Frna R-j3ib Internet (Maro62int09011e Rev.a Ver.6.20)(1)

March 24, 2018 | Author: Sebautomatisme | Category: File Transfer Protocol, Internet Protocols, Computer Network, Internet Protocol Suite, Transmission Control Protocol
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FANUC Robotics SYSTEM R-J3 iB Controller Internet Options Setup and Operations Ma..Page 1 of 1 FANUC Robotics SYSTEM R-J3 iB Controller Internet Options Setup and Operations Manual Copyright © 2001 by FANUC Robotics North America, Inc. All Rights Reserved. MARO62INT09011E REV A Applies to software version V6.20 http://www.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/book01.html 4/16/2002 1. OVERVIEW Page 1 of 1 1. OVERVIEW 1.1. OVERVIEW This manual contains information about setting up and using the Ethernet Controller Backup and Restore, DNS, Telnet, and Web Server options. You need to set up the TCP/IP parameters for your robot's controller before you can set up and use any of these Ethernet options. Refer to Chapter 2 for information about setting up the TCP/IP parameters. The R-J3iB ECBR consists of the FTP and Controller Backup and Restore (CBR) software options and a built-in Ethernet hardware on the R-J3iB Main PCB. Note You must supply the Ethernet cable to attach to the Ethernet port in the R-J3iB controller. TheR-J3iB FTP Interface product performs the backup operation from the R-J3 iB controller to an external or host device using host communications. FTP is also used to restore application files. The R-J3iB BOOTP and TFTP protocols perform the full controller restore operation from the host device to the R-J3iB controller. See Figure 1.1. . Figure 1.1. R-J3iB ECBR Components http://www.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch01.html 4/16/2002 1.2. BACKUP AND RESTORE Page 1 of 1 1.2. BACKUP AND RESTORE The following kinds of backup and restore methods are provided:  Application file backup and restore  Full controller backup and restore - includes complete operating system, loaded options, and application files 1.2.1. Application File Backup and Restore File-based backup and restore operates on discrete files. The controller must be operational in the Controlled start or Cold start state and have FTP installed to perform file operations. 1.2.2. Full Controller Backup and Restore Full controller backup and restore operations provide the ability to back up and restore a copy of the entire contents of non-volatile controller memory in one operation. This is done using the Controller Backup and Restore option (part of ECBR). The backup operation uses FTP (robot-client) to transfer all files and SRAM memory images to a host computer. The restore operation uses a BOOTP and TFTP server in a host computer to restore all of controller memory from the Configuration Menu. http://www.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch01s02.html 4/16/2002 1.3. FTP PROTOCOL Page 1 of 1 1.3. FTP PROTOCOL The File Transfer Protocol (FTP) comes from the TCP/IP Internet protocol suite. It promotes sharing of files between diverse computers. The R-J3iB FTP Interface uses the following commands:   Server  get  put  mget  mput  dir  delete  rename  cd Client  get  put  mget  mput  dir  delete The R-J3iB FTP Interface, or FTP, was designed to conform with the appropriate subset of the FTP Specification. FTP is the application layer of the "File Transfer Protocol (FTP)," RFC 959, ISI, October 1985. The commands listed above are for use with FTP on a robot. http://www.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch01s03.html 4/16/2002 1.4. TCP/IP PROTOCOL Page 1 of 1 1.4. TCP/IP PROTOCOL Transmission Control Protocol (TCP) is intended for use as a highly reliable host-to-host protocol between hosts in packet-switched computer communications networks. It fits into a layered protocol architecture just above a basic Internet Protocol (IP). The IP provides a way for TestTCP to send and receive variable-length segments of information enclosed in Internet datagram "envelopes." http://www.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch01s04.html 4/16/2002 http://www.5.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch01s05.1.5. BOOTP provides the identity (IP address) to the diskless workstation based on an Ethernet hardware address. BOOTP AND TFTP PROTOCOLS Page 1 of 1 1.frc. BOOTP AND TFTP PROTOCOLS The BOOTP and TFTP protocols are used to boot diskless workstations on a TCP/IP communications network.html 4/16/2002 . TFTP is then used to transfer information to load the workstation. frc.6. http://www.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch01s06. use the KAREL Command Language (KCL).html 4/16/2002 . TELNET The SYSTEM R-J3iB robot controller can support three Telnet connections. CRT/KB options. or a Diagnostic terminal depending on your system's configuration.6. Telnet can be used to establish terminal sessions between a robot controller and a remote PC with Telnet software installed on it. This allows you to access your robot's teach pendant display remotely.1. TELNET Page 1 of 1 1. html 4/16/2002 .7. DOMAIN NAME SERVICE (DNS) Page 1 of 1 1.7. http://www.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch01s07. DOMAIN NAME SERVICE (DNS) Domain Name Service (DNS) allows a robot controller to establish an Ethernet connection to a remote server without having to know the IP address of the remote server.frc.1. html 4/16/2002 . which allows it to respond to a remote web browser's request for information from the robot controller.frc. and teach pendant programs.1. the web server option can allow you to access diagnostic information. WEB SERVER Page 1 of 1 1. In addition.8. http://www. The FANUC Robotics web server option is compatible with most http software packages.8. WEB SERVER The robot controller supports the hypertext transfer protocol (http) and can act as a web server. ASCII versions of system variables.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch01s08. 9. . Client tags are C1: through C8:. After a tag is started.frc. HOST COMMUNICATIONS The R-J3iB FTP Interface enables the R-J3iB controller to communicate with external or host devices across an Ethernet network. called a tag .2. You access robot clients using a client device name. FTP uses host communications to perform communications operations. The R-J3iB Controller as Client Servers http://www. Figure 1.  The client is the device that needs a service.1. In this model. it becomes a device available to the R-J3iB controller.9.  The server is the device that provides the service. HOST COMMUNICATIONS Page 1 of 3 1. When the R-J3iB controller acts as the client. Clients Host communications clients request a service to be performed and receive service replies. you must understand host communications.2.html 4/16/2002 . The host device will operate as a server.1. To use the R-J3iB FTP Interface.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch01s09. all service requests will pass from the RJ3iB controller to the host device. Note Client operation is available from the teach pendant and from KCL on a CRT/KB. responding to requests from the RJ3iB controller as they are received.9. This section contains information on  Host communication architecture  Host communication devices 1. Architecture The host communications architecture is based on a client-server model. See Figure 1. A host device operating as a client will make service requests to the server. Defining a communications device involves specifying the communications tag and protocol. See Figure 1.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch01s09.9.frc. Defining a device makes the device known to the system but does not allocate the resources the device needs. http://www. Host communications servers are started on devices with server tags S1: through S8:. The devices automatically will be started when opened and stopped when closed. To remove a communications device from the system. Client devices must be defined before they can be used.3. These devices cannot be accessed directly.9. This frees the tag so it can be defined as another device. A server is normally started on a tag and runs transparently to the controller. Client devices do not have to be started before they are accessed.3.2. Using a Device The way in which a device is used depends upon the kind of device it is. called a tag . Figure 1. The R-J3iB Controller as Server 1. Devices A host communications device consists of  A communications tag  A communications protocol  An optional serial port name (not used with FTP) Defining a Device You make communications devices known to the system by defining them. you must undefine it. which is the RJ3iB controller. HOST COMMUNICATIONS Page 2 of 3 You access robot servers using a server device name.html 4/16/2002 . . Client devices C1: through C8: are used like local file storage devices.1. 1. \\host_name\ is an extension to MS-DOS. Servers are normally started upon power up and remain running while the controller is powered up. Items in angle brackets (<>) are optional.frc. http://www.file_type This is a modified MS-DOS format.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch01s09. Server devices S1: through S8: must be started before any services can be requested. path_name and file_name. where n is the client tag number. HOST COMMUNICATIONS Page 3 of 3 The host communications file specification for a client device is <Cn:><\\host_name\><path_name\>file_name.file_type follow MS-DOS conventions. The host name follows the colon and is preceded by a double backslash (\\). Cn: is the name of the device.9. 1-8.html 4/16/2002 . All host devices can be configured to start automatically upon power up. host _name is one to eight characters long. Setup is required in two areas:  Hardware .2.includes host communication device definition http://www.frc.1.includes port initialization and cable and connector requirements  Software . SETTING UP TCP/IP Page 1 of 1 2.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch02. SETTING UP TCP/IP 2. OVERVIEW You must set up TCP/IP before you can use Internet Protocol Applications.html 4/16/2002 . Normally this variable should not be charged. Diagnostic Information for information on the connector and diagnostic LEDs.2. After you have connected the Ethernet interface to the network.$FULL_DUPLEX=FALSE Full Duplex $ENETMODE. The auto-negotiate feature can be disabled through the $ENETMODE system variable. Ethernet Configuration Setup Baud Half Duplex Rate/Duplex $ENETMODE. The baud rate and duplex node will be set to the fastest setting that both devices on the list can support. This should only be needed in special circumstances such as when Full Duplex behavior is desired and the other node does not support auto-negotiation.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch02s02.1.2. Main CPU (R-J3iB) Ethernet Connectors http://www.2. 2.1. Refer to Section 2. Refer to Appendix B. for information about installing and configuring FTP and TCP/IP parameters. Figure 2. Hardware Requirements The R-J3iB supports 10 Base-T or 100 Base-TX through the RJ45 ethernet connector.$FULL_DUPLEX=TRUE $ENETMODE. HARDWARE REQUIREMENTS AND INSTALLATION Page 1 of 2 2.3. HARDWARE REQUIREMENTS AND INSTALLATION This section contains information on hardware requirements and installation for the R-J3 iB Ethernet interface.$FULL_DUPLEX=FALSE $ENETMODE.frc.$SPEED=1 100 MBPS $ENETMODE. Table 2.2.$SPEED=2 indicate that auto-negotiation will be used. By default the RJ45 Ethernet port will auto-negotiate with the other equipment on the network.$FULL_DUPLEX=TRUE Note The default settings of $ENETMODE.$SPEED=0 $ENETMODE. for location of the 10 Base-T/100 Base-TX.$SPEED=0 10 MBPS $ENETMODE.$SPEED=1 $ENETMODE.html 4/16/2002 .1.1. you must install the FTP software and configure the TCP/IP parameters. See Figure 2. 2.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch02s02.2. HARDWARE REQUIREMENTS AND INSTALLATION http://www.html Page 2 of 2 4/16/2002 .frc. SOFTWARE INSTALLATION OVERVIEW Page 1 of 1 2.3. Application Tool Interaction with ECBR-FTP The ECBR-FTP option is generally used when the robot is not running an application. Refer to Appendix F.3.3.  Use the FTPSETUP program to enter the information for you. and not running an application. The following application tool packages have been tested and verified with the ECBR-FTP package and can be used together with ECBR-FTP:  ArcTool  DispenseTool  HandlingTool  PaintTool  SpotTool + Other application tool packages might be supported in the future. priority is given to the application.2. and performance of the file transfer is affected if an application is running.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch02s03. http://www. when an application is used in conjunction with ECBR-FTP. if you want enter all the information necessary for FTP and TCP/IP setup yourself.3. Refer to the FANUC Robotics SYSTEM R-J3iB Controller Software Installation Manual for detailed procedures on software installation. Therefore.1. 2. SOFTWARE INSTALLATION OVERVIEW This section contains an overview of ECBR-FTP software installation. it must be tested and verified that there is no interaction between the application tool package and ECBR-FTP.frc. 2. The image restore operation can occur only when the Configuration Menu is displayed. File transfers can be used to transfer files when the controller is running an application. However. through Procedure 2.1. There are three options for configuring the FTP software and TCP/IP parameters:  Use Procedure 2.html 4/16/2002 .2. Refer to Appendix E for information about using the FTPSETUP program  Use a Command File to enter the information for you. Contact your FANUC Robotics customer service representative for information on compatible application tool packages. Application Tools that Support ECBR-FTP Each application tool has its own needs for using the MAIN CPU PCB.2. Ethernet Hardware (MAC) Address The Ethernet Hardware Address is set by the manufacturer. DISPLAYING THE ETHERNET HARDWARE (MAC) ADDRESS Page 1 of 3 2. Figure 2.2. 2. . Ethernet Hardware (MAC) Address Locations http://www.1.2.2.4. The Ethernet Hardware (MAC) address can be found on a label attached to the Main CPU.2. and consists of a 6 byte (48 bit) value. The first three bytes are the manufacturer's code. See Figure 2. 2.4. the Ethernet Hardware (MAC) Address must be set. Ethernet Hardware (MAC) Address on Main CPU Note On some CPU cards this label is found on the bottom of the card (the card must be removed to see it).com/edoc/latest/latest_software/maro62int09011e_rev_a/ch02s04.4.html 4/16/2002 . This section shows you how to display the Ethernet Hardware address.frc. which might be required in the process of configuring a BOOTP server.4. DISPLAYING THE ETHERNET HARDWARE (MAC) ADDRESS For communications to occur over the Ethernet. and the last three bytes are a unique serial number for the Ethernet interface. Displaying the Ethernet Hardware (MAC) Address Steps 1. Hold the PREV and NEXT keys while you turn on the controller. You will see a screen similar to the following. The controller will display the Configuration Menu. Select > 3.1.frc.1. . Procedure 2.5. Select Ethernet based Loading and press ENTER.2.  In the system variable $TMI_ETHERAD.2. Refer to Section 2. Turn OFF the controller. Select Maintenance and press ENTER. .. DISPLAYING THE ETHERNET HARDWARE (MAC) ADDRESS Page 2 of 3 The Ethernet Hardware (MAC) address can be found in the following locations:  The physical label on the Main CPU PCB.  Using SHOW ETHERNET ADDRESS from the Configuration Menu. . ---------. You will see a screen similar to the following. http://www.CONFIGURATION MENU ---------1 Hot start 2 Cold start 3 Controlled start 4 Maintenance Select > 2.Maintenance menu ---------0. Refer to Procedure 2. which can be accessed from the TCP/IP Setup Screen.4. Ethernet Based loading.. ---------.html 4/16/2002 .com/edoc/latest/latest_software/maro62int09011e_rev_a/ch02s04.  The Board Address. Note You cannot make changes to the Ethernet Hardware MAC address. Development 3. Update boot software 2. Top menu 1. You will see a screen similar to the following. See Figure 2. 144 199. Refer to Section 3. DISPLAYING THE ETHERNET HARDWARE (MAC) ADDRESS Page 3 of 3 Ethernet Based Loading 0.3. Note Some items are displayed only after ENET is successfully installed. SHOW ENETADDR Ethernet Address: Local IP Address: Server IP Address: Subnet mask: Router: Host name: 00:E0:E4:14:81:44 199.html 4/16/2002 .148. http://www. . Select Show Ethernet Address and press ENTER. Prev menu Show Ethernet Address Install ENET Device Restore Select > 4.25 255.5.255.5. You will see a screen similar to the following.5. You can choose to perform a Controlled start.255.0 199. or Hot start from this menu.2.148.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch02s04. Cold start.1 robot Network file path: /robot/ Press Enter to Continue> 5. 2. 1.149.frc.4. Press ENTER 3 times to display the Configuration Menu. 3. SETTING UP TCP/IP There are four options for configuring the FTP software and TCP/IP parameters:  Use Procedure 2. through Procedure 2. name. if you want enter all the information necessary for FTP and TCP/IP setup yourself.frc. This item Host Name is case sensitive.255. Router IP Address This item specifies the Internet (IP) Address of the router. This item specifies the Internet host name. Entries for robot node name . RJ3 TCP/IP Interface Parameters PARAMETERS Robot Name Robot IP Address DESCRIPTION This item specifies the name of the robot controller on the Ethernet network. Internet This item specifies the corresponding Internet address of each host. This item specifies a unique internet (IP) Address. Table 2. . The default is 255.2. TCP/IP Parameters Several parameters are used to configure and set the functions of the TCP/IP connections.  Use the FTPSETUP program to enter the information for you.html 4/16/2002 . Please consult your network administrator for the IP address setting. subnet mask. router and any hosts referred to by a client tag are required . lists and describes the R-J3iB TCP/IP Interface parameters you must define.5.2.255. This item is used to distinguish local hosts from hosts that must be reached across routers. Table 2. Refer to Appendix F.2. This must be unique for each robot. This item displays the Ethernet Hardware (MAC) address for the Ethernet Board Address Interface. and router.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch02s05. This address conforms to the standards of Ethernet board addresses. SETTING UP TCP/IP Page 1 of 4 2.0.2. The robot name defaults to ROBOT .5.1. Address Subnet Mask http://www. Internet address). Refer to Appendix E for information about using the FTPSETUP program  Use a Command File to enter the information for you. NOTE: The robot "node name" must have a corresponding entry in the host table (host name. Consult your network administrator for the proper setting.  Use Dynamic Host Configuration Protocol (DHCP) to automatically setup IP address. This is the Internet (IP) address of the robot. if you have not installed the hardware.2.0 08:00:19:02:F2:22 Host Name (LOCAL) 1 ********* 2 ********* 3 ********** 4 ********** 5 ********** 6 ********** 7 ********** 8 ********** Internet Address ****************** ****************** ****************** ****************** ****************** ****************** ****************** ****************** Host Name (SHARED) 1 ********** 2 ********** 3 ********** 4 ********** 5 ********** 6 ********** 7 ********** Internet Address ****************** ****************** ****************** ****************** ****************** ****************** ****************** http://www. 6. SETUP HOST COMM TCP/IP Robot name: Robot IP addr: Router IP addr: Subnet mask: Board address: PDEROB024 172. Refer to Section 2.2.22.2.24 172.2.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch02s05. [TYPE]. SETUP Protocols 1 2 3 Protocol TCP/IP FTP NONE Description TCP/IP Detailed Setup File Transfer Protocol Connects tag to port 5. Select SETUP. Press F3.22.5.frc.194. to define TCP/IP parameters.html 4/16/2002 . Press F1. DETAIL. 2.192. Procedure 2. SETTING UP TCP/IP Page 2 of 4 Use Procedure 2. 4.1 255. Select Host Comm. Defining TCP/IP Parameters Conditions  You have performed TCP/IP hardware installation. 3. You will see a screen similar to the following. You will see a screen similar to the following.240. Steps 1.255. Make sure TCP/IP is selected. Press MENUS. Move the cursor to each item and specify the appropriate information:  Robot name -.Data in this area is saved as part of SYSVARS. This can be left blank if no router is used.2.can include any Host Name/Internet Address mapping that is to be used as part of the client tag configuration. and Shared host configuration on another robot.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch02s05.specify IP address of the router.  Shared Area .specify the unique name of the robot controller. Data in this area is saved as part of SYSHOST.SV should not be shared between robots.  Router IP address -. SYSHOST. SYSVARS. 7.SV ($HOSTENT[]).specify IP address of the robot. SETTING UP TCP/IP 8 ********** 9 ********** 10 ********** 11 ********** 12 ********** 13 ********** 14 ********** 15 ********** 16 ********** 17 ********** 18 ********** 19 ********** 20 ********** Page 3 of 4 ****************** ****************** ****************** ****************** ****************** ****************** ****************** ****************** ****************** ****************** ****************** ****************** ****************** Note There are two areas in which to enter the Host Name and Internet Address mappings on the TCP/IP Setup screen:  Local Area . but should not include node name or router name entries. http://www.frc.html 4/16/2002 . In addition to Host name/Internet Address mapping.SV ($HOST_SHARED[]). A SYSHOST.5.  Robot IP Address -.SV can be shared between robots and can be downloaded from one robot to create a complete DNS. Telnet.SV ($HOST_SHARED[]) contains information about Telnet and DNS. LIST.0 128 and 191 (Class B) 255.0.  Board address -.0.255.This is the ethernet (MAC) address of the robot. Consult your network administrator for guidance in setting this value.3.168.html 4/16/2002 .255. SETTING UP TCP/IP Page 4 of 4 Note The board address is displayed and cannot be changed.168.0.0. 192.254.X. Table 2. for standard subnet mask settings.255. if you want to display the Ethernet Hardware (MAC) address. http://www.frc.255.0 is a Class C address and can support 254 devices.1 through 192.This must be set.0.255.0. Refer to Section 2. and each host with which the controller will communicate as a client.0 192 and 223 (Class C) 255. Note If the controller is connected to an isolated or private network and no routers are used. all equipment must use the same network address in order to communicate.specify the unique host name and Internet address of the controller. router.3.168. where X is a unique number between 1 and 254.0. RFC 1597 makes recommendations for setting IP addresses on isolated or private networks. Press F3. An example of this is the network address 192.  Host Name/Internet Address . Refer to Table 2.0 8.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch02s05. to return to the SETUP Protocols screen.168. for each device on your network.5. A router is required if a non-standard subnet mask is used.4. The default value is 255. use the Class C network address 192. Standard Subnet Mask Settings If the first byte of the IP address is between Set the subnetmask to 0 and 127 (Class A) 255.  Subnet Mask . If you have a private network and have no constraints for setting IP addresses.2. you might see a message similar to the following: 230 User logged in at Operator Level. FANUC SERVER ACCESS CONTROL (FSAC) The FANUC Server Access Control (FSAC) feature controls access to the robot communication servers based on the host (client) IP address. Table 2. Refer to Table 2. for descriptions of available FSAC access levels.SV (system)  . based upon the type of access granted. FSAC Access Levels Access Level 0 1 Description Type of Access Operator level Read only access Operator level.html 4/16/2002 .6.4. with additional access to download the following types of files:  TP (teach pendant)  .VR (variable) Program level Program level.SV file with a known "correct" file on the host system is the intended method to monitor setup. and allow access to specific system areas.6. so properties of this feature can be modified at any time by someone at the teach pendant (variables associated with this feature take effect immediately).IO (i/o config) Full read/write access The access level granted is indicated at login. Comparing the SYSFSAC. For example.PC (p-code)  . http://www.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch02s06.2. All setup is done directly through system variables.4. Access Levels Access levels allow you to perform certain kinds of actions. 2.6. with additional access to download the following types of files: 2 3 Setup level Installation level  . FANUC SERVER ACCESS CONTROL (FSAC) Page 1 of 4 2.frc. FSAC is loaded as part of the FTP option and is disabled by default. The FSAC feature provides no access control at the teach pendant.1. 3. for a description of the system variables contained in SYSFSAC.SV. System Variables The FSAC feature contains system variables in a file called SYSFSAC.6.2.SV Variable Name Data Type Description FSAC Enable Flag. System Variables Contained in SYSFSAC. This can be set to either: $FSAC_ENABLE Integer  disabled (any value other than 1 will disable it)  1.2.html 4/16/2002 . See the following screen for an example.sv 200 PORT command successful 550 Requires SETUP password ftp> 2. Table 2.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch02s06. enabled http://www.6. Access Denied If the FSAC feature is enabled and access is not granted.SV. FANUC SERVER ACCESS CONTROL (FSAC) Page 2 of 4 If an operation is attempted without the appropriate access level.5. the following response is sent to the FTP client: 421 Access Denied (FSAC) : closing control connection This message is sent in response to the USER portion of the login sequence and will actively close the FTP connection. and should always be transferred in BINARY mode. /vob/net/ftp$ ftp sleepy Connected to sleepy 220 R-J2 FTP server ready Name (sleepy:huberjf 230 User logged in at Program Level ftp> binary 200 Type set to 1 ftp put sysfsac. a response is given indicating the required access level. This file can be shared between robots that have the same FTP software installed.6. 2. Refer to Table 2.frc.5. operator level  1. Applications that use this entry.3. Example: 199.4. Example: MYPC Note String The name must be in the LOCAL/SHARED host table or DNS must be installed to resolve names.148.html 4/16/2002 . Example Configuration To enable FTP Server Access Control on Robot 1. Valid values are the same as $ACCESS_LVL those used in $FSAC_DEF_LV. setup level  3.62 20]. Example System Variable Configuration $FSAC_ENABLE = 1 $FSAC_DEF_LV = 0 $FSAC_LIST[1]. FANUC SERVER ACCESS CONTROL (FSAC) Page 3 of 4 FSAC Default Access Level.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch02s06.148.5.$CLNT_NAME Integer  0. Multiple applications can be specified using the following bit mask: $FSAC_LIST []. installation level  any other level is no access The name of the host system. This can be set to: $FSAC_DEF_LV $FSAC_LIST []. Integer $FSAC_LIST. copy the SYSFSAC. set the Robot 1 system variables as follows: Example 2.$ACCESS_LVL = 3 To configure Robot 2 in the same way.$IP_ADDRESS. See Figure 2.6.frc. .2.62' $FSAC_LIST[1].$APPS  BIT 0: FTP  BIT 1: Telnet  BIT 2: HTTP (Web Server) Integer 2.$IP_ADDRESS The access level for the specific host set in $FSAC_LIST[].$IP_ADDRESS = '199.1.SV file from the Robot 1 controller to the Robot 2 controller.5. The default is 255. http://www. program level  2.6. and give full READ/WRITE access to HOST_1 and READ ONLY access to any other devices trying to use FTP to communicate with Robot 1. $FSAC_LIST[1String The IP Address of the host system. com/edoc/latest/latest_software/maro62int09011e_rev_a/ch02s06.html 4/16/2002 .frc. Example Configuration http://www.2. FANUC SERVER ACCESS CONTROL (FSAC) Page 4 of 4 Figure 2.3.6. FTP is used to transfer controller memory files over an Ethernet network. the entire contents of controller memory are copied to files on the designated network device.html 4/16/2002 . files previously created using the controller backup procedure are loaded from the designated network device. Controller restore is performed from the Configuration menu During controller restore. The BOOTP protocol is used to configure ethernet on the robot and Trivial File Transfer Protocol (TFTP) is used to load controller memory files onto the controller via an Ethernet network.3.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch03.frc.1. CONTROLLER BACKUP AND RESTORE 3. OVERVIEW Ethernet Controller Backup and Restore allows an R-J3iB controller to back up and restore controller memory. This capability is divided into two parts:  Controller backup  Controller restore Controller backup is performed at a Controlled start. During controller backup. CONTROLLER BACKUP AND RESTORE Page 1 of 1 3. http://www. FRSV. If you store backups  On a UNIX workstation .html 4/16/2002 . refer to the FANUC Robotics SYSTEM R-J3iB Controller Software Installation Manual . this file is used to direct the system to load all of the files created during the backup. The controller backup procedure creates at least four sub-directories.3.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch03s02. BACKUP Page 1 of 3 3. to perform a controller backup using Ethernet. FRB. Note Please consult your FTP server documentation for information on how to create folders and set up the FTP server.cf. It is a good idea to create a separate subdirectory for each robot.2. the load directory usually is the /usr/tftpdir/ directory on the local hard drive of the workstation. FRSC. you will have a fully loaded controller. Performing a Controller Backup using Ethernet Conditions  You have performed all the setup procedures in http://www.1. the backup utility creates a file called "restore.1. You might want to store the controller backup files in the location from which you will load them. When you restore the controller backup to the controller. Use Procedure 3.1. to perform a controller backup using Ethernet.  On a personal computer .frc. These are CORE. Procedure 3. The backup procedure sets up the files so that controller memory can be fully restored if necessary. To perform a controller backup using another device. This is due to restrictions on file access established by some TFTP server implementations. Backup Files In addition to creating the backup files." When a controller restore is performed. the load directory can be any directory you specify.2. Use Procedure 3. BACKUP The backup feature allows you to back up the entire contents of controller memory. 3.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch03s02. Select File. Or. 9.html 4/16/2002 . ---------. full menus: F00000 NO UserPanel NO Press FCTN then START (COLD) when done. press and hold the HOLD button. 7. 8. You will see a screen similar to the following.2.frc. You will see a screen similar to the following. Release all the keys. 2. 6. 4. http://www. Select Controlled start and press ENTER. Report them immediately. Select BACKUP and press ENTER. turn it off. Steps 1. 3. On the teach pendant . If the controller is turned on .CONFIGURATION MENU ---------1 Hot start 2 Cold start 3 Controlled start 4 Maintenance Select > 5. Press the FCTN key. Turn on the disconnect. Press MENUS. You will see a screen similar to the following. Tool Setup 1 2 3 4 CONTROLLED START MENUS F Number: KAREL Prog in select menu: Remote device: Password Oper. While you hold these keys. press and hold the PREV and NEXT keys. Turning on a robot that does not pass inspection could result in serious injury. turn on the controller. on the operator panel . BACKUP Page 2 of 3 Warning DO NOT turn on the robot if you discover any problems or potential hazards. frc. To exit the screen . Select Controller. Press F5. [BACKUP]. defined as an FTP client. make sure you have set up a client tag. BACKUP Page 3 of 3 FILE CONTROL START MENUS FLPY:\*. press F4. [UTIL]. Select Set Device. Note Before you perform the next step. When the system has finished writing the current files. you will see the following message: Controller backup completed successfully 17. CANCEL. FILE BACKUP CONTROL START MENUS Controller backup will backup the controller's memory to compressed load files on the default device. 13.* 1 * 2 * 3 * 4 * 5 * 6 * 7 * 8 * 9 * 10 * 14 * KL CF TX LS DT PC TP MN VR (all (all (all (all (all (all (all (all (all (all files) KAREL source) command files) text files) KAREL listings) KAREL data files) KAREL p-code) TP programs) MN programs) variable files) [you enter] Press DIR to generate directory 10. CONTINUE.2. press PREV.C8:). Press F4. 14. http://www. Select FTP (C1: . 12.html 4/16/2002 . 16. You will see a screen similar to the following.3. 11. such as C1:. based on what you have set up and defined. If you do not want to continue the backup. and that the corresponding FTP server is working. To continue. Press CONTINUE when ready 15. press F5.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch03s02. 255 the destination IP address. the file server's IP address. Network restore operations are implemented using the industry standard Internet protocols BOOTP and TFTP. The BOOTP protocol allows a diskless client to determine its local Internet Protocol (IP) address.255. Like BOOTP. Preparing for a controller restore.3. Configuring the BOOTP and TFTP Servers Before you can use the controller restore utility. The BOOTP packets are enclosed in a standard IP User Data Protocol (UDP) datagram by default. 3. It accomplishes this using a single packet exchange with the BOOTP server.3. The controller will use the Internet broadcast address 255. it is implemented on top of IP UDP datagrams. 2.html 4/16/2002 . 3. you should set it up to point to a specific directory on a specific node. Make sure that your network administrator does the following: http://www.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch03s03. More than one BOOTP server can be running. TFTP uses fixed length packets that are individually acknowledged to transfer data. but only one should return a valid response packet. Restoring the controller backup from the Configuration menu.3. Configuring the BOOTP and TFTP servers. BOOTP Protocol The BOOTP protocol is executed when the ENET device is installed. TFTP uses the information retrieved by BOOTP to access the file server.frc.255. the network BOOTP and TFTP servers must be configured to recognize the controller.3. This node should be the TFTP server. The specific configuration of the servers will vary depending upon the vendor of the server software.4.3. Refer to Section 3. Restore Process Restoring a controller backup involves the following steps: 1. and the fully qualified file path of the controller's files. for details on the system interactions involved in a controller restore. When you set up FTP to back up a controller. RESTORE Page 1 of 8 3.1. RESTORE FTP is used to save controller memory files over an Ethernet network. TFTP Protocol The reading and loading of files is implemented using the Trivial File Transfer Protocol (TFTP) protocol. BMON will retain the returned information for use by the TFTP protocol. TFTP is a simple protocol for transferring a file. ). The TFTP server can be the same machine as the BOOTP server. Press and hold the PREV and NEXT keys on the teach pendant. as in Section 3. ).html 4/16/2002 . If the controller is turned on.2. ). 3.3. Select Maintenance and press ENTER. and the fully qualified file path name.  Configures the TFTP server to respond to the controller's file requests.2. Install the ENET device (Procedure 3.1).3. 2. Preparing for a Controller Restore You must perform the following steps to prepare a controller to use the restore utility: 1. turn it off.2. Steps 1. 3. Perform the restore command (Procedure 3. http://www. The controller's files must have Public Read Access.cf".  The BOOTP server has been configured and is running. Preparing for a Controller Restore Conditions  The controller memory has been backed up (Section 3. RESTORE Page 2 of 8  Configures the BOOTP server to recognize the controller's Ethernet address and return its IP address. Procedure 3.2.2.3.3. Ensure that the controller has been backed up. 4. Turn off the controller and turn it on in Configuration menu mode ( Procedure 3. to prepare for a controller restore. 2. You will see a screen similar to the following.frc. ---------. You will see a screen similar to the following.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch03s03.CONFIGURATION MENU ---------1 Hot start 2 Cold start 3 Controlled start 4 Maintenance Select > 3. then turn the controller on. The specific file name for the BOOTP server to return to the controller is "[/local_path/]restore.2. Use Procedure 3. the TFTP server's IP address. 148. http://www.255.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch03s03. Prev menu Show Ethernet Address Install ENET Device Restore Select > 5. Development 3. 2. Press ENTER..3. You will see a screen similar to the following.5.25 255.html 4/16/2002 . You will see a screen similar to the following. Select Show Ethernet Address and press ENTER.149.frc. You will see a screen similar to the following.1 robot Network file path: /robot/ Note The Ethernet address shown must have a corresponding entry in the BOOTPTAB on the host (BOOTP Server) system. 1. 3. Ethernet based Loading. 6. Install the ENET Device: a. Select > 4. Select Ethernet Based Loading and press ENTER.5.3.255.. RESTORE Page 3 of 8 ---------.MAINTENANCE MENU ---------1.5. Note Some of these items are displayed only after ENET is successfully installed SHOW ENETADDR Ethernet Address: Local IP Address: Server IP Address: Subnet mask: Router: Host name: 00:E0:E4:14:81:44 199. Ethernet Based Loading 0. Update boot software 2.0 199.144 199.148. to reinstall the ENET device. Select Install ENET Device and Press ENTER. Prev menu Show Ethernet Address Install ENET Device Restore Select > b. A message will be displayed indicating that the ENET device is being installed. The restore.  All files you want to restore must have their permissions set to WORLD READ.148. 2.frc. See the following screen for an example. If BOOTP fails.0 199.149. Installation might take some time due to the response of the BOOTP server. you will have to perform Step 1.3.148.  If BOOTP packets are being sent or received across a router. Installing ENET device Ethernet Address: Local IP Address: Server IP Address: Subnet mask: Router: Host name: 00:E0:E4:14:81:44 199.cf will use this device as a TFTP client to communicate with a remote TFTP server which can access the backup files. Note The ENET device exists only from the Config START MENUS and while controller power is on.3. Performing a Controller Restore http://www.25 255.5.5.html 4/16/2002 . A message will be displayed when the installation has completed.255. 3.1 robot Network file path: /robot/ Press enter to continue> At this point.255. a new device called TFTP: is available to the robot. 3. the router must be configured as a BOOTP Relay Agent.5. throughStep 6.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch03s03. If you cycle power.3.3. RESTORE Page 4 of 8 Ethernet Based Loading 0. 1. you should check the following items:  The BOOTP server SETUP + ENTRIES in the BOOTPTAB file.144 199. When the Restore is complete. http://www. Ethernet Based Loading 0. Press MENUS. Procedure 3.3. Power off. Performing a Controller Restore Conditions  You have the controller backup files on the host device.  The TFTP server has been configured and is running. To cancel . c. 2. reset $DMR_GRP [n]. Restoring will take several minutes.$MASTER_DONE a. The controller will be in Cold start mode.3.  The ENET device has been installed.2.html 4/16/2002 . 3. 3. RESTORE Page 5 of 8 Use Procedure 3. You will see a screen similar to the following. then on. You will be asked to run restore.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch03s03..2. as described in Procedure 3. press ENTER.frc. After you have completed Procedure 3. Steps 1. Turn off the controller and then turn it on. Restore complete. b. Perform the controller restore: a. press 0 and then press ENTER. and press ENTER.cf. press 1 and then press ENTER.3. Prev menu Show Ethernet Address Install ENET Device Restore Select > 2. to perform a controller restore. 1. If you want to continue. Select RESTORE. a message will be displayed stating that power must be cycled for the restore to take effect. If you see an error that indicates that mastering data has been lost. .3. Press F4.Step h.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch03s03. Press F1. g. System Interactions The INSTALL ENET command. YES.4. TRUE. RES_PCA. which executes the Internet protocol BOOTP. and only if the ENET device was installed  Local (Host) name . Move the cursor to $MASTER_DONE. [TYPE].optional. when BOOTP is executed. Press F1. and only if the ENET device was installed In general. d.always  Local IP address . l. Select SYSTEM.Step e. Move the cursor to Calibrate and press ENTER.3.html 4/16/2002 . c. j.only if the ENET device was installed  Gateway IP address . 3. Press PREV. Repeat Step 6.3. k. Select Master/Cal. Press F3. i. [TYPE] m. p. e. YES. h. q. Press MENUS. for each motion group you are using. n. through Step 6. the information returned will overwrite any information regarding Ethernet options entered manually in the Host Comm screens. will return the following pieces of information to the controller system:  Ethernet address . Move the cursor to $DMR_GRP[1] and press ENTER. o. Select Variables.3. f.optional. Press F4. Press F4. RESTORE Page 6 of 8 b. Select SYSTEM.frc. The Host Comm screens set up the following system variables: http://www. Node name table During system powerup. use entry 11.frc. otherwise.$H_ADDR field.$H_ADDR variables for a match.$H_NAME is UNINIT.  If $HOSTENT is full. Copy the $H_NAME field into $HOSTNAME. otherwise.$H_ADDR field.3.Always set $TMI_ETHERAD to this value. http://www." 2.  If $HOSTENT is full. do the following.This must be matched with the optional Local name field. 2. If a match is found  If Local name exists.  Copy the Local IP address into the .3. Search all $HOSTENT[n]. copy it into the .If a Gateway address exists. Note : The current value of entry 12 will be overwritten.  Gateway address .$H_NAME field. copy it into the .Local node name  $TMI_ROUTER .  If Local name exists. Search all $HOSTENT[n]. set $TMI_ROUTER to UNINIT: 1.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch03s03. If no Ethernet address has been entered. RESTORE Page 7 of 8  $TMI_ETHERAD .  Copy the Gateway IP address into the .Router (gateway) node name  $HOSTENT[8] . the system does the following with BOOTP information:  Ethernet address .  Local IP address .$H_NAME field  If a match is not found  Find the first empty $HOSTENT entry. $TMI_ETHERAD will be set to UNINIT.$H_ADDR variables for a match. use the name "ROBOT.html 4/16/2002 . Copy the $H_NAME field to $TMI_ROUTER.  If . If a match is not found  Find the first empty $HOSTENT entry. as follows: 1. copy "ROUTER" into it. use entry 12.Ethernet board address (read only)  $HOSTNAME . Note: The current value of entry 11 will be overwritten. Check each $HOSTENT entry except the one set for Local IP address.frc. set . do the following: 1. RESTORE  Page 8 of 8 Local Name . http://www.3. 2.$H_ADDR to UNINIT.$H_NAME.If Local Name exists. If the Local Name matches .com/edoc/latest/latest_software/maro62int09011e_rev_a/ch03s03.3.$H_NAME and .html 4/16/2002 . This chapter contains information about the following FTP operations:  Accessing client devices  Accessing server devices  Using the memory device (MD:) specification http://www. FTP OPERATIONS Page 1 of 1 4. you can use FTP to communicate between the R-J3iB controller and other host devices. OVERVIEW After you have installed and connected the appropriate Ethernet communications hardware and performed the appropriate device setup procedures.1. FTP OPERATIONS 4.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04.frc.4.html 4/16/2002 . </entry> ITEM DESCRIPTION This item specifies the device name client. NONE is the correct choice since an Ethernet PCB must be used. Protocol Name* For FTP.4.frc.2. This item specifies the name of the predefined port to be used for TCP/IP Port Name* operation. the protocol name is FTP .1. http://www. lists and describes the items you must set up to define a server device. you must do the following:  Install the R-J3iB Host Communications software  Install the R-J3iB TCP/IP Interface software  Define TCP/IP parameters  Install the FTP Interface software  Define FTP on a client device  Define and start FTP on a server device Refer to the FANUC Robotics SYSTEM R-J3i MODEL B Controller Software Installation Manual for information on installing host communications options such as the R-J3 iB FTP Interface software.1.html 4/16/2002 . This item specifies the name of the protocol that will be associated with the tag. This item provides an area for you to include up to 16 characters of information Comment that allow you to label the device for its application use. Other items can normally remain at their default values. Client Device Definition Setup Items <entry> * This item is normally set up by the user. SETTING UP AND STARTING FTP Before you can use the R-J3iB FTP Interface.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s02. Mode This item is not used at this time. Table 4.2. Available client tags are C1: Tag through C8:. Table 4. lists and describes the items you must set up to define a client device. Table 4.2. SETTING UP AND STARTING FTP Page 1 of 7 4. The State is normally set to defined.html 4/16/2002 . up to 64 characters. and Path . This item is filled in automatically when the tag is defined. This item specifies the desired startup (Power up) state for the selected tag. Modify these items as necessary.  