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Programming Support Tool
WINCAPSIII GUIDE
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Copyright © DENSO WAVE INCORPORATED, 2008-2010
All rights reserved. No part of this publication may be reproduced in any form or by any means without permission in
writing from the publisher.
Specifications are subject to change without prior notice.
All products and company names mentioned are trademarks or registered trademarks of their respective holders.
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Preface
Thank you for purchasing our programming support tool, WINCAPS III.
WINCAPS III is a package for efficiently developing and validating robot operation programs (PACs). It permits
checking of robot operation, variables, and I/O from a computer connected to the robot controller. It also supports
managing program files as projects, storing frequently used programs in program banks, and various other program
management functions.
Before using WINCAPS III, read this manual carefully to safely get the maximum benefit from your WINCAPS
III system.
After you have finished reading this manual, keep it handy for speedy reference.
Important
To ensure operator safety, be sure to read the precautions and instructions in "SAFETY PRECAUTIONS."
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How this book is organized
This book consists of the following.
SAFETY PRECAUTIONS
Defines safety terms and related symbols and provides precautions to be observed. Be sure to read this section
before operating your robot.
Chapter 1 Overview
Describes the WINCAPS III features, product components, operating environment, and installation procedure.
Chapter 2 Basic Functions and Operational Flow
Describes the basic functions, operational flow and editor categories of WINCAPS III.
Chapter 3 Starting Up/Shutting Down
Describes the WINCAPS III starting-up and shutting-down procedures, its windows, tools and menus.
Chapter 4 Creating a Project
Describes project creation methods, settings and data processing.
Chapter 5 Writing Programs
It also describes the auxiliary functions and control functions for program creation.
Chapter 6 Arm 3D View Window
Describes operation of arm 3D viewing and handling 3D data to check for collisions with peripheral equipment.
Chapter 7 Online Functions
Describes the online functions (monitoring and debugging) of WINCAPS III. Describes monitor functions for
checking robot status and debugging functions to directly debug robot controller programs on your PC.
Chapter 8 Logging
Describes the log functions of WINCAPS III. Describes error logs, operation logs, control logs and other types
and log acquisition timing using such devices as error triggers.
Chapter 9 Vision Manager
Describes vision functions using the µVision optional viewing device for WINCAPS III.
Chapter 10 Appendices
Contains related information.
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SAFETY PRECAUTIONS
SAFETY PRECAUTIONS
Be sure to observe all of the following safety precautions.
Strict observance of these warning and caution indications are a MUST for preventing accidents, which
could result in bodily injury and substantial property damage. Make sure you fully understand all
definitions of these terms and related symbols given below, before you proceed to the text itself.
WARNING
Alerts you to those conditions, which could result
in serious bodily injury or death if the instructions
are not followed correctly.
CAUTION
Alerts you to those conditions, which could result
in minor bodily injury or substantial property
damage if the instructions are not followed
correctly.
Terminology and Definitions
Maximum space: Refers to the space which can be swept by the moving parts of the robot as defined by
the manufacturer, plus the space which can be swept by the end-effector and the workpiece. (Quoted
from the ISO 10218-1:2006.)
Restricted space: Refers to the portion of the maximum space restricted by limiting devices (i.e.,
mechanical stops) that establish limits which will not be exceeded. (Quoted from the ISO 10218-1:2006.)
Motion space: Refers to the portion of the restricted space to which a robot is restricted by software
motion limits. The maximum distance that the robot, end-effector, and workpiece can travel after the
software motion limits are set defines the boundaries of the motion space of the robot. (The "motion
space" is DENSO WAVE-proprietary terminology.)
Operating space: Refers to the portion of the restricted space that is actually used while performing all
motions commanded by the task program. (Quoted from the ISO 10218-1:2006.)
Task program: Refers to a set of instructions for motion and auxiliary functions that define the specific
intended task of the robot system. (Quoted from the ISO 10218-1:2006.)
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1. Introduction
This section provides safety precautions to be observed for the
robot system.
The installation shall be made by qualified personal and should
confirm to all national and local codes.
The robot unit and controller have warning labels. These labels
alert the user to the danger of the areas on which they are
pasted. Be sure to observe the instructions printed on those
labels.
Warning label Instructions printed on the label
Label (1)
Risk of injury.
Never enter the restricted space.
<Except HM>
<HM>
Label (2)
For UL-Listed robot units only
Risk of injury.
This label alerts the user that pressing
the brake release switch could drop the
arm.
Label (3)
Risk of electrical shock.
Never open the controller cover when
the power is on.
Never touch the inside of the controller
for at least 3 minutes even after turning
the power off and disconnecting the
power cable.
2. Warning Labels
(Example: Location of labels)
Label (4)
Risk of injury.
Be sure to perform lockout/tagout
before starting servicing.
Turning the power ON when a person is
inside the safety fence may move the
arm, causing injuries.
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SAFETY PRECAUTIONS
3. Installation Precautions
3.1 Insuring the proper
installation environment
For standard type and
cleanroom type
The standard and cleanroom types have not been designed to
withstand explosions, dust-proof, nor is it splash-proof.
Therefore, it should not be installed in any environment where:
(1) there are flammable gases or liquids,
(2) there are any shavings from metal processing or other
conductive material flying about,
(3) there are any acidic, alkaline or other corrosive material,
(4) there is a mist,
(5) there are any large-sized inverters, high output/high
frequency transmitters, large contactors, welders, or other
sources of electrical noise.
For dust- & splash-proof
type
The dust- & splash-proof type has an IP54-equivalent structure,
but it has not been designed to withstand explosions. (The
HM/HS-G-W and the wrist of the VM/VS-G-W are an
IP65-equivalent dust- and splash-proof structure.)
Note that the robot controller is not a dust- or splash-proof
structure. Therefore, when using the robot controller in an
environment exposed to mist, put it in an optional protective box.
The dust- & splash-proof type should not be installed in any
environment where:
(1) there are any flammable gases or liquids,
(2) there are any acidic, alkaline or other corrosive material,
(3) there are any large-sized inverters, high output/high
frequency transmitters, large contactors, welders, or other
sources of electrical noise,
(4) it may likely be submerged in fluid,
(5) there are any grinding or machining chips or shavings,
(6) any machining oil not specified in this manual is in use, or
Note: Yushiron Oil No. 4C (non-soluble) is specified.
(7) there is sulfuric cutting or grinding oil mist.
3.2 Service space
The robot and peripheral equipment should be installed so that
sufficient service space is maintained for safe teaching,
maintenance, and inspection.
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3.3 Control devices
outside the robot's
restricted space
The robot controller, teach pendant and mini-pendant should be
installed outside the robot's restricted space and in a place
where you can observe all of the robot’s movements and operate
the robot easily.
3.4 Positioning of gauges
Pressure gauges, oil pressure gauges and other gauges should
be installed in an easy-to-check location.
3.5 Protection of electrical
wiring and
hydraulic/pneumatic
piping
If there is any possibility of the electrical wiring or
hydraulic/pneumatic piping being damaged, protect them with a
cover or similar item.
3.6 Grounding resistance
The protective grounding resistance of the robot power supply
should not be more than 100Ω.
3.7 Positioning of
emergency stop
switches
Emergency stop switches should be provided in a position where
they can be reached easily should it be necessary to stop the
robot immediately.
(1) The emergency stop switches should be red.
(2) Emergency stop switches should be designed so that they
will not be released after pressed, automatically or
mistakenly by any other person.
(3) Emergency stop switches should be separate from the
power switch.
3.8 Positioning of
operating status
indicators
Operating status indicators should be positioned in such a way
where workers can easily see whether the robot is on a
temporary halt or on an emergency or abnormal stop.
Note: The UL-Listed robot units have motor ON lamps on their
robot arms.
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SAFETY PRECAUTIONS
3.9 Setting-up a safety
fence
A safety fence should be set up so that no one can easily enter
the robot's restricted space.
(1) The fence should be constructed so that it cannot be easily
moved or removed.
(2) The fence should be constructed so that it cannot be easily
damaged or deformed through external force.
(3) Establish the exit/entrance to the fence. Construct the fence
so that no one can easily get past it by climbing over the
fence.
(4) The fence should be constructed to ensure that it is not
possible for hands or any other parts of the body to get
through it.
(5) Take any one of the following protections for the entrance/
exit of the fence:
1) Place a door, rope or chain across the entrance/exit of
the fence, and fit it with an interlock that ensures the
emergency stop device operates automatically if it is
opened or removed.
2) Post a warning notice at the entrance/exit of the fence
stating "In operation--Entry forbidden" or "Work in
progress--Do not operate" and ensure that workers
follow these instructions at all times.
