YAMAHA Tool for Optimizing Parameters RD series TOP User’s Manual ENGLISH E E98-Ver. 1.
Note to the user Keep this manual handy so that anyone using this software can easily refer to it when needed. Before installing and operating "TOP for Windows" (hereafter called "TOP software" or "TOP"), read this manual carefully to understand RD series functions and comply with its safety information, precautions, and operating and handling instructions. Always use the TOP software while staying within the specification limits stated in this manual.
Safety precautions Safety precautions Safety precautions To use this software correctly and safely, always read this manual and all other attached documents carefully before use. Use this software only after you are thoroughly familiar with its features and functions, safety information and precautions. This manual classifies safety caution items into the following alert levels, using the signal words "DANGER" and "CAUTION".
General Contents Chapter 1 How to install 1. Installing the TOP software 1-1 1.1 Check before installation 1-1 1.2 Installing the TOP software 1-2 1.3 Uninstalling the TOP software 1-7 1.4 Upgrading the software version 1-9 Chapter 2 Connecting to the robot driver 2. Connecting to the robot driver 2-1 2.1 Connection cable 2-2 2.2 Connecting to the robot driver 2-2 Chapter 3 Operating Procedures 3. Operating Procedures 3-1 3.1 3-1 Starting and exiting 3.1.
3.6 Changing the communication format 3-45 3.7 Generation setup 3-46 Chapter 4 Troubleshooting Guide 4. Troubleshooting guide 4-1 4.1 If failed to connect to the robot driver 4-1 4.2 If failed to write parameters 4-1 4.3 If failed to load parameters 4-2 4.4 If failed to initialize parameters 4-2 4.5 If operation trace does not run correctly 4-2 Chapter 5 Appendix 5. Appendix 5-1 5.1 Files copied to system 5-1 5.2 Connection to a PC with no serial port (RS-232C) 5-2 5.2.
Chapter 1 How to install This chapter explains what you need to check before installing the TOP software and how to install it. This chapter also describes how to uninstall the TOP software and how to upgrade the software version. Contents 1. Installing the TOP software 1-1 1.1 Check before installation 1-1 1.2 Installing the TOP software 1-2 1.3 Uninstalling the TOP software 1-7 1.
1. How to install 1. Installing the TOP software 1 1.1 Check before installation (1) Hard disk space Before beginning installation, check that the hard disk where you will install the TOP software has at least 30MB of free space. (2) PC and OS Check that the PC and OS meet the following requirements: PC : Computer with Pentium or 100% compatible processor OS : Microsoft Windows 95 or later, or Windows NT 4.
1. How to install 1.2 Installing the TOP software 1 1. Start Windows. (The following steps are explained using Windows XP screens.) How to install 2. Quit unnecessary resident programs. (Software installation might become unstable or fail if a resident program is running.) 3. Insert the CD-ROM containing the TOP software into the CD-ROM drive. The setup program will automatically start up. (If it does not start up, open the CDROM drive icon and double-click "ToPforWinLaunch" to start the setup program.
1. How to install 6. The following dialog box then appears. Select the language you want to use with the TOP software and click the [Next] button. 1 How to install 7. The following dialog box appears showing the progress of installation preparation. Another screen then appears when the preparation is complete. Click the [Next] button to continue installation.
1. How to install 1 8. When the following screen appears, select the folder where the TOP software will be installed. If you want to change the default destination folder, click the [Browse] button and specify the folder to install the software. After selecting the folder, click the [Next] button. How to install 9. Click the [Next] button without entering anything. 10. The installer starts installing the software.
1. How to install The following screen appears when the installation is complete. Click the [Finish] button. 1 How to install 11. The following dialog box then appears. Click the [Yes] button to install robot data. 12. The "Install data" dialog box then appears. Select "Install all data" or "Install individual data", and click the [Start installation] button.
1. How to install 13. A confirmation dialog box appears. Click the [Yes] button to start installing data. 1 How to install 14. The following dialog box appears when the installation is complete. Click the [OK] button.