STARTED . Inactivity Timeout  When set to zero . http://www. Note Upon startup. up to eight characters. This item specifies the host path to be used for TCP/IP operations upon startup. This item specifies the remote host name to which the connection will be made upon startup. no timeouts occur.the device is defined. This item is case sensitive and must be defined in the host table. up to 64 characters.2. Inactivity Timeout specifies the number of minutes of inactivity on the network before a connection will be closed. This item specifies the host path to be used for current TCP/IP operations. This item specifies the number of minutes of inactivity on the network before a connection will be closed. This item is filled in automatically when the tag is defined.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s02. This item is filled in automatically when the tag is defined. Remote .frc.the device is not defined.the device is defined and started. This item specifies the remote host name to which to the connection will be made. This item is case sensitive and must end with a \ or /. Three states are possible: State (Current) Remote (Current) Path (Current) State (Startup)* Remote (Startup)* Path (Startup)*  UNDEFINED . for client tags. the startup State .  When set to a non-zero value. The default value is 15 minutes. This item should be set to OFF (default setting). Refer to State (Current) for valid states. Error Reporting This item is not used by FTP.  DEFINED . SETTING UP AND STARTING FTP Page 2 of 7 This item displays the current status of the host device. Remote . and Path are copied into the current State .4. The client tag is started automatically from KCL or from the FILE screen on the teach pendant when it is used. 2.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s02. SETTING UP AND STARTING FTP Page 3 of 7 Use Procedure 4. Server Device Definition Setup Items ITEM DESCRIPTION This item specifies the device name server.frc.  DEFINED . to define and start FTP on a client device.4.1. Available server tags are S1: Tag through S8: This item provides an area for you to include up to 16 characters of information Comment that allow you to label the device for its application use. This item should be set to OFF (default setting). This item is not used at this time. The State (Startup) is normally Start.  STARTED . http://www. This item is filled in automatically when the tag is defined.2. This item specifies the name of the predefined port to be used for TCP/IP Port Name* operation. This item is not used at this time.  When set to a non-zero value. no timeouts occur.html 4/16/2002 . For FTP. This item is filled in automatically when the tag is defined.  When set to zero .the device is defined. Mode This item is not used at this time.the device is defined and started. This item is not used at this time. This item displays the current status of the host device. This item is not used at this time. Refer to State (Current) for valid states. NONE is the correct choice since an Ethernet PCB must be used. the protocol name is FTP. This item specifies the name of the protocol that will be associated with the Protocol Name* tag. This item is filled in automatically when the tag is defined.the device is not defined. Table 4. Three states are possible: State (Current) Remote (Current) Path (Current) State (Startup)* Remote (Startup) Path (Startup) Error Reporting Inactivity Timeout  UNDEFINED . This item is not used at this time.Inactivity Timeout specifies the number of minutes of inactivity on the network before a connection will be closed. This item specifies the desired startup (Power up) state for the selected tag. This item specifies the number of minutes of inactivity on the network before a connection will be closed. b. SETUP Servers 1 2 3 4 5 6 7 8 Tag Protocol Port S1: ******** ***** S2: ******** ***** S3: ******** ***** S4: ******** ***** S5: ******** ***** S6: ******** ***** S7: ******** ***** S8: ******** ***** [Undefined] [Undefined] [Undefined] [Undefined] [Undefined] [Undefined] [Undefined] [Undefined] c. [SHOW].2.html 4/16/2002 .4.2. Use Procedure 4.frc. You will see a screen similar to the following. Refer to Procedure 2. Move the cursor to the server tag you want to set up and press F3. Press F1. See the following screen for an example. DETAIL.2. 2. Refer to Section 2. Select SETUP. . To set up a server: a. http://www. [TYPE]. . 4. Procedure 4. SETUP Protocols 1 2 3 Protocol TCP/IP FTP NONE Description TCP/IP Detailed Setup File Transfer Protocol Connects tag to port 5. 3. Other items can normally remain at their default values. Select Host Comm.1.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s02. You will see a screen similar to the following. Press F4. Select 3. Press MENUS.1. Servers. Steps 1. to define and start FTP on a server device.  You have defined TCP/IP parameters. Defining and Starting FTP on a Device Conditions  You have connected the Ethernet interface to a network. SETTING UP AND STARTING FTP Page 4 of 7 * This item is normally set up by the user. 2. [CHOICE]. [CHOICE]. NONE and press ENTER. Move the cursor to Inactivity Timeout. i. for as many server devices as you are defining. m. k. LIST. type the timeout value you want. in minutes.frc. through Step l. a server should be set to the Start startup state.html 4/16/2002 . all tags come up in the Undefined state. Press F3. . A list of available protocol choices will be displayed. Move the cursor to Protocol Name and press F4. To set up a client: http://www.4. f. to display the list of server devices. A detailed description of the fields in the Setup Tags screen is given in Table 4. move the cursor to Comment and use the function keys to type a message associated with this configuration and then press ENTER. You are not required to enter a comment. Note By default. Select FTP and press ENTER. Other items can typically remain at their default values. To enter a comment. Select the startup state you want and press ENTER. Move the cursor to Port Name and press F4. In general. e. The default value is 15 minutes. Select 3.2. l. j.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s02. d. 6. g. SETTING UP AND STARTING FTP Page 5 of 7 SETUP Tags Tag S1: 1 Comment: **************** 2 Protocol Name: FTP 3 Port Name: ***** 4 Mode: ***** Current State: Undefined 5 Remote: ********** 6 Path: ************************* Startup + 7 State: Defined 8 Remote: ********** 9 Path: ************************* Options 10 Error Reporting: *** 11 Inactivity Timeout: **** min + + + These items are normally set up by the user. Move the cursor to Startup State and press F4. and press ENTER. [CHOICE]. Repeat Step c. h. Clients.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s02. http://www. e. f. h. DETAIL. SETTING UP AND STARTING FTP Page 6 of 7 a. [CHOICE]. Press F4. Select 2.4. [SHOW]. b. You are not required to enter a comment. Select 3 NONE and press ENTER. See the following screen for an example. Select FTP and press ENTER g. Move the cursor to the client tag you want to set up and press F3. SETUP Clients 1 2 3 4 5 6 7 8 Tag C1: C2: C3: C4: C5: C6: C7: C8: Protocol ******** ******** ******** ******** ******** ******** ******** ******** Port ***** ***** ***** ***** ***** ***** ***** ***** [Undefined] [Undefined] [Undefined] [Undefined] [Undefined] [Undefined] [Undefined] [Undefined] c.. d.frc.2. Move the cursor to Protocol Name and press F4. Move the cursor to Comment and use the function keys to enter a message associated with this configuration. [CHOICE].1.html 4/16/2002 . Other items can remain at their default values in most cases. SETUP Tags Tag C1: 1 Comment: **************** 2 Protocol Name: FTP 3 Port Name: ***** 4 Mode: ***** Current State: Undefined 5 Remote: FRED 6 Path: ************************ Startup + 7 State: Defined + 8 Remote: FRED + 9 Path: ************************* Options 10 Error Reporting: *** 11 Inactivity Timeout: **** min + + + These items are normally set up by the user. A list of available protocol choices will be displayed. You will see a screen similar to the following. A detailed description of the fields in the Setup Tags screen is given in Table 4. Move the cursor to Port Name and press F4. j. through Step n. Refer to Section 4. to display the list of client devices. the username and password need to be set to log into the host machine. http://www. g.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s02. for as many client devices as you are defining. [ACTION]. Repeat Step c. Move the cursor to Startup Remote and use the function keys to enter the remote host name. c. Define. Select Clients or Servers. through Step g. again. for all of the client and server devices you want to define and start. Note When starting a client. Press F2. [CHOICE]. and press ENTER.2. n. Press F4. [ACTION]. i. Move the cursor to Startup Path and use the function keys to enter the host path. Press F3. Repeat Step c. LIST. k. Select the startup state you want and press ENTER. [SHOW]. Press F2. h. Move the cursor to the client or server you want to define and start.html 4/16/2002 . in minutes. SETTING UP AND STARTING FTP Page 7 of 7 Note By default. l. ). e.3. o.4. b. Move the cursor to Startup State and press F4. Select Start. Select 1.frc. type the timeout value you want. To define and start FTP on a device: a. d. Move the cursor to Inactivity Timeout. 7. The default value is 15 minutes. m. a client should be set to the Define startup state.2. all tags come up in the Undefined state. f. In general. This item is case sensitive and must be defined in the host name table (Procedure 2. This item is case sensitive and must end with a \ or /. You must define a password for each username. This password allows a user who enters the username and password the ability to perform communications operations using FTP. Therefore. In addition to defining the password.3.4. Press F1. For a given client. A password must be from 1 to 12 characters long and must consist of letters numbers.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s03. FTP CLIENT USERNAMES AND PASSWORDS Each client has the capability to communicate with a different host. numbers. http://www. 3.html 4/16/2002 . you may set a password timer. The default value of a password timer is zero . Refer to your host computer documentation for more information. if you have not set up the FTP client devices. Note The host computer to which you connect might have restrictions on the characters you can use in the username and password.2. and password timer with each client. Steps 1. This password is case sensitive based on the host system that checks it. you must set the username. [TYPE]. and password timer as appropriate. FTP CLIENT USERNAMES AND PASSWORDS Page 1 of 2 4. password. The default client password is guest . it is necessary to associate a username. and punctuation that can be entered using the teach pendant. The default client username is anonymous .2. Press MENUS. 2.1. Use Procedure 4.3. Procedure 4. The password is case sensitive based on the host system that checks it.frc. and punctuation that can be entered using the teach pendant. A username must be from 1 to 12 characters long and must consist of letters. Refer to Procedure 4. to set usernames and passwords on client devices. which is the number of minutes after which the controller automatically will reset the password to "guest" and set the password timer to zero. The username is case sensitive based on the host system that checks it. Setting Usernames and Passwords on Client Devices Conditions  You have set up FTP. which means the password will not be reset. Select SETUP. password. See the following screen for an example.html 4/16/2002 . through Step 8. LIST. This item is case sensitive. Move the cursor to the corresponding timer and press ENTER.frc. Move the cursor to the password that corresponds to that username and press ENTER.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s03. Move the cursor to the username you want to change and press ENTER. Move the cursor to FTP and press ENTER. for the remaining usernames and passwords you are setting.3. 7. 10. FTP CLIENT USERNAMES AND PASSWORDS Page 2 of 2 4. http://www. Select Host Comm. to return to the SETUP Protocols screen. Press F3. 9. This item is case sensitive. Repeat Step 6. Use the numeric keys to type the time and press ENTER. You will see a screen similar to the following. Use the appropriate function keys to type the username and press ENTER. Use the appropriate function keys to type the username and press ENTER. SETUP Host Comm FTP USERNAME C1 C2 C3 C4 C5 C6 C7 C8 ANONYMOUS anonymous anonymous anonymous anonymous anonymous anonymous anonymous PASSWORD ************ ************ ************ ************ ************ ************ ************ ************ TIMER (minutes) 0 0 0 0 0 0 0 0 6. 8.4. SETUP Protocols 1 2 3 Protocol TCP/IP FTP NONE Description TCP/IP Detailed Setup File Transfer Protocol Connects tag to port 5. If a path_name is not present. upper case file names http://www.4. FTP copies files of type . ACCESSING AND USING CLIENT DEVICES Page 1 of 5 4. followed by a colon. the string specified for the Path (Current) will be used as the default path_name. as ASCII files. The optional host_name field selects the network node to receive this command.4. It can consist of up to a maximum of 64 characters. The root or source directory is handled as a special case. The full definitions are as follows:  device_name is a two. ACCESSING AND USING CLIENT DEVICES This section contains information about accessing client devices. for example). . The default device from the system console variable $DEVICE will be used if this field is absent (C1:.4.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s04. If a host_name is not present.4. Note that file_name is sent over the network in lower case format. and . the remaining characters must be alphanumeric. 4. The optional host_name field is an extension to MS-DOS. returning it to the defined state. 4.  file_name is from one to eight characters. host_name must already have been defined in the host table (Procedure 2. regardless of how it is entered.html 4/16/2002 .to five-character optional device name field. Therefore.KL . It is used to select the file subdirectory.2. access to the subdirectory SYS linked off of the root would have a path_name of '\SYS' .4.frc. Single quotes can be used to delimit strings or characters unacceptable to MS-DOS. It must be preceded by two backslashes and separated from the remaining fields with a backslash. File Specification for Client Devices Client devices are used like local file storage devices. The file_spec using this path_name would be C1:\\HOST\'\SYS'\FILE. The host_name is a standard MS-DOS name from one to eight characters long. such as the "\" character.CF.2.  path_name is a recursively defined optional field consisting of one or more file_names separated by a backslash. However.KL. For example.  host_name is a file name type consisting of one to eight characters. the string specified for the Remote (Current) will be used as the default host_name.file_type This is a modified MS-DOS format.LS.1. All other file types are transferred as binary files. Access Description A client device does not have to be started before it is accessed. The device automatically will be started when opened and stopped when closed. The host communications file specification is as follows: <device_name:><\\host_name\><path_name\>file_name. ). The first character must be a letter. the tag must be defined. Starting and Stopping a Client Device Use Procedure 4. Starting and Stopping a Client Device Conditions  The client device you want to start or stop has been defined. [SHOW].1. 3.  file _type is from zero to three characters. 6. ) Steps 1. Procedure 4. 4.4. and configure the client device and to start it automatically when the controller is turned on. They will be started automatically when accessed. Press F1.html 4/16/2002 . ACCESSING AND USING CLIENT DEVICES Page 2 of 5 on a case-sensitive remote host cannot be retrieved.3. 4. 8.frc. 2. Press F2.4. Select Host Comm. 5. to start. Select the action you want to perform: http://www. Select SETUP. You will see a screen similar to the following. Press MENUS. Press F4. [TYPE]. stop.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s04. Client tags can be turned on in the defined state.3. ( Procedure 4. SETUP Clients 1 2 3 4 5 6 7 8 Tag C1: C2: C3: C4: C5: C6: C7: C8: Protocol ******** ******** FTP ******** ******** ******** ******** ******** Port ***** ***** ***** ***** ***** ***** ***** [Undefined] [Undefined] [Defined ] [Undefined] [Undefined] [Undefined] [Undefined] [Undefined] 7. [ACTION].4. Select Clients.3. This is why it is recommended to have client tags powerup in the defined state. when you set the default device to C1:. Refer to the "Program and File Manipulation" chapter in the appropriate application-specific Setup and Operations Manual for information on program and file manipulation.4.4.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s04. The device will change to the defined state.  To start a device. Move the cursor to the client tag you want to start automatically and press F3. the robot controller will wait approximately one minute to timeout before completing powerup.frc. In this case. if the host is not available. Move the cursor to Startup State and press F4. The controller will automatically start the client tags when used. select Define. The client device will now start automatically when the controller is turned on. and press ENTER. Select Start. select Stop. Note The host device must be capable of accepting this FTP login at powerup if the tag is set to START AUTOMATICALLY when you turn the robot on. b. c. [CHOICE].html 4/16/2002 .4. 9. ACCESSING AND USING CLIENT DEVICES Page 3 of 5 Note A device must be in the defined state before it can be started.  To define a device.  To stop a device. The device must be in the defined state. it can be used from the teach pendant.  To undefine a device. Teach Pendant File Access After a client device has been defined. you can do the following:  From the SELECT screen  Save a program to C1:  Load a program from C1: http://www. On the teach pendant. To configure the client device to start automatically at power up: a. select Undefine.4. DETAIL. select Start. 4. type the following: KCL> DIR <src_file_spec> Delete File from Node Device To delete a file on a node device. type the following.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s04. The general format for copying files is the KCL COPY command with the appropriate host communications definitions for the source and destination file specifications.frc.5. to the R-J3iB controller.4. Transfer File FROM R-J3iB Controller TO Node Device To transfer a copy of the source file ( src_file_spec ) to the destination device and destination file (dst_file_spec ).html 4/16/2002 . This node device can be either the host computer or another R-J3iB controller with server tags started.4.VR TO RD:\TPDEF.VR Generate Directory On Node Device To generate a directory of files on a node device. named FRED .4. for example: KCL> COPY C1:\\FRED\TPDEF. type the following: http://www. it can be used from KCL at the CRT/KB to copy files between the R-J3iB controller and any node device on the network. KCL File Access After a client device has been defined. type the following: KCL> COPY <src_file_spec> TO <dst_file_spec> Transfer File FROM Node Device TO R-J3iB Controller To transfer a file from a node device. ACCESSING AND USING CLIENT DEVICES  Page 4 of 5 From the FILE screen  Generate a directory of files on C1:  Load or restore files from C1: onto controller memory  Back up program and system files to C1:  Copy files to and from C1:  Delete files from C1: 4. 4.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s04.frc.html 4/16/2002 .4. for example: KCL> CD C1: KCL> LOAD TP TEST1 Note If you use Distinct FTP on your host PC and you want to send a DIR command to a Distinct FTP Server. the file specification must be delimited by single quotation marks.*' DIR '*.tp' http://www. type the following. type the following. ACCESSING AND USING CLIENT DEVICES Page 5 of 5 KCL> DELETE FILE <src_file_spec> Save Program to Node Device To save a program to a node device. For example DIR '*. for example: KCL> CD C1: KCL> SAVE TP TEST1 Load Program from Node Device To load a program from a node device. [TYPE]. ACCESSING SERVER DEVICES Page 1 of 2 4. Starting and Stopping a Server Device Conditions  The server device you want to start or stop has been defined. When no server tags have been started.1.5. You will see a screen similar to the following.4. 4. Select SETUP. Press F1.5. Press F4. Procedure 4. Starting and Stopping a Server Device Use Procedure 4. you control the number of devices that are connected to the R-J3 iB controller by starting only the appropriate number of server tags.1. 3. Access Description Server devices S1: through S8: and server-client devices that perform both functions must be started before any services can be requested. You cannot select which server devices are used for specific connections.4. One server can support one connection. [SHOW]. stop. to start. ) Steps 1. ACCESSING SERVER DEVICES This section contains information about accessing server devices. Servers are normally started when the controller is turned on and remain running while the controller is on.5. Select Host Comm. http://www. This is determined by the TCP/IP Host Communication software. 6. 2. Select Servers. and configure the server to start automatically when the controller is turned on.html 4/16/2002 . no connections can be received.5. 4. Therefore.frc.4. 5.2.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s05. Press MENUS. All host devices can be configured to start automatically when the controller is turned on via their Startup Mode. A server device listens for connections that are initiated from the host computer. ( Procedure 4. 4. frc. Select the action you want to perform: Note A device must be in the defined state before it can be started. [CHOICE]. The server device will now start automatically when the controller is turned on.  To define a device.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s05. Move the cursor to Startup Mode and press F4. select Start. select Define. DETAIL.html 4/16/2002 . Move the cursor to the server tag you want to start up automatically and press F3. Press F2. 8. ACCESSING SERVER DEVICES Page 2 of 2 SETUP Servers Tag 1 2 3 4 5 6 7 8 Protocol S1: S2: S3: S4: S5: S6: S7: S8: Port ******** ******** FTP ******** ******** ******** ******** ******** ***** ***** ***** ***** ***** ***** ***** [Undefined] [Undefined] [Defined ] [Undefined] [Undefined] [Undefined] [Undefined] [Undefined] 7. select Stop.  To stop a device. http://www. [ACTION]. c. b.  To undefine a device. Select Start.5. The device will change to the defined state. select Undefine. and press ENTER.  To start a device.4. To configure the server device to start automatically at power up: a. The device must be in the defined state. 9. html 4/16/2002 .frc. 4.1.6. Figure 4.1.6. It also shows the devices and the services that can be accessed. All service requests pass through the R-J3iB system library functions. FTP SERVICES Page 1 of 5 4. shows the relationship of host communications to the R-J3 iB controller system.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s06. FTP SERVICES The following FTP services are provided:  Environment services  File transfer services  Directory services These services can be performed only by server devices. Figure 4.6.1.4. Environment Services FTP provides the following environment services:  open  close  username  password  type http://www. Host Communications Model A host device operating as a client will make service requests via the Ethernet cable to the server. . and .PC. File Transfer Services FTP provides the following file transfer services:  get  put http://www. . which turns off the Inactivity Timer. for the complete procedure.TP. You can use the FTP Server Access control feature to modify this behavior. .4. Refer to Procedure 4. Timer values can be set between 1 and 99.6. username Username is checked if the password protection option is installed on the robot controller. The Program level can perform Operator tasks and download . FTP SERVICES Page 2 of 5 open Open is used to establish a connection between the host computer and the R-J3 iB controller.IO.IO.VR files. such as .2. password Password is checked only if the password protection option is installed on the robot controller.SV files.999 minutes.frc. the Close request is sent to the attached host computer. The Operator level can upload files and perform a directory.2.SV. You can set the Inactivity Time to zero. Note Server passwords require the Password Protection option.html 4/16/2002 .VR.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s06. . and . .6. close The close service is used to close a connection. When Inactivity times out.TP. you are placed in the Setup/Installation level by default. type Type sets the file transfer type to BINARY before transferring binary type files. The Setup/Installation level can perform Operator and Program tasks and download . If the password protection option is not installed. 4.PC. com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s06. Note http://www.frc.  word* Matches names that begin with word plus zero or more characters.  *word* Matches names that contain word in the beginning. Wildcards can be used as follows:  word No wildcard.6. except client devices C1: through C8:. Refer toSection 4. and the memory device). The name must match exactly. "*" in the file name or extension.4. Directory Services FTP provides the following directory services:  dir  delete  rename  cd  pwd dir The dir service provides the same directory operations as the KCL DIRECTORY command. or end.3. The FTP protocol uses the standard input and output services available in the controller.7.6. 4. . Wildcard operations are allowed for dir using the wildcard character. Refer to the KAREL Reference Manual for more information about KCL commands. System files can be transferred to and from the memory device only. can be accessed. FTP SERVICES  mget  mput Page 3 of 5 User program and data files can be transferred to and from I/O devices (such as the RAM disk. Any device accessible by a KAREL program or KCL.  *word Matches names that end with word preceded by zero or more characters. middle. serial ports.html 4/16/2002 . pwd The pwd service is used to display the default device. as files with the teach pendant file type extension.SV) with the Memory Device. The controller will not allow teach pendant file names to be used with different attribute types. macro (. for more information on the memory device. such as job (.4.TP with attribute type job (. delete The delete service works with devices such as P3: and FLPY:.6.TP with attribute type macro (. You can delete all files except system files (such as SYSVARS. . FTP SERVICES Page 4 of 5 On some screens.JB) and a TEST99. the FTP server recognizes the internal commands listed in Table 4. such as the PS-100 or PS-200.6. Table 4. You can transfer only those files that are displayed in the directory of the memory device (MD:). or process (. FTP Server Internal Commands http://www. rename Rename is not available on the memory device (MD:) and memory card (MC:).3. the controller might display the teach pendant file attribute as a file type.html 4/16/2002 . cd The cd service is used to change the default device.MR).3.7. the Distinct FTP client cannot change to hidden drives and cannot transfer hidden files.JB). In particular. these are all stored on external devices. Note If you use Distinct FTP on your host computer. For example. Miscellaneous FTP Information The FTP implementation on the robot conforms to Internet standard specifications (as given by RFC 959). However. Refer to Section 4. 4.frc.4.MR). there cannot be a TEST99.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s06.PR). the default device of the R-J3iB FTP server. 0  IPSwitch's WS_FTP Pro Version 6.4.51  FTPx Corporation's FTP Explorer http://www. the FTP server on the robot is compatible with any FTP client (command-line or GUI-based) that conforms to the standard FTP specification. the FTP server has been tested against standard UNIX and Windows-based command line PTP clients and the following graphical FTP clients:  GlobalScope Inc. FTP SERVICES ABOR USER PASS PORT TYPE LIST NLST RETR STOR QUIT PWD CWD DELE RNFR RNTO Page 5 of 5 PASV SYST HELP NOOP CDUP MODE STRU XPWD XCUP XCWD In general.'s CuteFTP Version 4.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s06.html 4/16/2002 .6.frc. In particular. KAREL program files (.frc.7. servo parameter data.html 4/16/2002 .PC) can be loaded into MD: but cannot be read from it. and software. MD: treats the controller's program memory as if it were a file device. System Files System files are binary files that store default values for system variables.7.1.4.SV MD:[\\*SYSTEM*\]SYSMAST. KAREL programs.4.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s07.  file_type is from zero to three characters. 4.SV MD:[\\*SYSTEM*\]SYSFSAC. MEMORY DEVICE (MD:) Page 1 of 3 4. Note Rename is not supported for MD:. You can access the system files listed in Table 4.SV http://www. MEMORY DEVICE (MD:) The memory device (MD:) is a special device that exists for host communication devices. Table 4. robot.SV MD:[\\*SYSTEM*\]DIOCFGSV.file_type  file_name is from one to eight characters. You can access all teach pendant programs. The syntax used with MD: is as follows: MD:file_name.4. Refer to the appropriate application-specific Setup and Operations Manual for information on specific file operations. They contain information specific to the controller. Refer to the appropriate application-specific Setup and Operations Manual for more information. and KAREL variables loaded in the controller.7. by specifying the Memory Device and the reserved file names within the file access services that are supported for Memory Device. System Files Accessed through the Memory Device <entry> [ ] denotes an optional field </entry> Kind of Information Frame information FTP Server Access Control Configuration I/O information Macro command information Mastering information File Specification MD:\\TPFDEF\FRAMEVAR.IO MD:[\\*SYSTEM*\]SYSMACRO. and mastering data. When transferring system files. The MDB: device directory function includes only those files that should normally be backed up.7. 4. they can be imported to a spreadsheet application. you must ensure that the system files have the same core version as the system to which you are transferring these files. you will see the system file and its ASCII version.5. Sample Error Log http://www. MEMORY DEVICE (MD:) Number registers Password variables Position registers Servo parameters Shared Hosts File System variables Page 2 of 3 MD:[\\*NUMREG*\]NUMREG.SV Note When you perform a DIR listing of the files stored on the MD: device. This device will back up the same files as the Teach Pendant Backup [ALL] function.VR MD:[\\*NUMREG*\]SYSPASS.7. Error Log Files File Name Kind of Information The Error Log (All) file provides a snapshot of the history of errors in the ERRALL.SV is SYSVARS.LS system. The files found in MDB: are based on the configuration of $FILE_AP2BCK and $FILE_APPBCK.SV MD:[\\*SYSTEM*\]SYSVARS. such as Microsoft Excel. Error Log Files Error log files are ASCII text files that provide a snapshot of the current errors in the system.4.LS the system.html 4/16/2002 .VA. The MDB: device can be used for creating complete robot backups.VR MD:[\\*SYSTEM*\]SYSSERVO.SV MD:[\\*POSREG*\]POSREG. When using FTP.5. The Error Log (Active Alarms Only) file provides a snapshot of active errors in ERRACT. The ASCII version of SYSVARS. However.frc. Refer to Table 4.SV MD:[\\*SYSTEM*\]SYSHOST. They can be backed up to the default device. for a listing of error log files.*" (in binary mode) would provide a complete backup of the robot system and application files based on MDB: being configured correctly. Refer to the appropriate application-specific Setup and Operations Manual for more information about this device. a request to the MDB: device such as "mget *.2. Table 4. and ASCII versions can be as large as ten times the size of the binary version. Refer to the appropriate application-specific Setup and Operations Manual for more information.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s07. but cannot be restored or loaded into the controller. facility name. and the severity text. The sequence number increases sequentially. and are delimited by double quotes (") to simplify importing the file into a spreadsheet. the robot hostname and the current system time and date stamp. Active alarms are denoted by the text "act. The other fields in this section are the time and date stamp of the error. Each of the fields.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s07.7. which is an internal system number that identifies a particular error during consecutive accesses to the error log.html 4/16/2002 . the error code number. Sections of an Error Log The first line of the error log file is called the header. ERRALL. except the cause string field. The next section of the file consists of a sequence number. is set to a fixed width." and inactive alarms have a null field.LS also has a field to include the active/inactive status of the alarm.2. It consists of the error log name. the cause code message (if one exists).4.frc. for an example of an error log entry. http://www. MEMORY DEVICE (MD:) Page 3 of 3 See Figure 4. the error code message. Sample Error Log Entry All of the fields of an error log file are left justified.2. although it need not start from 1. Figure 4. (such as the required robot library). then the serialized memory card must be copied to the host system with the directory structure and all files intact.5. Upgrades must also be obtained from FANUC Robotics.html 4/16/2002 . Table 4. Note Controller Version Upgrade requires a serialized memory card to operate. CONTROLLER VERSION UPGRADE Controller Version Upgrade allows you to back up user files and configuration information. options from previous releases should be included to maintain compatibility with the existing application. and restore user files and configuration information.dat). transfer new product release software to the robot controller.8. you must back up your application. Table 4.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s08. and any options to be included. Generally. Attempting this upgrade will fail and require a complete reload of software. If the upgrade is to be done over a network. Instead.6. CONTROLLER VERSION UPGRADE Page 1 of 10 4. http://www. Controller Version Upgrade Setup Items ITEM F4. This item can be either local or network. and then perform a full controller load.6.dat to FRD:\nlicense.frc.8. This serialized memory card is provided by FANUC Robotics with the robot. Caution The CTRL Upgrade feature does not support upgrades from V6. The serialized memory card must include the robot-specific configuration. to perform a controller version upgrade. lists and describes each item you must set to set up controller version upgrade. Use Procedure 4.4.20.11 to V6. You can perform a controller version upgrade locally (using the controller teach pendant) or over a network. [CHOICE] OPTIONS Download Control local default: local network DESCRIPTION This item determines whether the upgrade is initiated locally (by using the teach pendant) or by using the network (by downloading license. default: TRUE TRUE FALSE Auto Transition to COLD default: TRUE This item indicates whether or not you want to restore files manually from the FRD: device.  The robot is operating normally. This item can be set to NONE if the device is not to be backed up.C8: default: MC:\ This item identifies the device that is to be used for the automatic backup operation. Note Backup Device default: FRD:\ MC:\ This cannot be the same device as the source FLPY: device. FRD:\ FTP CLIENT TAGS C1: This item identifies the device that is to be used for the automatic restore operation.5. CONTROLLER VERSION UPGRADE Source Device Page 2 of 10 MC:\ FTP This item identifies the device that contains the new version of CLIENT TAGS C1: software (the application tool and operating system software). When it is set to TRUE.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s08. the controller will automatically transition to start after any user-selected automatic restore is complete. Controller Version Upgrade Conditions  The R-J3iB controller needs to be upgraded with a new version of software and all user files must be restored.html 4/16/2002 .8.frc. http://www.4. set this item to FALSE. .C8: to be restored. Procedure 4. Auto Clean FRD when complete This item indicates whether FRD: will be cleared when going to and from Controlled to start (whether or not to clean up the FRD: after an upgrade). NONE Note Restore Device default: FRD:\ This cannot be the same device as the source device. If you do. This item can be set to NONE if the device is not .  You have the FANUC Robotics memory card that contains the upgrade you want to load serialized for the target robot and application and installed in the default device. Otherwise. the controller will be unbootable and you will have to reload the controller completely. Application-Specific Software Screens http://www. Turn on the disconnect. You cannot turn off the controller until the upgrade is complete. 2. If the controller is turned on. You will see a screen similar to the one shown in Table 4.  You are not running production. turn it off. Controller version upgrade generates an error message that is not resettable until you turn off the controller and then turn it on again.html 4/16/2002 . the robot is operating normally and is functioning on the network with remote host.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s08. While you hold these keys. Select Controlled start and press ENTER. . Table 4. . c. turn the controller ON. Perform a Controlled start: a. go to Step 10.4. You will see a screen similar to the following. Press and hold the PREV and NEXT keys on the teach pendant.Configuration Menu ---------1 Hot start 2 Cold start 3 Controlled start 4 Maintenance Select > d.frc.7. CONTROLLER VERSION UPGRADE Page 3 of 10  If you are performing the upgrade over a network. To perform a Cold Start. ---------. Steps 1.7. Caution Do not perform a controller version upgrade during production. b. go to Step 2. To perform a Controlled Start.8. . Perform a Controlled Start or Cold Start. f.html 4/16/2002 .: Applicator Type: I/O Configuration: Cell I/O Hardware: Process I/O Hardware: No.21>Project: Engineer:FANUC Date: Robot No.8.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s08.frc. You will see a screen similar to the following initial version upgrade screen. Press MENUS. Select CTRL Upgrade. CONTROLLER VERSION UPGRADE If you have this software ArcTool Software DispenseTool Software HandlingTool Software PaintTool Software SpotTool+ Software Page 4 of 10 You will see this on the screen 1 F number Equipment: 2 Manufacturer: 3 Model: F00000 12 General Purpose MIG (Volts.4. of System Colors: No. WFS) DispenseTool Application Configuration EQ: 1 1 F number: F00000 2 Number of equipment: 1 3 Number of guns: 1 4 Equipment type: ISD DOUBLE ACT METER 5 Atomizing air: DISABLE 6 Remote start: DISABLE 7 Automatic purge: DISABLE 8 Bubble detected: DISABLE 9 Linear 2P Calibration: DISABLE 10 Channel 2 analog output: DISABLE 1 2 3 4 F Number: KAREL Prog in Select Menu: Remote Device: Password:Oper. http://www. full menus: 1 2 3 4 5 F Number: F000000 Version :V5. of Color Valves: 6 7 8 9 F000000 YES UserPanel NO xx/xx/xx 1 Gun Standard Memory Memory 35 31 1 F number: 2 Load Spottool Macros: 3 Number of equipments: Weld interface: 4 Number of weld controllers: 5 Current equipment: 6 Number of guns: 7 Studwelder: 8 Enable Backup gun: 9 Tool changer gun: F00000 DISABLED 1 DIGITAL 1 1 1 DISABLED DISABLED DISABLED e. html 4/16/2002 .4. UTILITIES Hints ProductName (TM) Version Number Copyright xxxx FANUC Robotics North America. Press and hold the PREV and NEXT keys on the teach pendant. You will see a screen similar to the following. Inc. While you hold these keys. You will see a screen similar to the following. You will see a screen similar to the following. [TYPE]. All Rights Reserved e.8. Press F1. Select CTRL Upgrade. Perform a Cold start: a. ----------Configuration Menu ---------1 Hot start 2 Cold start 3 Controlled start 4 Maintenance Select > d. you will see a screen similar to the following. Select Cold start and press ENTER. turn it off. b. f. .com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s08. Turn on the disconnect. If the controller is turned on. A separate backup should always be done before this operation. turn the controller ON. Select File. g.frc. Press MENUS. g. COLD : TRUE CTRL Upgrade will completely reload the robot. CONTROLLER VERSION UPGRADE Page 5 of 10 VERSION UPGRADE Press Continue when ready Download Control : LOCAL Source Device : MC: Backup Device : FRD: Restore Device : FRD: Auto Clean FRD: : TRUE Auto Trans. 3. 1 File 2 File Memory 3 CTRL Upgrade h. c. Go to Step http://www. Go to Step 19. 4. press F5. COLD : TRUE CTRL Upgrade will completely reload the robot.4. [CHOICE]. Move the cursor to Source Device and use the F4. 8. . key to select a source device. CONTROLLER VERSION UPGRADE Page 6 of 10 19. Move the cursor to Auto Clean FRD and Auto Trans. press F4.html 4/16/2002 . LOCAL. key to select a backup device. VERSION UPGRADE Press Continue when ready Download Control : LOCAL Source Device : MC: Backup Device : FRD: Restore Device : FRD: Auto Clean FRD: TRUE Auto Trans. To select network control . [CHOICE]. Pressing YES will fault robot and cannot be reset until Upgrade is complete. If you choose local download control. NETWORK. When you are finished.8. 6. Cold and press F4. [CHOICE]. TRUE or F5. FALSE. press F2. Move the cursor to Download Control and select the kind of download control you want to perform. A separate backup should always be done before this operation. Move the cursor to Restore Device and use the F4. 9.frc. Move the cursor to Backup Device and use the F4. 5. key to select a restore device. CONTINUE. you will see this screen: VERSION UPGRADE ************** WARNING ************ You have chosen to initiate Version Upgrade locally.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s08. you will see this screen: http://www. 7. To select local control . Proceed with Version Upgrade? If you choose network download control. Once started DO NOT cycle power until prompted. Pressing YES will put the robot in a FAULTED STATE. PREV or ABORT. Proceed with Version Upgrade? Note NLICENSE. you will see a set of screens similar to the following.DAT in the root directory of source media.html 4/16/2002 .DAT is detected. This is copied. YES. To cancel the version upgrade whether it is done locally or over a network . To proceed with the version upgrade . press F5.DAT is to be copied from LICENSE. and is done to verify that the correct software is loaded.8.frc..DAT and comparison only applies when network download control is selected. Once started DO NOT cycle power until prompted.DAT.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s08.DAT compares exactly to LICENSE.DAT is downloaded Version Upgrade will begin and cannot be reset until Upgrade is complete (10-20 minutes). The use of NLICENSE.DAT on the robot. Press Reset. or ABORT to CANCEL Note If you want to cancel the upgrade at any time. press F4. If NLICENSE. DO NOT CYCLE POWER WHILE VERSION UPGRADE IS UNDERWAY! Please wait while all files are transferred (10 . VERSION UPGRADE ************** WARNING ************ Version Upgrade is underway. press Reset. Once Version Upgrade begins it cannot be cancelled. usually with FTP to FRD:\NLICENSE. During the upgrade. NO.20 minutes). if you have selected network download control. 10.DON'T CYCLE POWER! http://www. then the upgrade will proceed. PREV.. CONTROLLER VERSION UPGRADE Page 7 of 10 VERSION UPGRADE ************** WARNING ************ You have chosen to initiate Version Upgrade via NETWORK. VERSION UPGRADE ************** WARNING ************ Version Upgrade will begin when FR:\NLICENSE. Once FRD:\NLICENSE.4. You will be prompted to cycle power when the transfer is complete." Please wait. you will see a screen similar to the following. an error message will be displayed. The VERSION UPGRADE must be retried.4. If an error is detected after the current system is unrecoverable you will see a screen similar to the following. Note The system is not bootable until this process completes successfully. b. a. .com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s08.8. DO NOT CYCLE POWER AGAIN UNTIL THE RELOAD PROCESS IS COMPLETE. shown onStep 19. The version upgrade process is started over again and the initial version upgrade screen is displayed. CONTROLLER VERSION UPGRADE Page 8 of 10 11. Please CYCLE POWER to continue. Please correct any problems then press the RETRY softkey in order to restart VERSION UPGRADE. Failure to successfully complete this process before cycling power will result in an unbootable controller. Go to Step 19. Turn off the controller and then turn it on again to use the new information. RETRY.html 4/16/2002 . Press F4. 12. http://www. VERSION UPGRADE ************** NOTICE ************ Version Upgrade is Complete.frc.DO NOT CYCLE POWER! ************** ERROR ************ An error was detected during VERSION UPGRADE. In this case. the initial version upgrade screen. If an error is detected with the backup to the user-selected backup device. WHEN THE CONTROLLER RESTARTS. or in accessing the distribution media. VERSION UPGRADE WARNING . will be displayed and you will need to fix the problem and start the process again. Note The system is still intact and you do not have to complete the controller upgrade. . When the Version Upgrade is completed. If Restore Device is set to any other device. f. a. Select Set Device. UTIL.df. Press F4. e.