YASKAWA YRC1000micro Instructions Manual Download | Manualshive

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8

Development Support Tool

8.5

Application Property List

8-8

HW1484528

HW1484528

8.5.2 How to Set Application Information

For the application name, the version, and the task name, the contents
which are set by MotoPlus API are displayed.

Fig. 8-9: Setting the Application Information

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Summary of Contents for YRC1000micro

Page 1: ...l operation read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN INSTRUCTIONS YRC1000micro INSTRUCTIONS YRC1000micro OPERATOR S MANUAL YRC1000micro MAINTENAN...

Page 2: ...he covers or shields are installed in place before operating this product YASKAWA is not responsible for incidents arising from unauthorized modification of its products Unauthorized modification void...

Page 3: ...lly hazardous situation which if not avoided will result in death or serious injury Hazards identified by the signal word WARNING present a lesser degree of risk of injury or death than those identifi...

Page 4: ...ty fence when going into the area enclosed by the safety fence In addition the operator of the teaching operation must display the sign that the operation is being performed so that no other person cl...

Page 5: ...y result in personal injury or equipment damage WARNING Perform the following inspection procedures prior to conducting manipulator teaching If there is any problem immediately take necessary steps to...

Page 6: ...ming pendant dummy connector Programming pendant dummy connector optional Equipment Manual Designation Programming Pendant Character Keys Symbol Keys The keys which have characters or symbols printed...

Page 7: ...that the cursor is moved to the object item and SELECT is pressed or that the item is directly selected by touching the screen Registered Trademark In this manual names of companies corporations or p...

Page 8: ...lation of TELNET Connection Utility 2 4 3 Creating Application Software 3 1 3 1 Rules for Creating Program Source Code 3 1 3 2 Creating MotoPlus Project 3 3 3 3 Outline of MotoPlus IDE 3 4 3 4 Text Se...

Page 9: ...ser Variables of YRC1000micro 7 8 8 Development Support Tool 8 1 8 1 Outline 8 1 8 1 1 Introduction 8 1 8 1 2 Overview of Functions 8 1 8 2 Using the Support Tool 8 2 8 2 1 Support for the Functions 8...

Page 10: ...E 8 18 8 7 2 Acquiring the Serial File MotoPlus Monitor 8 19 8 7 3 Generating the Protection Key MotoPlusIDE 8 19 8 7 4 Loading the Protection Key MotoPlus Monitor 8 20 8 7 5 Useful Functions MotoPlus...

Page 11: ...bot controller 1 2 Features 1 With C language as the system development language and a wealth of standard libraries users can create customer specific application programs 2 With the text editor of Mo...

Page 12: ...e Resources for MotoPlus Fig 1 1 Available Resources for MotoPlus Application program examples 1 Operation to correct the manipulator position by a communication program with a vision sensor or other...

Page 13: ...dant application 7 EVENT Event notification to the application at every I O control cycle and interpolation control cycle of the system 8 Sensor control The APIs which transfer data to and from a job...

Page 14: ...1 Integrated development environment MotoPlus IDE for source file project management program editor and compiler and linker 2 Installation of the MotoPlus application from the SD USB memory in the pr...

Page 15: ...icro to debug 1 5 1 Development Environment Configuration Use a PC to develop an application program The system is configured as shown in fig 1 2 Development Environment Configuration to debug using T...

Page 16: ...A 4 Linker library Links the C language library provided by GNU with the developed application program to create an executable load module Integrated in MotoPlus IDE and can be executed from the menu...

Page 17: ...n program MotoPlusApl stored in the SD on the main CPU ACP31 is loaded into the memory of the ACP30 circuit board Then the application program is started as a task on the real time operating system co...

Page 18: ...ary to create the execution module e g MotoPlusApl out 3 2 Creating MotoPlus Project Use GNU linker and library Only static links are supported ELF Executable and Linkable Format is used as the module...