When making a test run, before setting up the fence,
place an overseer in a position outside the robot’s
restricted space and one in which he/she can see all of
the robot’s movements. The overseer should prevent
workers from entering the robot's restricted space and
be devoted solely to that task.
3.10 Setting the robot's
motion space
The area required for the robot to work is called the robot's
operating space.
If the robot’s motion space is greater than the operating space, it
is recommended that you set a smaller motion space to prevent
the robot from interfering or disrupting other equipment.
Refer to the INSTALLATION & MAINTENANCE GUIDE, Chapter
2.
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3.11 No robot modification
allowed
Never modify the robot unit, robot controller, teach pendant or
other devices.
3.12 Cleaning of tools
If your robot uses welding guns, paint spray nozzles, or other
end-effectors requiring cleaning, it is recommended that the
cleaning process be carried out automatically.
3.13 Lighting
Sufficient illumination should be assured for safe robot
operation.
3.14 Protection from objects
thrown by the
end-effector
If there is any risk of workers being injured in the event that the
object being held by the end-effector is dropped or thrown by the
end-effector, consider the size, weight, temperature and
chemical nature of the object and take appropriate safeguards to
ensure safety.
3.15 Affixing the warning
label
Place the warning label packaged
with the robot on the exit/entrance
of the safety fence or in a position
where it is easy to see.
3.16 Posting the moving
directions of all axes
Post a notice showing axes names and moving directions in a
visible location on the robot unit. The posted moving directions
should match the actual directions.
No posting or wrong direction posting may result in bodily injuries
or property damages due to incorrect operation.
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SAFETY PRECAUTIONS
4. Precautions
while Robot is
Running
Warning
Touching the robot while it is in
operation can lead to serious
injury. Please ensure the following conditions are
maintained and that the
cautions listed from Section
4.1 and onwards are followed
when any work is being
performed.
1) Do not enter the robot's restricted space when the robot
is in operation or when the motor power is on.
2) As a precaution against malfunction, ensure that an
emergency stop device is activated to cut the power to
the robot motor upon entry into the robot's restricted
space.
3) When it is necessary to enter the robot's restricted space
to perform teaching or maintenance work while the robot
is running, ensure that the steps described in Section 4.3
"Ensuring safety of workers performing jobs within the
robot's restricted space" are taken.
4.1 Creation of working
regulations and
assuring worker
adherence
When entering the robot’s restricted space to perform teaching
or maintenance inspections, set "working regulations" for the
following items and ensure workers adhere to them.
(1) Operating procedures required to run the robot.
(2) Robot speed when performing teaching.
(3) Signaling methods to be used when more than one worker is
to perform work.
(4) Steps that must be taken by the worker in the event of a
malfunction, according to the contents of the malfunction.
(5) The necessary steps for checking release and safety of the
malfunction status, in order to restart the robot after robot
movement has been stopped due to activation of the
emergency stop device
(6) Apart from the above, any steps below necessary to prevent
danger from unexpected robot movement or malfunction of
the robot.
1) Display of the control panel (See Section 4.2 on the next
page.)
2) Assuring the safety of workers performing jobs within the
robot's restricted space (See Section 4.3 on the next
page.)
3) Maintaining worker position and stance
Position and stance that enables the worker to confirm
normal robot operation and to take immediate refuge if a
malfunction occurs.
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4) Implementation of measures for noise prevention
5) Signaling methods for workers of related equipment
6) Types of malfunctions and how to distinguish them
Please ensure "working regulations" are appropriate to the robot
type, the place of installation and to the content of the work.
Be sure to consult the opinions of related workers, engineers at
the equipment manufacturer and that of a labor safety consultant
when creating these "working regulations".
4.2 Display of operation
panel
To prevent anyone other than the worker from accessing the start
switch or the changeover switch by accident during operation,
display something to indicate it is in operation on the operation
panel or teach pendant. Take any other steps as appropriate,
such as locking the cover.
4.3 Ensuring safety of
workers performing
jobs within the robot's
restricted space
When performing jobs within the robot’s restricted space, take
any of the following steps to ensure that robot operation can be
stopped immediately upon a malfunction.
(1) Ensure an overseer is placed in a position outside the
robot’s restricted space and one in which he/she can see all
robot movements, and that he/she is devoted solely to that
task.
c
An emergency stop device should be activated
immediately upon a malfunction.
d Do not permit anyone other than the worker engaged for
that job to enter the robot’s restricted space.
(2) Ensure a worker within the robot's restricted space carries
the portable emergency stop switch so he/she can press it
(the emergency button on the teach pendant) immediately if
it should be necessary to do so.
4.4 Inspections before
commencing work
such as teaching
Before starting work such as teaching, inspect the following
items, carry out any repairs immediately upon detection of a
malfunction and perform any other necessary measures.
(1) Check for any damage to the sheath or cover of the external
wiring or to the external devices.
(2) Check that the robot is functioning normally or not (any
unusual noise or vibration during operation).
(3) Check the functioning of the emergency stop device.
(4) Check there is no leakage of air or oil from any pipes.
(5) Check there are no obstructive objects in or near the robot’s
restricted space.
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SAFETY PRECAUTIONS
4.5 Release of residual air
pressure
Before disassembling or replacing pneumatic parts, first release
any residual air pressure in the drive cylinder.
4.6 Precautions for test
runs
Whenever possible, have the worker stay outside of the robot's
restricted space when performing test runs.
4.7 Precautions for
automatic operation
(1) At start-up
Stay out of the safeguarded space with a safety fence when
starting the robot; in particular, take extra caution in Internal
automatic operation.
Before starting the robot, check the following items as well
as setting the signals to be used and perform signaling
practice with all related workers.
1) Check that there is no one inside the safeguarded space
(with a safety fence).
2) Check that the teach pendant and tools are in their
designated places.
3) Check that no lamps indicating a malfunction on the
robot or related equipment are lit.
(2) Check that the display lamp indicating automatic operation
is lit during automatic operation.
(3) Steps to be taken when a malfunction occurs
Stop the robot's operation by activating the emergency stop
device when it is necessary to enter the safeguarded space
with a safety fence to perform emergency maintenance in
the case of malfunction of the robots or related equipment.
Take any necessary steps such as posting a notice on the
start switch to indicate work is in progress to prevent anyone
from accessing the robot.
4.8 Precautions in repairs
(1) Do not perform repairs outside of the designated range.
(2) Under no circumstances should the interlock mechanism be
removed.
(3) When opening the robot controller's cover for battery
replacement or any other reasons, always turn the robot
controller power off and disconnect the power cable.
(4) Use only spare tools specified in this manual.
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5. Daily and Periodical
Inspections
(1) Be sure to perform daily and periodical inspections. Before
starting jobs, always check that there is no problem with the
robot and related equipment. If any problems are found,
take any necessary measures to correct them.
(2) When carrying out periodical inspections or any repairs,
maintain records and keep them for at least 3 years.
6. Management of
Floppy Disks
(1) Carefully handle and store the "Initial settings" floppy disks
packaged with the robot, which store special data
exclusively prepared for your robot.
(2) After finishing teaching or making any changes, always save
the programs and data onto floppy disks.
Making back-ups will help you recover if data stored in the
robot controller is lost due to the expired life of the back-up
battery.
(3) Write the names of each of the floppy disks used for storing
task programs to prevent incorrect disks from loading into
the robot controller.
(4) Store the floppy disks where they will not be exposed to dust,
humidity and magnetic field, which could corrupt the disks or
data stored on them.
7. Safety Codes
The safety standards relating to robot systems are listed below.
As well as observing the safety precautions given in this manual,
ensure compliance with all local and national safety and
electrical codes for the installation and operation of the robot
system.
Standards Title
ANSI/RIA R15.06-1999 Industrial Robots and Robot Systems--Safety Requirements
ANSI/UL1740: 1998 Safety for Robots and Robotic Equipment
CAN/CSA Z434-03 Industrial Robots and Robot Systems--General Safety Requirements
ISO10218-1: 2006 Robots for industrial environments--Safety requirements--Part 1: Robot
NFPA 79: 2002 Electrical Standard for Industrial Machinery
8. Battery Recycling
DENSO Robot uses lithium batteries.
Discard batteries according to your local and national recycling
law.