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s08. and *. Press FCTN Cold to perform a Cold start. Press F5.df. ). .vr) automatically at a Controlled start.8. then the controller will not automatically restore user files (*. To restore the files after an upgrade if Restore Device was set to NONE on the initial version upgrade screen. Press MENUS.tp. *.frc. Select FRD:. The configuration setup at a Controlled start depends on how you set up Controller Version Upgrade beginning with Step 19. b. d. RESTORE. *. g.sv.html 4/16/2002 . Select FILE. During this process.tp. http://www.io. c. the network setup (TCP/IP parameters and client/server tags) is restored. If Auto Transition to COLD is set to TRUE.io. 13.vr) to the memory device (MD:\). Note The controller will automatically restore the files from the user-selected device unless Restore Device was set to NONE on the Initial Version Upgrade Screen (refer toStep 19. *. and *. it goes through an INIT start mode which takes several minutes and rebuilds the system based on loaded software and serialized options. If Restore Device is set to NONE. *. *. *.sv. the robot will automatically transition to a Cold start when the Controlled start and any other automatic restore operations have been completed.4. CONTROLLER VERSION UPGRADE Page 9 of 10 Note After the controller is turned off then turned on again. then the controller will attempt to load all the files (*. This will only be available at a Controlled start if any files exist on the FRD: device. delete the files stored on FRD:\. Select Set Device. The log file is called FRD:\REST_LOG. http://www. e. for each file on FRD:\. f.LS. and the version upgrade is complete. Press F1. Select each file you want to delete. through Step h. CONTROLLER VERSION UPGRADE Page 10 of 10 14. Select FRD:\. h. Press MENUS. i.4. Repeat Step f.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch04s08. Press NEXT. c. DELETE. a.frc. >. Note A log file is created on FRD: which keeps the status of each file that is automatically restored. This file is deleted when the controller transitions to a Cold start if AutoClean FRD when Complete was set to TRUE. g. Select FILE. d.html 4/16/2002 . If AutoClean FRD when Complete was set to FALSE .8. [UTIL]. Press F5. b. then DNS will initiate a query to the local DNS server.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch05. DOMAIN NAME SERVICE (DNS) 5. When the client receives the needed IP address it will continue with its attempt to establish a connection to the remote server. OVERVIEW Domain Name Service (DNS) provides a method for a robot controller to communicate with a remote server without having to know the IP address of the server. require an IP address in order to connect to a remote server. such as an FTP client. Note DNS is not available for controllers with software versions released prior to version 5. Refer toSection 4..  Install and configure the FTP software on your robot controllers and the servers on your Ethernet network..1. If an IP address cannot be found.frc. http://www. DOMAIN NAME SERVICE (DNS) Page 1 of 1 5. The server will respond to the query with the IP address that the client needs.2.  Install (Section 2.2. Connecting to Servers with DNS Client side networking applications. DNS provides a way for client applications to obtain the IP address of a remote server if one cannot be found in the local or shared host tables. DNS will parse the response and return the IP address to the waiting client. ) and configure (Section 5. ) the DNS software on your robot controllers and the servers on your network.20. You must do the following to be able to use DNS with your robot:  Install and configure the network components for your Ethernet network. When a client application initiates a connection it will first search the local and shared host tables for the IP address of the remote host.3. Refer toSection 2.2.html 4/16/2002 .5. The DNS client on the R-J3iB controller is capable of interacting with up to two DNS servers. You can set the wait time to be between 1 and 7 seconds. This item is the amount of time the robot will wait for a response from a Wait Time (1.1.7) DNS server before trying to initiate another query. Not all networks have secondary DNS servers.5. Table 5. Table 5.frc.1.2. the robot will attempt to contact the DNS server again. Contact your network administrator for the address of your primary DNS server. This item specifies the IP address of the secondary DNS server for your network. 2 or 3 retries. Examples of local domain names are frc. DEFINING DNS PARAMETERS You need to provide the controller with the address of at least one DNS server for your network. to define DNS parameters. If a DNS server does not respond to a query. lists and describes the parameters you must define.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch05s02. Procedure 5.edu.com or aarnet. Defining DNS Parameters Conditions http://www.3) number of retries can be set to 1. so you should check with your network administrator to see if your network has one. DNS Parameters Several parameters are used to configure the DNS interface on your robot. The Retries (1.2. Use Procedure 5. and the default is 2 retries. Note DNS will not work if you do not provide a local domain name. This server will be contacted if your primary server is unreachable or not responding. The default is 2 seconds. It is not required in order for DNS to work. You must also provide a local domain name. DEFINING DNS PARAMETERS Page 1 of 3 5.1. This server will be contacted by the robot when it is asked to connect to a host whose IP address is unknown. This item is the domain name for your local network. RJ3 DNS Parameters PARAMETERS Primary DNS Server Secondary DNS Server Local Domain Name DESCRIPTION This item specifies the IP address of the primary DNS server on your network. Your network administrator can provide you with the IP addresses of the DNS servers on your network.html 4/16/2002 .1. The number of retries is the number of times Number of a robot will attempt to contact a DNS server after the initial query fails. DNS will not work if you do not provide the IP address of your primary DNS server. Your network administrator can provide you with the correct local domain name for your network.au. Otherwise.3.5. Press MENUS.html 4/16/2002 . Press F1.frc. Refer to Section 2.3.This specifies the unique address of the primary DNS server. Move the cursor to TCP/IP and configure.  You have installed and configured the FTP software on your robot controllers and remote servers. Select SETUP. You will see a screen similar to the following. You will see a screen similar to the following.2. Steps 1. 3.This specifies the unique address of the secondary DNS server for your network. if necessary. [TYPE]. if you have not configured TCP/IP. Move the cursor to DNS and press F3. Contact your network administrator for the address of your network's primary DNS server. Refer to Section 2. 6. Your network may or may not have a secondary DNS server. DEFINING DNS PARAMETERS Page 2 of 3  You have installed the DNS software on your robot controllers and remote servers.  Secondary DNS Server . Move the cursor to each item and specify the appropriate information:  Primary DNS Server . SETUP DOMAIN NAME SERVICE Internet Address Primary DNS Server: Secondary DNS Server: ********** ********** Query options Number of Retries: Wait Time: **** **** seconds Local Domain: Name ********** 7. 2. . 4.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch05s02. . Contact your network administrator for the address of your network's http://www. SETUP Protocols 1 2 3 Protocol TCP/IP FTP DNS Description TCP/IP Detailed Setup File Transfer Protocol Domain Name Service 5.3. Refer to Section 2. Select Host Comm. DETAIL. . go to Step 6. 148.SV file contains information about Telnet ($TEL_LIST) and shared hosts ($HOST_SHARED).148.SV file can be shared between robots and can be downloaded to get a complete DNS configuration. DEFINING DNS PARAMETERS Page 3 of 3 secondary DNS server.5.frc. SETUP DOMAIN NAME SERVICE Internet Address Primary DNS Server: Secondary DNS Server: 199. and the Wait Time are saved as part of SYSHOST. In addition to DNS configuration data.5.5. Note The IP addresses of the Primary and Secondary DNS servers.2. the Number of Retries.html 4/16/2002 .200 199.This specifies the number of times the controller will try to contact a DNS server if its initial query is not answered. After you have entered the required information. the SYSHOST.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch05s02.  Local Domain .  Number of Retries . The SYSHOST. The local domain name is also saved as part of SYSHOST.SV ($DNS_CFG).com http://www. your Domain Name Service Setup screen should look similar to the following.201 Query options Number of Retries: Wait Time: 2 2 seconds Local Domain: Name frc.This specifies the domain name of your local network.SV ($DNS_LOC_DOM). 8.  Wait Time .specifies the number of seconds the client will wait before attempting another query. 1. http://www. ) for the robot to be active on the network. You must first define the TCP/IP parameters (Procedure 2.html 4/16/2002 . Current functionality on the server includes the ability to create KCL or CRT/KB (if these options are loaded) and teach pendant terminals over the remote Telnet connection. The Telnet screens are under the SETUP Hostcomm menus. TELNET 6.2. the R-J3 iB robot controller can function as a Telnet server. Remote hosts can use a standard Telnet client to communicate with the server.6.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch06. Note The Telnet option is installed automatically when the FTP.frc. ECBR. or PCIF options are installed. OVERVIEW Telnet is a standard protocol designed to work between any host (such as an operating system) and any PC or UNIX terminal. With the Telnet option loaded. TELNET Page 1 of 1 6. Table 6. SETTING UP TELNET ON YOUR ROBOT Page 1 of 4 6. Setting up Telnet on Your Robot http://www. Procedure 6. This item displays a help screen related to the topic you have selected.1. Make sure that the KCL option is loaded first. Table 6. Use Procedure 6. SETTING UP TELNET ON YOUR ROBOT You will need to configure the Telnet option before you can use your robot as a Telnet server. The default passwords and access levels are shown in Table 6.2.1.html 4/16/2002 .frc. R-J3iB Telnet Default Passwords and Access Levels USERNAME ACCESS LEVEL DEFAULT PASSWORD tpdisplay Output rj3_tpd kcl Input uninitialized Note Login names and passwords are case sensitive. then you cannot connect to tpdisplay device on the controller (the login attempt will fail and the user will get an error message back to the client). These passwords and access levels are in effect until you override them from the Telnet screen.1. Use Procedure 6.1.2. This item allows you to log into the KCL device. Valid Telnet Devices and Login IDs Several parameters are used to configure the Telnet option for your robot.2. which are also parameters you must define on the Telnet Setup Screen.2.1. lists and describes the valid devices and login IDs.1.2. to set up the Telnet option. 6.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch06s02. If the CRT/KB option is loaded and the port is configured for KCL/CRT. to set up Telnet on your robot. Table 6. R-J3iB Telnet Setup Screen Items USERNAME tpdisplay kcl help or ? DESCRIPTION This item allows you to log into the teach pendant device and displays the teach pendant output over the remote Telnet connection. Note If the robot has CGTP attached.6. Telnet Setup The Telnet server uses default passwords and access levels to authenticate attempts to log in. logging in via Telnet as KCL will bring up a KCL/CRT display. SETTING UP TELNET ON YOUR ROBOT Page 2 of 4 Conditions  You have installed the Telnet option on your robot's controller. [TYPE].  You have configured your robot's Ethernet hardware and software. Refer toProcedure 2. Select Host Comm. SETUP Telnet Username TP KCL CONS Access NONE NONE NONE Password ******** ******** ******** Timer 0 0 0 Note You must make sure that the password for the KCL device needs to be explicitly set before use. http://www. Select SETUP. it determines the number of minutes of inactivity on the connection before the connection is terminated. Move the cursor to TELNET and press F3. 6. You will see a screen similar to the following. Press F1. If a positive value is set.2.. You can set up passwords and access levels only if you do not want to use the defaults. You will see a screen similar to the following. 3.html 4/16/2002 .2. Steps 1. 4. Press MENUS. With the SETUP Telnet screen displayed. HELP.frc. You will see a screen similar to the following. press F5. 2. SETUP Protocols 1 2 3 4 5 Protocol TCP/IP TELNET FTP DNS NONE Description TCP/IP Detailed Setup Telnet Protocol File Transfer Protocol Domain Name Service Connects tag to port 5. DETAIL. The timer field is disabled by default (0).com/edoc/latest/latest_software/maro62int09011e_rev_a/ch06s02.6. 2.6.2. to connect to a Telnet server.Outputs from the controller. More security measures. Telnet supports the FANUC Server Access Control (FSAC) feature. SETTING UP TELNET ON YOUR ROBOT Page 3 of 4 SETUP Telnet HELP Arrows to scroll.. After a Telnet connection has been established.1. start a standard Telnet client window. are available to control remote access into the robot. 2.6. INPUT . Refer to Table 6. 5.No access to the controller The TP device doesn't support input access 6.2.2.Both input and output. in addition to passwords. OUTPUT . Refer to Section 2. you can use it to connect to a Telnet server. Procedure 6. NONE . From your PC or UNIX workstation.html 4/16/2002 . type a valid login name for the device to which you want to connect and press ENTER. If you have entered a valid login ID and password. you will see the following message on the screen of your PC or UNIX workstation: RJ3 Telnet (Robot: <robothostname> F No: F-xxxxx) Login: 3. your PC or UNIX workstation will be connected to the device selected in Step 3. From your PC or UNIX workstation. or from a command prompt type the following: C:\>telnet <robothost> Where <robothost> is the host name or IP address of the robot to which you want to connect. 4. Connecting to a Telnet Server After you have set up the Telnet feature. for more information on setting up FSAC for Telnet.2. PREV to exit TELNET HELP SCREEN ACCESS change the access level of the device. Type your password and press ENTER. http://www. Use Procedure 6.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch06s02. which decides which remote hosts (PCs) are allowed to connect into the robot.frc. for a list of valid login names. Connecting to a Telnet Server Steps 1. html 4/16/2002 .com/edoc/latest/latest_software/maro62int09011e_rev_a/ch06s02.frc.6. http://www.2. SETTING UP TELNET ON YOUR ROBOT Page 4 of 4 Note Login names and passwords are case sensitive. There is access to KCL commands and the ability to run KAREL programs (user programming required). SSI) are part of the Web Server Enhancements Option. The memory device includes error logs. The server can also be customized by including a unique home page. KAREL.7. as well as other file devices on the robot such as FR: and RD:. These features (KCL.2.frc. diagnostic data. OVERVIEW The web server application allows you to access files on the robot using a standard web browser. The main purpose of the web browser is to provide easy access to robot programs and status information.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07. WEB SERVER Page 1 of 1 7.1. http://www. WEB SERVER 7. This includes files on the robot memory device (MD:). There is also support for Server Side Include (SSI) directives. and ASCII translations of system and program variables. ) for the robot to be active on the network. Note You must first define the TCP/IP parameters ( Procedure 2.html 4/16/2002 . The default value is 1 (enabled). FR:MYTEMP. This is an integer variable that will roll over at the maximum value (2147483646).$ENABLE default value is 1). This variable should not include an extension as this variable really represents two files .html 4/16/2002 . This variable will override the system defined template for LS/DG/VA files if $ENAB_TEMPL is enabled (set to 1). This variable defines the maximum number of seconds to wait for a KAREL program to complete which is requested $HTTP_CTRL. http://www. It can be used in $HTTP_CTRL. This variable is the default web page background color $HTTP_CTRL. This variable can be modified at any time if. Reset this variable to zero if you would like to disable the web server when you turn the controller on again.$TEMPLATE for these file types. Refer to Table 7.TLR). then there should be two files on FR: (FR:MYTEMP.2. Refer to section on "Running KAREL Programs from the web browser.1. Table 7.$BG_COLOR (FANUC yellow). for the web server system variables and their descriptions. This variable is incremented each time the web server gets a request.the header and trailer. The default method for using web server is to have it configured to start automatically when the controller is turned on (it is available at Controlled start mode as well as during normal operation). It is used in the default header and trailer files. Note that a query string can also be used to force a particular template $HTTP_CTRL. if $TEMPLATE=FR:MYTEMP.$ENAB_TEMPL should use a template file for headers and trailers on any DG/LS/VA files.frc.2. Web Server System Variables SYSTEM VARIABLE DESCRIPTION This variable automatically starts the web server when the controller is turned on if the value is greater than 0 (the $HTTP_CTRL.1.$HITCOUNT example if you want to reset the hitcount to 0. configuration of the web server is done directly through system variables. As an example.HDR. This can be changed by the user as desired. Template files effect the header and trailer HTML around these files so will effect their look on a browser. This variable indicates whether the HTTP (Web Server) task $HTTP_CTRL. The default value is 10 seconds. This variable is an available comment field. At this time. SETTING UP THE WEB SERVER Page 1 of 2 7.$COMMENT web pages by referencing it directly.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s02. The system template is FRS:DEFAULT. for $HTTP_CTRL.7.$KRL_TIMOUT through the web server. SETTING UP THE WEB SERVER The web server is installed as part of FTP. http://www. SETTING UP THE WEB SERVER Page 2 of 2 7. for more information on the FSAC feature.1.2.frc. Using FANUC Server Access Control (FSAC) to Control Access to the Web Server You can use the FANUC Server Access Control (FSAC) feature to control access to the web server. Note that an access level of Program level or above is required to utilize the KAREL/KCL/Server Side Include feature within web server.7.html 4/16/2002 .6. based on the configuration of FSAC. An access level of Operator level or above is required to access other files from the web server.2.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s02. Refer to Section 2. ) . The following example URL requests the robot default home page shown in Figure 7. where you can access system variable.2.3. USING THE WEB SERVER Page 1 of 15 7. error/diagnostic.html 4/16/2002 .168.3. http://robotname -. The default home page provides a link to the memory device file list (MD:INDEX.HTM). Connecting to a Robot Home Page The default home page for the robot is a listing of important diagnostic files and links. This list is built dynamically each time the page is requested based on the programs and variables loaded in working memory. USING THE WEB SERVER After you have set up the web server (Section 7.if the robot name is not known on network Figure 7. and binary files.7. teach pendant. Default Robot Home Page The link on the default page called "Active Programs /Variables /Diagnostics (Memory http://www.1 -. a OR http://192.3. you can use it to connect to a robot's home page.1.1. 7.if robotname is the name of the robot you want to connect to.frc.1.0..com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s03. 2.ls).ls).. or a listing of Error/Diagnostic loaded software with memory status and servo information (errcurr. a snapshot of the I/O (iostatus. 7.ls).ls). Figure 7. Program/Diagnostic Link Descriptions LINK TITLE DESCRIPTION This link points to a section of this page that provides links to ASCII and Variable Files binary versions of any . the active alarm log (erract.VR file which is loaded (on memory device).2. Customizing Your Robot Home Page A customized home page can be loaded to replace the default home page.ls.2.HTM will be shown (if it exists on your robot controller) in place of the default home page. Files errhist.HTM) and is shown in Figure 7.3.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s03. More details on these files can be found in the FANUC Robotics SYSTEM R-J3iB Controller Setup and Operations Manual for your specific robotic application.TP program loaded on the robot.SV file and any . Table 7.frc.2. http://www. TP Program This link points to a section of this page that provides links to ASCII and Files binary versions of any . .7.2. USING THE WEB SERVER Page 2 of 15 Device)" is the memory device file list (MD:INDEX.html 4/16/2002 . This link points to a section of this page that provides links to ASCII versions of diagnostic files such as the complete alarm log (errall.2. are defined in Table 7.3. Memory Device Index Page The links at the top of the page shown in Figure 7. The file FR:INDEX. STM (internal use .com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s03.HTM).html 4/16/2002 . then the order of files searched to be used as the robot home page is as follows:  FR: INDEX. The following code is an example of a link to the memory device INDEX: <A href=".frc. If FR:INDEX.STM (initial default home page) http://www. it should have a link to the memory device index page (MD:INDEX.jpg extension on robot)  GIF  TXT  WAV  .LS  .HTM  FR: INDEX.VA  ..HTM (internal use. USING THE WEB SERVER Page 3 of 15 The web server currently is able to return the following kinds of files:  HTML (.htm"> Program / Diagnostic Files </A> If the Web Server Enhancements Option is loaded.)  PNG  CLS (Java class files Note .application tool-specific home page)  FRS: DEFAULT.VA files are returned with a simple HTML header and trailer appended.7.LS and ./md/index.STM (See Note listed below.htm extension on robot)  JPEG (.HTM is loaded on the controller.3. Other kinds of files are returned as binary files with a "Content-type" of "application/octet-stream".application tool-specific home page)  FRS: INDEX.STM  FRS: INDEX. The "filename" is the actual file to retrieve.LS.html 4/16/2002 . An example URL including the device is: Example 7.3. The "device" is optional but corresponds to physical devices on the robot (such as MC.2. .VA). variable file listings. Variable File Listings.frc. Example URL http://robot1/rd/mypage.3.STM files are part of the Web Server Enhancements Option support. These are supported on user devices (such as FR:. RD). You can modify the HTML header and trailer sent in order to change the way these pages look in the browser.1.4. These files are plain text files with a simple HTML header and trailer added so they display as web pages.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s03. FR.DG. MD. USING THE WEB SERVER Page 4 of 15 Note . No colon ":" is included in the device identifier within the URL.3.7. or . Simple HTML Trailer </PRE></BODY></HTML> http://www. Customizing Diagnostic Files. MC:. General URL Syntax http://<robot>[/device]/<filename> The area of the URL indicated by "robot" above is where the name or IP address of the robot is placed. General URL Syntax The general URL syntax to access various files on the robot is : Example 7. and RD:) only if this option is installed.3. A very simple HTML header might be: Example 7. and teach pendant program listings (anything with an extension of .htm 7. Simple HTML Header <HTML><BODY><PRE> A very simple HTML trailer might be: Example 7. and TP Program Listings You can customize the way internally generated files are displayed in a browser. Internally generated files are diagnostic files. $COMMENT Access: RW: STRING[25] = 'FANUC Web Server The system variable $HTTP_CTRL. and then modify these two files as desired.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s03.TLR. A typical application might be to copy FRS:DEFAULT.$TEMPLATE Access: RW: STRING[25] = 'FRS:DEFAULT' $HTTP_CTRL. These files use "server side include" syntax.$HITCOUNT Access: RW: INTEGER = 0 $HTTP_CTRL. Trailer </PRE> </BODY> <META HTTP-EQUIV=\"PRAGMA\" CONTENT=\"NO-CACHE\"> </HTML> The system variable $HTTP_CTRL.5.3.$TEMPLATE can be used to define custom header and trailer files.$ENAB_TEMPL causes a system level dynamic header and trailer to be applied to any .$ENAB_DIAGTP Access: RW: INTEGER = 0 $HTTP_CTRL.$ENAB_SMON Access: RW: INTEGER = 0 $HTTP_CTRL.HDR.$ENAB_TEMPL is set to 0 (V5.TLR to FR:NEWLOOK. The actual header also includes a META tag to indicate NOCACHE to the browser since these files are generated dynamically each time they are requested : Header: Example 7.frc.html 4/16/2002 .HDR and FRS:DEFAULT.7.7.$ENAB_SPART Access: RW: INTEGER = 0 $HTTP_CTRL.TLR.$ENABLE Access: RW: INTEGER = 1 $HTTP_CTRL. USING THE WEB SERVER Page 5 of 15 The above HTML header and trailer are what is sent if $HTTP_CTRL. $HTTP_CTRL $HTTP_CTRL. The fields added to the $HTTP_CTRL system variable for V5. The default value is ENABLED.$ENAB_TEMPL to 0.$KRL_TIMOUT Access: RW: INTEGER = 10 $HTTP_CTRL.30 are bold: Example 7.VA file when served through the web server. This functionality can be disabled by setting $HTTP_CTRL. http://www. Header <HTML> <HEAD> <META HTTP-EQUIV=\"PRAGMA\"CONTENT=\"NO-CACHE\"></HEAD> <BODY> <PRE> Trailer: Example 7.LS/.$BG_COLOR Access: RW: STRING[25] = 'FFF9E3' $HTTP_CTRL.$DBGLVL Access: RW: INTEGER = 0 $HTTP_CTRL. The system trailer file is FRS:DEFAULT.6.DG/. The system header file used is FRS:DEFAULT.$ENAB_TEMPL Access: RW: INTEGER = 1 $HTTP_CTRL.22 behavior).HDR to FR:NEWLOOK. Using KCL with Web Server KCL commands can be run from a web browser.$TEMPLATE is set to "FR:NEWLOOK" then the modified files will be used. and $HTTP_CTRL.4. Changing the Background Color of Web Pages <BODY bgcolor= #<!-. if found in the query string. USING THE WEB SERVER Page 6 of 15 Note The filename (minus extension) of the header and trailer file must be the same.dg?_template=fr:my_templ This implies that FR:MY_TEMPL. use the following syntax: Example 7.3.3.html 4/16/2002 . The web server looks for the name "_TEMPLATE" and.PC). The system variable $HTTP_CTRL. or if there are processing errors. For example. A specific custom header and trailer can be applied to any .7.DG with a custom header/trailer.$bg_color --> Refer to Section 7.$TEMPLATE does not include an extension. the following URL could be issued: http://my_robot/md/summary.VA file on the robot by including the template name in the query string.$BG_COLOR can be used within any server side includes. The filename defined in $HTTP_CTRL.4. the static (internal) header and trailer are used. If either file does not exist. the static default header and trailer (shown above) are used.8.$ENAB_TEMPL is set to 1.TLR exist.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s03. If $HTTP_CTRL.LS/. 7.#echo var=$http_ctrl. for more information about Server Side Includes.HDR and FR:MY_TEMPL.DG/. If either the header and trailer fail to process successfully.frc. will apply the associated value as the template for that request. The KCL commands are actually processed through a KAREL program locally on the robot to allow tuning of allowed commands (HTTPKCL. Note The header and trailer are processed dynamically with the results held internally and the size limited to 4KB each. This is the size of the results of the header and trailer files after any server side include directives have been processed. to request MD:SUMMARY. The following commands are disabled by default: http://www. To affect the background color of the web pages. 9.7. At present Internet Explorer tolerates spaces.  Use "%20" in the URL for spaces and "%24" for the "$". . Note The Web Server Enhancements Option must be loaded to use this feature See the section on HTTP Authentication to set up access to KCL through the web server. remove it from this variable. Specifying Spaces and "$" in http://www.frc. For example: Example 7.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s03. The above list is based on allowing commands to gather data (for example. SHOW is allowed). To allow a specific KCL command.3.html 4/16/2002 .  Embed the command within a form. but Netscape does not. For example: Example 7. but not allowing disallowing any command that could modify data or cause motion. do one of the following:  Use a different browser. Accessing KCL from a Browser http://robot1/KCL/show var $Version Note Some browsers might generate an error if you use spaces within the URL. USING THE WEB SERVER Page 7 of 15 cmds[1] = 'MOVE' cmds[2] = 'RECORD' cmds[3] = 'ABORT' cmds[4] = 'CLEAR' cmds[5] = 'CONTINUE' cmds[6] = 'DISMOUNT' cmds[7] = 'EDIT' cmds[8] = 'FORMAT' cmds[9] = 'HOLD' cmds[10] = 'PAUSE' cmds[11] = 'PURGE' cmds[12] = 'RUN' cmds[13] = 'RUNCF' cmds[14] = 'SKIP' cmds[15] = 'STEP' To disable a specific KCL command.10. In this case. To access KCL from a browser use KCL as the device specifier and include the KCL command itself instead of the filename. include it in [HTTPKCL]cmds[]. See the section on HTTP Authentication to setup access to KAREL programs through the web server.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s03.3.. through Example 7. Running KAREL Programs from the Web Browser KAREL programs that do not include any motion can be run from the web browser Section 7. because the program must complete within $HTTP_CTRL.3. This capability allows a KAREL programmer to generate a response. and load it on the controller.11.$KRL.3.7. Access to files can be done if it is completed within this time out. Example 7.html 4/16/2002 . An understanding of HTML formatting is needed in order to write this kind of program. Use the following guidelines when writing this program:  The KAREL program can access any program or system variable. This file is the feedback from running the KAREL program.TIMOUT.2.kl) to provide an example of one way you can use KAREL programs to access system variables on your robot from a remote web browser. The KAREL program must include the %NOLOCKGROUP directive. 7. USING THE WEB SERVER Page 8 of 15 a URL http://robot1/KCL/show%20var%20%24Version Note To send KCL commands without getting a response in your web page use KCLDO instead of KCL.frc. KCLDO is the same as KCL except that there is no content returned as long as the command is successful. The Web Server Enhancements Option is required to support this feature. A typical example would be generating a production report. and how you can use your web browser to pass parameters to a KAREL program.5.  Use of condition handlers and delays is not recommended.HTM for display at the browser.htm file based on the execution of the program using data gathered at execution time. http://www. 7. in this section contain an example KAREL program (demo. Creating Web Pages Based on KAREL Programs This section contains information about how you can integrate KAREL programs into your robot home page.13. To use this feature write a KAREL program and compile it with the robot version used.6. This is useful for buttons on web pages which are intended to cause an action without requiring the web page to be rewritten.  The program must create a property formatted HTML file called RD: RESPONSE. kl -.graphics and forms used in MD_FILES.Example File Access Program %nolockgroup CONST HDR = 'HTTP/1.0 503 Service Unavailable' ERRHDR = '<HTML><BODY><P><H2>' ERRTRLR = '</H2></BODY></HTML>' HDRHTML = 'Content-type: text/html' HDRTEXT = 'Content-type: text/plain' HDRJPEG = 'Content-type: image/jpeg' HDRGIF = 'Content-type: image/gif' HDRBIN = 'Content-type: application/octet-stream' HDRWAV = 'Content-type: audio/basic' DEFAULTFILE = 'INDEX.0 500 Server Error' NOSUPPORT = 'HTTP/1. 'RD:RESPONSE.html 4/16/2002 .GIF' PIC1 = 'FRS/HLINE. USING THE WEB SERVER Page 9 of 15 Example 7. BEGIN if uninit(count1) then count1 = 300 endif if uninit(count2) then count2 = 2 endif count1 = count1 + 1 if (count1 MOD 10 = 0) then count2 = count2 + 1 endif OPEN FILE file1 ('RW'.HTM BACKGROUND = 'FRS/EARTHBG.3. request succeeded' NAK = 'HTTP/1.GIF' VAR count1 : integer count2 : integer file1 : FILE entry : integer Example 7.HTM') http://www.11.0 200 OK.7. Demo.0 404 File Not Found' SERVER_ERR = 'HTTP/1.frc.HTM' DEFDEV = 'FR:' SCRHDEV = 'RD:' SYSDEV = 'FRS:' TEXTHDR = '<HTML> <BODY> <PRE>' TEXTTRLR = '</PRE> </BODY> </HTML>' GETDHDR = '<HTML> <BODY> <H2> Get_data:</H2><BR><BR><OL><LI>' GETDTRLR = '</LI></OL><BR> </BODY> </HTML>' PAGEHDR = '<HTML> <BODY> <H2> Post data:</H2><BR><BR>' PAGETRLR = '<BR> </BODY> </HTML>' -.12.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s03. frc. An additional string variable called "URL" should be declared to see the complete URL http://www.cr) file1('</CENTER></H1>'.cr) file1('</CENTER></H1>'.. set KAREL as the device and the program to run as the filename (demo in this example).0 Specification. Note that only the HTTP "GET" method is supported at this time. write file1('<H1><CENTER><BOLD>ProductionCount: ') write file1(count1.cr. Integrating KAREL Programs into the Web Browser http://robot1/KAREL/demo Using a Web Page to Pass Parameters to a KAREL Program You can create applications that can pass parameters from a form in the browser to the KAREL program..7. USING THE WEB SERVER Page 10 of 15 write file1('<HTML><HEAD><TITLE>ASG_DEMO.html 4/16/2002 .13./') write file1(BACKGROUND) write file1('">'.cr) write file1('</BOLD></CENTER></H1>'.cr) write file1('<CENTER> <H1><A NAME="TOP"><IMG SRC=".cr) -- write file1(TEXTTRLR.cr) write file1('</BOLD></CENTER></H1>'.cr) write file1('<H1><CENTER><BOLD>Error Count: ') write file1(count2.cr) write write write write write file1('<H1><CENTER><BOLD>IMPORTANT CUSTOMER './') write file1(PIC1.cr) file1('<H1><CENTER><BOLD>Production Counts for : ') file1 ('PRESS1'.14.cr) ----------- *** Example of adding some graphics content to page *** *** Be sensitive to file sizes! *** write file1('<BODY BACKGROUND=".cr) write file1('" WIDTH="593" HEIGHT="153"></A></H1> </CENTER>'. The KAREL program is invoked based on the "submit" action in the form and parameters included in the form are passed with the URL.3. The KAREL program must declare string variables whose names match any parameter names being passed from the form in order to access it. The FANUC Robotics web server complies with standards found in the HTTP 1. For example : Example 7.HTM</TITLE></HEAD>'.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s03.cr) CLOSE FILE file1 END demo To use this feature from a browser.cr) Example 7. 3.16. Demo Form Interface to a KAREL Program http://www. or the KAREL program can always reset the KAREL variable to the default state at the end of the KAREL program.html 4/16/2002 . Note that checkboxes are only sent from a form on the browser if they are checked. Figure 7.3. Variable Declaration for Using a Web Page to Pass Parameters to a KAREL Program var URL : string[128] Textbox1 : string[12] These declarations in the KAREL program invoked by the browser will give the KAREL program access to the complete URL (if less than 128 bytes) for debugging and fill in the variable Textbox1 with the data from "Textbox1" from the form.20.3.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s03. Forms can be configured to always send the checkbox value as "false" in a hidden field first. through Example 7. Example KAREL Based Web Page Using Parameters Example 7.frc..7. USING THE WEB SERVER Page 11 of 15 request sent from the browser (for debugging).15. For example: Example 7. Both methods are shown in the example in Figure 7. Results of the Demo Form Interface to a KAREL Program http://www. value=V2) .com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s03.0"> <title>Web Demo</title> </head> <body bgcolor="#FFFF00"> <p>&nbspj </p> <p><font color="#FF0000" size="5"><strong><u>Demo Form Interface to Karel Program</u></strong></font></p> <p>&nbsp </p> <form action="http://palrob/karel/web_demo" method="GET" name="uif_demo"> <input type="hidden" name="C1" value="OFF"><input type="hidden" name="str1" value="string1"><input type="hidden" name="str2" value="string2"><p>&nbspj </p> <p>There are three hidden fields included on this form : C1=off.Show Count2</p> Example 7.</p> <p><input type="text" size="20" name="str3" value="string3"> Example text box (STR3)</p> <p><input type="checkbox" name="C1" value="ON"> Example Checkbox (C1)</p> <p><input type="radio" checked name="R1" value="V1"> Example Radio Button (R1. <p><select name="D1" size="1"> <option>Jim</option> <option>Joe</option> <option>Harry</option> </select> Example dropdown box</p> <p><input type="submit" name="B1" value="Submit"></p> </form> </body> </html> Figure 7. charset=iso-8859-1"> <meta name="GENERATOR" content="Microsoft FrontPage 2.7.4. value = V1) . STR1=string1.3.frc. USING THE WEB SERVER Page 12 of 15 <!DOCTYPE HTML PUBLIC "-//IETF//DTD HTML//EN"> <html> <head> <meta http-equiv="Content-Type" content="text/html.Show Count1</p> <p><input type="radio" name="R1" value="V2"> Example Radio Button (R1. or resetting checkbox variable to</p> <p>a default state at end of karel program (both approaches shown in this example).html 4/16/2002 .17. STR2=string2</p> <p>You need to set checkbox to OFF first (always) since value is only sent if ON!!</p> <p>This can be done by sending hidden variable with same name as checkbox. (aside from ones which are set by URL. or by resetting variables with this nature to a default state -.used in MD_FILES.HTM PIC1 = 'FR/PICTURE.Program variables are uninitialized the first time a program runs -.form.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s03.variables. This behavior can be handled by always -. checkbox) are only -. Example KAREL Program -.some picture for top of response file VAR count1 : integer count2 : integer http://www. -PROGRAM web_demo %nolockgroup CONST TEXTHDR = '<HTML> <BODY>' TEXTTRLR = '</BODY> </HTML>' BACKGROUND = 'FRS/EARTHBG.18.frontpage.Example of received URL : -. --. Some form variables (eg. Note that form data is populated in corresponding karel -. A string variable called URL should -.after program runs (see c1 variable assignment at end of this program).the program is called.htm created in -.for debugging.3.sent if they are checked. since any variables included in -.GIF' -.WEB_DEMO?STR1=STRING1&STR2=STRING2&STR3=STRING3&C1=ON&R1=V1&D1=JIM&B1=SUBMIT --. IF variables are declared.html 4/16/2002 .7.Example karel program to respond to a form called web_demo.NOTE : variables which are included in URL are populated each time -.frc. USING THE WEB SERVER Page 13 of 15 Example 7. -.passing a "hidden" variable of same name with default value from -.be declared to see exactly what is provided from browser which is useful -.URL are set before program is called).GIF' -. cr) write file1('</BOLD></CENTER></H2>'.20..cr) file1('<BODY BACKGROUND=". endif count1 = count1 + 1 -. endif if uninit(str3) then str3 = ''. endif if uninit(c1) then c1 = ''.HTM</TITLE></HEAD>'.cr) if (c1='ON') then write file1('<H2><CENTER><BOLD>Received Checkbox : ') write file1(c1. endif if uninit(str2) then str2 = ''. USING THE WEB SERVER Page 14 of 15 file1 : FILE URL : string[128] str1 : string[12] str2 : string[12] str3 : string[12] c1 : string[12] r1 : string[12] d1 : string[12] Example 7./') -write file1(PIC1. endif if uninit(d1) then d1 = ''. write file1('<H2><CENTER><BOLD>Received str3 : ') write file1(str3.frc.cr) -write file1('"></A></H1> </CENTER>'.Could add a graphic to top of response file -write file1('<CENTER> <H1><A NAME="TOP"><IMG SRC=".HTM') write write write write file1('<HTML><HEAD><TITLE>WEB_DEMO.checkbox only sent if checked so send default state always write file1('<H2><CENTER><BOLD>Received c1 (hidden) : ') write file1(c1.html 4/16/2002 . 'RD:RESPONSE.cr) write file1('<H1><CENTER><BOLD>Results of form request :'. endif if uninit(str1) then str1 = ''.cr) -. BEGIN -. endif if uninit(r1) then r1 = ''.cr) write file1('</BOLD></CENTER></H2>'.cr) write file1('</BOLD></CENTER></H2>'.19.cr. endif if uninit(URL) then url = ''.these might be production counts from another program count2 = count1 * 2 -.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s03.cr) -./') file1(BACKGROUND) file1('">'.they are just included as examples OPEN FILE file1 ('RW'.3.Good practice to check for uninitialized variables before using --them if uninit(count1) then count1 = 0.cr) write file1('</CENTER></H1>'.cr) endif http://www.7.cr) -write file1('" WIDTH="400" HEIGHT="100"></A></H1> </CENTER>'.cr) Example 7.. html 4/16/2002 .cr) endif ----c1 If default value of checkbox is not sent as hidden variable.cr) write file1('</BOLD></CENTER></H2>'.3.cr) if (r1='V1') then write file1('<H2><CENTER><BOLD>Count1 value is : ') write file1(count1.cr) write file1('</BOLD></CENTER></H2>'. As with all karel programs.cr) else write file1('<H2><CENTER><BOLD>Count2 value is : ') write file1(count2.7. USING THE WEB SERVER Page 15 of 15 write file1('<H2><CENTER><BOLD>Received Radio button : ') write file1(r1.cr) CLOSE FILE file1 END web_demo http://www.cr) write file1('<H2><CENTER><BOLD>Received URL : ') write file1(URL.cr) write file1('<H2><CENTER><BOLD>Received dropdown box : ') write file1(d1.cr) write file1('</BOLD></CENTER></H2>'.cr) write file1('</BOLD></CENTER></H2>'.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s03. another alternative is to reset checkbox variable to default state after program runs. global variables retain their value between each execution = 'OFF' write file1(TEXTTRLR.cr) write file1('</BOLD></CENTER></H2>'.frc. current status of an I/O point. program variable.html 4/16/2002 . MD:ERRALL. or the current error listing.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s04. Such information can include the current value of a program variable (part count.each page can have up to 15 local variables which can be used for display or logic. The FANUC Robotics web server will only do this for files on the robot with a .4. for example).conditional logic to determine whether blocks of HTML code are included in what is sent to the browser or not (for example.  Printenv . if the robot is faulted display certain things.frc. Syntax SSI directives are entered as HTML comments.  Include . The following directives are supported through the robot server side include mechanisms. SERVER SIDE INCLUDES Page 1 of 13 7. SERVER SIDE INCLUDES The FANUC Robotics web server and server side include (SSI) directives allow you to access web pages on the robot. It is important to understand that the web server replaces SSI requests with the results of the request before the web page is sent to the client browser. This means that they are placed within HTML comment delimiters.1. SSI capability is included as part of the web server enhancements software option.STM file will include normal HTML syntax and might also have server side include requests.  If . The .diagnostic directive to display values of global and local variables. otherwise display other things.4. SSI directives are directives placed into an HTML file that are replaced by the data they reference each time the file is requested.includes any file in the current file (for example. The file device called RAM DISK (RD:) on the robot is used as a temporary storage device for . The general syntax of a SSI directive is: <!--#command parameter="argument" --> where "command" can be one of the following: http://www.7. or I/O point  Exec . which must be fulfilled before the page is sent to the client.LS for current error listing).STM file extension. The RD: device must be available and have sufficient space for the response in order for any request to be successful. The .)  Set . This allows dynamic data to be included with web pages that are served from the robot controller. This provides dynamic information to clients.STM file extension is the indicator to the web server that the file needs to be processed before it is sent to the requestor (client browser).STM file responses.4. 7.  Echo .request to run a (non-motion) KAREL program or KCL command. The result of the request is included in what is sent to the browser.the value of any system variable. stm and placed on the robot FR: device: Example 7. The entire command must be placed on a single line.<!--#else -->  endif: e. "}") . "#") .g. If the HTML comment delimiters are found and the first character within the comment is a "#" then the comment is interpreted as an SSI directive and an attempt is made to process it as such.as the first character of an expression indicates a local/global variable.g.<!--#elif expr="_lvar1 =_lvar3" -->  else: e.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s04.$tim eout" -->  if: e.ls" -->  exec: e.  square brackets: ("[".used on the robot to delimit program names and I/O port numbers.  dollar sign ("$") . SSI directives cannot be split between lines.<!--#echo var="version" -->  include: e. Multiple commands can be used within a single line."]") .21.  spaces/quotes/equal/# (" ".<!--#exec cmd="Karel/getdata" -->  set: e.7.STM file. on string substitution. example. The result of the SSI directive is placed in the response sent to the client browser in place of the SSI directive.4."''.g.refer to Section 7.most commands are parsed based on these characters so improper usage will cause errors.<!--#printenv --> Page 2 of 13 Each line (up to 200 characters long) is processed separately for a .  underscore ("_") .g.g. SERVER SIDE INCLUDES  echo: e.4.<!--#set var="_ginum" value="$hosts_cfg[1]. There are certain characters that have special meaning within a SSI directive:  curly bracket: ("{".g.<!--#if expr="tpout[1] = on" -->  elif: e.html 4/16/2002 .frc.4.<!--#include file="md:errall.used to indicate system variables on the robot.<!--#endif -->  printenv: eg.stm http://www.g. "=".g. For example. consider the following file called example. html 4/16/2002 . Time and Date Global Variables <!--#echo var="_TIME" --> <!