on non-holdable programs.
Syntax: PTSM <program_name>

PROGRAM TEST STEP ROUTINE (PTSR)

Defines the step as one instruction at a time, except that the routines are executed as if
they were a single statement.
Syntax: PTSR <program_name>

PROGRAM TEST STEP STATEMENT (PTSS)

Defines the step as a single statement.
Syntax: PTSS <program_name>

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PROGRAM TEST STEP VIEW (PTSV)

Displays the step associated to a program. The program name can be specified with a
wildcard. If no program name i specified, all steps of all programs will be displayed.
Options: /Nopage
Syntax: PTSV <program_name>

6.9.6.7 PROGRAM VIEW (PV)

VIEW command is used to display the following information about active programs:
– program name;
– program attributes;
– arm number;
– priority;
– primary state (running, held, suspended);
– number of the being executed line and line owning program;
– error number;
– CPU time - is the time, in seconds, during which the program has been actually
interpreted by PDL2 programs interpreter.
– number of cycles.
A wildcard can be used for the program name. The command cannot be used when the
systemj is in FATAL state or when MEMORY ERASE PROGRAM is active.
Options: /Chain displays the routines calls nesting
• routine name
• routine owning program
• line number
• execution context (main program, program routine, routine
exported by another program, call to routine from
CONDITION, private)
• state
/Full displays further information, such as:
• program attribute
• arm number
• priority
• stack size (StSz)
• currently used stack (StUd);
• maximum percentage of used stack by the program so far
(StMax)
• program current state (running, held, suspended)
• reason why the execution has been suspended
• number of the currently executed line and owning program
• program activation date and time
• breakpoints in the program code
• current step mode
• total amount and list (enabled, locally or globally, marked with
a wildcard) of defined condition handlers (CONDITION)
• total amount of errors on which ERR_TRAP_ON predefined

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routine is active
• values of Program Stack category predefined variables for
which a copy exists for each program
• nesting of the routine calls
• CPU time, in seconds, actually occupied by PDL2 programs
interpreter to interpret the current program.
/Move in progress movements in the program
/Nopage /4 (see Option /4 to view in the 40 columns)
/Output
/Try TRY nesting
/Wide (only from SYS_CALL) Displays some information in
extended notation (for example name of the line owning
program), compared to the default mode.
Syntax: PV <program_name>
PV/C <program_name>
PV/F <program_name>
PV/M <program_name>
PV/N <program_name>
PV/O <program_name><output_dev>
PV/T <program_name>

6.9.7 SET branch

A description of these subjects follows:
– SET ARM menu
– SET CNTRLR menu
– SET INPUT menu
– SET LOGIN (SL)
– SET OUTPUT menu

6.9.7.1 SET ARM menu

ARM menu displays a commands menu used to set a specified state of the arm.

6.9.7.1.1 SET ARM DISABLE (SAD)

Disables the DRIVE ON function for an arm, the errors generated when the encoder
cables are not connected to the robot, the indications of the drive failure; it is only
allowed when the system is in PROGR or ALARM state and when the power supply to
the drives is off.
The arm remains disabled until a SET ARM ENABLE (SAE) command is issued,
regardless of any occurring system restarts.
SetArmDisable command is basically used when it is necessary to perform fixing
operations on the specified arm. After the operations have been carried out, the system
may still report the presence of some errors because a hardware component has
remained blocked. To remove such alarms restarting the Control Unit is needed.
For multiarm systems, the arm number is to be specified as a parameter. To indicate all
the arms a wildcard can be used.
Syntax: SAD <arm_num>

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6.9.7.1.2 SET ARM ENABLE (SAE)

Enables the DRIVE ON function for an arm. This command can only be used when the
system is in PROGR state, when the drives power supply is disabled.
For multiarm systems, the arm number is to be specified as a parameter. To indicate all
the arms a wildcard can be used.
Syntax: SAE <arm_num>

6.9.7.1.3 SET ARM GEN_OVR (SAG)

Assigns the value specified as a parameter to $GEN_OVR predefined variable. This
command can be used to increase or decrease the value of $GEN_OVR. If the
command is entered from WinCRC or from SYS_CALL, and the system is in PROGR
mode, the value can only be decreased.
Options: /Increment sets the increase/decrease default unit used to
update the current value of $GEN_OVR when the %+ and %-
keys of the teach pendant are used to change the value. The
default value is 5.
Syntax: SAG <value>
SAG/I <value> <unit_incr/decr>

6.9.7.1.4 SET ARM NOSTROKE(SAN)

This command is available to temporary disable the stroke ends settings for the
specified arm. With disabled stroke ends, the robot can only be manually moved and
therefore the system has to be in PROGR state. The stroke ends values are
automatically resumed when the system state is switched to AUTO or HOLD, when the
drives power supply is disabled or when the arm referred by the Teach Pendant is
changed.
For multiarm systems the arm number must be indicated as a parameter. The wildcard
can be used to indicate all the arms.
Syntax: SAN <arm_num>

6.9.7.1.5 SET ARM SIMULATE (SAS)

Allows running programs simulating movements without actually moving the arm. All
movement calculations are executed anyway. This command can only be issued with
drives power off (DRIVE OFF).
After the arm has been set to simulated state, the drives can be powered on, after
changing the selector switch to PROGR and then manually moving the robot.
This command requires an arm as a parameter and can be used to:
– check programs without moving the arm;
– calculate the approximate cycle times;
– check the program logic.
Syntax: SAS <arm_num>

6.9.7.1.6 SET ARM TP_MAIN (SAT)

Sets the default arm (usually set to 1) for moving it from the Teach Pendant. It requires

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the arm as a parameter. To use this command, in PROGR state, the drives power must
be disabled. It is not allowed if the command is issued by WinCRC or by SYS_CALL.
The command is only enabled in LOCAL and REMOTE states, even with DRIVE ON.
This command is not allowed if it is issued from WinCRC or SYS_CALL with the Teach
Pendant connected (or disconnected while the system is in PROGR state).
Syntax: SAT <arm_num>

6.9.7.1.7 SET ARM UNSIMULATE (SAU)

Deactivates arm simulation. This command requires the arm as a parameter and it is to
be sent with the drives power supply disabled (DRIVE OFF).
Syntax: SAU <arm_num>

6.9.7.2 SET CNTRLR menu

6.9.7.2.1 SET CNTRL KEY_LOCK (SCK)

Prevents unauthorised use of the menu in the Terminal window on WinCRC. To use this
command a password is required. The screen remains locked, a prompt message asks
for the password to remove this condition and the access to the commands menu is
resumed.
Syntax: SCK password

6.9.7.2.2 SET CNTRL LANGUAGE (SCL)

This command is provided to set the wished language on the Control Unit. The User has
to specify a parameter which indicates the language. The command has immediate
effect as soon as it is issued.
Syntax: SCL <chosen_language>
The parameter speficies the wished language (the languages list is automatically
opened) and must be chosen among the following:
– cs - Czech language
– de - German language
– es - Spanish language
– en - English language
– fr - French language
– it - Italian language
– ja - Japanese language
– pl - Polish language
– pt - Portuguese language (for Portugal)
– ru - Russian language
– tr - Turkish language
– zh - Chinese language
– en.us - English language (for U.S.A.)
– pt.br - Portuguese language (for Brazil).

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6.9.7.2.3 SET CONTROLLER VIEW (SCV)

Displays the current values about the following information:
– System configuration (System identifier, date and time, Control Unit name,
configuration file name, modal/nodal MOVE, existing Arms)
– versions (System software and compiling details, TP5 software, user interface,
etc.) and software options (synchronized motion, motion with weaving, interference
regions, etc.)
– hardware (model, revision and serial number, related to CPU, TP5 and other
modules, hourmeter, existing axes, etc.)
– communication (IP address, logged users both from WinCRC and from TP5, etc.)
A prompt message asks for the output destination.
Options: /4 (see Option /4 to view in the 40 columns)
/Output redirects the output to a file

NOTE - Compatibility in the file format is not guaranteed, between different versions of
the system software.

Syntax: SCV

6.9.7.2.4 SET CONTROLLER WIN_CLEAR (SCW)

Deletes the information shown in a window.
Syntax: SCW <window_name>

6.9.7.3 SET INPUT menu

SET INPUT menu contains commands for handling inputs.
FORCE and UNFORCE commands are not allowed in T1 state.
A description of these subjects follows:
– SET INPUT FORCE branch
– SET INPUT REMOTE branch
– SET INPUT UNFORCE branch
– SET INPUT VIEW branch

6.9.7.3.1 SET INPUT FORCE branch

FORCE command forces the value of a certain input. The physical input is no longer
considered and the forced value is used. The operator can choose whether to force
analog (AIN), digital (DIN), privileged digital (IN), flexible multiple (FMI) inputs.
To indicate the being forced input it is necessary to specify the index.
The wildcard cannot be used. Allowed forceable values are:
– T: TRUE (ON)
– F: FALSE (OFF)
– C: the input will be forced to its current physical state.

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After selecting the appropriate value, press ENTER.

A digital input belonging to an input group, must be forced as group and not as individual
digital input.

SET INPUT FORCE AIN (SIFA)

Syntax: SIFA <index_num> <forced_value>

SET INPUT FORCE DIN (SIFD)

Syntax: SIFD <index_num> <forced_value>

SET INPUT FORCE FMI (SIFF)

Syntax: SIFF <index_num> <forced_value>

SET INPUT FORCE IN (SIFI)

Syntax: SIFI <index_num> <forced_value>

6.9.7.3.2 SET INPUT REMOTE branch

Enables/disables the use of some input signals from remote: START, HOLD, DRIVE
ON, DRIVE OFF.
The following commands are associated to the User Interface Remote Inp. key on the
Teach Pendant.

SET INPUT REMOTE DISABLE (SIRD)

Disables the use of the listed above input signals, coming from remote. When this
command is issued, the System does not take them into consideration, regardless of
their value from PLC.
Syntax: SIRD

SET INPUT REMOTE ENABLE (SIRE)

Enables the use of the listed above input signals, coming from remote. When this
command is issued, such signals status is driven by the PLC.
Syntax: SIRE

6.9.7.3.3 SET INPUT UNFORCE branch

Returns a forced logic input to the original physical configuration. The command acts on
analog inputs (AIN), digital inputs (DIN), privileged digital inputs (IN), flexible multiple
inputs (FMI) or group inputs (GIN).
The wildcard cannot be used.

SET INPUT UNFORCE AIN (SIUA)

Syntax: SIUA <index_num>

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SET INPUT UNFORCE DIN (SIUD)

Syntax: SIUD <index_num>

SET INPUT UNFORCE FMI (SIUF)

Syntax: SIUF <index_num>

SET INPUT UNFORCE IN (SIUI)

Syntax: SIUI <index_num>

SET INPUT UNFORCE TOTAL (SIUT)

Syntax: SIUT

6.9.7.3.4 SET INPUT VIEW branch

Displays inputs. The operator can choose whether to view the analog (AIN), digital
(DIN), privileged digital (IN), flexible multiples (FMI), system (SLI) or generic (GI) inputs.

SET INPUT VIEW AIN (SIVA)

Syntax: SIVA

SET INPUT VIEW DIN (SIVD)

Syntax: SIVD

SET INPUT VIEW FMI (SIVF)

Syntax: SIVUF

SET INPUT VIEW GIN (SIVG)

Syntax: SIVG

SET INPUT VIEW IN (SIVI)

Syntax: SIVI

SET INPUT VIEW SYSTEM (SIVS)

Syntax: SIVS

6.9.7.4 SET LOGIN (SL)

This command allows logging in to the Control Unit. The user identification (Userid) and
the Password have to be entered. The user has to declare beforehand the user profile
to be used to access the Control Unit, through CONFIGURE CONTROLLER LOGIN
ADD (CCLA) command issued by a user with Administrator profile.

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This command is not allowed from SYS_CALL.

Options: /Logout allows the user currently using the Control Unit to logout
from the device where the command is issued.

As far as the Logout, a function is also available called "Automatic Logout". For further
details see par. 4.3.1 Automatic Timed Logout on page 50.

Syntax: SL <username><password>

6.9.7.5 SET OUTPUT menu

OUTPUT menu contains commands for handling the outputs.
FORCE and UNFORCE commands are not allowed in state T1, if they are not issued
from the Teach Pendant.

6.9.7.5.1 SET OUTPUT FORCE branch

FORCE command simulates the outputs. The forced value is used by the program and
assigned to the physical output. Any assignments to the forced outputs will neither affect
the physical outputs nor the program execution. It is not possible to change the forced
outputs value until the forced state is removed by the UNFORCE command. The
operator can choose whether to force the analog (AOUT), digital (DOUT), privileged
digital (OUT) or flexible multiples (FMO) outputs.
The index has to be specified to indicate the being forced output. The wildcard cannot
be used.
Allowed forceable values are:
– T: TRUE (ON)
– F: FALSE (OFF)
– C: the output will be forced to its current physical state.
Select the wished value and press ENTER.
A digital output belonging to an output group, must be forced as group and not as
individual digital output.

SET OUTPUT FORCE AOUT (SOFA)

Syntax: SOFA <index_num> <forced_value>

SET OUTPUT FORCE DOUT (SOFD)

Syntax: SOFD <index_num> <forced_value>

SET OUTPUT FORCE FMO (SOFF)

Syntax: SOFF <index_num> <forced_value>

SET OUTPUT FORCE OUT (SOFO)

Syntax: SOFO <index_num> <forced_value>

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6.9.7.5.2 SET OUTPUT UNFORCE branch

Removes the forced value from an output. The physical state of the output is not
changed.
The operator can choose whether to unforce analog (AOUT), digital (DOUT), privileged
digital (OUT) or flexible multiple (FMO) outputs.
The index has to be specified to indicate the being unforced output. The wildcard cannot
be used.

SET OUTPUT UNFORCE AOUT (SOUA)

Syntax: SOUA <index_num>

SET OUTPUT UNFORCE DOUT (SOUD)

Syntax: SOUD <index_num>

SET OUTPUT UNFORCE FMO (SOUF)

Syntax: SOUF <index_num>

SET OUTPUT UNFORCE OUT (SOUO)

Syntax: SOUO <index_num>

SET OUTPUT UNFORCE TOTAL (SOUT)

Syntax: SOUT

6.9.7.5.3 SET OUTPUT VIEW branch

Displays outputs. The operator can choose whether to display analog (AOUT), digital
(DOUT), privileged digital (OUT), flexible multiples (FMO) or generic (GO) and system
(SLO) outputs.

SET OUTPUT VIEW AOUT (SOVA)

Syntax: SOVA

SET OUTPUT VIEW DOUT (SOVD)

Syntax: SOVD

SET OUTPUT VIEW FMO (SOVF)

Syntax: SOVUF

SET OUTPUT VIEW GOUT (SOVG)

Syntax: SOVG

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SET OUTPUT VIEW OUT (SOVO)

Syntax: SOVO

SET OUTPUT VIEW SYSTEM (SOVS)

Syntax: SOVS

6.9.8 UTILITY branch

A description of these subjects follows:
– UTILITY COMMUNICN menu
– UTILITY LOG branch.

6.9.8.1 UTILITY COMMUNICN menu

Includes commands to manage the communication devices to the Control Unit.
The description of these commands/menus follows:
– UTILITY COMMUNICN DISMOUNT (UCD)
– UTILITY COMMUNICN MOUNT menu
– UTILITY COMMUNICN PORT_CHAR (UCP)
– UTILITY COMMUNICATION SET_DEF (UCS)
– UTILITY COMMUNICATION VIEW (UCV).

6.9.8.1.1 UTILITY COMMUNICN DISMOUNT (UCD)

Disconnects the currently activated protocol on a communication device.
Syntax: UCD <comm_port>

6.9.8.1.2 UTILITY COMMUNICN MOUNT menu

Contains commands for the installation of different communication protocols to be
activated on a certain communication device. If this is not specified, the default
command ($DFT_DV[8]) is used.

UTILITY COMMUNICN MOUNT C5G_Int (UCMC)

Activates the communication protocol to the WinCRC program that can be activated on
a PC. Before typing this command on the Control Unit, make sure that the program has
been started on the PC and that the connection with C5GPlus Control Unit is properly
set. To terminate this type of communication with the PC, issue UTILITY COMMUNICN
DISMOUNT (UCD) command.
Syntax: UCMC <port_name>

6.9.8.1.3 UTILITY COMMUNICN PORT_CHAR (UCP)

Used to set the characteristics of a communication device.

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The command displays a window containing the current settings. The right and left arrow
keys can be used to select the different characteristics. Press ENTER key, or right/left
keys to continue with the subsequent characteristic. With up and down keys, values can
be selected for the current characteristic. After setting the required values for the
selected characteristics, press PREV/TOP.
CTRL C (^C) key interrupts the UtilityCommunicnPort_char command. If changes have
been made, the user is asked whether parameters are to be saved.
This command is not allowed from SYS_CALL.
Syntax: UCP <port_name>

6.9.8.1.4 UTILITY COMMUNICATION SET_DEF (UCS)

Assigns the port specified as parameter to the predefined variable $DFT_DV [5]. It will
be used as default communication port .
To use this command, neither memory nor system protections are to be active.
Syntax: UCS <port_name>

6.9.8.1.5 UTILITY COMMUNICATION VIEW (UCV)

Displays the characteristics of a communication device.
Options: /Nopage
/4 (see Option /4 to view in the 40 columns)
/Output
Syntax: UCV <port_name>

6.9.8.2 UTILITY LOG branch

LOG command is used to have access to a commands menu that displays the
meaningful events recorded by the system (errors and actions taken by the user).
– UTILITY LOG ACTION (ULA)
– UTILITY LOG ERROR (ULE)
– UTILITY LOG FILEOPS (ULF)
– UTILITY LOG HISTORY (ULH)
– UTILITY LOG LATCH ACKNOWLEDGE (ULLA)
– UTILITY LOG LATCH VIEW (ULLV)
– UTILITY LOG NOTES (ULN).

6.9.8.2.1 UTILITY LOG ACTION (ULA)

Shows the last actions carried out on the Control Unit. The requested parameter
indicates the total amount of being shown actions. If not specified, 20 actions will be
shown.
Options: /Nopage
/Output
/Previous
/Reverse displays in reverse sequence
Syntax: ULA <num_actions>

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ULA/N <num_actions>
ULA/O <num_actions><output_dev>
ULA/P <num_actions>
ULA/R <num_actions>

6.9.8.2.2 UTILITY LOG ERROR (ULE)

Shows the last errors that have occurred on the Control Unit. The required parameter
indicates the total amount of being shown errors. If not specified, 20 errors will be
shown.
Options: /Nopage
/Output
/Previous
/Reverse displays in reverse sequence
Syntax: ULE <num_err>
ULE/N <num_err>
ULE/O <num_err><output_dev>
ULE/P <num_err>
ULE/R <num_err>

6.9.8.2.3 UTILITY LOG FILEOPS (ULF)

Shows the last operations on files. The required parameter indicates the total amount of
being shown operations. If not specified, 20 operations will be displayed.
Options: /Nopage
/Output
/Previous
/Reverse display in reverse order
Syntax: ULF <num_ops>
ULF/N <num_ops>
ULF/O <num_ops><output_dev>
ULF/P <num_ops>
ULF/R <num_ops>

6.9.8.2.4 UTILITY LOG HISTORY (ULH)

Shows the logs history. The required parameter indicates the the total amount of being
shown log events. If not specified, 20 log events will be displayed.
Options: /Nopage
/Output
/Previous
/Reverse display in reverse order
Syntax: ULH <num_logs>
ULH/N <num_logs>
ULH/O <num_logs><output_dev>
ULH/P <num_logs>
ULH/R <num_logs>

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6.9.8.2.5 UTILITY LOG LATCH ACKNOWLEDGE (ULLA)

Acknowledges the latched alarms.
This command must be used to confirm an alarm defined as "latched" (that requires
confirmation from the user before the robot can be moved). This alarms category is
described in the PDL2 Programming Language Manual under predefined variable
$LATCH_CNFG.
Syntax: ULLA <alarm>

6.9.8.2.6 UTILITY LOG LATCH VIEW (ULLV)

Displays the "latched" alarms, i.e. those which have not yet received confirmation from
the user before the robot can be moved.
Options: /Nopage
/Output
Syntax: ULLV <alarm>

6.9.8.2.7 UTILITY LOG NOTES (ULN)

This command allows adding a note/annotation to an error number. The note/annotation
is stored and is to be viewed when the error occurs.
The following data are to be specified:
– text string including the wished note/annotation
– error number.
Syntax: ULN <annotation> <err_num>

6.10 Available Files Types in the System

Backup
extension
Extension Description
(where
applicable)
.LBC Binary file containing the list of files logs executed on the Control Unit not expected
PDL2 program code, in binary format. It can be edited in IDE environments,
.COD .BKC
Program Edit, Memory Debug
.LBH Binary file containing the errors and actions history, detected on Control Unit not expected
.LOG FileLOG file, for example ACTION.LOG and ERROR.LOG .BKG
.LSV ASCII version of .VAR file .BKL
eXtensible Markup Language type file, used to define additional syntaxes on
.XML .BKM
Control Unit
.PDL ASCII version of a PDL2 program .BKP
.UDB User Data Base type file that contains all permitted User Profiles .BKU
.VAR Binary file containing variables of a program .BKV
.VPS Source file for VP2.Builder .BKW
.LVP ASCII version of VP2 file .BKX

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Backup
extension
Extension Description
(where
applicable)
.ZIP Compressed file not expected
Binary file containing system configuration. It can be loaded or saved in the
system memory using Configure, from Setup page (and the corresponding
.C5G .BK5
ConfigureLoad and ConfigureSave commands from WinCRC; for further
information, see CONFIGURE branch, Load menu and Save menu).
.CIO Binary file including the I/Os tree .BKO
.LIO ASCII of .CIO file .BKI

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7. WINCRC PROGRAM - INTERFACE TO

C5GPLUS ON PERSONAL COMPUTER

7.1 Foreword
This chapter contains information concerning the WinCRC program representing the
interface on Personal Computer, to C5GPlus Control Unit.
In detail, it describes:
– Overview
– WinCRC Activation
– Connection to the Control Unit
– User interface
– WinCRC operating parameters set-up
– Commands Menu
– How to obtain a new licence for WinCRC
– Most common problems

7.2 Overview
The WinCRC program is a Windows style interface on PC to C5GPlus Control Unit. It
contains several functions:
– display of files installed on the robot;
– possibility to edit and translate them in executable form (.COD);
– errors search and display;
– possibility to open a Terminal window to directly forward commands onto the
Control Unit;
– conversion of already existing programs as a function to new reference points.
WinCRC is contained in the system software CD-ROM.

Appendix - End User License Agreement contains the Comau licence agreement for this
program.

It can run on Microsoft® Windows® desktop operating systems, supported by Microsoft®

and its installation does not need any administrator priviledges.
It is to be installed on the PC invoking setup.exe program that is in the directory of such
a program.
There are two types of licences for the WinCRC program:
– basic licence
– full licence:

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also enables the handling operations on files (mirror and linear/rotational shift
functions, verification of axes, tool and frame updating), that can be selected from
the Handling menu, access from Remote by Proxy.
To pass from a basic licence to a complete licence, follow the steps contained in the
paragraph How to obtain a new licence for WinCRC.

7.3 WinCRC Activation

To activate it, just select WinCRC.exe by clicking on the file or its corresponding link.

7.4 Connection to the Control Unit

The PC connection to the Control Unit is based on the TCP/IP protocol.
The connection modes are the following:
– Ethernet point to point connection
– Ethernet connection to the local network
– Remote connection via Internet
– FTP Server mode connection
– Remote connection by Proxy.
After the connection has been made, start WinCRC program (par. 7.3 WinCRC
Activation on page 450) and open the Properties Window (Fig. 7.39 - Properties
Window on page 488). In the Connections section, select the required connection
between the following ones:
– TCP/IP, for Ethernet and enter the IP address of the APC board installed on the
Control Unit to which connection is to be made.
It is also necessary to properly set the other parameters in the Properties Window
(Fig. 7.39 - Properties Window on page 488), described in par. 7.6 WinCRC operating
parameters set-up on page 488.
To activate the connection, select File/Connect.
You will be asked to enter the Username and the Password that are to be already
defined on the Control Unit by means of the ConfigureControllerLoginAdd command.

CAUTION
If an error occurs during the connection attempt, due to the presence of a firewall
program, the user needs to configure the suitable firewall exception allowing the network
trafic for WinCRC program.

If the connection is successful, the user can access the Control Unit opening the
Terminal window, display the errors list, etc.
On the C5GPlus Control Unit the communication protocol to WinCRC is automatically
installed on the Ethernet communication channel
To disconnect from the Control Unit, enter File/Disconnect that will close the connection
to the robot and the Terminal window (if open).

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7.4.1 Ethernet point to point connection

The Ethernet cable is to be crossed class 5 and is to be connected (with no HUB or
Switch network connection device) onto the PC Ethernet port and on Ethernet port of
the APC board. The connection can also be executed immediately.

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A local network between PC and Control Unit is to be created. From PC select the
Properties field of the Internet protocol entering the PC network settings. To do so,
select the Start menu, choose Settings, Network and network connections, Connection
to LAN local network; select the Properties and Internet protocol key (TCP/IP) (see
Fig. 7.1).

Fig. 7.1 - Connection to LAN local network

In the Internet Protocol properties:

– the IP address has to have an address on the same Control Unit Subnet.
Example - if the Control Unit has the address 192.168.29.2, in the IP address field
192.168.29.5 can be specified.
– the Subnet Mask must be set to the same value as on the Control Unit. If in doubt,
contact the net administrator.
– the predefined Gateway is to remain empty.

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Start the WinCRC program (par. 7.3 WinCRC Activation on page 450) and open the
Properties window to set the field related to the connection type:

a. select TCP/IP as connection type

b. in the address field specify that of the Control Unit for the connection. If this
address is not known, read the IP address from the Home Page of the Teach
Pendant.

7.4.2 Ethernet connection to the local network

If the Control Unit is already connected to an Ethernet network, it will only be necessary:

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– connect also the PC to the network

– from WinCRC, access the Properties window and enter the address of the Control
Unit as the IP address
– connect to the Control Unit, selecting File Connect command.

7.4.3 Remote connection via Internet

To connect the Control Unit using Internet, the following equipment is necessary:
– PC with Windows 2000 operating system, or later (NT and 95/98 may not work)
– cable to connect PC to Control Unit: USB-Ethernet cable or crossed Ethernet cable
if Control Unit Ethernet connection is available
– device to connect to PC.
From Remote side, another PC is necessary to connect to remote Control Unit. This PC
must be visible by Internet.
The layout of the connections described above is shown in Fig. 7.2:

Fig. 7.2 - Remote connection via Internet

The following topics are now described in detail:

– Network configuration
– VPN configuration in Windows XP environment
– Connection procedure.

7.4.3.1 Network configuration

To reach the Control Unit, remote PC, local PC and C5GPlus have to be "informed" on
how to send/receive packages on the network.
For example (see Fig. 7.3):

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– the Remote PC is connected to Internet with address 1.2.3.4;

– the Local PC is connected to Internet with address 10.1.2.3 (dynamically assigned
by ISP, in most cases a private address);
– the Local PC is connected to the Control Unit with address 192.168.29.1;
– the Control Unit is connected to the Local PC with address 192.168.29.2 .

Fig. 7.3 - Example of network configuration

Note that in the configuration of Fig. 7.3, the Internet infrastructure is not aware of the
sub-network existing between Local PC and Control Unit (192.168.29.2), therefore the
Remote PC is not able to send/receive packages on address 192.168.29.1.
For this reason a direct connection is necessary between Remote PC and Local PC.
This direct connection can be obtained connecting the two PCs via Virtual Private
Network (VPN=Virtual Private Network).
With VPN, the Remote PC and Local PC are connected as if on the same network
(hence the term VPN).
The above description is illustrated in Fig. 7.4:

Fig. 7.4 - Connection via Virtual Private Network

Note that now Local PC and Remote PC have addresses on the same sub-network.
To complete the installation, the Remote PC has to "know" how to reach the Control Unit
and vice-versa. This is feasible by just executing a direct "route add" on the two
machines.
On Remote PC: "routeAdd 192.168.29.2 90.1.1.2"
On Control Unit: DV_CNTRL #5 equivalent to "routeAdd 90.1.1.1 192.168.29.1

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7.4.3.2 VPN configuration in Windows XP environment

– Remote PC configuration (server VPN)
– Local PC configuration (client VPN).

Note: during the description of the procedures that follow, it is assumed that the PC has
Windows XP operating system installed and that the user has Administrator privileges.

7.4.3.2.1 Remote PC configuration (server VPN)

The Remote PC is to be configured as VPN server. The procedure is as follows:

a. open the Control Panel from Start menu,

b. open “Network Connections”,

c. click on “Create a new connection” (highlighted in red in Fig. 7.5).

Fig. 7.5 - Create a new connection

d. click “Next” in the first dialogue window that appears.

e. In the next dialogue window, select “Set up an advanced connection” and press
“Next” (see Fig. 7.6)

Fig. 7.6 - Advanced connection installation

f. In the new dialogue window select “Accept incoming connections” and press “Next”
(see Fig. 7.7).

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Fig. 7.7 - Accept incoming connections

g. In the next window, deselect all items present on the screen page and press “Next”.

h. In the next window select item “Allow virtual private connections” and press “Next”
(see Fig. 7.8).

Fig. 7.8 - Allow virtual private connections

i. In the next window, select (and/or if necessary add) Windows users who have
permission to connect to the machine using VPN. This login information must also
be known to the Local PC users, when wishing to connect. Press “Next”.

Fig. 7.9 - User Authorizations

j. In the next dialogue window, select “Internet Protocol (TCP/IP)” and click on
“Properties”;

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k. on the screen page of Fig. 7.10, select items “Allow callers to access my local area
network” and “Specify TCP/IP addresses”

Fig. 7.10 - Properties

l. Deselect item “Allow callers to access my local area network” and insert a range of
TCP/IP addresses that are not in conflict with its own IP address. Press "OK" then
press “Next”.

m. On the next screen page (see Fig. 7.11) press “Finish” to complete the
configuration.

Fig. 7.11 - Completion of configuration VPN server

Note: only one server instance at a time can be active on the machine.

7.4.3.2.2 Local PC configuration (client VPN)

The Local PC is to be configured as client VPN.
It is also necessary to enable the IP forwarding: this requires manual modification of the
system register and machine restart. To do this, read the note below very carefully.

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IP forwarding enable

WARNING! wrong use of the system register editor can cause serious problems that could require
reinstallation of the operating system. The use of the system register editor is at the risk and peril of
the user.

In Windows XP, IP forwarding is deactivated by default.

To activate it, the procedure is as follows:
a. Start the system register editor (Regedit.exe).
b. In the system register editor, find the following key:
HKEY_LOCAL_MACHINE\SYSTEM\CurrentControlSet\Services\Tcpip\Parameters
c. Set the following register value:
– Value name: IPEnableRouter
– Type of value: REG_DWORD
– Value data: 1
A value equal to 1 permits IP forwarding for all network connections installed and used by the
computer.
d. Close the system register editor.

The Local PC configuration procedure is as follows:

a. open the Control Panel from Start menu,

b. open “Network Connections”,

c. click on “Create a new connection” (highlighted in red in Fig. 7.5),

d. click “Next” in the first dialogue window that appears.

e. In the next dialogue window, select “Connect to the network at my workplace” and
press “Next” (see Fig. 7.12)

Fig. 7.12 - Connect to the network at my workplace

f. In the new dialogue window select “Virtual Private Network connection” and press
“Next” (see Fig. 7.13).

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Fig. 7.13 - VPN connection

g. The next window asks for the Connection Name: type in a name at will and press
“Next”.

Fig. 7.14 - Connection Name

h. The next window asks for the internet or intranet address of the VPN server for the
connection. Insert this information and press “Next” (see Fig. 7.15).

Fig. 7.15 - VPN server selection

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i. In the next screen page select the required item, according to whether the
connection may be used by all or has been created for user personal use only.
Press “Next”.

j. On the next screen page (see Fig. 7.16) press “Finish” to complete the
configuration.

Fig. 7.16 - Completion of configuration VPN client

The connection is ready to be activated. When connected (see par. 7.4.3.3 Connection
procedure on page 461), the system displays the following screen page (Fig. 7.17):

Fig. 7.17 - Connection

Type Username and Password then press “Connect”.