1. How to install 1.3 Uninstalling the TOP software Use the following procedure to uninstall the TOP software. (The procedure is explained using Windows XP screens.) 1 1. Open the "Control Panel" and double-click the [Add or Remove Programs] icon. How to install 2. When the list of installed programs appears, select the [Change or Remove Programs] icon on the left side. Scroll the list of programs as needed and select "TOP for Windows".
1. How to install 3. After selecting "TOP for Windows", click the [Remove] button. 1 How to install 4. The uninstall program starts and the following message then appears. Click the [OK] button to start removing the TOP software.
1. How to install 5. The following screen appears when the software has been removed. Click the [Finish] button to end the uninstallation. 1 How to install 1.4 Upgrading the software version To upgrade the TOP software, first uninstall the current version as described in the previous section and then install the new version. Please contact us for information on the latest version and software version upgrading.
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Chapter 2 Connecting to the robot driver This chapter describes the cable for connecting the PC to the robot driver and explains how to make the connection. Contents 2. Connecting to the robot driver 2-1 2.1 Connection cable 2-2 2.
2. Connecting to the robot driver 2. Connecting to the robot driver Precautions when connecting/disconnecting the cable c Precautions during use c CAUTION 1. When reconnecting the PC cable to the robot driver, always first quit the TOP software. Then reconnect the cable and restart the TOP software. Failure to follow this procedure may cause the TOP software and PC to malfunction. 2. Do not turn off the robot driver control power while initialization or parameter rewriting is in progress.
2. Connecting to the robot driver 2.1 Connection cable Assemble the connection cable as shown in the wiring diagram below, or use the assembled PC cable as shown below. 2 Wiring diagram PC side Robot driver side Connecting to the robot driver 1 8 8-pin modular connector 1 2 3 4 5 6 7 8 GND – – ER2 SD RD DR RS 1 DCD 2 RxD 3 TxD 4 DTR 5 GND 6 DSR 7 RTS 8 CTS 9 – 9-pin D-sub (female) 8 pins PC cable Robot driver side PC side 8-pin modular connector 9-pin D-sub connector 2.
Chapter 3 Operating Procedures This chapter describes how to start and exit the TOP software, monitor operation, make parameter setups, perform operation trace and test runs, and change the communication format. Contents 3. Operating Procedures 3-1 3.1 Starting and exiting 3-1 3.1.1 3.1.2 Starting the TOP software Exiting the TOP software 3.2 Monitor function 3.2.1 3.2.2 Starting the monitor function Monitor display window description 3.3 Parameter setup function 3-6 3.3.1 3.3.2 3.3.3 3.3.
3. Operating Procedures 3. Operating Procedures 3.1 Starting and exiting 3.1.1 Starting the TOP software 3 1. From the Start menu on the Windows taskbar, select "Programs" (or "All Programs"), point to "TOP for Windows" and click "TopWin". Operating Procedures 2. The software then starts and displays the opening screen. [Connect] button < If the wrong motor type was selected > The following message appears if the robot driver is a rotary motor type.
3. Operating Procedures Note 1: The PC will not connect to the robot driver if any screen other than the opening screen is already displayed. Note 2: Applicable robots for the RD series robot drivers are as follows: (See the robot driver user's manual for detailed information.) RDX-05, RDX-10, RDX-20 .... Robot drivers for rotary motor RDP-05, RDP-10, RDP-20 .... Robot drivers for linear motor 3 Operating Procedures 3. Click the [Connect] button to connect to the robot driver.
3. Operating Procedures 3.1.2 Exiting the TOP software (1) To exit the TOP software 1. Close all open screens except the opening screen. 2. Click the [Disconnect] button if currently connected to the robot driver. 3. Click the [Exit] button on the opening screen. 3 Operating Procedures [Exit] button (2) To disconnect the communication 1. Close all open screens except the opening screen. 2. Click the [Disconnect] button on the opening screen.
3. Operating Procedures 3.2 Monitor function The monitor function allows you to check operation information in real time. 3.2.1 Starting the monitor function Click the [Monitor display] button on the opening screen. The "Monitor display" window then appears as shown below. 3 Operating Procedures Click this button to start the monitor.