--#echo var="_DATE" --> results in results in 17:36:40 00/02/14 The _REMOTE_IP variable is the IP address of the browser making this request. For example: Example 7.0. SERVER SIDE INCLUDES Page 3 of 13 <html> <head><title>Example SSI file</title></head> <body> The value of gpin[1] is <!--#echo var="gpin[1]" --> </body> </html> The file is sent to the browser in response to http://<robotname>/fr/example.4.2. a request from the browser with an IP address is 192.23. Global Variables The following global variables are available for use:  _TIME  _DATE  _REMOTE_IP  _DOC_NAME  _QUERY_STR  _URL The _TIME and _DATE variables provide the current time/date as set on the robot controller.22.1 would have this http://www.stm is: Example 7. If sometime later the value was 5.stm <html> <head><title>Example SSI file</title></head> <body> The value of gpin[1] is 3 </body> </html> This example assumes the value of gpin[1] was 3 when the request was received by the robot web server. then the resulting file sent to the browser would indicate that the value was 5 (the SSI directive is evaluated on each request as it occurs). For example. File Sent to Browser Resulting from example.4.7.168.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s04. 7.frc. All local variables are string variables and can be up to 40 characters in length. </PRE>) also. Local variables can be set in two ways:  #SET: eg. The command #PRINTENV will print out all local and environment variables. It is also useful in debugging.168.stm?_reqvar=$VERSION. For example.stm would result in the following: Example 7. This indicates data in the request. The name can be up to 12 characters and must start with an underscore ("_").4.4.. Query String Global Variable <!--#echo var="_QUERY_STR" --> results in _myvar=12 Note In the example listed above. SERVER SIDE INCLUDES Page 4 of 13 variable set as follows: Example 7. Local variables also have a value. It will be surrounded by HTML performatting specifiers (<PRE>. Refer to Section 7.stm The _QUERY_STR variable will be the portion of the URL requested which is after the "?". a request for the URL: http://<robot>/fr/example.3. a local variable called _myvar would also be set to the value 12. http://www.<!--#set var="_reqvar" value="$VERSION" -->  Query String example: http://<robot>/fr/example. </PRE>). These variables must be set each time the file is processed (each time a request is made for the file). It will be surrounded by HTML preformatting specifiers (<PRE>. Local Variables Each file processed for SSI directives can have up to 15 local variables.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s04.0. For example. This variable might be useful in debugging. A local variable has a name. a request from the URL: http://<robot>/fr/example. The _URL variable contains the entire request as received by the robot.1 The _DOC_NAME variable is the name of the document requested. 7.7.26.3.25.stm? myvar=12 would result in the following: Example 7.frc.html 4/16/2002 .24. Document Name Global Variable <!--#echo var="_DOC_NAME" --> results in /fr/example.4. Remote IP Address Global Variable <!--#echo var="_REMOTE_IP" --> results in 192. "}") are used to indicate that string substitution is required within a SSI directive. if the local variable _reqvar is equal to $VERSION.stm is: Example 7. SERVER SIDE INCLUDES Page 5 of 13 Note The local variable _reqvar is set to the string "$VERSION" in the above examples. File Sent to Browser Resulting from example. example. Another example to consider is the file called example.4.4.html 4/16/2002 . String Substitution The curly bracket characters ("{".stm http://www.7.27. then the expression {_reqvar} is equal to V6.29.stm <html> <head><title>Example SSI file</title></head> <body> <!--#set var="_reqvar" value="$VERSION" --> The value of _reqvar is <!--#echo var="_reqvar" --> </body> </html> The file sent to the browser in response to http://<robotname>/fr/example. This might typically be created based on providing a HTML form and a submit button.stm and placed on the robot FR: device: Example 7. The query string can be part of a request from a client browser.STM file part of initializing the request is to set any variables within the query string which have names beginning with the underscore (other variables within the query string are ignored in terms of setting local variables). example.11.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s04.4. The submit button can make the request and pass the arguments from the form as parameters. If the request is for a . consider the following file called example.stm and placed on the robot FR:device: Example 7. For example. For example. The curly brackets indicate that the value of the variable be substituted in the expression.stm <html> <head><title>Example SSI file</title></head> <body> The value of _reqvar is $VERSION </body> </html> 7.frc.28. local variable. The current value of the argument will replace the SSI directive in the response sent to the client browser.4.html 4/16/2002 . or global variable. Note Digital I/O values will show as "ON" or "OFF.xx 02/13/xxxx" </body> </html> Note In this case.stm <html> <head><title>Example SSI file</title></head> <body> The value of $VERSION is "V6.stm? _reqvar=$version is: Example 7. File Sent to Browser Resulting from example. I/O point.5. The argument can be any system variable. #ECHO Command The #ECHO command will replace the argument with the current value of the argument.4. SERVER SIDE INCLUDES Page 6 of 13 <html> <head><title>Example SSI file</title></head> <body> The value of <!#echo var="_reqvar" --> is <!--#echo var="{_reqvar}" --> </body> </html> The file sent to the browser in response to http://<robotname>/fr/example. the request could have been generated through a form where any variable is input and the value is echoed back." Examples The following illustrate various uses of this SSI directive:  <!--#echo var="DIN[1]" --> is replaced by ON  <!--#echo var="GPIN[2]" --> is replaced by 3  <!--#echo var="[myprog]partcount" --> is replaced by 72  <!--#echo var="_1var1" --> is replaced by Fault#1  <!--#echo var=$numreg[3] --> is replaced by 22 http://www.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s04.7.frc.30. program variable. 7. 7.4. SERVER SIDE INCLUDES  Page 7 of 13 <!--#echo var="GPIN[_stylenum]" --> is replaced by 8 In each case the argument is evaluated for string substitutions based on curly/square brackets before the final value is placed in the response to the client browser.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s04. The I/O type must be one of the following:  Digital Types (return value is ON/OFF):  DIN /*digital input*/  DOUT /*digital output*/  TOOL /*tool output*/  PLCIN /*PLC input*/  PLCOUT /*PLC output*/  RDI /*robot digital input*/  RDO /*robot digital output*/  BRAKE /*brake output*/  SOPIN /*operator panels input*/  SOPOUT /*operator panels output*/  ESTOP /*emergency stop*/  TPIN /*teach pendant digital input*/  TPOUT /*teach pendant digital output*/  WDI /*weld inputs*/  WDO /*weld outputs*/  UOPIN /*user operator's panel input*/  UOPOUT /*user operator's panel output*/  LDIN /*laser DIN  LDOUT /*laser DOUT*/  WSIN /*weld stick input*/ http://www.frc. Also. the I/O points must be configured on the robot.html 4/16/2002 . 6. SSI Directives Examples Directive <PRE><!--#INCLUDE FILE="MD:ERRALL.LS" -></PRE>. This is because of items such as carriage returns are not interpreted within an HTML document.7.html 4/16/2002 .ls" --></pre> <!--#include file="fr:\somefile.4.LS for an active alarms) so these included files can also include dynamic data. SERVER SIDE INCLUDES   Page 8 of 13 WSOUT /*weld stick output*/ Analog/Group Types (return value is the numeric value of the port):  GPIN /*grouped inputs*/  GPOUT /*grouped outputs*/  ANIN /*analog input*/  ANOUT /*analog output*/  LANIN /*laser AIN*/  LANOUT /*laser AOUT*/ 7. Note Other . Many files on the controller are generated upon request (such as MD:ERRACT.tp Is replaced by results of fr:\somefile.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s04.STM files can be included and these will also be processed for SSI directives. The following examples illustrate various uses of the SSI directive: Table 7.LS Is replaced by ASCII listing of abortit.4. There are two considerations to nesting .3. http://www.STM files:  Nesting is currently allowed to three levels.stm" --> Description Is replaced by contents of MD:ERRALL.stm The HTML preformat specifier is needed when the requested file is not structured as an HTML document. <pre><!--#include file="md:errall. #INCLUDE Command The #INCLUDE command places other files from the robot in the current response to the browser.frc. 7.  <!--#exec cmd ="kcl/show%20var%20%24version" -->  <!--#exec cmd ="KAREL/web_demo?{_Query_STR}" -->  Run the non-motion KAREL program web_demo. This is needed since spaces are not considered valid URL syntax. The results of these commands are automatically placed in the response to the client browser.3.STM file are not available to another . 7. for details on how to run KCL and KAREL commands through the web server.7.2. If you enter spaces in a URL some browsers (IE) will automatically change them to the % encoding.3.html 4/16/2002 .5.4.7.8. and.4. #SET Command http://www. Refer to Section 7. Note The Server Side Include feature uses the same mechanism and follows the same rules but enables the capability within the .STM file processing using the #EXEC command. The code of a "$" is %24.  The "%20" is a space (ASCII value of a space is 20). Global variables are always available and include the query string from the initial request. while other browsers (Netscape) return an error indicating the URL is invalid. Examples The following example demonstrates this capability:  <pre><!--#exec cmd ="kcl/show%20mem" --></pre>  This will place the results of a "KCL>show memory" command in the response to the browser.STM file. Refer to Section 7.pc and passes in arguments from the global variable _QUERY_STR.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s04. for information on setting up the web server. #EXEC Command The #EXEC command allows certain KCL commands and non-motion KAREL programs to be run within processing of the .Section 7. The system variable associated with running KCL and KAREL programs must be set to allow execution of these commands.4. SERVER SIDE INCLUDES  Page 9 of 13 The local variables in one . This file will be included automatically and an error is generated if it does not exist.frc.4.STM file (even when nested).HTM.  The KAREL program is responsible for writing RD:RESPONSE. 4. All conditional blocks must begin with #IF.stm is placed on the robot FR: device: http://www.3.31.4.html 4/16/2002 . Refer to Section 7.32. Conditionals can be nested three levels deep. Three comparison operators are supported: >.<. #ELIF. #ELSE.=.frc. Examples The following file called example. String comparisons are not case sensitive. Update the Value of the Local Variable <!--#set var="1var1" value="15" --> Note Values are always set to uppercase. Note If the variable name already exists and the #SET command is issued. Examples See the following #SET Command examples:  For example. Set the Name of a Local Variable <!--#set var="1var1" value="12" -->  A subsequent command to set _1var1 will update the value: Example 7.4. SERVER SIDE INCLUDES Page 10 of 13 The #SET command is used to set the name and value of a local variable.9. All comparisons are string comparisons unless both arguments are strictly numeric in which case a numeric compare is done. The conditional expression can allow the active alarms to be included only if the robot were faulted as one example. #IF.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s04. the following command will set the name of a local variable to _1var1 and the value to 12: Example 7.7. the value of the local variable is modified. #ENDIF Conditional expressions allow results sent to the browser to be based on some condition. for details on maximum lengths and naming requirements. The #ELSE command must come after #IF and #ELIF if it is used. 7. All conditional blocks must end with #ENDIF. STM file through a URL request. example.35. Note The HTML preformat specifier is recommended for more readable results. Or it can help with problems with handling local variables. It outputs all the local and global variables each time it is called. #PRINTENV Command The #PRINTENV command is useful for debugging. Examples The SSI directive <PRE><!--#PRINTENV --></PRE>will return the following result: Example 7.4.stm <html> <head><title>Example SSI file</title></head> <body> <!--#if expr="tpout[1] = on" --> <P><STRONG>ROBOT IS FAULTED!</STRONG></P> <pre><>!--#include file="md:erract. This can be a quick way to identify problems with data being passed into the .34. File Sent to the Browser Resulting from example. Result of #PRINTENV SSI Directive http://www.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s04.stm <html> <head><title>Example SSI file</title></head> <body> <P><STRONG>ROBOT IS NOT FAULTED!</STRONG></P> </body> </html> 7.frc.stm (assuming robot is not faulted based on teach pendant fault LED being off) is: Example 7. SERVER SIDE INCLUDES Page 11 of 13 Example 7.4.html 4/16/2002 .ls" --></pre> <!--#ELSE --> <P><STRONG>ROBOT IS NOT FAULTED!</STRONG></P> <!--#ENDIF --> </body> </html> The file sent to the browser in response to http://<robotname>/fr/example.10.33.7. deflate User-Agent: Mozilla/4.$TEMPER_LIMS[1] --> Example 7. SERVER SIDE INCLUDES Page 12 of 13 _MYVAR : 12 _LVAR1 : MYPROG _URL : /fr/example. application/vnd.1 _TIME : 16:14:44 _DATE : 01/02/19 7. application/vnd.36.ms-excel.37. MSIE 5.html 4/16/2002 . DigExt) Host: remora Connection: Keep-Alive _DOC_NAME : /fr/example. image/pjpeg.stm?_myvar=12 HTTP/1.$dbglvl is : <!--#echo var=$http_ctrl.4. SSI EXAMPLES See Example 7.this is a test</H1> <p>The value of $version is : <!--#echo var=$version --> <p>The value of $acc_maxlmt is : <!--#echo var=$acc_maxlmt --> <p>The value of $rmt_master is : <!--#echo var=$rmt_master --> <p>The value of $io_auto_cfg is : <!--#echo var=$io_auto_cfg --> <p>The value of $http_ctrl. Windows NT.$state --> <!--#echo var=$hosts_cfg[1].$TEMPER_LIMS:<!--#echo var=$SCR. SSI Example <HTML> <HEAD><META HTTP-EQUIV="PRAGMA"CONTENT="NO-CACHE"> </HEAD> <BODY> <!--This is a comment--> <P><H1>Hi .1 Accept: image/gif.mspowerpoint. for SSI directive examples. <p><pre>$SCR.7. image/jpeg.11.36.4. image/x-xbitmap.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s04. */* Accept-Language: en-us Accept-Encoding: gzip.$TEMPER_LIMS[1]=<!--#echo var=$SCR. Example 7.$state --> <p><strong><pre>The value of $hosts_cfg[1] is: <!--#echo var=$hosts_cfg[1] --></pre><strong> <p>The value of $SCR.0.stm _QUERY_STR : _myvar==12 _REMOTE_IP : 192.$TEMPER_LIMS --></pre> <p>The value of din[6] is : <!--#echo var=din[6] --> <p>The value of dout[5] is : <!--#echo var=dout[5] --> <p>The value of tpin[TP_ENBL] is : <!--#echo var=tpin[249] --> <p>The value of tpin[TP_ENBL] is : <!--#echo var=tpin[249] --> <p>The value of tpout[FAULT] is : <!--#echo var=tpout[1] --> <p>The value of anin[1] is : <!--#echo var=anin[1] --> <p>The value of anout[1] is : <!--#echo var=anout[1] --> <p>The value of [myprog]myint is : <!--#echo var=[myprog]myint -- http://www.0.frc.168.0 (compatible.$dbglvl --> <p>The value of $hosts_cfg[1]. application/msword. SERVER SIDE INCLUDES Page 13 of 13 > <p>The value of [myprog]myreal is : <!--#echo var=[myprog]myreal --> <p>The value of [myprog]mystring is : <!--#echo var=[myprog]mystring --> <p>The value of [myprog]mybool is : <!--#echo var=[myprog]mybool --> <p><pre>The value of [myprog]mypos is : <!--#echo var=[myprog]mypos --></pre > <br>This is the next line.frc.ls --></pre> <p> <p> <pre><!--#exec cmd=kcl/show%20mem --></pre> <p> </BODY> <META HTTP-EQUIV="PRAGMA"CONTENT="NO-CACHE"> </HTML> http://www.7.1] --></pre> <p> <pre><!--#include file=md:errall.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s04. <p>The value of numreg[1]=<!--#echo var=$numreg[1] --> <p>The value of posreg[1.html 4/16/2002 .1] is <pre><!--#echo var=$posreg[1.4. The HTTP authentication feature is used within the robot controller password option. However wildcard expansion is limited to an entire field (device. When you provide the name and password the request is sent back to the robot with the credentials provided.  KCL:* -.This entry limits access to the demo.This entry limits access to any files with a HTM extension on the FR: device. The HTTP Authentication feature also applies to any external requests through the web server.  FR:*. Then the browser will prompt you for a name and password.HTM) web server access -. If a resource must be authenticated then the robot web server will respond with a HTTP Authentication error (401). path. HTTP AUTHENTICATION The HTTP Authentication feature can restrict access to certain resources (files) on the robot through the web server. If the http://www.7. This functionality requires either the web enhancement option or internet connectivity and customizzation options are loaded. The first matching entry between the actual request and the protected resource list will apply. The following resources will be authenticated:  iPendant (this expands internally to FRH:\CGTP\CGTP.  KAREL:DEMO-. Note Wild cards can be used within the resource description. If the credentials match.HTM -. then the resource can be accessed.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s05. This capability is included with the Web Server Enhancements option.Basic uses base 64 encoding method for HTTP Authentication.5. then an HTTP Forbidden error (403) is returned indicating that no access is allowed. HTTP AUTHENTICATION Page 1 of 4 7.This entry limits access to teach pendant screens from your browser.frc. It does not apply to any requests from the local iPendant web browser. If the resource is locked.pc KAREL program through your browser. A resource can be restricted to require authentication (name/password) or can be completely locked so no access is available through the web server.5. This request matching is not case sensitive (but names and passwords are case sensitive). Note The only HTTP authentication method supported is BASIC. name and extension).html 4/16/2002 .This entry limits access to any KCL commands through your browser. html 4/16/2002 .com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s05.5. If the robot controller password option is not enabled. Note The Web Enhancements Option must be installed in order to get to this screen. then the HTTP authentication uses the names and passwords configured within the password option and the associated access levels.1.unlimited access  Authenticate-. Note The name and password must be set before any resource requiring authentication can be accessed. HTTP AUTHENTICATION Page 2 of 4 password option is enabled.frc.5.1.name and password needed Note Changes to the SETUP screen take effect immediately. http://www. 7.  Locked -. then the HTTP Authentication Setup screen is shown. Robot Controller Password Option Not Enabled If the controller password option is not enabled. then the names and passwords are local to HTTP authentication.7. Names and passwords are limited to 6 characters and are case sensitive.1. OPERATION HTTP Authentication is configured through the HTTP Authentication SETUP screen.  iPendant  KAREL:*  KCL:* The first field on the HTTP SETUP screen indicates whether the resource is one of the following.5. If the Resource is set to (A)uthenticate then the name and password must match. The following resources require authentication by default.no access  Unlocked-. This can be found under the SETUP Menu by choosing Host Comm. 7. Program.5. Example Configuration The following example configuration will allow unrestricted access to all files on the FR: device with the . The default level set for all resources is Install. Since the first match in the list applies any requests that match FR:*. Setup.5.2.* item.1.3.7. The level associated with that user must be at least equivalent to the Level set for HTTP Authentication of that resource. This can be changed to Operator.frc.* http://www.HTM extension.HTM and the AUTH setting for FR:*.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s05.html 4/16/2002 .5.. but require authentication for any other files on the FR: device.1.HTM will use the configuration associated with this item. HTTP Authentication Setup Screen (controller password option active) HTTP Setup A A A A A A A A PROTECTED RESOURCES Level Resource INSTALL iPendant INSTALL KAREL:* INSTALL KCL:* INSTALL *********************** INSTALL *********************** INSTALL *********************** INSTALL *********************** INSTALL *********************** 7. or Install with the [CHOICE] key when the cursor is on the Level field. Note You must use the UNLOCK setting for FR:*. If the Resource is set to Authenticate then the name and password entered must correspond to a user defined within the password option setup screens. HTTP AUTHENTICATION Page 3 of 4 HTTP Authentication Setup Screen (controller password option not active) HTTP Setup A A A A A A A A PROTECTED RESOURCES Name Pwrd Resource ***** ***** iPendant ***** ***** KAREL:* ***** ***** KCL:* ***** ***** ********************** ***** ***** ********************** ***** ***** ********************** ***** ***** ********************** ***** ***** ********************** 7. while other requests to FR: will use the configuration for the FR:*. Robot Controller Password Option Enabled If the controller password option is enabled then the HTTP Authentication Setup screen shown below will be displayed. See the following screen for an example. frc.7.* A***** ***** *********************** A***** ***** ************************ A***** ***** ************************ http://www.HTM A***** ***** FR:*.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch07s05. HTTP AUTHENTICATION Page 4 of 4 HTTP Authentication Setup Screen with an Example Custom Configuration HTTP Setup PROTECTED RESOURCES Name Pwrd Resource A***** ***** iPendant A***** ***** KAREL:* A***** ***** KCL:* U***** ***** FR:*.5.html 4/16/2002 . ) The proxy server on the robot can be set up so that it uses the building proxy server for internet access. INTRODUCTION The proxy server on the robot allows you to browse web servers on the network from the iPendant. If the DNS option is not installed. The proxy server gets the response from the remote server and forwards it to the browser. The third method can be used when internet access from the building network is allowed using a building proxy server ( contact your Information Systems department for details for your building proxy server. Requirements for Using Proxy Server The proxy server is available for use only by the web browser on the iPendant. the DNS (Domain Name Server) Client option is required. PROXY SERVER Page 1 of 1 8. In the second mode.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch08. Wildcard filtering is allowed. So. Note The iPendant only supports the Basic (base 64 encoding) method for HTTP Authentication. a user has restricted access to web servers on the building network.1.frc.html 4/16/2002 . For the browser on the iPendant to be able to view web servers on the network. PROXY SERVER 8. the proxy server needs to resolve names to IP addresses. It cannot be used from Ethernet or PPP Serial/Modem connections. a user can access all web servers on the building network from the iPendant.  Mode 2: Allow access to limited web servers on the building network. If the building proxy server requires authentication. The servers have to be explicitly specified.1.2. You can specify all the web servers that have direct access and no building proxy is required.8. 8. In the first mode (the default when proxy server option is loaded on the robot). Operation of Proxy Server The proxy server operates in three different modes:  Mode 1: Allow access to all web servers on the building network. it needs a proxy server to proxy web requests from the iPendant to the remote server.1.1. http://www. a pop-up window appears on the iPendant for you to enter the name and password.  Mode 3: Allow access to all web server on the building network and access to the internet using the building proxy server. 8. you must make sure the web server name (used in the URL for the web browser) is present in the host entry table. When browsing a particular web server. You will see a screen similar to the following. Press F1. Procedure 8. You will see a screen similar to the following. CONFIGURATION OF PROXY SERVER Page 1 of 2 8.1.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch08s02.2. In order for mode 2 or 3 use the following procedure.frc. it is ready for use and works in mode 1. 3. Note You might have to go to the next page of the menu to see this option. you do not have the proxy server option installed. Installing the Proxy Server Option 1.html 4/16/2002 .2. 4.8. TYPE and select HOSTCOMM. Press MENUS 2. when the proxy server option is installed. Scroll to the PROXY protocol and press F3. DETAIL. CONFIGURATION OF PROXY SERVER By default. SETUP\Protocols 1 2 3 4 5 6 7 8 Protocol TCP/IP TELNET PROXY PPP PING HTTP FTP DNS Description TCP/IP Detailed Setup Telnet Protocol Proxy Server Point to Point Protocol Ping Protocol HTTP Authentication File Transfer Protocol Domain Name System Note If PROXY protocol does not show up on the screen. Proxy/Setup External Proxy Enable : FALSE Server : ************************** Port : 8080 Exceptions: 1 ********************************** 2 ********************************** 3 ********************************** 4 ********************************** 5 ********************************** 6 ********************************** 7 ********************************** 8 ********************************** http://www. Select 6 Setup. Scroll to the Exceptions and enter the host names that you want to allow an iPendant user to access. CONFIGURATION OF PROXY SERVER Page 2 of 2 5. In the third case.0 will be allowed. To operate in mode 3 (allow access to external web sites through a building proxy server and full access to web servers on the building network). In the first case. You can enter wildcard at the beginning or the end of the entry. If no wildcards are used. 192. Enter the external proxy server name or IP address (you can obtain this from your Information Systems department). www. For all the web servers that are to be accessed directly from the robot without contacting the external proxy server. To operate in mode 2 (allow limited access to web server on the building network). the robot will contact the web server directly. an exact match is performed. http://www. Note The Exception list uses string compare for the URL and the exception.168.yahoo.fanucrobotics. leave (External Proxy) Enable to be FALSE.html 4/16/2002 .com.168. Some examples are *. all host names starting with 192. enter the names that would be used in the URL in the Exceptions list.*.frc. 6.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch08s02. It does not resolve the IP address for blocking or redirecting requests.2. change (External Proxy) Enable to be TRUE.com. an exact match for the hostname will be performed.0. For these entries. The default port on the external proxy server is 8080 (you are able to change that if necessary).8. ) was longer than 4 Kbytes.Forbidden: You are operating in mode 2 and were trying to browse a web server that was not in the exception list.  HTTP 403 -.  HTTP 500 -.3.. Note The remote web server or the external proxy server might return one or more of these errors.8. Or.Request URI Too Long The request (http://hostname/.  HTTP 502 -. the web server you are trying to get does not respond..Bad Request: The request was not in the expected form. The expected form is http://hostname/. You can contact your Information Systems department if you have any questions regarding these HTTP errors. The errors are standard HTTP errors specified by the RFC documents for the HTTP Protocol. The proxy server can handle requests only up to 4 Kbytes long. The Proxy Server specifically returns the following errors. ERRORS RETURNED BY THE PROXY SERVER Page 1 of 1 8. http://www..  HTTP 400 -.Bad Gateway: The hostname in the web request could not be resolved to an IP address.Internal Server Error: There was a problem opening connections as the system is out of resources.  HTTP 414 -.3.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch08s03. the IP address does not match. ERRORS RETURNED BY THE PROXY SERVER The Proxy Server returns any errors due to configuration to the web browser. Verify that you have the DNS option installed or you have the hostname of the web server being used in the URL in the host entry table.frc.html 4/16/2002 . The content length can be any size but the URI can only be 4 Kybtes long. If you are using an external proxy server. are available for devices to use over the PPP link.1. FANUC Robotics SYSTEM R-J3iB Controllers support up to one user PPP connection via a serial port or with a modem installed in your R-J3iB controller. All internet options. POINT-TO-POINT PROTOCOL CONNECTIVITY Page 1 of 1 9. except Ethernet Controller Backup and Restore.html 4/16/2002 . OVERVIEW Point-to-Point Protocol (PPP) allows devices to connect to each other across a dedicated point to point link.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch09. POINT-TO-POINT PROTOCOL CONNECTIVITY 9. http://www.9. and Table 9.0 If possible. you should use the default values in these tables. Table 9.10 1.2.1. However. or through an external modem connected to one of the available serial ports. Supported Modems The following external modems are supported: http://www.3.10 1. PPP allows a PC or other network device to establish a simple point-to-point network connection to your R-J3iB controller either directly through the P2 or P3 serial ports.255.1. You can make remote dial-in PPP connections to your R-J3iB robot.1.3.2.2. Addresses for P3 Port (Direct through Serial Port or External Modem) ITEM Robot Remote (PC) Subnet Mask IP ADDRESS 1. SETTING UP PPP ON YOUR CONTROLLER Page 1 of 19 9.255.1. if you need to use different IP addresses for your Robot and Remote device. Addresses for P2 Port (Direct Serial Port or External Modem) ITEM Robot Remote (PC) Subnet Mask IP ADDRESS 1.frc.2.2.9. IP Addresses Table 9.html 4/16/2002 . show the default IP Addresses for the P2 and P3 ports. either through external modems installed on the P2 or P3 serial ports.255. Note If your robot is connected to an Ethernet network.255. the IP addresses can be modified by using.11 255.2. and that the subnet is different from the Ethernet subnet you are using for your R-J3iB Robot.11 255.1.0 Table 9.1. you need make sure that the IP addresses for the PPP connections of both the R-J3iB robot and the remote device are on the same subnet.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch09s02. SETTING UP PPP ON YOUR CONTROLLER Point-to-Point Protocol (PPP) allows for simple point-to-point connections between network devices that exchange data. 9. [TYPE]. 8. Configuring the P2. Procedure 9. 4.html 4/16/2002 . http://www.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch09s02. You will see a screen similar to the following. Select Port Init. Move the cursor to PPP and press ENTER. 7. c. b. Press MENUS. P3. While still pressing SHIFT and RESET on the teach pendant (or RESET on the operator panel).1.2. to configure port P2 or P3 for direct serial port connections to your network. 28. and P6 Ports You can configure ports P2 and P3 on the controller to be used as direct serial PPP connections.1.32bis 9. 56K Faxmodem with 2x  US Robotics Sportster. Move the cursor to Device. 5.frc. press and hold the SHIFT and RESET keys.2. You will see a screen similar to the following. Move the cursor to the port you want to set up.1. SETUP Port Init 1 2 3 4 Connector Port RS-232-C P2: PORT B P3: JD17 RS-232-C P4: JD17 RS-422 P5: [No [No [No [No Comment use Use Use Use ] ] ] ] 6. Release all of the keys. Refer to Procedure 9. Or. press and hold RESET. 2. on the operator panel . Setting up Port P2 or P3 as Direct Serial Port Connections Steps 1. 3. and press F4. SETTING UP PPP ON YOUR CONTROLLER Page 2 of 19  US Robotics Sportster.800 Fax Modem with V. to set up port P2 or P3 for external modem connections to your network. Select SETUP. press the ON button on the operator panel. or you can connect an external modem to ports P2 and P3. On the teach pendant . either P2 or P3.34 and V. [CHOICE]. Press F1. a. Refer to Procedure 9.2. Cold start the controller. Press F3 DETAIL. turn the controller on. You will see a screen similar to the following. press the ON button on the operator panel or operator box. 9. Move the cursor to the port you want to configure. press and hold RESET. and then on again.2. 5. Release all of the keys.9.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch09s02. Select port Init. c. and press ENTER. Or. 2. Select SETUP. Press MENUS.html 4/16/2002 .frc. DETAIL. b. SETUP Port Init 1 2 3 4 Connector Port RS-232-C P2: PORT B P3: JD17 RS-232-C P4: JD17 RS-422 P5: [No [No [No [No Comment use Use Use Use ] ] ] ] 6. If the port setting was not displaying a No Use message. press and hold the SHIFT and RESET keys. Procedure 9.2 KB/Sec. You will see a screen similar to the following. either P2 or P3. [TYPE]. 4. While still pressing SHIFT and RESET on the teach pendant (or RESET on the operator panel). SETTING UP PPP ON YOUR CONTROLLER Page 3 of 19 Note The default and maximum supported baud-rate for the serial connection is 19. If the teach pendant does not show any messages. 3. the port has been initialized for PPP. on the operator panel . Setting up Port P2 or P3 for an External Modem Steps 1. On the teach pendant . and press F3. Press F1. SETUP Port Init PORT B P3: 1 Device [No Use 2 Speed(Baud rate) 3 Parity bit 4 Stop bit 5 Time out value(sec) ] [19200] [None ] [1bit ] [ 0] http://www. Cold start the controller a.2. 8. Procedure 9.html 4/16/2002 . the default IP addresses can be changed by performing.1. and Table 9.2. DETAIL.255. 2. Changing the Default IP Addresses Conditions  You have performed a Cold start on your controller Steps 1.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch09s02. Move the cursor to Modem/PPP and press ENTER.3. 7.3. Select SETUP. Move the cursor to PPP.2. Press MENUS.11 Robot IP address : 1. if you need to use different IP addresses for your robot or remote device. DETAIL.1. 3. 9.frc.3. Turn the controller off. Note The default and maximum supported baud rate for serial connections is 19.0 http://www.2 KB/sec. . Move the cursor to Device and press F4. 6.1. and then on again for the changes to take effect. Changing IP Addresses When assigning IP addresses to ports P2 and P3 you should use the default values listed in Table 9. [CHOICE].2. You will see a Port initialized for PPP or PPP/Modem message. However. Select Host Comm. Press F3.2. [TYPE] 4. Press F3.9. SETTING UP PPP ON YOUR CONTROLLER Page 4 of 19 7.10 Subnet mask : 255. 9. Press F1. You will see a screen similar to the following. 5.255. SETUP PPP Port P3 Peer IP address : 1. Steps 1.4. For detailed information about how to add a dial-up connection to your PC. 2.3. SETTING UP PPP ON YOUR CONTROLLER Page 5 of 19 8. Double-click on "Control Panel. Click on "My Computer" Icon on the Desktop. or contact your network administrator." The following window will be displayed Figure 9.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch09s02. 9. Procedure 9. to configure the RAS Software on your PC. Use Procedure 9. Setting up PPP on a Network PC Conditions  Make sure RAS on the PC is set up for dial-out only.2. Note RAS is a component of Windows NT/98/2000. You can establish the dial-up connection to network devices either directly through a serial port.9.2. Control Panel Screen http://www.1.4. or through a modem.html 4/16/2002 . refer to the operating system software manual for your PC's operating system. Change the IP addresses and the subnet mask as desired. Creating PPP Serial Port or Dial-Up Modem Connections on a Network PC You can configure your network PC for a Remote Access Server (RAS) dial-up connection. Remote Access Setup Screen http://www. click on Add and follow the directions provided by the Windows NT installation manual and install Remote Access Service (RAS).9. 4.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch09s02. SETTING UP PPP ON YOUR CONTROLLER Page 6 of 19 3.2. If it is not present. "Remote Access Service" should be present.3. Figure 9.2. Select "Remote Access Service" and click on properties.html 4/16/2002 .frc. Select the "Services" tab as shown in the following figure. Figure 9. Network Screen 5. Double-click on "Network" to configure network settings. 6. You must double-click on Dial-Up Networking and select the New button. 9. SETTING UP PPP ON YOUR CONTROLLER Page 7 of 19 7.9. Select "Dial Out Only".com/edoc/latest/latest_software/maro62int09011e_rev_a/ch09s02. Configure Port Usage Screen 8.4.5. The following window will be displayed. Dial-Up Networking http://www.html 4/16/2002 .2. Select the icon My Computer on the desktop. Select the Device to configure (Modem or Direct Serial Connection) and click on the configure button.frc. Figure 9. Figure 9. 9. SETTING UP PPP ON YOUR CONTROLLER Page 8 of 19 10. Click the Configure button. Set up the new phone book entry as follows: a. and proceed to Step 15. Type the name you want for this connection in the New Phone Book Entry Wizard window that is displayed. Select the network device you want to use for your RAS connection from the "Dial using" box.6.2. b. Figure 9.7. You can select either a Modem. New Phonebook Entry http://www. or Dial-up Networking using a Serial cable.frc. to configure your network device. Figure 9.html 4/16/2002 . Type a name for your connection in the "Entry name" box. c.7. .com/edoc/latest/latest_software/maro62int09011e_rev_a/ch09s02. See Figure 9. New Phonebook Entry Wizard 11. You must check the box that states the following:I know all about phonebook entries and would rather edit the properties directly. 9. Figure 9. See Figure 9. 13. Internet.9. and modem compression by leaving the "Hardware features" check boxes unchecked. . Turn off all hardware flow control. select TCP/IP. b. Windows 95 Plus. Configure the modem or serial port. Figure 9. . c.9. as shown in Figure 9. Select the Network Protocol http://www.8. Click the Server tab on the Edit Phonebook Entry dialog box. Click the OK button to save your modem or serial port configuration. modem error control.frc. Do not use any of the other available network protocols. From the "Network protocols" frame. Do the following from the Modem Configuration dialog box: a.html 4/16/2002 . as shown in Figure 9. Select the network protocol a. Use the "Dial up server type" box to select PPP: Windows NT.9. SETTING UP PPP ON YOUR CONTROLLER Page 9 of 19 12. Configure the Serial Device b.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch09s02.8.2. 10.2. Figure 9. Set all DNS and WINS server addresses to zero. Choose the IP address of the PC from the addresses specified in Table 9. b. to configure the PPP TCP/IP settings. SETTING UP PPP ON YOUR CONTROLLER Page 10 of 19 d. Click the TCP/IP Settings button. and proceed to Step 23. Turn off software compression and disable all PPP LCP extensions.frc. Do the following from the PPP TCP/IP Settings dialog box: a. as shown in Figure 9..com/edoc/latest/latest_software/maro62int09011e_rev_a/ch09s02.9. through in Section 9.1. Select the Network Protocol http://www.9.html 4/16/2002 . Configure the PPP TCP/IP settings.2. 14. Click the OK button to save your PPP TC/IP settings. SETTING UP PPP ON YOUR CONTROLLER Page 11 of 19 c.2.html 4/16/2002 . This will allow for plain text passwords. Note The R-J3iB controller does not have user name and password authentication capabilities. Select the Network Protocol 16. enable the option to Accept any authentication including clear text.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch09s02. as shown in Figure 9. and shown in Figure 9.11. In the "Authentication and encryption policy" frame.frc. 15.11. a. Figure 9. Click OK and then dial to connect to the robot.10. Click the Security tab on the Edit Phonebook Entry dialog box .9. It will accept any (including blank) username and a blank password. Check the "Use IP header compression" and "Use default gateway on remote network" checkboxes. http://www. 5. Procedure 9. The robot controller will be the host and you must Press Next> to continue.html 4/16/2002 .2. 2.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch09s02.9. Select Control Panel.frc. http://www. SETTING UP PPP ON YOUR CONTROLLER Page 12 of 19 Note Refer to the software documentation for you PC's operating system for detailed information about how to install and set up the RAS software. In the Network Connection Wizard. select Connect directly to another computer and press Next>. Select Guest. 3. Network and Dial Up Connections and Make a New Connection. Setting Up a Serial PPP Connection to connect to a System RJ3/R-J3iB Robot on Windows 2000 1. 2.html 4/16/2002 . select Communications cable between two computers (COMx). Press Next. where x is the COM port you will be using for your connection.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch09s02.> to continue. 5. If you want all users who log on to your PC to use this connection.>. SETTING UP PPP ON YOUR CONTROLLER Page 13 of 19 4. In the Select a Device Screen.frc. http://www.9. select For all users and select NEXT. http://www.9. Give a name for this connection. Select OK to return to this screen. SETTING UP PPP ON YOUR CONTROLLER Page 14 of 19 6.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch09s02. A user name and password is not required for this connection. Select Properties.2. 8. You will see a screen similar to the following.html 4/16/2002 . Select Finish.frc. Select Configure and choose the proper baud rates. 7. You can leave them blank or ignore the boxes. Select Option Encrytion and select the box for Unencryted password (PAP) is checked. Select the Security tab and Advanced (Custom Setting) and Settings.html 4/16/2002 . SETTING UP PPP ON YOUR CONTROLLER Page 15 of 19 9.frc. 10.2. Uncheck all other boxes.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch09s02. http://www.9. Enter the IP address corresponding to the serial port you are using. http://www. Select Settings and make sure all the boxes are unchecked.html 4/16/2002 .com/edoc/latest/latest_software/maro62int09011e_rev_a/ch09s02. Select the Networking tab. 12.9. Uncheck Client for Microsoft Networks and File and Printer Sharing. Select Internet Protocol (TCP/IP) and choose Properties. Select OK. 13. SETTING UP PPP ON YOUR CONTROLLER Page 16 of 19 11.frc.2. Leave the entries for the DNS server address blank. You must make sure that Internet Protocol (TCP/IP) is selected. html 4/16/2002 . Select the DNS tab. See the following screen listed below.2. You must make sure the Use IP header compression box is selected.9. http://www. 15. Select the Advanced button. You must make sure that the boxes are checked/unchecked. SETTING UP PPP ON YOUR CONTROLLER Page 17 of 19 14.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch09s02.frc. SETTING UP PPP ON YOUR CONTROLLER Page 18 of 19 16. Select the WINS tab.2. Uncheck the box Enable LMHOSTS lookup. Select the Options tab and choose IP Security and click on properties. 17.frc.html 4/16/2002 . http://www.9.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch09s02. 19.9.frc. If a window pops up with the message WINS entry is empty select OK to ignore the message. You must make sure the Do not use IPSEC button is selected. SETTING UP PPP ON YOUR CONTROLLER Page 19 of 19 18.2. http://www.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch09s02.html 4/16/2002 . Select OK. 1. The service requires a DHCP server to be present on the network.10. This means that the robot can use the IP address for a certain period of time called the lease time. DYNAMIC HOST CONFIGURATION PROTOCOL Page 1 of 1 10. the subnet mask of the network. When the renewal time expires.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch10. 10. OVERVIEW DHCP (Dynamic Host Configuration Protocol) is a service which automates robot configuration on an existing Ethernet network. This concept of allocating leases to an IP address is called Dynamic Allocation of the IP address.frc. The server typically also returns a renewal time for dynamically allocated IP addresses. The renewal time is less than the lease expiry time. The network parameters returned by the server typically include at least the IP address to be used by the robot. The DHCP server typically leases the IP address to the DHCP client.html 4/16/2002 .1.1. and the router or gateway used for that network. Features of the Robot DHCP Client The Robot DHCP Client: ? Is used at Controlled and Cold start for network configuration purposes ? Is used at Configuration start for disaster recovery purposes (to be used with the ECBR option) ? RFC2131 and RFC2132 (internet specification) compliant ? Supports leasing of IP address ? Checks IP address first to see if its in use before using it ? Can act like a PC based DHCP client for seamless integration of the robots into the existing network ? Is easy to set up http://www. The server can be configured to return more information such as DNS servers and so forth which can be used to set up the robot as a DNS client. DYNAMIC HOST CONFIGURATION PROTOCOL 10. It returns the various network parameters to the requesting host (DHCP client) which configures it on the network automatically. DHCP is used commonly on PCs to configure them on the network. The IP address given out by the server is valid for the duration of the lease time. the DHCP client typically renews the lease on the IP address (or gets back a new IP address) from the DHCP server. The lease time period is returned by the DHCP server along with the IP address. SETUP\Host Comm TCP/IP Robot name: Robot IP addr: Router IP addr: Subnet Mask: Board address: Host Name (LOCAL) 1 *********** 2 *********** 3 *********** ROBOT ************** ************** 255. TRUE to enable DHCP. Setting up DHCP on the Robot 1.10.frc. SETTING UP DHCP ON THE ROBOT Page 1 of 4 10.