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CONTENTS
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CONTENTS
Chapter 1 Overview ............................................................................ 1
1.1 WINCAPS III Features .......................................................................................... 1
1.2 Robot Controller and WINCAPS III Versions ........................................................ 1
1.3 Product Components and Operating Environment................................................ 2
1.3.1 Product components..................................................................................................... 2
1.3.2 Operating environment ................................................................................................. 2
1.3.3 License certificate and user registration ....................................................................... 2
1.3.4 WINCAPS III trial and light versions ............................................................................. 3
1.3.5 Note on languages ....................................................................................................... 3
1.4 Installing WINCAPS III .......................................................................................... 4
1.4.1 Before you begin .......................................................................................................... 4
1.4.2 Installing WINCAPS III.................................................................................................. 4
1.4.3 Registering license ....................................................................................................... 6
1.4.4 Uninstalling ................................................................................................................... 7
1.5 Connecting to Robot Controller ............................................................................. 8
Chapter 2 Basic Functions and Operational Flow .............................. 9
2.1 WINCAPS III Basic Functions ............................................................................... 9
2.2 Steps in Writing Robot Programs ........................................................................ 10
2.3 User Levels and Access Rights........................................................................... 12
Chapter 3 Starting Up/Shutting Down............................................... 13
3.1 Loading WINCAPS III .......................................................................................... 13
3.1.1 WINCAPS III basic settings ........................................................................................ 14
3.1.2 Programmer password ............................................................................................... 17
3.2 WINCAPS III Screen Descriptions ...................................................................... 19
3.2.1 Screen components.................................................................................................... 19
3.2.2 Menu items ................................................................................................................. 21
3.2.3 Toolbars...................................................................................................................... 30
3.2.4 Docking view .............................................................................................................. 32
3.2.5 Program view.............................................................................................................. 38
3.2.6 Screen operations ...................................................................................................... 41
3.3 Quitting WINCAPS III .......................................................................................... 49
Chapter 4 Creating a Project ............................................................ 50
4.1 Overview ............................................................................................................. 50
4.1.1 Folders........................................................................................................................ 50
4.2 Creating a New Project ....................................................................................... 51
4.3 Opening an Existing Project ................................................................................ 53
4.4 Saving Project ..................................................................................................... 53
4.5 Configuring a Project ........................................................................................... 54
4.6 Configuring Parameters ...................................................................................... 58
4.7 Link with Robot Controller ................................................................................... 59
4.7.1 Communications settings ........................................................................................... 59
4.7.2 Data transfers ............................................................................................................. 60
4.7.3 Arm parameter data transfer ...................................................................................... 63
4.8 USB Tool ............................................................................................................. 64
4.8.1 Reading data from USB memory................................................................................ 64
4.8.2 Writing data into USB memory ................................................................................... 67
4.9 Print ..................................................................................................................... 69
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CONTENTS
Chapter 5 Writing Programs ............................................................. 70
5.1 Creating a New Program ..................................................................................... 70
5.2 Leveraging Existing Files .................................................................................... 71
5.3 Saving a Program................................................................................................ 72
5.4 Editing a Program................................................................................................ 73
5.4.1 Finding and replacing strings...................................................................................... 74
5.4.2 Other editing functions................................................................................................ 75
5.5 Program Bank ..................................................................................................... 82
5.5.1 Adding a program to a project .................................................................................... 82
5.5.2 Adding a program to the program bank...................................................................... 83
5.5.3 Adding a category....................................................................................................... 84
5.6 Editing a Teach Pendant (TP) Panel................................................................... 85
5.6.1 Editing a TP panel ...................................................................................................... 85
5.7 Folder Functions.................................................................................................. 86
5.7.1 Creating a folder ......................................................................................................... 86
5.7.2 Importing an entire folder............................................................................................ 87
5.8 Making Executables ............................................................................................ 88
5.8.1 Checking syntax ......................................................................................................... 88
5.8.2 Making executables.................................................................................................... 89
Chapter 6 Arm 3D View Window ...................................................... 90
6.1 Screen Descriptions ............................................................................................ 90
6.1.1 Arm 3D view ............................................................................................................... 90
6.1.2 Arm modeling ............................................................................................................. 92
6.1.3 Arm operation ............................................................................................................. 94
6.2 Simple Modeling .................................................................................................. 95
6.2.1 Adding objects ............................................................................................................ 96
6.2.2 Saving objects .......................................................................................................... 100
6.2.3 Importing objects ...................................................................................................... 101
6.3 Importing 3D Data ............................................................................................. 102
Chapter 7 Online Functions ............................................................ 103
7.1 Overview ........................................................................................................... 103
7.1.1 Monitoring and debugging ........................................................................................ 103
7.2 Monitoring.......................................................................................................... 104
7.2.1 Initiating monitoring .................................................................................................. 104
7.2.2 Monitoring variables ................................................................................................. 105
7.2.3 Monitoring I/O ........................................................................................................... 108
7.2.4 Monitoring robot........................................................................................................ 109
7.2.5 Errors during monitoring ........................................................................................... 109
7.2.6 Validate the controller function extension................................................................. 110
7.3 Using Debugging .............................................................................................. 111
7.3.1 Initiating debugging .................................................................................................. 111
7.3.2 Launch the program from WINCAPS III. .................................................................. 114
7.3.3 Controller settings..................................................................................................... 115
7.3.4 Input signal dummy operation .................................................................................. 116
Chapter 8 Logging .......................................................................... 120
8.1 Log record timing............................................................................................... 121
8.1.1 Recording by program commands ........................................................................... 122
8.1.2 Error trigger log......................................................................................................... 123
8.2 Acquisition of log data ....................................................................................... 124
8.2.1 Log acquisition settings ............................................................................................ 125
8.3 Detailed description of log types ....................................................................... 126
8.3.1 Error log.................................................................................................................... 126
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8.3.2 Operation log ............................................................................................................ 127
8.3.3 Control log ................................................................................................................ 128
8.3.4 Trace logging (single / multi) .................................................................................... 132
8.3.5 Variable log............................................................................................................... 135
8.3.6 I/O log ....................................................................................................................... 136
8.3.7 Joint servo log for particular joint.............................................................................. 137
Chapter 9 Vision Manager .............................................................. 138
9.1 Overview ........................................................................................................... 138
9.1.1 Screen descriptions .................................................................................................. 138
9.2 Configuring Vision Manager .............................................................................. 141
9.2.1 Configuring lookup tables ......................................................................................... 141
9.2.2 Editing a macro name............................................................................................... 142
9.2.3 Calibrating ................................................................................................................ 143
9.2.4 Configuring camera input ......................................................................................... 148
9.2.5 Switching display screens ........................................................................................ 150
9.2.6 Editing a window....................................................................................................... 151
9.2.7 Editing a search model ............................................................................................. 154
9.2.8 Registering digitization ............................................................................................. 157
9.2.9 Calculating area, center of gravity, and principal axis .............................................. 161
9.2.10 Labeling ................................................................................................................... 164
9.2.11 Edge detection......................................................................................................... 167
9.2.12 Model search ........................................................................................................... 172
9.2.13 Reading a QR Code symbol .................................................................................... 175
Chapter 10Appendices .................................................................... 177
10.1 List of Prohibited Characters ............................................................................. 177
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CONTENTS
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1
Chapter 1 Overview
1.1 WINCAPS III Features
WINCAPS III is a package for efficiently developing and validating Denso robot operation programs (PACs). It
permits checking of robot operation, variables, and I/O from a computer connected to the robot controller. It also
supports managing program files as projects, storing frequently used programs in program banks, and various other
program management functions.
1.2 Robot Controller and WINCAPS III Versions
Use the same version of WINCAPS III as that of the robot controller software.
If the WINCAPS III and robot controller software versions differ, connection may not be possible and usable functions may be limited.
• If the version of the robot controller software is more recent than that of WINCAPS III
In such cases it is necessary to update WINCAPS III with the WINCAPS III trial version that comes with the
robot set. The license is unchanged.
• If the version of the robot controller software is older than that of WINCAPS III
Ver.2.0 and higher of the robot controller can be used. However, functions not compatible with the controller
cannot be used.
In addition, match the version of the output code selected in the Project Properties (select Property from the
Project menu and use the Compile tab displayed in the dialog box) to that of the robot controller software connected to.
Note
The following functions cannot be used with versions older than Ver.2.6 of the robot controller software.
• Certain log functions (trace log (single / multi), variables log, I/O log)
• Online (debugging) functions
For versions of robot controller software prior to Ver.2.0, use WINCAPS II.
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2
Chapter 1 Overview
1.3 Product Components and Operating Environment
1.3.1 Product components
Your WINCAPS III package should contain the following items.
Software
WINCAPS III Installer Product CD-ROM
License certificate
The WINCAPS III license is written on this. The reverse is a user registration card.
Instruction manual (printed versions optional)
WINCAPS III Guide (this document)
The software Help function contains the WINCAPS III Guide (this manual).