Page 19: ...am refer to Chap 17 3 Task Control Sample Program in YRC1000micro OPTIONS INSTRUCTIONS Programmer s Manual For New Language Environment MotoPlus HW1484526 make sure to complete the task mpUsrRoot afte...

Page 20: ...Manual Japanese English MotoPlus user s manual MotoPlus outline installation procedure of the development environment and development procedure MotoPlus programmer s manual Programming procedure MotoP...

Page 21: ...l MotoPlus IDE as indicated in the following procedure 1 Insert the MotoPlusIDE installation DVD in the DVD slot on the PC If AutoRun is enabled the installation starts If not run setup exe in the DVD...

Page 22: ...ion shortcuts of MotoPlusIDE are added on the desktop and in the Programs folder of the Start menu 6 After completing the installation restart the PC Shutdown the PC and restart it 7 Install the syste...

Page 23: ...0micro via TELNET 2 Also configure the settings of TELNET connection by YRC1000_TELNET ini Set the IP address of the YRC1000micro here ipaddress IP address of the YRC1000micro Set the same IP address...

Page 24: ...ion 2 Put include MotoPlus h at the top of each source code file When MotoPlus h is included the information of all services provided by MotoPlus is included 3 The application entry point is the funct...

Page 25: ...microseconds or longer is done in this task the processing time for the robot control becomes insufficient Then the system alarm may occur or the programming pendant or the HOLD button may freeze Thus...

Page 26: ...ect Then the following window appears Type a project name up to 32 single byte characters which can be used as a file name then a folder to store the source file will be automatically created the fold...

Page 27: ...DE Fig 3 1 Main interface for MotoPlus IDE Right click on the project tree to show the following options 1 Remove a file from the project 2 Create sub folders to organize files click and drag files to...

Page 28: ...the corresponding header file If the header is not present or is named differently it will not be copied In this case you must refer to the library documentation provided by the creator of the librar...

Page 29: ...n the default installation folder C Program Files Yaskawa MotoPlusIDE_YRCmicro Thus when it is installed in another folder the build settings must be initialized To initialize the build settings check...

Page 30: ...lick the MotoPlusIDE_YRCmicro menu build then click Build Project F7 When the output window Build Successful appears making the MotoPlus application for YRC1000micro is completed 3 8 1 Difference Poin...

Page 31: ...owing is the procedure to set the MotoPlus function to valid 1 Start the YRC1000micro in MAINTENANCE MODE and change to the MANAGEMENT MODE in the security mode 2 Select SYSTEM under the main menu the...

Page 32: ...1484528 4 Select USED The confirmation dialog appears 5 Select YES on the confirmation dialog The SRAMDRV DAT initialization confirmation dialog appears 6 Select YES on the SRAMDRV DAT initialization...

Page 33: ...to set the MotoPlus function to invalid 1 Start the YRC1000micro in MAINTENANCE MODE and change to the MANAGEMENT MODE in the security mode 2 Select SYSTEM under the main menu then select SETUP The o...

Page 34: ...nvalid Setting of MotoPlus Function 4 4 HW1484528 HW1484528 4 Select NOT USED The setting change confirmation dialog appears 5 Select YES on the confirmation dialog The MotoPlus function becomes inval...

Page 35: ...ng the instructions below 1 Set the security mode to the MANAGEMENT MODE Select the main menu MotoPlus APL Then LOAD USER APPLICA TION FILE LIST DELETE DEVICE FOLDER and MotoPlus FUNC SETTING appear a...

Page 36: ...SELECT Then the selection indi cator appears on the left of the application file name Press SELECT again to clear Press ENTER then the following confirmation dialog box appears When YES is selected an...

Page 37: ...n files which already exist in the YRC1000micro appears 3 Deletion of application program By the submenu DELETE the application file which already exists in the YRC1000micro can be deleted 1 Move the...

Page 38: ...e following windows appear to enable or disable the autostart of the MotoPlus application program For the detailed usage methods refer to chapter 5 2 Start up of Application Program and chapter 5 3 To...