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch10s02. You will see a screen similar to the following.0 08:00:19:02:68:22 Internet Address ***************** ***************** ***************** 3. DHCP Setup DHCP enable: DHCP status: FALSE Disabled 4.2. Press MENUS and select SETUP. You will see a screen similar to the following. DHCP Setup DHCP enable: TRUE DHCP status: Success http://www. The DHCP status shows the status of the DHCP operation. Press F2. Press F1. Press F4. Procedure 10. Note The DHCP button shows up only when DHCP is installed on the robot.255. DHCP to display the DHCP SETUP screen.2.html 4/16/2002 . 2. The DHCPCFG button on this screen launches the DHCP SETUP screen. [TYPE] and select Host Comm.1.255. SETTING UP DHCP ON THE ROBOT The DHCP setup screens are located on the Setup-Hostcomm-TCP/IP screens. DHCP is disabled from the DHCP SETUP screen. If you need to reconfigure DHCP Setup (either on the robot side or on the server side) while DHCP is enabled. Advanced DHCP Setup The client ID is an optional parameter that the client can send to the server to request for specific configuration information. 5. and re-enable DHCP again from the DHCP SETUP screens. Advanced DHCP Setup Client ID: *********************** Set hostname in request: FALSE Retry rate on failure: 10 min Use last valid IP on failure: FALSE Note Most users do not need to go to the Advanced DHCP SETUP screen and change the defaults.1.2. Press F3. Note It is recommended that when the system clock on the robot is changed.2. You can set this field to be the Ethernet address of the robot or to any string identifier.frc. most users should be able to use the DHCP service on the robot by pressing the Enable button from the DHCP screens. then the format of the Ethernet address must be 6 bytes separated by colons. In some cases it might be necessary to set advanced DHCP options from the Advanced DHCP Setup screen. The screen provides flexibility so that the robot can support different kinds of DHCP server configurations. You will see a screen similar to the following.10. 10.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch10s02. You must consult with your network administrator if you have any questions.html 4/16/2002 . An example might include http://www. make the necessary configuration changes. then you would need to disable DHCP first from the DHCP SETUP screens. The server needs to be configured to recognize the client ID that the user sets in this field. If you are typing an Ethernet address in this field. and re-enabled again. SETTING UP DHCP ON THE ROBOT Page 2 of 4 Note With the DHCP server properly configured. ADV to go to the Advanced DHCP SETUP screen. $SETHOST. The retry rate on failure field controls the rate (in minutes) at which retries occur if the robot does not get a response back from the server.$RETRATE. This retry rate field determines when the next attempt to contact the server must be done. you have to make sure that the robot hostname field is set from the TCP/IP screens first. the robot will continue to use the IP address. The set hostname in request field allows the robot to function like. If the server does not do this. Some servers are written explictly to service Microsoft clients only so this field allows the robot to function like PCs. http://www. Setting the client ID field sets the system variable $DHCP_CLNTID.2. Under no circumstances will the robot use the IP address beyond the lease expiry time. Windows based DHCP clients (PC's) in sending out its hostname in the form of a DHCP request. Setting this field sets $DHCP_CTRL.$USEIP. Setting this field sets the system variable $DHCP_CTRL. then this field determines if the robot will continue to use the IP address or not. Note It is up to the DHCP server to update DNS tables when an IP address is given out. For security reasons. and other hosts will need to use the IP address returned by the server to communicate with the robot.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch10s02. then it will not be possible to access the robot using the robot hostname. but if set to FALSE. the robot on booting contracts the DHCP server to confirm the lease (this is standard DHCP behavior). and the lease is still valid on the IP address. To use the set hostname in request field.html 4/16/2002 . The robot DHCP client does not support the dynamic DNS feature. Set this field to zero to disable retries. The DHCP internally tries for a full minute to contact the server before giving up and reporting an error. Setting this field sets the system variable $DHCP_CTRL. This feature where the DNS server gets informed about the new IP address (via the DHCP mechanism in this case) is called dynamic DNS. If set to TRUE. The last valid IP address on failure field is used in a case where the robot has a previously assigned IP address. SETTING UP DHCP ON THE ROBOT Page 3 of 4 00:E0:E4:F7:94:AC Note The Ethernet address of your robot can be viewed from the TCP/IP screens. it is usually up to the server to do dynamic DNS and inform the DNS server of the IP address changes.frc. the robot will not use the IP address. If the DHCP server does not respond for some reason (network/ server is down or damage to cables). When power is cycled on the robot. regardless of this setting. then under these conditions.10. as returned by the server is reflected in the above screens.frc.10.22. but also the first five lines are marked read-only and the user cannot edit these parameters when DHCP is enabled (regardless of whether the DHCP operation succeeded or not).255. DHCP must be disabled.1 255.22.0 08:00:19:02:68:22 Internet Address ******************** ******************** ******************** The robot's network information.165 172. If you must manually set these parameters. SETUP HostComm TCP/IP .2.DHCP enabled Robot name: Robot IP addr: Router IP addr: Subnet Mask: Board address: Host Name (LOCAL) 1 *********** 2 *********** 3 *********** ROBOT 172. http://www.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch10s02. SETTING UP DHCP ON THE ROBOT Page 4 of 4 Note The Hostcomm-TCP/IP screens look different upon a successful DHCP operation.200.html 4/16/2002 .240.192. Some servers require the hostname to be supplied in the hostname field in the request (especially servers http://www. DHCP SYSTEM VARIABLES Page 1 of 3 10. the robot tries to contact the DHCP server to validate its lease. DHCP internally tries for a full minute to contact the server before giving up and reporting an error. This system variable structure is saved in syshost. if this variable is set.3. Powerup:The powerup takes effect immediately. this variable controls the rate (in minutes) at which attempts are made by the robot to contact the DHCP server. $RETRATE: INTEGER: default 10 If DHCP is enabled. UIF Location:DHCP SETUP screen. The robot tries to configure its Ethernet interface right away. If the server does not respond. the robot will shut down the ethernet interface right away. If this variable is set to TRUE. the robot might not continue to use the IP address it obtained before. then. PowerUp:Cycle power to take effect.html 4/16/2002 .3. and the DHCP operation fails. $IPUSE: BOOLEAN default TRUE If DHCP is enabled and the robot has a valid lease on an IP address and power is cycled on the robot.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch10s03. the robot will continue to use the IP address till the lease expires. If this variable is set to FALSE. This retry rate field determines when the next attempt to contact the server must be done. UIF Location:DHCP Advanced SETUP screen $SETHOST: BOOLEAN: default FALSE This variable sets the hostname field in the DHCP request sent to the server. UIF Location: DHCP advanced SETUP screen. the robot will not use any parameters manually configured by the user from the teach pendant or via system variables on this power cycle or on subsequent power cycles.sv and can be copied to a media and moved between robots. If the variable is set. $ENABLE: BOOLEAN: default FALSE This variable enables the robot to start functioning as a DHCP client.10. Enabling DHCP from the DHCP screens causes this field to be set to TRUE.frc. Under no circumstances will the robot continue to use an IP address after its lease has expired. DHCP SYSTEM VARIABLES $DHCP_CTRL_T structure includes the following fields. on powerup. PowerUp: The powerup takes effect immediately. the robot will try to contact the DHCP server and will use the configuration information returned by the server. On subsequent powerups. 10.3. DHCP SYSTEM VARIABLES Page 2 of 3 serving microsoft clients). In this case, you may need to set this field to TRUE. When this field is set to TRUE, the robot hostname ($HOSTNAME) is supplied as the hostname in the DHCP request. Powerup: The powerup takes effect immediately. UIF Location: DHCP Advanced SETUP screen. $DHCP_INT_T structure This structure is used internally by DHCP. Users cannot modify this system variable structure (all fields are Read-Only). There is no UIF that displays this structure. This system variable is neither saved (not restored) in any .sv files. $LEASESTRTIME, ULONG: default 0 This variable gives the time of start of the lease. $LEASESTART: STRING Time of start of lease in a readable format. $LEASEENDTIME: ULONG: default 0 This variable gives the time when the lease will expire. $LEASEEND: STRING This variable is the lease expiry time in a readable format. $IPADD: STRING This variable indicates that the server returned the IP address. $ROUTERIP: STRING This variable indicates that the server returned router IP address. $SNMASK: STRING This variable indicates that the server returned subnet mask. $STATUS: STRING This variable indicates to the status of the DHCP operation. $DHCP_CLNTID: STRING: R/W Client identifier passed by the robot to the server. This might not have to be supplied, http://www.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch10s03.html 4/16/2002 10.3. DHCP SYSTEM VARIABLES Page 3 of 3 depending on how the DHCP server is configured. You must see your network administrator for more details. Typical use of the client identifier is either to supply an Ethernet address or to supply a string to the server. To use the Ethernet address, the 6 bytes must be separated by colons. Eg: 00:E0:E4:F7:94DC PowerUp: This variable takes effect immediately. UIF Location:DHCP SETUP screen. http://www.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch10s03.html 4/16/2002 10.4. DHCP TROUBLESHOOTING Page 1 of 1 10.4. DHCP TROUBLESHOOTING Some of the DHCP errors that you might receive include the following: ? The DHCP operation failed with HOST-244 DHCP: No response from the server You must make sure that the robot is connected to the network with a working Ethernet cable. You must contact your network administrator and make sure that the DHCP server is configured and running. The DHCP server must typically be located on the same network as the robot (otherwise, there must be a router on the network that functions as a DHCP relay agent and forwards requests and responses from one network to another). This problem could also happen if the network is having problems (such as heavy traffic). You can check this by looking at the Ethernet diagnostics by pressing DIAG key under the Host-Comm/TCP/IP screens. ? The DHCP operation failed with HOST-255: DHCP duplicate IP <x.x.x> If this error occurs it means that the DHCP server served up an IP address that is already being used by another host on the network. You must inform your network administrator about this problem when it occurs. ? Ethernet on robot stops working with HOST-226 and HOST-227 errors (lease time expired/shutting down ethernet) The robot could not renew the DHCP lease and the lease expired. This should not happen under normal circumstances. The robot might not be connected to the network or the network is having problems or the DHCP server might not be running any more. http://www.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch10s04.html 4/16/2002 11. SOCKET MESSAGING Page 1 of 1 11. SOCKET MESSAGING 11.1. OVERVIEW The Socket Messaging Option gives you the benefit of using TCP/IP socket messaging from KAREL. Socket Messaging enables data exchange between networks R-J3iB robots and a remote PC with Windows 9x/NT, or a UNIX workstation. A typical application of Socket Messaging might be an R-J3iB robot running a KAREL program that sends process information to a monitoring program on the remote PC. Socket Messaging uses the TCP/IP protocol to transfer raw data, or data that is in its original, unformatted form across the network. Commands and methods that Socket Messaging uses to transfer data are part of the TCP/IP protocol. Since Socket Messaging supports client and server tags, applications requiring timeouts, heartbeats, or data formatting commands can provide these additional semantics at both the client and server (application) sides of the socket messaging connection. http://www.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch11.html 4/16/2002 11.2. SYSTEM REQUIREMENTS Page 1 of 1 11.2. SYSTEM REQUIREMENTS This section contains information about the compatibility of socket messaging with some typical network software, transmission protocols, and interface hardware. 11.2.1. Software Requirements Socket Messaging is compatible with all other SYSTEM R-J3iB Internet Options including DNS, FTP, Web Server, and Telnet. Note Client and Server tags are shared between Socket Messaging and FTP. A tag can be set for either FTP operation or for SM (Socket Messaging) operation 11.2.2. Hardware Requirements Socket Messaging is compatible with all network hardware configurations that use the TCP/IP network protocol. Some of these network hardware configurations include Ethernet, serial PPP connections and PPP modem connections. http://www.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch11s02.html 4/16/2002 Use Procedure 11. After making sure the tag you want to use is not critical to another component of your network.1.html 4/16/2002 . you need to configure the following network hardware and software parameters: ? On the server. Note If the server tags you want to use are being used by a network protocol other than TCP/IP.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch11s03. Steps http://www.1. use Procedure 4.11. to set up a Socket Messaging Client Tag. Use Procedure 11. Procedure 11.3. ? The IP address or name of your server ? The port on the server that you want to use for socket messaging.3. 11. Note The server port at which the server listens on should match the port the client tries to connect on.3. to set up your server tags. to undefine a server tag. to undefine a client tag.1. Setting up a Server Tag Conditions ? The tag you want to set up is not configured to be used by another device on your network. ? ? The port you want to use for socket messaging On the client.3.4.2. Use Procedure 11. you need to undefine the tags before they can be used for socket messaging.frc. Use Procedure 4.1. Setting up a Server Tag You need configure the server tags you want to use for socket messaging. to set up a Socket Messaging Server Tag. CONFIGURING THE SOCKET MESSAGING OPTION Page 1 of 6 11. CONFIGURING THE SOCKET MESSAGING OPTION In order to use Socket Messaging. 11.3. CONFIGURING THE SOCKET MESSAGING OPTION Page 2 of 6 1. Cold start the controller. a. On the teach pendant , press and hold the SHIFT and RESET keys. Or, on the operator panel , press and hold RESET. b. While still pressing SHIFT and RESET on the teach pendant (or RESET on the operator panel), press the ON button on the operator panel. c. Release all of the keys. 2. On the teach pendant, press MENUS. 3. Select SETUP. 4. Press F1, [TYPE]. 5. Select Host Comm. 6. Press F4, [SHOW]. 7. Choose Servers. 8. Move the cursor to the tag you want set up for Socket Messaging, and press F3, DETAIL. You will see screen similar to the following. SETUP Tags Tag S3: 1 Comment: **************** 2 Protocol name: ******** 3 Port name: ***** 4 Mode: ************************* Current State: UNDEFINED 5 Remote: ******** 6 Path: **************************** Startup 7 State: 8 Remote: ********** 9 Path: **************************** Options 10 Error Reporting: OFF 11 Inactivity Timeout: 15 min 9. Move the cursor to Protocol name, and press F4, [CHOICE]. 10. Select SM. 11. Move the cursor to Startup State, and press F4, [CHOICE]. 12. Select START, and press F2, [ACTION]. http://www.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch11s03.html 4/16/2002 11.3. CONFIGURING THE SOCKET MESSAGING OPTION Page 3 of 6 13. Select DEFINE, and press F2, [ACTION]. 14. Select START. 15. Set the system variable: a. Press MENUS. b. Select NEXT. c. Select SYSTEM, and press F1, [TYPE]. d. Select Variables. e. Move the cursor to $HOSTS_CFG, and Press ENTER. f. Move the cursor to the structure corresponding to the tag selected in Step 11.. For example, if you are setting up tag S3, move the cursor structure element [3], as shown in the following screen. SYSTEM Variables $HOSTS_CFG 1 [1] 2 [2] 3 [3] 4 5 6 7 8 [4] [5] [6] [7] [8] HOST_CFG_T HOST_CFG_T HOST_CFG_T HOST_CFG_T HOST_CFG_T HOST_CFG_T HOST_CFG_T HOST_CFG_T g. Press ENTER. You will see a screen similar to the following. SYSTEM Variables $HOSTS_CFG[3] 1 $COMMENT 2 $PROTOCOL 3 $PORT 4 $OPER 5 $STATE 6 $MODE 7 $REMOTE 8 $REPERRS 9 $TIMEOUT 10 $PATH 11 $STRT_PATH 12 $STRT_REMOTE 13 $USERNAME 14 $PWRD_TIMOUT 15 $SERVER_PORT *uninit* 'SM' *uninit* 3 3 *uninit* *uninit* FALSE 15 *uninit* *uninit* *uninit* *uninit* 0 0 h. Move the cursor to $SERVER_PORT. Type in the name of the TCP/IP port you http://www.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch11s03.html 4/16/2002 11.3. CONFIGURING THE SOCKET MESSAGING OPTION Page 4 of 6 want to use for socket messaging. The server tag is now ready to use from a KAREL program. 11.3.2. Setting up a Client Tag You need configure the client tags you want to use for socket messaging. Use Procedure 11.2. to set up your server tags. You can also use Procedure 11.2. to undefine server tags. Note If the client tags you want to use are being used by a network protocol other than TCP/IP, you need to undefine the tags before they can be used for socket messaging. Procedure 11.2. Setting up a ClientTag Conditions ? The tag you want to set up is not configured to be used by another device on your network. Steps 1. Cold start the controller. a. On the teach pendant , press and hold the SHIFT and RESET keys. Or, on the operator panel , press and hold RESET. b. While still pressing SHIFT and RESET on the teach pendant (or RESET on the operator panel), press the ON button on the operator. c. Release all of the keys. 2. On the teach pendant, press MENUS. 3. Select SETUP. 4. Press F1, [TYPE]. 5. Select Host Comm. 6. Press F4, [SHOW]. 7. Choose Clients. 8. Move the cursor to the tag you want set up for Socket Messaging, and press F3, DETAIL. You will see screen similar to the following. http://www.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch11s03.html 4/16/2002 11.3. CONFIGURING THE SOCKET MESSAGING OPTION Page 5 of 6 SETUP Tags Tag C3: 1 Comment: **************** 2 Protocol name: ******** 3 Port name: ***** 4 Mode: ************************* Current State: UNDEFINED 5 Remote: ******** 6 Path: **************************** Startup 7 State: 8 Remote: ********** 9 Path: **************************** Options 10 Error Reporting: OFF 11 Inactivity Timeout: 15 min 9. Move the cursor to Protocol name, and press F4, [CHOICE]. 10. Select SM. 11. Move the cursor to Startup State, and press F4, [CHOICE]. 12. Select Remote, and press ENTER. 13. Type in the of the remote host server you want to use for socket messaging, and press F2, [ACTION]. 14. Select DEFINE. Note If you are not using DNS, you must use Procedure 2-2 to add the remote host and its IP address into the host entry table. 15. Set the system variable: a. Press MENUS. b. Select NEXT. c. Select SYSTEM, and press F1, [TYPE]. d. Select Variables. e. Move the cursor to $HOSTS_CFG, and press ENTER. f. Move the cursor to the structure corresponding to the tag selected in Step 11.. For http://www.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch11s03.html 4/16/2002 11.3. CONFIGURING THE SOCKET MESSAGING OPTION Page 6 of 6 example, if you are setting up tag S3, move the cursor structure element [3], as shown in the following screen. SYSTEM Variables $HOSTS_CFG 1 [1] 2 [2] 3 [3] 5 [5] 6 [6] 7 [7] 8 [8] HOST_CFG_T HOST_CFG_T HOST_CFG_T HOST_CFG_T HOST_CFG_T HOST_CFG_T HOST_CFG_T 4 [4] HOST_CFG_T g. Press ENTER. You will see a screen similar to the following. SYSTEM Variables $HOSTS_CFG[3] 1 $COMMENT 2 $PROTOCOL 3 $PORT 4 $OPER 5 $STATE 6 $MODE 7 $REMOTE 8 $REPERRS 9 $TIMEOUT 10 $PATH 11 $STRT_PATH 12 $STRT_REMOTE 13 $USERNAME 14 $PWRD_TIMOUT 15 $SERVER_PORT *uninit* 'SM' *uninit* 3 3 *uninit* *uninit* FALSE 15 *uninit* *uninit* *uninit* *uninit* 0 0 h. Move the cursor to $SERVER_PORT. Type in the name of the TCP/IP server port you want to use for socket messaging. The client tag is now ready to use from a KAREL program. http://www.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch11s03.html 4/16/2002 If you are using this command to connect to a client tag.4. the command will return a value indicating a successful connection was made. There are several KAREL program samples in this section that provide examples of how these functions and utilities can be used with KAREL file read and write functions and utilities to write a complete Socket Messaging KAREL client or a server program or application. "S1:") and the second parameter is an integer value that indicates the status of closing the connection on the client side. integer) MSG_CONN needs to be called before any tag can be used for socket messaging. The first parameter of this command contains the tag name ("S1:" for example) and the second parameter is an integer that will contain the status of the operation.4.html 4/16/2002 .4. 11. If the connection was successful. this command will return a status value only after a remote client device has established a connection with this server tag. The Environment flbt statement is required to use any of the listed builtins (%ENVIRONMENT flbt). If a connection is lost. MSG_DISCO must be used to close the connection at the client side before MSG_CONN can be used to establish another connection to the remote server. 11.4. MSG_PING(string.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch11s04. you will need to use MSG_DISCO to close the connection to the remote server. 11. the syntax is similar to other file read and write operations. The first parameter of this command contains the tag name (e. you must use MSG_DISCO to close the socket connection with a client or server tag before any subsequent attempts to connect to the same client or server tag can be made using MSG_CONN. this command will return a status value only if the remote server is attempting to accept the connection. integer) MSG_PING is a utility command used to check network connections with a remote host. SOCKET MESSAGING AND KAREL Socket messaging is an integrated component of KAREL.1. except that you need to establish a network connection when you use socket messaging functions and utilities. the command will return a value indicating that a connection error has occurred. integer) MSG_DISCO is used to close socket messaging connections. SOCKET MESSAGING AND KAREL Page 1 of 2 11. The following KAREL socket messaging functions and utilities enable the server to establish a connection with a remote host on your network.4.3.2.11. If you are using this command to connect to a server tag. During a socket messaging session. If the connection was not successful. In this case. perhaps because a READ or WRITE error occurred when the remote server terminated a socket messaging connection. so http://www. When you use socket messaging functions and utilities from a KAREL program. MSG_CONN(string. MSG_DISCO(string.g.frc. 4.4. or Socket Messaging to connect to that host. the host name and IP address of the remote host will have to exist in the Host Entry table.frc. http://www. The MSG_PING command sends ping packets to the remote host and waits for a reply.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch11s04. SOCKET MESSAGING AND KAREL Page 2 of 2 that you can determine if it is currently connected to the network. If you are not using DNS on your network. Exchanging Data during a Socket Messaging Connection After you have successfully established a socket messaging connection. KAREL has several commands that can be used for data exchange operations: ? OPEN FILE ? WRITE ? READ ? BYTES_AHEAD Refer to the FANUC Robotics SYSTEM R-J3iB Controller KAREL Reference Manual for details. TELNET. the MSG-PING utility is a good place to start in trying to diagnose the problem. ) If there is no reply from the remote host. you can use KAREL commands to exchange data between connected devices. (Ping packets are chunks of data that are transferred between hosts on a network. 11.11. this usually means that you will not be able to use other network protocols like FTP.html 4/16/2002 . The first parameter of this command contains the name of the remote host to ping. If you have attempted without success to use Socket Messaging to connect to a remote host.4. ? You must understand that the rate of data does not flood the remote side.5. 11. NETWORK PERFORMANCE Page 1 of 1 11. the number of applications being run on the R-J3iB controller. the faster the data is transmitted between the source and destination hosts. instead gather the data and transfer as a larger packet. http://www. ? You must understand that there are other nodes on the ethernet network so performance cannot be guaranteed.frc. Guidelines for a Good Implementation Use the following guidelines when implementing a solution for any application using socket messaging.5. the network cabling configuration. ? You must not transfer small data separately. NETWORK PERFORMANCE Performance of socket messaging on your network will vary depending upon the number of devices connected to the network. and number of hops that the message will have to make to reach its destination device. Data transfer is fastest between hosts on the same network.5.11. the fewer the number of hops the data makes from router to router. Note Hops is a term that indicates the number of routers between the source host and destination host.1. ? You must understand that other applications on robot also use TCP/IP and performance can be affected.html 4/16/2002 .com/edoc/latest/latest_software/maro62int09011e_rev_a/ch11s05. In general. This applies to both read and write. frc. and Example 11. and Procedure 11. or transmitted in whole or in part in any way -without the prior written consent of both Fanuc Robotics and FANUC --All Rights Reserved -Copyright (C) 2000 -Fanuc Robotics Corporation -FANUC LTD Japan --Karel is a registered trademark of -Fanuc Robotics Corporation -+ -Program: loopcl. PROGRAMMING EXAMPLES This section contains programming examples for a KAREL socket messaging client.3.6. . --Authors: Fanuc Robotics Corporation -3900 West Hamlin -Rochester Hills. used.1.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch11s06.kl .html 4/16/2002 . PROGRAMMING EXAMPLES Page 1 of 6 11.1. copied. and Example 11. This material -and the information illustrated or contained herein may not be -reproduced.Program for TCP Messaging --Description: --This program serves as an example on how to use TCP messaging and write -a client Karel program.2. and a KAREL socket messaging server.6. Note The KAREL examples assume the appropriate tags (C2 for client and S3 for Server) have been setup for socket messaging using Procedure 11. A KAREL Client Application Example 11.6. There is also a UNIX-based ANSI C example for a loopback client application.11. A KAREL Client Application -This material is the joint property of Fanuc Robotics Corporation and -FANUC LTD Japan. . which could be the KAREL server socket messaging application shown in Example 11. provides code for a basic KAREL server application that can be used to establish a socket messaging connection to a remote host. which assumes that you have access to a UNIX-compatible ANSI C compiler.1. 11. Example 11. and a basic knowledge of programming in the ANSI C language.2.1. and must be returned to either Fanuc Robotics -Corporation or FANUC LTD Japan immediately upon request. MI 48309 --Modification history: -------------------------------------------------------------------------------PROGRAM loopcl %RWACCESS %STACKSIZE = 4000 %NOLOCKGROUP http://www.4. .'$HOSTC_CFG[2].frc.cr) loop1 = FALSE ENDIF http://www.cr) OPEN FILE file_var('rw'.status. BEGIN SET_FILE_ATR(file_var. '*SYSTEM*'.cr) IF status <> 0 THEN WRITE('Loop Test Fails'.status) -.2.cr) MSG_CONNECT('C2:'.'C2:') status = io_status(file_var) IF status = 0 THEN FOR tmp_int = 1 TO 100 DO tmp_str = '0123456789012345' WRITE file_var(tmp_str::10) WRITE('Wrote 126 Bytes'.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch11s06.cr) READ file_var(tmp_str::10) status = io_status(file_var) WRITE('Read Status '.status.'. PROGRAMMING EXAMPLES Page 2 of 6 %NOLOCKGROUP %NOPAUSE=ERROR+COMMAND+TPENABLE %ENVIRONMENT uif %ENVIRONMENT sysdef %ENVIRONMENT memo %ENVIRONMENT kclop %ENVIRONMENT bynam %ENVIRONMENT fdev %ENVIRONMENT flbt %INCLUDE klevccdf %INCLUDE klevkeys %INCLUDE klevkmsk ------------------------------------------------------------------------------VAR file_var : FILE tmp_int : INTEGER mp_str : string[128] status : integer entry : integer loop1 : BOOLEAN -------------------------------------------------------- Example 11.59002.'.cr) loop1 = FALSE tmp_int = 100 ELSE WRITE('Read 126 Bytes'. ATR_IA) SET_VAR(entry.6.$SERVER_PORT'.status) WRITE(' Connect Status = '.html 4/16/2002 .cr) ENDIF ENDFOR WRITE('Closed File'.Connect the tag WRITE('Connecting.cr) CLOSE FILE file_var ELSE WRITE('Error Opening File'.11.cr) loop1 = TRUE IF status = 0 THEN WHILE loop1 = TRUE DO WRITE('Opening File.. and Example 11. A KAREL Server Application Example 11. --Authors: Fanuc Robotics Corporation -3900 West Hamlin -Rochester Hills.3.3.status) WRITE('Done.2. or transmitted in whole or in part in any way without the prior written consent of both Fanuc Robotics and FANUC.frc. used. and must be returned to either Fanuc Robotics Corporation or FANUC LTD Japan immediately upon request.6.html 4/16/2002 . Example 11.'.1. PROGRAMMING EXAMPLES Page 3 of 6 ENDWHILE WRITE('Disconnecting.4.'. MI 48309 --Modification history: -------------------------------------------------------------------------------PROGRAM tcpserv3 %RWACCESS %STACKSIZE = 4000 %NOLOCKGROUP %NOPAUSE=ERROR+COMMAND+TPENABLE %ENVIRONMENT uif %ENVIRONMENT sysdef %ENVIRONMENT memo %ENVIRONMENT kclop %ENVIRONMENT bynam %ENVIRONMENT fdev %ENVIRONMENT flbt %INCLUDE klevccdf http://www.cr) ENDIF END loopcl 11.11.kl . This material and the information illustrated or contained herein may not be reproduced. ----- All Rights Reserved Copyright (C) 2000 Fanuc Robotics Corporation FANUC LTD Japan -Karel is a registered trademark of -Fanuc Robotics Corporation -+ -Program: tcpserv3.cr) MSG_DISCO('C2:'. .com/edoc/latest/latest_software/maro62int09011e_rev_a/ch11s06.Program for TCP Messaging --Description: --This program serves as an example on how to use TCP messaging and write -a server Karel program.2. and Example 11.6. which could be the KAREL client socket messaging application shown in Example 11.. provide code for a basic KAREL server application that can be used to host a socket messaging connection made by a remote client. KAREL Server Application -------- This material is the joint property of Fanuc Robotics Corporation and FANUC LTD Japan. copied. frc. cr) -.4. ATR_IA) -. cr) READ file_var (tmp_str::10) status = io_status(file_var) WRITE (status.status) WRITE('Connecting.'$HOSTS_CFG[3].Read 10 bytes BYTES_AHEAD(file_var. cr) status = io_status(file_var) WRITE (status. PROGRAMMING EXAMPLES Page 4 of 6 %INCLUDE klevkeys %INCLUDE klevkmsk ------------------------------------------------------------------------------VAR file_var : FILE tmp_int : INTEGER tmp_int1 : INTEGER tmp_str : string[128] tmp_str1 : string[128] status : integer entry : integer ------------------------------------------------------------------------------- Example 11.6.6.11.status.Write 10 bytes WRITE (tmp_str::10.cr) MSG_DISCO('S3:'.'..'..59002.set the server port before doing a connect SET_VAR(entry. ANSI C Loopback Client Example http://www. entry.'.status) + WRITE('Done.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch11s06. '*SYSTEM*'.cr) -.cr) MSG_CONNECT('S3:'.write an integer FOR tmp_int = 1 TO 1000 DO WRITE('Reading'. status) WRITE(entry.status) WRITE(' Connect Status = '. BEGIN SET_FILE_ATR(file_var.cr) ENDIF END tcpserv3 11.html 4/16/2002 .$SERVER_PORT'. status.Open S3: WRITE ('Opening'. cr) ENDFOR CLOSE FILE file_var ENDIF ENDFOR WRITE('Disconnecting.cr) IF status = 0 THEN -.cr) IF status = 0 THEN -.'S3:') status = io_status(file_var) WRITE (status.3.cr) FOR tmp_int1 = 1 TO 20 DO OPEN FILE file_var ('rw'. . char *argv[]) { int sockfd. struct sockaddr_in serv_addr.5. sendline. http://www. void str_cli(int sockfd). } exit(0).h> #include <sys/types. int maxlen). serv_addr.6. void str_cli (int sockfd) { int n. i. recvline[MAXLINE + 1].148. if(connect(sockfd. pname = argv[0]. int nbytes). char *ptr. Example 11. 2.sin_addr. char *pname. serv_addr. sizeof(serv_addr)). bzero((char *) &serv_addr. provides an example of a UNIX-based loopback client that can be used to establish a connection with a remote host.5. sizeof(serv_addr))<0){ printf("Client: Can't Connect to the server\n").UNIX */ #include <stdio. } Example 11.frc.h> #include <sys/socket.0)) < 0){ printf("Client: Can't Open Stream Socket\n"). char sendline[MAXLINE].h> #define SERV_TCP_PORT 59002 #define SERV_HOST_ADDR "199. serv_addr.11. if(written(sockfd.\n").s_addr = inet_addr(SERV_HOST_ADDR). ANSI C UNIX-Based Loopback Client Example /* BSD Standard Socket Programming Example . char *ptr.(struct sockaddr *) &serv_addr. while(1) { memset (sendline.6.sin_port = htons(SERV_TCP_PORT). 126)!=126){ printf("strcli:written error on sock\n").h> #include <arpa/inet. 128).5. int readline(int fd.h> #include <netinet/in. } printf("Client: Connecting.html 4/16/2002 . if((sockfd = socket(AF_INET. PROGRAMMING EXAMPLES Page 5 of 6 Example 11. SOCK_STREAM.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch11s06.sin_family = AF_INET. int main(int argc.56" #define MAXLINE 512 int written(int fd. } else{ str_cli(sockfd).. 11. ptr. for(n = 0. int maxlen) { int n. &c. } } } else{ return (-1). } } *ptr = 0. if(nwritten <= 0) { return(nwritten). n < maxlen. n++){ if((rc = read(fd.com/edoc/latest/latest_software/maro62int09011e_rev_a/ch11s06. 126). 1)) == 1){ *ptr++ = c. } else if(rc== 0) { if(n== 0) { return (0). } nleft -= nwritten.html 4/16/2002 . char *ptr. return (n). ptr += nwritten. recvline. } return(nbytes . } } int readline(int fd.nleft). while(nleft > 0) { nwritten = write(fd. } else{ break. nwritten. nleft = nbytes. } int written(int fd. nleft). int nbytes) { int nleft. rc. PROGRAMMING EXAMPLES Page 6 of 6 } i = readline(sockfd. if(c=='\n'){ break. char c. char *ptr.6.frc. } http://www. $RETRIES Minimum: 1 Default: 2 Maximum: 3 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: LONG http://www. User Interface Location: SETUP DNS screens.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01.$PRIMAR_IP Minimum:""Default:" "Maximum:"" KCL/Data:RW Program:RW GET/SET_VAR:RW Data Type:STRING Name: Primary DNS Server Description: IP address of the primary DNS server Power Up: Requires a Cold start to take effect.html 4/16/2002 . $DNS_CFG.$ALTERN_IP Minimum: "" Default: " " Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Secondary DNS Server Description: IP address of the secondary DNS server Power Up: Requires a Cold start to take effect. $DNS_CFG. User Interface Location: SETUP DNS screens. SYSTEM VARIABLES Page 1 of 30 A.frc. Power Up: Requires a Cold start to take effect. SYSTEM VARIABLES $DNS_CFG. User Interface Location: SETUP DNS screens. $DNS_LOC_DOM[1] Minimum: 0 Default: 0 Maximum: 255 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: UBYTE Name: Local Domain Name Description: An array of UBYTES used to hold the local domain name.A. $WAIT_TIME Minimum: 1 Default: 2 Maximum: 7 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: LONG Name: Wait Time Description: The length of time between queries. User Interface Location: SYSTEM Variables screen $ENETMODE. Power Up: Requires a Cold start to take effect. Power Up: Change takes effect immediately.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01.frc. User Interface Location: SETUP DNS screens. Selecting TRUE will automatically select TP (Twisted Pair) based on the presence or http://www. User Interface Location: SETUP DNS screens. Selecting TRUE will cause the TX output to be loopbacked and appear at the RX input. SYSTEM VARIABLES Page 2 of 30 Name: Retries Description: The number of times DNS will try to contact a DNS server after the initial query failed. $DNS_CFG.$auto_port_s Minimum: 0 Default: 1 Maximum: 1 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: BOOLEAN Name: Ethernet Mode Selection for Automatic Port Selection.html 4/16/2002 . The current setting for $EN_LOOPBACK is FALSE. Power Up: Requires a Cold start to take effect.$en_loopback Minimum: 0 Default: 0 Maximum: 1 KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: BOOLEAN Name: Ethernet Mode Selection for Diagnostic Loopback Description: Enables (TRUE) or disables (FALSE) Ethernet Diagnostic Loopback.A. $ENETMODE. and it is write protected. Description: Enables (TRUE) or disables (FALSE) Ethernet Automatic Port Selection. html 4/16/2002 . and will internally correct the polarity fault. User Interface Location: SYSTEM Variables screen $ENETMODE. User Interface Location: SYSTEM Variables screen $ENETMODE. The current setting for $POLARITY_CE is TRUE is 1.frc. Power Up: Change takes effect immediately.$full_duplex Minimum: 0 Default: 0 Maximum: 1 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: BOOLEAN Name: Ethernet Mode selection for Twisted Pair Full Duplex. Selecting TRUE will allow simultaneous transmit and receive operation on the twisted pair port without causing collision. Description: Enables (TRUE) or disables (FALSE) Ethernet Twisted Pair Signal Quality Error Test Enable. Power Up: Change takes effect immediately.A. Power Up: Change takes effect immediately. Selecting TRUE will enable testing of the internal TP (twisted pair) collision detection circuitry after each transmit operation to the remote host via Ethernet communication.$coll_detect Minimum: 0 Default: 1 Maximum: 1 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: BOOLEAN Name: Ethernet Mode selection for Collision Detection.$polarity_ce Minimum: 0 Default: 1 Maximum: 1 KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: BOOLEAN Name: Ethernet Mode selection for Twisted Pair Automatic Polarity Correction Enable Description: Enables (TRUE) or disables (FALSE) Ethernet Twisted Pair Automatic Polarity Correction Enable. SYSTEM VARIABLES Page 3 of 30 absence of valid link frames at the Twisted Pair port. Selecting TRUE will enable automatic polarity correction. or http://www.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01. User Interface Location: SYSTEM Variables screen $ENETMODE. Description: Enables (TRUE) or disables (FALSE) Ethernet Twisted Pair Full Duplex. User Interface Location: SYSTEM Variables screen $ENETMODE.frc. SYSTEM VARIABLES Page 4 of 30 TRUE. then you will be able to manually select either the TP port (i. it autonegotiates Power Up: Change takes effect on powerup..html 4/16/2002 . User Interface Location: SYSTEM Variables screen $ENETMODE. and it is write protected. Power Up: Change takes effect immediately. Power Up: Change takes effect immediately.e. 10 MBPS is selected ? If set to 1.$SPEED Minimum: 0 Default: 2 Maximum: 2 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: BOOLEAN Name: Ethernet Speed Description: This variable sets the speed of the ethernet interface: ? If set to 0. 100 MBPS is selected ? If set to 2. If $AUTO_PORT_S is set to TRUE.$en_tpenable Minimum: 0 Default: 1 Maximum: 1 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: BOOLEAN Name: Ethernet Mode selection for Twisted Pair Port Enable Description: Enables (TRUE) or disables (FALSE) Ethernet Twisted Pair Port Enable. set $EN_TPENABLE to TRUE for the TP port). If $AUTO_PORT_S (automatic port selection) is set to FALSE (disabled).A. User Interface Location: SYSTEM Variables screen $FSAC_DEF_LV Minimum: -1 Default: -1 Maximum: 5 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER http://www. then the setting of $EN_TPENABLE will have no effect on Ethernet port selection.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01. User Interface Location: SYSTEM Variables screen $FSAC_ENABLE Minimum: 0 Default: 0 Maximum: 1 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: FTP Server Access Control Enable Flag Description: When set to 1. User Interface Location: SYSTEM Variables screen $FSAC_LIST[1] . If enabled. and using associated access level ($FSAC_LIST. User Interface Location: SYSTEM Variables screen $FSAC_LIST[1-20] Name: FANUC Server Access Control Default Access Level Minimum: MIN_FSAC_LST Default: DEF_FSAC_LST Maximum: MAX_ FSAC_LST KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: FSAC_LST_T Description: See $FSAC_ENABLE.frc.$ACCESS_LVL).html 4/16/2002 .SV) Power Up: Change takes effect immediately.A. SYSTEM VARIABLES Page 5 of 30 Name: FTP Server Access Control Default Access Level Description: Defines the default access level if a remote FTP client is not found in $FSAC_LIST. enables checking of remote FTP clients when logging into the robot to use the robot FTP server.$IP_ADDRESS[]. or using $FSAC_DEF_LVL if no match.$clnt_name Minimum: "" Default: "" Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: FANUC Server Access Control List http://www. (Saved in SYSFSAC.SV) Power Up: Change takes effect immediately. (Saved in SYSFSAC. See $FSAC_ENABLE also.SV) Power Up: Change takes effect immediately. (Saved in SYSFSAC.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01. FTP access through robot FTP server is granted based on matching $FSAC_LIST. User Interface Location: SYSTEM Variables screen $FSAC_LIST[1] .setup level 3 .$ip_address Minimum: "" Default: " " Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: FANUC Server Access Control List Description: Contains list of hosts which can use FTP server on robot based on associated Access Level.Operator Level (read only) 1 . Access Level can be : -1 .$access_lvl Minimum: 0 Default: 0 Maximum: 3 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: FANUC Server Access Control List Access Level Description: Contains a list of hosts that can use the the FTP server on the robot based on the associated Access Level.frc.SV) Power Up: Change takes effect immediately.no access (useful if use $FSAC_DEF_LVL but want to exclude one) 0 .program level 2 .A.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01. (Saved in SYFSAC.SV file) Power Up: Change takes effect immediately.installation level (full write permissions) (Saved in the SYSFSAC.SV file) Power Up: Change takes effect immediately.html 4/16/2002 . User Interface Location: SYSTEM Variables screen $FSAC_LIST[1] . User Interface Location: SYSTEM Variables screen http://www. (Saved in the SYSFSAC. SYSTEM VARIABLES Page 6 of 30 Description: Contains a list of hosts that can use the FTP server on the robot based on the associated Access Level. which means that the table entry is used by all applications that use the FSAC feature. The next bit (bit 4) in the last byte is used by PMON. All other bits are reserved for future use. User Interface Location: SYSTEM Variables screen $HOST_PWRD[1] Minimum: "" Default: " " Maximum: "" KCL/Data: NO Program: NO GET/SET_VAR: NO Data Type: STRING Name: Description: An array containing the passwords associated with each USERNAME. An example use of this field is as follows: If $FSAC_LIST[2].$apps is a ULONG bitmask.$APPS = 2. Power Up: Change takes effect immediately.$apps Minimum: 0 Default: 0xFF Maximum: 0xFFFFFFFF KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: ULONG Name: FANUC Server Access Control applications Description: $FSAC_LIST[x]. which means only TELNET will use the second entry in the FSAC table for authentication of the client IP address. of which applications use the xth entry in the table for authentication. This field defaults to 255 (bits in the last byte set to all 1's.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01. The next bit (bit 6) in the last byte is used by TELNET. then bit 6 in the last byte is set.html 4/16/2002 . Power Up: Change takes effect immediately.A. SYSTEM VARIABLES Page 7 of 30 $FSAC_LIST[1] . The next bit (bit 5) in the last byte is used by Web server.frc. The addition of this field gives the user the flexibility of separating out which PCs are used to log in to the different servers on the robot.) Applications using this field will interpret this field as follows: The least significant bit (bit 7) in the last byte is used by FTP. http://www. DDD.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01. This array is used for the same purpose as the /etc/hosts file on BSD UNIX systems. Individual members of structure are described below. Power Up: See $HOST_SHARED.SV file. Changes to other elements which correspond to Client connections take effect immediately. It is a string and should have the following format: DDD.A. User Interface Location: SETUP MOTET screen $HOST_SHARED[1]. User Interface Location: SETUP MOTET screen $HOST_SHARED [1]. http://www. SYSTEM VARIABLES Page 8 of 30 User Interface Location: SYSTEM FTP Host Comm Setup Screen $HOST_SHARED STRUCTURE Name: Host Shared Description: Array of structures defining the Internet node name to address mapping on the controller.$h_addrtype Minimum: 0 Default: 0 Maximum: 99 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: Address Type Description: An integer Internet variable whose value is 2 by default and should not be changed.html 4/16/2002 . Power Up: See $HOST_SHARED.DDD where DDD is a decimal number. This should not include HOSTNAME or ROUTERNAME entries. Power Up: Requires a Cold start if the element corresponding to $HOSTNAME is changed.