3. Operating Procedures 3.2.2 Monitor display window description The "Monitor display" window is described below. Shows input terminal status in real time (0: OFF; 1: ON). Shows operation information in real time. Shows output terminal status in real time (0: OFF; 1: ON). 3 Operating Procedures (Note) (Note) (Note) (Note) (Note) Shows alarm log. The larger the number, the older the log.
3. Operating Procedures 3.3 Parameter setup function The parameter setup function allows you to set and control the robot driver parameters. 3.3.1 Starting the parameter setup function Click the [Parameter setting] button on the opening screen. The "Parameter setting" window then appears as shown below. 3 Operating Procedures Click this button to start the parameter setup function.
3. Operating Procedures 3.3.2 Parameter setting window description The "Parameter setting" window is displayed as shown below. Open Save As Print Read 3 Write Default Parameter group tabs: Select the tab for the parameter group you want to set. The current value (parameter data in the robot driver) can be changed by changing the setting value and writing the parameters. Parameter names Parameter data in robot driver Parameter data in PC 3-7 Operating Procedures You can type a title here.
3. Operating Procedures 3.3.3 Changing the parameters This section explains how to change parameters, using the following two examples. • Select from the drop-down list --- [Example 1] To change the pulse train input mode (FA-11). • Directly enter a value 3 --- [Example 2] To change the electronic gear denominator (FA-13). [Example 1] To change the pulse train input mode (FA-11). Operating Procedures 1.
3. Operating Procedures 4. The following screen then displays. To proceed with the operation, click the [OK] button. 3 6. When finished rewriting the parameter, the setting shown in red turns black and the asterisk (*) placed on the right side disappears. Note 1: An error is displayed on the screen if an attempt is made to rewrite a parameter that is write-prohibited during servo-on.
3. Operating Procedures [Example 2] To change the electronic gear denominator (FA-13). 1. Select the [FA] tab, place the mouse pointer in the "Setting value" field for FA-13, and enter a new setting. Select the [FA] tab. 3 Operating Procedures 2. Verify that the "Setting Value" changes to red, and that an asterisk displays to its right. 3. Select "Write" from the "Parameter" menu or click the button on the toolbar. 4. The following screen then displays.
3. Operating Procedures 5. The following message then appears indicating the parameter is being written. 6. When the parameter has been rewritten, the setting shown in red turns black and the asterisk (*) placed on the right side disappears. 3 Operating Procedures Note 1: An error is displayed on the screen if an attempt is made to rewrite a parameter that is write-prohibited during servo-on.
3. Operating Procedures 3.3.4 Saving the parameters The parameters can be saved and managed as files. 1. In the "Parameter setting" window, select "Save As" from the "File" menu or click the button on the toolbar. 3 Operating Procedures 2. Specify the file save location and the file name, then press the [Save (S)] button to save the data. The file can be saved in either of the following two different formats: CSV: Saves a file in comma-separated value format.
3. Operating Procedures 3.3.5 Loading the parameters Files saved as described in the preceding section can be loaded to set the parameters. 1. In the "Parameter setting" window, select "Open" from the "File" menu or click the button on the toolbar. 3 Operating Procedures 2. Specify the location and name of the file to be load, then press the [OPEN (O)] button to load the file. Note: Only CSV files can be loaded. 3.
3. Operating Procedures 3.3.6 Retuning to the default setting All parameters can be returned to their default settings (factory settings) and the trip history can be cleared using the pulldown menu or toolbar button. 3 Note: Initializing the data can not return the robot's default parameters. To return the robot's default parameters, first initialize the data, then perform a generation operation. For this procedure, see section 3.7, "Generation setup". 1.
3. Operating Procedures 3.3.7 Printing the parameters Parameter data can be printed out as a report. 1. In the "Parameter setting" window, select "Print" from the "File" menu or click the button on the toolbar. 3 Operating Procedures 2. When the printer setup dialog box appears, enter the items needed to make the printout and print out the data. 3.3.8 Robot driver replacement procedure This section explains the robot driver replacement procedure. 1.