1.3.2 Operating environment
WINCAPS III requires the following computer environment to operate effectively.
Operating System
Windows XP or Vista
CPU
Pentium 4 or later
Memory
512 megabytes or more
Hard disk drive
500 megabytes or more free
Others
A graphics processing unit (GPU) is recommended for displaying 3D data.
1.3.3 License certificate and user registration
1) Retaining License for Service
The User ID on the license identifies your copy of this product. It is required for after-sales service, so file the
license for future reference.
2) User Registration
User registration holds the key to our efforts to provide the best possible after-sales service. Registration ensures timely arrival of notification of technical enhancements and upgrade availability.
Procedure
To register as a user, use the web address given on license.
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Chapter 1 Overview
3
1.3.4 WINCAPS III trial and light versions
WINCAPS III is available in the trial and light versions in addition to the product version.
Note
• The trial and light versions show "Trial" and "Light" on the status bar at the bottom of the screen,
respectively.
• Entering the license key of the product version to the trial or light version makes it available as a
product version.
1.3.5 Note on languages
Use the same language for WINCAPS III and the robot controller.
Otherwise, different encodings can lead to the following problems when receiving data from the robot controller,
when opening projects, etc.
• Editing and saving programs or string variables with garbled text can corrupt data.
• Project and file names can be garbled, making it impossible to open the project.
Trial and Light Versions Difference from Product Version
WINCAPS III Light version • This comes with the optional mini-pendant purchased.
• Unavailable functions
Printing, arm player Plus, 3D data import, monitoring interval setting, a part of program bank
WINCAPS III Trial version • This comes with the robot set purchased.
• Unavailable functions
Only a program named "PRO1.pac" is editable.
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Chapter 1 Overview
1.4 Installing WINCAPS III
1.4.1 Before you begin
Always uninstall any existing WINCAPS III versions before installing a new version on your computer.
For the procedure, refer to 1.4.4 "Uninstalling" (P. 7).
Note
Be sure to shut down all other applications before installing or uninstalling this software.
1.4.2 Installing WINCAPS III
The following is the procedure for installing this software.
Operating procedure
1. First shut down all Windows applications.
2. Load the installer.
Insert the product CD into the computer CD-ROM drive and wait for the following set-up screen to appear.
Note
If the set-up screen is not displayed, right-click on the CD-ROM drive under My Computer and choose
Open on the menu that appears. Double-click on setup.exe on the CD-ROM file list to display the setup screen.
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3. Press the install WINCAPS III button to display the WINCAPS III - InstallShield Wizard dia-
log box.
Follow the screen instructions to configure the installation.
There are three items to specify.
1) Acceptance of the end user license agreement (EULA)
2) License key input
3) Select the folder where the program is installed.
Note
The installer may take a while before starting installation of WINCAPS III since it installs components
required for communication and 3D drawing prior to WINCAPS III.
4. Double-check the folder specification and press the OK button.
Proceed with the install operation.
Note
Restart the computer if the installation process ends with a message advising you to do so.
If the required modules are not installed, these will be installed prior to WINCAPS III. Some modules
may require you to restart the computer; return to WINCAPS III installation after having done so.
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Chapter 1 Overview
1.4.3 Registering license
During installation a License Information dialog box will appear.
Enter the user ID printed on the license included with the product to the License Key field, and press the Add button.
Input the license key printed on the installation disc label for Light or Trial versions.
If the user ID appears under License Key, press the Close button.
Note
• Skipping over this license registration process loads WINCAPS III in test drive mode with limited
functionality.
• To register at a later date, choose Help|License... to display the above dialog box.
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Chapter 1 Overview
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1.4.4 Uninstalling
The following is the procedure for uninstalling this software.
Operating procedure
1. From the Start menu, choose Settings|Control panel and then Add or Remove programs.
2. Choose WINCAPS III and then press the Change/Remove button to display a confirmation
dialog box.
3. Press the OK button to proceed with the uninstall operation.
Note
• If a dialog box appears warning of shared files, press the Leave all button.
• Installing WINCAPS III installs also ORiN2 SDK automatically; however, uninstalling WINCAPS
III does not uninstall ORiN2 SDK. To uninstall ORiN2 SDK, first check that no other applications
use ORiN and then uninstall ORiN2 SDK using the same procedure as above.
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Chapter 1 Overview
1.5 Connecting to Robot Controller
There are two ways to connect the computer to a robot controller.
Ethernet connection
This method uses an LAN interface (CN4) to connect the computer to the robot controller.
Direct connection
Connection via a hub
RS-232C connection
This method uses a serial port (CN1) to connect the computer to the robot controller.
Ethernet
Crossover cable
Robot controller
Hub
Robot controller
Ethernet
Straight-through cables
Robot controller
D-sub 9-pin connector (receptacle)
D-sub 9-pin connector (receptacle)
RS-232C
Crossover cable
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Chapter 2 Basic Functions and Opera-
tional Flow
2.1 WINCAPS III Basic Functions
The following describes the product's basic functions.
Communications
Communicating with a robot controller over an Ethernet or serial link.
Writing programs
Program using a PAC editor. For further details on programs, please refer to the programming manual.
The editor provides the following functions.
• Displaying line numbers
• Color-coded syntax highlighting
• Easy command input using an automatically scrolling list
• Automatic indenting
• Comment blocks
• Bookmarks
Program bank
This library holds programs covering handy DENSO robot functionality. For further details on programs,
please refer to Programming Manual II.
Users can customize programs registered in the program bank. They can also add their own.
Online monitoring
WINCAPS III monitors controller status, providing immediate access to variables, I/O values, and other quantities.
Online debugging
WINCAPS III shifts control from the robot controller, allowing the operator to run robot programs held in the
robot controller from the computer running WINCAPS III.
Breakpoints, Step check, and other debugging facilities allow checking variables and I/O during operation.
Arm 3D View
This is for visualizing the robot motion and posture on the PC screen. Loading 3D data or creating simple objects enables the user to check interference with the equipment and movements of workpieces and tools without
running the actual robot.
Logging
The following functions for logging variables, I/O values, and error messages are available for efficient program debugging.
• Error log
• Operation log
• Control log
•Trace log
• Variable log
• I/O log
• Single servo data log
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Chapter 2 Basic Functions and Operational Flow
2.2 Steps in Writing Robot Programs
The following shows the WINCAPS III work flow for writing a program and validating its operation.
Step 1: Load WINCAPS III.
Launch WINCAPS III.
For further details, refer to Chapter 3 "Starting Up/Shutting Down" (P. 13).
Step 2: Create a project.
This project contains all necessary data for the target robot.
For further details, refer to Chapter 4 "Creating a Project" (P. 50).
Step 3: Write robot program.
Write the robot operation program using the built-in editor.
For further details, refer to Chapter 5 "Writing Programs" (P. 70).
Step 4: Teach operation positions.
Specify operation positions by manipulating the virtual robot in the Arm 3D view window.
For further details, refer to Chapter 6 "Arm 3D View Window" (P. 90).
Note
Using simple modeling and importing 3D data creates an on-screen simulation for specifying the robot's operation range and detecting collisions with surrounding equipment.
Load WINCAPS III.Step 1
Create a project.Step 2
Write robot program.Step 3
Teach operation positions.Step 4
Compile executables.Step 5
Send data to robot controller.Step 6
Test program operation (debug).Step 7
Back up data.Step 8
Exit WINCAPS III.Step 9
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Step 5: Compile executables.
The compiler converts project programs to executables for execution by the robot controller.
For further details, refer to Chapter 5 "Writing Programs" (P. 70).
Step 6: Send data to robot controller.
Connect to the robot controller and send it the data necessary for robot operation.
For further details, refer to 4.7 "Link with Robot Controller" (P. 59).
Step 7: Test program operation (debug).
Use WINCAPS III online functions to examine program flow, determine the robot's operation range, and detect
collisions with surrounding equipment. Modify the program to eliminate any problems detected. Repeat the
compile-debug cycle until no such problems remain.
For further details, refer to Chapter 7 "Online Functions" (P. 103).
Note
• WINCAPS III directly controls robot controller program operation.
• Trace logging allows efficient validation of multitasking and other complex program flow as well
as easy analysis of interactions with other programs.
• I/O logging simplifies timing adjustments with neighboring equipment for use in optimizing operation and reducing cycle times.
Step 8: Back up data.
Use WINCAPS III to save the robot controller's internal data in projects.
For further details, refer to 4.7.2 "Data transfers" (P. 60).
Step 9: Exit WINCAPS III.
For further details, refer to Chapter 3 "Starting Up/Shutting Down" (P. 13).