7.4.3.3 Connection procedure

– Remote PC side
– Local PC side.

7.4.3.3.1 Remote PC side

From Remote PC side, the system manager shall carry out these operations:

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a. connect to Internet, if not already connected

b. Launch VPN server

c. When the Local PC is connected, add a route to the Control Unit, via VPN server,
with the command DOS "route add 192.168.29.2 90.1.1.2".

d. Insert the Control Unit IP address (in this example 192.168.29.2), Username and
Password.
Connection should be active. WinCRC, Ping, FTP can be used for local connection.

7.4.3.3.2 Local PC side

From Local PC side, the system manager shall carry out these operations:

a. enable IP forwarding (as described in note IP forwarding enable)

b. connect Local PC to Control Unit. In our example we suppose that the Control Unit
IP address is 192.168.29.2 and the Local PC IP address is 192.168.29.1.

c. A route to the Remote PC has to be added on the Control Unit. In our example the
command will be: DV_CNTRL(5, '90.1.1.1', '192.168.29.1').

d. Connect to Internet

e. ask Remote PC manager for IP address of the PC address on Internet and launch
client VPN

f. give the Remote PC manager the Control Unit IP address (in our example
192.168.29.2), Username, and Password.
After connection, delete the route previously added using command DV_CNTRL(6,
'90.1.1.1', '192.168.29.1').

7.4.4 FTP Server mode connection

WinCRC can interface to a C5GPlus Control Unit in FTP server mode. This function can
be useful in some software installation situations and when interfacing with the C5GPlus
Control Unit in FTP client mode.
The configuration of this function is through the Properties Window (activated from the
Files Menu). Through this window the user can:
– enable/disable the server. By default is it DISABLED. To enable the function, select
the "Always enabled" checkbox. Note that before using this command at least one
FTP server has to be specified.
– choose whether the FTP server will accept connections only from the CRC
(C5GPlus) Control Unit set in the Connection Address box. The default is ONLY
FROM THIS (CRC).
If the option "From any machine" is selected, the FTP Server will accept
connections from other machines or Control Units.
– to configure the Users table (activated by the "Users" softkey in the Properties
Window see Fig. 7.18) that defines the users to whom access is allowed. A
maximum of 10 users is possible
For each user it is necessary to specify:

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• whether enabled or disabled

• user's name
• basic directory
this is the home directory when the customer connects to the server
• password
• NET_C - For backup and restore functionalities, with WinCRC that acts as
server for the Control Unit, the NETx: devices (with 'x' from 1 to 9) have to be
correctly configured. This means that for each NETx: device which is
supposed to be used, it is necessary to define a user's name and a password
(associated to the FTP server that requires the operation) and the basic
directory to be used for the backup/restore operation. Obviously, when the
backup/restore operation is requested, the specified user has to be already
defined and has already accessed the Control Unit (login). If NET_C
checkbox is selected for a certain user, such an FTP server on the PC is
authorized to communicate with the C5GPlus.
The first two users are predefined and for them only the home directory can be set.
The FTP server enables/disables when Apply is pressed in the Properties Window.

Fig. 7.18 - FTP Users Configuration

7.4.5 Remote connection by Proxy

To facilitate the work of the Service Engineers, WinCRC has two different operating
modes:
– Proxy WinCRC : the local WinCRC acts as "mediator" to the Control Unit
– Remote WinCRC : the Remote WinCRC connects to the Proxy WinCRC to access
the Control Unit services.
In this way the two users (local WinCRC and remote WinCRC) can use the terminal of
the same Control Unit simultaneously; the output is repeated on both the Terminal
Windows. In this way, the local user can see the operations performed by the remote
user and vice-versa (as can be seen in the next figure).

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7.4.5.1 Chat Service

The Remote WinCRC and the Proxy WinCRC are connected by a chat type of system
that enables real time communication between local and remote users. Each user has
to specify his/her nickname for the chat.

7.4.5.2 WinCRC configuration in Proxy mode

To be able to use this function it is necessary to be in possession of the full licence:.

WinCRC Proxy mode can be selected providing no other terminal connection is active.
It is configured by the "Remote Access" command from the Tools menu (or through the
corresponding key on the Toolbar). The following dialogue window is shown:

Enable: Enables the WinCRC Proxy mode

Allow screen disable: authorises the blacking out of the local terminal by the remote
user.
Chat user name: name of user for the chat system.
Remote WinCRC address: Remote PC IP address. If this field is set, the Control Unit
configuration is run automatically by Local PC. As a consequence of connection with
Control Unit, the Route (Route Add) is established on the Control Unit to Remote PC
and IP redirection (forwarding) is enabled.
The Proxy service will be active at the next terminal connection to the Control Unit.

7.4.5.3 WinCRC configuration in Remote mode

On the other PC, the remote mode for WinCRC can be selected with the 'Remote' key
in the Properties window of the Files menu. When this key is pressed, the following

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dialogue window is displayed:

Enable: enables WinCRC Remote mode

Auto Configure: enables automatic configuration of Remote PC with C5GPlus Control
Unit, executing the following operations:
– Addition of Route, on Remote PC, to arrive to Control Unit through Local PC
– Addition of Route, on Control Unit, to communicate with Remote PC, through Local
PC
– Enabling of IP redirection (forwarding) on Local PC.

NOTE
Local PC is to be connected and communicating with Control Unit, when connection with
Remote PC is requested.
Upon termination of connection, the route add, on Remote PC and on Control Unit, is
removed. Moreover, on Local PC, the FTP server is to be active, with checkbox “Allow
Proxy Auto Config” selected (see Fig. 7.19).

Interface: Selection of available network interfaces

Remote WinCRC address: address of Remote WinCRC acting as Proxy. Remote PC
IP address. If this field is set, the Control Unit configuration is automatically run by Local
PC. Upon connection, the RouteAdd on Control Unit to Remote PC is automatically
executed and IP forwarding is enabled.

Chat user name: name of user for the chat system.

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Fig. 7.19 - Proxy self-configuration

When the terminal connection is activated, the Remote WinCRC is connected to the
Proxy WinCRC.

7.4.5.3.1 Auto Config

The Remote PC, Local PC and Control Unit configuration, can be executed in three
different modes:
– Manual - the Manual configuration is that described above and requires that the
user inserts the route add, IP re-addressing, etc. by hand.
– Semi-Manual : Specified Proxy - Semi-manual means that the configuration on
Local PC and on Control Unit is run automatically by the Local PC. However, the
user has to supply the Remote PC IP address manually.
– Completely automatic - means that the configuration of all three devices is
executed by WinCRC by a command from Remote PC. To select the completely
automatic configuration mode, the following have to be enabled:
• Local PC - Enable Remote Access
• Local PC - Enable FTP server and option “Consenti Auto Config Proxy”
(Fig. 7.19)
• Remote PC - Remote mode enabled with option “Auto Config” and correct
interface selected
• Note that the Local PC has to be connected to the Control Unit and Teach
Pendant has to be active, before the Remote PC can perform the necessary
configuration.
Obviously, Completely automatic mode is the most convenient, but it is based on the
need that the Local PC is active on its FPT server and permits "any machine" to connect,
which may not be possible or opportune.

7.4.5.4 Using the Chat Window

When a terminal connection is made, a Chat Window is opened on the Output Panel on
both the Proxy WinCRC and the Remote WinCRC.

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The "Chat message" area displays the messages sent by the two users. Each line
indicates the time and the sender of the messages.
The "Input text" area is used to type the message to be sent.
The "Invia" key is used to send the message written in the "Input text" area. The
message can also be sent by pressing ENTER on the keyboard.

7.4.5.5 Disabling the Terminal

If this has been allowed by the Proxy WinCRC during configuration of the Proxy mode
('Authorise disable'), Remote WinCRC can black out the Terminal window on Proxy
WinCRC, using the "Disable Remote" function of the Tools menu (or with the
corresponding key on the Toolbar). The system will indicate that disabling has taken
place by means of a message in the Chat window.

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7.5 User interface

The WinCRC interface consists of four main panels each of which can contain one or
more windows with information for the user
(see Fig. 7.20 - User interface panels on page 468).

Fig. 7.20 - User interface panels

1. Directories Panel
2. Files Panel
3. Tools panel
4. Output Panel

7.5.1 Tools panel

The Tools panel is the main panel of the application. It is in this area that most of the
information is displayed.
Several application functions may be present on this panel. The possible windows are:
– The Terminal displays the information that is on the Control Unit video
– File Translation window where the user can display and translate the programs
– Cause/Remedy window where the user can read the cause of a certain error and
find a possible solution to the problem
– History and Files operations viewing window where the user can highlight and put
in order the errors and actions generated by the Control Unit
– Files Manipulation window that groups together operations for verification and/or
variable values conversion (.VAR)
– Window Viewing and editing of .UDB file (optional feature) to read and modify user
profiles defined in UDB file (optional service).
To close a window on the Tools Panel, either issue File/Close command or use the
closure key (as shown in the following figure).

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7.5.1.1 The Terminal

This is the direct interface with the Control Unit.

Fig. 7.21 - TheTerminal

It allows to send arm data display commands, to activate/deactivate file management,

editing programs (see Commands description). When transferring files from PC to
Control Unit, it is important to set the directory to be used on PC side. To do so, operate
on the Properties Window.
It is also possible to set, still through the Properties Window, the directory that the
program will use to transfer the files from or to the selected device on the Control Unit.
The size of the font can be set through the Properties Window; selecting Automatic
mode, the font used by the program will be as extensive as possible to adapt to the
screen.
To open the Terminal Window (Fig. 7.21 - TheTerminal on page 469), first connect to
the Control Unit, then open the Terminal (with Open Terminal command from View
menu or from the corresponding key in the Toolbar).
If another PC is already connected to the same Control Unit, it will not be possible to
open the Terminal and a message informing the user will be displayed on the screen.
Connection with WinCRC can be to several Robot Control Units from the same PC,
activating the WinCRC program several times; but, as already stated, only one Terminal
can be active on a single Control Unit.

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7.5.1.2 File Translation

The Translation Window (Fig. 7.24 - Translation Window on page 471) is used to
display, to translate and edit the most part of the files installed on the robot, that is, the
files: .PDL, .COD, .LSV, .VAR, .C5G, .XML and their back-up copies (.BKP, .BKC, .BKL,
.BKV, .BK5, .BKM).
To open a binary file, from the Files panel, select the name of the file required and send
the Open command from the File menu. Otherwise it is possible to click twice on the
name of the file to open it directly.
Further information regarding binary files can be viewed. Standard attributes (called
Property - see also predefined variables $PROP_xxx in PDL2 Programming
Language manual, chapter Predefined Variables) associated to the files are as
follows:
– filename
– author
– file creation date
– version
– revision
– host where file was created
– title
– help.
When the file is opened, also the Properties are displayed.
Another way to view Properties of a file is to right-click with the mouse on the name of
the involved files, and to select “Property Notes” (see Fig. 7.23).

Fig. 7.22 - Property notes

This viewing also works on a multiple selection of files as shown in the following figure.

Fig. 7.23 - Multiple selection

If a binary file is opened (.COD, .VAR or .C5G), this is converted to ASCII, a format that
can be read by the user. If errors are found during the translation, these are displayed
to the user and the operation is interrupted. In such cases it is best to check that the file
is not corrupt, and that it has been generated using a translator software version that is
compatible with that used by the application (i.e. lower or same version).
The .C5G files can be displayed, edited but not reconverted to binary format (.C5G).

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Fig. 7.24 - Translation Window

The files can be translated from Binary to ASCII, selecting the required .COD file and
entering the Translate command from Edit menu. In this way a .PDL file is created that
the user can open in the Translations Window. With the same command (Translate from
the Edit menu) it is possible to ask for the translation from ASCII to binary: in this way
the system creates a new .COD file and saves the previous version in a .BKC file.

See NOTE regarding the total amount of entries in the UD: root directory.

Possible translation errors will be displayed in the Output Window.

The only exception is the .C5G file that cannot be translated and saved in ASCII, but can
only be displayed.
Since the PDL2 language is continually evolving, the translator is subject to version
updating. When necessary the translator version number to be used has to be set again
in the Properties Window in the ‘CRC Library Version’ box. The number to be specified
is to correspond to the CRC<v_xx> file that is part of the WinCRC installation. The
application must the be closed and opened again to load the new library of functions.

7.5.1.3 Cause/Remedy
The Cause/Remedy Window (Fig. 7.25 - Cause/Remedy Window on page 472) is used
to find information on the cause of a certain error and how to solve the problem.
The user has to specify the number of the error and enter Find command.
The application looks for the error in file with the extension .CRD indicated in the
Properties Window at the Select .CRD key. The files containing all the errors and their
causes and solutions are divided by language and are called:
– allrobmsgd.crd - German
– allrobmsge.crd - English
– allrobmsgf.crd - French
– allrobmsgi.crd - Italian
– allrobmsgp.crd - Portuguese
– allrobmsgs.crd - Spanish
The ones for applications can be added to them, if and when they are distributed.
– aw_ms.crd - arc welding
– cl_ms.crd - common libraries

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– gl_ms.crd - glue
– hn_ms.crd - handling
– st_ms.crd - stud
– sw_ms.crd - spot welding
– tc_ms.crd - tool change.
To these, those of the applications can be added if they are distributed. Through this
dialogue box a .CRD file can be added or removed (for example one that is connected
to a specific application) to the error list. The maximum number of CRD files that can be
selected is 10.

The user can customize the comments associated to a certain error through the Add
Comment key on the Cause/Remedy page. A dialogue box is opened to enter a text that
will be displayed with that error.
This text will be saved in the specified .ZIP file that has been entered in the Properties
Window, in the User Texts Archive box.
The display of the User Text can be enabled or disabled through the checkbox.

Fig. 7.25 - Cause/Remedy Window

From WinCRC all C5GPlus errors contained in the selected ROB*.CRD file can be
saved in a file or printed as a list .This operation requires a few minutes.
The related commands are ‘File Print All’ and ‘File Save All as’.
It is absolutely needed that such commands are issued when the Cause/Remedy page
is active in the Properties Window.

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Please, note that, in case of errors identified by SYSTEM ERROR attribute, neither
causes nor remedies are displayed, since they are internal errors.
In such situation, please contact COMAU Customer Service.

7.5.1.4 History and Files operations viewing

It is allowed to view the content of binary files (.LBH and .LBC) including, respectively,
– the history of occurred errors on the Control Unit and performed user actions
– the list of all the files operations.
To do so, issue the dedicated command, available from View menu: 'View Robot
History' and 'View Robot File Operations' allow viewing, as a list, the content of files
existing in LOG system folder.
History list is displayed in the window shown in Fig. 7.26 - History Window on page 473.
There is an error screening mechanism that allows the user to restrict the range of
displayed data on the basis of a time interval, error number, error severity, etc. The filter
setting can be activated from the Edit/Filter command or by mouse right-click.

Fig. 7.26 - History Window

7.5.1.5 Files Manipulation

If it is wished to be able to have all files handling functions, It is necessary to have

software option WinCRC Full.
For the Comau codes of the options, see Chap.15. - Appendix - Software Options on
page 665.

The Manipulation menu contains features that check and convert the values stored in
a .VAR file.
The functions are:
– check that the positional values stored in a .VAR are included in the range of the
stroke end limits (Axis check).
– modification to positional values stored in a .VAR, based on new values of $TOOL
and $UFRAME predefined variables (Tool and Frame update)
– linear shift of positional values stored in a .VAR. (Linear Shift).

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– linear shift and shift in the orientation of positional values stored in a .VAR (Linear
Rotation).
– mirror referred to a plane (Mirror).
– modification to positional values stored in a .VAR basing on changes to calibration
data (Calibration).
– modification to positional values stored in a .VAR after modifications to the robot
kinematics (Sysdata adjust).
– modification of positional values stored in a .VAR after a wrong Turn Set operation
(Turn difference).
In the Manipulation menu the ‘Settings’ page allows to define the properties which are
common to the pages shown in the Manipulation menu (see Fig. 7.36 - File Manipulation
settings on page 483).

Fig. 7.27 - Mirror functionality (File Manipulation Window)

The parameters which the user must insert before executing one of the listed above
functions are grouped in different areas (as an example, see Fig. 7.27):
– Original files area: the user must select (via the PC or Rob text box), either on the
PC or on UD: Control Unit device, the files that are needed as input to the execution
of the selected function. The files must be binary and not ASCII because the
manipulation functions do not work on ASCII format. The files of interest are: the
configuration file (.C5G), the (.VAR) file containing the values of the Tools and the
Frames, the user program files (.COD and .VAR).
– Output files area: the user must select the name of the .VAR file to create as result
of the operation.
– New files area: the user must specify if needed, the new files to use in the operation
as an alternative to the files specified in the Original files area. This window is only
active for the ‘Tool and Frame update’, ‘Calibration’, ‘Sysdata adjust’ pages.
– an instruction of the following type
MOVE TO p1
preceded by
ToolFrame(1,1)
is only handled if the “Modal” flag is selected.
– Data related to the Base: the user must specify in these text boxes the values
which define the cartesian coordinates of the position to be used as $BASE if the

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conversion must consider a $BASE that is different from the one defined in the
.C5G configuration file.
It is possibile to perform the conversion operation considering the whole .COD file or a
section of it; in this case the starting (Lines from: ) and ending (to: ) lines must be
specified. Otherwise the whole file will be computed.

WARNING!
– the application will not perform the operation until all requested parameters are
specified.
– Settings for specific operations can be saved in a file and used again for later
commands. This avoids the need to enter the parameters each time the operation
is repeated.
– Use Import button to choose a .WCF file already present; the path will be asked
for to take the file.
– Use Export button to save a file with the required settings in a certain directory. A
file will be created with the .WCF extension.

For all the functions of the Manipulation menu, input parameters to be ALWAYS
specified are:
– System file: name of the .C5G file.
– Tool file: name of the .VAR file containing the tool values used by the program (for
example UD:\DATA\TT_TOOL.VAR).
– Frame file: name of the .VAR file containing the frame values used by the program
(for example UD:\DATA\TU_FRAME.VAR).
– Variable file: name of the .VAR file of the user program to be converted.
– Program file: name of the .COD file of the user program to be converted.
Other parameters could be needed depending on the operation to be performed.
Here below the features belonging to the Manipulation menu are described in further
details:
– Axis check
– Tool and Frame update
– Linear Shift
– Linear Rotation
– Mirror
– Calibration
– Sysdata adjust
– Turn difference
– Dialogue box for File Manipulation settings.

7.5.1.5.1 Axis check

This operation allows to check that a particular axis does not overcomes the foreseen
limits during the operations performed by a program on a specific robot.
– Axis: it is the axis on which the check must be done.

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– Range from .. to: contains the real values (degrees/axis) defining the limits, for the
specified axis, which should not be overcome in the positional variables of the
program. For example from 0.0 to 30.0 for axis 1.
In case some limits are overcome, in formational messages are displayed in the output
window of WinCRC.

7.5.1.5.2 Tool and Frame update

This operation modifies the positional values of an existing program basing on new
values of the tool and/or frame.

Fig. 7.28 - Tool and Frame update

– New files: name of the files containing the new values of the tool and the frame to
be used in the conversion of the user program. Both parameters must be specified;
if the conversion only concernes the tool, the frame file specification must be the
same inputted in the Originale Files area (and viceversa).
– Output file: the user must define the name of the .VAR file to create, containing the
positional data modified basing on new tool and frame values.

7.5.1.5.3 Linear Shift

This operation performs a linear translation of the positions of an existing program.

P1 - start position
Q1 - end position

– Start and end positions: the user must specify the X,Y,Z coordinates of the two
points which define the distance to use in the translation.

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P1 and Q1 may NOT belong to the trajectory.

– Output file: the user must define the name of the .VAR file to create after the
conversion applied by the translation.

7.5.1.5.4 Linear Rotation

This operation performs a roto-translation of positions inside an existing program.

Fig. 7.29 - Linear Rotation

P1 - start position
Q1 - end position

– Start and end positions: the user must provide three starting positions and three
ending positions which define 2 planes. A linear translation from the first final
position is performed first; then the orientation relative to the final plane is
considered.

P1 and Q1 may NOT belong to the trajectory.

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– Output file: the user must define the name of the .VAR file to create, containing the
positional data modified accordingly to the roto-transation defined by the shift
operation.

7.5.1.5.5 Mirror

Fig. 7.30 - Mirror

Mirror functions are similar to the Shift operations, but include a simmetric
transformation related to a plane called the Mirror Plane.
The mirrored trajectory can be obtained for either a robot working on two different sides
of an object (see Fig. 7.31 - Case A - Single Robot working on one part on page 478),
or a second robot working on the other side of an object which is common to both the
robots (see Fig. 7.32 - Case B - Two mirrored Robots working on the same part on
page 479).
In some specific situations it is also allowed to individually select the reference frames
(see Fig. 4.1 in Motion Programming manual) which are involved in the mirroring
operation.

Fig. 7.31 - Case A - Single Robot working on one part

In such a case, the mirrored trajectory refers to the same $BASE, $UFRAME and
$TOOL.

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Fig. 7.32 - Case B - Two mirrored Robots working on the same part

In the shown above situation, $BASE and $UFRAME are mirrored with respect to the
specified mirror plane; whereas $TOOL is mirrored with respect to the Robot flange XZ
plane.
The editable fields, in the Files Manipulation Window (see Fig. 7.27), are as follows:
– Orientation
this box must be checked when the orientation has to be considered during the
symmetric transformation. Otherwise the transformation will only be related to X,
Y, Z values.
– Mirror Plane
The mirror plane is defined related to the World Frame (as an example, the World
Frame is shown in Fig. 7.32 referred to as 6 - common WORLD).
• If mirroring is required with respect to the World Frame, all the coordinates
fields values (see Fig. 7.30) must be 0.
• If mirroring is required with respect to the robot symmetry axis, the Mirror
Plane must coincide with the currently set Base in the Mirror page (the Base
and Mirror plane fields must have the same values).
• If mirroring is required with respect to the Uframe, the Mirror Plane must
coincide with the currently active Uframe definition in the Program (it is
included in the Frame File and specified in the Program File (.COD)).
– Mirror Base, Mirror UFrame and Mirror Tool

Fig. 7.33 - Mirror Base, Mirror UFrame, Mirror Tool

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• Mirror Base
when selected, the positions are mirrored so that they can be reached by a
robot with the Base mirrored with respect to the specified Mirror Plane (see
the NOTE about Reachability of the mirrored positions). In Fig. 7.32, the
$BASE reference frame is mirrored in $BASEm.
$TOOL and $UFRAME change according to the other fields. The newly
calculated Base is provided as an output in the New Base fields.
This functionality is useful when there are two robots (right side and left side
of a line).

The newly calculated Base is provided as an output in the New Base fields only if the
Compute new Frame checkbox is selected; otherwise it is to be provided by the user
as an input before starting the program manipulation.

• Mirror UFrame
when selected, the positions are mirrored so that they can be reached by a
robot with the User Frame mirrored with respect to the specified Mirror Plane
(see the NOTE about Reachability of the mirrored positions). In Fig. 7.32, the
$UFRAME reference frame is mirrored in $UFRAMEm.
$TOOL and $BASE change according to the other fields. A new TU_FRAME.
COD file is provided as an output, including the new User Fames table.
This functionality is useful when a single robot operates onto parts with their
own frame (left part, right part).

A new TU_FRAME. COD file is obtained as output, together with the new UserFrame
table only if the Compute new Frame checkbox is selected, otherwise a new
TU_FRAME. COD file must be provided as an input by the user before starting the
program manipulation which could then set the new UFRAME values.

• Mirror Tool
when selected, the positions are mirrored so that they can be reached by a
robot with the Tool mirrored with respect to the specified symmetry plane of
the robot flange (see the NOTE about Reachability of the mirrored positions).
In Fig. 7.32, the $TOOL reference frame is mirrored in $TOOLm.
$UFRAME and $BASE change according to the other fields. A new
TT_TOOL. COD file is provided as an output, including the new Tools table.
This functionality is useful when the robot/robots uses/use different tools for
the two programs.

A new TT_TOOL. COD file is obtained as output, including the new Tools table, only if
the Compute new Frame checkbox is selected, otherwise a new TT_TOOL. COD file
must be provided as an input by the user before starting the program manipulation which
could then set the new TOOL values.

– Joint Position
by default, mirror is applied to positional variables of POSITION and XTNDPOS
data type. If also JOINTPOS should be involved, this checkbox should be selected.
In case of JOINTPOS, Mirror function is only applied to the values of axis 4 and 6
of the robot.
– Output file
the user must define the name of the being created .VAR file, containing the

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positional data modified accordingly to the required symmetric transformation.

– Set Flag W and Clear Flag W
if selected (they are mutually exclusive), they respectively, either set or clear the W
configuration flag of the mirrored position; if not selected, the configuration flags of
the mirrored position are the same of the original position ones.
In this way, a common wrist configuration can be forced or not to all the POSITION.
– Invert Flag W
(mutually exclusive with Set Flag W and Clear Flag W) - if selected it sets the exit
points W flag, opposit to the one of the Mirror funciton entry point.
– Compute new Frame
if selected, in case of Mirror Base, Mirror UFrame and Mirror Tool selected too, the
New Base field and TT_TOOL and TU_FRAME files are seen as input items to be
calculated and inserted into the Mirror funtion by the user, instead of being output
items calculated by the function itself.

Fig. 7.34 - Compute new Frame

– Referred to UFrame
if selected, the user defined Mirror Plane is referred to the UFRAME (if left to 0, it
is exactly the UFRAME itself) and not referred to the World frame.

Fig. 7.35 - Referred to Uframe

Note that multiturn flags, if any, are automatically inverted by the Mirror function.
E.g.: ‘WS T2:-2’ becomes ‘WS T2:+2’.

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Reachability of the mirrored positions

The reachability of the mirrored positions is not guaranteed: it depends upon both
whether it is placed inside the working area (if not, a warning message is issued), the
approaching MOVE type to the position itself and the configuration flags. As far as such
two last conditions, no warning messages can be issued, during mirroring phase. They
can anyway be issued at program execution time.

7.5.1.5.6 Calibration
This operation is used for correcting a program in case the variable which stores the
calibration constant changes.
– New files: the user must specify the name of the .C5G configuration file, which
contains the calibration values ($CAL_DATA[axis]) to use in the conversion of the
.VAR.
– Output file: the user should define the name of the .VAR file to create after the
conversion of the positional data basing on the new calibration constant.

7.5.1.5.7 Sysdata adjust

This operation must be used for correcting a file of variables in respect to a new robot
kinematics.
– New files: specify the new .C5G configuration file to use during the conversion.
– Output file: the user has to define the name of the .VAR file to create, containing
the positional data modified accordingly to the new kinematics.

7.5.1.5.8 Turn difference

This operation must be done, after a wrong Turn Set operation, for correcting the
number of turns of a specific axis and for generating a new file of variables.
The user must specify the axis that is subject to the modification and the turns difference
to apply to the positional data of the program.
In order to do that the robot must be moved to the calibration position (MOVE TO
$CAL_SYS); the number of turns must be read on the programming unit (Revolution
information in the Service page); the axis must be moved in correspondence of the
reference heel; the motor turns information must be read. Execute the difference of the
integer side only. Insert the computed value in the ‘Difference’ field.
If the difference value is negative, the ‘Negative difference’ checkbox must be selected.
– Output file: the user must define the name of the .VAR file to create, containing the
positional data modified accordingly to the requested correction of the number of
turns.

7.5.1.5.9 Dialogue box for File Manipulation settings

The Settings dialogue box (Fig. 7.36 - File Manipulation settings on page 483) is opened
by the Settings option from the Manipulation Menu; it is used to set the level of
information that is generated during manipulation operations on the files and to define
where the files recording the actions are to be stored (Log File).

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If the boxes of the Log File and the Debug File are labelled, it will be possible to specify
where these files are to be created.

Fig. 7.36 - File Manipulation settings

The following information available for the user to choose from to see in the log file:
– Wrong movement lines.
Displays in the log file the movement lines on which the data conversion generates
an error.
– Correct movement lines.
Displays in the log file the movement lines that have been properly converted.
– Line number display.
Allows the application to add the line number next to each movement instruction
written in the log file.
– Variable Name.
The application adds the variable name to the log message to inform the user
which variable has been manipulated.
– Variable Value.
The application adds the value of the manipulated variable to the log message.
– Joints position.
Adds the position of the joints in the message generated for the manipulation of a
movement instruction.
– Tool and Frame Value.
The Tool and Frame values can be viewed in the log file where an instruction has
been manipulated.
– Error message.
Enables displaying of error messages that have been generated during the
manipulation of an instruction.
– Tool and Frame value.
The data referring to the Tool and the Frame is added in the log file.
– Statistics.
The summarized data on the executed operation (for example, the number of

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changed instructions) is added to the log file.

7.5.1.6 Viewing and editing of .UDB file (optional feature)

With this function, clicking on the .UDB file (or .BKU) displayed on WinCRC file listing
(on PC or on Control Unit), it is possible to read the user profiles defined in it and if
necessary modify them. However, it is not possible to read the UserId and the
Password.
If WinCRC Full is installed, it is also possible to create a new user profile to be stored in
the UDB, sending the New command from the right-hand key.

Fig. 7.37 - Addition of a new user

First a window is shown that, as first screen page, displays the default profile with the
operations enabled for the profile, corresponding to the different states of the system
(see Fig. 7.37).
If it is wished to modify the characteristics of the new user profile to be created, in
relation to the default, this can be done by selecting one of the standard profiles provided
by the system (Administ, Service, Maintain, Programmr, Technology) or one which has
been completely customised.
It is possible to act on the checkboxes shown in Fig. 7.38, enabling/disabling the various
operations available.

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Fig. 7.38 - User profile properties window

The User view level and User modify level bits indicate, respectively, the viewing and
modifying level. They are used to allow either viewing or modifying a Program in IDE
Page on the Teach Pendant, comparing them to the corresponding file property.

7.5.2 Directories Panel

The Directories panel shows the structure of the PC and the Control Unit directories (for
the latter, if the connection is active)
(see Fig. 7.20 - User interface panels on page 468).
Only the directories on the devices are displayed, NOT the files they contain.
The Directories panel has one or two windows according to whether the connection to
the Control Unit is active or not.
If the connection on the Control Unit is not active, only one window is visible, that
indicates the disks present on the PC with the corresponding directories. If instead the
connection is active, the structure of the directories on the UD: disk of the Control Unit
is shown.
The display can be updated using the "Display” menu, “Update list of files" command.

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The list of the devices is read once only, during connection. If devices are added or
removed during the connection (for example Disk-on-Key on the Control Unit or
Windows network drives on PC), the Directories Panel will not be updated with these
devices. To run the list of devices refresh, close the current session and reconnect.

7.5.3 Files Panel

The Files panel shows the list of the files contained in the device or folder that has been
selected on the Directories panel
(see Fig. 7.20 - User interface panels on page 468).
For each file the information is shown about name, type, size and revision date. The
items can be sort according to one of these categories.
Further information can be viewed (Properties) about the files, right clicking the mouse
key and selecting “Property Notes” (see also predefined variables $PROP_xxx in PDL2
Programming Language manual, chapter Predefined Variables).
Standard attributes associated to the files are the following:
– filename
– author
– file creation date
– version
– revision
– host where file was created
– title
– help.
The files can be opened by clicking on the name of the relevant file (in the open file also
the Properties are displayed); and they can be closed through the Close command in
the Files menu (or by the related key in the Toolbar).
To open several files, they can be selected by highlighting them and subsequently
sending the Open File command from the menu, or from the tool bar, or clicking with the
mouse right-hand key. If one of the selected files is not acknowledged, it will be ignored.
There is also the drag and drop function that the user can use to:
– "drag" a file from Windows Explorer to the file edit/view window. The file will be
opened or transferred to the selected directory. The transfer operation to the
Control Unit, in some cases, could require a few seconds.
– "drag" a file or a directory from the files panel or the Directories Panel to Windows
Explorer. In this case, the file/directory will be transferred from the selected
directory to the local file system.
It is possible to protect a file, currently selected from the files panel, by right clicking on
the filename using the mouse key and then choosing ‘Protect’ command.

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A password is required to be used when removing the protection ("Unprotect").