3. Operating Procedures 3.4 Operation trace function This function allows you to visually check the robot and robot driver operation. The table below shows traceable items and control states.
3. Operating Procedures 3.4.1 Starting the operation trace function The "Trace display" window opens when you click the [Trace operation] button on the opening screen. 3 Click this button to start the operation trace.
3. Operating Procedures 3.4.2 Trace display window description The "Trace display" window is described below. Open Save As Print Start Operation Trace 3 Clear Graph You can type a title here. (The title appears when a print-out is made.) Trace Setup Operating Procedures Time at t1-axis cursor line Trigger point Time axis scale t1, t2-axis cursor lines $t: Time difference 1/$t: Frequency This cursor line appears by dragging the mouse on the t1-axis graph while holding down the left mouse button.
3. Operating Procedures 3.4.3 Operation trace sequence 1. Open the "Trace display" window. 3 Operating Procedures 2. Set the trace conditions. (For the setup procedure, see 3.4.4, "Setting the operation trace conditions".) on the toolbar. Select "Trace setting" from the "Trace operation" menu or click 3. After setting the conditions, click the [OK] button.
3. Operating Procedures 4. Start operation trace. Select "Trace Start" from the "Trace operation" menu or click on the toolbar. The following message appears when operation trace has started. 3 Operating Procedures 5. When the trigger conditions are met or when you click the [Manual trigger] button in the above message box, the robot driver transfers data to the PC and the following dialog box appears.
3. Operating Procedures 3.4.4 Setting the operation trace conditions To set the operation trace conditions, open the "Trace setting" window as explained below. on the toolbar. Select "Trace setting" from the "Trace operation" menu or click After setting the trace conditions by referring to the procedures below, click the [OK] button to close the "Trace setting" window. 3 (1) To set the analog trace conditions: 2. Select the trace item from the "Trace object" drop-down list.
3. Operating Procedures (2) To set the digital trace conditions: 1. Select the check boxes for the channels you want to enable. Up to 4 channels of digital contacts can be traced. 2. Select the trace item from the "Trace object" drop-down list. (All input/output terminal data is selectable as trace items. For details on the trace items, see the trace item table shown in 3.4, "Operation trace function".) 3 3. From the drop-down list, select the name of the terminal to be traced.
3. Operating Procedures 3.4.5 Setting the graph display (1) Setting the X-axis direction The toolbar buttons above each graph allow you to extend the graph in the X-axis direction or return it to standard size. Use the following toolbar buttons. Click to zoom in the X-axis in one step. Click to zoom out the X-axis in one step. 3 Click to change Y-axis scale. The following window then opens. Enter the maximum and minimum scales and then click the [OK] button.
3. Operating Procedures (3) Hiding a graphed line You can hide a graphed line by clearing the check box as described below. To redisplay the graphed line, reselect the check box by placing a check mark. Click this check box to show or hide the graphed line. 3 Operating Procedures (4) Clearing the graphs in the window To erase the graphs displayed in the window, select "Clear display" from the "Trace operation" menu or click on the toolbar.
3. Operating Procedures 3.5 Test run and adjustment functions This section describes the functions useful for a test run. 3.5.1 Jog Jog can be run from a PC. Jog operation allows you to make wiring checks for the robot driver, robot and power supply. (No outside connections to the I/O connector are needed for jog operation.) (1)-A Normal jog operation The robot moves at a constant speed specified by the speed command until a stop command is received.
3. Operating Procedures To run normal jog: 1. Click the [Test run and Adjustment] button on the opening screen. The "Test run and Adjustment" window appears as shown below. Click the [Jogging] tab. 3 Click this button to start test run and adjustment mode. Operating Procedures Note: If the "Monitor display" window is open, close it before starting the test run and adjustment mode.
3. Operating Procedures 2. Enter the speed command in the "Jogging speed" box (2). Note: When "Linear Motor" is selected, the units are "mm/s". 3. Check safety and then click the [Forward] or [Reverse] button (3) that indicates the direction to move the robot. (The robot will start moving in the specified direction.) 3 Note1: The robot moves during this operation, so check safety before starting operation. (2) Note 1 (3) 4. To stop operation (turn off the servo), click the [Stop] button (4).