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Chapter 2 Basic Functions and Operational Flow
2.3 User Levels and Access Rights
WINCAPS III's two user access levels, operator and programmer, ensure data security by limiting access to advanced functionality and sensitive data.
The user specifies which on the log-in screen when WINCAPS III first starts.
For further details on logging in, refer to 3.1 "Loading WINCAPS III" (P. 13).
Operator level
Level enabling PAC program creation / editing and other basic operations.
It blocks changes to WINCAPS III settings.
It does not require a password.
Programmer level
Level enabling changes in project settings and other higher operations.
It allows changes to WINCAPS III settings.
It requires a password.
For further details on setting this password, refer to 3.1.2 "Programmer password" (P. 17).
Differences in functions due to user levels are as follows.
*Only communications settings can be changed
Note
Changing user levels while WINCAPS III is running requires returning to the dialog box for logging in.
Function Operator Programmer
Creating a new project {{
Writing / editing programs {{
Data transfers {{
Online (monitoring/debugging functions) {{
Addition of controller function extension {{
Altering project properties U* {
Altering parameters × {
Reading / writing arm parameters × {
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Chapter 3 Starting Up/Shutting Down
3.1 Loading WINCAPS III
Operating procedure
1. On the Start menu, choose All Programs|DENSO FACTORY WARE|WINCAPS III|WINCAPS
III to display the dialog box for logging in.
2. Specify user level and password.
The user level choices are 0-operator and 1-programmer.
The latter requires a password.
3. Press the Log in button to load WINCAPS III.
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3.1.1 WINCAPS III basic settings
Operating procedure
1. Choose Tool|Option to display the dialog box for configuring such software options.
2. Click the tab containing the desired configuration option.
The dialog box has the following three tabs.
General tab
A: Project
This field specifies a folder for saving projects. This becomes the default folder for saving new
projects.
B: When loading it, the last window arrangement is restored.
Opens project with the program window and 3D view window in the same place as when last closed.
C: Log
Selecting this check box adds a Code column displaying souce code to the Trace log window.
* Note that large logs can take considerable time to display.
D: Debug function
Selecting this check box enables debugging.
Note
• Leaving it deselected disables all debugging functions, so selecting one during online operation
triggers an error message.
• WINCAPS III always starts with debugging disabled.
A
C
B
D
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Editor tab
A: Font
This area specifies the font type and size for Program edit windows.
B: Code color
This area specifies the colors for highlighting text in the Program edit window. Select the text type,
then choose text color with Front color and surrounding color as Back color.
C: Tab
This area specifies the tabs for Program edit windows.
D: Others
Selecting this check box automatically runs a syntax check on the selected program before closing
the Program edit window. Select the check box to delete comments other than those in REM for
Adding Comments.
Communication tab
A: Monitor sampling time
This area specifies the intervals at which to monitor robot controller operation.
B: Data send option
The options in this area configure data transfers to the robot controller.
A
B
C
D
A
B
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Arm tab
A: Moving tracks
Sets the point numbers for the robot operation trajectory displayed in the Arm 3D view window.
B: BackColor
This sets the Arm 3D View window background color.
C: Show message when collision is detected
Select to display the Collision dialog box when a collision is detected.
D: Type to display collision position
Choose the method of displaying the robot's position when a collision occurs.
3. When configuration is complete, press the OK button.
Pressing the Cancel button instead discards all changes.
Note
Moving to another tab does not save changes. To save your new settings, always press the OK button.
A
B
C
D
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3.1.2 Programmer password
Using WINCAPS III at the programmer level requires logging in with a password.
Register one with your first login.
Note
Passwords are case sensitive.
3.1.2.1 Registering a password
Operating procedure
1. In the Login WINCAPSIII dialog box, choose 1-programmer as the user level to enable pass-
word input.
2. Enter the desired password and press the Login button to display the dialog box for chang-
ing the password.
3. Re-enter the new password in the Review new password field and press the OK button to
register the password.
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3.1.2.2 Changing the password
Operating procedure
1. Choose Tool|Re-Login to display the dialog box for logging in.
2. Press the Chg. PW button to display the dialog box for changing the password.
3. Enter three passwords: the current password in the first field and the new one in the other
two.
4. Press the OK button to update the password.
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3.2 WINCAPS III Screen Descriptions
3.2.1 Screen components
WINCAPS III uses the following general screen layout.
Note
WINCAPS III offers the user considerable flexibility in rearranging screen elements to match the
needs at hand.
For further details on screen customization, refer to 3.2.6 "Screen operations" (P. 41).
The screen shots in this document use the default layout, so may not necessarily match what appears
on your screen.
A: Menus
This area displays the following ten menu items available in WINCAPS III.
•File menu
• Edit menu
• View menu
• Project menu
• Connect menu
• Debug menu
•Arm menu
• Tool menu
• Window menu
•Help menu
For further details on menu items, refer to 3.2.2 "Menu items" (P. 21).
A
B
C
D
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B: Toolbars
This area displays the following six toolbars that provide user alternate access to most menu items with button
icons.
• Standard toolbar
• Edit toolbar
• View toolbar
• Link Mode toolbar
• Debug toolbar
• Log toolbar
For further details on toolbars, refer to 3.2.3 "Toolbars" (P. 30).
C: Docking view
The Docking view area displays various types of information windows showing the results of a project-wide
search, compile error messages, variables and I/O values, etc.
For further details on the Docking view, refer to 3.2.4 "Docking view" (P. 32).
D: Program view
The Program view area displays the source code, Arm 3D View window, etc.
For further details on the Program view, refer to 3.2.5 "Program view" (P. 38).
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3.2.2 Menu items
The following describes each WINCAPS III menu item.
3.2.2.1 File menu
New Project
This is for creating a new project.
Open Project...
This is for opening an existing project.
Close Project
This closes the currently open project. If the project has program edits or
other unsaved modifications, a dialog box asks whether you wish to save
them.
Save Project
This saves the currently open project.
Save As Project
This is for saving the currently open project under a new name. It creates a
folder under a specified name and copies all current project data into the
folder.
Import
This is for reading in .csv files containing variables and log data exported
from other projects.
Export...
This exports variables, I/O values, and log data in standard .csv format for
use by other applications.
Save
This saves the program or header file selected in the Program view area.
Save As...
This saves the program or header file selected in the Program view area under a different name.
It adds saved file into a project.
Print...
This is for printing programs, variables, and a list of I/Os.
Recent Projects
This displays recently used projects.
Choosing one opens it.
Exit
This is for shutting down the program.
If the project has program edits or other unsaved modifications, a dialog
box asks whether you wish to save them.
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3.2.2.2 Edit menu
Undo
This cancels the last operation, returning edits to the preceding state.
Redo
This repeats the operation canceled with Undo.
Cut
This moves to the Windows clipboard and deletes the contents selected in
the Program edit window.
Copy
This copies to the Windows clipboard the contents selected in the Program
edit window.
It does not delete the original.
Paste
This copies the clipboard contents to the selected portion of the Program
edit window.
Delete
This deletes the area selected in the Program edit window.
Select All
This selects the entire contents of the Program edit window.
Find and Replace...
This replaces occurrences of one string with another.
Jump to...
This is for moving the cursor to a line, specified by number, in the Program
edit window.
Comment Block
This submenu converts the lines selected in the Program edit window to and
from comments.
Indent
This submenu controls indenting of the lines selected in the Program edit
window
Bookmark
This is for working with bookmarks.
Insert registered string
Previously registered character strings are placed in the program.
Register string
Commonly used character strings can be registered in advance and placed
in programs through shortcuts.
Add comment
Selecting this automatically adds texts written in the application columns
of variables and I/O lists to the source code as comments.
Format code
The program code is shaped into a standard form. Line indents are inserted
and blank spaces inside the code added or deleted automatically.
Command List
Selecting this automatically displays a scrolling list of commands available
with auto-completion at the cursor position.
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3.2.2.3 View menu
Insert Command
This is for inserting a command selected from the command input list at the
cursor position in the predetermined syntax.
Project View
This displays the Project view window.
Program List
This displays the Program list window.
Arm View
This displays the Arm view window.
Arm Modeling
This displays the Arm modeling window.
Arm Operation
This displays the Arm operation window.
I/O View
This displays an I/O window in the Docking view area.
Variables View
This submenu displays variables of specified types in the Docking view area.
Log View
This submenu displays Log windows of specified types in the Program
view area.
Tool/Work/Area setting
This submenu displays windows for specifying tools, work pieces, and areas.
Local
This displays local variables in the Docking view area.
Watch
This displays the Watch window in the Docking view area.
Output
This displays output in the Docking view area.
Search Result
The results are displayed when Search / replace is executed.