The same operation can also be carried out from the Tools menu ("Protect" and
"Unprotect").

7.5.4 Output Panel

The Output panel displays the messages that an application generates to the user. The
main use is to show the result of the program files translation, such as .PDL and .LSV,
including the translation errors and messages coming from the file manipulation
operations
(see Fig. 7.20 - User interface panels on page 468).
To open this Panel, use Show Output Window command from View menu; to close it,
use Close Output Window command from the same menu.
The output panel contains four windows:
– one window to diasplay messages generated during the translation, with indication
of the translated files and the translation results
– one window to diasplay the errors found in the last translation performed.
Clicking twice on an error, the file is open on the line where the error has been
found.
– One window to display messages generated by the FTP server.
– One window used for chatting, if WinCRC is connected as Remote or as Proxy
(see Remote connection by Proxy).

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7.6 WinCRC operating parameters set-up

The Properties Window (Fig. 7.39 - Properties Window on page 488) that is used to set
the operating parameters of the WinCRC application is of particular importance. It is
activated from the Files Menu, selecting Properties.

Fig. 7.39 - Properties Window

– File Transfer Folder

It is used by the Terminal window during the file list transfer/display operations from
and to the connected PC (FilerCopy, FilerView, etc.).
– User Texts Archive
It is a compressed file that stores the comments added by the user regarding the
single error messages in the Cause/Remedy window. It is a .ZIP file.
– Crd files
It allows the addition and the removal of a .crd file to/from the list of files where the
search is to be made for the cause and remedy of the errors from the Control Unit.
The files may be in any device on the network, not necessarily in the PC where the
application is running; there could be an application slow-down if the files are on a
server.
– Import Path (1 - Fig. 7.39)
To translate PDL programs that contain the IMPORT clause, read the declarations
regarding variables, types and imported routines, in the files where they are
contained.
If checkbox "Always translate .COD off-line" (3 - Fig. 7.39) is selected from the
Properties window, library c5gx_xx.dll will be used that is part of WinCRC
program installation (even if ON-line).
In case of off-line translation, all .COD files containing the declarations, must be
loaded on the PC in the location specified in the Properties window in Import Path
text field. If this path is not set, WinCRC program will check C5G_IMPORT
variable, that must have been previously set on the PC. For example, define: if the
Control Unit is connected, by default the files opened by WinCRC are on-line
translated; if on the PC, sent to the Control Unit via FTP server, translated then
copied again onto the destination device. This has the advantage of not having to
worry too much about the machine configuration, since the robot is already

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operational and well configured.

C5G_IMPORT=%CRC_HOME%\user\include
The advantage of off-line translation is that programs can be edited and translated
without requiring the robot; however, all the necessary programs are to be
available on PC.
– Grammar File (2 - Fig. 7.39)
Checkbox Grammar File is only used when the system is CUSTOMIZED NODAL
type (see GLOSSARY in par. IDE Page). It contains the indication of the directory,
on PC, where the file containing the syntax is to be read. If this checkbox is not set,
WinCRC program will go to search for the definition of the C5G_GRAMMAR
environment variable.
– Terminal Font Size
It determines the size of the character Font in the Terminal windows. The changes
take place when the Apply button is pressed. By setting the Automatic value, the
application sets the largest font as to the size of the screen. The font cannot be less
than 8pt.
– CRC library version
It indicates the version of the C5GPlus translator library that will be used to
translate the binary files (.COD, .VAR, .C5G). If the specified version is not among
those provided, WinCRC program will search for a previous version library. The
selected version is possibly to be the same or a higher version than the software
on the Control Unit where it is to be connected. Otherwise, the translation operation
may not function correctly since the data in the binary files may not be
acknowledged.
– Save and Load
The user can save and load WinCRC program properties. In this way the
properties linked to a specific Control Unit connection can be set just once and
subsequently referenced through Load.
– FTP server
To enable the FTP server for use (see FTP Server mode connection). This is useful
in certain software installation situations
After the information regarding the selected library has been changed, the WinCRC
program has to be started again so that the change becomes effective.

7.7 Commands Menu

This section describes the controls and the effects they have. Information is given
regarding these Menus:
– Files Menu
– Edit Menu
– View Menu
– Manipulation Menu
– Help Menu
– Tools Menu

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7.7.1 Files Menu

– New
Opens a new page to write a file in ASCII. This file can be saved and if required,
translated.
– Open
Opens a file that already exists. If the file is binary, it is translated into ASCII for the
editing.
– Close
Closes the active window in the TOOL Panel. If a .COD or .VAR file is currently
open, this command automatically starts the translation process before saving.
The Cause/Remedy Window cannot be closed.
– Close All
Closes all the open windows in the Tool Panel except the Cause/Remedy page.
– Save
Saves the contents of the active window in the Tool Panel in the folder where it was
opened. If this window has been opened by New, the Save with Name Window will
automatically be opened.
– Save to PC
Saves the contents of the active window in the Tool Panel in a folder that can be
selected on the PC.
– Save to Robot
Saves the contents of the active window in the Tool Panel in a folder that can be
selected by the user on the Control Unit.
– Save All As
If the active page is the Cause and Remedy, the list of all the messages and related
Cause/Remedy can be saved in a messages.txt file. The description of the
messages will be in the language selected relating to the .CRD file (see Crd files).
– Connect
Allows the user to connect to the desired Control Unit, accessing the Directories
panel and activating the Terminal Window. Upon connection, Login is requested.
The reference database to find the UserName and the Password is that on the
Control Unit to which the connection is made.
– Disconnect
Closes the connection with the Control Unit. Also the Terminal Window is closed (if
open) and the user cannot execute any action that requires connection to the
Control Unit.
– Delete
To delete the file currently selected in the File Panel.
– Print
Prints the contents of the window in the foreground on the Tool Panel.
– Print All
Prints all that is displayed in the active window.
– Page set-up
To set the printing modalities to be applied for the page to be printed.
– Properties
Opens Properties.

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– Quit
Closes the application.

7.7.2 Edit Menu

– Undo
Cancels the last operation executed in the window in the foreground of the Tool
Panel.
– Cut
Copies the selected text in the clipboard and deletes it from the open window of the
Tool Panel.
– Copy
Copies the selected text, to the clipboard in the active window of the Tool Panel.
– Paste
Copies the clipboard content to the current position of the active window cursor, in
the Tool Panel.
– Select All
Selects the whole text of the file opened and active in the Tool Panel.
– Search
To search for and/or replace an identifier in the text of the open file of the Tools
panel. The following search functions are provided:
• Find - find the first occurrence of a certain string.
• Find next - find the next occurrence of the previously inserted string .
• Replace - replaces the string that was previously inserted with another
specified string.
• Go to line - to position on a certain line in the text.
– Translate
Translates the file that is in the active window in the Tools panel, into the
corresponding binary format. If there are errors, these are displayed in the Output
Panel in the errors window.
– Property Notes
Allows to edit the selected file Property Notes.
– Filter
Activates a filter in the Cause/Remedy Window, to limit the number of errors
shown. The filter is linked to a timeout, the severity of the error, the code, the
counter or the text.
– Hide Selected
To temporarily hide the display of information previously selected in the errors and
actions window.
– Show All
To resume the complete display of the information hidden in the errors and actions
window, after the Hide command was sent.
– Edit Log Header
To modify the heading of an actions or errors records file.
– Add/Remove Log File
To add or remove a file in the errors and actions display (View Menu)
– Add Comment
To add a comment to an error displayed in the cause and remedy window.

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7.7.3 View Menu

– Tool Bar
Activates and deactivates the Tool Bar.
– Status Bar
Activates and deactivates the Status Bar
– Open Terminal
Opens the Terminal Window if the user is connected to the Control Unit.
– View Robot History
The files are opened that contain the error records (.LBE).
– View Robot File Operations
The files are opened that contain the action records (.LBA).
– Next Error
Displays the next translation error.
– Refresh File List
Updates (refresh) the list of files in the File Panel.
– Clear Output Window
Removes the current information from the Output Window in the Output Panel.
– Show Output Window
Displays the Output Window.
– Hide Output Window
Hides the Output Window.

7.7.4 Manipulation Menu

To have access to these functions it is necessary to own the full licence:.

The options of this menu are described in detail in par. 7.5.1.5 Files Manipulation on
page 473.
– Axis Check
– Tool / Frame Update
– Linear Shift
– Rotate and Linear Shift
– Mirror
– Calibrate
– Sysdata Adjust
– Turn Difference
– Settings

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7.7.5 Help Menu

– Terminal Key Map
Opens the dialogue box that describes the keys correspondence between the PC
keyboard and some editing functions of the Control Unit, in Program Edit and
Memory Debug environments and in the Terminal page.
– Registration
To be used to obtain a new WinCRC licence.
– Information about WinCRC
Opens the window that gives a general overview of the application.

7.7.6 Tools Menu

– Protect: to protect the file selected in the Files panel. A Password has to be
specified.
– Unprotect: to unprotect (remove the protection) of the file selected in the Files
Panel. The user has to enter the Password that was specified when the request
was made to protect the file
– Allow Remote: allows the WinCRC configuration in Proxy mode
– Blank Remote: disables the WinCRC configuration in Proxy mode.

7.8 How to obtain a new licence for WinCRC

To obtain a new licence for WinCRC contact COMAU technical service. Before doing
so, make a note of the MAC address of the PC from which the WinCRC is to be run.
Proceed as follows:

a. from WinCRC, select Help Menu and choose 'Registration’ item. Read the number
inside ‘Identifier’ field.

b. contact COMAU Technical Service, carefully supplying such a number.

c. COMAU will send an ASCII file containing the access word to the function. Open
the file with any Editor,

d. select the whole file content,

e. copy it,

f. insert it in the window where it is indicated to insert the licence password;

g. confirm by pressing Record and check that the files Handling menu is enabled.

After recording, it is important that the PC hardware configuration (network boards,

Ethernet interface) does not undergo variations.

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7.9 Most common problems

This section describes the most common problems that the user may come up against
when operating with WinCRC and what to do to solve the problems.
The time displayed in the error list or in the files list is different than the one read
on C5GPlus Control Unit.
WinCRC manages the 'time in WinCRC' information coming from the connected
C5GPlus as Greenwich Mean Time. Therefore, asking for the errors list or reading
the files list from the Files Panel, the information regarding the time may be
different to that read directly on the Control Unit through the Teach Pendant.
If, for example, a PC with an Italian Windows version connects, through WinCRC,
to a C5GPlus Control Unit with Italian time, the time read is displayed with the
difference of an hour; an error that takes place on the Control Unit at 20.05 will be
shown in the error list with the time of 21.05.
It is therefore necessary to inform your PC that the time read has a certain offset
as to Greenwich. For an Italian PC an hour must be added.
In the case of an Italian PC connected to a Control Unit in Detroit, it is necessary
to subtract 6 hours.
The environment variable to be set on your PC (Start / Settings / system /
advanced / environment variables) is TZ.
For an Italian PC connected to an Italian Control Unit, TZ must be set to GMT+1:00
(GMT is Greenwich Mean Time).
The application is closed immediately showing a window that states that the
application has not been able to load a specific DLL.
This happens when the DLLs (wcres<language>.dll) containing information on the
menus have not been found by the application. The DLLs must be in the same
directory as the .exe file. Check that the DLL is in the correct position.
The application starts but a window informs the user that a
C5GPlus<version>.DLL cannot be loaded. This message is repeated until there is
a generic message that informs that the translator DLL cannot be loaded. The
application starts but most of the operations are disabled.
The problem arises because the DLL specified in the Fig. 7.39 - Properties
Window on page 488 is not in the same directory as the WinCRC.exe file. To solve
the problem, open the Properties Window, in the C5GPlus box, library version, and
specify a translator library version that is in the same directory as WinCRC.EXE or
add the required DLL to the directory containing WinCRC.EXE.
The application replies stating that the selected message cannot be found or that
some messages have not been found.
This may happen when the user enters a wrong number on the Troubleshooting
page or when opening log files. Both these actions search for the error texts in the
.CRD files indicated by the user in the Properties Window with the Select .CRD file
button. Several files with the extension .CRD can be added/removed to/from the
list used for the search.
The Terminal window remains blank (black)
The application is unable to open the Control Unit window. This happens when
someone else is already connected to the Control Unit with a Terminal window

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opened by another WinCRC. In fact, several connections are allowed to the robot
but only one Terminal can be active. To open the Terminal it is therefore necessary
that the user who is already connected closes that Terminal session.
When attempting to connect to the Control Unit the application replies with the
message "Impossible to connect with the server"
Should it be impossible to connect to the server, there could be a conflict problem
between DHCP and proxy Server. To check this, try connecting to the Control Unit
with the ftp command from the Control Units Prompt and from Internet Explorer.
If the first command functions and the second one fails, it is necessary to disable
the use of a server proxy in the settings of the local network (LAN).
Furthermore before starting WinCRC, check that the settings for the Server Proxy
are correct for the network it is connected to.
Upon connection the error "Authorisations not available for the password"
This happens when the user has made a Login with a Password that is not
compatible with the users database defined in the system. That is to say, the
combination of Login and Password is not foreseen by the Control Unit that the
user is connecting to.
Upon connection or the Set Login command sent from the terminal, the error
"Exclusive Login" is returned
This error occurs when a user is working on the Control Unit with a right to
exclusive access, i.e. that does not permit the use of the system by other devices.
It is necessary to Logout from other devices that are not the one required for
connection and, if necessary, to also delete the Startup Login.
Upon connection, or when a file is selected from the Files Panel, a message is
displayed that indicates "Conflict between Controller and Translator versions”
To solve this problem, it is necessary that the translator DLL, indicated in the
C5GPlus box Library version in the Properties Window is greater than or equal to
the Control Unit version.
Attempting to connect to the Control Unit, the application replies with the
message "The computer is not connected to the network"
To solve this problem, open the Internet Explorer, go to the Files menu and
deselect "Not in line".

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8. FILE MANAGEMENT BETWEEN PC AND

CONTROL UNIT
This chapter describes the procedures to delete, view and transfer files through the PC.
To operate it is necessary to use the WinCRC program, that has to be installed on the
PC.
After installing the program, activate the terminal connection to WinCRC and from the
system/keyboard menu type the commands indicated in the procedures.
The following procedures are described here:
– View files on PC
– Delete files on PC
– File transfer from PC to Control Unit
– File transfer from Control Unit to PC
– Automatic file transfer from Control Unit to PC
– Automatic file transfer from PC to Control Unit

Any file tranfers are logged in the ACTION.LOG file.

8.1 View files on PC

a. By opening the Properties window from WinCRC, the selected directory for files
transfer can be viewed/changed.

b. Type FV (Filer, View): <COMP:(FILE_NAME)> and press the ENTER key on the
PC. The selected file will be displayed.

8.2 Delete files on PC

a. By opening the Properties window from WinCRC, the selected directory for files
transfer can be viewed/changed.

b. Type FD (Filer, Delete): <COMP:(FILE_NAME)> and press the ENTER key on the
PC.

8.3 File transfer from PC to Control Unit

a. By opening the Properties window from WinCRC, the selected directory for files
transfer can be viewed/changed.

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b. Type FC (Filer, Copy): <COMP:(FILE_NAME)> and press the ENTER key on the
PC; this message will be displayed:
Name of destination file

c. Enter the name of the destination file, <UD:(FILE_NAME)> and press the ENTER
key on the PC; after the operation this text will be displayed:
Done
The contents between round brackets can be omitted.

See NOTE regarding the total amount of entries in the UD: root directory.

8.4 File transfer from Control Unit to PC

a. By opening the Properties window from WinCRC, the selected directory for files
transfer can be viewed/changed.

b. Type FC (Filer, Copy): <UD:(FILE_NAME)> and press the ENTER key on the PC;
this message will be displayed:
Name of destination file

c. Enter the name of the destination file, <COMP:(FILE_NAME)> and press the
ENTER key on the PC; after the operation this text will be displayed:
Done
The contents between round brackets can be omitted.

8.5 Automatic file transfer from Control Unit to PC

From within Files Page - Disk, select either Backup command or Backup of Saveset
command. Such commands copy a list of files (specified either by a name or by a
Saveset), from the Control Unit towards the default backup device (XD: or COMP:).
To copy from different directories it is necessary to use Backup of Saveset command.

For further details, see par. 5.15.1.2 Backup on page 203, par. 5.15.1.3 Backup of
Saveset on page 205 and par. 6.9.4.8.1 FILER UTILITY BACKUP (FUB) on page 416.

8.6 Automatic file transfer from PC to Control Unit

From within Files Page - Disk, select either Restore command or Restore of Saveset
command. Such commands recover the specified files (indicated either by a name or by
a Saveset), from the default restore device to the one from which they had been
previously saved by means of a Backup operation.

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See NOTE regarding the total amount of entries in the UD: root directory.

The directories and their contents are not copied.

For further details, see NOTE, par. 5.15.1.4 Restore on page 206 and par. 6.9.4.8.2
FILER UTILITY RESTORE (FUR) on page 417.

Issue FUR (FilerUtilityRestore) command: it copies to the directories, if already existing.

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9. SYSTEM OPERATING MODES AND STATES

9.1 Foreword
This chapter describes the following:
– System operating modes
– System states
– Stand-by function

9.2 System operating modes

The C5GPlus Control Unit can operate in three different modes that can be selected
through the modal selector switch on the Teach Pendant:
– programming (modal selector switch in T1 position),

– local automatic (modal selector switch in LOCAL position) and

– remote automatic (modal selector switch in REMOTE position).

Local automatic mode is used to execute production programs; as they contain

instructions for the robot movement, to be able to start it is necessary to press the
START key on the Teach Pendant. The modal selector switch must be set to LOCAL.
Active TOOL, BASE and FRAME cannot be changed when working in LOCAL.
The Remote automatic mode (REMOTE) is the same as Automatic local mode
(LOCAL), but the commands (for example START) are sent from a remote device (e.g.
a PLC).
The state selector switch must be set to the REMOTE position. Active TOOL, BASE and
FRAME cannot be changed when working in REMOTE.
The Programming mode (T1) is used to create and verify programs. The robot
movements, for safety reasons, are run at a lower speed than in automatic mode
(maximum robot speed allowed in programming is 250 mm/s on the flange centre).

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When the status selector switch is set on position T1, the programs can be developed
using editor environment and the spots can be taken from the Teach Pendant moving
the robot manually with the motion keys; the programs can be set up using the debug
tools of the system. In programming mode, the execution of a move instruction requires
that the operator presses the START key and the enable device on the Teach Pendant.
When the status selector switch has been set to T1, the system is under the control of
the operator. When the selector is set on REMOTE, the system is under remote control
(for example from PLC).
Active TOOL, BASE and FRAME cannot be changed when working in REMOTE.
Before any operation can be executed that requires movement, the drives must be
powered:
– if the state selector switch is in T1 position, press in the intermediate position the
Teach Pendant Enabling Device, to power ON the drives; tho switch them OFF and
activate brakes on all axes controlled by the Control Unit, just release the Teach
Pendant Enabling Device,
– if the state selector switch is in LOCAL position, touch R5 key (Teach Pendant right
menu - it means DRIVE ON when in LOCAL state), to power ON the drives; to
switch them OFF and activate brakes on all axes controlled by the Control Unit,
touch R5 key again (Teach Pendant right menu - now it means DRIVE OFF).
Active TOOL, BASE and FRAME cannot be changed when working in AUTO.
– if the state selector switch is in REMOTE position, DRIVEs ON and OFF are
remote controlled.
A detailed description follows of all the possible system states.

9.3 System states

Mainly, the system status depends on:
– the status selector switch
– the DRIVE ON, DRIVE OFF and HOLD keys on the Teach Pendant
– system alarm
Transition from one state of the system to another is also influenced by the enable
device on the Teach Pendant.
The Control Unit may be in one of these conditions:
– HOLD status: the robot is gradually decelerated until the stopping point is reached;
movement is suspended and also the execution of the movement program
(holdable). When there are all the necessary conditions to exit from the HOLD
status, the system returns to the previous state (programming or automatic), but to
continue to execute the movement program it is necessary to press START.
– AUTO status: this is usually used to execute production programs that control the
robot movements (modal selector switch positioned on LOCAL or REMOTE).
Active TOOL, BASE and FRAME cannot be changed when working in LOCAL or
REMOTE.
– PROGR status: the robot can be moved manually using the jog keys or executing
program instructions (from editor environment or by EXECUTE). In the latter case,
in order that the movement be executed, the START key and the enabling button
have to be kept pressed.

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SYSTEM OPERATING MODES AND STATES

If the controlled stop function class 1 (EN 60204-1) is active, the power cut-out (opening
of the power contactor) may take place with a delay that ranges from a minimum of 1
second to a maximum of 2 seconds.
With the status selector switch positioned on T1, the power cut-out is immediate (EN
60204-1, class 0 stop).
– ALARM status: this status is entered when there is a system alarm. According to
how serious the error is, the system takes different actions, such as suspending the
program execution, deactivation of the drives, etc. A situation may occur where the
alarm cannot be reset, therefore the drives cannot be switched on.
The current system status is displayed on the first status line of the Teach Pendant (or
in the Terminal window of tool WinCRC on PC).
The figure shows a simplified diagram of the actions that determine the system
change-over from one state to another.

Fig. 9.1 - Simplified diagram of the system states

1. Status selector switch on T1 + HOLD released

2. HOLD or DRIVES OFF or selector switch change
3. HOLD or DRIVES OFF or selector switch change
4. Status selector switch on AUTO or REMOTE + HOLD released
Note: To perform transient 4 also the enabling device key has to be pressed

9.3.1 HOLD status

The safety rules to be complied to when operating with the Control Unit have been
studied so that the system enters the HOLD status every time a change is made in the
operating mode, passing for instance from LOCAL to PROGR mode.
To exit from the HOLD status to enable a certain operating mode, there must be all the
required safety conditions. A typical example is when the operator brings the status
selector switch to PROGR to work near the robot, holding the Teach Pendant to carry
out learning operations for the points.
In PROGR, exiting from HOLD can be obtained by pressing START, this is controlled
by the system and therefore is active when an instruction or a movement program is

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SYSTEM OPERATING MODES AND STATES

executed. When the START key is released again the system returns to HOLD status.
When entering the HOLD status, the corresponding HOLD key on the Teach Pendant
is considered as pressed. Further pressure on the key causes the system to exit from
HOLD status.
If the HOLD status has been caused by pressing the DRIVE OFF key on the Teach
Pendant (either Enabling Device released or R5 softkey pressed meaning DRIVE OFF),
the DRIVE OFF and HOLD keys must be pressed again to exit from HOLD status, and
then re-power the drives (either intermediate pressure of the Enabling Device or press
R5 softkey meaning DRIVE ON).

9.3.2 AUTO status

To have the system in AUTO status, the modal selector switch must be set to LOCAL
or REMOTE. Active TOOL, BASE and FRAME cannot be changed when working in
LOCAL or REMOTE.
In AUTO status, to start programs ready for execution, press the START key on the
Teach Pendant or activate the START input from remote device.
Conditions that change the system status from AUTO to HOLD are:
– status selector switch changed to another position;
– DRIVE OFF or HOLD pressed;
– system alarm.
To return to AUTO, bring the selector switch back to the required position, switch on the
drives and press HOLD button again. To continue the mootion programs execution,
press START button (or send START signal from remote), making sure that the drives
are powered (DRIVE ON).

9.3.3 PROGR status

PROGR status is active when:
– the status selector switch is set to T1.
In this state the robot can be moved manually, using the jog keys on the Teach Pendant.
It is also possible to run programs from IDE environment (see IDE Page in C5GPlus
Control Unit Use manual) to check that they are correct and if necessary make
changes. Movements are at slow speed.

9.3.4 ALARM status

The system enters ALARM status when an alarm is generated. An error message is
displayed on the second status line of the system screen and the associated LED, next
to the ALARM key on the Teach Pendant, lights up.
There are different conditions that can generate an alarm and the action to be taken to
exit from ALARM status and bring the system back to the previous state vary according
to how serious the error is.

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9.4 Stand-by function

The purpose of the Stand-by function is to cut down the current consumption when the
robot is stationary.
The function is automatically activated when the Control Unit is in local automatic or
remote automatic mode and after the robot has remained stationary for a time defined
by variable $TUNE [27];this function activates the motor brakes to keep the static
position of the robot. The value of variable $TUNE [27], set by COMAU, is 120 seconds;
if this variable is set to 0 the function is deactivated.

Deactivating the funciton, by setting $TUNE[27] to 0, must be performed in DRIVE OFF

state, or after a transition DRIVE ON --> OFF.
To make it permanent, save the system configuration by issuing Setup page - System -
Configure - Save command.

The Stand-by function is automatically deactivated at the first request to start movement
again (START, RESUME) from the system.
The system Stand-by status is displayed in the status bar of the Teach Pendant. To
display the state of a single arm, read this status on the Status sub-page, the Motion
Page on the Teach Pendant.

The safety precautions are to be scrupulously observed regarding this operating

condition of the Control Unit.

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START AND STOP CYCLE

10. START AND STOP CYCLE

Automatic execution of the production cycle means executing the manufacturing
program which handles the robot(s) motion. To start the working cycle in automatic
state, the following conditions must be satisfied at the same time:
– the Modal selector switch must be put to AUTO (LOCAL or REMOTE) position; it
is placed onto the Teach Pendant. For further details, please refer to par. 5.2 Modal
selector switch on page 53;
– no active alarms with severity greater or equal 4. For further details about
handling alarms, please refer to par. 5.10 Alarm Page on page 122;
– any existing gates/photoelectric fences should not be in alarm state;
– the motion program must have been loaded and activated (which means to be
in READY state):
• the most common mode is to activate it from within the STARTUP procedure.
The program name should be assigned to $STARTUP predefined variable,
by means of either a PDL2 assignment statement, or specifying it at Configure
(Setup page) level on the Teach Pendant or CONFIGURE CONTROLLER
STARTUP (CCS) on WinCRC;
• if, instead, it is wished to manually activate it, use the following commands:
• either ‘Load...’ and ‘Activate’ or ‘Activate’ commands, on the Teach
Pendant (Prog Page);
• either MEMORY LOAD (ML) and PROGRAM ACTIVATE (PA) or
PROGRAM GO (PG) , from within WinCRC;
– In LOCAL mode
• the Emergency Stop pushbutton must be in ‘released’ position. For further
details about it, please refer to par. 5.3.2.1.1 Emergency Stop pushbutton on
page 66;
• the HOLD status must be ‘not active’. See in detail the button description, in
par. 5.3.1.3.2 HOLD (yellow) on page 65;
• drives must be on (DRIVE ON). Further information about the corresponding
keys are provided in par. 5.5.2.2 Right Menu on page 79;
• the START button must be pressed (see par. 5.3.1.3.3 START (green) on
page 65).
– In REMOTE mode, I/O signals are used instead. More in detail, the following
signals must be at high level for cycle start:
• DRIVE ON
• DRIVE OFF
• START
• HOLD .
Furthermore, also the ALARM signal must be at high level to indicate there are no
active alarms.

Please refer to C5GPlus Control Unit - Technical Specification manual, chap. Start and
Stop Controls, and PDL2 Programming Language manual chap.Ports for any
information about, respectively, hardware and programming topics.

The cycle stop occurs whenever one of the above listed conditions is not verified.

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I/O CONFIGURATION PROGRAMS

11. I/O CONFIGURATION PROGRAMS

The following programs are available, written in VP2 language, to handle respectively:
– configuring I/O modules - IO_CNFG Program - I/O modules configuration
– configuring Fieldbus networks devices - FB_util Program - Fieldbus modules utility

To configure I/O modules on the Fieldbus Master network, it is needed to use both
SYCON.net and WinCRC programs, on the PC, to create the file which is then
processed by the IO_CNFG Program - I/O modules configuration and FB_util Program
- Fieldbus modules utility.
A detailed description is provided in par. 11.3 Project of a Master Fieldbus Network on
page 536.

– mapping I/O Points - IO_MAP Program - I/O ports mapping

– copying the I/O configuration from a Control Unit to another one - IO_CLONE
Program - I/O Configuration Export/Import.

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11.1 IO_CNFG Program - I/O modules configuration

11.1.1 Activation of IO_CNFG program

This program, implemented in Visual PDL2 language, is used to declare the presence
and to configure the I/O modules on C5GPlus Control Unit:
– Slave Fieldbus Module
– Master Fieldbus Module
– IEAK (Integrated Electronics Arm Kit)
– IESK (Integrated Electronics Safety Kit)
– Conveyor Tracking Kit
– Seam Tracking Kit.
Each module is given a NAME which can be chosen by the User. Such a name will be
used to easily recognize the module during some operations (e.g. when viewing Devices
in the Display Page, or in the Devices list of IO_MAP Program - I/O ports mapping, etc.).

Fig. 11.1 - Main flow of the configuration operations

Note that before mapping(*) I/O points (see IO_MAP Program - I/O ports mapping), it is
needed to have already configured their corresponding modules, by means of this
program.

(*) ‘Mapping’ means to put in relation the Devices I/O Points with the PDL2 logical Ports
(es. $DIN, $DOUT, etc.).

The IO_CNFG program is always present and available on the Teach Pendant.

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To use it, act as shown in Fig. 11.1. Such a procedure steps, fully described, are as
follows:

a. access the Setup page, on the Teach Pendant

b. touch IO icon

c. touch IO_CNFG icon

d. The system runs IO_CNFG program

In the main page of IO_CNFG program, the following functionalities are available:
– Network
– Acopos
– Annex
– Save
– Exit.

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11.1.2 Network
Allows selecting the Network on which to insert and configure a new I/O module.

Fig. 11.2 - Choosing the network

By touching Network key, the program opens a menu for the User to choose the wished
network. The following choices are available:
– Powerlink - for Fieldbus and X20 I/O modules and for special functions dedicated
kits, if any
– Virtual - for creating not physically existing devices.

Back
Note that in all screen pages of all the existing levels, Back key is always present to
allow quitting such a step of the procedure, and going back to the previous one.

11.1.2.1 Powerlink
Touching Powerlink item, the following table is displayed.

In such a table, there are some rows, for the two allowed Bus Coupler devices to be
inserted into the Powerlink Network.
The table columns are:
– Device - is the device code
– Address - is the fixed address, set by means of the rotary switches, placed onto
the module.
For the Bus Couplers addresses, they are fixed to 129 (0x81) and 130 (0x82).

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Fig. 11.3 - Rotary switches for address setting

Tab. 11.1 - Powerlink Network address settings for the Bus Coupler
module

Rotary switches
settings
Bus Coupler module function (Address) Notes about the addresses configuration

X16 X1

First installed module 8 1 Address of the first installed module

Second installed module 8 2 Address of the second installed module.

For further information, please refer to par. Ethernet POWERLINK address,

chap. Details about C5G Control Unit in C5GPlus Control Unit - Technical Specifications
manual.

– Config. - indicates whether the Bus Coupler device is currently configured (YES)
on the Powerlink network.
– Plugged - indicates whether the Bus Coupler device is physically present and
powered (YES) on the Powerlink network.
This subpage Functional keys menu provides the following commands:
– Add
– Delete
– Fieldbus
– X20
– System
– Back.

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11.1.2.1.1 Add

It allows adding the Device to the Powerlink network, to be able to configure its
corresponding modules.
As soon as this key is touched, the program inserts the device and the corresponding
word YES in Config. column.

11.1.2.1.2 Delete
It allows removing the selected device, from current network. This key is available just
if the device is present.
As soon as this key is touched, the program deletes the whole row content.

11.1.2.1.3 Fieldbus
It allows the configuration of the Fieldbus modules inserted in the Bus Coupler.
By touching this key, the program displays a table associated to the two slots of the
being configured Fieldbus.

Columns include the following information:

– Slot - is the slot number in which the selected module is physically mounted. Note
that the closest to the Bus Coupler CPU is number 1.
– Module - is the Builder Code of the module inserted in the slot.
– Description - is the description of the module inserted in the slot.
– Config - indicates whether the module is configured or not.
The above figure show the situations in which both slot 1 and 2 are empty.

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The following diagram indicates the actions corresponding to the available commands
in the Bottom Menu.
Depending on the Fieldbus module handling status, some commands are enabled or
not. Back command is always enabled.

