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After the TCP is set, SAN2 Setup (URCap installation node) has to be configured.
The setup screen is shown in Figure 4. It contains following options:
— Setup SAN2 – this checkbox allows generation of the URScript code with SAN2 setup functions. When checked, the
setup script is generated. In case the setup is not enabled, the program nodes become undefined and warning will be
displayed in each program node, see Figure 5 for illustration.
— SAN2 online status – next to the Setup SAN2 checkbox a connection status is shown.
This indication shows availability of the device at IP address specified below
— Select log level – Level of the messages written to the robot Date Log
— SAN2 IP Address – IP address of the riveting system control unit SANK2 (SAN2 IP address can be set using SANLCD,
see the SAN instruction manual). If the IP address is set and the robot has been launched for the first time after the
boot, it is necessary to restart the daemon (or the whole robot) – IP address is passed to the daemon. The daemon
then creates the connection and keeps it. Therefore, if the IP address is changed during the duty, a robot restart may
be required to contrinue
— Inputs update frequency [Hz] – Modbus messages rate. This rate determines, how often per second the robot asks
SAN2 for input states. Possible values are 1 – 125. Reasonable values are, however, between 10 and 25.
These values provide fast performance and do not overload the communication channels.
— Timeout of ready [s] – When the SAN2 is switched to the AUTO mode, it is also commanded to get to the home position.
When in AUTO mode and in home position, the SAN2 reports READY signal. Timeout of ready determines how long
does the URCap wait for the ready signal before the error is reported.
— Daemon is running – information checkbox about the current running state of the daemon.
If the daemon is running, the box is checked. Beside the additional state information is displayed.
— Reset daemon – button to reset the daemon for any case of trouble.
The button blocks the UI for a while, but at most for 14 seconds.
— Hint – at the bottom of the screen, there is a legend available for all the settings of SAN2 Setup node.
Figure 4 SAN2 Setup
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Titgemeyer / 10273EN1120 / 1
The SAN system
/ Modules for standard blind rivets