3. Operating Procedures (1)-B Pulse feed jog operation In this jog operation, the robot moves in position control mode up to the position specified by the position command. Note 1: Do not input any signals through the I/O connector including the SON terminal during this operation. Doing so runs the operation according to the input terminal. 3 Note 2: In this jog operation, the robot moves at an acceleration/deceleration time of 0 seconds and the current control gain and speed limit settings.
3. Operating Procedures 3. Check safety and then click the [Forward] or [Reverse] button (B). (The robot will start moving in the specified direction and stop at the position specified by the command.) Note1: The robot moves during this operation, so check safety before starting operation. Note2: When a PHASER series robot is used, magnetic pole position finding must be performed before this operation.
3. Operating Procedures 3.5.2 Offline tuning The total inertia including motor inertia can be approximately calculated in offline mode. Use the following procedures to run offline tuning. 3 Operating Procedures Note 1: The robot driver parameters are factory set to ensure that the robot operates normally. Use of this function is not required except in cases where robot follow-up response is poor, where operation is abnormal, or when adjusting the parameter data.
3. Operating Procedures 2. Set the following parameters that are required for tuning. (A) Note 1 Operating Procedures (C) 3 (B) Note 2 (D) (E) Note 3 (A) Cut-off frequency (fc) setting Set the cut-off frequency for controlling the speed during auto-tuning. Set a value that will not cause hunting. (B) Initial value of tuning moment of inertia Set the moment of inertia at start of auto-tuning. Tuning will end quickly if setting this to a value that you know will roughly match the moment of inertia.
3. Operating Procedures 3. Click the [Continuous pattern tuning start] button. 4. Check safety conditions and then turn on the FOT and ROT terminals, and turn on the SON terminal. This starts continuous pattern operation and estimates the moment of inertia. Note: When a PHASER series robot is used, magnetic pole position finding must be performed before this operation. For information on magnetic pole position finding, refer to the separate "YAMAHA Single-Axis Robot Driver RD Series" user's manual.
3. Operating Procedures (2) Procedure for offline auto-tuning while checking the result each time 1. Click the [Test run and Adjustment] button on the opening screen. The "Test run and Adjustment" window appears as shown below. Click the [Offline tuning] tab. 2. Set the following parameters that are required for tuning: (A) Cut-off frequency (fc) setting Set the cut-off frequency for controlling the speed during auto-tuning. Set a value that will not cause hunting.
3. Operating Procedures (A) Note 1 3 Operating Procedures (C) (B) Note 2 (D) (E) Note 3 3. Click the [1 pattern tuning start] button. 4. Check safety conditions and then turn on the FOT and ROT terminals, and turn on the SON terminal. This starts 1-pattern operation and estimates the moment of inertia. Note: When a PHASER series robot is used, magnetic pole position finding must be performed before this operation.
3. Operating Procedures 6. Check if the waveform is satisfactory and click the [1-pattern tuning start] button again if necessary. This runs the 1-pattern operation and estimates the moment of inertia. Repeat this to perform tuning while checking one waveform at a time. 7. After tuning ends, turn the SON terminal off, and turn the RS terminal on and then off, to exit the auto-tuning mode.
3. Operating Procedures 3.5.3 Mechanical system diagnostic measurement procedure Use the following procedure when measuring the resonance point of a robot connected to the robot driver. 3 Note: The robot driver parameters are factory set to ensure that the robot operates normally. Use of this function is not required except in cases where robot operation is abnormal, or when adjusting the parameter data. Operating Procedures 1. Set up as described below.
3. Operating Procedures 3. Enter settings for mechanical system diagnosis. Set each item in the "Machine diagnosis setting" group box as described below.
3. Operating Procedures (1) Overall setup Read the following instructions and check if your machine is in safe condition. If there is no problem, use the default settings for making measurements. (A) Frequency range Set the machine resonance frequency measurement range as directed below. • If the approximate resonance frequency is already known: Set a frequency range that covers about 5 times the approximate resonance frequency.