Vision monitor
This toggles display of the Vision monitor window.
Vision tool
This toggles display of the Vision tool window
Controller Information
This displays basic information of the controller.
ToolBar
This submenu controls the display of toolbars.
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3.2.2.4 Project menu
Add Program...
This is for creating a new program and adding it to the current project.
Add Existing File...
This submenu is for copying the selected program into the current project
folder to add it in the project.
Enable/Disable
This submenu controls usage of a file within the project.
Enabled programs can be executables.
Folder
This submenu is for creating, renaming, and importing folders. Programs of
other projects can be imported as folders.
Create Macro Definition File
This submenu is for creating header files defining macro names of variables
and I/O ports.
Import Macro Definition File
This submenu is for reading the content of header files defining macro
names to apply it to variables and I/O ports.
Command builder
This submenu is for displaying the Command builder dialog box to support
PAC commands input.
Program Bank
This displays a dialog box with programs covering handy DENSO robot
functionality.
Developers can also add their own work to this open-ended library.
Check Grammar
This runs a syntax check on the selected program. The results appear in an
Output window.
Make Executable
This updates the executables for the project. An Output window tracks
progress and error messages from the compiler.
Parameter
This displays the dialog box for specifying project parameters.
Joint Setting Table
This displays the dialog box for specifying joint settings. Axis settings are
used in SMRT4G, MC2F and Added axes.
Property
This submenu displays the dialog box containing property sheets of communication, compile, variables, and I/O items for referring to them or configuring the project.
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3.2.2.5 Connect menu
Transfer Data...
This is for exchanging data with the robot controller.
Connect Setting
This opens the Property dialog box to the Communications settings tab, the
one for configuring the communications link for the project.
Monitor Communication
This submenu specifies the connection to the robot controller.
•Offline:
WINCAPS III operates alone, without connecting to the robot controller.
• Monitoring:
WINCAPS III connects to the robot controller and displays its internal
data. Specify the data update intervals with Tool|Option.
• Debugging:
WINCAPS III controls automatic program operation from the computer, debugging programs by modifying their variables and I/ O values as
they run.
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3.2.2.6 Debug menu
Note
The Debug menu is available in WINCAPS III connected with the robot controller version 2.7 or later.
Start all supervisor tasks
This starts all supervisory tasks.
Stop all supervisor tasks
This stops all supervisory tasks.
Start a task
This starts the selected program.
Step in
This executes one program step.
If a step includes CALL text, execution pauses at the first step in that function.
Continue all tasks
This resumes suspended tasks.
Halt
This suspends program execution.
Step-stop
Program execution runs through to the end of the current step.
Cycle-stop
Program execution runs through to the end of the current cycle.
Program reset
This returns the current program to its starting point.
Reset all tasks
This returns all programs to their starting points.
Show quick watch
This displays the current values of all variables and I/O ports currently selected in the Program edit window.
Register to watch
Add the currently selected quick watch items to the watch list in the Watch
window.
Delete watch
This deletes the watch items selected in the Watch window.
Set/Reset a break point
This specifies whether program execution breaks at the step currently under
the cursor in the Program edit window.
Reset all break points
This clears all breakpoints.
Break point stop setting
This specifies whether hitting a breakpoint pauses the current program only
or all programs.
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3.2.2.7 Arm menu
Set line to start/stop log
One way to specify a logging range is to select it in the Program edit window. Another is to specify starting or stopping for the current line in the
Program edit window.
Get Single Trace Log
This displays the trace log for the specified program, a listing of the program steps executed and their execution times.
Controller settings
This submenu controls controller operation: turning motors and machine
locks ON and OFF and specifying times for reading control logs.
Current angle display
This submenu controls the display, in the Arm 3D View window, of current
values for arm angle variables of types P, J, T, and J-EX. It also supports
copying of those values.
Tool Coordinate Monitor
This toggles the display of the current tool number and coordinate axis in
the Arm 3D view window.
Work Coordinate Monitor
This toggles the display of the current work number and coordinate axis in
the Arm 3D view window.
Collision Detection
Selecting this toggles collision detection.
Collision Display Reset
This removes collision results from the display.
Moving tracks
Sets the display of the trajectory the flange tip moved through.
Display Enable/Disable
This submenu controls display of elements in the Arm 3D view window:
floor, arm, tool, work, area, and obstacles.
Armplayer Plus
This displays the dialog box for checking the path for MOVE, APPROARCH, and other basic operations and calculating overall cycle times
without connecting to the robot unit.
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3.2.2.8 Tool menu
DIO Command Viewer
This displays the DIO command viewer dialog box for displaying standard
command patterns or those with mini I/O assignments. During debugging,
this dialog box also allows batch setting of command patterns for dummy
I/O.
Controller extension
This is available only in the online monitoring mode.
USB
This is for reading or writing project data from/to a USB memory.
ARM-Parameter
Reads/writes arm parameters needed for controller settings.
Re-Login
This returns to the dialog box for logging in, the only way to changing user
levels while WINCAPS III is running
Option
This displays the dialog box for configuring such software options as the
editor's syntax highlighting colors and communications time out limits.
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3.2.2.9 Window menu
3.2.2.10 Help menu
Close Window
This closes the program or header file selected in the Program view area.
Close All Windows
This closes the following Program view window types: Arm 3D view, Vision monitor, and Program edit.
Cascade windows
This stacks all windows of the above types so that they overlap each other,
with the title bars visible, in the Program view area.
Tile Horizontally
This lines up all windows of the above types horizontally in the Program
view area.
Tile Vertically
This lines up all windows of the above types vertically in the Program view
area.
Window List
This submenu lists all windows of the above types currently open in the
Program view area.
Show all hidden windows
This restores a minimized window to the original size.
Hide all
This minimizes all windows in the Docking view area to maximize the Program view area. Use this to maximize the Arm 3D view window or Program edit window.
Reset window layout
This returns windows to the default layout.
WINCAPS III guide
This shows the WINCAPS III help.
License...
This shows the license information.
Version
This shows the version of WINCAPS III.
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3.2.3 Toolbars
The toolbars provide user alternate access to most menu items with button icons.
Alternatively, you can save screen real estate by turning them off, all or individually.
There are six of these toolbars. The following lists map their buttons to the corresponding menu items.
Standard toolbar
Edit toolbar
A: New Project
B: Open Project...
C: Save Project
D: Save
E: Cut
F: Copy
G: Paste
H: Delete
I: Find...
J: Undo
K: Redo
L: Create Programs...
M: Check Syntax
N: Make Executable
A: Command List
B: Indent
C: Unindent
D: Encomment
E: Decomment
F: Set/Clear Bookmark
G: Next Bookmark
H: Previous Bookmark
I: Clear Bookmarks
ABCD EFGH I JK LMN
ABCDEFGHI
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View toolbar
Communication mode toolbar
Debug toolbar
Log toolbar
A: Project View
B: Program list
C: Arm view
D: Arm Modeling
E: Arm operation
A: Transfer Data
B: Monitor Communication
A: Start a Task
B: Step In
C: Continue All Tasks
D: Halt
E: Step-stop
F: Cycle-stop
G: Program Reset
H: Reset All Tasks
I: Toggle Breakpoint
A: Set/Clear Control Log Start Line
B: Set/Clear Control Log End Line
C: Set/Clear Trace Log Start Line
D: Set/Clear Trace Log End Line
E: Set/Clear Variable Log Start Line
F: Set/Clear Variable Log End Line
G: Single-trace Log
AB CDE
A B
ABCDEFGHI
AB CD EF G
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3.2.4 Docking view
The Docking view area provides tab interfaces for switching between members of windows that the user has
"docked" (grouped together).
For further details on docking procedures, refer to 3.2.6 "Screen operations" (P. 41).
Docking is available for the following window types.
• 3.2.4.1 "Project view" (P. 32)
• 3.2.4.2 "Program list" (P. 33)
• 3.2.4.3 "Arm modeling" (P. 34)
• 3.2.4.4 "Arm operation" (P. 34)
• 3.2.4.5 "I/O window" (P. 35)
• 3.2.4.6 "Variables window" (P. 35)
• 3.2.4.7 "Tool/work/area setting window" (P. 35)
• 3.2.4.8 "Local variables window" (P. 35)
• 3.2.4.9 "Watch window" (P. 36)
• 3.2.4.10 "Output window" (P. 36)
• 3.2.4.11 "Search results window" (P. 36)
• 3.2.4.12 "Vision tool window" (P. 37)
3.2.4.1 Project view
This window lists folders and files in the project.
It has buttons for adding programs, importing files, and other operations.
A: Create Programs...
This button is for creating program, header, and teach pendant (TP) panel files in the project.