$h_addr Minimum: "" Default: "" Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Node Address Description: This is the Internet (IP) address of the node defined by the first element of $HOST_SHARED array.DDD. 0 <= DDD <= 255.frc. This structure is saved in the SYSHOST. and can be shared between robots. It should be unique across the network. $comment Minimum: "" Default: " " Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING http://www.$H_NAME='MICKEY' Power Up: See $HOST_SHARED.$h_name Minimum: "" Default: "" Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Node Name Description: A string of up to 32 characters representing the node name of the first element in $HOST_SHARED array. Power Up: Determined on a per-field basis. User Interface Location: SETUP MOTET screen $HOSTC_CFG[n] STRUCTURE Name: Host Client Tag Configuration Structure Description: Variable structure containing configuration information for Host Client Tags. User Interface Location: SYSTEM Variables screen $HOST_SHARED [1]. User Interface Location: SETUP Tags screen $HOSTC_CFG[n]. SYSTEM VARIABLES Page 9 of 30 User Interface Location: SYSTEM Variables screen $HOST_SHARED[1].$h_length Minimum: 0 Default: 0 Maximum: 17 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: Length Description: An integer Internet variable whose value is 4 by default and should not be changed. Example: KCL>set var $HOST_SHARED[1]. This information is used to define how they are used in the R-J3iB controller.A. Power Up: See $HOST_SHARED.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01. See individual fields for specifics.html 4/16/2002 .frc. this default value is used. User Interface Location: SETUP Tags screen $HOSTC_CFG[n] .$path Minimum: "" Default: " " Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Host Client Tag Path (Current) Description: Specifies the current (default) Host path. Power Up: Change takes effect immediately. Upon power-up.html 4/16/2002 . SYSTEM VARIABLES Page 10 of 30 Name: Host Client Tag Comment Description: Provides an area to include up to 16 characters of information used to describe the communications tag being defined. Power Up: Change takes effect immediately. When a file-spec does not include the path.A.$mode Minimum: "" Default: " " Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Host Client Tag Mode Description: Not currently used. User Interface Location: SETUP Tags screen $HOSTC_CFG[n]. User Interface Location: SETUP Tags screen $HOSTC_CFG[n]. Power Up: Not currently used. Power Up: Change takes effect immediately.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01. the startup Host path is copied http://www.$oper Minimum: 0 Default: 0 Maximum: 2 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: Host Client Tag Operation Description: Specifies the state to which the tag will attempt to be set at powerup.frc. User Interface Location: SETUP Tags screen $HOSTC_CFG[n].frc. Power Up: Change takes effect immediately. User Interface Location: SETUP Tags screen $HOSTC_CFG[n].html 4/16/2002 . and password will be set to "guest".$port Minimum: "" Default: " " Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Host Client Tag Port Description: Specifies the serial port over which this tag will operate. User Interface Location: SETUP Tags screen $HOSTC_CFG[1] . after which an existing connection's user name will be set to "anonymous". SYSTEM VARIABLES Page 11 of 30 into the current Host path. User Interface Location: SETUP Tags screen $HOSTC_CFG[n]. where you can modify it as necessary.A.$pwrd_timout Minimum: 0 Default: 0 Maximum: 0xFFFFFFFF KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: ULONG Name: Host Client Tag Password Timeout Description: Specifies the default timeout value. Power Up: Requires a Cold start to take effect.$remote http://www.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01. This is not required on network based protocols such as MAP and MOTET.$protocol Minimum: "" Default: " " Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Host Client Tag Protocol Description: Specifies the name of the protocol that will be used with the tag. Power Up: Change takes effect immediately. For Sn:. This is used by certain host communications services such as InformationReport.$reperrs Minimum: 0 Default: 0 Maximum: 1 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: BOOLEAN Name: Host Client Tag Error Reporting Flag Description: When set to TRUE.$server_port Minimum: 0 Default: 0 Maximum: 32767 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: Server Port Number Description: Specifies the TCP or UDP port number on the server.$state Minimum: 0 Default: 0 Maximum: 2 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: Host Client Tag State http://www. this is the port on the foreign computer. User Interface Location: SETUP Tags screen $HOSTC_CFG[n]. Power Up: Requires a Cold start to take effect.html 4/16/2002 .A. this is the port on the robot controller. User Interface Location: SYSTEM Variables screen $HOSTC_CFG[n]. SYSTEM VARIABLES Page 12 of 30 Minimum: "" Default: " " Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Host Client Tag Remote Host Name Description: Specifies the remote host name to which a connection will be made. Power Up: Requires a Cold start to take effect.frc. For Cn:. Power Up: Change takes effect immediately. indicates that errors sent to the ERROR LOG will also be sent to this tag via the MMS Information Report service. User Interface Location: SETUP Tags screen $HOSTC_CFG[n].com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01. A. Power Up: This variable takes effect at Cold start. User Interface Location: SETUP Tags screen $HOSTC_CFG[n]. Power Up: Requires a Cold start to take effect. This variable takes effect at Cold start.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01. Power Up: Requires a Cold start to take effect. User Interface Location: SETUP Tags screen $HOSTC_CFG[1] . Upon power-up.html 4/16/2002 . http://www.$strt_path Minimum: "" Default: " " Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Host Client Tag Path (Startup) Description: Specifies the startup Host path. This is used by certain host communications services such as InformationReport. where the user may modify it as necessary. SYSTEM VARIABLES Page 13 of 30 Description: Specifies the current state of the tag.frc.$timeout Minimum: 0 Default: 15 Maximum: 0xFFFFFFFF KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: Host Client Tag Timeout Description: Specifies the number of minutes of inactivity on the network before a connection will be concluded by the R-J3iB controller. User Interface Location: SETUP Tags screen $HOSTC_CFG[1] . the startup Host path is copied into the current Host path.$strt_remote Minimum: "" Default: " " Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Host Client Tag Remote Host Name (Startup) Description: Specifies the startup (default) remote host name to which a connection will be made. Power Up: Change takes effect immediately. Changes to other elements which correspond to Client connections take effect immediately. Individual members of structure are described below. It should be unique across the network. Power Up: Requires a Cold start if the element corresponding to $HOSTNAME is changed. Power Up: Change takes effect immediately.DDD where DDD is a decimal number.frc. User Interface Location: SETUP MOTET screen $HOSTENT[1]. User Interface Location: SETUP MOTET screen http://www.A. This array is used for the same purpose as the /etc/hosts file on BSD UNIX systems.DDD.$username Minimum: "" Default: " " Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Host Client Tag User Name Description: Specifies the default user name to be used when establishing communications with a remote Host.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01. Power Up: See $HOSTENT.$h_addr Minimum: "" Default: "" Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Node Address Description: This is the Internet (IP) address of the node defined by the first element of $HOSTENT array. It is a string and should have the following format: DDD. SYSTEM VARIABLES Page 14 of 30 User Interface Location: SETUP Tags screen $HOSTC_CFG[1] . 0 <= DDD <= 255.DDD. User Interface Location: SETUP Tags screen $HOSTENT STRUCTURE Name: Host Entry Description: Array of structures defining the Internet node name to address mapping on the controller.html 4/16/2002 . Power Up: See $HOSTENT. User Interface Location: SETUP MOTET screen $HOSTNAME Minimum: "" Default: "" Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW http://www. User Interface Location: SYSTEM Variables screen $HOSTENT[1].A.$h_addrtype Minimum: 0 Default: 0 Maximum: 99 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: Address Type Description: An integer Internet variable whose value is 2 by default and should not be changed. Power Up: See $HOSTENT.frc.$h_length Minimum: 0 Default: 0 Maximum: 17 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: Length Description: An integer Internet variable whose value is 4 by default and should not be changed.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01.$h_name Minimum: "" Default: "" Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Node Name Description: A string of up to 32 characters representing the node name of the first element in HOSTENT array.html 4/16/2002 . SYSTEM VARIABLES Page 15 of 30 $HOSTENT[1].$H_NAME='MICKEY' Power Up: See $HOSTENT. Example: KCL>set var $HOSTENT[1]. User Interface Location: SYSTEM Variables screen $HOSTENT[1]. $mode Minimum: "" Default: " " Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Host Server Tag Mode Description: Not currently used. Power Up: Requires a Cold start to take effect.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01.$comment Minimum: "" Default: " " Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Host Server Tag Comment Description: Provides an area to include up to 16 characters of information used to describe the communications tag being defined. This information is used to define how they are used in the R-J3iB controller.html 4/16/2002 . http://www. User Interface Location: SETUP Tags screen $HOSTS_CFG[1]. User Interface Location: SETUP Tags screen $HOSTS_CFG[1].A. Power Up: Not currently used. Power Up: Change takes effect immediately. It must also be defined as an element in the $HOSTENT array. Power Up: Determined on a per-field basis.frc. SYSTEM VARIABLES Page 16 of 30 Data Type: STRING Name: Hostname Description: A string of up to 32 characters defining the name which represents the robot on the network. See individual fields for specifics. User Interface Location: SETUP MOTET screen $HOSTS_CFG[8] STRUCTURE Name: Host Server Tag Configuration Structure Description: Variable structure containing configuration information for Host Server Tags. It should be unique across the network. $protocol http://www. This is not required on network based protocols such as MAP and MOTET.html 4/16/2002 . Power Up: Change takes effect immediately. User Interface Location: SETUP Tags screen $HOSTS_CFG[1].com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01. where the user can modify it as necessary. Power Up: Upon power-up.$port Minimum: "" Default: " " Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Host Server Tag Port Description: Specifies the serial port over which this tag will operate. this default value is used. the startup Host path is copied into the current Host path. User Interface Location: SETUP Tags screen.frc. Power Up: Change takes effect immediately.A. $HOSTS_CFG[1]. SYSTEM VARIABLES Page 17 of 30 User Interface Location: SETUP Tags screen $HOSTS_CFG[1].$oper Minimum: 0 Default: 0 Maximum: 2 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: Host Server Tag Operation Description: Specifies the state to which the tag will attempt to be set at powerup.$path Minimum: "" Default: " " Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Host Server Tag Path (Current) Description: Specifies the current (default) Host path. User Interface Location: SETUP Tags screen $HOSTS_CFG[1]. When a file-spec does not include the path. User Interface Location: SETUP Tags screen $HOSTS_CFG[1]. This is used by certain host communications services such as InformationReport. Power Up: Requires a Cold start to take effect.$remote Minimum: "" Default: " " Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Host Server Tag Remote Host Name Description: Specifies the remote host name to which a connection will be made.frc. Power Up: Change takes effect immediately.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01. User Interface Location: SETUP Tags screen $HOSTS_CFG[1].html 4/16/2002 . after which an existing connection's password will be set to "guest". Power Up: Change takes effect immediately. User Interface Location: SETUP Tags screen $HOSTS_CFG[1]. SYSTEM VARIABLES Page 18 of 30 Minimum: "" Default: " " Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Host Server Tag Protocol Description: Specifies the name of the protocol that will be used with the tag.$reperrs Minimum: 0 Default: 0 Maximum: 1 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: BOOLEAN Name: Host Server Tag Error Reporting Flag http://www.A.$pwrd_timout Minimum: 0 Default: 0 Maximum: 0xFFFFFFFF KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: ULONG Name: Host Server Tag Password Timeout Description: Specifies the default timeout value. $server_port Minimum: 0 Default: 0 Maximum: 32767 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: Server Port Number Description: Specifies the TCP or UDP port number on the server.$strt_path Minimum: "" Default: " " Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Host Server Tag Path (Startup) Description: Specifies the startup Host path. User Interface Location: SYSTEM Variables screen $HOSTS_CFG[1 ]. the startup Host path is copied into the current Host path. http://www. this is the port on the foreign computer. where the user may modify it as necessary.frc. Power Up: Change takes effect immediately. For Sn:.html 4/16/2002 . Power Up: Change takes effect immediately. this is the port on the robot controller.A. For Cn:. SYSTEM VARIABLES Page 19 of 30 Description: When set to TRUE.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01.$state Minimum: 0 Default: 0 Maximum: 2 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: Host Server Tag State Description: Specifies the current state of the tag. Power Up: Upon power-up. User Interface Location: SETUP Tags screen $HOSTS_CFG[1]. User Interface Location: SETUP Tags screen $HOSTS_CFG[n]. indicates that errors sent to the ERROR LOG will also be sent to this tag via the MMS InformationReport service. Power Up: Change takes effect immediately. $timeout Minimum: 0 Default: 15 Maximum: 0xFFFFFFFF KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: ULONG Name: Host Server Tag Timeout Description: Specifies the number of minutes of inactivity on the network before a connection will be concluded by the R-J3iB controller.html 4/16/2002 .$ENABLE http://www.$username Minimum: "" Default: " " Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Host Server Tag User Name Description: Specifies the default user name to be used when establishing communications with a remote Host. User Interface Location: SETUP Tags screen $HOSTS_CFG[1]. Power Up: Requires a Cold start to take effect.$strt_remote Minimum: "" Default: " " Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Host Server Tag Remote Host Name (Startup) Description: Specifies the startup (default) remote host name to which a connection will be made. Power Up: Change takes effect immediately.A.frc. User Interface Location: SETUP Tags screen $HTTP_CTRL.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01. SYSTEM VARIABLES Page 20 of 30 User Interface Location: SETUP Tags screen $HOSTS_CFG[1]. This is used by certain host communications services such as InformationReport. User Interface Location: SETUP Tags screen $HOSTS_CFG[1]. Power Up: Requires a Cold start to take effect. This variable is not currently used.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01.html 4/16/2002 .$DBGLVL Minimum: 0 Default: 0 Maximum: 32767 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: HTTP Debug Level Description: Specifies the HTTPD (Web Server Task) debug level. User Interface Location: None $HTTP_CTRL. User Interface Location: None $HTTP_CTRL.frc. Power Up: Chagnes take effect immediately.$HITCOUNT Minimum: 0 Default: 0 Maximum: 0xFFFFFFFF KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: ULONG Name: HTTP Hitcount Description: HTTP Hitcount increments each time a request is made of the web server. Power Up: Requires a Cold start to take effect. Power Up: Changes take effect immediately. User Interface Location: None $HTTP_CTRL. SYSTEM VARIABLES Page 21 of 30 Minimum: 0 Default: 1 Maximum: 32767 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: HTTP ENABLE Task Flag Description: Specifies whether the HTTP (Web Server) task should be enabled on powerup.A. http://www.$ENAB_SMON Minimum: 0 Default: 0 Maximum: 32767 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: HTTP Enable SMON Flag Description: Not currently used. This is the time the server will wait for a KAREL program to complete before sending an error back to the browser. SYSTEM VARIABLES Page 22 of 30 Power Up: Changes take effect immediately. Note that the user normally does not need to change any of the PING system variables. User Interface Location: None $PING_CTRL.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01. User Interface Location: None $PING_CTRL. Power Up: Changes take effect immediately. http://www. The maximum value of packet is 4096.html 4/16/2002 . The default is 2.$TIMEOUT Minimum: 0 Default: 2 Maximum: 32767 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: PING timeout value Description: This variable indicates the number of seconds before ping times out. Power Up: Changes take effect immediately. Power Up: Changes take effect immediately.frc. User Interface Location: None $HTTP_CTRL.A.$DATALEN Minimum: 0 Default: 56 Maximum: 4096 KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: INTEGER Name: Data size of the ping packet Description: This variable defaults to 56. This results in a 64-byte ping packet.$KRL_TIMOUT Minimum: 0 Default: 10 Maximum: 32767 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: HTTP KAREL Timeout Description: Specifies the HTTP Timeout to run a KAREL program started through a browser. The ping routine is going to timeout after (NPACKETS*TIMEOUT) seconds. User Interface Location: SYSTEM Variables screen $PPP_LIST[1]. Power Up: Changes take effect immediately. for a description of ping packets. Power Up: Changes take effect immediately.3.html 4/16/2002 .$DEBUG Minimum: 0 Default: 0 Maximum: 1 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: BOOLEAN Name: Enable debug code Description: This variable enables detailed debug messages on the console for diagnostics.$ PEERIP Minimum: "" Default: "" Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW http://www.4.$NPACKETS Minimum: 0 Default: 1 Maximum: 0x7FFFFFFF KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: INTEGER Name: Number of ping packets (Refer to Section 11. User Interface Location: None $PPP_LIST[1] .frc. SYSTEM VARIABLES Page 23 of 30 User Interface Location: None $PING_CTRL. User Interface Location: None $PING_CTRL.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01.$ROBOTIP Minimum: "" Default: "" Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Robot IP Address Description: This variable is the local PPP interface IP address.A. Power Up: Changes take effect immediately.) Description: This variable decides how many ping requests are sent out. A. Power Up: Changes take effect immediately. Power Up: Changes take effect immediately.$COMP Minimum: 0 Default: 0 Maximum: 15 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: ULONG Name: Compression Description: This variable is the bit mask of compression supported in different protocol layers.frc. The recommended default is 1500. User Interface Location: SYSTEM Variables screen $PPP_LIST[1] . Note that use of this variable is not implemented yet. as follows: http://www.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01. SYSTEM VARIABLES Page 24 of 30 Data Type: STRING Name: Remote Host's IP Address Description: The remote host needs to have an IP address set that is the same as this system variable value.html 4/16/2002 .$NETMASK Minimum: "" Default: "" Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Subnet Mask of the PPP Interface Description: This variable is the subnet mask of the PPP interface. User Interface Location: SYSTEM Variables screen $PPP_LIST[1]. Power Up: Changes take effect immediately. User Interface Location: SYSTEM Variables screen $PPP_LISTL[1].$MRU Minimum: 0 Default: 0 Maximum: 1500 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: Maximum Receive Unit Description: This variable is the maximum number of bytes in one PPP packet. User Interface Location: SYSTEM Variables screen $PROTOENT STRUCTURE Name: Protocol Entry Description: An array of structures defining the available protocols on the controller.frc. User Interface Location: System Variables screen http://www.e. User Interface Location: SYSTEM Variables screen $PPP_LIST[1] .Van Jacobson compression of TCP/IP headers (IPCP config) bit 2 . PCMCIA modem).html 4/16/2002 .straight serial 2 . only VJ compression is enabled by default. The values are as follows: 1 . serial modem. Power Up: Requires a Cold start to take effect. Note that use of this variable is not implemented yet.serial modem 3 ..$DEVTYPE Minimum: 0 Default: 0 Maximum: 15 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: Device Type Description: This variable is the device type (straight serial.Address and control field compression (LCP config parameter) The default value for this variable is 1. Power Up: Changes take effect immediately.Protocol field compression (LCP config parameter) bit 4 .com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01. SYSTEM VARIABLES Page 25 of 30 bit 1 .IP compression protocol (IPCP config parameter) bit 3 . i. Individual fields within this structure are described below.A.PCMCIA modem Power Up: Changes take effect immediately. Available only if the KSL.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01.$p_name Minimum: "" Default: "" Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Protocol Name Description: Name of an available protocol on the controller.frc. $RPC_TIMEOUT Minimum: 0 Default: 120 Maximum: 0x7FFFFFFF KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: ULONG http://www. Power Up: Requires a Cold start to take effect. Used only for MAP. User Interface Location: SYSTEM System Variables screen or KCL.A. User Interface Location: SYSTEM Variables screen $ROBOT_NAME Minimum: "" Default: " " Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Description: Specifies the application entity name that represents this node on the network.html 4/16/2002 . SYSTEM VARIABLES Page 26 of 30 $PROTOENT[1 ]. Power Up: Requires a Cold start to take effect.$p_proto Minimum: 0 Default: 0 Maximum: 2500 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: Protocol Number Description: Number associated with this particular protocol. MOTET or MAP options have been installed. Power Up: Requires a Cold start to take effect. User Interface Location: SYSTEM Variables screen $PROTOENT[1]. A.$s_name Minimum: "" Default: "" Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Service name Description: Identifies the service. Power Up: Requires a Cold start to take effect. User Interface Location: SYSTEM Variables screen $SERVENT[1].$s_port Minimum: 0 Default: 0 Maximum: 30000 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: Port Description: Port number associated with this service. Power Up: Requires a Cold start to take effect. Individual fields within this structure are described below.html 4/16/2002 . User Interface Location: SYSTEM Variable screen http://www. Power Up: Requires a Cold start to take effect. User Interface Location: SYSTEM Variables screen $SERVENT[1] STRUCTURE Name: Server Entry Description: An array of structures defining the Internet Protocol Services. Power Up: Effective at Cold start or when the PC client is reconnected. User Interface Location: SYSTEM Variables screen $SERVENT[1].com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01. SYSTEM VARIABLES Page 27 of 30 Name: RPC Server Timeout Description: This variable specifies the time in seconds for a server connection to wait for a reply from the PC before cancelling the read operation.frc. A.$s_proto Minimum: "" Default: "" Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Server Protocol Description: Name of the Protocol associated with this service.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01. User Interface Location: SYSTEM Variables screen $TEL_LIST.html 4/16/2002 . SYSTEM VARIABLES Page 28 of 30 $SERVENT[1]. Power Up: Requires a Cold start to take effect. Power Up: Takes effect immediately. Power Up: Requires a Cold start to take effect.frc. User Interface Location: SYSTEM Variables screen $TEL_LIST STRUCTURE Name: Telnet List Description: An array of structures defining the various parameters necessary to login to a device and establish a Telnet connection with it.$DEV_NAME Minimum: "" Default: "" Maximum: "" KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: STRING Name: Device Name Description: This is the name of the device that needs to be accessed over the remote connection.$PASSWORD Minimum: '''' Default: '''' Maximum: ''''KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Password http://www. User Interface Location: SYSTEM Variables screen $TEL_LIST. Individual fields within this structure are described below. com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01. User Interface Location: SYSTEM Variables screen $TEL_LIST.html 4/16/2002 . ? 2 .$TIMEOUT Minimum: 0 Default: 0 Maximum: 0x7FFFFFFF KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: ULONG Name: Timeout Value Description: This controls the duration of inactivity (in minutes) over the remote Telnet connection before terminating the connection.both input and outputs accepted into the controller) the KCL device default to this level. Power Up: Takes effect immediately. The default is 0 (no timeout specified). Power Up: Takes effect immediately. Any change in this value affects existing as well as future connections to the device.Input & output (full access .No access ? 1 .frc.$ACCESS_LVL Minimum: 0 Default: 0 Maximum: 2 KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: Access Level Description: This controls the access level of the user over the remote Telnet connection. User Interface Location: SYSTEM Variables screen $TMI_ETHERAD Minimum: "" Default: "" Maximum: "" KCL/Data: RO Program: RO GET/SET_VAR: RO http://www. User Interface Location: SYSTEM Variables screen $TEL_LIST. SYSTEM VARIABLES Page 29 of 30 Description: This is the password used to authenticate access to the device over the remote connection. as follows: ? 0 . Power Up: Requires a Cold start to take effect.Output only (display only from the controller) the TP display device to this level.A. Power Up: Requires a Cold start to take effect.DDD. e. User Interface Location: SETUP MOTET screens $TMI_SNMASK Minimum: "" Default: 255.DDD. Power Up: Change takes effect immediately User Interface Location: System Variables screen and SETUP TCP/IP screens http://www..255. Although a value is required for this variable.0. the default subnet mask for a class C type network is 255. where DDD is a three-digit decimal with a range 0<<= DDD <<= 255. MOTET Interface does not make use of routers. Please consult your network administrator for the proper Ethernet subnet mask configuration for your network environment.g.html 4/16/2002 .255.DDD.255.0 Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Ethernet Subnet mask Description: This variable is a string with the following format: DDD. Ethernet addresses have the following format: HH:HH:HH:HH:HH:HH where H is a hexadecimal number.A. Power Up: Requires a Cold start to take effect. User Interface Location: BMON DIAG screen $TMI_ROUTER Minimum: "" Default: "" Maximum: "" KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING Name: Router Description: A string of up to 32 characters defining the network router node name.frc. SYSTEM VARIABLES Page 30 of 30 Data Type: STRING Name: ETHERNET address Description: This is the ETHERNET board address and should be unique.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap01.255. Figure B. DIAGNOSTIC INFORMATION B.1. DIAGNOSTIC INFORMATION Page 1 of 1 B.. Ethernet LEDs Description Transmit Receive Link Status Full Duplex Collision 10 Base-T 100 Base-TX Label TX RX L FDX COL BT BTX Color Green Green Yellow Green Red Green Green http://www.frc. ETHERNET PCB LEDS The Ethernet LEDs are located on the Main CPU PCB.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap02.html 4/16/2002 .1.1.B. See Figure B. ETHERNET CONNECTION Page 1 of 1 B. Indicates that receive Indicates activity has been continuous receive detected at the activities at the ethernet. Green Normal state Red The port is operating in half duplex mode.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap02s02. port. selected port. Green http://www.html Green Green 4/16/2002 .B.1. The port operating is Full Duplex mode. selected port. Indicates that Indicates Collision Status has continuous been detected at the collisions at the ethernet.2. Refer to Table B. The port is operating at 10 MBPS (10 BaseT) The port is operating at 100 MBPS (100 Base-TX) Off Color The ethernet connection is not plugged into the robot or there is a problem on the link Yellow (a cable is missing.1. Green Indicates no receive activity at the selected port. ETHERNET CONNECTION This section describes the status of the Ethernet LEDs on the Main CPU PCB.2. Table B. LED Status Description LED Link Status TX Transmit Status RX COL Collision Status FDX Full Duplex BT BTX On Flashing The ethernet connection is plugged into the robot and the link is functional. for a description of the status LEDs. Indicates Indicates that transmit continuous activity has been transmit activities detected at the at the selected ethernet.frc. for example) Indicates no transmit activity at the selected port. B.2.1.2.3. B.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap02s03.html 4/16/2002 . 10 Base-T/100 Base-TX Connector Pin Assignments http://www. 10 Base-T Connector Pin Assignments See Figure B. for 10 Base-T/100 Base-TX connector assignment. Figure B.3.3. CONNECTOR PIN ASSIGNMENTS This section contains information about pin assignments for the 10 Base-T/100 Base-TX. CONNECTOR PIN ASSIGNMENTS Page 1 of 1 B.frc. HOST-002 WARN File already exists Cause: The file name you are trying to create or copy to already exists on this device.1. HOST-003 WARN File does not exist Cause: The file you are trying to open or copy does not exist on this device.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap03. HOST-004 WARN Illegal command received Cause: The requested operation is not supported. Remedy: This is a notification.frc.html 4/16/2002 . ERROR MESSAGES Page 1 of 15 C. Remedy: Delete some unneeded files or use a disk with sufficient free space. Remedy: Delete the file on this device or choose a different file name. C. Remedy: Open or copy a file that exists on the device. HOST-006 WARN End of file reached http://www. Remedy: Use only supported operations. You do not have to do anything for this warning message. ERROR MESSAGES This appendix contains a listing of the error messages that might be displayed during the operation of ECBR/FTP: ? HOST ? HRTL Refer to the appropriate application-specific Setup and Operations Manual for information on error messages not included in this appendix. HOST Error Codes HOST-001 WARN End of directory reached Cause: Your listing has reached the end of the directory. HOST-005 WARN Disk is full Cause: The disk file capacity has been reached. or check command syntax.C. frc. Remedy: Do not attempt to open more than one file at a time.try another disk or reformat the disk. Remedy: Clean the disk drive. Remedy: Remove write protection from the disk or use a disk that is not write protected. try another disk.C. Remedy: Try another disk.html 4/16/2002 . HOST-105 WARN Write protection violation Cause: The disk has write protection enabled. or reformat the disk HOST-103 WARN Seek error Cause: There is a bad sector or track on the disk. HOST-101 WARN Directory read error Cause: The directory information is corrupted and unreadable. HOST-100 WARN Communications error Cause: The protocol format was invalid. http://www. Remedy: Do not attempt to read beyond the end of a file. Remedy: Clean the disk drive.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap03. HOST-102 WARN Block check error Cause: The checksum data is bad. ERROR MESSAGES Page 2 of 15 Cause: The end of the file was reached while reading. HOST-008 WARN Only one file may be opened Cause: An attempt was made to open more than one file. Remedy: Verify protocol field in the setup menu and retry the operation. Data is corrupted on the disk and can not be read. Remedy: Check the cable to the drive and make sure drive power is on. HOST-104 WARN Disk timeout Cause: The drive did not respond to a command. or reformat the disk. HOST-111 WARN Cycle power to use Ethernet Cause: ER-1 or ER-2 Ethernet hardware is already running and can not be restarted without cycling power.html 4/16/2002 . ERROR MESSAGES Page 3 of 15 HOST-106 WARN $PROTOENT entry not found Cause: Protocol Entry structure ($PROTOENT) is invalid. Remedy: Return Protocol Entry structure to initial values from Setup and Operations manual.frc. It should be reset to default values. Remedy: Turn off and then turn on the controler. HOST-107 WARN $SERVENT entry not found Cause: Server Entry structure ($SERVENT) is invalid. 9 Remedy: Set Remote Node Name in the Host Comm TCP/IP Protocol Setup Menu.C. HOST-110 WARN Node not found Cause: The Remote Node Name needs to be set.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap03. It should be reset to default values. Remedy: Return Server Entry structure to initial values from Setup and Operations manual. Remedy: Set Internet Address in the Setup Host Comm TCP/IP Protocol Menu. Remedy: Set Host Name and Internet Address in the Host Comm TCP/IP Protocol Setup Menu. HOST-127 WARN Ethernet firmware not loaded http://www. Remedy: Set the Ethernet address in Configuration Menu. HOST-109 WARN Host name not found Cause: Host Name needs to be set. HOST-108 WARN Internet address not found Cause: Internet Address needs to be set. HOST-126 WARN Invalid Ethernet address Cause: The Ethernet address needs to be set. Remedy: Stop and Start the Host Comm Tag in the Host Comm Setup Menu to reset the operating mode. HOST-129 WARN Receiver error Cause: Data received from external device is invalid. http://www. HOST-133 WARN Wrong setup conditions Cause: The Host Comm system is receiving messages but can not decode them. Remedy: Load the Ethernet Board firmware in BMON.frc. HOST-132 WARN Can't allocate memory Cause: The Host Comm system can not allocate memory buffers for receiving or transmitting messages Remedy: Either add more memory to the controller or reduce the number of simultaneous connections. Remedy: The error can be cleared by Stopping and Starting the Tag in Host Comm Setup Menu. ERROR MESSAGES Page 4 of 15 Cause: The Ethernet Board firmware is not loaded. etc to match external device. HOST-128 WARN Ethernet hardware not installed Cause: The Ethernet Board needs to be reinitialized.C.html 4/16/2002 . HOST-131 WARN Wrong state Cause: The Host Comm system can not execute the requested command in the present operating mode. Most likely caused by electrical noise on receivers. Remedy: Correct port settings: data rate. data size. stop bits. HOST-130 WARN Buffer alignment wrong Cause: A buffer was passed to the Serial Port Driver which can not be accessed. Remedy: Install or reseat the Ethernet Board. You might need to retranslate your program. Remedy: Ensure program can run on this version of controller.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap03. HOST-136 WARN Device not ready Cause: The remote device is connected but is not responding to requests.frc. HOST-135 WARN Timeout Cause: There has not been any network activity on the Comm Tag for a period specified by Inactivity Timeout. HOST-138 WARN Request aborted Cause: The remote device did not indicate operation was terminated. Remedy: Check cabling between the devices and/or insure the device is powered. HOST-139 WARN Invalid function Cause: The Host Comm Protocol does not support the requested function.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap03. Remedy: The cancel command was successful. The Comm Tag has been stopped as a result. HOST-140 WARN Device offline Cause: The remote device is connected but it is not online. Remedy: The command might have been completed before the cancel command was received. ERROR MESSAGES Page 5 of 15 HOST-134 WARN BCC or CRC error Cause: The Host Comm system is receiving checksum errors on all messages. HOST-137 WARN Request cancelled Cause: The remote device indicates the operation was successfully terminated. Remedy: Restart the Comm Tag.C. Remedy: Ensure that the external device is using the same protocol.html 4/16/2002 . HOST-141 WARN Protocol Start/Stop error http://www. Remedy: Check the Host Comm Protocol to ensure the function is supported. Remedy: Set the remote device online. Possible software mismatch. Remedy: Ensure both local and remote are using compatible software versions. http://www. HOST-144 WARN Comm Tag error Cause: The Comm Tag either does not have a protocol defined or if required does not have a port assigned.html 4/16/2002 . HOST-146 WARN Bad address for Comm Tag Cause: A bad address has been detected. Remedy: Either use another Comm Tag or Stop and Undefine the selected Comm Tag under Menus-Setup-HostComm-Show HOST-142 WARN Connection error Cause: The Host Comm Protocol could not establish communication with the remote device. Remedy: First ensure the Port has No Use from Port Init Setup. Remedy: If possible.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap03. close and reopen the file with the correct access parameters. Remedy: Verify the tag has a supported protocol &newline then UNDEFINE and DEFINE the Comm Tag HOST-147 WARN Block device required Cause: The selected protocol requires a device port. Remedy: Power the controller OFF and then ON and try again.frc. HOST-143 WARN Comm port cannot be closed Cause: The selected hardware port defined for the Comm Tag could not be closed. Then assign it to the selected Comm Tag.C. HOST-145 WARN Permission denied Cause: An attempt has been made either to read a file opened for write access only or to write a file opened for read access only. ERROR MESSAGES Page 6 of 15 Cause: The Host Comm Protocol could not be started (Mounted) or stopped (dismounted) on the selected comm tag. Remedy: DEFINE a protocol to the Comm Tag or assign a port. If the error occurs again a cabling or hardware problem might exist with the port. HOST-161 WARN FTP: need remote host name http://www. Remedy: Consult your network administrator. HOST-160 WARN FTP: tag dismount request ignored Cause: An error occurred in the networking software. If the error is not cleared. HOST-150 WARN Invalid argument Cause: The system does not support selected protocol.C.frc. Remedy: Either STOP the Comm Tag or select another Tag. Remedy: Either select another protocol or install the selected protocol. HOST-149 WARN No such device Cause: The passed Device Type is not a Comm Tag type (Cx or Sx).com/edoc/latest/latest_software/maro62int09011e_rev_a/ap03. Remedy: Consult your network administrator. HOST-158 WARN FTP: no connection available Cause: An error occurred in the networking software. HOST-151 WARN No more Ethernet buffers. Cause: The System has run out of buffers to communicate with the Ethernet Remote PCB. document the events that led to the error and call your FANUC Robotics technical representative. Remedy: Reduce the number of simultaneous connections as there is not enough memory. HOST-159 WARN FTP: login failed Cause: The Comm Tag does not have a valid username and password. Remedy: Only Comm Tags can be used with this command.html 4/16/2002 . Remedy: Enter a valid username and password for the Comm Tag. ERROR MESSAGES Page 7 of 15 HOST-148 WARN Mount device busy Cause: Either the Comm Tag is STARTED or it is presently in use. document the events that led to the error and call your FANUC Robotics technical representative. If the error is not cleared. HOST-168 WARN EXMG: Invalid Channel Cause: Invalid Channel specified. Channel may not be online. HOST-162 WARN FTP: Error on Ethernet Init. HOST-163 WARN EXMG: Invalid Buffer Size Cause: Invalid buffer size in call Remedy: Ensure correct buffer size HOST-164 WARN EXMG: Read Pending Cause: Attempt to write before read. Remedy: Make a read call after write before making a new write call. Remedy: A write should precede read. Remedy: Unrecoverable .com/edoc/latest/latest_software/maro62int09011e_rev_a/ap03. Cause: The Ethernet PCB isn't initialized properly. HOST-165 WARN EXMG: Internal Error Cause: Error in Explicit Messaging Task. Remedy: Make sure the channel specified is online or specify the correct channel http://www.html 4/16/2002 .C. HOST-166 WARN EXMG: Write Pending Cause: Attempt to read before write. Remedy: Ensure both Ethernet PCB firmware and Main PCB Ethernet tasks are activated. HOST-167 WARN EXMG: Connection Error Cause: Explicit Messaging Connection broken Remedy: Check cable and remote device.frc. Remedy: Enter a remote host name in SETUP TAGS menu Current Remote and Startup Remote fields. Close connection and open again. ERROR MESSAGES Page 8 of 15 Cause: The Comm Tag does not have a remote host defined.Contact Help Desk. current host listed. ERROR MESSAGES Page 9 of 15 HOST-169 WARN EXMG: Invalid Path Cause: Invalid Path Specified. Remedy: Verify that the host name and local domain name and formatted correctly.C. HOST-171 WARN EXMG: Message Truncated Cause: Connection Buffer size small. HOST-170 WARN EXMG: Invalid Name Cause: Invalid Name specified. HOST-172 WARN DNS: Host Not Found Cause: Domain Name Does Not exist Remedy: Make sure your host name and local domain name are correct. Remedy: Verify that you DNS server is running. Remedy: Verify Path format specified EM:/DNET/1/10/40 DNET-Protocol. Remedy: Verify Explicit Messaging mapping system variables are correctly set and the values are legal.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap03.frc.html 4/16/2002 . Verify that your server grants access to your robot. HOST-175 WARN DNS: Server Has No Address Cause: Server has no IP address listed. Check with your DNS administrator to verify that the server is working properly. HOST-173 WARN DNS: Server Failure Cause: Problem with DNS server. Remedy: Your host name is valid and is recognized by the DNS server. The server has no IP http://www. 1-Channel. Remedy: Reopen connection with correct buffer size. Your DNS server may not have the.10-MAC Id 40-buffer size Also verify values are legal. Verify that your server supports recursive queries. HOST-174 WARN DNS: Format or Recovery Error Cause: DNS Recovery Error . HOST-178 WARN Router Address Not Defined Cause: Router does not have an address listed in the local host table.html 4/16/2002 . Network memory service request occurs before any memory is not created. Specified network memory buffer descriptor was not correct. Have your DNS administrator provide the server with an IP address for the host queried on. Remedy: Network memory should be created before accessing. Remedy: If your network has a router. http://www. The router name has been set to the robot name. HOST-180 WARN NETMEM: buffer is not created Cause: Internal software problem. then define an address for it in the local host table.C. HOST-176 WARN DNS: Configuration Error Cause: DNS is not properly configured Remedy: Go to the DNS configuration menu and verify that the server IP address and local domain name are correct. Network memory update request issued to automatic acknowledge transmit memory.frc. HOST-182 WARN NETMEM: BD error Cause: Internal software problem. ERROR MESSAGES Page 10 of 15 address for the host queried on. then define a router in the TCP/IP set up menu. HOST-181 WARN NETMEM: time out Cause: Timeout occurred at getting memory access right. The router address will be set to the robot address. Remedy: If your network has a router. HOST-177 WARN Router Name Not Defined Cause: No router name has been defined. HOST-183 WARN NETMEM: buffer is auto ack mode Cause: Internal software problem.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap03. Remedy: Network may overload if this error occurs frequently. Remedy: Verify that correct buffer descriptor is specified. HOST-187 WARN NETMEM: receive socket open fail Cause: UDP open for datagram receiving was failed. Remedy: Verify that correct buffer descriptor is specified.html 4/16/2002 . Remedy: Confirm that UDP port was consumed by another network application. Specified buffer descriptor is not for receive buffer. Remedy: Verify that there is RLSYNC entry in $SERVENT system variable. HOST-184 WARN NETMEM: transmit BD error Cause: Internal software problem. HOST-188 WARN PPP init on port %d fails Cause: Invalid port/insufficient memory Remedy: Verify that a correct port number is specified HOST-189 WARN Invalid port number Cause: invalid port/insufficient memory Remedy: Verify that a correct port number is specified HOST-190 WARN Invalid baud rate Cause: Invalid port/insufficient memory Remedy: Verify that a correct port number is specified.