3. Operating Procedures (2) Detailed setting Clicking the [Options] button opens the following dialog box. Make settings as needed. (You do not have to make these settings under normal conditions.) 3 (E) (G) (E) Number (number of data points) Set the number of FFT computation points for mechanical system diagnosis. The larger the number of points, the higher the measurement accuracy, but the longer the time needed uploading data.
3. Operating Procedures 4. Click the [Start] button to start diagnosis. 3 Operating Procedures Click Note: When a PHASER series robot is used, magnetic pole position finding must be performed before this operation. For information on magnetic pole position finding, refer to the separate "YAMAHA Single-Axis Robot Driver RD Series" user's manual. 5. Turn on the servo ON (SON) terminal. The robot then starts moving. If an emergency stop is required, turn off the SON terminal. 6.
3. Operating Procedures 7. Results from mechanical system diagnosis appear as shown below. 3 Operating Procedures 8. Turn off the servo ON (SON) terminal, turn the RS terminal on and then back off.
3. Operating Procedures 9. Check the waveform to determine whether or not to make measurements again. When the resonance point is easily seen: Proceed to the next section 3.5.4, "Notch filter setup procedure". The waveform shown in step 7 indicates that a relatively clear resonance point was measured. If a clear resonance point like this was not obtained, then make the measurement again as explained next. You might then be able to measure a clear waveform.
3. Operating Procedures 3.5.4 Notch filter setup procedure Use the following procedure to set the notch filter parameters (Fd-12 to Fd15). (You need to first measure the resonance point as described in the preceding section.) 1. Left-click the mouse at the resonance point (peak) of the waveform displayed on the [Mechanical diagnosis] tab screen. Use the arrow buttons on the left side to fineadjust the cursor line so it lies along the peak point as shown.
3. Operating Procedures 3. Click the [Filter 1] button. The recommended settings then appear in the boxes to the right of the button you clicked. 3 Operating Procedures 4. You can set up to 2 resonance frequencies. If there is another resonance point, repeat from step 1 and make the setting with the [Filter 2] button. Note: If two resonance points are close to each other, then robot operation might become unstable even when the filters are set correctly.
3. Operating Procedures 3.6 Changing the communication format 1. Click the [Communication format] button on the opening screen. 3 Operating Procedures [Communication format] button 2. When the following dialog box appears, make the necessary changes. 3. After making the necessary changes, click either of the following buttons depending on the situation: [Setting] button: Changes the settings for both the robot driver and PC if they are connected and then reconnect them.
3. Operating Procedures 3.7 Generation setup This function returns all robot driver parameters to the robot's initial parameter data. 1. After connecting the robot driver, turn the robot servos OFF, then press the [Generation (G)] button at the opening screen. Make setups as described next.
3. Operating Procedures 2. Select the robot model number from the "Model" drop-down list. Generation data on robots incompatible with the robot driver cannot be written. The contents of this list differ depending on whether "Rotary Motor" or "Linear Motor" is selected. 3 Note 2: Be sure to select the model to be used. Performing generation at the wrong model could result in robot malfunctions, and possible damage. 3. Click the [Write Generation parameters] button.
3. Operating Procedures 4. The following message appears when generation setup ended normally. Before starting operation, you must turn the power off and then back on again. Click the [OK] button to close this message. 3 Operating Procedures Note: If an error occurs while the parameters are being written, the following error message displays. Error message example As directed by the error message, verify the robot model number and the parameter settings, then execute the writing operation again. 5.
Chapter 4 Troubleshooting Guide This chapter explains how to troubleshoot problems or errors that might occur during operation of this product. Contents 4. Troubleshooting guide 4-1 4.1 If failed to connect to the robot driver 4-1 4.2 If failed to write parameters 4-1 4.3 If failed to load parameters 4-2 4.4 If failed to initialize parameters 4-2 4.