B: Import
This button is for adding existing programs to the project.
A B C D
E
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C: button
These buttons are for moving files and folders up and down the file hierarchy.
D: Display files
This button opens a folder, displaying the files inside.
E: List hierarchy
This button lists all files and folders in the project hierarchy.
Double-clicking a program, header, or teach pendant (TP) panel file opens it.
3.2.4.2 Program list
This window lists the programs in the project.
Icon
A key icon is shown for locked files.
Program name
This displays the program name declared in "PROGRAM".
File name
This displays the name of files with programs stored.
Title
This displays the program name declared in '!TITLE "xxxxx".
Usage
This displays the usage status of the program.
: Move the selected item up one position.
: Move the selected item down one position.
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3.2.4.3 Arm modeling
This window is for arranging objects in the Arm 3D view window.
For further details on modeling in the Arm 3D view window and Arm modeling, please refer to Chapter 6 "Arm
3D View Window" (P. 90).
3.2.4.4 Arm operation
This window is for moving the simulated robot in the Arm view window.
For further details on operating the robot in the Arm view window, please refer to Chapter 6 "Arm 3D View Window" (P. 90).
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3.2.4.5 I/O window
This window type is for monitoring I/O and editing.
For further details on monitoring I/O, please refer to Chapter 7 "Online Functions" (P. 103).
3.2.4.6 Variables window
This window type is for displaying global variables. Listing or editing is possible.
For further details on monitoring global variables, please refer to Chapter 7 "Online Functions" (P. 103).
3.2.4.7 Tool/work/area setting window
This window type is for setting tool coordinates, work coordinates and area.
For further details on these coordinates, please refer to Chapter 6 "Arm 3D View Window" (P. 90).
3.2.4.8 Local variables window
This window type is for monitoring the selected local variables.
For further details on monitoring local variables, please refer to Chapter 7 "Online Functions" (P. 103).
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3.2.4.9 Watch window
This window type is for monitoring the values of variables on the watch list.
For further details on watch lists, please refer to Chapter 7 "Online Functions" (P. 103).
3.2.4.10 Output window
This window type displays progress and error messages from the syntax check and compiler.
For further details on such output, please refer to .5.8 "Making Executables" (P. 88)
3.2.4.11 Search results window
This window type displays the results of a project-wide search.
For further details on this output, please refer to 5.4.1 "Finding and replacing strings" (P. 74).
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3.2.4.12 Vision tool window
This window type is for configuring visual functions.
For further details on this window, please refer to Chapter 9 "Vision Manager" (P. 138).
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3.2.5 Program view
This displays the following window types: Arm 3D view, Vision monitor, and Program edit. If there is a robot controller on line, the list expands to include Task and Log windows.
This area provides a tab interface for switching windows.
This area displays the following window types.
• 3.2.5.1 "Program edit window" (P. 38)
• 3.2.5.2 "Arm 3D View" (P. 39)
• 3.2.5.3 "Vision monitor window" (P. 39)
• 3.2.5.4 "Log window" (P. 40)
3.2.5.1 Program edit window
This window type is for editing program and header files.
Syntax highlighting displays numbers, operators, comments, and other elements in different colors.
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3.2.5.2 Arm 3D View
This 3D window is for checking robot operation.
Adding other equipment and devices allows for collision detection.
3.2.5.3 Vision monitor window
This window displays the image from a camera.
For further details on this window, please refer to Chapter 9 "Vision Manager" (P. 138).
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3.2.5.4 Log window
If there is a robot controller on line, this displays log data.
For further details on such logs, please refer to Chapter 8 "Logging" (P. 120).
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3.2.6 Screen operations
WINCAPS III allows flexible customization of menus, toolbars, and windows on the screen.
3.2.6.1 Moving toolbars
Toolbars can be dragged anywhere on the screen.
Inside the toolbar display area, they clump together to conserve space.
Dragging one outside this area, however, adds a title bar.
Procedure
To drag a toolbar, grab its end tab or title bar (shown in red below).
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3.2.6.2 Changing window layout
WINCAPS III's flexible layout allows you to freely move its windows anywhere within its application window and
to snap them vertically or horizontally to an edge within the application window or just the selected area.
The Docking view area provides tab interfaces for switching between members of windows that the user has
"docked"—stacked together within their own display area.
(1) Grouping window for display
Docking adds a freestanding window to another window to form or expand a group.
Just grab the first window's title bar (shown in red) and drag the blue window outline to the second window's title
bar. A tab then appears below the stacked windows to indicate successful docking.
Note
The drag destination is the title bar. Dropping anywhere else produces normal window overlap.
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(2) Snapping windows
This operation moves the selected window up against the specified edge.
The first step is grabbing the window's title bar to display the snap arrow icons. These offer two choices: snap within the application window or just within the current area.
Snapping within application window
Your first choice is to move windows to an edge of the application window.
Operating procedure
1. Start dragging the window's title bar to display the snap icons.
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2. Drop the blue window silhouette on an icon in the outer set to move the window against
the corresponding edge of the application window.
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Snapping within current area
Alternatively, you can snap within the Program view, Docking view, or other area.
Operating procedure
1. Start dragging the window's title bar to display the snap icons.
2. Drop the blue window silhouette on an icon in the inner set to move the window against
the corresponding edge of the current area.
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(3) Minimizing Docking view area
This operation minimizes the Docking view area to maximize the Program view area.
Operating procedure
1. Click the icon on the right end of the Docking view title bar.
The operation minimizes the Docking view area, showing the tab instead as shown below.
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2. To temporarily display the minimized window in the Docking view area so that it overlaps
the Program view area as shown below, click the tab shown in step 1.
Note
• To minimize all windows in the Docking view area, select Window|Hide all.
• To restore a minimized window in the Docking view area to the original size, display the minimized window and click the icon on the right end of the title bar. To restore all minimized windows to the original size, select Window|Show all hidden windows from the Window menu.
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3.3 Quitting WINCAPS III
Operating procedure
1. Choose File|Exit to quit the program.
Note
If a project is already being edited, the confirmation dialog appears.
The edited changes can be selected and saved by pressing Show extra information.
Save button
Overwrites the project.
Don't Save button
This button deletes the edited changes.
Cancel button
Cancels the quitting procedure and reverts to the previous WINCAPS III screen.
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4.1 Overview
WINCAPS III manages the programs, parameters, variables, and other data for each robot as a separate project.
4.1.1 Folders
A project uses the following file hierarchy.
A: Project folder
This holds all files for the project.
Its name becomes the project name.
B: Project file
This file, with file extension .wpj. contains data on the project overall.
Double-clicking this file opens the corresponding project. (File extension: .wpj)
C: Project data folder
This folder holds the data for the project.
Its name becomes the project name.
D: Backup folder
This folder holds backup copies of robot controller related data including the power-on time. Receiving data
from the connected robot controller automatically creates this folder.
E: Modeling data folder
This folder holds 3D modeling data for the project.
F: Remote files folder
If there is a robot controller on line, the software spools robot controller files here.
G: Source files folder
This folder holds the programs, header files, and teach pendant (TP) panels for the project.
The Project window displays its contents.
Project folder
Project file
Project data folder
Backup folder
Modeling data folder
Remote files folder
Source files folder
A
B
C
D
E
F
G
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4.2 Creating a New Project
WINCAPS III provides a wizard for creating a new project.
New projects are created using the following two methods.
• Select robot type manually for creating a new project
This method can be used when the robot is not linked. Used for creating projects in advance of robot installation (when designing equipment, etc.) Match the settings with the controller to link to. Errors will occur during
linking if the settings do not match.
• Get information from the controller for creating a new project
If the robot and the controller are set up, import one of projects held in the robot controller into WINCAPS
III to create a new project.
Using this method does not require newly configuring the robot type and other various settings, but requires
that the robot controller and PC (WINCAPS III) be connected with each other for data exchange. When importing a project from the robot controller, it is possible to search for robots connected.
Operating procedure
1. Choose File|New project to load this wizard.
The Back button returns the wizard to the preceding screen.
The Next button advances the wizard to the next screen.
The Cancel button exits the wizard.
Note
Starting WINCAPS III Project wizard when the currently open project has unsaved modifications displays the following confirmation dialog, asking whether or not to save unsaved modifications before
closing the project.
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2. Follow the wizard's instructions to configure the project.
There are six items to specify in the case of manual robot type selection.
1) Project name and location
2) Robot type
3) Robot controller options
4) Link type
5) Variables
6) I/O port settings
In the case of project creation from controller information, make settings only for 1) Project name and location, and 4) Link type
Note
• The last four can be modified at any time, but not the first three:
• Project name and location
• Robot type
• Robot controller options
• There is a basic setting that specifies where WINCAPS III saves new projects. For further details
on these settings, please refer to 3.1.1 "WINCAPS III basic settings" (P. 14).