When Select key is touched, the wished slot is selected and the User is allowed to insert
a new module in such a slot

NOTE - In the C5GPlus Control Unit, 3 Fieldbus modules are allowed to be present,
distributed between the 2 Bus Couplers.
They can be:
– 2 Slaves and 1 Master, or
– 2 Masters (in 2 different Bus Couplers) and 1 Slave.
Furthermore, note that the ProfiNET module (and ProfiNET only) could be mounted
into the Safe Logic, in which the ProfiSAFE could be enabled too.

– Slave Fieldbus Module

– Master Fieldbus Module.

Slave Fieldbus Module

Viene presentata una tabella nella quale l’utente può scegliere il tipo di modulo Slave
che desidera inserire nello slot selezionato (la lista contiene anche i moduli Master).

Columns contain the following information:

– Code - is the Comau Code
– Module - is the Builder Code
– Description - indicates the module type.

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To continue, choose the wished module and touch Insert key to insert it into the slots
table.

The program displays a screen page in which it is possible either to proceed configuring
the newly inserted module (Configure key), or deleting it (Delete key) and selecting a
new one.
When touching Configure key, the program displays the following screen page (an
example for Profibus network is shown), in which the User has to complete the existing
fields:
– Device name - is the name chosen by the User, to identify the being inserted
module. This name follows the PDL2 variables standard naming, a length of 8
alphanumeric characters is suggested.

Furthermore, in case of Profinet network, NO special characters can be used, included

the underscore ( _ ) and the alphabetical characters must be lowercase.
The Device name field is the usually called PROFINET Device Name.

– Network address - is the node address on the network which the Slave is
connected to
– Input/output bytes - is the total number of exchanged input/output bytes
– Baud rate - is the operational speed of the module, kbit /s
– System profile - the User must select it to be able to associate the System Profile
to it, by means of Profile function of IO_MAP Program - I/O ports mapping.

Fig. 11.4 - Profibus Slave module Configuration

Touch Set key to make the inserted data operational.

The word YES is displayed in Config column at the end of the configuration operation.

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To import the specific configuration file into the Master device, see the related NOTE (2).

Other Fieldbus types

In the previous example, the configuration of a Profibus Slave module has been
described.
Depending on the Fieldbus type, the configuration page can be different compared to
the one in such an example:
– Profinet - Network address and Baudrate are not specified

NOTE (1)
Comau Profinet Slave DOES NOT implement LLDP protocol, which is used for Profinet
network topological handling.
Thus, mainly in Siemens development environments, the network topology MUST NOT
be used.

– Ethernet/IP - the Network address is the IP address (when the Control Unit is
connected to the same Ethernet network, this address MUST NOT be equal to the
Control Unit’s one); it is also allowed to specify both the local network mask
(Network Mask) and the Gateway; the Baudrate is not specified.
– EtherCAT - Network address and Baudrate are not specified. The required User
name is the Control Unit.

Fig. 11.5 - Other Fieldbus types - configuration page examples

For any other field, please refer to the Profibus Slave configuration description.

NOTE (2)
The listed below configuration files associated to the Slave Modules, are provided by
Comau and are to be imported into the Master device, according to such a device
information (refer to the specific manual, provided by the Master device Builder):
– CANopen - cmu_idi.eds
– DeviceNet - BuR-X20IF1053-1.eds
– Powerlink - 00000000_C5GAnnex.xdd
– Profibus - B&R_BC2D.gsd
– Profinet - GSDML-V2.1-BR-X20IF10E3_1-20110420.xml.

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Master Fieldbus Module

A table is displayed in the figure below, to choose the Master module to be inserted in
the selected slot (note that the list also includes the Slave modules).

The information contained in the table columns are as follows:

– Code - is the module Comau Code
– Module - is the Builder Code
– Description - indicates the module type and whether Master or Slave
Choose the wished module and touch Insert key to insert it in the slots table.

In the shown above figure, the User can either proceed configuring the newly inserted
module (Configure key), or deleting it (Delete key) and selecting a new one.
By means of the Options key (shown in the previuos figure), a menu is available
including SLJ (not supported, so far) and Info commands.
Configuring a module on the Master network means to define all the connected devices.
It is performed offline (on Personal Computer) by means of SYCON.net and WinCRC
programs (please, refer to par. 11.3 Project of a Master Fieldbus Network on page 536).
In this phase a .spb file is created, including the needed information: project file (.spj),
folder with the same name, exported files (.csv and .nxd) and files descibing the Slave
modules used in the Fieldbus network project (either .gsd or .gsdml or .eds, depending
on the chosen network; .gsd is the extension for Profibus).

WARNING - while configuring a device again on the Master network (e.g. to add one more I/O
module), any device of the new configuration which was already present in the old one, is NOT
modified, so it still keeps the previous I/O mapping, if already existing.

As soon as the .spb file has properly been transferred to UD:\SYS\CNFG directory on

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the Control Unit, touching Configure key causes the selected module to be configured
on the Master network.

In directory

LD:\EPL

the following files are created (the ones corresponding to the being configured network only,
obviously):

42764b1.fw.gz - for DeviceNet Master

42774b1.fw.gz - for Profibus Master
42781_1.fw.gz - for PROFINET Master
42781a1.fw.gz - for PROFINET Master
42761b1.fw.gz - for CANopen Master.

Furthermore, file eplcfg.xml which is in the same directory, is modified.

A copy of the listed above files is also stored in

UD:\SYS\CNFG

to restore the Control Unit original configuration.

IO_CNFG program displays a table, on the Teach Pendant, including all the devices
connected to the configured module.
The table contains the following information:
– Addr. - is the address of the being configured device, within the chosen Master
network
– Name - is the device name
– Inp byte / Out byte - is the total amount of exchanged Input and Output BYTEs
– Enabled - if this field value is YES, the corresponding device must always be
connected, otherwise an error occurs. If the value is NO, no errors occur even if not
connected; this functionality is useful for devices which could temporarily be
disconnected (e.g. after an automatic tool change).
This field can be modified by Enable and Disable keys, available in the Functional
keys menu.

At the end of the configuration operation, as already explained, the Info command is
available in the Options menu.

Info
This command displays a screen page including information about the Master network
configuration (as shown in the following figure).

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The displayed data are:

– Project file name (.spj) corresponding to the selected Master network
– Project file last modification date and time.

– Project name - name of the project file o (.spj) associated to the selected Master
network
– Last modify time - date of the last modification to the project file.
– Enabled options - specifies the system active options, if any.

11.1.2.1.4 X20
This command allows configuring the X20 user modules for digital and analog I/Os
currently inserted in the Bus Coupler.
Touching this key, the program displays a table containing all the available slots.

A maximum of 20 modules can be inserted.

Check the allowed configurations in the Control Unit Technical Specification manual.

The X20 modules are to be inserted sequentially, starting from slot n.1, exactly like they
have been physically mounted into the Bus Coupler.

Touch Insert key to insert a new module. The program displays a table containing the
list of all the available modules.

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The information included in the table columns, are as follows:

– Code - is the module Comau Code
– Module - is the module Builder Code
– Description - indicates the module type
Select the wished module and press Insert key to confirm.

Note that there are some X20 modules allowing to configure some parameters. If so,
Configure command is made available (as shown in the example in the figure below).
Touch such a key and insert the required information.

The program automatically generates a module name. The User is allowed to modify it,
if wished, taking care of choosing a unique name in the system.

Fig. 11.6 - Rename

To do so, touch Rename key: in the displayed screen page, insert the wished name and
touch OK to confirm.
This name follows the PDL2 variables naming, a length of 8 alphanumeric characters is
suggested.

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11.1.2.1.5 System
This key opens a page (see nex figure) to handle X20 system modules; it allows
– adding
• Safe Options
• System Options
– viewing the dedicated System X20 modules list.

System Options
The IO_CNFG program is used to inform the system about the physical presence of the
following objects:
– Conveyor Tracking Kit
– Seam Tracking Kit
– IEAK (Integrated Electronics Arm Kit)
– IESK (Integrated Electronics Safety Kit)
– Force Sense
– Appl. Extra IN/OUT
and to provide all needed to handle them from within a PDL2 program.

Conveyor Tracking Kit

This option includes a module to communicate with a device (Encoder, Resolver, etc.)
which is able to read the position of a moving object (conveyor belt, press, etc.).
The interface must be physically mounted and declared as being present in the
configuration, taking care of inserting it.
When selecting Conveyor 1 item (figure above on the left), the program displays the

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Conveyor Tracking option configuration page (figure above on the right).

When all the wished values have been inserted, touch Set key to confirm.
In case in which going back to the default settings is wished, for this module, touch
Default key.
The configuration operation makes some ports available to handle the Conveyor device
(e.g. to read its position); they are of Flexible Multiple type ($FMI and $FMO).
If module X20DS1828 corresponds to the first module in the rack, for a Conveyor, it is
associated to the predefined Conveyor 1 option.
The assigned ports are as follows:
– $FMI[129] - linear/rotative (depending on the set type) encoder position;
– $FMI[130] - error bit;
– $FMI[131] - error code
– $FMO[129] - any signals towards the external device.
If a second module is present, it is associated to Conveyor 2 option.
The assigned ports are as follows:
– $FMI[132] - linear/rotative (depending on the set type) encoder position;
– $FMI[133] - error bit;
– $FMI[134] - error code
– $FMO[130] - any signals towards the external device.

After saving all settings, in order to make the modifications operational, a Control Unit
Cold Restart command must be issued (see par. 5.8.2.2.1 Cold on page 107).

Seam Tracking Kit

This option includes an interface allowing the communication with a seam tracking
device, during the arc welding process.
Such a module must be physically mounted and declared as being present in the
configuration, taking care of inserting it.
Selecting the Seamtrack option, a page is displayed (figure above on the right) to insert
the wished values for such a module.
The Definition of filter level field indicates the level of the filter which is applied to the
input signal. The higher the specified level, the stronger the filter action which must
limitate such a signal variations. See the following figure on the left.

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The Limitation of input ramp field allows to specify how to limitate spikes on the input
signal: its value indicates the maximum acceptable variation for such a signal. Select the
wished value. See the following figure on the right.

After entering the wished data, touch Set key to confirm them.

IEAK (Integrated Electronics Arm Kit)

It is a safety device allowing the interaction between the Operator and the robot, even if
in Automatic state.
This option includes Input points which have to be physically mounted onto the
assigned X20 module.

Select IEAK/IESK option and then IEAK item, as shown in the figure above.
Each IEAK module can handle until 4 Arms: in the displayed page, the User has to
select the Arm which the being configured IEAK module is associated to.
As soon as the IEAK module has been installed and configured, MOTOR ON and
MOTOR OFF commands are made available for each selected Arm.

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Signals made available by the System (MOTOR ON and MOTOR OFF) MUST be
mapped by the User to the wished logical ports.

After entering the wished data, touch Set key to confirm them.

IESK (Integrated Electronics Safety Kit)

It is a safety device allowing the interaction between the Operator and the robot, even if
in Automatic state.

Note that the involved ausiliary axis (or the group of auxiliary axes) must have been
previously declared as a positioner, from Setup page - Motion - Posit.

The option includes Input and Output points which have to be physically mounted onto
the assigned X20 module.

Select IEAK/IESK option and then IESK item, as shown in the figure above.
The program displays the page shown in the following figure, including a table which
allows to ACTIVATE/DEACTIVATE IESK devices: this means to tell the System the
option (i.e. the kit) is PRESENT.
In the table, columns are available for:
– existing Arms
– existing Auxiliary Axes - note that the index of the real auxiliary axis does not
match with the one indicated in the table, which is just a sequential ordinal number
– Robot - it is the whole robot seen as it was a unique axis, thus being able to have
got its own IESK.
If a IESK is ACTIVE (ON), when connecting the associated Axis (or Robot) is wished,
the System checks whether or not such a IESK is enabled.

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To modify the activation settings, touch the cell of the wished Arm and Axis, or Robot.
Choose the new setting and touch OK to confirm.
At the end of the settings modification, touch Set key to confirm the whole table content.

System X20

In the right column (figure above, highlighted in red), a list is displayed of the existing
System X20 modules dedicated to specific options.

CAUTION - Each option must be mounted in the sequence shown in the column!!

The first two displayed modules (highlighted in purple in the figure above) are always
present and are reserved to applications.
The remaining elements depend on the selected System Options.
In the exaple in the figure above, they are
– Conveyor Tracking Kit (yellow) - X20DS1828
– Seam Tracking Kit (green) - X20AI2622
– IESK Kit (blue) - X20DI9371 and X20DO6322
– application extra Input (orange) - X20DI9371.

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11.1.2.2 Virtual
When the physical devices are not available yet and it is wished to start developping
PDL2 programs which use them, the User is allowed to define some general Virtual
Devices, specifying their names and total amount of bytes.
Such points will be later mapped, by means of IO_MAP Program - I/O ports mapping, to
the PDL2 logical ports the User wishes to use in the being developped program.
Touch the Virtual network choice to confirm it.
The table in the figure below is displayed, including the lists of the currently present
Virtual Devices.

This sub-page Functional keys menu includes the following commands:

– Add
– Edit
– Delete.

11.1.2.2.1 Add
Adds a new Virtual Device.
In the shown above table select an empty line and touch Add.

The program displays the screen page above, in which the User has to insert the
following information:
– Name - is the Virtual Device name (chosen by the User, taking care of assigning a
unique name in the system). It must comply PDL2 variables naming rules; a length
of 8 alphanumeric characters is suggested. - to edit this field, touch it and type in
the wished name by means of the automatically opened Alphanumeric keyboard.
Touch OK key to confirm.

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– Input byte and Output byte - are, respectively, the total amount of Input and
Output bytes associated to the Virtual Device. Touch the being edited field and
insert the value by means of the automatically activated Numeric keyboard. Touch
OK key to confirm.
– System profile - this checkbox must be selected to associate the Virtual Device to
the Profile functionality of IO_MAP Program - I/O ports mapping. When selected,
such a Device becomes part of the System Profile.
When data insertion is completed, touch either OK key to confirm or Back key to cancel
the operation and go back to the previous screen page.

11.1.2.2.2 Edit
It allows modifying the total amount of either Input or Output bytes, for an already
existing Virtual Device. The program displays the screen page shown in the figure
below.
As shown in the figure below, it IS NOT allowed to modify Name field. The use of this
screen page is similar to the one associated to Add command.

11.1.2.2.3 Delete
It deletes the currently selected Virtual Device. In the example of the figure below,
touching Delete, causes Virtual_dev_2 Virtual Device to be removed from the table.

11.1.3 Acopos
Some special purpose Inputs exist, which are dedicated to specific signals, available to
handle the robot axes:
– High speed Input

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– Electrical stroke ends

– Air and robot alarms.
They can be associated to the ACOPOS modules (each one of such modules has got a
maximum of 2 available Inputs for as much axes).
The default configuration is NOT ASSIGNED (represented by the hyphen character, as
shown in following figure).

The user is allowed to modify it, for specific needs. To do that, in the shown above
ACOPOS input configuration subpage, the user can edit the the following data by
simply touching them to list the available predefined choices. The editable fields are:
– Selected ARM - is the ARM which the involved axes belong to
– High speed inputs, Stroke-end, Air & Robot alarms - are lists of existing
ACOPOS modules, among which selecting the one to be associated to the specific
Input.
At the end of the wished operations, touch Set key to confirm all modifications.

11.1.4 Annex
This command is provided to configure new additional network modules (Powerlink
Master, Powerlink Slave, C5G Open interface, secondary Ethernet interface).
Touch Annex key and select the wished item:
– Powerlink network - master, slave or C5G Open
– Ethernet network.

According to the choice made by the user, the corresponding page is opened to enter
data for either setting or enabling/disabling the specified module. In the figures below,

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two examples are shown:

– enabling the secondary Ethernet interface (left figure),
– setting a Slave Powerlink annex (right figure).

In order to operate about the wished annex modules, touch the corresponding fields,
select the wished choice and touch OK key to confirm it.
Touch Set key to finally confirm all the setting.

11.1.5 Save
This command saves all the performed modifications, without asking for any further
confirmation. An informational message tells the User that data saving has been
executed and that a Restart Cold operation is needed to make the configuration
operational.

11.1.6 Exit
This command allows quitting IO_CNFG program. A suitable message prompts the user
for confirmation. Touch OK key to exit.

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The performed modifications, if not previously saved by means of Save command, are
lost.

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11.2 FB_util Program - Fieldbus modules utility

11.2.1 Activation of FB_util

This program, implemented in Visual PDL2 language, acts on the FIELDBUS
networks whose I/O Control Unit (Master) is the C5GPlus Control Unit, and allows
detecting the presence of Fieldbus modules on the network.
Furthermore, for Ethernet based Fieldbuses it handles the modules replacement and
specifying and/or inserting some related data (e.g. the name of the Profinet network
devices).
The FB_util program is always present and available on the Teach Pendant.
To use it

a. open the Setup page on the Teach Pendant

b. touch IO icon

c. touch Fb_util icon.

d. The system runs Fb_util program (see the following figure).

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In the home page of Fb_util program, the following functionalities are available:
– Profinet
– Profibus
– DeviceNET
– Ethernet/IP
– Quit.

Back
Note that in the screen pages of the futher levels, Back key is always present to allow
quitting such a step of the procedure, and going back to the previous one.

11.2.2 Profinet
This command allows to operate on the PROFINET network devices, whose I/O Control
Unit (Master) is the C5GPlus Control Unit, viewing them and associating them to the
names already included in the network project implemented on SYCON.net.
Such an activity is needed at the network first installation time as well as when a new
module is added. It is also needed when a module must be replaced. For further details,
see the following par. 11.2.2.1 Operational procedures on page 532.

Fig. 11.7 - Profinet - Tables

The tables included in the page (see Fig. 11.7) are as follows:
– Project
lists all devices inserted at project level (by means of SYCON.net program -
see PROFINET Network in Chap. Project of a Master Fieldbus Network on
page 536).

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This table has got two columns:

• Name - is the name of the device previously inserted at project level
• Sts - indicates whether such a device is connected or not.
– Available devices on network
lists all the currently present devices onto the Profinet network. This table has got
three columns:
• MAC address - is the device MAC address
• Name - is the wished name to refer to it within all the system environments.
• IP address - is the device IP address.
Mediante il comando Scan, il programma esegue una scansione per verificare la
presenza di dispositivi attualmente sulla rete e inserisce le corrispondenti informazioni
nella tabella Available devices on network (vd.Fig. 11.8).
By means of Scan command, the program performs a scanning operation to check the
presence of any devices currently on the netwok and inserts the corresponding
information into Available devices on network table (see Fig. 11.8).

Fig. 11.8 - Scan - Available devices on network

Given a MAC address, it is not so easy to understand which is the corresponding

physical device.
In order to physically identify it, the following command is available
Device -> Signal -> ON
Such a command activates the identification functionality on the device at the specified
MAC address (e.g. switching on a led or some other similar functions, depending on the
device type).

As soon as the device has been identified, switch off the identification functionality, by
means of the following command

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Device -> Signal -> OFF.

If such a device is the wished one, select its name in the Project table and go ahead
with device-name association, by means of the following command (see the figure
below)
Device -> Set name

Fig. 11.9 - Name-device association

The selected name is then associated to the specified device and, if it is the right one,
such a device is declared as ‘connected’ (by means of the word OK in the corresponding
Sts column of Project table - see below figure)

If the model of the selected module is wrong, the name-device association is anyway
performed, but such a device IS NOT declared as ‘connected’.

By pressing Scan key again, the program reads the corresponding IP address for the
connected device, and inserts it into the corresponding column of Available devices on
network table (see Fig. 11.10).

Fig. 11.10- Scan - IP address

If going back to the initial situation is required, for a single device, select it in the
Available devices on network table and issue the following command (see Fig. 11.11.)
Device -> Factory reset

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Fig. 11.11- Device - Factory reset

When the wished operations have been accomplished, press Back key to go back to
the FB_util program start page.

11.2.2.1 Operational procedures

Useful procedures related to PROFINET network:
– First installation procedure
– Device replacement procedure.

11.2.2.1.1 First installation procedure

In case of first installation in the PROFINET network, after having
– designed the network by means of the programs for Creating a new project,
– physically connected all the devices onto the network andf
– configured the network by means of IO_CNFG Program - I/O modules
configuration,
all the devices will result as NOT connected.
It is needed to associate the devices names which had been defined at design time, to
the MAC addresses of the devices currently connected onto the physical networkE’.
Then the User has to use FB_util program, according to the following steps:

a. choose Profinet - the program displays the page shown in Fig. 11.7: the devices
included in the Profinet network design are listed in the left table (called the Project
table); nothing is listed in the right table (called the Available devices on network
table).

b. Touch Scan key to ask for the list of the currently present devices onto the network
(see Fig. 11.8).

c. Select the device whished to be visually detected, from the Available devices on
network table.

d. If it is not possible to read the MAC address which is printed onto the object, touch
Device key; otherwise directly go to j. step;

e. choose item Signal

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f. and then select ON item - such a command activates a signalling finctionality onto
the selected device (e.g. blinking a LED or similar functionalities, depending on the
device type).

g. As soon as the device has properly been detected, touch Device key

h. choose Signal item

i. and then select OFF item to deactivate the functionality.

j. Select, from Project table, the being connected device name, assigned at the
design time;

k. Select, from the Available devices on network table, the being connected device
MAC address;

l. touch Device key,

m. choose Set name - FB_util program connects the selected device. This is notified
by FB_util program, both by means of a suitable message in the message line and
by the word OK in the Sts column (Project table), for the corresponding connected
device.

n. Repeat the procedure for any other device to be connected onto Profinet network,
starting again from c. step.

o. At the end touch Scan again, to update the tables: the IP address is then displayed
too for each connected device (see Fig. 11.10).

11.2.2.1.2 Device replacement procedure

Whenever replacing a device is needed, execute the following steps:

a. physically dismount the device

b. replace it with an identical one

c. Touch Scan key to ask for the list of the currently present devices onto the network
(see Fig. 11.8).

d. Select the MAC address of the just inserted device, from the Available devices on
network table.

e. If it is not possible to detect it for sure, execute steps from d. to i. of previous First
installation procedure;

f. select the name of the just inserted device, from the Project table,

g. choose Signal item

h. and then select ON item - such a command activates a signalling finctionality onto
the selected device (e.g. blinking a LED or similar functionalities, depending on the
device type).

i. As soon as the device has properly been detected, touch Device key

j. choose Signal item

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k. and then select OFF item to deactivate the functionality.

l. Select the being connected device MAC address, from the Available devices on
network table,

m. touch Device key,

n. choose Set name item - FB_util program connects the selected device. This is
notified by FB_util program, both by means of a suitable message in the message
line and by the word OK in the Sts column (Project table), for the corresponding
connected device.

o. At the end touch Scan key again, to update the tables: the IP address is then
displayed too for each connected device (see Fig. 11.10).

11.2.3 Profibus
It is just a diagnostic functionality: it allows to scan the network and detect the currently
existing devices.
When this modality is selected, the page shown in Fig. 11.12 is displayed.
By means of Scan command, the system is asked to detect and list all the currently
present devices onto the Profibus network.

Fig. 11.12- Profibus

11.2.4 DeviceNET
It is just a diagnostic functionality: it allows to scan the network and detect the currently
present devices.

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When this modality is selected, the page shown in the previous figure is displayed.
By means of Scan command, the system is asked to detect and list all the currently
present devices onto the DeviceNET network.

11.2.5 Ethernet/IP
It is just a diagnostic functionality: it allows to scan the network and detect the currently
present devices.
When this modality is selected, the page shown in the figure below is displayed.

By means of Scan command, the system is asked to detect and list all the currently
present devices onto the Ethernet network.

11.2.6 Quit
This command causes to quit FB_util program.

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11.3 Project of a Master Fieldbus Network

The project of a Master Fieldbus network, is performed by means of two programs,
SYCON.net and WinCRC, available in the System Software CD.
During SYCON.net installation phase, the User is asked whethe such a program has to
be installed for any PC User or for the current User only. The suggestion is to make the
first choice (for any User).
– Creating a new project
– Modifying a project already saved onto the Control Unit.

11.3.1 Creating a new project

Creating a Fieldbus Master network project is made into two phases which use two
different programs:
– Phase one - SYCON.net program
– Phase two - WinRC program.

11.3.1.1 Phase one - SYCON.net program

a. run SYCON.net program

b. during SYCON.net installation, it is needed to insert a password which will be

asked and checked later, every time the program is run.

c. As the Master for Profibus, DeviceNet and PROFINET networks, respectively,

choose the option with NETX 100 (e.g. the module highlighted in red in Fig. 11.13,
for the Profibus network). A description follows for creating a new project for a
Master Profibus network. Then, a section follows containing the Differences in
creating a Master DeviceNet network and Differences in creating an Ethernet/IP
Scanner network.

Fig. 11.13- Choosing the Master module - Profibus

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d. When the Slave is not present in the catalog yet, execute the following steps:

d.1 Open the Network menu

Fig. 11.14- Slave not present in the catalog

d.2 Select item Import Device Descriptions (see Fig. 11.14)

d.3 Select the descriptor file for the wished configuration (the file extension for Profibus
network is .gsd)

d.4 Answer Yes to Reload the Catalog (see Fig. 11.15)

Fig. 11.15- Reload the configuration descriptors catalog

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e. The wished Slaves are inserted onto the Master network, by dragging & dropping
them (see Fig. 11.16, highlighted in red) from the Slave directory.

Fig. 11.16- Inserting a Slave

f. Assign a symbolic name to the Slaves (see Fig. 11.18), i.e.:

f.1 move the cursor to the wished Slave

f.2 click the mouse right key

f.3 choose Symbolic Name item.

Please note that in Fig. 11.16 and Fig. 11.18 screens, the symbolic name contains
NOT allowed characters, since it has still to be modified by the user.
Starting from Fig. 11.19 screen on, the chosen new symbolic name is displayed,
according to the proper syntax. In the described example, the chosen name is
VIPA253_10.

NOTE ABOUT THE SYMBOLIC NAME SYNTAX

The chosen name must be unique in the system, according to PDL2 variables naming
rules. For example, characters such as -, +, *, (, ), /, \, :, blank, etc. are NOT allowed.
To choose a syntactically correct name, it is suggested to only use alphanumeric
characters and underscore ( _ ) character; please, remember that underscore character
is NOT allowed for PROFINET network. Furthermore, it is NOT allowed to use PDL2
language reserved words!
It is also suggested not to use too long names (e.g. not more than 8 characters).

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PROFINET Network
WARNING! In case of PROFINET network, choosing Symbolic Name to specify the
Slave Name does not take any effect. In such a situation the User must choose the
Master Configuration: in the Master Navigation Area, select “Configuration”, “Device
Table” and specify the Slave name in “Name of Station” column (see Fig. 11.17
highlighted in red).

Fig. 11.17- Assigning a name to the Slaves - PROFINET case

NOTE - Insert a name which is unique in the system and comply the PDL2 variables
naming rules.
To do so, it is suggested to just use alphanumeric characters and the underscore ( _ )
character; remember that the underscore character is NOT allowed for PROFINET
network. It is NOT allowed to use reserved words belonging to PDL2 language!!
Furthermore, it is suggested not to use too long names (e.g. maximum length of 8
characters).

Fig. 11.18- Assigning a name to the Slaves - general case

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g. Go on with the Slave configuration, i.e.:

g.1 move the cursor to the wished Slave

g.2 click the mouse right key

g.3 choose Configure item

If the Slave is C5GPlus Control Unit, when the being used bytes are selected (in the
Modules window), the only allowed options are as follows:
– 8 Input bytes and 8 Output bytes,
– 16 Input bytes and 16 Output bytes,
– 32 Input bytes and 32 Output bytes,
– 64 Input bytes and 64 Output bytes.
These options are mutually exclusive: one and just one option must be selected.

g.4 select Modules item in the Navigation Area (see Fig. 11.19 highlighted in red)

g.5 choose the modules which are present in the User’s Hardware and insert them in
the proper sequence. For a detailed description of such operations, please refer to
the specific SYCON.net online manual

g.6 Press Apply

Fig. 11.19- Configuring the inserted Slaves

g.7 Each device has got its own parameters to be configured. Set them by selecting
Parameters item in the Navigation Area (see Fig. 11.20 highlighted in red)

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Fig. 11.20- Selecting the parameters

g.8 Press Apply to confirm the modifications.

g.9 Depending on the Slave supporting or not the DPV1 protocol, enable/disable such
a functionality (select DPV1 item to access the enable/disable checkbox).

g.10 When the Slaves configuration is completed, press OK to confirm all the inserted
data.

h. Move the cursor to the Master module

i. click the mouse right key and choose Configuration

j. select Bus Parameters item (see Fig. 11.21, highlighted in red)

Fig. 11.21- Configuring the Master module - Bus Parameters

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k. insert the suitable values, e.g. the Baud rate

l. fix any value marked by an exclamation mark (see Fig. 11.21, field highlighted in
green), by pressing the Adjust key (highlighted in blue in Fig. 11.21).

Note that such an operation must be executed when ALL the Slaves have already been
inserted!

m. Select Station Table item (see Fig. 11.22 highlighted in red). This screen page
allows setting the Slaves addresses.

Fig. 11.22- Configuring the Master module - Station Table

n. Select Master Settings item (see Fig. 11.23 highlighted in red)

Fig. 11.23- Configuring the Master module - Master Settings

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o. select Controlled by application radio-button (see Fig. 11.23, highlighted in

green).

p. Press OK.

q. Select Address Table item (see Fig. 11.24 highlighted in red). This summary page
contains the same information that will be included in the .csv file, in ascending
order of address, one table for Inputs and one for Outputs.

Fig. 11.24- Configuring the Master module - Address Table

r. At the end of the project activity, go on with saving operation; SYCON.net program
generates a file, with extension .spj and a directory with the same namee una.

The project name, used both for .spj file and the homonymous directory, must only
include alphanumeric characters, with neither special characters nor blanks. It is NOT
allowed to use reserved word belonging to PDL2 language!
The underscore (‘ _ ’) character is allowed.

s. Generate the needed files for exporting the project towards the Control Unit (see
Fig. 11.25). The below described procedure must be executed both for .csv files
(CSV item in the menu) and for .nxd files (DBM/nxd item in the menu).
The file names to be used for exporting, must be the same of the .spj file name
(e.g. if the project name is PROJ25.spj, the being exported files are called
PROJ25.csv and PROJ25.nxd).

s.1 Save the current project

s.2 move the cursor to the Master

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s.3 click the mouse right key

s.4 choose Additional Functions item

s.5 choose Export item

s.6 choose the being exported file TYPE (.csv or .nxd)

s.7 choose the folder where the current project .spj file is stored, as DESTINATION
FOLDER for the being exported file

s.8 type both NAME and EXTENSION of the being exported file

s.9 repeat steps from s.2 to s.8, to export both the files.

Fig. 11.25- Creating .csv and .nxd files

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11.3.1.2 Phase two - WinRC program

t. Run WinCRC program

u. select .spj project file. In the same directory, the corresponding .csv and .nxd
previously exported files, must be present.

Fig. 11.26- Creating .spb file

v. Click the mouse right key

w. choose Create SPB command (see Fig. 11.26).

x. Select the fieldbus which the project refers to (see Fig. 11.26)

y. A file is created, with .spb extension, containing .spj file, the directory with the
same name, the exported files (.csv and .nxd) and the Slave modules descriptors
used in the Fieldbus network (.gsd or .gsdml or .eds, depending on the chosen
network; for Profibus the extension is .gsd).

z. Transfer .spb file to the Control Unit, in the following directory:

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UD:\SYS\CNFG

11.3.1.3 Differences in creating a Master DeviceNet network

Creating a project for Master DeviceNet network is similar to what already explained for
the Master Profibus one. The only differences are as follows:
– Slaves configuration

Fig. 11.27- DeviceNet - Slaves configuration - General

• choosing General area, select all the check-boxes related to Verify device
ID, except Revision (as shown in Fig. 11.27, highlighted in red)
• choosing Connection area, if the module allows it, select Change OF state
connection check-box (as shown in Fig. 11.28, highlighted in red).

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Fig. 11.28- DeviceNet - Slaves configuration - Connection

• choosing Connection area, if the module allows it, and Change of state,
sub-area, set Production Inhibit Time; suggested values 10 or 20 or 30 ms
(as shown in Fig. 11.29, highlighted in red).