4. Troubleshooting Guide 4. Troubleshooting guide 4.1 If failed to connect to the robot driver If the PC cannot connect to the robot driver, check the following possible causes and correct the problem. Possible cause Action Check the connector and use a correct connector. The connection cable is not securely connected or in poor contact. Check the cable connection and securely connect the cable. The robot driver and PC baud rates do not match. Check the baud rate, etc.
4. Troubleshooting Guide 4.3 If failed to load parameters If parameters cannot be loaded, check the following cause and correct the problem. Possible cause The connection cable between the PC and robot driver is not securely connected or is broken. 4 Action Check and correct the cable connection or wire breakage and then load the parameters again. 4.4 If failed to initialize parameters Possible cause Action Troubleshooting Guide Parameters could not be loaded after initialization.
Chapter 5 Appendix Contents 5. Appendix 5-1 5.1 Files copied to system 5-1 5.2 Connection to a PC with no serial port (RS-232C) 5-2 5.2.1 Connection procedures and precautions 5.
5. Appendix 5. Appendix 5.1 Files copied to system The table below lists the names of files that are copied to the c:\windows\system directory when you install the TOP software (assuming that Windows is installed on drive C). COMDLG32.OCX MSCOMCT2.OCX MSCOMCTL.OCX 5 TABCTL32.OCX OCX files PDQCOM32.OCX Appendix MSFLXGRD.OCX VSVIEW3.OCX VSFLEX6D.OCX ACSGRAPH.OCX MSVBVM60.DLL OLEAUT32.DLL ASYCFILT.DLL CMDLGJP.DLL COMCAT.DLL MSCC2JP.DLL MSCMCJP.DLL DLL files OLEPRO32.DLL TABCTJP.DLL VB6JP.DLL STRFMT.
5. Appendix 5.2 Connection to a PC with no serial port (RS-232C) When running the TOP software on a PC with no RS-232C port and connecting the PC to the RD series robot driver, you may use the following PC card or USB-serial converter. Use these devices at your own risk. < PC card > 5 Product name PC Card Standard Type II RS-232C PC Card Manufacturer RATOC Systems Type No.
5. Appendix 5.2.1 Connection procedures and precautions (1) Installing the PC card Install the PC card by following the instructions in the manual that came supplied with it. At this time, be sure to note which COM port the PC card RS-232C is assigned to. (2) Connecting the TOP software When you first start the TOP software after installing it, the communication port is set to COM 1, so change it to the above-noted COM port and make the connection as explained below.
5. Appendix 5. When the following dialog box appears, click the [OK] button. 6. Click the [Close] button. 5 Appendix 7. Connect the PC card RS-232C cable to the robot driver connection cable and then click the [Connect] button to make the connection. If the connection is not properly made, check the COM port assigned to the PC card and the communication baud rate, data bit, stop bit and parity settings for the robot driver.
5. Appendix 5.3 Adding a generation model If the robot you are using is not found in the generation setup list, then you must add it as a generation model, In that case, please contact us in advance to obtain the correct generation data file that matches the robot you want to add as a generation model. To add a generation model, follow these steps. 1. Exit the TOP software if it is running. 2. Copy the generation data file onto the following folder by using the Windows Explorer, etc.
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Chapter 6 Index
6. Index Index Starting the operation trace function ............... 3-17 Trace display window description ..................... 3-18 Operation trace sequence ..........................3-19 A P Adding a generation model .............................. 5-5 Parameter entry ...............................................3-8 C Direct entry ........................................................... 3-10 Check before installation ................................ 1-1 Selecting from the drop-down list ..
Revision record Manual version Issue date Description Ver. 1.00 Ver. 1.01 Ver. 1.02 Ver. 1.03 Feb. 2007 Oct. 2007 May 2008 Jul. 2008 English manual Ver. 1.00 is based on Japanese manual Ver. 1.02. English manual Ver. 1.01 is based on Japanese manual Ver. 1.03. English manual Ver. 1.02 is based on Japanese manual Ver. 1.04. English manual Ver. 1.03 is based on Japanese manual Ver. 1.05. User's Manual Tool for Optimizing Parameters RD series Robot Driver Jul. 2008 Ver. 1.