Page 39: ...gram 5 1 Installation of Application Program in Maintenance Mode 5 5 HW1484528 HW1484528 3 Select YES When YES is selected on the confirmation dialog box the parameter is set automatically and then it...

Page 40: ...roblem of the application program the system may hang up during robot operation and then the YRC1000micro may not start normally For recovery it is necessary to start the YRC1000micro normally while p...

Page 41: ...ed in or read from external memory SD or USB by using the programming pendant 6 1 Saving in and Reading from External Memory Saved files can be checked on the display of the programming pendant as USE...

Page 42: ...528 HW1484528 3 Select a file to be saved in external memory or to be loaded from external memory to the controller 4 appears on the left of the selected file Multiple files can also be selected 5 Sel...

Page 43: ...User Defined File 6 3 HW1484528 HW1484528 6 2 Initialization of User Defined File 1 Start the controller in the maintenance mode Then select Main Menu FILE then INITIALIZE 2 Select USER DEFINED FILE...

Page 44: ...6 User Defined File 6 2 Initialization of User Defined File 6 4 HW1484528 HW1484528 4 appears as shown below 5 Press ENTER then the following window appears Select YES 44 77...

Page 45: ...ing of the parameter S2C1101 as shown in the following table This setting can also be changed by using FileControl TASK PRY LIMIT in the maintenance mode 6 3 1 Changing File Control Task Priority Limi...

Page 46: ...6 User Defined File 6 3 Setting of File Control Task Priority Limit 6 6 HW1484528 HW1484528 3 Press ENTER then select YES in the Modify window to complete the setting 46 77...

Page 47: ...ng time for the robot operation control is consumed and a system alarm may occur due to insuffi cient processing time NOTE When programming in C language the pointer variable which stores the memory a...

Page 48: ...that is mounted on the front of the APW30 circuit board in the CPU rack of the YRC1000micro controller To use the Ethernet service provided by MotoPlus use a commercially available hub and set up the...

Page 49: ...7 Debugging 7 2 Connecting YRC1000micro with PC 7 3 HW1484528 HW1484528 NOTE Use the LAN port on the front face of the APW30 board 49 77...

Page 50: ...les of YRC1000micro 7 3 1 Operation Procedure 1 Set the IP address etc The Ethernet communication settings corresponding to your environment such as the IP address setting at the YRC1000micro side mus...

Page 51: ...dress is 192 168 255 1 Ensure the PC IP address is on the same subnet as the YRC1000micro In the case of the setting for the following YRC1000micro the set ting for PC is as follows IP adrress 192 168...

Page 52: ...described in the instruction manual for each optional function 4 Set the fixed IP address 192 168 255 9 as the network setting of the PC side 192 168 255 is the same as the YRC1000micro setting 1 Sel...

Page 53: ...sample c with MotoPlus IDE to create sample out 2 Install sample out to the YRC1000micro Refer to chapter 5 Installation and Start up of Application Program 3 Install the created MotoPlusApl out to th...

Page 54: ...P_PRI_IP_CLK_TAKE or MP_TIME_CRITICAL or the task mpUsrRoot may cause insufficient processing time for the robot operation control task Thus use the user variables of the YRC1000micro B variable I var...

Page 55: ...ctions The MotoPlus application development support tool contains the following functions No Function Details 1 Online Download A function which downloads the application from MotoPlusIDE to the robot...

Page 56: ...pport tool can be used by MotoPlusIDE and the programming pendant MotoPlus Monitor MotoPlusIDE Each function is available from the Debug menu in MotoPlusIDE Fig 8 1 MotoPlusIDE MotoPlus Monitor On the...

Page 57: ...1484528 8 2 1 Support for the Functions Some functions cannot be used with MotoPlus Monitor The following table shows which functions can be used No Function MotoPlusIDE MotoPlus Monitor 1 Online Down...