Fig. 11.29- DeviceNet - Slaves configuration - Change of state

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• If, on the contrary, Change OF state is disabled, select Poll area and check
that the Production inhibit time is NOT set to zero! Suggested values: 10 or
20 or 30 ms.
– Master configuration
• In Configuration area, instead of Station table there is MAC ID table and,
as Bus parameters, the only item to be modified is the network Baud rate.
For the other items there are no differences.

11.3.1.4 Differences in creating an Ethernet/IP Scanner network

X20IF10D1 unit is composed by two RJ45 ports.
With SYCON.net 1.362 version, Build 140708, the user is allowed to independently set
the two ports configuration parameters. This performance is handled by the Control Unit
software, starting form v2.31 version.
Any preceeding SYCON.net software versions, would generate an incompatible project
with v2.31 Control Unit Software version (and more recent ones) and viceversa.
Therefore, for new projects it is suggested to use SYCON.net 1.362 version, Build
140708, or later versions.

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11.3.2 Modifying a project already saved onto the Control Unit

To modify a Master Fieldbus network project, two phases are performed using two
different programs:
– Phase one - WinCRC
– Phase two - SYCON.net

11.3.2.1 Phase one - WinCRC

a. Run WinCRC program

b. Transfer .spb file from UD:\SYS\CNFG directory to the work directory on the PC.

c. Click the mouse right key

Fig. 11.30- Unpacking .spj file

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d. choose Unpack SPJ command - (see Fig. 11.30) .spj file, the homonymous
directory and the Slave modules descriptors (which are saved to Device
Description sub-directory) are extracted.

11.3.2.2 Phase two - SYCON.net

e. Run SYCON.net program,

f. open .spj file,

g. if some descriptor files are not present (in such a situation a red X replaces their
names), the User must import them into the catalog taking them from the Device
Description directory;

h. modify the project like what described for the procedure for creating a new project
(see d., f. and g. steps of par. 11.3.1 Creating a new project on page 536).

i. At the end of the project modification activity, go on with saving operation (see step
r. of par. 11.3.1 Creating a new project on page 536).

j. Execute steps s. through z. (of par. 11.3.1 Creating a new project on page 536), to
update the project onto the Control Unit.

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11.4 IO_MAP Program - I/O ports mapping

11.4.1 Activation of IO_MAP program

This program, implemented in Visual PDL2 language is used to map I/O points on
C5GPlus Control Unit.
To map, using the IO_MAP Program, means to set a relationship among Input/output
points belonging to any Devices, and digital, analog, flexible logical ports available in
PDL2 language (ad es. $DIN, $DOUT, etc.).

Note that before going on with mapping I/O points, it is needed to have already
configured their corresponding modules (see IO_CNFG Program - I/O modules
configuration).

The IO_MAP program is always present and available on the Teach Pendant.
To use it, act as follows:

a. open the Setup page, on the Teach Pendant

b. touch IO icon

c. touch IO_MAP icon

d. the system runs IO_MAP program

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As shown in the figure above, in the home page of IO_MAP program the following
functionalities are available:
– Devices
– Port list
– Profile
– Link
– Save
– Exit.

Back
Note that in all screen pages of all the existing levels, Back key is always present to
allow quitting such a step of the procedure, and going back to the previous one.

11.4.2 Devices
This command allows to display the list of all Devices currently existing in the
System and handle mapping their associated I/O points.

There’s also the possibility of handling virtual devices defined as USER Devices, useful
for the installed applications in the System.
They apply to additional modules, application specific, such as welding timers, welding
guns, etc.
Please refer to the specific description in the corresponding par. 11.4.2.5 USER Devices
on page 560.

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The table displayed in this environment contains the following information:

– Device - is the Device Name
– Inp byte - total amount of Input bytes currently associated to the selected Device
– Out byte - total amount of Output bytes currently associated to the selected Device
– Mapped I/O - indicates how many Input and Output points, associated to the
selected Device, are already mapped.
Once the wished Device has been selected, the following commands are available in
the Functional keys Menu:
– Modify - Device
– Clean - Device
– Move - Device.
In case in which the table includes more than one page, there are two more enabled
keys, allowing to visit all the pages:
– Prev.page, Next page

11.4.2.1 Modify - Device

In this sub-page a table is displayed containing the list of all I/O points belonging to
the selected Device and the User is allowed to map them.

If the total amount of I/O points is too much high (e.g. 128 pages), it is useful to be able
to directly go to the wished page, without being forced to pass all the previous ones. It
is then available a Numeric field to directly select the wished page.

This table columns have the following meaning:

– Offs - sequential index of the Device I/O points
– Pos - byte and bit of the Device
– Port - indicates the PDL2 port associated to the I/O point
– Help - a Help string describing the I/O point.
Each Device has its own distribution of both the status bits and I/O images. It is then
mandatory to know such a distribution, in order to properly map the I/O points.

Note that Input and Output points are in two different arrays, so the offsets of these and
those are referred to their own array.

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Here follow the status bits layout and the I/O images offsets, for the following
Devices:

• X20PS2100 - Power supply 24V

• X20DI9371 - 12 Digital Input module
• X20DO6322 - 6 Digital Output module
• X20AI2622 - 2 Analog Input module
• X20AO2622 - 2 Analog Output module
• X20CM1941 - Resolver module
• X20DC1198 - Interface module SSI
• X20DS1828 - Hiperface module
• X20DC11A6 - ABR Incremental Encoder module
• X20AI2237 - 2 ch 16 bit Analog Inputs module.

In the next sections, reference is made to the I/O points Tables.

• X20PS2100 - Power supply 24V

Page to
Name Description Byte Direction Pos.
start
Status byte (do not
ModuleOK 1^ byte IN 1
map)
StatusInput01 1^ Input bit IN 2.1 2
2^ byte
StatusInput02 2^ Input bit IN 2.2 2

• X20DI9371 - 12 Digital Input module

Name Description Byte Direction Pos. Page to start

Status byte (do not
ModuleOK 1^ byte IN 1
map)
DigitalInput01 1^ Input bit IN 2.1 2
... ... 2^ byte IN ... 2
DigitalInput08 8^ Input bit IN 2.8 2
DigitalInput09 9^ Input bit IN 3.1 3
... ... 3^ byte IN ... 3
DigitalInput12 12^ Input bit IN 3.4 3

• X20DO6322 - 6 Digital Output module

Name Description Byte Direction Pos. Page to start

Status byte (do not 1^ byte
ModuleOK IN 1 (Input)
map) (Input)
DigitalOutput01 1^ Output bit OUT 1.1 1 (Output)
1^ byte
... ... OUT ... 1 (Output)
(Output)
DigitalOutput06 6^ Output bit OUT 1.6 1 (Output)
StatusDigitalOutput01 1^ Input bit IN 2.1 2 (Input)
2^ byte
... ... IN ... 2 (Input)
(Input)
StatusDigitalOutput06 6^ Input bit IN 2.6 2 (Input)

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• X20AI2622 - 2 Analog Input module

Name Description Byte Direction Pos. Page to start

Status byte (do not
ModuleOK 1^ byte IN 1
map)
AnalogInput01 1^ Analog Input 2^ & 3^ bytes IN 2.1 2
AnalogInput02 2^ Analog Input 4^ & 5^ bytes IN 4.1 4
StatusInput01 1^ Input bit 6^ byte IN 6.1 6

• X20AO2622 - 2 Analog Output module

Name Description Byte Direction Pos. Page to start

Status byte (do not
ModuleOK 1^ byte (Input) IN 1 (Input)
map)
1^ & 2^ bytes
AnalogInput01 1^ Analog Input OUT 1.1 1 (Output)
(Output)
3^ & 4^ bytes
AnalogInput02 2^ Analog Input OUT 3.1 3 (Output)
(Output)
StatusInput01 1^ Input bit 2^ byte (Input) IN 2.2 2 (Input)

• X20CM1941 - Resolver module

Page to start
Name Description Byte Direction Pos.

Status byte (do not

ModuleOK 1^ byte IN 1
map)
2^ , 3^, 4^ &
Position IN 2.1 2
5^ byte
StatusInput 6^ byte IN 6.1 6

• X20DC1198 - Interface module SSI

Name Description Byte Direction Pos. Page to start

Status byte (do not
ModuleOK 1^ byte IN 1
map)
PowerSupply01 2^ byte IN 2.1 2
PowerSupply02 2^ byte IN 2.2 2
DigitalInput01 1^ Input bit IN 3.1 3
3^ byte
DigitalInput02 2^ Input bit IN 3.2 3
4^, 5^, 6^ &
Encoder01 IN 4.1 4
7^ bytes

• X20DS1828 - Hiperface module

Name Description Byte Direction Pos. Page to start

Status byte (do not
ModuleOK 1^ byte IN 1
map)
2^, 3^, 4^ & 5^
PosTime IN 2.1 2
byte

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6^, 7^, 8^ & 9^

PositionHLW IN 6.1 6
byte
10^, 11^, 12^
PositionLW IN 10.1 10
& 13^ byte

• X20DC11A6 - ABR Incremental Encoder module

Page to
Name Description Byte Direction Pos.
start
ModuleOK Status byte 1^ byte (Input) IN 1 (Input)
StaleData Status byte 1^ byte (Input) IN 1 (Input)
BW_QuitChannel_A 1^ Output bit OUT 1.1 1 (Output)
BW_QuitChannel_B 2^ Output bit 1^ byte (Output) OUT 1.2 1 (Output)
BW_QuitChannel_R 3^ Output bit OUT 1.3 1 (Output)
Encoder01Reset 4^ Output bit 2^ byte (Output) OUT 2.1 1 (Output)
PowerSupply01 1^ Input bit IN 2.1 2 (Input )
2^ byte (Input)
PowerSupply02 2^ Input bit IN 2.2 2 (Input)
BW_Channel_A 1^ Input bit IN 3.1 3 (Input)
BW_Channel_B 2^ Input bit 3^ byte (Input) IN 3.2 3 (Input)
BW_Channel_R 3^ Input bit IN 3.3 3 (Input)
DigitalInput01 1^ Input bit IN 4.1 4 (Input)
4^ byte (Input)
DigitalInput02 2^ Input bit IN 4.2 4 (Input)
Encoder01 1^ Input bit 5^ & 6^ byte (Input) IN 5.1 5 (Input)

• X20AI2237 - 2 ch 16 bit Analog Inputs module

Name Description Byte Direction Pos. Page to start

ModuleOK Status byte 1^ byte IN 1
StaleData Status byte 1^ byte IN 1
AnalogInput01 1^ Analog Input 2^ & 3^ byte IN 2.1 2
AnalogInput02 2^ Analog Input 4^ & 5^ byte IN 4.1 4
AnalogStatus01 1^ Input bit 6^ byte IN 6.1 6
AnalogStatus02 1^ Input bit 7^ byte IN 7.1 7

The involved subpage is provided with a Functional keys menu including the following
commands:
– Map or Modify - I/O points
– Clear - I/O points
– Direction - I/O points
In the case in which the table includes more than one page, there are two more enabled
softkeys, allowing to visit all the pages:
– Prev.page and Next page - I/O points.

11.4.2.1.1 Map or Modify - I/O points

To operate on a certain I/O point, (mapping a not yet mapped point or modifying an

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already mapped one), the User must select the table row containing it, touch either Map
or Modify key and perform the wished actions, in the suitable screen page.

a - Input point to be mapped b - already mapped Input point

Touching Map key, the following fields are displayed for the I/O points mapping:
– Category - port category: Digital, Analog, Flex
– Index - PDL2 port index (e.g. $DIN[3] - the index is 3)
– Bit size - PDL2 port size (total amount of bits). This value can be set for Flexible
ports only.
– Ports number - total amount of involved ports of the specified above type.
Touch Advanced key to view the needed fields to setup all data corresponding to the
associated port.

Please note that the same fields are displayed when touching Modify key, to edit an
already mapped point data.

The displayed fields are as follows:

– Unforceable - it indicates whether the involved I/O points are NOT subject to the
Force command
– Retentive - it indicates whether the being mapped Output ports must be retentive,
i.e. whether they keep the status they had before the Control Unit shut-down, upon
a power-on operation.
– Action - it associates an action to the input point, indicated by the specified $GI.
If an Analog or Flex port is to be associated to the being mapped point, the following
extra fields are displayed (see figure below):
– Byte inversion - in case of analog I/O, a checkbox is available stating whether or
not exchanging the bytes is required, when the device data format does not comply
the one expected by the Control Unit.
– Scale factor - the allowed values in an Analog I/O are from 0 to 4095. This field
indicates the scale factor, if existing, for the wished being represented values.
– Zero offset - it is the lower value in the wished range (e.g. if the range is -5V to 5V,
this field must be set to -5)
– Unit - it is the unit of measure of the quantity represented by the I/O analog port.

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The following field is always displayed for any port type:

– Help - help string which should “help” the User to better understand the meaning
of the associated I/O points.
When all the information has been inserted, touch OK key to confirm.
Modifying already mapped points does not require any additional operations.
Mapping, on the contrary, must be completed by touching Set key which associates the
specified port to the I/O points of the selected device.

11.4.2.1.2 Clear - I/O points

If the currently selected I/O point is already mapped, it allows to clear its mapping.

11.4.2.1.3 Direction - I/O points

It indicates whether to operate on either Input points or Output points: pressing this key,
a menu is opened to choose the wished item.

11.4.2.1.4 Prev.page and Next page - I/O points

In the case in which the table includes more than one page, there are two more enabled
keys, allowing to visit all the pages. Please refer to par. 11.4.2.4 Prev.page, Next page
on page 560 for a detailed description.

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11.4.2.2 Clean - Device

Fig. 11.31- Clean - Device

It allows to clear the mapping of the I/O points belonging to the currently selected
Device. A menu is displayed when this functionality is activated, allowing to choose
whether to clear
– All - all the I/O points belonging to the Device
– Inputs - the Input points only
– Outputs - the Output points only.

11.4.2.3 Move - Device

This functionality allows moving the mapped I/O points, from one Device to another. It
is useful when the target Device is not exactly known yet: in such a situation it is possible
mapping the wished I/O points to a Virtual Device (see par. 11.1.2.2 Virtual on
page 523) and then moving them later to the target Device.

Touching Move key, the shown above page is displayed in which the User is requested
to provide the following information:
– Input Ports / Output Ports - specifies whether the Input Ports and/or the Output
Ports are moved to the target Device
– to device - is the name of the Device which the currently selected Device is to be
moved to (in the previous figure example, the being moved Device is SDM). To
select the target Device, touch the Combobox, choose the wished Device and
press OK to confirm.

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Once the choice has been made, confirm moving by touching OK key.

11.4.2.4 Prev.page, Next page

It allows visiting all the table pages. A short pressure causes to go to the Prev./Next
page in the table; a long pressure causes to go, respectively, to the first page (Prev.)
and to the last page (Next) in the table.

11.4.2.5 USER Devices

It allows accessing virtual devices (if existing) prearranged for the installed application.
In the displayed page, select the wished virtual device.

Note that the corresponding real user device MUST be already mapped!

Touching Modify key, the program displays the following page in which the user should
associate technological signals to ports.
The technological signals displayed with a ‘*’ symbol, are MANDATORY, so it is
NEEDED for each one of them to be associated to a port.
Select a technological signal in the left column. In the shown example, the technological
signal “Input 1” is selected.

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Select the wished port to be associated to the technological signal, in the right column
e.g. Digital Input 4.

Touch Set key, to associate the selected technological signal to the selected port.
Example: “Input 1” technological signal associated to Digital Input 4 port.
In case in which the user wishes to modify an already set association, press Clean key.
Use Direction key to choose between Input and Output environment.

When associating the wished technological signals and the corresponding ports is
completed, touch Back key to exit from the subpage.
At the end, touch Back key again to exit from this subpage.
If even just one mandatory technological signal has NOT been associated to any ports,
a warning message is issued.
If, anyway, the user wishes to quit the subpage, touch OK key. Otherwise, choose
Cancel and set the required association. Touch Back key to exit.

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11.4.3 Port list

This command allows displaying the list of all the existing ports in the System.

Note that this is merely a view functionality. As already told before, if the User wishes to
modify one or more points belonging to one or more Devices, it is needed to use the
Devices command.

As shown in the above figure, a table is displayed containing the following information:
– Name - is the port name
– Device - is the Device the port is associated to
– Pos - is the position of the I/O point of such a Device
– L - port length (in bits)
– Help - is the help string, describing the port meaning
– F - it is a flag indicating whether the port is Retentive (R) and/or Unforceable (N) or
Virtual (V)
The available commands in the bottom menu are as follows:
– Category - Port list
– Direction - Port list
– Prev.page and Next page - Port list.

11.4.3.1 Category - Port list

Touching this key a menu is opened (see previous figure) to choose the port type:
– 1 Digital - $DIN, $DOUT
– 2 Application - $IN, $OUT
– 3 Analog - $AIN, $AOUT
– 4 Flex - $FMI, $FMO.

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11.4.3.2 Direction - Port list

Touching this key a menu is opened to choose either

Input or Output.

11.4.3.3 Prev.page and Next page - Port list

This command allows visiting all the table pages. For a full description, see par. 11.4.2.4
Prev.page, Next page on page 560.

11.4.4 Profile
This command allows to associate a System/Application action or event to a digital,
analog, flexible PDL2 language logical port (e.g. $DIN, $DOUT, etc.)
To enter this sub-environment, press Profile key: a menu is displayed to choose
whether the action/event to be associated to an I/O point, is related to the System or to
an Application.
The Application profile is only available if at least one COMAU Smart* (es. SmartSpot,
SmartHand, etc.) application is currently installed on the Control Unit.

System and Application actions/events can be associated, as global Profile, to the Slave Fieldbus
module which has been declared as System Device.
In the case of System Profile, while configuring such a module, the System Profile field must have
been selected - see Fig. 11.4 - Profibus Slave module Configuration on page 512.
System actions/events can be associated, as a Single Port, to any I/O point.

Select the wished item touching it.

– System Profile
– Application Profile.

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11.4.4.1 System Profile

The displayed table in this environment, lists the following items:
– actions/events to be associated,
– device name,
– position (byte.bit) and name of the action/event associated port,
– indication of whether associated or not.

Each indicated Action/Event in the System Profile, has got the corresponding image into some $GI
e $GO type ports: $GI17..$GI26 and $GO17..$GO32.
For any further information about them, mainly for Actions/Events meaning, refer to Ports to check
the start and stop statuses table, chap.8 - Start and stop controls in C5G Control Unit - Technical
Specification manual.

In the System Profile page, a combobox (Profile) is provided in order to select the
wished profile, choosing it from a list which is automatically opened; the available ones
are:
– System Profile - Comau - predefined profile with suggested default ports
– System Profile - Custom - profile which the User is allowed to customize.

11.4.4.1.1 System Profile - Comau

After selecting Comau item, touch OK key to confirm. The already existing associations
are displayed.

For Comau predefined profile, the default values suggested by the program are viewed
in the table. This DOES NOT mean that such values have already been automatically

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associated: it is just a suggestion and the association must expilicitly be required by the
user, touching Set key.
Please note that the suggested PDL2 ports are the previously mapped ones
(see par. 11.4.2.1 Modify - Device on page 553) on the Device indicated in the table.
The following commands are available in the Functional keys menu:
– Set - System Profile - Comau
– Clean - System Profile - Comau
– Direction - System Profile - Comau
– Prev.page and Next page - System Profile - Comau.

Set - System Profile - Comau

This command associates actions/events to the specified ports. The User cannot modify
them, except clearing one or more of them (Clean - System Profile - Comau).

Choosing this command, a menu is open which allows selecting the following items:
– Profile - to associate all the chosen profile ports (Comau, in our example) to all the
actions/events.

In Set column of each row, the word Yes appears to indicate the performed
association.
If one or more points of the device are not mapped, a message is displayed. The
User must take care of mapping them before issuing command Set again.
At the end of the Set operation, an informational message appears to state the
command has been executed, and the required associations are displayed.
– Single port - to associate the selected action/event to a single port.

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The program asks the User to specify which is the Device-Byte-Bit the selected
action/event is to be associated to. Depending on such 3 parameters, the
corresponding PDL2 logical port is displayed, if mapped. Touch OK key to confirm.

If in the required position there is not a mapped port, the OK key is not available,
so the User must Cancel the current operation and map it, before issuing the Set
command again.
At the end of the operation, the word Yes is displayed in the table to indicate the
action/event has been associated to the required port.

Note that, setting a single port, the current Profile is automatically switched to System
Profile - Custom.

Clean - System Profile - Comau

This command allows to delete a previously set association. This means the currently
selected association is cleared.
In the below example, the association between No DRIVE OFF action and its
corresponding port has been deleted.

Note that, moreover, when modifying the Comau System Profile, the current Profile is
automatically switched to System Profile - Custom.

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Direction - System Profile - Comau

This command allows to choose to operate on either Input or Output. Touch the wished
item to select it.

Prev.page and Next page - System Profile - Comau

This command allows to visit all the table pages. For a full description, see par. 11.4.2.4
Prev.page, Next page on page 560.

11.4.4.1.2 System Profile - Custom

After selecting Custom item, press ENTER to confirm. Already existing associations are
displayed.

The following commands are available in the Functional keys menu:

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– Set - System Profile - Custom

– Clean - System Profile - Custom
– Direction - System Profile - Custom
– Prev.page and Next page - System Profile - Custom.

Set - System Profile - Custom

Note that, if the choice is Custom, the only possibility for associating actions/events to
I/O points, is Single port.

A menu is opened to associate the selected action/event to a Single port.

The program asks the User to specify which is the Device-Byte-Bit the selected
action/event is to be associated to. Depending on such 3 parameters, the corresponding
PDL2 logical port is displayed, if mapped. Touch OK key to confirm.

If in the required position there is not a mapped port, the OK key is not available, so the
User must Cancel the current operation and map it, before issuing the Set command
again.
At the end of the operation, the word Yes is displayed in the table, Set column, to
indicate the action/event has been associated to the required port.

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Clean - System Profile - Custom

This command allows deleting a previously set association. To use it, please refer to the
description of par. Clean - System Profile - Comau on page 566.

Direction - System Profile - Custom

This command allows to choose operating on either Input or Output points. Select the
wished item an press ENTER to confirm. To use this command, please refer to the
description of par. Direction - System Profile - Comau on page 567.

Prev.page and Next page - System Profile - Custom

This command allows to visit all the table pages. For a full description, see par. 11.4.2.4
Prev.page, Next page on page 560.

11.4.4.2 Application Profile

Please remember that Application actions/events must only be associated to Fieldbus

Slave points.

The table displayed in this sub-environment, lists the following information:

– actions/events to be associated,
– device name,

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– position (byte.bit) and name of the port corresponding to the action/event,

– port length (L) in bit (Application programs can also use $FMI and $FMO ports,
whose length is not predefined)
– Set - indication of whether associated or not.
In the Application Profile page (see figure above), a combobox (Profile) is provided in
order to select the wished profile; the available ones are:
– Application Profile - Comau - predefined profile with suggested default ports
– Application Profile - Custom - profile which the User is allowed to customize.

11.4.4.2.1 Application Profile - Comau

After selecting Comau item, press ENTER to confirm. The already existing associations
are displayed.

The default values for the Comau predefined profile, suggested by the program, are
displayed in the table. This DOES NOT mean such values have already been
automatically associated to the actions/events: they are just a suggestion and, if wished,
the User must intentionally touch Set key to associate them.
The following functionalities are available in the bottom menu:
– Set - Application Profile - Comau
– Clean - Application Profile - Comau
– Direction - Application Profile - Comau
– Prev.page . and Next page - Application Profile - Comau.

Set - Application Profile - Comau

This command associates actions/events to the specified ports. The User cannot modify

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them, except clearing one or more of them (Clean - Application Profile - Comau).

Choosing this command causes a menu to be opened to select the following items:
– Profile - to associate all the chosen profile ports (Comau, in our example) to all the
actions/events. In column Cfg of each row, the word Yes appears to indicate the
performed association.

If one or more points of the device are not mapped, a message is displayed (see
figure below). The User must take care of mapping them before issuing command
Set again.

At the end of the Set operation, an informational message occurs to state the
command has been executed, and the required associations are displayed.
– Single port - to associate the selected action/event to a single port.

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The program asks the User to specify which is the Device-Byte-Bit the selected
action/event is to be associated to. Depending on such 3 parameters, the
corresponding PDL2 logical port is displayed, if mapped. Touch OK key to confirm.

If in the required position there is not a mapped port, the OK key is not available,
the User must Cancel the current operation and map it, before issuing Set
command again.
At the end of the operation, the word Yes is displayed in the table (Cfg column) to
indicate the action/event has been associated to the required port.

Note that, setting a single port, the current Profile is automatically switched to
Application Profile - Custom.

Clean - Application Profile - Comau

This command allows deleting a previously set association. This means the currently
selected association is cleared.
In the example shown in the following figure, the association between Application fault
reset action and its corresponding port has been deleted.

Note that, moreover, when modifying the Comau Application Profile, the current Profile
is automatically switched to Application Profile - Custom.

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Direction - Application Profile - Comau

This command allows to choose to operate on either Input or Output. Touch the wished
item to select it.

Fig. 11.32- Direction

Prev.page . and Next page - Application Profile - Comau

This command allows to visit all the table pages. For a full description, see par. 11.4.2.4
Prev.page, Next page on page 560.

11.4.4.2.2 Application Profile - Custom

After selecting Custom item, press ENTER to confirm. Already existing associations are
displayed.

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The following commands are available in the Functional keys menu :

– Set - Application Profile - Custom
– Clean - Application Profile - Custom
– Direction - Application Profile - Custom
– Prev.page and Next page - Application Profile - Custom.

Set - Application Profile - Custom

Note that, if the choice is Custom, the only possibility for associating actions/events to
I/O points, is Single port.

A menu is opened to associate the selected action/event to a Single port.

The program asks the User to specify which is the Device-Byte-Bit the selected
action/event is to be associated to. Depending on such 3 parameters, the corresponding
PDL2 logical port is displayed, if mapped. Touch OK key to confirm.

If in the required position there is not a mapped port, the OK key is not available, the
User must Cancel the current operation and map it, before issuing Set command again.
At the end of the operation, the word Yes is displayed in the table (Cfg column) to
indicate the action/event has been associated to the required port.

Clean - Application Profile - Custom

This command allows deleting a previously set association. To use it, please refer to the
description of par. Clean - System Profile - Comau on page 566.

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IO_MAP PROGRAM - I/O PORTS MAPPING

Direction - Application Profile - Custom

This command allows to choose operating on either Input or Output points. Select the
wished item an press ENTER to confirm. To use this command, please refer to the
description of par. Direction - System Profile - Comau on page 567.

Prev.page and Next page - Application Profile - Custom

This command allows to visit all the table pages. For a full description, see par. 11.4.2.4
Prev.page, Next page on page 560.

11.4.5 Link
This command allows to create an association (link) between two ports: the second Port
(called destination) takes the same value of the first one (called source). It is, therefore,
a logical copy.

The shown above table, includes the following information:

– Source - it is the source Port; it can be either an Input or an Output Port
– Destination - it is the destination Port; it must be an Output Port, except the
situation of Ports which are mapped onto a Virtual network: in such a case it can
be either an Input or an Output Port.
The available commands in the Functional keys menu allow to operate on the links, to
add some more or to remove already existing ones. They are:
– Add - Link
– Delete - Link
– Prev.page and Next page - Link.

11.4.5.1 Add - Link

This command creates a new association (link) between two ports
In the following example (see the two figures below), Digital Output 10 is associated to
Digital Input 3. When all the required data have been inserted in the corresponding
fields, touching OK key in the left screen page below, causes the association between
the two specified Ports to take effect. This is shown in the right figure below.

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IO_MAP PROGRAM - I/O PORTS MAPPING

If it is wished to exit from Add functionality, without operating any modifications, just
touch Cancel key.

11.4.5.2 Delete - Link

This command deletes the selected link between two Ports.

11.4.5.3 Prev.page and Next page - Link

This command allows to visit all the table pages. For a full description, see par. 11.4.2.4
Prev.page, Next page on page 560.

11.4.6 Save
This command saves all the performed modifications, without asking for any further
confirmation. An informational message tells the User that data saving has been
executed.
NO further commands are needed to make the modifications operational.

11.4.7 Exit
This command allows quitting IO_MAP program.

The performed modifications are lost, if not previously saved by means of Save
command.

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IO_CLONE PROGRAM - I/O CONFIGURATION EXPORT/IMPORT

11.5 IO_CLONE Program - I/O Configuration

Export/Import

11.5.1 Activation of IO_CLONE

This program, implemented in Visual PDL2 language, is used to “copy” the I/Os
configuration and mapping, from a C5GPlus Control Unit to another one.
It is extremely useful for robotized production lines, because the User can configure and
map the I/O points on a C5GPlus Control Unit only and then copy such a mapping to all
the other C5GPlus Control Unit belonging to the robotized line.
To carry out the above described goal, it is needed to:

a. perform I/Os configuration and mapping on just ONE C5GPlus Control Unit, by
means of IO_CNFG Program - I/O modules configuration and IO_MAP Program -
I/O ports mapping;

b. export I/Os mapping and Slave configuration settings, by means of IO_CLONE

program; a .CIO file is created including all the required information;

c. import all data included in such a file, to all the C5GPlus Control Unit belonging to
the robotized line;

d. save the imported data.

The IO_CLONE program is always present and available on the Teach Pendant.

a. access the Setup page on the Teach Pendant

b. touch IO icon

c. touch IO_CLONE icon

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d. The system runs IO_CLONE program

In the IO_CLONE program, the following functionalities are available to allow the above
described functions:
– Export
– Import
– Save
– Quit.

Back
Note that in the screen pages of the other levels, Back key is always present to allow
quitting such a step of the procedure, and going back to the previous one.

Depending on the category for which “cloning” is wished, the listed above operations
can be activated for (see Fig. 11.33) for:
– Slave
– Master network
– (single) Device.

NOTE - Before issuing any command, it is needed to choose the wished category, by
selecting it in the list activated when touching the Choose category combobox.

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Fig. 11.33- Choosing the Category

After choosing the category, go ahead with the wished operations, as described in the
following sections.

11.5.2 Export
This command allows creating a .CIO file containing the I/O points mapping together
with some configuration information, for the currently selected category.
Such a file will then be importable, to be copied onto other C5GPlus Control Unit.
When this command is issued, the program displays a page in which the User must
specify the following information:
– Slave / Master / Device - each one of these three categories is associated to a
different page; open the corresponding combobox, operate the wished choice and
touch OK to confirm. In the figures below, Slave and Device pages are shown.

NOTE - for MASTER NETWORK and DEVICE categories, I/O points mapping only is
exported. No configuration information. The Export operation for DEVICE category is
similar to the MASTER NETWORK one, but referred to a single device.

– File name - name of the being created .CIO file; it will include the I/O points
mapping and some configuration information.
– Destination - directory path for .CIO file: device and directory. It is suggested by
IO_CLONE program; when a USB flash disk is inserted, XD: and TX: type devices
are also suggested. TX: device is suggested just if and when the USB flash disk is
inserted into the Teach Pendant USB port.

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When the chosen category is SLAVE, exporting will be successful only if the expected
Slave type is present on the destination.

As soon as the required data insertion is completed, press Execute to start exporting.
At the end of the operation, the program displays a suitable message to inform about
the Export operation completion.

Touch OK to go back to the main page.

11.5.3 Import
This command allows “copying”, onto the specified device, a previously exported I/O
points mapping (see par. 11.5.2 Export on page 579).
The program displays a page in which the User must specify the following information:
– Device - directory path for .CIO file: device and directory. It is suggested by
IO_CLONE program; when a USB flash disk is inserted, XD: and TX: type devices
are also suggested. TX: device is suggested just if and when the USB flash disk is
inserted into the Teach Pendant USB port
– File - name of the previously created .CIO file, including some configuration
information and mapping for all the I/O points. When more than one file of such a
type are available, the User must choose the wished one opening the
corresponding combobox, selecting it and touching OK to confirm.

As soon as the required data have been inserted, press Execute to perform Import
operation.

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WARNING - if the chosen category is ‘Slave’, a page is displayed in which the User must
specify the address of the destination Slave, by means of the displayed Numeric field.
When modified, touch Set to confirm it.