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap03.frc.C. HOST-185 WARN NETMEM: receive BD error Cause: Internal software problem. HOST-186 WARN NETMEM: send socket open fail Cause: UDP open for datagram sending was failed. Verify that port number for RLSYNC is correct. HOST-191 WARN Invalid device type http://www. Remedy: Verify that correct buffer descriptor is specified. ERROR MESSAGES Page 11 of 15 Remedy: Verify that correct buffer descriptor is specified. Specified buffer descriptor is not for transmit buffer. html 4/16/2002 .C. Remedy: Ensure the login id is valid and try again. HOST-192 WARN PPP channel already initialized Cause: Iinvalid port/insufficient memory Remedy: Verify that a correct port number is specified. HOST-196 WARN TLNT:%s already connected Cause: The device is already connected. Remedy: This is not an error. Remedy: Ensure the device is not connected and try again. Remedy: This is not an error HOST-194 WARN TLNT:Logout of %s Cause: Logout made out of device using telnet. Remedy: Correct the cause of failure and try again. HOST-193 WARN TLNT:Login to %s Cause: Login made to a device using telnet. HOST-197 WARN TLNT:invalid login id Cause: Invalid login id supplied. HOST-195 WARN TLNT:rejected conn request Cause: TELNET connection attempt rejected. HOST-198 WARN TLNT:invalid password %s Cause: invalid password supplied Remedy: ensure the password is valid and try again http://www. Please look at cause code for further information. ERROR MESSAGES Page 12 of 15 Cause: Invalid port/insufficient memory Remedy: Verify that a correct port number is specified.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap03. HOST-206 WARN SM: Bad Port Number http://www. Remedy: Not an error. DNS server did not resolve the name. HOST-202 WARN TLNT:invalid port for %s Cause: Valid port not configured for device. Remedy: Make an entry for the PC in the FSAC table.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap03.frc. HOST-203 WARN TLNT:from %s Cause: Connection from remote host detected. HOST-200 WARN TLNT:FSAC need lvl %d for %s Cause: The FSAC security feature is enabled and the client PC doesn't have sufficient privileges.html 4/16/2002 . Remedy: Check the access level for the device from the TELNET screens. Remedy: Do not try to remount a tag without dismounting it. If DNS is enabled. Remedy: Configure a valid port for device from Port Init screens first. HOST-205 WARN SM: Tag Already Mounted Cause: A request to mount a tag which was already mounted was received. HOST-204 WARN SM: Remote Client Name is invalid Cause: The host name in the Client tag is not set correctly.C. ERROR MESSAGES Page 13 of 15 HOST-199 WARN TLNT:timeout on %s Cause: Tthe inactivity timer for the device expired. Remedy: Change the host name to be a valid name in the client tags. Remedy: Log in again or increase the timer value for the device from the TELNET screens. HOST-201 WARN TLNT:bad access lvl for %s Cause: Insufficient access level. ERROR MESSAGES Page 14 of 15 Cause: The system variable $server_port in the Client tag or the host tag was invalid. HOST-213 WARN SM: Read Direction shut down by Peer Cause: Read direction was shutdown by remote. Remedy: Check the remote host and reconnect to it.html 4/16/2002 .com/edoc/latest/latest_software/maro62int09011e_rev_a/ap03. Remedy: Check remote and reconnect to remote host. Remedy: Reconnect to remote host.$server_port for the client to a valid number HOST-207 WARN SM: Tag is not mounted Cause: The requested tag is not mounted. Remedy: Set the $hosts_cfg[n]. HOST-210 WARN SM: Connection Timed Out Cause: Connection was timed out by remote. Remedy: Use MSG_CONNECT to connect the tag before opening it.C. The remote host may not be responding or the network is down.frc. HOST-212 WARN SM: Write Direction shut down by Peer Cause: Write direction was shutdown by remote. HOST-209 WARN SM: Connection Aborted Cause: The connection was aborted by remote host. HOST-208 WARN SM: Not Yet Connected Cause: The requested tag is not yet connected to the remote host/device.$server_port sysvar for the server tag or $hostc_cfg [n]. HOST-211 WARN SM: Connection Write Buffer is full Cause: Write buffer is full. Remedy: Check remote and reconnect to remote host http://www. Remedy: Mount the tag before using it. Remedy: Check remote host and network connection. HOST-215 WARN SM: Connection is in use Cause: The requested tag is in use. All sockets may be use. http://www. If necessary close any open file to the tag and disconnect the tag by using MSG_DISCO. Remedy: Wait for remote to connect. Free some resources by closing some connections to telnet. HOST-217 WARN SM: Socket Error Cause: A socket error was returned by the tcpip library.html 4/16/2002 . ERROR MESSAGES Page 15 of 15 HOST-214 WARN SM: Connection is Pending Cause: Remote host has not yet connected. Remedy: Retry the operation. the same error may occur again.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap03. ftp or socket mesg If that is not feasible. Remedy: Stop using the remote tag.C.frc. HOST-216 WARN SM: Invalid Socket Cause: A request was received for a socket which is invalid Remedy: Re-establish the connection. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance.frc. HRTL-002 WARN File/Comm Tag does not exist Cause: Either the file or the Comm Tag could not be found Remedy: Either retype the file name or DEFINE the Comm Tag.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap03s02.html 4/16/2002 . HRTL-003 WARN No such process Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance.C.FTP Setup and Operations. HRTL-004 WARN Interrupted system call Cause: An error occurred in the Ethernet networking software (TCP/IP). HRTL Error Codes HRTL-001 WARN Not owner Cause: An error occurred in the Ethernet networking software (TCP/IP). HRTL-005 WARN I/O error Cause: An error occurred in the Ethernet networking software (TCP/IP).2. HRTL-006 WARN No protocol or device dest Cause: The Comm Tag either does not have a protocol defined or if required does not have a port assigned Remedy: DEFINE a protocol to the Comm Tag or assign a port HRTL-007 WARN Arg list too long http://www. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. HRTL Error Codes Page 1 of 11 C.2. Please refer to the section of Defining and Starting FTP on a Device in the manual of Ethernet Controller Backup and Restore. Remedy: Copy the conditions which caused this to occur.C. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. HRTL-011 WARN No more processes Cause: An error occurred in the Ethernet networking software (TCP/IP). HRTL-010 WARN No children Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. HRTL-008 WARN Exec format error Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap03s02.html 4/16/2002 . Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. HRTL Error Codes Page 2 of 11 Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. HRTL-012 WARN Not enough core Cause: An error occurred in the Ethernet networking software (TCP/IP).frc. HRTL-013 WARN Access permission denied Cause: Access Ethernet socket table permission denied. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. HRTL-014 WARN Invalid Comm Tag http://www.2. HRTL-009 WARN Bad file number Cause: The file number passed does not match with any open files. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance.FTP Setup and Operations.html 4/16/2002 .com/edoc/latest/latest_software/maro62int09011e_rev_a/ap03s02.frc. http://www. HRTL-018 WARN Cross-device link Cause: An error occurred in the Ethernet networking software (TCP/IP). Then assign it to the selected Comm Tag HRTL-016 WARN Comm Tag already defined Cause: Either the Comm Tag is STARTED or it's presently in use Remedy: Either STOP the Comm Tag or select another Tag.C. HRTL-017 WARN File exists Cause: An error occurred in the Ethernet networking software (TCP/IP). HRTL-015 WARN Port device required Cause: The selected protocol requires a device port Remedy: First ensure the Port has No Use from Port Init Setup. Please refer to the section of Defining and Starting FTP on a Device in the manual of Ethernet Controller Backup and Restore. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. HRTL-019 WARN Invalid device type Cause: The passed Device Type is not a Comm Tag type (Cx or Sx) Remedy: Only Comm Tags can be used with this command. HRTL-020 WARN Not a directory Cause: An error occurred in the Ethernet networking software (TCP/IP). HRTL Error Codes Page 3 of 11 Cause: A bad address has been detected Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance.2. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance.html 4/16/2002 . HRTL-027 WARN File too large Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. HRTL-025 WARN Not a typewriter Cause: An error occurred in the Ethernet networking software (TCP/IP).2. HRTL Error Codes Page 4 of 11 HRTL-021 WARN Is a directory Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. Remedy: Either select another protocol or install the selected protocol. HRTL-023 WARN File table overflow Cause: An error occurred in the Ethernet networking software (TCP/IP).frc. HRTL-026 WARN Text file busy Cause: An error occurred in the Ethernet networking software (TCP/IP).com/edoc/latest/latest_software/maro62int09011e_rev_a/ap03s02.C. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. HRTL-024 WARN Too many open files Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. HRTL-022 WARN Invalid argument Cause: System does not support selected protocol. http://www. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. HRTL-036 WARN Operation now in progress Cause: An error occurred in the Ethernet networking software (TCP/IP).frc. HRTL Error Codes Page 5 of 11 HRTL-028 WARN No space left on device Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. HRTL-031 WARN Too many links Cause: An error occurred in the Ethernet networking software (TCP/IP).C. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for http://www.html 4/16/2002 . Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. HRTL-035 WARN Operation would block Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. HRTL-029 WARN Illegal seek Cause: An error occurred in the Ethernet networking software (TCP/IP). HRTL-030 WARN Read-only file system Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance.2. HRTL-032 WARN Broken pipe Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap03s02. HRTL-041 WARN Protocol wrong type Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. http://www. HRTL Error Codes Page 6 of 11 assistance.html 4/16/2002 .frc.C. HRTL-039 WARN Destination address required Cause: An error occurred in the Ethernet networking software (TCP/IP).com/edoc/latest/latest_software/maro62int09011e_rev_a/ap03s02. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. HRTL-037 WARN Operation now in progress Cause: An error occurred in the Ethernet networking software (TCP/IP). HRTL-038 WARN Socket operation on non-socket Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. HRTL-042 WARN Protocol not available Cause: An error occurred in the Ethernet networking software (TCP/IP). HRTL-043 WARN Protocol not supported Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. HRTL-040 WARN Message size too long Cause: An error occurred in the Ethernet networking software (TCP/IP).2. com/edoc/latest/latest_software/maro62int09011e_rev_a/ap03s02. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. HRTL-048 WARN Address already in use Cause: An error occurred in the Ethernet networking software (TCP/IP). HRTL-051 WARN Network is unreachable http://www. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. HRTL-044 WARN Socket type not supported Cause: An error occurred in the Ethernet networking software (TCP/IP).2. HRTL-045 WARN Operation not supported Cause: An error occurred in the Ethernet networking software (TCP/IP).frc.html 4/16/2002 . Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. HRTL-050 WARN Network is down Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. HRTL Error Codes Page 7 of 11 Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. HRTL-049 WARN Can't assign requested address Cause: An error occurred in the Ethernet networking software (TCP/IP). HRTL-047 WARN Address family not supported Cause: An error occurred in the Ethernet networking software (TCP/IP).C. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. HRTL-056 WARN Socket is already connected Cause: An error occurred in the Ethernet networking software (TCP/IP).frc. http://www. HRTL-054 WARN Connection reset by peer Cause: An error occurred in the Ethernet networking software (TCP/IP).C. HRTL-055 WARN No buffer space available Cause: An error occurred in the Ethernet networking software (TCP/IP). HRTL Error Codes Page 8 of 11 Cause: An error occurred in the Ethernet networking software (TCP/IP). HRTL-057 WARN Socket is not connected Cause: An error occurred in the Ethernet networking software (TCP/IP).html 4/16/2002 .com/edoc/latest/latest_software/maro62int09011e_rev_a/ap03s02. HRTL-053 WARN Software caused connect abort Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. HRTL-052 WARN Connection dropped on reset Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance.2. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. frc. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. HRTL-065 WARN Host is unreachable Cause: An error occurred in the Ethernet networking software (TCP/IP). socket is shutdown Cause: An error occurred in the Ethernet networking software (TCP/IP).html 4/16/2002 . HRTL-064 WARN Host is down Cause: An error occurred in the Ethernet networking software (TCP/IP). HRTL-066 WARN No urgent data Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. HRTL-061 WARN Ethernet Connection refused Cause: An error occurred in the Ethernet networking software (TCP/IP).2. HRTL Error Codes Page 9 of 11 HRTL-058 WARN Can't send. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for http://www. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance. HRTL-060 WARN Ethernet Connection timed out Cause: An error occurred in the Ethernet networking software (TCP/IP).com/edoc/latest/latest_software/maro62int09011e_rev_a/ap03s02. HRTL-063 WARN Protocol family not supported Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance.C. com/edoc/latest/latest_software/maro62int09011e_rev_a/ap03s02. HRTL-067 WARN No out of bound data Cause: An error occurred in the Ethernet networking software (TCP/IP).C. HRTL Error Codes Page 10 of 11 assistance.html 4/16/2002 .frc. HRTL-068 WARN Device is already attached Cause: Device is already in use Remedy: Free Device for use HRTL-069 WARN Device Function Code invalid Cause: Device does not support command Remedy: Check usage against device HRTL-070 WARN Cannot detach with open files Cause: Device in use Remedy: Wait for command complete then retry HRTL-071 WARN Device is already allocated Cause: Device is already allocated Remedy: Wait until Device free then retry HRTL-072 WARN Device doesn't support attach Cause: Device does not support attaching Remedy: Check usage against device HRTL-073 WARN End of device list reached Cause: Device limit reached Remedy: Check that device is valid HRTL-074 WARN Device is not supported http://www. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance.2. html 4/16/2002 .frc. HRTL Error Codes Page 11 of 11 Cause: Device not available Remedy: Check device installation http://www.C.2.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap03s02. pull down the File menu and select Properties.. Example Setup for a Personal Computer Running Distinct TCP/IP Conditions ? The Ethernet printed circuit board has been installed and all required software has been installed.D.html 4/16/2002 ." or the directory you chose in Step 1. enter "c:\tftpdir.1.1.frc. ? Create a subdirectory for the TFTP server. such as "\tftpdir\robot1. 5. 6. In the Working Directory field. Steps 1. PERSONAL COMPUTER EXAMPLE SETUP This section describes an example setup of a personal computer running Distinct TCP/IP V3. 4." http://www. 8." ? From this subdirectory. 3. On the Program Manager's menu bar. If you want to use the example setup or one similar to it. Procedure D.c f. The file name must be "restore. 2. create subdirectories for each one of your robots. 7. HOST SETUP EXAMPLES D.cf. Start the BOOTP server by double-clicking the left mouse button on the BOOTP server icon. Enter the Ethernet and IP addresses selected for a robot controller." or the directory you chose in Step 1. and close the dialog box. From MS-DOS or the Windows File Manager. such as "\tftpdir.. ? The Ethernet cable is attached to the Ethernet printed circuit board and is terminated properly.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap04.31. create directories on the disk you want to use (usually C:) for storage of the backup files for each of your robots. enter "robot1\restore. Pull down the Setup menu and select Addresses. perform Procedure D. HOST SETUP EXAMPLES Page 1 of 2 D. In the Boot file field. Highlight the BOOTP Server icon in the Distinct TCP/IP window group by moving the mouse cursor over the icon and clicking the left mouse button once.1.."You might want to use the robot's node name to identify each robot's storage directory clearly. 16. 14. HOST SETUP EXAMPLES Page 2 of 2 9. 11.. Pull down the Server menu to display the server dialog box.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap04. The BOOTP server is now running.frc.D.html 4/16/2002 . Move the mouse cursor over the checkbox labeled Enable TFTP server and press the left mouse button to select it. You can minimize the program to an icon for convenience. Pull down the Setup menu and select Enabled. through Step 9. for each of your robots. 10. Press the Set button. Press Define to create this entry. The TFTP server is now enabled." or the directory name you chose in Step 1. type "c:\tftpdir. You can minimize the program to an icon for convenience. 15. http://www. 12. Start the TFTP server by double-clicking with the left mouse button on the TFTP icon. In the prompt field. Repeat Step 7. 13. Procedure D.2. Note The directory "/usr/tftpdir" must agree with directory name entries in Step 2.tftpd in.html 4/16/2002 . and Step 4..1. such as "/usr/tftpdir/robot1.conf" bootps dgram udp wait root /usr/etc/bootpd bootpd-i tftp dgram udp wait root /usr/etc/in.. remove the http://www. ? Ensure that BOOTP V2. create the directory "/usr/tftpd ir." If they are.2. ? From this directory.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap04s02..." You might want to use the robot's node name to identify each robot's storage directory clearly.4. ? If it does not exist already. performProcedure D. Example Setup for a Sun Workstation Running bootpd and tftpd Conditions ? The Ethernet printed circuit board has been installed and all required software has been installed. This restriction is due to the TFTP protocol's unsecure (not password-protected) access capability." The TFTP server restricts usage to the "/usr" directory on the workstation's local hard disk drive. SUN WORKSTATION EXAMPLE SETUP Page 1 of 3 D. create directories for each of your robots. SUN WORKSTATION EXAMPLE SETUP This section describes an example setup of a Sun workstation running bootpd V2.2. ? The Ethernet cable is attached to the Ethernet printed circuit board and is terminated properly. If you want to use the example setup or one similar to it. Create directories for storage of the backup files for each of your robots. Log onto the workstation as the super-user.frc.tft-s /usr/tftpdirpd Note the following: ? These lines might be commented out with a preceding "#. Step 3. 2. Steps 1. Verify that the following two lines exist in "/etc/inetd.4.D.3 is available to the workstation.3 and tftpd V4.2. ? "-s /usr/tftpdir" tells tftp to use "/usr/tftpdir" as its root login directory..5. Refer to Step 2.tftpd" is the fully qualified path to the tftpd executable. 3..148.1:\ ra=199.. The precedence is "/etc/passwd" then the NIS password. type grep tftp /etc/passwd ? To check whether there is an NIS login. Step 3.D.0:\ vm=rfc1048:\ gw=199. ? "/usr/etc/in.cf. This is relative to the tftp root login directory in Step 2. "ha" field.cf: The first field is the robot's node name. and Step 4.cf..5.255." The file name must be "restore.5." 4.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap04s02. and "ip" field. Step 3.. and Step 5. SUN WORKSTATION EXAMPLE SETUP Page 2 of 3 "#. "bf" is the location of the boot file.25: \ bf=/robot1/restore. tftp must have a password entry to be able to log in. then an entry must be created in "etc/passwd" or NIS.frc.255: \ ip=199. http://www. In the "bf" field. ? To check whether tftp has a login locally. type ypcat passwd |grep tftp One or both should show the following entry: tftp:*:510:10:tftp directory:/usr/tftpdir:/bin/false If neither have an entry.2.148. Consult your network system administrator for where to create this entry. if needed." ? "/usr/etc/bootpd" is the fully qualified path to the bootpd executable.148.255.. Use the actual controller assignments for the node name. use the actual directory name (chosen in Step 2.) plus "restore.html 4/16/2002 . The "ra" field is the broadcast IP address. Add the following to the file "/etc/bootptab" for each robot: robot1: \ hn:\ ht=ethernet:\ ha=08003B148025: \ sm=255. The "gw" field is the gateway or router IP address. http://www. Signal the process "inetd" to read its configuration file by executing the following command: kill -HUP 156 Substitute the actual process ID for "156. "156" in this case..D. Add the following to the file "/etc/services": bootps 67/udp bootpc 68/udp tftp 69/udp 6. 7..frc.html 4/16/2002 .. and . SUN WORKSTATION EXAMPLE SETUP Page 3 of 3 Note The parameter "/usr/tftpdir" is tftp's root login directory and must match the information in Step 2.0 0.2." This starts up the BOOTP and TFTP servers. is the process ID. Step 5.0 52 0 ? IW Jul 28 1:22 inetd The first number. Step 3. 5. Execute the command: ps -auxw|grep inetd to determine the process ID of the "inetd" process. You should see a line similar to the following: root 156 0.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap04s02. 3. Step 4.. 3.conf": bootps dgram udp wait root /etc/bootpd bootpd tftp dgram udp wait root /etc/tftpd tftpd Note the following: http://www.. Steps 1. 2. and Step 5.0 bootpd and tftpd. create the directory "/usr/tftpd ir. Example Setup for a Hewlett-Packard Workstation Running HP-UX 9.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap04s03. ? The Ethernet cable is attached to the Ethernet printed circuit board and is terminated properly.0 bootpd and tftpd Conditions ? The Ethernet printed circuit board has been installed and all required software has been installed.3. Procedure D. such as "/usr/tftpdir/robot1. This restriction is due to the TFTP protocol's unsecure (not password-protected) access capability. Log onto the workstation as the super-user.. HEWLETT-PACKARD WORKSTATION EXAMPLE SETUP Page 1 of 3 D.3. create directories for each of your robots.frc.D.3. Add the following lines to the file "/etc/inetd.. perform Procedure D." You might want to use the robot's node name to identify each robot's storage directory clearly.html 4/16/2002 . If you want to use the example setup or one similar to it." The TFTP server restricts usage to the "/usr" directory on the workstation's local hard disk drive. HEWLETT-PACKARD WORKSTATION EXAMPLE SETUP This section describes an example setup of a Hewlett-Packard workstation running HP-UX 9. Create directories for storage of the backup files for each of your robots. ? If it does not exist already. Note The directory "/usr/tftpdir" must agree with directory name entries in Step 3. ? From this directory. type grep tftp /etc/passwd ? To check whether there is an NIS login. ? To check whether tftp has a login locally. "bf" is the location of the boot file.0:\ vm=rfc1048:\ gw=199." If they are. HEWLETT-PACKARD WORKSTATION EXAMPLE SETUP Page 2 of 3 ? These lines might be commented out with a preceding "#." ? "/usr/etc/bootpd" is the fully qualified path to the bootpd executable.3.148. Use the actual controller assignments for the node name. http://www. ) plus "restore. if needed.255: \ ip=199. remove the "#. tftp must have a password entry to be able to log in...25: \ bf=/robot1/restore. 4. then an entry must be created in "etc/passwd" or NIS. Refer to Step 2. This is relative to the tftp root login directory in Step 2. ? "-s /usr/tftpdir" tells tftp to use "/usr/tftpdir" as its root login directory.1:\ ba=199. Step 4... The "ba" field is the broadcast IP address.148.html 4/16/2002 .255.cf. and Step 5.cf: The first field is the robot's node name. The precedence is "/etc/passwd" then the NIS password.5. ? "/usr/etc/in.148.5..D. "ha" field.5. use the actual directory name (chosen in Step 2. The "gw" field is the gateway or router IP address. type ypcat passwd |grep tftp One or both should show the following entry: tftp:*:510:10:tftp directory:/usr/tftpdir:/bin/false If neither have an entry. In the "bf" field. Add the following to the file "/etc/bootptab" for each robot: robot1: \ hn:\ ht=ethernet:\ ha=08003B148025: \ sm=255. Consult your network system administrator for where to create this entry.cf." The file name must be "restore." 5.255.. and "ip" field. Step 3.frc.tftpd" is the fully qualified path to the tftpd executable. and Step 5.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap04s03. D. Signal the process "inetd" to read its configuration file by executing the following command: kill -s SIGHUP 130 Substitute the actual process ID for "130.. 6. Add the following to the file "/etc/services": bootps 67/udp bootpc 68/udp tftp 69/udp 7.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap04s03. http://www. "130" in this case..3.. Step 3.html 4/16/2002 . if the process ID. and Step 4." This starts up the BOOTP and TFTP servers.frc. HEWLETT-PACKARD WORKSTATION EXAMPLE SETUP Page 3 of 3 Note The parameter "/usr/tftpdir" is tftp's root login directory and must match the information in Step 2. To determine the process ID of the "inetd" process. execute the command: ps -ale|grep inetd You should see a line similar to the following: root 130 1 0 Aug 24 ? 0:02 /etc/inetd The first number. 8. FTPSETUP will assign an IP address and name to the robot controller. Press MENUS.1. EXIT.MAIN 1 Configuration type: Custom Quit using EXIT to save values 6. and a server tag. Procedure E. 5.1. Steps 1. You will see a screen similar to the following. 2. Perform a Controlled start.frc. 3.NEXT 4 5 6 -- 7. CONFIGURING FTP AND USING FTP SETUP Page 1 of 1 E. you do not need to provide any information. Choose one of the Default Configurations and press ENTER.E. DEFAULT CONFIGURATION When you use FTPSETUP to create a default configuration. Press F4. CONFIGURING FTP AND USING FTP SETUP E.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap05. Select S/W INSTALL. FTP Setup . Press F3. to quit FTPSETUP and save values. One default server tag is already set. robot name and IP address is already set. it can be accessed by client PCs with any FTP protocol. After you turn the controller on. Use Procedure E. http://www. The controller is now ready to act as a FTP server after you cold start the controller.html 4/16/2002 .1. [CHOICE]. You will see a screen similar to the following. Select FTP SETUP. FTPSETUP Default Configuration Conditions ? You have installed the FTP software on your controller. The robot is ready to act as an FTP server 8. via an Ethernet connection. to create a default configuration. 1 2 3 4 Custom Default 1 Default 2 Default 3 5 6 7 8 Default Default Default -. Press ENTER. If any of the defaults is selected. 4. This is the address which should be used by a remote PC when talking to the robot. html 4/16/2002 . CUSTOM CONFIGURATION When performing a custom configuration with FTPSETUP.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap05s02. you need the following information: ? Robot Node Name ? Robot Node IP Address ? Subnet mask ? Router Name ? Information for Host Name/Address Table E. This information is required for the robot's FTP client to communicate. http://www. and Shared Host Name and Address. Local Host Table HOST NAME INTERNET ADDRESS Table E. Use Procedure E. which is information about other nodes connected to the network.1. Shared Host Table HOST NAME INTERNET ADDRESS Procedure E. Use Table E. to create a custom configuration with values that you supply. FTPSETUP Custom Configuration Using an Imported .2. CUSTOM CONFIGURATION Page 1 of 7 E. to create a custom configuration with FTPSETUP by importing a .2.VR file with the TCP/IP settings you want to use.2. to write in information specific to your robot for the Shared Host Name and Address. TCP/IP definition allows for two kinds of tables: Local Host Name and Address. Use Procedure E. . to write in the information specific to your robot for the Local Host name and address.1.3.frc.1. This information is required for if the robot is to function as a FTP client served by FTP servers. Table E. Perform a Controlled start. Steps 1. Use Table E.2.E.2.VR File Conditions ? You have installed the FTP software on your controller.2. This table lists the FTP servers on the network. and type in the appropriate file name.255.0 Host Information (local) Do NOT enter/repeat any of the above Host Name Host IP Addr 6 milletrl 199. 5. 10. CONFIG. Press ENTER.5.220 8.1 255.2.208 flea 199. FTP Setup . You will see a screen similar to the following.148.VR 9. Press NEXT. Press F4.220 7. Select S/W INSTALL.5. You will see a screen similar to the following.1 255.5.frc. You will see a screen similar to the following.5. FTP Setup Import/Export Settings 1 Device MC: 2 File Name ********. CUSTOM CONFIGURATION Page 2 of 7 2.148. 3.5.148.255. Press F1. FTP Setup TCP/IP Definition 1 Robot Node Name: 2 Robot IP Addr: 3 Router Name. You will see a screen similar to the following. If you do http://www.255. 4. Select FTP SETUP. Select the Device where the .208 flea 199.E.5.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap05s02. FTP Setup TCP/IP Definition 1 Robot Node Name: 2 Robot IP Addr: 3 Router Name: 4 Router IP Addr : 5 Subnet Mask : palrob 199.255. 4 Router IP Addr: 5 Subnet Mask: palrob 199.0 Host Information (local) Do NOT enter/repeat any of the above Host Name Host IP Addr 6 milletrl 199.148. File Name.MAIN 1 Configuration type: Custom Quit using EXIT to save values 6. Move the cursor to line 2. Press MENUS.148. FILE.html 4/16/2002 .VR settings file is located.148. You will see a screen similar to the following. Press F2. two times. Press MENUS.VR will be selected. 2. Steps 1. FTPSETUP. FTP Setup Import Settings 1 Import Robot IP Addr: FALSE Select TRUE to OVERWRITE current robot IP name and address 12. FTP Setup . FTPSETUP Custom Configuration Conditions ? You have installed the FTP software on your controller. Press NEXT. IMPORT.frc. Select the appropriate value: ? F4. BACK.2.3. 3. 14. TRUE. Perform a Controlled start. if the current robot IP address on the robot controller is to be overwritten. Select FTP SETUP.E. to quit FTPSETUP and save settings. 13. 15. Press F2. EXIT.html 4/16/2002 . Procedure E. if you want to enter a new IP address. 16. Press F1. Press ENTER. CUSTOM CONFIGURATION Page 3 of 7 not enter a file name. 5.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap05s02. Select S/W INSTALL. RUN. FALSE. Press F2.MAIN 1 Configuration type: Custom Quit using EXIT to save values http://www. You will see a screen similar to the following. 11. 4. The controller is now ready to act as a FTP server after you Cold start the controller. ? F5. type the IP name and address information in the Host Information table for any FTP server to which the controller can connect. c. and press ENTER. http://www. Press F1. You will see a screen similar to the following.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap05s02. FTP Setup Server Setup Tag Startup 1 S1 UNDEF 2 S2 UNDEF 3 S3 UNDEF 4 S4 UNDEF 5 S5 UNDEF 6 S6 UNDEF 7 S7 UNDEF 8 S8 UNDEF Protocol Comment NONE **************** NONE **************** NONE **************** NONE **************** NONE **************** NONE **************** NONE **************** NONE **************** b.html 4/16/2002 . To define an FTP server: a. Type the Robot name. robot IP address. No error should be present in the top line of the teach pendant screen. 9. You will see a screen similar to the following.2.E. Set the startup mode to start and protocol to FTP for the server tags that you need to start. To define an FTP client: a. 8. You will see a screen similar to the following. Press F1. CONFIG. FTP Setup TCP/IP Definition 1 Robot Node Name: 2 Robot IP Addr: 3 Router Name: 4 Router IP Addr: 5 Subnet Mask: Host Information (local) Do NOT enter/repeat any of the above Host Name Host IP Addr 7.frc. CHECK. and subnet mask. router IP address. to return to the Definition Screen. router name. Press F2. In addition to these. Select the client tag to be defined. 10. CUSTOM CONFIGURATION Page 4 of 7 6. SERVER. BACK. Press F1. e. Press NEXT.html 4/16/2002 . g. CUSTOM CONFIGURATION FTP Setup Client Setup Tag Startup 1 C1 UNDEF 2 C2 UNDEF 3 C3 UNDEF 4 C4 UNDEF 5 C5 UNDEF 6 C6 UNDEF 7 C7 UNDEF 8 C8 UNDEF Protocol NONE NONE NONE NONE NONE NONE NONE NONE Page 5 of 7 Remote NONE NONE NONE NONE NONE NONE NONE NONE b.2. Select the appropriate remote host in the list for the tag. You will see a screen similar to the following. 11. 1 2 3 4 flea milletrl AJM NONE d. To export the current configuration: a. f. FTP Setup Client Tag Setup C3: 1 Comment **************** 2 Remote Server NONE 3 Remote Path ******************** EXIT Program and Cycle power for values to take effect IMPORTANT: Values will not be saved if program not exited properly c. LIST. DETAIL. Press ENTER and type in the remote path. Press F3. Press F3. [CHOICE]. Select 3 Remote Path.frc. You will see a screen similar to the following. Press F1. You will see a screen similar to the following. http://www. h.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap05s02. Press F4.E. BACK. ? F5. FTPSETUP.2. if the file you are exporting should be overwritten if one with the same name exists on the device. e. i. press NEXT. Press F1.255. two times. d.1 255.208 flea 199. 12.frc. File Name.148. Select 2.VR c. FILE. Select the appropriate value: ? F4. Press F2. 4 Router IP Addr: 5 Subnet Mask: palrob 199.220 b.5. f. EXPORT.0 Host Information (local) Do NOT enter/repeat any of the above Host Name Host IP Addr 6 milletrl 199.html 4/16/2002 .255. Enter the appropriate file name.VR will be selected. settings will not be saved to the file. RUN. BACK. otherwise. FALSE. If you do not enter a file name. TRUE.5.148. http://www.E. CUSTOM CONFIGURATION Page 6 of 7 FTP Setup TCP/IP Definition 1 Robot Node Name: 2 Robot IP Addr: 3 Router Name. Press F3. You will see a screen similar to the following FTP Setup Import/Export Settings 1 Device MC: 2 File Name ********. If false is selected and the file exists on the device. h. FTP Setup Export Settings 1 Overwrite False Select TRUE to OVERWRITE current file IF one with the same name exists g. To quit FTP setup and save all values: a. Select the Device where you want the . Press F4.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap05s02.VR settings file saved. You will see a screen similar to the following.148. From the screen TCP/IP definitions of ftpsetup.5. E.2. and Procedure 4. to set up users and passwords for FTP clients.3.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap05s02. CUSTOM CONFIGURATION Page 7 of 7 b. FTPSETUP does not set users and passwords for FTP clients you have defined. Note If abort is selected or if the program is interrupted in any other way.2. EXIT. the settings will not be saved. Select F2. http://www.html 4/16/2002 . Refer to Section 4. to quit FTPSETUP and save all values. This is done for security reasons. 1.$h_addr = '192.1. Class C mask shown) Additional Entries might be needed in the local robot HOST table to identify remote FTP servers referenced by FTP clients on robot. See Table F. You must turn the controller off.$h_name = 'UNIX_HOST' http://www.0.$h_name = ' set var $hostent [1].168. for an example NETSETUP.F.0.3' DESCRIPTION (REQUIRED) Router name and IP address (if router is used) Robot Subnet Mask (based on network IP address.255. CONFIGURE FTP WITH A KAREL COMMAND FILE Page 1 of 5 F.$h_addr = '192.$h_name = 'PC_HOST' set var $hostent [3].168.CF File INSTRUCTION R-J3iB Name and IP address set var $hostname = 'ROBOT1' set var $hostent [1].CF file.255.html 4/16/2002 .-The local HOST table has up to 12 entries. only 8 can be seen on setup screens.1.$h_addr = '192.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap06.2' set var $tmi_router = 'ROUTER' set var $hostent [2]. CONFIGURE FTP WITH A KAREL COMMAND FILE F. The example command file can be run from the KAREL command line with the RUNCF command.0' set var $hostent [3].168. CONFIGURING NETWORK PARAMETERS WITH A KAREL COMMAND FILE You can use a command file to set up R-J3iB Ethernet TCP/IP Parameters.frc. Table F.$h_name = 'ROUTER' set var $hostent [2]. and then back on for the settings to take effect. Example NETSETUP.0. set var $host_shared [1].1' set var $tmi_snmask = '255. $port = '' set var $hosts_Cfg [1].$oper = 3 set var $hosts_Cfg [2].$protocol = 'FTP' Page 2 of 5 Additional Entries might be needed in sharedrobot HOST table to identify remote FTP servers referenced by FTP clients on robot.$protocol ='FTP' set var $hosts_Cfg [1]. Configure to be STARTED when you turn the controller ON.$port = '' $hosts_Cfg [3].$oper = 3 set var $hosts_Cfg [2].The shared HOST table has up to 20 entries and is held in SYSHOST.0.$oper = 3 set var $hosts_Cfg [4].frc.$port = '' set var $hosts_Cfg [6].$port = '' set var $hosts_Cfg [4].$protocol = 'FTP' set var $hosts_Cfg [2].com/edoc/latest/latest_software/maro62int09011e_rev_a/ap06.$oper = 3 set var $hosts_Cfg [5].$port = '' set var $hosts_Cfg [5].4' set var $hosts_Cfg [1]. CONFIGURE FTP WITH A KAREL COMMAND FILE set var $host_shared [1].html 4/16/2002 .$oper = 3 set var $hosts_Cfg [6].$protocol = 'FTP' set var $hosts_Cfg [5]. You need to start enough FTP servers to handle the maximum number of simultaneous FTP connections to the robot.F. Up to 8 FTP servers can be configured on the robot.$port = '' set var $hosts_Cfg [3].$protocol = 'FTP' set var $hosts_Cfg [4].$oper = 3 set var $hosts_Cfg [7].$protocol = 'FTP' set var $hosts_Cfg [3].168. http://www.$protocol = 'FTP' set var $hosts_Cfg [6].SV so it can be shared between robots which might share common FTP servers.$h_addr = '192. CONFIGURE FTP WITH A KAREL COMMAND FILE set var $hosts_Cfg [7].F.$protocol = 'FTP' set var $hostc_Cfg [2].$protocol = 'FTP' set var $hostc_Cfg [1].$protocol = 'FTP' set var $hostc_Cfg [3].$port = '' set var $hostc_Cfg [3].$oper = 3 set var $hostc_Cfg [1].$port = '' set var $hosts_Cfg [8].$oper = 3 set var $hosts_Cfg [8].$oper = 2 set var $hostc_Cfg [2].$strt_path = 'C:\TEMP\' set var $hostc_Cfg [2].$port = '' set var $hostc_Cfg [2].$port = '' set var $hosts_Cfg [1].$protocol = 'FTP' set var $hosts_Cfg [8].$oper = 2 set var $hostc_Cfg [1].$strt_path = '.$strt_remote = 'PC_HOST' set var $hostc_Cfg [3]./testing/ftp/' Page 3 of 5 Up to 8 FTP clients can be configured on the robot./testing/ftp/' set var $hostc_Cfg [1].$strt_remote = 'UNIX_HOST' set var $hostc_Cfg [2]. Configure to be DEFINED when you turn the controller ON.frc.$strt_path = '.com/edoc/latest/latest_software/maro62int09011e_rev_a/ap06.$oper = 2 set var $hostc_Cfg [3]. http://www.$port = '' set var $hosts_Cfg [7].html 4/16/2002 . CONFIGURE FTP WITH A KAREL COMMAND FILE Page 4 of 5 set var $hostc_Cfg [3]./testing/ftp/' set var $hostc_Cfg [5].$protocol = 'FTP' set var $hostc_Cfg [5].$oper = 2 set var $hostc_Cfg [4].com/edoc/latest/latest_software/maro62int09011e_rev_a/ap06.$protocol = 'FTP' set var $hostc_Cfg [4].$port = '' http://www.html 4/16/2002 .$oper = 2 set var $hostc_Cfg [5]./testing/ftp/' set var $hostc_Cfg [4].frc.$port = '' set var $hostc_Cfg [4].$port = '' set var $hostc_Cfg [5].$strt_remote = 'UNIX_HOST' set var $hostc_Cfg [7].$port = '' set var $hostc_Cfg [6].$protocol = 'FTP' set var $hostc_Cfg [7].$strt_path = '.$oper = 2 set var $hostc_Cfg [6].$strt_path = '.$strt_remote = 'UNIX_HOST' set var $hostc_Cfg [5].$protocol = 'FTP' set var $hostc_Cfg [6].$strt_path = '.F.$strt_remote = 'UNIX_HOST' set var $hostc_Cfg [6].$strt_remote = 'UNIX_HOST' set var $hostc_Cfg [4]./testing/ftp/' set var $hostc_Cfg [6]. frc.$oper = 2 set var $hostc_Cfg [7].F.$strt_path = '. CONFIGURE FTP WITH A KAREL COMMAND FILE Page 5 of 5 set var $hostc_Cfg [7].$strt_remote = 'UNIX_HOST' set var $hostc_Cfg [8].$protocol = 'FTP' set var $hostc_Cfg [8].$port = '' set var $hostc_Cfg [8].com/edoc/latest/latest_software/maro62int09011e_rev_a/ap06.$strt_remote = 'UNIX_HOST' http://www.html 4/16/2002 .$strt_path = './testing/ftp/' set var $hostc_Cfg [7].$oper = 2 set var $hostc_Cfg [8]./testing/ftp/' set var $hostc_Cfg [8]. Converts a multilevel analog electrical system pattern into a digital bit.frc. algorithm A fixed step-by-step procedure for accomplishing a given result. alphanumeric Data that are both alphabetical and numeric. http://www.Page 1 of 35 Glossary A abort Abnormal termination of a computer program caused by hardware or software malfunction or operator cancellation. AO Analog output. system or process. alarm The difference in value between actual response and desired response in the performance of a controlled machine. AI Analog input. analog The representation of numerical quantities by measurable quantities such as length.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01. Alarm=Error. absolute pulse code system A positional information system for servomotors that relies on battery-backed RAM to store encoder pulse counts when the robot is turned off. This system is calibrated when it is turned on.html 4/16/2002 . A/D value An analog to digital-value. AMPS Amperage amount. Page 2 of 35 voltage or resistance. Also refers to analog type I/O blocks and distinguishes them from discrete I/O blocks. Numerical data that can vary continuously, for example, voltage levels that can vary within the range of -10 to +10 volts. AND An operation that places two contacts or groups of contacts in series. All contacts in series control the resulting status and also mathematical operator. ANSI American National Standard Institute, the U.S. government organization with responsibility for the development and announcement of technical data standards. APC See absolute pulse code system. APC motor See servomotor. application program The set of instructions that defines the specific intended tasks of robots and robot systems to make them reprogrammable and multifunctional. You can initiate and change these programs. arm A robot component consisting of an interconnecting set of links and powered joints that move and support the wrist socket and end effector. articulated arm A robot arm constructed to simulate the human arm, consisting of a series of rotary motions and joints, each powered by a motor. ASCII Abbreviation for American Standard Code for Information Interchange. An 8-level code (7 bits plus 1 parity bit) commonly used for the exchange of data. automatic mode The robot state in which automatic operation can be initiated. automatic operation http://www.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01.html 4/16/2002 Page 3 of 35 The time during which robots are performing programmed tasks through unattended program execution. axis 1. A straight line about which a robot joint rotates or moves. 2. One of the reference lines or a coordinate system. 3. A single joint on the robot arm. B backplane A group of connectors mounted at the back of a controller rack to which printed circuit boards are mated. BAR A unit of pressure equal to 100,000 pascals. barrier A means of physically separating persons from the restricted work envelope; any physical boundary to a hazard or electrical device/component. battery low alarm A programmable value (in engineering units) against which the analog input signal automatically is compared on Genius I/O blocks. A fault is indicated if the input value is equal to or less than the low alarm value. baud A unit of transmission speed equal to the number of code elements (bits) per second. binary A numbering system that uses only 0 and 1. bit Contraction of binary digit. 1. The smallest unit of information in the binary numbering system, represented by a 0 or 1. 2. The smallest division of a programmable controller word. bps Bits per second. http://www.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01.html 4/16/2002 Page 4 of 35 buffer A storage area in the computer where data is held temporarily until the computer can process it. bus A channel along which data can be sent. bus controller A Genius bus interface board for a programmable controller. bus scan One complete communications cycle on the serial bus. Bus Switching Module A device that switches a block cluster to one bus or the other of a dual bus. byte A sequence of binary digits that can be used to store a value from 0 to 255 and usually operated upon as a unit. Consists of eight bits used to store two numeric or one alpha character. C calibration The process whereby the joint angle of each axis is calculated from a known reference point. Cartesian coordinate system A coordinate system whose axes (x, y, and z) are three intersecting perpendicular straight lines. The origin is the intersection of the axes. Cartesian coordinates A set of three numbers that defines the location of a point within a rectilinear coordinate system and consisting of three perpendicular axes (x, y, z). cathode ray tube A device, like a television set, for displaying information. http://www.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01.html 4/16/2002 Page 5 of 35 central processing unit The main computer component that is made up of a control section and an arithmeticlogic section. The other basic units of a computer system are input/output units and primary storage. channel The device along which data flow between the input/output units of a computer and primary storage. character One of a set of elements that can be arranged in ordered groups to express information. Each character has two forms: 1. a man-intelligible form, the graphic, including the decimal digits 0-9, the letters A-Z, punctuation marks, and other formatting and control symbols; 2. a computer intelligible form, the code, consisting of a group of binary digits (bits). circular A MOTYPE option in which the robot tool center point moves in an arc defined by three points. These points can be positions or path nodes. clear To replace information in a storage unit by zero (or blank, in some machines). closed loop A control system that uses feedback. An open loop control system does not use feedback. C-MOS RAM Complementary metal-oxide semiconductor random-access memory. A read/write memory in which the basic memory cell is a pair of MOS (metal-oxide semiconductor) transistors. It is an implementation of S-RAM that has very low power consumption, but may less dense than other S-RAM implementations. coaxial cable A transmission line in which one conductor is centered inside and insulated from an outer metal tube that serves as the second conductor. Also known as coax, coaxial line, coaxial transmission line, concentric cable, concentric line, concentric transmission line. component http://www.