Page 58: ...trollers connected with a PC Register the communication settings of the controller in advance and then select upon use For MotoPlus Monitor only one controller which is connected with the programming...

Page 59: ...Fig 8 5 Online Download 8 4 1 System Settings Settings are required to load the application on the USB memory of the board Set the following parameter 8 4 2 Inserting the USB Memory in the Controller...

Page 60: ...nload 2 Select the application file out file to download When downloading the application file of a project which is currently open select the Download Out file of this project check box 3 Click Downl...

Page 61: ...e Application version Application file size Task name Task executing priority 8 5 1 Operating Procedure If using MotoPlusIDE select the Debug menu and then select Application Property List If using Mo...

Page 62: ...Property List 8 8 HW1484528 HW1484528 8 5 2 How to Set Application Information For the application name the version and the task name the contents which are set by MotoPlus API are displayed Fig 8 9...

Page 63: ...the task name by using mpTaskPropNameSet mpTaskPropNameSet Set the task name to be displayed in MotoPlus IDE Syntax int mpTaskPropNameSet int taskId char name Argument taskId Specify the task ID to s...

Page 64: ...uring Sets the home position of the measuring data For details refer to chapter 8 6 2 Optional for Measuring Time Range Sets the displaying time ms for measuring data Port Number Sets the number of th...

Page 65: ...bug when using MotoPlus Monitor 1 When using MotoPlusIDE select the controller to connect with 2 Set the measuring conditions Time Range Sets the displaying time ms for measuring data Port Number Spec...

Page 66: ...ects the falling edge Up Down Detects both edges rising and falling Level Detects exceeding of the threshold level Fig 8 11 Trigger Org Position Adjusts the display of the home position of the measuri...

Page 67: ...ress the save button For MotoPlus Monitor specify the external memory device to save to and then press the save button The results are saved in the root folder of the selected external memory device T...

Page 68: ...fore using the port it is necessary to execute it once Syntax int mpDebugPortInit int portNo char name Argument portNo Specify the port number from 0 to 4 name Specifies the name of the debug port The...

Page 69: ...Port Debug 8 15 HW1484528 HW1484528 mpDebugPortHigh Sets the output level of the debug port to High Syntax int mpDebugPortHigh int portNo Argument portNo Specify the port number from 0 to 4 Return va...

Page 70: ...6 Port Debug 8 16 HW1484528 HW1484528 mpDebugPortLow Sets the output level of the debug port to Low Syntax int mpDebugPortLow int portNo Argument portNo Specify the port number from 0 to 4 Return valu...

Page 71: ...velSet Sets the output level of the debug port to a specified value Syntax int mpDebugPortLevelSet int portNo int level Argument portNo Specify the port number from 0 to 4 level Specify the output lev...

Page 72: ...from the acquired serial file 4 Load the created protection key to the controller When protection of the application is enabled the protection key is checked before starting the application When the k...

Page 73: ...lder of the selected memory device Fig 8 16 Serial File Acquisition Window 8 7 3 Generating the Protection Key MotoPlusIDE Generate the protection key from the acquired serial file 1 Open the project...

Page 74: ...which the protection key is saved to 4 Press Open 5 The key file list on the memory device appears Select the key file to load 6 Press Load The protection key loads from the memory device to the contr...

Page 75: ...troller to use 3 Enable the options Upload Serial data from Controller and Download Protect Key options 4 Press Generate DL Fig 8 19 Generate and Download the Protection Key 8 7 5 2 Download the Appli...

Page 76: ...ad failure Failed to open the file 5 Load failure Undefined symbol 6 Load failure Others application overloaded 7 Failed to initialize the API library 8 No user root task 9 Failed to create the user r...

Page 77: ...8 Fax 86 10 6788 2878 YASKAWA SHOUGANG ROBOT Co Ltd 426 Udyog Vihar Phase IV Gurgaon Haryana India Fax 91 124 475 8542 Phone 91 124 475 8500 YASKAWA India Private Ltd Robotics Division YASKAWA Electri...

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