At the end of the operation, the program displays a suitable message to inform about
the Import operation completion.
Touch OK to go back to IO_CLONE home page.
On the contrary, if any error occurs, a suitable error message is issued to notify the User.

WARNING - importing can be successful ONLY IF the destination device has ALREADY
been CONFIGURED!

At the end of the Import operation, the User must save the new configuration (Save key)
and perform a restart cold operation (see par. 5.8.2.2.1 Cold on page 107).

11.5.4 Save
This command must be used to save all modifications made by an Import operation
(see par. 11.5.3 Import on page 580).

11.5.5 Quit
This command allows quitting IO_CLONE program.

Any imported information will be lost if not previously saved by means of Save
command.

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TOOL, UFRAME AND POSITIONERS BASE AUTOMATIC CALCULATION

12. TOOL, UFRAME AND POSITIONERS BASE

AUTOMATIC CALCULATION

12.1 Introduction
The Frames environment programs, available from within the Teach Pendant Setup
page, perform the automatic and guided calculation of the $TOOL, $UFRAME,
positioners $AUX_BASE and $BASE values.
– TOOL automatic calculation defines the actual dimensions of the work tool
mounted on the robot flange.
– UFRAME automatic calculation defines a new reference frame in relation to
which the work positions will be taught.
– BASE automatic calculation for positioners calculates the positioners BASE.

12.2 Activating Frames environment

TOOL, UFRAME and positioners BASE handling programs, are always present in the
Control Unit.

Simply select Setup page on the Teach Pendant, touch Motion icon and choose Frames
environment (as shown in the following figure), to use such programs.

The Frames environment (see next figure) includes the three icons corresponding to the
three available programs:
– Base
– Tool
– Uframe.

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Please note that, for each one of the three listed above programs, whenever the user
wishes to save the calculated values, they are saved in the corresponding Data Page
table.

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12.3 TOOL automatic calculation

12.3.1 Introduction
This environment allows calculating the working tool dimensions, either mounted
onto the robot flange (local TOOL) or defining the coordinates system of a fixed
tool (remote TOOL). The robot is used as the measurement device.
The Tool calculation is needed either the first time a tool is mounted or when the robot
(or the reference position) has been moved or calibrated again, referred to the initial
position.
The following topics are fully described in the current chapter:
– Needed Tools
– General characteristics
– Procedure.

12.3.2 Needed Tools

– Calibrated tool (Tool Master)
– Reference point

12.3.2.1 Calibrated tool (Tool Master)

This is a tool with KNOWN X, Y, Z measurements that will be mounted on the robot
flange for the acquisition of the reference position.
Taking as an example a Smart NJ 110-3.0 or NJ 130-2.6 robot, as shown in the
following figure, the calibrated tool designed for such a machine, is 117 mm long. In this
case it is to be mounted on the robot flange in X_tool direction and the being declared
values are : X=190, Y=0, Z=-8.

Fig. 12.1 - SMART NJ 110-3.0 o NJ 130-2.6 - Calibrated tool

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For any further information about the calibrated tool, see the Robot Technical
Specifications Manual, Calibrated tool Group section.
Besides, an object or a specific position onto the working tool can be used, whose
distance from the robot flange center is precisely known.

12.3.2.2 Reference point

It is a physical reference point in the environment surrounding the robot, so as to bring
the robot TCP on to this point: either with the Tool Master or with the being measured
tool.
Such a point must be in a fixed and steady position, easily accessible by the robot and
positioned either on the FLOOR (if the robot is on the floor), or on the CEILING (if the
robot is suspended from the ceiling).

12.3.3 General characteristics

The TOOL MASTER can be mounted in X_tool; also in Y_tool for NJ4 models.
The position is made possible by a threaded precision hole existing on the robot flange.
In this way it is possible to have the measuring tool and the tool master mounted on the
flange at the same time.
All the robot positions on the reference, whether with tool master or with measuring tool,
can be freely chosen by the operator who is allowed to place the TCP onto the reference
depending on the actual situation.
The tool offsets are calculated as referred to the robot flange center (X, Y, Z Tool) with
three reset Euler angles (nil orientation).

The rotations around X_tool and Y_tool (<A>: Euler 1 and <E>: Euler 2) are calculated
so as to fix the new Z_tool on the tool, in the wished direction and sense.
The rotation around the new Z_tool (<R>: Euler 3) is calculated so as to fix for a certain
"tool plane", rotating around the new Z_tool, the direction and sense of the X_tool
and Y_Tool.

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12.3.3.1 Tool orientation calculation in case of Tool Master

The orientation is calculated when the robot is moved to the “reference position” with the
TOOL MASTER (or other calibrated tool) and is assumed by the new TCP, every time
the robot is moved to such a "reference point" with the BEING MEASURED TOOL.
It is suggested (with $BASE values put to 0) to move in BASE reference with key 1
(X_base), key 2 (Y_base) and key 3 (Z_base), both to positive and negative direction.
The "dummy reference system" can be identified in direction and sense, provided that e
X_rif = -X_base; Y_rif = Y_base; Z_rif = -Z_base.
Note that for the local tool the reference is the robot BASE, whereas, for the remote tool,
it is needed to define X, Y and Z references of the tool fixed onto the robot flange,
indicated as X_rif, Y_rif e Z_rif.

12.3.4 Procedure
Select Setup page on the Teach Pendant, Motion icon, Frames environment and then
Tool icon, to activate the Toool automatic Calculation Procedure.

When activated, the following page is displayed:

The user must choose the being calculated Tool type:

– Local (see LOCAL Tool calculation procedure) o
– Remote (see REMOTE Tool calculation Procedure)
and the teach method to be used:
– Standard - the Standard method is suggested in case the Tool Master is available
and no obstacles are existing which prevent the robot flange to move free;

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– 4-points - the 4-points method allows calculating the tool measures, using the tool
itself, by teaching enough positions to obtain its dimensions.
Both methods allow teaching a certain number of positions, by accessing some screen
pages related to some corresponding phases, by touching Teach key (to teach the
position, even more than once, if needed) and Next key to go to the next phase.
When the Tool value is calculated, the user can save it to teither he Tool table or, in case
of nodal configurated system, in the suitable predefined variable.
Enter the Motion Page and select the tool from Tool field, in order to make it operational.

For any calculating method it is needed to start the procedure with an enabled local
tool (not a remote tool!), otherwise an informational message is issued, such as the one
shown in the following figure.

12.3.4.1 LOCAL Tool calculation procedure

As already explained, choose one of the following methods to calculate the Local Tool:
– Standard Method
– 4-points Method.

12.3.4.1.1 Standard Method

a. Touch Begin key after selecting Local and Standard

b. The program displays the Tool Master page (previous figure). Check whether the
Tool Master is mounted onto the robot and enabled from within Motion Page, Tool
field.

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c. Check the Tool Master values: usually they are correct. If so, directly go to step d.
Viceversa, if any inaccuracies are detected, modify X, Y or Z, as follows:

c.1 touch Edit key

c.2 edit the wished field and/or fields, according to the Numeric field modality.

c.3 When all the wished modifications are completed, then touch EndEdit key.
The new value for the Tool Master will be used until the end of the Tool calculation.
Such a value can be saved, if wished.

d. Touch Next key to continue the calculation procedure.

e. Jog the Tool Master TCP to the reference.

During this movement, the robot can take whichever orientation: the operator is
allowed to place the TCP on the reference to his/her liking, according to his/her
needs.

In this phase it is suggested to move axes 4, 5, and 6 in TOOL coordinates. By keeping

the position, the movement checks both the tool dimensions and the robot calibration.

f. As soon as the wished position is reached, touch Teach key.

g. If needed, slightly modify the taught position, jog the robot again and touch Teach
key again.

h. Touch Next key to proceed. The program displays the following screen page:

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i. Mount the being measured Tool.

j. Jog the being measured Tool TCP to the reference.

During this movement, the robot can take whichever orientation: the operator is
allowed to place the TCP on the reference to his/her liking, according to his/her
needs.

k. As soon as the wished position is reached, touch Teach key.

l. If needed, slightly modify the taught position, jog the robot again and touch Teach
key again.
Now, the being measured Tool X, Y and Z components have been calculated;
the procedure informs the user by means of a suitable message.

m. Touch OK to confirm.

n. Touch Next key to proceed to the Tool orientations definition.

The following screen page is displayed by the program:

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TOOL AUTOMATIC CALCULATION

Note that if the tool axes are parallel to the flange reference system ($TOOL(0)), it is
advisable to move the robot to the calibration position; this operation has the advantage
to move all the tool three axes parallel to the ones of the BASE without moving the robot
further.
In such case, in order to complete the orientation calculation, the operator must just
select which BASE semi-axes Z_TOOL (step s.) and then X_TOOL (step u.) are parallel
to.
On the contrary, it is needed to conveniently orientate both Z_TOOL and X_TOOL
besides selecting the wished semi-axes.
See the corresponding steps described here on.

o. Select the robot BASE wished semi-axis (+ or - X_Base, + or - Y_Base, + or -

Z_Base)

p. Orientate the tool Z_tool (positive direction), parallel to the previously selected
direction, by rotating in TOOL coordinates and using 4 and 5 keys, until the
direction of the tool that is intended to be taken as the new Z_tool, exactly
corresponds in the wished direction and sense, to the BASE reference.

q. Touch Teach key to teach the position.

r. Touch Next key to proceed.

s. Select the robot BASE wished semi-axis (+ or - X_Base, + or - Y_Base, + or -

Z_Base)

t. Orientate the tool X_tool (positive direction), parallel to the previously selected
direction, by rotating in TOOL coordinates and using 4 and 5 keys, until the
direction of the tool that is intended to be taken as the new X_tool, exactly
corresponds in the wished direction and sense, to the BASE reference.

u. Touch Teach key to teach the position.

v. The program calculates A, E, R angles and displays the following page:

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TOOL AUTOMATIC CALCULATION

w. Check that the new orientation is actually the wished one.

x. To do so, move axes 4, 5, 6 in TOOL coordinates to check the new TCP lies still
(movements in the vicinity of 3 mm are accepted). If the check result is ok, go to
step aa.

y. On the contrary, perform the following checks:

– robot calibration;
– the tool master dimensions declared at the beginning of the procedure;
– the reference point position (which should NOT change).

z. Repeat the procedure from the beginning, after such checks.

aa. The user can choose the tool table element for saving the calculated data. Act as
follows:

aa.1 touch the tools Combobox to open the list,

aa.2 select the wished tool by choosing it from the list (see previous figure),

aa.3 touch OK key.

ab. Touch OK key again to confirm saving.

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Comau Robotics Product Instruction

TOOL AUTOMATIC CALCULATION

Using the procedure in case of NODAL System

NODAL SYSTEM
Note that in case of NODAL System, the screen page of calculated values saving (see
v. step), is the shown here below and the values are saved to $TOOL predefined
variable, associated to the current Arm.

12.3.4.1.2 4-points Method

This procedure considers to move the TCP to a reference point within the robot working
area, with different orientations, and teach the corresponding positions
The more different the orientations are, the better are the results in the calculation
phases; in such case, the procedure needs less positions acquisitions.
Usually 4 points is a meaningful number to allow the tool calculation, but it could also
need to teach some more positions.
Three different orientations for the same reference point, are shown in the following
figure, as an example.

a. After selecting Local and 4-points checkboxes (as shown in the following figure),
touch Begin key .

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The following screen page is then displayed:

b. Mount the being measured Tool.

c. Jog the being measured Tool TCP to the reference point.

The robot can take whichever orientation, during this movement: the operator is
allowed to place the TCP on the reference to his/her liking, according to his/her
needs.

d. As soon as the wished point is reached, touch Teach key to acquire the position.

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e. Touch Next key to proceed in teaching point no.2. The following page is displayed:

f. Move the robot TCP to modify the orientation on the reference point.

g. As soon as the wished point (no.2) is reached, touch Teach key to acquire the
position.

h. Touch Next key to proceed in teaching the remaining points. The system displays
the screen page to acquire point no.3.

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Note that, starting from point no.3 acquisition, the program could be already able
to get X, Y and Z coordinates allowing to define the being measured tool TCP.

i. If the measurement is not precise, some more points are required (repeat steps f.,
g. and h.), up to a maximum amount of 8 points.
If the program can succeed in properly calculating the being measured Tool, go
ahead with step m. to calculate the Tool orientation.

j. If, on the contrary, the program couldn’t calculate the Tool dimensions, even after
the acquisition of 8 points, the procedure must be executed again.
In such a situation the following message is displayed:

k. Touch OK key.

l. Start from step a. again, taking care of varying more the orientation of the acquired
points.

m. The being measured Tool X, Y and Z values have been calculated: it is now
time to calculate its orientation. A suitable message is displayed to inform the user.

n. Touch OK key to confirm.

o. Touch Next key to proceed in defining the Tool orientation.

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Note that if the tool axes are parallel to the flange reference system ($TOOL(0)), it is
advisable to move the robot to the calibration position; such an operation has the
advantage to move all the tool three axes, parallel to the ones of the BASE without
moving the robot further.
In such case, in order to complete the orientation calculation, the operator must just
select which BASE semi-axes are parallel to Z_TOOL (step q.) and then X_TOOL (step
u.).
On the contrary, it is needed to conveniently orientate both Z_TOOL and X_TOOL
besides selecting the wished semi-axes.
See the corresponding steps described here on.

p. The program displays the following screen page, in which the resulting calculation
of being constructed Tool variable X, Y, Z is shown:

q. Select the wished robot BASE semiaxis (+ or - X_Base, + or - Y_Base, + or -

Z_Base)

r. Orientate the tool Z_tool (positive direction), parallel to the previously selected
direction, by rotating in TOOL coordinates and using 4 and 5 keys, until the
direction of the tool that is intended to be taken as the new Z_tool, exactly
corresponds in the wished direction and sense, to the BASE reference.

s. Touch Teach key to acquire the position.

t. Touch Next key to go ahead.

u. Select the wished robot BASE semiaxis (+ or - X_Base, + or - Y_Base, + or -

Z_Base)

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v. Orientate the tool X_tool (positive direction), parallel to the previously selected
direction, by rotating in TOOL coordinates and using 4 and 5 keys, until the
direction of the tool that is intended to be taken as the new X_tool, exactly
corresponds in the wished direction and sense, to the BASE reference.

w. Touch Teach key to acquire the position.

x. The program calculates A, E and R angles and displays the shown below page:

y. Check that the new orientation is the wished one actually.

z. To do so, move axes 4, 5, 6 in TOOL coordinates to check the new TCP lies still
on the reference (movements in the vicinity of 3 mm are accepted). If the check
result is ok, go to step ac.

aa. On the contrary, perform the following checks:

– robot calibration;
– the tool master dimensions declared in the Total Procedure;
– the reference point position (which should NOT change).

ab. Repeat the procedure from the beginning, after such checks.

ac. The user can choose the tool table element for saving the calculated data. Act as
follows:

ac.1 touch the Tools Combobox to open the list,

ac.2 select the wished tool by choosing it from the list (see previous figure),

ac.3 touch OK key.

ad. Touch OK key again to confirm saving.

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Using the procedure in case of NODAL System

NODAL SYSTEM
Note that in case of NODAL System, the screen page of calculated values saving, is the
shown below and the values are saved to $TOOL predefined variable, associated to the
current Arm.

12.3.4.2 REMOTE Tool calculation Procedure

In this environment the user can define the coordinates system of a fixed tool
(remote tool) using the robot as the measurement device.
For the LOCAL tool calculation the robot BASE is the origin of the reference system,
whereas for the REMOTE tool it is needed to define the X, Y and Z references of the tool
fixed on the robot flange and declared in the TOOL (Data Page) table, whose
coordinates are referred to as X_rif, Y_rif and Z_rif.

1. Flange frame 2. User frame 3. TCP frame

4. Fixed tool 5. Base frame 6. World frame

It is recommended to use the MASTER TOOL or a CALIBRATED TOOL, the same used
for the LOCAL Tool calculation procedure. As an alternative, it is also allowed to use a
specific position on the working piece (e.g. the being welded body), whose distance from
the flange center must be well known and precise.
As already said, to perfom the REMOTE Tool calculation, the user can choose between

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the following
– Standard Method
– 4-points method.

12.3.4.2.1 Standard Method

a. Select Remote and Standard (see below figure).

b. Touch Begin to start the procedure. The system displays the following page.

c. Check whether the Tool mounted onto the robot is the one wished for measuring
the Remote Tool (the use of the TOOL Master is recommended) and is enabled (if
not, enable it from within Motion Page).

d. Check the current Tool values: usually they are correct. If so, directly go to step e.
Viceversa, if any inaccuracies are detected, modify X, Y or Z components, as
follows:

d.1 touch Edit key,

d.2 edit the wished field(s), according to the Numeric field modality.

d.3 When all the modifications are completed, touch EndEdit key.
The Tool Master new value will be used until the end of the Tool calculation. Such
a value, if wished, can be saved in the TOOL table (Data Page) to make it
permanent.

e. Touch Next key to continue the calculation. The following page is then displayed
by the system.

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f. Move the robot to the remote Tool TCP.

g. Touch Teach key to acquire the reached position.

h. The system displays a message to inform that X, Y and Z components have been
calculated and the Remote Tool is now enabled.

i. Touch OK key to confirm. The following page is displayed by the system, showing
the calculated values.

j. Touch Next key to continue in the Remote Tool orientation definition. Please
remember that the Remote Tool is enabled!

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k. Orientate the Remote Tool Z_tool (positive direction), visualizing a virtual

movement of it, i.e. a virtual movement of the Remote Tool and NOT the robot
actual movement. For example: WITH REMOTE TOOL ENABLED, the robot
MUST move in Z DOWNwards to satisfy the Z+ movement in $BASE (UPwards
movement in Z), because in such a way it is like the remote tool (which actually is
fixed) is virtually moving upwards (i.e. Z+ in $BASE as wished from the user).

l. Select the wished semi-axis (+ or - X_Rif, + or - Y_Rif, + or - Z_Rif)

m. Touch Teach key to acquire the current position.

n. Touch Next key to continue.

o. Select the wished semi-axis (+ or - X_Rif, + or - Y_Rif, + or - Z_Rif)

p. Orientate X_tool_rmt (positive direction), i.e. the Remote Tool X_tool component,
according to the same criterion used in step k.

q. Touch Teach key to acquire the current position.

r. The program calculates A, E, R angles again and dispalys their values (see next
figure):

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s. The user can choose the tool in which the calculated data are to be saved. Act as
follows:

s.1 touch the Tool Combobox to open the list,

s.2 select the wished tool by choosing it in the list (see figure above),

s.3 touch OK key to confirm the choice of the tool in which the new values will be
saved.

t. Touch OK key again to confirm saving. A suitable message is displayed stating that
data have been saved and asking the user whether to let the remote tool enabled
or not.

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u. Touch Yes key or No key, as wished, to specify whether the remote tool is to kept
enabled or not.

Using the procedure in case of NODAL System

NODAL SYSTEM
Note that in case of NODAL System, the screen page of calculated values saving, is the
shown below and the values are saved to $TOOL predefined variable, associated to the
current Arm.
$TOOL_RMT predefined variable is set to TRUE: remote tool is enabled.

12.3.4.2.2 4-points method

As far as the theoretical description of this method, please refer to the usage of this
method for the LOCAL Tool (see par. 12.3.4.1.2 4-points Method on page 592.)

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a. Select Remote and 4-points (as shown in the previous figure) and then touch
Begin key.

b. The following page is displayed by the system:

c. Check the values of the currently mounted tool on the robot.

d. Jog the robot to the remote Tool TCP.

During this movement, the robot can take whichever orientation: the operator is
allowed to place the TCP on the reference to his/her liking, according to his/her
own needs.

e. As soon as the wished position is reached, touch Teach key to acquire the current
position.

f. Touch Next key to continue with point #2 acquisition. The following page is
displayed by the system:

g. Move the robot TCP to vary the reference point orientation.

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h. Touch Teach key as soon as the wished position is reached (point #2), to
acquire it.

i. Touch Next key to continue in the remaining points acquisition. The system
displays the page for acquiring point #3.
Note that, starting from point #3 acquisition, the program could be already able to
get X, Y and Z coordinates allowing to define the being measured Tool TCP.

j. If the measurement is not precise, some more points are required (repeat steps g.,
h. and i.), up to a maximum amount of 8 points.
If the program can succeed in properly calculating the being measured Tool, go
ahead with step n. to calculate the Tool orientation.

k. If, on the contrary, the program couldn’t calculate the Tool dimensions, even after
the acquisition of 8 points, the procedure must be executed again.
In such a situation the following message is displayed:

l. Touch OK key.

m. Start again from step a., but the user has to vary more the being acquired points
orientation.

n. Now, X, Y and Z values have been calculated for the Remote Tool: it is now
time to calculate its orientation. A suitable message is displayed to inform the user.

o. Touch OK key to continue. The following page is displayed:

p. Orientate the Remote Tool Z_tool (positive direction), visualizing a virtual

movement of it, i.e. a virtual movement of the Remote Tool and NOT the robot
actual movement. For example: WITH REMOTE TOOL ENABLED, the robot
MUST move in Z DOWNwards to satisfy the Z+ movement in $BASE (UPwards

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movement in Z), because in such a way it is like the remote tool (which actually is
fixed) is virtually moving upwards (i.e. Z+ in $BASE as wished from the user).

q. Select the wished semi-axis (+ or - X_Rif, + or - Y_Rif, + or - Z_Rif)

r. Touch Teach key to acquire the current position.

s. Touch Next key to continue.

t. Select the wished semi-axis (+ or - X_Rif, + or - Y_Rif, + or - Z_Rif)

u. Orientate X_tool_rmt (positive direction), i.e. the Remote Tool X_tool component,
according to the same criterion used in step p.

v. Touch Teach key to acquire the current position.

w. The program calculates A, E, R angles again and dispalys their values (see next
figure):

x. The user can choose the tool in which the calculated data are to be saved. Act as
follows:

x.1 touch the Tool Combobox to open the list,

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x.2 select the wished tool by choosing it in the list (see figure above),

x.3 touch OK key to confirm the choice of the tool in which the new values will be
saved.

y. Touch OK key again to confirm saving. A suitable message is displayed stating that
data have been saved and asking the user whether to let the remote tool enabled
or not.

z. Touch Yes key or No key, as wished, to specify whether the remote tool is to kept
enabled or not.

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Using the procedure in case of NODAL System

NODAL SYSTEM
Note that in case of NODAL System, the screen page of calculated values saving, is the
shown below and the values are saved to $TOOL predefined variable, associated to the
current Arm.
$TOOL_RMT predefined variable is set to TRUE: remote tool is enabled.

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UFRAME AUTOMATIC CALCULATION

12.4 UFRAME automatic calculation

12.4.1 Introduzione
In this environment a new reference system can be defined in relation to which the
work positions will be taught. The calculation precision is the robot one, since it is used
as the measuring device.
Detailed information is given on these subjects:
– Needed tools
– General characteristics
– Procedure.

12.4.2 Needed tools

The following topics are described:
– Tool with known dimensions mounted on Robot Flange
– 3 Reference Points (ORIGIN, Xpos and XYpos)

12.4.2.1 Tool with known dimensions mounted on Robot Flange

A tool must have been mounted on the robot flange that has known dimensions
declared in the $TOOL system variable.
It is advised to use the TOOL MASTER or CALIBRATED TOOL that was used for the
TOOL automatic calculation. As an alternative an identified tip on the work tool can be
used that has a distance from the robot flange centre that is known and precise.

12.4.3 General characteristics

None of the robot positions on the 3 reference points are rigid: the operator can position
the TCP on the references as preferred, according to requirements.
At the end it is possible to save the Frame calculation in the TU_FRAME table.

12.4.3.1 3 Reference Points (ORIGIN, Xpos and XYpos)

3 reference points have to be identified on the workpiece :
– ORIGIN: where the FRAME origin will be fixed;
– Xpos: X-frame direction and sense
– XYpos: Y-frame direction and sense.
The direction and sense of the Z-frame are always considered outgoing upwards as to
the XY-frame plane.
The $UFRAME is always calculated in relation to the robot environment that coincides
with the origin of the robot base when $BASE=0

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12.4.4 General characteristics

None of the robot positions on the 3 reference points are fixed: the operator can position
the TCP on the references as preferred, according to his/her needs.
At the end, it is possible to save the Frame calculation results to the FRAME (Data Page)
table or to the dedicated predefined variable ($UFRAME) in case of NODAL
configuration system.

12.4.5 Procedure
Open the Setup page, then select Motion icon, choose Frames environment and finally
touch Uframe icon, to activate the UFRAME Automatic Calculation Procedure.

When opening this environment, a page is displayed in which the currently active tool is
shown in the tools selection combobox, together with the indication whether it is local or
remote.

In case of nodal system, the active tool value is directly displayed, together with the
indication whether it is local or remote.

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Depending on whether the active tool is Local or Remote, either the LOCAL UFRAME
automatic calculation procedure or REMOTE UFRAME automatic calculation procedure
is started as soon as Begin key is touched.

12.4.5.1 LOCAL UFRAME automatic calculation procedure

a. If the user wishes to change the being used tool for the uframe calculation,
choosing another mounted on the flange and properly quoted tool, instead of the
calibrated one, he/she can choose it from the associated list of Tool used for
UFRAME computation field.

b. Choose the wished tool and touch OK key to confirm.

c. The choosen tool is selected by the system and a suitable message is displayed to
inform the user that the tool has been activated. Touch OK key to continue.

d. Move the tool TCP to ORIGIN position.

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e. Touch Teach key to acquire the current position.

The robot may be in any position: the operator can move the TCP to ORIGIN point as
preferred, according to requirements.

f. Touch one of the following keys, according to the actual needs:

– Next - allows accessing Xpos point teaching phase
– Cancel - allows repeating the teaching phase from the beginning

g. Move the tool TCP to Xpos position and then touch Teach key to acquire it.

The robot may be in any position: the operator can move the TCP to Xpos point as
preferred, according to requirements.

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h. Touch one of the following keys, according to the actual needs:

– Previous - allows modifying the Origin point, teaching it again
– Next - allows accessing XYpos point teaching phase
– Cancel - allows repeating the teaching phase from the beginning

i. Move the tool TCP to XYpos position and then touch Teach key to acquire the it.

The robot may be in any position: the operator can move the TCP to XYpos point as
preferred, according to requirements.

j. Touch one of the following keys, according to the actual needs:

– Previous - allows modifying the Xpos point, teaching it again
– Next - allows finishing the teaching phase and activating the new Uframe
calculation
– Cancel - allows repeating the teaching phase from the beginning.

k. The program displays $UFRAME calculated values (XYZ relocations and AER
orientations).

Check the correctness of the calculated Uframe, by jogging in UFRAME mode

(select COORD menu within the Motion Page) and furthermore, check that the so
defined Origin position for such a Uframe is reached.

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l. If the calculated UFRAME is not satisfactory, check the following:

– Robot calibration;
– $TOOL values (referred to the tool mounted on the flange);
– the 3 reference points (check that the 3 points are separated enough)

m. It is also allowed to manually edit the obtained numerical values, in the Uframe
cells:

m.1 touch Edit key and act on the individual fields, according to the suitable modality
for Numeric fields.

m.2 Touch EndEdit key to finish.

Note that, when a modification (editing) has been executed, MovOrigin key will no
longer be available.

n. Continue with saving the calculated values, going to step q.

o. If, instead, the taught positions don’t allow the Uframe calculation, an error is
returned, as shown in the following example (the taught points are too close), and
the procedure must be executed again from the beginning.

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p. In such a situation, check:

– the 3 reference points (check that the taught points are separated enough).

q. Touch OK key to confirm the calculated values.

r. The dedicated page for such values saving is then displayed.

s. The user has to choose the wished element from the frames table, for saving the
calculated Uframe. Act as follows:

s.1 open the list by touching the frames Combobox (see previous figure),

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s.2 choose the wished frame from the list,

s.3 touch OK key to confirm the choice.

The program goes back to the saving values page.

t. Touch OK key to confirm saving.

12.4.5.2 REMOTE UFRAME automatic calculation procedure

When a Remote Tool is declared and activated (from Motion Page), the target of the
Uframe calculation program is to calculate the REMOTE Uframe. Obviously, the
Remote field is selected in the procedure home page.
In such a situation, the mounted object onto the robot flange becomes the REMOTE
UFRAME with its own reference system, and the program will allow to define a new
reference system for the working positions teaching operations.
The calculation precision is the robot one, since it is used as the measuring device.

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Before starting the procedure, choose the being used tool from the Tools List (touch
Tool used for UFRAME computation field) and touch OK key to confirm.
The system selects the chosen Tool and displays a suitable message to inform the user
that such a Tool is now active.
In case of nodal configured system, the active Tool value is directly displayed, together
with the indication of Remote Tool.

CAUTION: always keep in mind that the Remote Tool is enablactive! Which means to
be aware that in the cartesian motion (BASE, TOOL, UFRAME), with REMOTE TOOL
ENABLED, the virtual movement of the Remote Tool is to be taken into account,
INSTEAD OF the robot actual movement.

Then the current procedure is exactely the same as LOCAL UFRAME automatic
calculation procedure.
Touch Begin key and executes all steps from d. to t.

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BASE AUTOMATIC CALCULATION FOR POSITIONERS

12.5 BASE automatic calculation for positioners

12.5.1 Introduction
In this environment the user can define the reference frame of a positioner referred
to the robot, in order to iallow the cooperative motion of the robot and such a positioner.
The calculation precision is the robot one, since it is used as the measuring device.
Detailed description is supplied about the following topics:
– Needed tools
– General characteristics
– Procedure.

12.5.2 Needed tools

A detailed description is provided about the following topics:
– Tool with known dimensions mounted on Robot Flange
– 3 reference points (P1, P2, P3) if working with the 3 points method is chosen
– 1 reference point (P1) on the plate, if working with the 1 point method is chosen.

12.5.2.1 Tool with known dimensions mounted on Robot Flange

A Tool with known dimensions and declared in the $TOOL system variable must have
been mounted onto the robot flange. The use of either the Tool Master or Calibrated
Tool is recommended.
It is also allowed using a position located onto the working tool, which distance from the
robot flange center must be known and precise.

12.5.2.2 3 reference points (P1, P2, P3)

The 3 reference points are always present on COMAU positioners.
They could be either some threaded holes, where the 150 mm calibrated tool can be
screwed, or some stamped references on the positioner.

12.5.2.3 1 reference point (P1)

The single reference point is not present onto Comau positioners.
It is the user’s care to stamp it on, keepeing in mind that it will represent the $BASE
negative Y direction, in the calculation.

12.5.3 General characteristics

– All the robot positions on the 3 points are not rigid: the operator can position the
TCP onto the references at will, according to requirements.

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– The calculated values are saved to <$SYS_ID>.C5G configuration file, so they can
be retrieved by means of the Load command, available in the Configure
environment, System subpage of the Setup page.
– The positioner can be seen by the system either as an auxiliary axis or as ARM (in
case of multi-arm). In the first case the axis which the positioner is associated to,
must have already been defined.
– The calculated values will be automatically assigned to the following system
variables:
• auxiliary axis
$ARM_DATA[narm].AUX_BASE[npositioner]
• arm
$ARM_DATA[narm].BASE

12.5.4 Procedure
Open the Setup page, then select Motion icon, choose Frames environment and finally
touch Base icon, to activate the BASE Automatic Calculation Procedure for Positioners.

The following page is displayed at the procedure activation.

Touch POSITIONER field.

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The user should choose

– the Positioner Type:
• Auxiliary axes (see Auxiliary Axis Positioner Procedure) or
• Arm (see Arm Positioner Procedure)
– the chosen teaching Method
• 1-point method - this method is recommended when either it is needed to
calculate the $BASE with mounted toolig or the points reachability on the
positioner can be guaranteed by moving the positioner only.
• 3-points method - this method is recommended in case in which the 3 points
on the plate are easily accessible by the robot only.
– the Positioner itself, choosing it from the associated list of either PosNum or
ArmNum field, depending on whether the positioner is considered as being an
Auxiliary Axis or an Arm, by the current system configuration.
The program displays the currently selected $TOOL variable values.
Such values are referred to the mounted on the flange tool. The calibrated tool values,
which can be edited if needed, are displayed in the Equipment fields.