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01.html 4/16/2002 Page 6 of 35 An inclusive term used to identify a raw material, ingredient, part or subassembly that goes into a higher level of assembly, compound or other item. computer A device capable of accepting information, applying prescribed processes to the information, and supplying the results of these processes. configuration The joint positions of a robot and turn number of wrist that describe the robot at a specified position. Configuration is designated by a STRING value and is included in positional data for the R-J3i B system. continuous path A trajectory control system that enables the robot arm to move at a constant tip velocity through a series of predefined locations. A rounding effect of the path is required as the tip tries to pass through these locations. controller memory A medium in which data are retained. Primary storage refers to the internal area where the data and program instructions are stored for active use, as opposed to auxiliary or external storage (magnetic tape, disk, diskette, and so forth.) continuous process control The use of transducers (sensors) to monitor a process and make automatic changes in operations through the design of appropriate feedback control loops. While such devices historically have been mechanical or electromechanical, microcomputers and centralized control is now used, as well. continuous production A production system in which the productive equipment is organized and sequenced according to the steps involved to produce the product. Denotes that material flow is continuous during the production process. The routing of the jobs is fixed and set-ups are seldom changed. controlled stop A controlled stop controls robot deceleration until it stops. When a safety stop input such as a safety fence signal is opened, the robot decelerates in a controlled manner and then stops. After the robot stops, the Motor Control Contactor opens and drive power is removed. controller http://www.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01.html 4/16/2002 the length of time from when material enters a production facility until it exits. The interval of time during which an event or set of events is completed. The interval of time during which a system or process. open-loop An operation where the computer applies control directly to the process without manual intervention. such as seasonal demand or a manufacturing operation. CRT/KB Cathode ray tube/keyboard. a cycle is the length of time between the release of a manufacturing order and shipment to the customer or inventory. coordinate system See Cartesian coordinate system. control circuitry.frc. the time between completion of two discrete units of production. periodically returns to similar initial conditions. CRT See cathode ray tube. 3. operator controls. control unit The portion of a computer that directs the automatic operation of the computer.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01. http://www. and memory that directs the operation and motion of the robot and communications with external devices. A sequence of operations that is repeated regularly. The CRT/KB is used for some robot operations and for entering programs. 2. cycle 1. See control unit.Page 7 of 35 A hardware unit that contains the power supply. In production control. and initiates the proper signals to the other computer circuits to execute instructions. CPU See central processing unit. The time it takes for one such sequence to occur.html 4/16/2002 . interprets computer instructions. See throughput. An optional interface device for the R-J3i B robot system. In materials management. 2. In industrial engineering. cycle time 1. control. It can be a remote device that attaches to the robot via a cable. daisy chain configuration A communications link formed by daisy chain connection of twisted pair wire.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01. the file designs without changing the existing computer programs. data A collection of facts. numeric and alphabetical characters.html 4/16/2002 . Robotic device that has a predominantly cylindrical work envelope due to its design.Page 8 of 35 cursor An indicator on a teach pendant or CRT display screen at which command entry or editing occurs. or deleted from. daisy chain A means of connecting devices (readers. The last female connector is shorted by a suitable line termination. data base A data file philosophy designed to establish the independence of computer program from data files. or any representation of information that is suitable for communication and processing. A device that transforms digital data into analog data. DC Abbreviation for direct current. D/A value A digital-to-analog value. printers.) to a central processor by partyline input/output buses that join these devices by male and female connectors. Redundancy is minimized and data elements can be added to. D D/A converter A digital-to-analog converter. cylindrical Type of work envelope that has two linear major axes and one rotational major axis. Converts a digital bit pattern into a multilevel analog electrical system. Typically has fewer than 6 joints and typically has only 1 linear axis. etc.frc. The indicator can be a highlighted field or an arrow (> or ^). DEADMAN switch http://www. diagnostic routine A test program used to detect and identify hardware/software malfunctions in the controller and its associated I/O equipment. device Any type of control hardware.html 4/16/2002 . control pendant. locating and removing mistakes from a computer program. default The value. the absolute difference between a number and the mean of a set of numbers. or manufacturing control system. deceleration tolerance The specification of the percentage of deceleration that must be completed before a motion is considered finished and another motion can begin. Also. releasing the switch deactivates servo power and applies the robot brakes. deviation Usually. or between a forecast value and the actual data. See diagnostic routine. Pressing the DEADMAN switch while the teach pendant is on activates servo power and releases the robot brakes. function or program automatically selected if you have not specified a choice.frc. or sensor. See debugging. diagnostics Information that permits the identification and evaluation of robot and peripheral device conditions. having the states On and Off only.Page 9 of 35 A control switch on the teach pendant that is used to enable servo power. debugging The process of detecting. such as an emergency-stop button. digital A description of any data that is expressed in numerical format. display. digital control The use of a digital computer to perform processing and control tasks in a manner that http://www. solenoid valve. relay. selector switch.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01. digital signal A single point control signal sent to or from the controller. distinct entities such as bits. for example. or OFF (FALSE. 0).html 4/16/2002 . or circuit components. A battery can be used to retain the content upon loss of power. it is generally impractical to use. rotating disk. characters. D-RAM Dynamic Random Access Memory. drive power The energy source or sources for the robot servomotors that produce motion. directory A listing of the files stored on a device. bulk-storage. disk memory A non-programmable.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01. and causes all moving parts of to stop.frc. Also refers to ON/OFF type I/O blocks. 2. random-access memory consisting of a magnetized coating on one or both sides of a rotating thin circular plate. The signal represents one of two states: ON (TRUE. 1. D-RAM tends to have a higher density than S-RAM. to insert or delete characters. circuits. removes drive power from the actuators. and power consumption needs. The operator panel and teach pendant are each equipped with EMERGENCY http://www. emergency stop The operation of a circuit using hardware-based components that overrides all other robot controls.Page 10 of 35 is more accurate and less expensive than an analog control system. discrete Consisting of individual. E edit 1. Due to the support circuitry required. disk A secondary memory device in which information is stored on a magnetically sensitive. A software mode that allows creation or alteration of a program. A read/write memory in which the basic memory cell is a capacitor. To modify the form or format of data. Releasing the device stops the motion of the robot and associated equipment that might present a hazard. such as welding guns. error The difference in value between actual response and desired response in the performance of a controlled machine. paint spraying devices. Degrees F. Alarm=Error. EPROM Erasable Programmable Read Only Memory. engineering units Units of measure as applied to a process variable.frc. when continuously activated. attached to the faceplate of the robot wrist.Page 11 of 35 STOP buttons. envelope. bells. spot weld gun. tool. arc weld gun. Also called end effector or EOAT. http://www. torches. etc. end-of-arm tooling Any of a number of tools.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01. psi. end effector An accessory device or tool specifically designed for attachment to the robot wrist or tool mounting plate to enable the robot to perform its intended tasks. A device within the robot that sends the controller information about where the robot is.html 4/16/2002 . encoder 1. spray paint gun. system or process. workpiece. Velocity data is computed from the encoder signals and used as an additional feedback signal to assure servo stability. 2. Examples include gripper. enabling device A manually operated device that. etc. maximum The volume of space encompassing the maximum designed movements of all robot parts including the end effector. Semiconductor memory that can be erased and reprogrammed. for example.. The robot system uses an incremental optical encoder to provide position feedback for each joint. A transducer used to convert position data into electrical signals. permits motion. EOAT See end of arm tooling. and attachments. A non-volatile storage memory. and many other devices together.Page 12 of 35 error message A numbered message. for instance in a servo system. a series of statements or commands. 2. single. A group of related items that occupy the same space on a CRT/KB screen or teach pendant LCD screen. also used to control motion of positioning devices. The signal representing the difference between actual response and desired response that is used by the commanding unit to improve performance of the controlled machine or process. Software that can access the Ethernet and cooperate with machines connected to the cable is necessary. 2. Ethernet A Local Area Network (LAN) bus-oriented. such as one that would be accomplished through processing one statement or command. that indicates a system problem or warns of a potential problem. printers. http://www. execute To perform a specific operation.or double-link arm. hardware technology that is used to connect computers. terminal concentrators (servers). field A specified area of a record used for a particular category of data. Ethernets come in varieties such as baseband and broadband and can run on different media. The signal or data fed back to a commanding unit from a controlled machine or process to denote its response to the command signal.html 4/16/2002 . servo-controlled axis that provides extended reach capability for a robot.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01. twisted pair and fiber. or a complete program or command procedure. including in-booth rail. extended axis An optional. F faceplate The tool mounting plate of the robot. displayed on the CRT/KB and teach pendant. field items are the members of the group.frc. feedback 1. such as coax. Ethernet is a trademark of Xerox Corporation. It consists of a master cable and connection devices at each machine on the cable that allow the various devices to "talk" to each other. Field name is the name of the field. The flow of information back into the control system so that actual performance can be compared with planned performance. and equipment. 2. An organized collection of records that can be stored or retrieved by name. relay contacts. flow control A specific production control system that is based primarily on setting production rates and feeding work into production to meet the planned rates.frc. FR See Flash ROM. filter A device to suppress interference that would appear as noise. Flash File Storage A portion of FROM memory that functions as a separate storage device. All data in Flash ROM is saved even after you turn off and turn on the robot. format To set up or prepare a memory card or floppy disk so it can be used to store data in a specific system. process chart.Page 13 of 35 field devices User-supplied devices that provide information to the PLC (inputs: push buttons. such as bubble memory or disk. indicator lights. and so forth. solenoids. This concept is most successful in repetitive production. See block diagram. Flash ROM is not battery-backed memory but it is nonvolatile.) file 1. then following it through production to make sure that it is moving. flow. data. Flash ROM Flash Read Only Memory. Any file can be stored on the FROM disk. The storage device on which these records are kept. F-ROM http://www. flow chart A systems analysis tool to graphically show a procedure in which symbols are used to represent operations. limit switches. an so forth) or perform PLC tasks (outputs: motor starters.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01.html 4/16/2002 . controller. H Hand Model. FROM disk See Flash ROM. recognized and taken as a group. the mechanical. magnetic. G general override stat A percentage value that governs the maximum robot jog speed and program run speed.html 4/16/2002 . tool. washers. and so forth. controllers. In manufacturing. gripper The "hand" of a robot that picks up. the Hand Model is the set of virtual model elements (spheres and cylinders) that are used to represent the location and shape of the end of arm tooling with respect to the robot's faceplate. and other devices in the system especially with respect to GE FANUC Genius I/O. hardware 1.Page 14 of 35 See Flash ROM. bolts. In data processing. robot. gun See applicator. holds and releases the part or object being handled. or panel is built. Used in Interference Checking. group signal An input/output signal that has a variable number of digital signals. relatively standard items such as nuts. http://www. See EOAT. Sometimes referred to as a manipulator. electrical and electronic devices of which a computer. hard-wire To connect electric components with solid metallic wires.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01. clips. 2. Genius I/O bus The serial bus that provides communications between blocks. video. Having a fixed wired program or control system built in by the manufacturer and not subject to change by programming. and A through F. The protocol used to transfer HTML files between web servers. I impedance A measure of the total opposition to current flow in an electrical circuit. hazardous motion Unintended or unexpected robot motion that can cause injury. Power is maintained on the robot and program execution generally can be resumed from a hold. and hyperlinks. index An integer used to specify the location of information within a table or program. hexadecimal A numbering system having 16 as the base and represented by the digits 0 through 9.Page 15 of 35 hard-wired 1.frc. Hypertext Markup Language. graphics. Hypertext transfer protocol.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01.html 4/16/2002 . incremental encoder system A positional information system for servomotors that requires calibrating the robot by moving it to a known reference position (indicated by limit switches) each time the robot is turned on or calibration is lost due to an error condition. 2. http. A markup language that is used to create hypertext and hypermedia documents incorporating text. index register http://www. Interconnection of electrical and electronic devices directly through physical wiring. sound. HTML. hold A smoothly decelerated stopping of all robot movement and a pause of program execution. tools. or specialized devices through variable programmed motions in order to perform a variety of tasks. generally done the first time the code is executed during each run. sequencing. end effectors. and analog devices. initialize 1. Examples are limit switches. initial. The device used to accomplish this transfer of data. input/output Information or signals transferred between devices. or hardware device to an original state. See data. information The meaning derived from data that have been arranged and displayed in a way that they relate to that which is already known. 2. See startup. as well as communication interfaces for interlocking. industrial robot A reprogrammable multifunctional manipulator designed to move material. industrial robot system A system that includes industrial robots. converts data from the form in which it has been received into electronic signals that can be interpreted by the CPU or programmable controller. pressure switches. Setting all variable areas of a computer program or routine to their desired initial status. or monitoring the robot. push buttons.html 4/16/2002 . A program or hardware circuit that returns a program a system.Page 16 of 35 A memory device containing an index. any equipment devices and sensors required for the robot to perform its tasks. input/output control http://www.frc. input processing time The time required for input data to reach the microprocessor. digital encoders. discreet electrical signals for external control. input device A device such as a terminal keyboard that. through mechanical or electrical action. parts. input The data supplied from an external device to a computer for processing.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01. interference zone An area that falls within the work envelope of a robot. interlock An arrangement whereby the operation of one control or mechanism brings about. or prevents.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01. Interrupts are initiated by two types of signals: 1. interrupt A break in the normal flow of a system or program that occurs in a way that the flow can be resumed from that point at a later time. The method or equipment used to communicate between devices. signals originating within the computer system to synchronize the operation of the computer system with the outside world. To connects a PLC with the application device.Page 17 of 35 A technique for controlling capacity where the actual output from a work center is compared with the planned output developed by CRP. generally silicon. in which there is the potential for the robot motion to coincide with the motion of another robot or machine. interface 1. integrated circuit A solid-state micro-circuit contained entirely within a chip of semiconductor material. and for a collision to occur. Also called chip. I/O Abbreviation for input/output or input/output control. The input is also monitored to see if it corresponds with plans so that work centers will not be expected to generate output when jobs are not available to work on. the operations of another. 2. A concept that involves the specifications of the inter-connection between two equipments having different functions. I/O block http://www. signals originating exterior to the computer system to synchronize the operation of the computer system with the outside world.frc. and peripherals through various modules and cables. 3.html 4/16/2002 . interactive Refers to applications where you communicate with a computer program via a terminal by entering data and receiving responses from the computer. 2. communications channel. Page 18 of 35 A microprocessor-based, configurable, rugged solid state device to which field I/O devices are attached. I/O electrical isolation A method of separating field wiring from logic level circuitry. This is typically done through optical isolation devices. I/O module A printed circuit assembly that is the interface between user devices and the Series Six PLC. I/O scan A method by which the CPU monitors all inputs and controls all outputs within a prescribed time. A period during which each device on the bus is given a turn to send information and listen to all of the broadcast data on the bus. ISO The International Standards Organization that establishes the ISO interface standards. isolation 1. The ability of a logic circuit having more than one inputs to ensure that each input signal is not affected by any of the others. 2. A method of separating field wiring circuitry from logic level circuitry, typically done optically. item 1. A category displayed on the teach pendant on a menu. 2. A set of adjacent digits, bits, or characters that is treated as a unit and conveys a single unit of information. 3. Any unique manufactured or purchased part or assembly: end product, assembly, subassembly, component, or raw material. J jog coordinate systems Coordinate systems that help you to move the robot more effectively for a specific application. These systems include JOINT, WORLD, TOOL, and USER. JOG FRAME A jog coordinate system you define to make the robot jog the best way possible for a specific application. This can be different from world coordinate frame. http://www.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01.html 4/16/2002 Page 19 of 35 jogging Pressing special keys on the teach pendant to move the robot. jog speed Is a percentage of the maximum speed at which you can jog the robot. joint 1. A single axis of rotation. There are up to six joints in a robot arm (P-155 swing arm has 8). 2. A jog coordinate system in which one axis is moved at a time. JOINT A motion type in which the robot moves the appropriate combination of axes independently to reach a point most efficiently. (Point to point, non-linear motion). joint interpolated motion A method of coordinating the movement of the joints so all joints arrive at the desired location at the same time. This method of servo control produces a predictable path regardless of speed and results in the fastest cycle time for a particular move. Also called joint motion. K K Abbreviation for kilo, or exactly 1024 in computer jargon. Related to 1024 words of memory. KAREL The programming language developed for robots by the FANUC Robotics North America, Inc. L label An ordered set of characters used to symbolically identify an instruction, a program, a quantity, or a data area. LCD See liquid crystal display. http://www.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01.html 4/16/2002 Page 20 of 35 lead time The span of time needed to perform an activity. In the production and inventory control context, this activity is normally the procurement of materials and/or products either from an outside supplier or from one's own manufacturing facility. Components of lead time can include order preparation time, queue time, move or transportation time, receiving and inspection time. LED See Light Emitting Diode. LED display An alphanumeric display that consists of an array of LEDs. Light Emitting Diode A solid-state device that lights to indicate a signal on electronic equipment. limiting device A device that restricts the work envelope by stopping or causing to stop all robot motion and that is independent of the control program and the application programs. limit switch A switch that is actuated by some part or motion of a machine or equipment to alter the electrical circuit associated with it. It can be used for position detection. linear A motion type in which the appropriate combination of axes move in order to move the robot TCP in a straight line while maintaining tool center point orientation. liquid crystal display A digital display on the teach pendant that consists of two sheets of glass separated by a sealed-in, normally transparent, liquid crystal material. Abbreviated LCD. load 1. The weight (force) applied to the end of the robot arm. 2. A device intentionally placed in a circuit or connected to a machine or apparatus to absorb power and convert it into the desired useful form. 3. To copy programs or data into memory storage. location http://www.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01.html 4/16/2002 Page 21 of 35 1. A storage position in memory uniquely specified by an address. 2. The coordinates of an object used in describing its x, y, and z position in a Cartesian coordinate system. lockout/tagout The placement of a lock and/or tag on the energy isolating device (power disconnecting device) in the off or open position. This indicates that the energy isolating device or the equipment being controlled will not be operated until the lock/tag is removed. log A record of values and/or action for a given function. logic A fixed set of responses (outputs) to various external conditions (inputs). Also referred to as the program. loop The repeated execution of a series of instructions for a fixed number of times, or until interrupted by the operator. M mA See milliampere. machine language A language written in a series of bits that are understandable by, and therefore instruct, a computer. This is a "first level" computer language, as compared to a "second level" assembly language, or a "third level" compiler language. machine lock A test run option that allows the operator to run a program without having the robot move. macro A source language instruction from which many machine-language instructions can be generated. magnetic disk A metal or plastic floppy disk that looks like a phonograph record whose surface can http://www.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01.html 4/16/2002 Page 22 of 35 store data in the form of magnetized spots. magnetic disk storage A storage device or system consisting of magnetically coated metal disks. magnetic tape Plastic tape, like that used in tape recorder, on which data is stored in the form of magnetized spots. maintenance Keeping the robots and system in their proper operating condition. MC See memory card. mechanical unit The robot arm, including auxiliary axis, and hood/deck and door openers. medium plural media . The physical substance upon which data is recorded, such as a memory card or floppy disk. memory A device or media used to store information in a form that can be retrieved and is understood by the computer or controller hardware. Memory on the R-J3i B system includes C-MOS RAM, Flash ROM and D-RAM. memory card A C-MOS RAM memory card or a flash disk-based PC card. menu A list of options displayed on the teach pendant screen. message A group of words, variable in length, transporting an item of information. microprocessor A single integrated circuit that contains the arithmetic, logic, register, control and http://www.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01.html 4/16/2002 and linkage editing.html 4/16/2002 .com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01. Connection of geographically separated computers and/or terminals over communications lines.frc. "Global networking" is the ability to provide communications connections outside of the robot's internal system. the Obstacle Model is the set of virtual model elements http://www. mode 1. module A distinct and identifiable unit of computer program for such purposes as compiling. microsecond One millionth (0. One of several alternative conditions or methods of operation of a device. Abbreviated mA. linear. loading. and circular. non-volatile memory Memory capable of retaining its stored information when power is turned off. millisecond One thousandth of a second. N network 1. 2. It is eventually combined with other units to form a complete program.000001) of a second milliampere One one-thousandth of an ampere. Used in Interference Checking. MOTYPES include joint.Page 23 of 35 memory elements of a computer. The interconnection of a number of devices by data communication facilities. 2. O Obstacle Model. motion type A feature that allows you to select how you want the robot to move from one point to the next. The control of transmission is managed by a standard protocol. Abbreviated msec. The most common or frequent value in a group of values. "Local networking" is the communications network internal to a robot. and stop the intended productive operation of a robot or robot system. off-line programming The development of programs on a computer system that is independent of the "onboard" control of the robot. and the robot itself. cylinders. the workpiece.Page 24 of 35 (spheres. operating system Lowest level system monitor program. This includes the maximum the end-effector. Used to correct subsequent non-zero measurements also incremental position or frame adjustment value. For example.frc. offset The count value output from a A/D converter resulting from a zero input analog voltage. operator A person designated to start. and planes) that are used to represent the shape and the location of a given obstacle in space. monitor.html 4/16/2002 . http://www. off-line operations Data processing operations that are handled outside of the regular computer program. The resulting programs can be copied into the robot controller memory. the computer might generate a report off-line while the computer was doing another job. on-line A term to describe equipment or devices that are connected to the communications line.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01. off-line Equipment or devices that are not directly connected to a communications line. as they occur. operating work envelope The portion of the restricted work envelope that is actually used by the robot while it is performing its programmed motion. on-line processing A data processing approach where transactions are entered into the computer directly. OR An operation that places two contacts or groups of contacts in parallel. the reference point that defines the location of a frame. that receive data from the programmable controller.Page 25 of 35 operator box A control panel that is separate from the robot and is designed as part of the R-J3i B system. orientation The attitude of an object in space. and rotation about z (r). It consists of the buttons. also a mathematical operation. Any of the contacts can control the resultant status. such as starter motors. and indicator lights needed to operate the system. origin The point in a Cartesian coordinate system where axes intersect. optional features Additional capabilities available at a cost above the base price. operator panel A control panel designed as part of the R-J3i B system and consisting of the buttons. Commonly described by three angles: rotation about x (w). OT See overtravel.frc.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01. rotation about y (p). output Information that is transferred from the CPU for control of external devices or processes.html 4/16/2002 . http://www. output module An I/O module that converts logic levels within the CPU to a usable output signal for controlling a machine or process . switches. solenoids. switches. output device A device. and indicator lights needed to operate the system. overtravel A condition that occurs when the motion of a robot axis exceeds its prescribed limits. pascal A unit of pressure in the meter-kilogram-second system equivalent to one newton per square meter. of a set of binary digits.html 4/16/2002 . parity error A condition that occurs when a computed parity check does not agree with the parity bit. P parity The anticipated state. odd or even.frc. that controls external devices based upon commands from the CPU. parity check A check that tests whether the number of ones (or zeros) in an array of binary digits is odd or even.Page 26 of 35 outputs Signals. part A material item that is used as a component and is not an assembly or subassembly. override See general override. path http://www.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01. overwrite To replace the contents of one file with the contents of another file when copying. typically on or off. parity bit A binary digit added to an array of bits to make the sum of all bits always odd or always even. 4. PC Interface The PC Interface software uses Ethernet connections to provide file transfer protocol (FTP) functions. A variable type available in the KAREL system that consists of a list of positions. To teach a robot system a specific set of movements and instructions to http://www. A plan for the solution of a problem. and host communications. coding for the computer. 3. This function can be used to control bulk supply systems. PLC See programmable logic controller or cell controller. fixed automation that is part of the robot workcell. PC send macros. A sequence of instructions to be executed by the computer or controller to control a robot/robot system.html 4/16/2002 . Each node includes positional information and associated data. telnet interface. and whose back is printed with electrically conductive pathways between the components. 2.frc. To furnish a computer with a code of instructions.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01. This provides the capability to use the robot I/O system to run PLC programs in the background of normal robot operations. A complete program includes plans for the transcription of data. printed circuit board A flat board whose front contains slots for integrated circuit chips and connections for a variety of electronic components. pendant See teach pendant. program 1. PMC The programmable machine controller (PMC) functions provide a ladder logic programming environment to create PMC functions. or other devices that would normally require basic PLC controls. PCB See printed circuit board. and plans for the absorption of the results into the system. TCP/IP interface web server functions. The trajectory followed by the TCP in a move. production mode See automatic mode. 2.Page 27 of 35 1. Waiting lines resulting from temporary delays in providing service.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01. random access A term that describes files that do not have to be searched sequentially to find a particular record but can be addressed directly. Program ToolBox The Program ToolBox software provides programming utilities such as mirror image and flip wrist editing capabilities. PSI Pounds per square inch.html 4/16/2002 . implements them in a precise pattern determined by ladder diagram-based programs stored in the user memory.Page 28 of 35 do a task. and provides outputs for control of processes or user-supplied devices such as relays and motor starters. programmable controller See programmable logic controller or cell controller. programmable logic controller A solid-state industrial control device that receives inputs from user-supplied control devices.frc. Random Access Memory http://www. R RAM See Random Access Memory. 2. such as switches and sensors. protocol A set of hardware and software interfaces in a terminal or computer that allows it to transmit over a communications network. 1. and that collectively forms a communications language. See also job queue. Q queue. The amount of time a job waits at a work center before set-up or work is performed on the job. Read Only Memory A digital memory containing a fixed pattern of bits that you cannot alter. register 1. read To copy. To sense the presence of information on a recording medium. battery backup is required. A programmable voltage or current spectrum of values to which input or output analog signals can be limited. usually from one form of storage to another. Volatile. solid-state memory used for storage of programs and locations. In statistics. particularly from external or secondary storage to internal storage.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01. All the values that a function can possess. recovery The restoration of normal processing after a hardware or software malfunction through detailed procedures for file backup. with remote devices being attached over http://www. file restoration. 2. 2.frc. 2. the spread in a series of observations. remote/local A device connection to a given computer. To sense the meaning of arrangements of hardware. A characterization of a variable or function. 3.Page 29 of 35 1. RO Robot output.html 4/16/2002 . A memory device capable of containing one or more computer bits or words. A special section of primary storage in a computer where data is held while it is being worked on. record To store the current set or sets of information on a storage device. RI Robot input. The working memory of the controller. range 1. Programs and variable data must be loaded into RAM before the program can execute or the data can be accessed by the program. and transaction logging. restricted work envelope That portion of the work envelope to which a robot is restricted by limiting devices that establish limits that will not be exceeded in the event of any reasonably foreseeable failure of the robot or its controls. repeatability The closeness of agreement among the number of consecutive movements made by the robot arm to a specific point. Generally. the computer can be a remote device to the CPU controlling the network.Page 30 of 35 communications lines and local devices attached directly to a computer channel. The maximum distance the robot can travel after the limited device is actuated defines the restricted work envelope of the robot. Each model element represents a link or part of the robot arm. RIA Robotic Industries Association Subcommittee of the American National Standards Institute. repair To restore robots and robot systems to operating condition after damage. Inc. the structure of a six axes robot can be accurately modeled as a series of cylinders and spheres. or specialized devices.html 4/16/2002 . or wear. tools. in a network. Robot Model. reset To return a register or storage location to zero or to a specified initial condition. the Robot Model is the set of virtual model elements (sphere and cylinders) that are used to represent the location and shape of the robot arm with respect to the robot's base. robot A reprogrammable multifunctional manipulator designed to move material.frc. parts. ROM See Read Only Memory. through variable programmed motions for the performance of a variety of tasks. Used in Interference Checking.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01. malfunction. routine http://www. magnetism. or memory card. scratch start Allows you to enable and disable the automatic recovery function. or motion.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01. Storing program data in Flash ROM. A list of coded instructions in a program. SO System output. sound pressure. light. operating a control or both. serial interface A method of data transmission that permits transmitting a single bit at a time through a single line. Also a device that is used to measure or adjust differences in voltage in order to control sophisticated machinery dynamically. to a floppy disk. Also called a "smart" motor. and transmits the resulting signal or data for providing a measurement. SI System input.frc. S saving data. sensor A device that responds to physical stimuli. servomotor An electric motor that is controlled to produce precision motion. 2.html 4/16/2002 . serial communication A method of data transfer within a PLC whereby the bits are handled sequentially rather than simultaneously as in parallel transmission. such as heat.Page 31 of 35 1. http://www. A series of computer instructions that performs a specific task and can be executed as often as needed during program execution. Server Side Include (SSI) A method of calling or "including" code into a web page. Used where high speed input is not necessary. state The on or off condition of current to and from and input or output device. S-RAM A read/write memory in which the basic memory cell is a transistor.frc.html 4/16/2002 . or "least significant bit. significant bit A bit that contributes to the precision of a number. and memory cards. Also known as tier sheet. These are counted starting with the bit that contributes the most value. floppy disks. Flash ROM (FROM or F-ROM). The specific gravity of a dispensing material is listed on the MSDS for that material.Page 32 of 35 signal The event. specific gravity The ratio of a mass of solid or liquid to the mass of an equal volume of water at 45C.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01. A battery can be used to retain the content upon loss of power. or electrical quantity that conveys information from one point to another. statement See instruction. system variable http://www." and ending with the bit that contributes the least value. phenomenon. Standard Operator Panel (SOP). of "most significant bit. retain." slip sheet A sheet of material placed between certain layers of a unit load. You must know the specific gravity of the dispensing material to perform volume signal calibration. storage device Any device that can accept. A panel that is made up of buttons. and connector ports. keyswitches. S-RAM tends to have a lower density than D-RAM. and read back one or more times. The available storage devices are S-RAM. teach mode 1. Positional data can be taught using the teach pendant to move the robot through a series of positions and recording those positions for use by an application program. termination type Feature that controls the blending of robot motion between segments. 2. T Tare The difference between the gross weight of an object and its contents. usually by guiding it through these motions using a teach pendant. The generation and storage of positional data. specifying the character and types of motions it is to undertake. 2. The teach pendant is used for robot operations such as jogging the robot. teaching and recording positions. The mode of operation in which a robot is instructed in its motions.frc. and the object itself.Page 33 of 35 An element that stores data used by the R-J3i B system to indicate such things as robot specifications. telemetry The method of transmission of measurements made by an instrument or a sensor to a remote location. consisting of an LCD display and a keypad. that serves as a user interface to the KAREL system and attaches to the operator box or operator panel via a cable. and testing and debugging programs. teach pendant 1.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01.html 4/16/2002 . TCP See tool center point. A hand-held device used to instruct a robot. application requirements. The weight of an object without its contents. Also known as teach box. teaching Generating and storing a series of positional data points effected by moving the robot arm through a path of intended motions. A portable device. and the current status of the system. tool A term used loosely to define something mounted on the end of the robot arm. for http://www. teach gun. USER Frame The Cartesian coordinate system that you can define for a specific application. TP. gripper. TOOL Frame The Cartesian coordinate system that has the position of the TCP as its origin to stet. See teach pendant.Page 34 of 35 example. The default value of the User Frame is the World Frame. 2. that is. The location on the end-effector or tool of a robot hand whose position and orientation define the coordinates of the controlled object. The z-axis of the tool frame indicates the approach vector for the tool. a hand. or an arc welding torch. Abbreviated UOP . tool center point 1.frc. http://www. All positional data is recorded relative to User Frame.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01. V variable A quantity that can assume any of a given set of values. the point on the tool that is used to teach positions. U UOP See user operator panel. Reference point for position control. transducer A device for converting energy from one form to another. Abbreviated TCP. URL Universal Resource Locator. A standard addressing scheme used to locate or reference files on web servers. User Operator Panel User-supplied control device used in place of or in parallel with the operator panel or operator box supplied with the controller.html 4/16/2002 . volatile memory Memory that will lose the information stored in it if power is removed from the memory circuit device. warning device An audible or visible device used to alert personnel to potential safety hazards. and the robot itself. vision system A device that collects data and forms an image that can be interpreted by a robot computer to determine the position or to "see" an object. http://www.html 4/16/2002 . work envelope The volume of space that encloses the maximum designed reach of the robot manipulator including the end effector. the workpiece. also statistics definitions. The work envelope can be reduced or restricted by limiting devices.com/edoc/latest/latest_software/maro62int09011e_rev_a/gl01. W web server An application that allows you to access files on the robot using a standard web browser. write To deliver data to a medium such as storage. The maximum distance the robot can travel after the limit device is actuated is considered the basis for defining the restricted work envelope.Page 35 of 35 variance The difference between the expected (or planned) and the actual.frc.
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