12.5.4.1 Auxiliary Axis Positioner Procedure

a. After the general choices have been made, touch Begin key to start teaching
positions according to the chosen method (1-point method or 3-points method).

b. If the condition is not satisfied yet, the program first asks the user to move the
positioner so that all its axes are in the zero position.

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c. Touch OK key.
Continue the execution of the suitable procedure, according to the previously
chosen teaching method.

d. 1-point method

d.1 Move the robot to the identified point on the plate (see previous figure on the left)

d.2 Touch Teach key to acquire the reached position (see previous figure on the right)

d.3 Check (displayed values in Posner field, for the existing axes) the positioner is in
the right position (0°) and NO MORE moved.

d.3.1 On the contrary, the following message is displayed

d.3.2 Correct the position, by properly jogging the axis or executing a motion statement
(e.g. from the Execute environment), on the joints defined for such a positioner.

d.3.3 Touch OK key to confirm and then Next key to continue with the next phase.

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d.4 Rotate the positioner so that its last axis is moved to +60° and be sure it is not
longer moved from such a position.

d.5 Move the robot to the defined position on the plate, which shows to be rotated of
+60° compared to previous step (step d.1)

d.6 Touch OK key at the end of the robot movement and then Teach key to acquire
the reached position.

d.7 Touch Next key to continue with the next phase.

d.8 Rotate the positioner so that its last axis is moved to +120° and be sure it is not
longer moved from such a position.

d.9 Move the robot to the defined position on the plate, which shows to be rotated of
+120° compared to previous step d.1

d.10 Touch OK key at the end of the robot movement and then Teach key to acquire
the reached position.

If the taught positions do NOT allow the BASE calculation, e.g. if they are too close
among them, the program issues the following message.

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d.11 If the calculation was possible, the program displays $AUX_BASE resulting values
(XYZ relocations and AER orientations) and goes on with saving operation, by
means of the following page.

d.12 Touch OK key to confirm saving.

d.13 At saving end the user should move the positioner axes in JOINT mode, to check
whether the cooperative motion between robot and positioner is properly executed.
This test can be performed just when the cooperative motion is active (see COOP
information in the Status bar).

If not, check the following:

– robot calibration;
– $TOOL values (they must refer to the currently mounted tool on the flange);
– the actual positioner used in the computation
– the reference points (check whether the required sequence has been
respected)
and start the procedure again from the beginning.

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e. 3-points method
With this method, the robot is moved to three different points existing onto the
positioner which should NEVER be rotated.
In this case too, the positioner must have all axes in zero position.

e.1 Move the robot to the first marked point on the positioner.

e.2 Touch Teach key to acquire the reached position.

e.3 Touch Next key to continue with teaching the next position.

e.4 A message is issued to inform the user about the next steps. Touch OK key to
confirm

e.5 Move the robot to the second marked point on the positioner.

e.6 Touch OK key at the end of the robot movement.

e.7 Touch Teach key to acquire the reached position.

e.8 Touch Next key to continue with teaching the next position.

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e.9 A message is issued to inform the user about the next steps. Touch OK key to
confirm.

e.10 Move the robot to the third marked point on the positioner.

e.11 Touch OK key at the end of the robot movement.

e.12 Touch Teach key to acquire the reached position.

If the taught positions do NOT allow the BASE calculation, e.g. if they are too close
among them, the program issues the following message.

e.13 If the calculation was possible, the program displays $AUX_BASE resulting values
(XYZ relocations and AER orientations) and goes on with saving operation, by
means of the following page.

e.14 Touch OK key to confirm saving.

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e.15 At saving end the user should move the positioner axes in JOINT mode, to check
whether the cooperative motion between robot and positioner is properly executed.
This test can be performed just when the cooperative motion is active (see COOP
information in the Status bar).

If not, check the following:

– robot calibration;
– $TOOL values (they must refer to the currently mounted tool on the flange);
– the actual positioner used in the computation
– the reference points (check whether the required sequence has been
respected)
and start the procedure again from the beginning.

12.5.4.2 Arm Positioner Procedure

a. Be sure the selected positioner Arm is the right one (ArmNum field). Change it if
needed, acting as follows:

a.1 touch ArmNum Combobox

a.2 select the wished Arm from the displayed list

a.3 touch OK key to confirm the choice.

b. Select the wished method for the positioner base calculation. Modify the equipment
values if needed.

a. After the general choices have been made, touch Begin key to start teaching
positions according to the chosen method (1-point method or 3-points method).
From here on, the being followed steps are exasctly the ones described for the auxiliary

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axes positioner.
The basic difference is that to move the positioner to the zero position or to any other
position during the 1-point method execution (+60° and +120°), switching the Arm is
needed each time, on the Teach Pendant, according to requirements.
To do so, the Arm button can be used.
The number of the currently active Arm on the Teach Pendant is displayed in the Arm
field of the Status bar.

At the end of the procedure, the calculated BASE for the positioner can be saved to
$ARM_DATA[n].BASE, as shown in the following figure.

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AUTOMATIC PAYLOAD IDENTIFICATION (OPTIONAL FEATURE)

13. AUTOMATIC PAYLOAD IDENTIFICATION

(OPTIONAL FEATURE)

Automatic Payload Identification

The option code is CR17926202.

The anthropomorphic robots are provided with complete dynamic model on all six
axes.
Because of the model's sensitivity to the declared payload parameters, it is necessary
that the user checks the proper definition of the used payload, in every situation.
In effect, an imprecision in the declaration of the payload characteristics has a negative
influence on the robot performances.

Warning: for safety reasons it is very important that the machine is not used before
having defined the payload values.
The omission or a rough error in the payload declaration could create potentially
hazardous situations for the users and for the fixtures

This paragraph supplies information related to

– Basic concepts about Payload Identification
– Procedure for Payload Identification
– Payload Validation Software (SMART Payload).

13.1 Basic concepts

The determination of the payload characteristics takes place using the specific
procedure.

During the Payload Identification procedure also the outfitting weight component (e.g.:
cable) is identified.
If it is wished to execute the procedure with outfitting present (e.g. cables) applying a
significant traction (for example on the wrist structure), it is advised to remove them
where possible, or in any case ensure that their presence does not influence the results
of the procedure.

For the identification, Comau requires movements WITH the payload only.

The Payload identification procedure, runs two separate movement programs that
involve the wrist axes, and, partially, robot axis 3, and recalculates the values of the
following system variables:

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– $TOOL_MASS (kg)
– $TOOL_CENTER (x, y and z)
– $TOOL_INERTIA[1..6] (it is only necessary to supply items from I1 to I6, in
kg/sq.m, since the Inertia matrix is symmetrical). The useful reference system to
define the Inertia matrix is the one of the tool ($TOOL_CNTR), with origin in the
COG (Centre Of Gravity).
Once this has been determined, the parameters will be immediately active and
automatically stored in the specific table created by TO_SET (TT_TOOL1.var), to be
called up when executing the motion cycles, each time the same payload is used.

It could happen that, individually, the values produced by the Payload identification
procedure have a certain tolerance in relation to the actual values. In any case, due to
the way the dynamic model is designed, the total consistency of such values is
important.

13.2 Procedure
The motion programs for the Payload identification are supplied by Comau in PDL2
language and differ depending on the robot model, on the basis of the robot kinematic
features. Their use is strongly recommended, unless there are physical impediments in
the robot working area.

Before installation, check that the overall dimensions caused by the presence of any
fixtures installed in the robot operating area, allows the complete execution of the
programs available for the Payload identification, supplied by Comau.
If there is not space enough, it is advised to run this procedure BEFORE the final
positioning of the robot in the cell or line; if, in spite of the limited space, it is decided to
run the procedure, the user can change the Payload identification programs, reducing
the axis strokes and/or changing the position of some of them (for example axis 1 and
2): in any case, the variations are to be made in compliance with the fundamental
requirements needed for the modification of the Payload identification programs (see
par. 13.2.1 Requirements to modify the Payload Identification programs on page 629).

The entire Payload Identification procedure is performed with the DYNAMIC

MODEL automatically DEACTIVATED by the system.

The current section provides the follwing information:

– Requirements to modify the Payload Identification programs
– Activation and execution of the Payload Identification procedure

13.2.1 Requirements to modify the Payload Identification

programs
When modifying the Payload Identification programs, always ensure to:
– keep axis 3 in horizontal position

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– allow a meaningful stroke for the involved axes.

The user is allowed to operate, reducing the movement interval of the individual axes,
move axis 1 as desired and move axes 2 and 3 as necessary, but ALWAYS ensuring
that axis 3 is horizontal to the floor.
Since any modifications to motion programs could reduce the precision of the
Identification procedure results, Comau Robotica can supply an off-line tool to validate
the results, upon request. See par. 13.3 Payload Validation Software (SMART Payload)
on page 639.

13.2.2 Activation and execution of the Payload Identification

procedure
The procedure can be accessed from the Setup page, Motion subpage, by touching
Payload icon (see the following figure).

a. At the activation, a page is displayed to allow the user to choose whether to use a
system predefined position (calibration position) or a user defined position, as the
initial one.

b. Touch Begin key to start the procedure.

c. Execute one of the following sequences, depending on the chosen position:

c.1 Predefined Position - on the Teach Pendant keep pressed both the Enabling
Device and START buttons, during the whole movement.

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Movements involving axes 3, 4, 5 and 6 are envisaged by the procedure.

c.2 Wished position - move the robot to such a position, taking care of keeping axis 3
parallel to the robot base and axes 4, 5 and 6 at a quote less than 0.5 degrees (see
par. 13.2.1 Requirements to modify the Payload Identification programs on
page 629).

c.2.1 The following page is displayed:

c.2.2 Touch Teach key.

c.2.3 The following message is issued:

d. In both cases, when the robot has reached the destination, the procedure asks the
user to enter IDE environment to run the reaches check program.

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e. Access to the IDE Page from the Desktop Page, as shown in the following figure,
in order to be able to step-by-step execute the program.

f. Usually the program is automatically open. If, due to any reason, the program is not
active, select it by means of Open command

g. At the end of the step-by-step execution, the program is deactivated; close IDE
environment and go back to the Payload Identification page (see next figure).

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h. Touch Next to continue the procedure.

i. In case in which the choice has been Wished postion and, during the execution in
IDE environment, it is realized that some modifications to the program are needed,
e.g. due to encumbrances presence, in this phase it is allowed modifying the initial
position and/or restrict one or more axes range.
If no modifications are required, touch Next key to directly go to j. step

i.1 If the choice is modify the initial position, move the robot to the wished position,
taking care of the needed requirements (see par. 13.2.1 Requirements to modify
the Payload Identification programs on page 629).

i.1.1 Touch Teach key to teach the new initial position.

i.2 If the choice is restrict one or more axes range, touch ModAxes key to make such
axes fields editable

i.2.1 Modify the wished fields, depending upon their own datatype (Numeric field).

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i.2.2 Touch EndMod key to confirm, as shown in the previous figure.

i.3 Next - proceed with the reaches check program execution, in IDE environment (go
back to e., f. and g. steps).

i.4 Cancel - interrupt the procedure and go back to the starting page (step a.).

j. A system message warns the user that the preliminary phase is accomplished.

k. Go ahead with the procedure execution, according to the system indications: turn
the modal selector switch to LOCAL (AUTO) and touch Next key.

l. A warming phase is recommended before executing the Payload Identification

program in Local state, in which some movements are performed involving the
wrist axes and axes 3. The user is then asked whether executing such a phase or
not is wished.

m. If NOT executing the automatic warming procedure is wished, touch No and go to

step t.; if executing the automatic warming is wished, tuouch Yes.

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n. Switch the system to DRIVE ON, touching DRIVE key in the right menu (as shown
in the following figure).

o. Press START to begin warming. Wait for its completion.

Pressing HOLD the procedure is interrupted and can no longer be continued.

p. When the warming phase is completed (the user is warned about that by means of
an informational message), switch the system state to DRIVE OFF and touch Next
key.

q. The user is asked to set $GEN_OVR to 100%. To do so, touch the highlighted field
in the previous figure.

r. The system opens Arm Override Page. The user just has to touch 100% column.

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s. Touch the closure key to go back to the Payload Identification procedure.

To modify the General Override it is also allowed to act on +% and -% keys, on the
Teach Pendant, as shown in the following figure.

t. Then switch to DRIVE ON and press START.

u. The Automatic Payload Computation phase automatically starts

v. Do not touch anything in this phase, otherwise the calculation should be executed
again from the beginning. Just if really needed, press HOLD to stop motion and
start the working cycle again.

w. At the end of this phase, touch Next key when required by the system.

x. The user is asked whether any restrictions exist preventing the program to be
executed at maximum speed.

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y. Answer Yes or No, as wished, and then touch Next to go ahead. Depending on the
user’s answer, the system will automatically set the override to either 100% or
60%, and perform the working cycle for some minutes.

z. Switch the system to DRIVE OFF by means of the DRIVE key (highlighted in the
previous figure).

aa. Switch the system to DRIVE ON again and press START to cause the motion to
begin.
The actual Automatic Payload Identification program is then executed.

ab. At the end, put the system to DRIVE OFF

ac. Touch Next key.

ad. Now the procedure computes all data gathered during the motion program. Wait
for the operation completion.

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ae. At the identification end, confirm the informational message by touching OK key.

af. Touch Next key to continue.

ag. The calculated values (mass, mass and inertia centre) and a field in which it is
allowed to select either the Tools (Local payload) or the Frames (Remote payload)
table element for storing such values, are then displayed.

ah. Touching OK key data are saved into the specified element of either
TT_TOOL.VAR table if LOCAL Tool, or TU_FRAME.VAR table if REMOTE Tool.
Viceversa, touching Cancel key, the calculated data are ignored.
The program returns back to the starting page, in both cases.

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ai. Touch either Quit key to finish or Begin key to start the procedure again.

13.3 Payload Validation Software (SMART Payload)

Comau Robotics supplies, upon request, an off-line software tool called SMART
Payload, to check the correctness of the values calculated by the Payload Identification
procedure.
This tool checks that the obtained payload values are within the limits set by the static
load curve of the specific robot.

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14. COMAU WEBSERVER

14.1 Introduction
The current chapter contains detailed information related to the Comau WebServer
software usage.
It is available on the Comau Control Units and allows communicating with them, by
means of a standard web browser on a PC.
More in details, this chapter describes:
– Basic issues
– Adding an app
– Available REST API functions
– Using an app
– Example.

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14.2 Basic issues

The Comau WebServer application allows interacting from remote with the Control Unit,
according to the Client-Server modality, by means of web pages (referred to as apps,
i.e. web applications, in the current chapter description) created by the user.
Such apps allow the user to
– reading a set of meaningful system variables,
– reading and writing program variables ,
– activating programs
– executing routines.
To use the Comau WebServer, in order to issue the wished queries, the user should
create his/her own app and insert it suitably in the software structure of the Control Unit,
as described in par. 14.3 Adding an app on page 642.
Further detailed information about the available functions from the app, are provided in
par. 14.4 Available REST API functions on page 647.

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14.3 Adding an app

To add a new customized app, and make it available to the Comau WebServer, the
user must insert its folders and associated files, in the suitable folder of the concerned
Control Unit.

NOTE
Describing how to create a web page is beyond the purpose of the current chapter.

The following two dedicated folders structures are available in the Control Units
supporting the Comau WebServer software:
– web
– www.

web
This folders structure (UD:\sys\web) is intended to include:
– .xml files providing the WebServer with full information for loading each app. The
information included in such files are acquired by the WebServer software at
system startup/restart time only
– folders including all the available apps from WebServer. Such folders are copied
to the www structure at each system startup/restart operation.
The .xml files (described above) are NOT copied.

www
This folders structure (UD:\sys\www) includes all the apps. The WebServer software
loads them from this folders, upon request from the Client.

CAUTION - The content of this structure is overwritten at each startup/restart operation,

with the web structure content.
Therefore, if any changings are made to the files/folders included in the www structure,
they MUST BE copied to the web structure, otherwise they will be overwritten at the next
system restart operation.
It is then suggested to develop user apps on a PC and then copy them to the Control
Unit, both in the web and www structures, in order to avoid any inadvertent loss of data

14.3.1 Example of Comau structure for user apps

In the current section, an example is provided of folders structure for a general app on
the Comau Control Unit.
The final par. 14.6 Example on page 657 provides the content of all the user files related
to the sample app .
Each web pages creator is anyway allowed to choose his/her own folders structure; the
only constraint is to suitably insert it into the web and www folders.

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Example
Let’s suppose to create an app called DemoPage.
As described in par. 14.3 Adding an app on page 642, such a new app files, meaning
.html, .xml and any other needed files (.css, .js, images files, etc), must be present in
the provided structures.
First of all, in folder

UD:\sys\web
the following files must be present:
1. the .xml file related to the app; DemoPage.xml, in our example

2. the app main folder; DemoPage, in our example.

CAUTION
When creating the new app, when all the files have been inserted into the suitable
folders of the web structure, it is needed to restart the system, so that the following
operations are automatically executed
– acquire full information from DemoPage.xml file,
– copy the structure existing in UD:\sys\web\DemoPage, to the structure in
UD:\sys\www\DemoPage (from which the WebServer loads the apps). See
figure below.

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14.3.2 .xml file

The .xml file in our example, i.e. DemoPage.xml, has got the following content:

<?xml version="1.0"?>

<config>
<app>
<name>DemoPage</name>
<home>DemoPage</home>
<img>../DemoPage/images/DemoPage.png</img>
<remote>unique</remote>
</app>
</config>

where:
– name - is the name displayed under the app icon, in the WebServer home page
(as shown in the figure below).
When such an information is not provided, the used name is the one specified in
the home tag.

– home - name of the app main folder, i.e. the one containing its related index.html
file. It must always be specified.

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– img - name of the image type file (.png, .gif, .jpg, etc) to be used as icon in the
WebServer home page.
The image size must be 100x100 pixel.
If either the file does not exist or the img tag is missing, the Comau logo is used as
default.
In our example, the image file exists and is called DemoPage.png.

– remote - specifies the chosen access modality to the app:

• unique - allows one access at a time to the same app
• yes - allows more Clients accessing to the same app
• no - reserved.
It must always be specified.

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14.3.3 app main folder

In our example, this folder is called DemoPage and includes the following elements:

1. the index.html file defining the app

2. the following subfolders

– assets containing the following subfolders, in turn
• css (including .css files)
• js (including .js files) - for further details about the available JavaScript
functions to interact with the Comau WebServer, refer to par. 14.4
Available REST API functions on page 647

– images including the DemoPage.png file of the icon displayed in the

WebServer home page, as described in par. 14.3.2 .xml file on page 644,
specified with the img tag.
Any other needed files of images used by the app, are also included in this
folder.

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14.4 Available REST API functions

The user can define some REST API functions, in the .js files, to be used for interacting
with the Control Unit.
The Comau WebServer, answers the following queries, included in three groups:
– get functions
– run functions
– set functions.

14.4.1 get functions

– get?arm_pos
– get?arm_jntp
– get?arm_mask
– get?arm_safe_mask
– get?stroke_end
– get?tool
– get?arm_base
– get?arm_uframe
– get?arm_type
– get?arm_cal_sys
– get?arm_cal_usr
– get?sys_state
– get?scv
– get?home_info
– get?date_time
– get?sysvar=sysvar_name
– get?dirList=path_specification
– get?var=var_name&prog=prog_name
– get?varList&prog=prog_name
– get?app_list
– get?dev_list
– get?file_list&path=path_specification.

14.4.1.1 get?arm_pos
Returns the TCP current cartesian position and orientation, for the specified arm. The
default arm is 1.

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Options
– index - specifies the arm index. Range [1..4]. If out of range, the returned value is
related to arm 1.

Example
Queries the TCP current cartesian position for arm 2

get?arm_pos&index=2

14.4.1.2 get?arm_jntp
Returns the current joint position of the specified arm. The default arm is 1.

Options
– index - specifies the arm index. Range [1..4]. If out of range, the returned value is
related to arm 1.

Example
Queries the current joint position for arm 2

get?arm_jntp&index=2

14.4.1.3 get?arm_mask
Returns the information about the axes presence for the specified arm. The symbol “-”
is returned for the corresponding missing axis. The default arm is 1.

Options
– index - specifies the arm index. Range [1..4]. If out of range, the returned value is
related to arm 1.

Example
Queries the information about the axes presence, for arm 1.

get?arm_mask&index=1

14.4.1.4 get?arm_safe_mask
Returns the information about the safe axes presence, for the specified arm. The default
arm is 1.
The corresponding index is returned for each SAFE axis; the symbol “-” is returned for
each NON-SAFE one.
For example, the following returned value
[“1”,”2”,”3”,”4”,”5”,”6”,”7”,“-”,“-”,“-”]
states that the first 7 axes are SAFE.

Options
– index - specifies the arm index. Range [1..4]. If out of range, the returned value is
related to arm 1.

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Example
Queries the information about the safe axes presence, for arm 2.

get?safe_mask&index=2

14.4.1.5 get?stroke_end
Returns the positive and negative stroke ends for each axis of the specified arm. The
default arm is 1.

Options
– index - specifies the arm index. Range [1..4]. If out of range, the returned value is
related to arm 1.

Example
Queries the positive and negative stroke ends for each axis of arm 2.

get?stroke_end&index=2

14.4.1.6 get?tool
Returns $TOOL predefined variable value, i.e. current tool position and orientation, for
the specified arm. The default arm is 1.

Options
– index - specifies the arm index. Range [1..4]. If out of range, the returned value is
related to arm 1.

Example
Queries the current tool value for arm 1

get?tool&index=1

14.4.1.7 get?arm_base
Returns $BASE predefined variable value, i.e. current base position and orientation, for
the specified arm. The default arm is 1.

Options
– index - specifies the arm index. Range [1..4]. If out of range, the returned value is
related to arm 1.

Example
Queries the current base value for arm 2

get?arm_base&index=2

14.4.1.8 get?arm_uframe
Returns $UFRAME predefined variable value, i.e. current user frame position and
orientation, for the specified arm. The default arm is 1.

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Options
– index - specifies the arm index. Range [1..4]. If out of range, the returned value is
related to arm 1.

Example
Queries the current user frame value for arm 2

get?arm_uframe&index=2

14.4.1.9 get?arm_type
Returns the type of each axis belonging to the specified arm:
– 0 = rotational
– 1 = linear
The default arm is 1.

Options
– index - specifies the arm index. Range [1..4]. If out of range, the returned value is
related to arm 1.

Example
1. Queries the axis type for each axis of arm 1

get?arm_type

2. Queries the axis type for each axis of arm 2

get?arm_type&index=2

14.4.1.10 get?arm_cal_sys
Returns the system calibration position ($CAL_SYS) for the specified arm. The default
arm is 1.

Options
– index - specifies the arm index. Range [1..4]. If out of range, the returned value is
related to arm 1.

Example
1. Queries the system calibration position for arm 1

get?arm_cal_sys

2. Queries the system calibration position for arm 2

get?arm_cal_sys&index=2

14.4.1.11 get?arm_cal_usr
Returns the user calibration position ($CAL_USER) for the specified arm. The default

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arm is 1.

Options
– index - specifies the arm index. Range [1..4]. If out of range, the returned value is
related to arm 1.

Example
1. Queries the user calibration position for arm 1

get?arm_cal_usr

2. Queries the user calibration position for arm 2

get?arm_cal_usr&index=2

14.4.1.12 get?sys_state
Returns the base 10 integer value contained in $SYS_STATE predefined variable,
which represents the complete system state.

NOTE
For a proper understanding of the returned value, refer to PDL2 Programming
Language manual, chap. Predefined Variables List, par. $SYS_STATE.

Example
Queries the complete system state

get?sys_state

14.4.1.13 get?scv
Returns the system information supplied by the SetControllerView command.

Example
Queries the system information

get?scv

14.4.1.14 get?home_info
Returns the following information, which are the same displayed in the TP5 Home Page:
– Control Unit name ($CUSTOM_CNTRL_ID)
– arm type ($RB_NAME)
– arm name assigned by the user ($CUSTOM_ID)
– Control Unit identifier ($SYS_ID)
– system software version ($VERSION).

Example
Queries the system information displayed in the Teach Pendant Home Page

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get?home_info

14.4.1.15 get?date_time
Returns the system date and time information in yyyy-mm-dd_hhmmss format (e.g.
“2020-02-24_152654” indicates 3:26:54 pm of february 24th 2020).

Example
Queries the system date and time

get?date_time

14.4.1.16 get?sysvar=sysvar_name
Returns the value of the specified predefined variable. The supported predefined
variables are the ones of static and field Memory Categories.
If an arm specification is required, the default is arm 1.

Options
– index - specifies the arm index. Range [1..4]. If out of range, the returned value is
related to arm 1.

Example
1. Queries the value of $GEN_OVR predefined variable

get?sysvar=$gen_ovr

2. Queries the value of $LIN_SPD predefined variable for arm 2

get?sysvar=$lin_spd&index=2

14.4.1.17 get?dirList=path_specification
Returns the list of the directories included in the specified path. The search path of the
wished directory must be always specified (see examples below). There is not a default
path.

Example
1. Queries the list of the directories included in UD:\sys

get?dirList=UD:\sys

2. Queries the list of the directories included in UD:

get?dirList=UD:

14.4.1.18 get?var=var_name&prog=prog_name
Returns the value of the specified variable, owned by the specified program.

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– var - indicates the wished variable name

– prog - indicates the name of the program owning the variable.

CAUTION
– The owning program must be already loaded in the execution memory.

Examples
1. Queries the value of my_var variable owned by my_prog program.

get?var=my_var&prog=my_prog

14.4.1.19 get?varList&prog=prog_name
Returns the list, sorted by name, of the variables belonging to the specified program,
currently loaded in the execution memory.
– prog - indicates the name of the program owning the variables to be listed.

Example
Queries the list of my_prog program variables

get?var_list&prog=my_prog

14.4.1.20 get?app_list
Returns information included in the corresponding .xml file, for each app available from
the WebServer home page.
The returned information for remote tag, has the following meaning:
– 0 = no
– 1 = yes
– 2 = unique.

Example
Queries the list of the available apps .

get?app_list

14.4.1.21 get?dev_list
Returns the list of the Control Unit memory devices.

Example
Queries the list of the Control Unit memory devices

get?dev_list

14.4.1.22 get?file_list&path=path_specification
Returns the list of the files included in the specified path. The path must always be

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specified. There is not a default path.

– path - specifica il path di ricerca per la directory che contiene i file da elencare.

Opzioni
– file_type - indicates the file type: either extension (pdl, cod, var, etc) or the
keyword directory.
– with_dir - indicates whether the directories only must be listed (true). The default
is false.

Examples
1. Queries the list of the included files in UD:\SYS folder

get?file_list&path=UD:\SYS

2. Queries the list of pdl type files in UD:\SYS

get?file_list&path=UD:\SYS&file_type=pdl

3. Queries the list of the included directories in UD:\SYS

get?file_list&path=UD:\SYS&with_dir=true

get?file_list&path=UD:\SYS&file_type=directory

14.4.2 run functions

– run?program_go&prog=prog_name
– run?routine=rout_name&prog=prog_name
– run?program_deact&prog=prog_name.

14.4.2.1 run?program_go&prog=prog_name
Loads the specified program into the execution memory and activates it.
– prog - indicates the name of the program to be loaded and activated.
Unless otherwise specified, the program is searched for in UD: (default)
The user is allowed to specify the program path (as shown in example no.2 below).

Examples
1. Queries to load and activate my_prog program. It is searched for in UD:

run?program_go&prog=my_prog

2. Queries to load and activate my_prog program. It is searched for in UD:\usr

run?program_go&prog=UD:\usr\my_prog

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14.4.2.2 run?routine=rout_name&prog=prog_name
Executes the specified routine belonging to the specified program.
– routine - indicates the name of the being executed routine
– prog - indicates the name of the program which the routine is exported from.

CAUTION
– The owning program must be currently loaded in the execution memory
– The routine must be declared to be EXPORTED FROM.

Example
Queries to execute my_rout routine belonging to my_prog program currently loaded in
the execution memory.

run?routine=my_rout&prog=my_prog

14.4.2.3 run?program_deact&prog=prog_name
Deactivates the specified program.
– prog - indicates the name of the being deactivated program. It must be present in
the execution memory.

Example
Queries to deactivate my_prog program, currently loaded in the execution memory.

run?program_deact&prog=my_prog

Deactivates my_prog program.

14.4.3 set functions

– set?var=var_name&prog=prog_name&value=nnn

14.4.3.1 set?var=var_name&prog=prog_name&value=nnn
Assigns a value (nnn) to a variable (var_name) belonging to a program (prog_name).
– var - indicates the name of the destination variable for the value
– prog - indicates the name of the program owning the specified variable
– value - indicates the value to be assigned to the specified variable.

CAUTION
– The owning program must be currently loaded in the execution memory.

Example
Assign a value of 250 to my_var variable owned by my_prog program.

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set?var=my_var&prog=my_prog&value=250

14.5 Using an app

To access the Comau WebServer and use the wished app, act as described below:

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a. run a browser on the PC

b. in the address bar, specify the involved Control Unit IP address

c. the browser displays the Comau WebServer home page

Note that the currently loaded system software version, must be at least 3.10 to support
the WebServer software on the Control Unit.

d. The icons of the available apps are displayed in the WebServer home page.
Click the wished one to issue the command to load it.

14.6 Example
In the current paragraph the full example is provided of the DemoPage user app already
mentioned in par. 14.3.1 Example of Comau structure for user apps on page 642.

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It can be required by the Client by means of the DemoPage icon available in the
WebServer home page (as shown in the figure below).

Clicking the DemoPage icon, the app is opened and is made available to the user (refer
to the following figure).
It allows
– reading the content of the following predefined variables (1)
• $GEN_OVR
• $ARM_OVR
• $LIN_SPD
and clearing the displayed value, if wished
– executing a user routine (2)
– reading date and time. This information is always displayed and continuously
refreshed (3).

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The folders structure and the included files of the sample app, are described in
par. 14.3.1 Example of Comau structure for user apps on page 642.
The following paragraphs show the content of such files:
– DemoPage.xml
– index.html
– comau.css
– comau.js.

14.6.1 DemoPage.xml
This file is included in the web (UD:\sys\web) folder and is read by the WebServer in
at system startup and restart time.

<?xml version="1.0"?>
<config>
<app>
<name>DemoPage</name>
<home>DemoPage</home>
<img>../DemoPage/images/DemoPage.png</img>
<remote>unique</remote>
</app>
</config>

14.6.2 index.html
This file is used by the WebServer which acquires it from the www
(UD:\sys\www\DemoPage) folders structure.

<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN"

"http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
<meta http-equiv="X-UA-Compatible" content="IE=8"/>
<title>COMAU Demo Page</title>
<meta name="keywords" content="Comau C5G+ embedded web server" />
<meta name="description" content="See C5G from a new perspective" />

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<link rel="icon" href="images/favicon.ico" />

<link rel="stylesheet" href="assets/css/bootstrap.min.css" />
<link rel="stylesheet" href="assets/css/comau.css" />
</head>
<body onload="onload_show_date_and_time()">
<div class="container centred">
<div class="row">
<div class="col-6">
<div class="cell-data">
<div class="row vertical_centred">
<div class="col-8">
<h3> System Variables Read </h3>
<div class="form-group">
<span class="form-control" id="SysVarField">Value not yet required</span>
<small class="form-text text-muted lefted">The value of the variable will be displayed
above</small>
</div>
</div>
<div class="col-4 centred">
<button onclick="clear_param()" id="clear_button" type="button" class="btn btn-primary
clear_button">Clear<br>Value</button>
</div>
</div>
<div class="row">
<div class="col-4">
<button onclick="show_gen_ovr()" id="gen_button" type="button" class="btn
btn-primary">Show<br>$GEN_OVR</button>
</div>
<div class="col-4">
<button onclick="show_arm_ovr()" id="arm_button" type="button" class="btn
btn-primary">Show<br>$ARM_OVR</button>
</div>
<div class="col-4">
<button onclick="show_lin_spd()" id="lin_button" type="button" class="btn
btn-primary">Show<br>$LIN_SPD</button>
</div>
</div>
</div>
</div>
<div class="col-6">
<div class="cell-data">
<div class="row vertical_centred">
<div class="col-8">
<h3> Execute User Routine </h3>
<div class="form-group">
<div class="form-inline">
<div class="col-6">
<label class="label_format" for="routName">Type Routine Name</label>
</div>
<div class="col-6">
<select class="form-control little_margin" id="routName">
<option value="">Enter Routine Name</option>
<option value="update_web">update_web</option>
<option value="update_www">update_www</option>
<option value="update_core">update_core</option>
</select>
</div>
</div>
<div class="form-inline">
<div class="col-6">
<label class="label_format" for="progName">Type Program Name</label>
</div>
<div class="col-6">
<select class="form-control little_margin" id="progName">
<option value="">Enter Program Name</option>
<option value="update_web_page">update_web_page</option>
</select>
</div>
</div>

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COMAU WEBSERVER

</div>
</div>
<div class="col-4">
<button onclick="run_rout()" id="run_button" type="button" class="btn
btn-primary">Run<br>Routine</button>
</div>
</div>
<div class="row vertical_centred">
<div class="col">
<label class="black_label_format">The program has to be already loaded in execution
memory and the routine has to be "EXPORTED FROM"</label>
</div>
</div>
</div>
</div>
</div>
<div class="row">
<div class="col">
<div class="cell-data">
<h3> System Date and Time </h3>
<label id="Date_Time">Waiting to update</label>
</div>
</div>
</div>
</div>
</body>
<script src="assets/js/jquery_3.4.1.min.js" type="text/javascript"></script>
<script src="assets/js/bootstrap.min.js" type="text/javascript"></script>
<script src="assets/js/comau.js" type="text/javascript"></script>
</html>

14.6.3 comau.css
html, body {
background:url("../../images/background.jpg") no-repeat center;
background-size: cover;
height: 100%;
position: relative;
}

.container{
max-width: 100% !important;
height:100%;
background:rgba(255,255,255, 0.35);
}

.cell-data{
background: rgba(255,255,255, 0.8);
padding: 0.5vw;
border: 5px solid black;
border-radius: 5px;
margin-bottom: 7.5px;
margin-top: 10px;
}

.centred{
text-align: center;
}

.lefted{
text-align: left;
}

.vertical_centred{

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display: flex;
align-items: center;
}

.clear_button{
font-weight: bold;
background:orange;
color:blue;
}

.label_format{
font-weight: bold;
color:blue;
}

.black_label_format{
font-weight: bold;
color:black;
}

.little_margin{
margin-left: 8px;
}

14.6.4 comau.js
function onload_show_date_and_time()
{
setInterval( function() {

$.ajax(
{
url: 'get?date_time',
cache : true,
async : false,
success: function(data)
{
dateTime = $.parseJSON(data);
console.log(dateTime);

output = ""
var par = "<label style='font-weight: bold;color:blue'>";
var end_par = "</label><br/>";

for (var i in dateTime)

{

var date_split_time = dateTime[i].split("_", 2);

var date_split = date_split_time[0].split("-", 3);
var year = date_split[0];
var month = date_split[1];
var day = date_split[2];
var hours = date_split_time[1].substring(0, 2);
var minutes = date_split_time[1].substring(2, 4);
var seconds = date_split_time[1].substring(4, 6);

switch (month) {
case "01":
month_name = "January";
break;
case "02":
month_name = "February";

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break;
case "03":
month_name = "March";
break;
case "04":
month_name = "April";
break;
case "05":
month_name = "May";
break;
case "06":
month_name = "June";
break;
case "07":
month_name = "July";
break;
case "08":
month_name = "August";
break;
case "09":
month_name = "September";
break;
case "10":
month_name = "October";
break;
case "11":
month_name = "November";
break;
case "12":
month_name = "December";
break;
}
output += par + day + " " + month_name + " " + year + " - " + hours + ":" +
minutes + ":" + seconds + end_par;
}
document.getElementById("Date_Time").innerHTML = output;
}
});
},500);
}

function show_gen_ovr()
{
$.ajax(
{
url: 'get?sysvar=$GEN_OVR',
cache : true,
async : false,
success: function(data)
{
output = data + " %"
document.getElementById("SysVarField").textContent = output;
}
});
}

function show_arm_ovr()
{
$.ajax(
{
url: 'get?sysvar=$ARM_OVR',
cache : true,
async : false,

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success: function(data)
{
output = data + " %"
document.getElementById("SysVarField").textContent = output;
}
});
}

function show_lin_spd()
{
$.ajax(
{
url: 'get?sysvar=$LIN_SPD',
cache : true,
async : false,
success: function(data)
{
output = data + " [m/s]"
document.getElementById("SysVarField").textContent = output;
}
});
}

function clear_param()
{
document.getElementById("SysVarField").textContent = "Value cleared";
}

function run_rout()
{
routine_name = document.getElementById("routName").value;
program_name = document.getElementById("progName").value;

if (routine_name == '' || program_name == '')

{
alert("Missing routine or program name");
}
else
{
$.ajax(
{
url: 'run?routine=' + routine_name + '&prog=' + program_name,
});
}
}

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APPENDIX - SOFTWARE OPTIONS

15. APPENDIX - SOFTWARE OPTIONS

– Tab. 15.1 - C5GPlus Software Options on page 665
– Tab. 15.2 - Personal Computer Software Options on page 666

Tab. 15.1 - C5GPlus Software Options

Part Code Description

MOTION
CR17926200 Cooperative Motion
CR17926201 Collision Detection (*)
CR17926202 Automatic Payload Identification (*)
CR17926203 Joint Soft Servo (*)
CR17926204 Synchronized Arms
CR17926205 Sensor Tracking Motion
CR17926206 Conveyor Tracking
CR17926207 Weaving Motion
CR17926208 Robot Absolute Accuracy (*)
CR17926209 Speed Control for Arm (*)
CR17926212 Multipass
CR17926213 Manual Guidance
CR17926214 Palletizing Motion
CR17926215 Ceiling mounted robot (*)
CR17926216 Interference Regions
CR17926217 Axes Pursuit
CR17926218 Advanced Interference Regions
CR17926219 Low Resolution Euler Angles
CR17926220 Wrist Singularity Management
CR17926221 C5G Open
CR17926222 Emotion
RoboSAFE Cartesian (see Use of RoboSAFE Joint and
CR17926223
Cartesian functionality)
CR17926224 Quick E-STOP
CR17926227 Automatic collaborative/high-speed mode switch
CR17926228 Lookahead software option
CR17926139 Roboshop Continuous Process Improver - IMPR
COMMUNICATION
CR17926300 PDL2 Read/Write on TCP/IP
CR17926302 OPC UA
CR17926303 SmartLogin
USER INTERFACE
CR17926400 VP2.Builder (see VP2 - Visual PDL2 manual)
CR17926401 VP2.Frames (see VP2 - Visual PDL2 manual)

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APPENDIX - SOFTWARE OPTIONS

(*) Check with COMAU about the actual availability of such an option for the wished
robot type.

Tab. 15.2 - Personal Computer Software Options

Part Code Description

CR17926100 WinCRC Full Edition

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APPENDIX - CRC OPC UA SERVER (OPTIONAL FEATURE)

16. APPENDIX - CRC OPC UA SERVER

(OPTIONAL FEATURE)

OPC UA
The option code is CR17926302.
It is available since 4.11.001 system software version.

16.1 Introduction
The CRC OPC UA Server, available on the C5GPlus-R1C Control Units as optional
functionality, provides the final user with a standard way to access a subset of the
Control Unit data and features, by means an OPC UA client.

To browse the Comau CRC OPC UA Server structure, it is suggested to download the
Unified Automation UAExpert tool i.e. a free OPC Unified Architecture client.
A customized OPC UA client shall anyway be implemented by the user, in order to query
data.

The following topics are described ahead:

– Connection
– CRC OPC UA Server structure.

16.2 Connection
The CRC OPC UA Server listens to port 4840 (e.g. opc.tcp://172.22.163.200:4840).
If attempting to connect returns an error, check whether OPC UA software option is
enabled or not on the Control Unit. If not, enable it and try again.

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APPENDIX - CRC OPC UA SERVER (OPTIONAL FEATURE)

16.3 CRC OPC UA Server structure

As it can be seen by means of the Unified Automation UaExpert tool (figure above),
the main folder for Comau CRC OPC UA Server is Controller and contains all the
following meaningful nodes:
– Alarms
– Arms
– Commands
– DynamicData
– ErrorCode - ErrorCodeEN
– I/O
– SysInfo
– SystemVariables.
The structure nodes strictly depend on the related Control Unit configuration. For
example, if a new Arm is configured on the Control Unit, a corresponding new Arm
node is created on the CRC OPC UA Server structure. The same is for the new I/Os
which are configured on the Control Unit, etc.
Enabling each node can be subject to access priviledges. Contact Comau if needed
([email protected]).

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APPENDIX - CRC OPC UA SERVER (OPTIONAL FEATURE)

16.3.1 Alarms

This node includes the History subnode which is an arry of 256 elements representing
the latest 256 values of the History Log file (par. 5.10.2 History on page 124), in
chronological order. Each array element corresponds to a row of the History Log file.
The value is displayed in binary form.

16.3.2 Arms

The following set of subnodes is provided for each Arm (figure above, on the right):

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APPENDIX - CRC OPC UA SERVER (OPTIONAL FEATURE)

– Basic - values related to the most common Arm attributes, such as position (both
cartesian and joint), name, reference frames, etc (par. 5.9.1 Basic on page 110)
– Joints - values related to following error, stroke ends, etc (par. 5.18.1.1 Arm on
page 319)
– Motors - motors actual current value (par. 5.18.1.1 Arm on page 319)
– Overrides - values related to acceleration, deceleration, joint, linear, rotational
speed and limits (par. 5.9.5 Override on page 120)
– Status - values ralated to the Arm status (par. 5.9.4 Status on page 117).

16.3.3 Commands

Some system commands can be issued towards the Control Unit.

Their enabling is subject to access priviledges. Contact Comau if needed
([email protected]).

16.3.4 DynamicData

Such a node includes any realtime information which could dynamically change like the
general override or the drives status.

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16.3.5 ErrorCode - ErrorCodeEN

Given an alarm number and a language code (e.g. 8199 and “IT”), these two methods
return the related error message and cause/remedy strings translated in the specified
language.
ErrorCodeEN simply returns the message in English.

16.3.6 I/O

All I/O ports are grouped by both their owner device (I/O_Devices) and their type
(I/O_Ports) in order to provide different views (see also par. 5.13.5.1 DEVICE on
page 183 and par. 5.13.5.2 PORTS on page 185).

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The associated I/O ports are reported for each Device.

I/O ports help string is also provided, in the Node Description field.

16.3.7 SysInfo

The provided structure is similar to the one described in par. 5.18.2.5 Info on page 328.
It contains full information about the Control Unit hardware/software configuration (figure
above):
– Communication
– Configuration
– Hardware
– Software Options
– Software Versions.
The string returned from the OPC UA Server, for the wished node, contains the NodeID
without any spaces, and a value.

Example
The SOFTWARE VERSIONS information is
APC - System Software: 4.10.004
The OPC UA Server reports the following NodeID:
APC-SystemSoftware
and the following value
4.10.004

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APPENDIX - CRC OPC UA SERVER (OPTIONAL FEATURE)

16.3.8 SystemVariables

This node provides the content of some System Variables, grouped as in the PDL2
Programming Language manual - chap.Predefined Variables List, as well as some
other related information, such as a node called OPCUA_ARM containing the reference
Arm for each Arm-related system variable which does not have any other Arm specifier.

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APPENDIX - SMARTLOGIN (OPTIONAL FEATURE)

17. APPENDIX - SMARTLOGIN (OPTIONAL

FEATURE)

17.1 Introduction

SmartLogin
The option code is CR17926303.

The SmartLogin optional function allows the user to log in from the Teach Pendant
without inserting the access rights.
It is based upon using an USB flash disk (SmartKey), provided by Comau, to be
inserted into the Teach Pendant USB port, as shown in the figures below.

Login and Logout operations are automatically performed, by inserting and removing
the SmartKey in the Teach Pendant USB port.
Such events are recorded into the system log file.
Each Control Unit user is supplied by an USB flash disk allowing to operate with his/her
own user profile access rights (see par. 4.2.1 User profiles on page 46).

In order to allow the access to the SmartKey owners only, together with the
SmartLogin functionality activation,
– the capability of logging in from the Teach Pendant by typing the access rights is
disabled
– the Administrator - Programmer - Maintenance default user profiles are removed
– the "COMAU" service user profile is disabled too for logins from WinCRC and
Roboshop.

The SmartKeys are supplied upon user request who must specify
– the wished total amount of users,
– their corresponding profile.
Upon such an information, Comau sets up a users database, identifying each user by
means of a name identifier (ID-NAME): it is up to the user to associate each ID-NAME

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APPENDIX - SMARTLOGIN (OPTIONAL FEATURE)

to a final user. In such a way Comau does not own the users sensitive data.
At the first time, SmartLogin functionality must be activated by means of the procedure
described in par. 17.3 SmartLogin activation on page 677, on each C5GPlus Control
Unit where using a SmartKey is expected.
When activating such a functionality, the database of all the users (.UDB files)
corresponding to the provided SmartKeys, is loaded into the Control Units.
Comau also provides a SmartKey with Administrator profile to the customer, to
temporarily deactivate the SmartLogin functionality, allowing the Login by means of the
access rights and enabling the "COMAU" service user again.
Such a procedure is described in par. 17.4 SmartLogin deactivation on page 680.
A detailed description of the following topics is provided below:
– WinCRC/Roboshop users
– SmartLogin activation
– SmartLogin deactivation.

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APPENDIX - SMARTLOGIN (OPTIONAL FEATURE)

17.2 WinCRC/Roboshop users

When the SmartLogin functionality is active, the users database (.UDB file) installed on
the Control Unit includes all the users (ID-NAMEs) allowing the access by means of the
Smartkey. Such users cannot be used for accessing from WinCRC/Roboshop: the
corresponding passwords are not viewable and are randomly generated so that they are
unknown both to the users and to Comau.
The specific users to login from WinCRC/Roboshop can be either added to the .UDB
file upon users request, or created by means of the Administrator profile SmartKey.
In such a case, proceed in the following way:

a. activate the SmartLogin functionality on a first C5GPlus Control Unit (see

par. 17.3 SmartLogin activation on page 677)

b. create the wished WinCRC/Roboshop users by means of the SmartKey with

Administrator profile

c. insert the .UDB file within the SmartLoginVxxxyy.zip file, updated with the newly
created users a (vd. par. 17.3 SmartLogin activation on page 677)

d. activate the SmartLogin functionality onto all the Control Units, with the new .UDB
file.

CAUTION
If some more SmartKeys would be needed, the up-to-date .UDB file with the new
WinCRC/Roboshop users, must be shared with Comau, since at any subsequent
installation, the .UDB file included in the Control Unit is overwritten.

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APPENDIX - SMARTLOGIN (OPTIONAL FEATURE)

17.3 SmartLogin activation

– Requirements
– Installation procedure.

17.3.1 Requirements
The following items are required:
– SmartLogin software option - CR17926303 Comau code
– system software version equal or higher than 4.11.003 .
A software package provided by Comau must be installed to activate the SmartLogin
functionality (see par. 5.17.3.8 Install on page 299).
Such software package files, SmartLogin.appl and SmartLoginVxxxyy.zip (where
xxxyy is the version number), are set up and supplied by Comau together with the
SmartKeys and include the users database (.UDB file) corresponding to the delivered
SmartKeys.
They must be copied to the root of an USB flash disk dedicated to the SmartLogin
functionality activation on all the Control Units.

The software package installation, in addition to activate the SmartLogin functionality,

also replaces the .UDB file existing on in the Control Unit. The already existing users,
if any, are lost.

17.3.2 Installation procedure

a. Insert the USB flash disk containing the activation software package into the
Control Unit Teach Pendant USB port.

b. Access the Setup page on the TP5 Teach Pendant, form the Desktop Page (as
shown in the figure below).

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APPENDIX - SMARTLOGIN (OPTIONAL FEATURE)

c. Enter the System folder and touch the Install icon.

d. Touch the Device field to choose the device containing the being installed project
(figure below on the left). A list is displayed where the user should select the wished
device (figure below on the right).

e. Select and then touch the OK key to confirm.

f. Touch the Project/Application field to display the available projects/applications

to be installed (figure below on the left). The user must choose the
project/application to be installed (figure below on the right).

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APPENDIX - SMARTLOGIN (OPTIONAL FEATURE)

g. Touch SmartLogin and then OK to confirm.

h. Touch the Install key, to start the installation.

i. When the installation is completed, the following message is displayed on the

Teach Pendant:

Installation complete. Please restart cold the system.

upon which the user should cold restart the Control Unit.

j. The activation state can be checked by accessing the Setup page - System - Login
and touching the SmartLogin key.

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APPENDIX - SMARTLOGIN (OPTIONAL FEATURE)

17.4 SmartLogin deactivation

The SmartLogin functionality can be deactivated by means of the Administrator profile
SmartKey, allowing to Login by means of the access rights and to enable the "COMAU"
service user again.
Then it will be possible to use the WinCRC/Roboshop dedicated user profiles also to
Login from Teach Pendant.

The authentication mechanism by means of the SmartKeys still remains active.

It is recommended to deactivate the SmartLogin functionality in extraordinary

situtations only, in order to avoid any access from unauthorized personnel.

17.4.1 Deactivation procedure

a. Access the Setup page on the TP5 Teach Pendant, form the Desktop Page (as
shown in the figure below).

b. Enter the System folder and touch the Login icon.

c. Touch the SmartLogin key (such a key is only available if the SmartLogin
software option has been enabled).

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d. Touch the Deactivate key.

e. Confirm the SmartLogin functionality deactivation, by touching Yes key

To activate the SmartLogin functionality again, if needed, execute the procedure

described in par. 17.3.2 Installation procedure on page 677.

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APPENDIX - BACKWARD INTERPRETATION

18. APPENDIX - BACKWARD INTERPRETATION

This functionality is available starting from 4.20.xxx system software version, for
C5GPlus and R1C Control Units.

18.1 Introduction
Backward Interpretation means executing the program in backward direction, upon
BACK key presss on the Teach Pendant.

This functionality is only supported within the IDE Page, Step-Statement mode and
PROGR system state.

The following topics are dealt with in the current chapter:

– Basic rules
– Programming rules
– Specific behaviours.

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18.2 Basic rules

– Motion instructions
– Local Motion Condition
– Routine calls.

18.2.1 Motion instructions

The Backward Interpretation functionality basically supports the NODAL motion
statements. The MODAL ones can be supported upon specifica requirement from the
user, with many restrictions and caution.

DEFAULT = backward execution is DISABLED for MODAL motion instructions.

The user is allowed to enable it by setting to 1 bit 24 of the $CNTRL_CNFG2 predefined
variable.
Anyway such a usage is not recommended, due to the implicit risk that modal settings
(e.g. $TOOL modification) involve, by backward executing the movements.

The backward execution of a movement is always from the current position to the
previous destination.
The only MODAL motion instructions allowed for the backward interpretation, in case of
MODAL motion enabled, are the MOVE TO type ones. Any other MOVE instructions of
different types (such as ABOUT, RELATIVE, ALONG, etc.) are skipped.
The NODAL motion instructions are always backward executed, instead.
The backward interpretation behaviour, in case of TECHNOLOGICAL instructions,
depends on the corresponding application. This means that many technological
instructions (e.g. spot welding) are NOT executed when stepping in backward.
The ADVANCE clause is ignored since the backward execution is supported in
Step-Statement mode only: this implies the FLY movement is not performed.
When the system state is switched from PROGR to AUTO (LOCAL or REMOTE), any
interrupted motion statements during the backward execution, are cancelled and NOT
completed.

18.2.2 Local Motion Condition

NOT executed in backward interpretation.

18.2.3 Routine calls

As far as executing the routine calls, upon BACK key presss, let us consider two
situations:
– PROCEDURE, or FUNCTION called as PROCEDURE - backward executed,
starting from the routine END
– FUNCTION - forward executed, starting from the routine BEGIN, since the return
value must be calculated.

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APPENDIX - BACKWARD INTERPRETATION

18.3 Programming rules

– Setting the Backward modality
– Execution direction.

18.3.1 Setting the Backward modality

In IDE Page, the Step-Back menu allows selecting the operating mode for the
Backward Interpretation functionality, when looking for the being executed
statements.
As shown in the figure above, the available choices are:
– Motion & routines
If the BACK key is set to this modality, the following statements are backward
executed
• motion statements (with the restrictions described in par. 18.2.1 Motion
instructions on page 683)
• routines calls (with the restrictions described in par. 18.2.3 Routine calls on
page 683)
• PROCEDURE, or FUNCTION called as PROCEDURE - backward
executed, starting from the routine END
• FUNCTION - forward executed, starting from the routine BEGIN, since
the return value must be calculated.
• BEGIN - jumps out of the context if not in the main body
• CYCLE - the backward execution starts from the program end, if at least one
cycle has been executed. On the contrary, if no cycles have been performed,
the following warning occurs
19009 - no instructions for BACK execution
• CALL - the backward execution starts from the END statement of the called
program
• CALLS - the backward execution starts from the END statement of the called
program or routine.
– All Statements
If the BACK key is set to this modality, the following statements are backward
executed
• routine call (procedure or function called as procedure) - the cursor points to
the routine END statement; it is the user’s care to guarantee the proper
execution of the flow (e.g. skipping the RETURN statement, accurately

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APPENDIX - BACKWARD INTERPRETATION

handling the conditional statements, etc) and taking care of the variables
proper initialization
• function call - the cursor points to the function BEGIN statement. Then the
execution continues in forward direction, to calculate and assign the return
value
• all the common statements - it is the user’s care to guarantee the proper
execution of the flow
• all the motion statements (with the restrictions described in par. 18.2.1 Motion
instructions on page 683)
– Motion in context
If the BACK key is set to this modality, the motion statements only are backward
executed in the current context (main, routine), not leaving such a context.
Obviuosly, with the restrictions described in par. 18.2.1 Motion instructions on
page 683.

Note that in all the listed above backward modalities, pressing the BACK key does not
take any effects when the cursor points within a multi-line statement such as
CONDITION..ENDCONDITION, OPEN FILE..ENDOPEN, MOVE..ENDMOVE type.

As a basic guideline, in all cases in which the system cannot backward execute a
statement, even if required, a warning notification occurs, anyway.

18.3.2 Execution direction

$PROG_IDE_EXEC predefined variable indicates the current execution direction in IDE
Page: forward or backward.
Allowed values:
0 - no program execution
-1 - backward
+1 - forward.

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APPENDIX - BACKWARD INTERPRETATION

18.4 Specific behaviours

The motion statements included in a protected routine are always forward executed.
The destination positions and the VIA position must always be variables. The backward
execution does not work if they are specified as expressions.
If the cursor does NOT point to a motion statement, the segment data related to the
trajectory cannot be determined and therefore the current values are used, which could
not be the wished ones.
If the movement is circular, the cursor must point to the motion statement, otherwise the
VIA position cannot be determined.

Example 1

Line 1: ML p1,...
Line 2: MC p3, p2,...
Line 3: ML p4,... -- suppose the cursor points here

Pressing the BACK key on line 3, a linear movement is performed towards p3

Pressing the BACK key on line 2, a circular movement is performed towards p1, via p2

Example 2

Line 1: ML r1,...
Line 2: MC r3, r2,...
Line 3: MC r5, r4,... -- suppose the cursor points here
Line 4: ML p6,...

Pressing the BACK key on line 3, a circular movement is performed towards r3, via r4.
This means that when line 2 is interpreted, position r2 is ignored and substituted by r4.

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APPENDIX - END USER LICENSE AGREEMENT

19. APPENDIX - END USER LICENSE

AGREEMENT
All Comau software tools for PC and/or Control Unit are provided with a license. An
example of the license agreement for a general Comau Software is shown below.

END USER LICENSE AGREEMENT OF THE COMAU

SOFTWARE - COPYRIGHT(c) 2021 COMAU S.p.A.
WARNING: This computer program by Comau, is protected by copyright law and
international treaties. Unauthorized reproduction or distribution of this program, or any
portion of it, may result in severe civil and criminal penalties, and will be prosecuted to
the maximum extent possible under the law.

DEFINITIONS

a. Agreement - includes this License Agreement;

b. Software - shall mean Licensor's proprietary software product(s) together with

related documentation and components (including new releases, enhancements,
and modifications provided under warranty or maintenance, if applicable), in this
agreement also defined <Comau Software>;

c. Licensee - shall mean the part (natural person) who buys the license of the
Software;

d. Licensor - shall mean Comau S.p.A., an Italian company with office in Grugliasco
(TO), Via Rivalta 30.

1. GENERAL PROVISIONS
1.1 This Agreement provides for use of the license making reference to the Software
entitled <Comau Software> and is made between Licensor and Licensee.
1.2 The subject Software includes the Software itself and the related documentation.
By using and installing the above Software, the Licensee accepts to be subject to
the provisions in the present Agreement.
1.3 The subject Software is protected in accordance with International Law Provisions
and Treaties in the field of Copyright, and in addition in accordance with other Laws
and Treaties in the field of Intellectual Property. Failing to comply with said
provisions shall result in the infringer being sued in accordance with the Law.
1.4 License for use of the above Software is hereby granted without any time limit.

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2. USER LICENSE
2.1 Licensor grants the Licensee, intended as a natural person, a personal license to
run and use copies of the Software <Comau Software> in order to develop, to test
and to service/maintain the software used on the industrial automation applications
supplied by Comau.
2.2 The Licensee must comply with the instructions recited in this Agreement and keep
copy of the same, which copy must be available for inspection by Licensor.
2.3 In case of third-party software (including Open Source Software) and third-party
data integrated into the Software, the provision and use of such third-party software
shall be governed primarily by the licensing terms and terms of use of such
third-party.

3. NON-DISCLOSURE; ALTERATIONS; COPIES

3.1 Licensee acknowledges and agrees that the Software, its structure, organization,
source code and related documentation are valuable and proprietary trade secrets
of Licensor. Licensee shall (i) maintain the confidentiality of the Software, using, at
a minimum, the same safeguards afforded its own confidential, proprietary trade
secrets, but in no event less than reasonable care; (ii) not disclose, provide,
transfer, rent, sublicense, or otherwise make available any portion of the Software
to any third party, without first obtaining Licensor's written consent. Licensee's
non-disclosure obligation shall not apply to information now or hereafter in the
public domain through no fault of Licensee, information in the possession of
Licensee prior to disclosure by Licensor, information properly obtained without
restriction from a third party who is not bound by an obligation of confidentiality to
Licensor, or information independently developed by Licensee without reference to
the Software.
3.2 Licensee shall not (i) alter, modify, adapt, translate, reverse engineer, decompile,
disassemble, or create derivative works from the Software, nor take any other
steps intended to produce a source language statement of the Software or any part
thereof without Licensor's express prior written consent; (ii) rent, lease, grant a
security interest in, or otherwise transfer rights of the Software; (iii) manipulate or
alter the components that make up this Software in any way; (iv) repackage the
files that come with this Software; (v) make the Software publicly or privately
available (including, but not limited to, uploading to publicly accessible archives,
mirroring and distribution of the Software on flash memory drives, CD-ROM, on line
repositories or similar media) unless specifically and explicitly licensed by the
Licensor to do so; (vi) use parts of this Software in order to enhance competing
products; (vii) remove any proprietary notices or labels on the Software.
3.3 Licensee is authorized to copy the Software solely for backup, archival, and
disaster recovery purposes and only to the minimum extent necessary to
accomplish such purposes. Licensee shall not remove any copyright or proprietary
rights notices from the Software and shall reproduce all such notices on any copies
that it makes. Licensee is prohibited from copying, in whole or in part, any Software
documentation (including portions of source code) or training materials. Licensee
shall use every single License of Software only in a single computer. Every use of
a single License in more than one computer (for example installing software in

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more than one computer or accessing a computer in remote mode) is strictly

forbidden.
3.4 In case of commercial use or resell to third part, Licensee is prohibited from
inserting (embedding) the Software in other software or platform without written
authorization from Licensor.
3.5 The obligations of this Section shall survive termination of this Agreement or any
license granted hereunder.

4. FINALIZATION OF THE AGREEMENT

4.1 Licensor reserves the right to finalize this Agreement, without losing any of the
remaining rights belonging to it, in case the Licensee fails to comply with the terms
and conditions mentioned under 2.1 and 2.2 of this Agreement.
In case the Software is used for purposes different from the ones mentioned under
2.1, the guarantee of the machine, as far as use of the subject Software is
concerned, becomes void.
If at any given moment the conditions of use mentioned at par. 2.1 and 2.2 are not
met any more, the Licensee has the duty to destroy or to make unworkable all
copies of the Software which at whatever title happen to be available to him.
4.2 The User acknowledges that Licensor reserves all rights not expressly provided for
in this Agreement. For all conditions not expressly mentioned in this Agreement,
reference is hereby made to the provisions of Law prevailing in this field.

5. DISCLAIMER OF WARRANTY
5.1 This Software is provided "AS IS" without warranty of any kind, either expressed or
implied. Neither Licensor nor its suppliers warrant that the software or any use of
the software or equipment will be uninterrupted or error-free. In no event shall the
author, copyright holder or any other party who may redistribute the Software be
liable to the Licensee for damages. This includes any general, special, incidental
or consequential damages arising out of the use or inability to use the Software
(including, but not limited to, loss of data, data being rendered inaccurate, loss of
business profits, loss of business information, business interruptions, loss
sustained by you or third parties, or a failure of the Software to operate with any
other software) even if the author, copyright holder or other party has been advised
of the possibility of such damages.

6. LIMITATION OF LIABILITY
6.1 In no event Licensor aggregate liability to Licensee or any third party for any losses
or damages that arise out of the performance or breach of this Agreement, whether
in contract, tort, or other form of action, shall exceed the total fees paid to Licensor
under this Agreement. In no event shall Licensor be liable for any direct or indirect
damages, including, but not limited to, lost profits, loss of goodwill, data loss,
business disruption, or computer failure. Licensee acknowledges that the license
fees reflect the allocation of risk set forth in this Agreement and that Licensor would

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not enter into this Agreement on the terms hereof without these limitations on its
liability.

7. TERMINATION
7.1 Licensor has the right to terminate this Agreement and Licensee's right to use this
Software upon any material breach by Licensee. If either party breaches a
provision of this Agreement, the other party may give written notice of default. If the
breaching party fails to cure the breach within sixty (60) days, this Agreement may
be terminated immediately by the other party. In the event that Licensee breaches
any of the licensing or confidentiality provisions of this Agreement, this Agreement
shall terminate immediately upon written notice by Licensor. Failure to pay any or
all fees due hereunder shall constitute a material breach of this Agreement.
7.2 Upon any termination of this Agreement, all licenses granted hereunder shall
cease, and Licensee shall make no further use of the Software and shall either
return to Licensor or destroy originals and all copies of the Software and supporting
materials. No refunds or credits will be due Licensee.
7.3 The Agreement immediately terminates if Licensee breaches the prevision of
sections n. 3.

8. MODIFICATION
8.1 This Agreement may be modified only in writing signed by both parties. Terms and
conditions on any Licensee purchase order or other ordering document shall not
be deemed to modify this Agreement, and are hereby replaced and superseded by
the terms and conditions of this Agreement. Additional purchases of Software
licenses by Licensee without execution of another agreement will be governed by
the terms of this Agreement unless the parties otherwise agree in writing. The
failure by either party to insist upon strict enforcement of any terms and conditions
of this Agreement shall not be construed as a waiver of the right to assert or rely
upon any such terms on any future occasion.
8.2 This Agreement or other legally binding document(s) referred to the Software,
constitute the entire agreement between the parties with respect to the subject
matter hereof and supersedes any prior or contemporaneous representations,
promises, warranties, or understandings between the Parties. This Agreement
shall be considered accepted and shall become effective by the Licensee's use of
the Software.

9. APPLICABLE LAW, JURISDICTIONAL MATTERS

9.1 This Agreement is governed by and construed under the laws of Italy without
regard to its conflict of law rules. Any action arising out of or in connection with this
Agreement may be heard exclusively in Turin, (Italy), and the Licensee hereby
irrevocably consent to the exclusive jurisdiction and venue of this court.

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10. COMUNICATION
10.1 All notices required hereunder shall be in writing and sent by certified mail,
express mail, or via electronic means agreed-upon by the parties, such as
facsimile, to the registered addresses of the parties.

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