• Do not check the Customer specifications check box displayed by Robot controller options for
standard robots. Use for robots with special specifications (with a "#" for the robot type).
3. When a Complete button appears on the screen, press it to display the new project.
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4.3 Opening an Existing Project
Operating procedure
1. Choose File|Open project to display the Open dialog box.
Note
• The following two types of files can be opened.
WINCAPS III project data (File extension: .wpj)
WINCAPS II project data (File extension: .spj)
• If an existing project is currently edited, the confirmation dialog appears, asking whether or not to
save unsaved modifications.
4.4 Saving Project
The File menu offers two ways to save the current project.
• Save project
This saves the currently open project.
• Save project as...
This creates a folder under a specified name and copies all current project data into the folder.
Note
When executing Save project as..., specify a folder name other than the current project folder name
and all folder names contained in the current project folder.
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4.5 Configuring a Project
Operating procedure
1. Choose Project|Properties to display the property sheets for the project.
2. Click the tab containing the desired configuration option for the settings.
3. When configuration is complete, press the OK button.
Pressing the Cancel button instead discards all changes.
Note
Moving to another tab does not save changes. To save your new settings, always press the OK button.
The dialog box has the following five tabs.
Robot info. tab
This displays project information.
Type
Displays the robot type.
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Communication setting tab
This specifies the communications link to the robot controller plus communications options.
Ethernet
Enter the robot controller's IP address.
• IP address
Enter the robot controller's IP address.
• Specify the IP address of the local machine.
If your PC has several network cards, you can specify the one to use when linking. Specify the network
card's IP address.
• Specify the port number of the local machine.
Check the box and enter the port number if you wish to specify the PC's port number when linking.
RS-232C
Input the RS-232C communications settings in line with those of the robot controller.
Compile tab
Sets data regarding the executable program.
File name
Specifies a file name when renaming the execution file. By default, a program project file name having the
extension "nic" is specified. If you do not wish to overwrite this file or wish to unify all the projects in an
executable file name, change this value.
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Output code
Sets the software version of the robot controller. Depending upon the version, the output codes of the execution program will differ. If the version specified here is different from the actual software version of the
connected controller, an error will occur at the time of communication.
Language mode
Specifies the executable program language.
Explicit Type Declarations
Error will occur unless local variables are explicitly declared with a specification statement or postfix. If
this option is found invalid, without explicit descriptions, it will be regarded as a single accuracy variable.
Inspect Constant Range
Checks the range of an argument with the statement described as constant when creating the execution program.
Symbol table
Sets the size of working range for storing information on symbols.
Name table
Sets the size of working range for registering information on names such as label name. This range is used
to register information on all names handled by the program files included in the executable file.
Reallocation table
Sets the size of working range for determining the absolute addresses.
Block table
Sets the size of working range for storing the nested state of loops and conditional statement, etc.
Line table
Sets the size of working range for registering line information. The numerical value of this table is equal to
the number of all the lines that can be compiled. The same value is equal to the nest level allowed for compiling.
I/O table
Sets the size of working range for registering information on IO variables. The numerical value of this table
is equal to the number of defined IO variables.
Dim table
Sets the size of working range for registering information on array variables. The numerical value of this
table is equal to the number of array variables that can be defined.
Free chain
Sets the size of working range for registering information address link. This is the range used for solving
label addresses, jumping address of branch and loop commands, and global variables.
Name table
Sets the size of working range for registering information concerning label and other names. This is the
range used for registering information on reserved words and user-defined labels, etc.
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Variable tab
This specifies the number of variables used.
Set it to match the number of project variables used by the robot controller.
I/O tab
This specifies I/O assignments and I/O options.
For further details on I/O specifications / settings for each device, refer to the Option Equipment Manual.
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4.6 Configuring Parameters
Operating procedure
1. Choose Project|Parameters to display the parameter configuration sheets.
2. Click the tab containing the desired configuration option.
The dialog box has the following nine tabs.
• Communication tab
• Program tab
• Interpreter tab
•I/O tab
• DNet Master tab
•Path. tab
• Config. tab
• Servo tab
• Vision tab
Note
• Enabling the filter lists only parameters containing the specified string.
• Selecting the Mask unmodifiable items check box lists only those settings available for editing.
3. When configuration is complete, press the OK button.
Pressing the Cancel button instead discards all changes.
Note
Moving to another tab does not save changes. To save your new settings, always press the OK button.
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4.7 Link with Robot Controller
WINCAPS III supports two types of links for communicating with a robot controller:
• Ethernet connection
• Serial (RS-232C) connection
For further details, please refer to 1.5 "Connecting to Robot Controller" (P. 8) and the robot controller documentation.
4.7.1 Communications settings
After connecting the link, configure it at the WINCAPS III end.
For further details on configuring the robot controller, please refer to its Setting Guide.
Operating procedure
1. Choose Connect|Settings to open the Property dialog box to the Communications settings
tab.
2. Configure the link.
First specify the connection between the computer and the robot controller.
Ethernet connection
All that is needed is the robot controller's IP address.
For further details on determining this, please refer to the robot controller documentation.
Serial (RS-232C) connection
This link requires the following settings.
• Communications port
• Baud rate
• Parity bits
• Data length
• Stop bits
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3. Configure the options:
timeout and number of retries.
4. Press the OK button to save the new settings.
4.7.2 Data transfers
This link is for exchanging data with the robot controller.
The following data is exchanged.
Program
Data concerning programs. There are two types of data for programs.
Source file
Uncompiled program data
Executable file / map file
Compiled program data
Variable
Data for all variable values.
Tool/Work/Area
Data on tools, work, areas.
Log
All log data. (receivable only)
Set log data in flash fields and so on using Log acquisition settings.
Parameter
All parameter data.
Includes parameters in the Parameter editing screen.
There are five types of data for parameters as follow.
Arm parameters
Parameter on movement of the robot.
•Path tab
• Config. tab
• Servo tab
I/O parameters
Parameters concerning I/O.
•I/O tab
• DNet master tab
Program parameters
Parameters concerning programs.
• Program tab
• Interpreter tab
Communication
Communications settings parameters (receivable only)
• Communication tab
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Vision
Parameters concerning visual functions.
• Vision tab
Vision
All visual tools data.
Select Screen data settings on the Transfer data screen.
Configuration
All configuration data (calset values, etc.)
Note
Some items will not appear in the list of transferable data due to WINCAPS III settings or robot controller specifications.
Operating procedure
1. Choose Connect|Transfer data... to display the bidirectional transfer dialog box.
2. Select the data source(s).
Selecting the WINCAPS III check box sends data to the Controller; selecting the Controller one receives.
Note
Selecting multiple sources is perfectly acceptable.
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3. Press the Send or Receive button to display a confirmation dialog box.
4. Press the Yes button to start transferring data and display a progress screen.
Note
Receiving data from the robot controller updates the WINCAPS III project data, nullifying any program
updates in the interim.
Caution
When transferring data to the robot controller, close the Program List window or the Select Variable
Type window (if opened) on the teach pendant beforehand; otherwise, the controller cannot load map
files or executable files transferred from WINCAPS III.
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4.7.3 Arm parameter data transfer
The arm parameters contain a CALSET value deciding the robot's particular position data. CALSET values are
included when transferring arm parameters from the robot controller to WINCAPS III, but not vice versa in order
to prevent overwriting.
If you wish to transfer arm parameter data including CALSET values to the robot controller, refer to the Robot
Installation Protection Guide.
Arm parameters received from the controller can be written to a separate file or loaded as arm data.
Operating procedure
1. Log in at programmer level.
2. Choose Tool|Arm parameters to open the Arm parameter dialog box.
Save button
Writes WINCAPS III project arm parameters to a file.
Load button
Arm data from files below on your PC is uploaded to your current project.
• WAM: WINCAPS III arm data format
• WPJ: Loads only arm data from WINCAPS III projects.
• ARM: WINCAPS II arm data format
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4.8 USB Tool
Instead of direct data transfer between a computer running WINCAPS III and the robot controller, a USB memory
is available as a media for data exchange between them.
4.8.1 Reading data from USB memory
Follow the FDTool wizard to read data from a USB memory.
Operating procedure
1. Select Tool|USB|Read to start the FDTool wizard.
Read data from drive
This field specifies a drive for reading a USB memory.
New Project
This radio button is for creating a new project and reading data from a USB memory into the project.
Enter a project name and select a location for saving the project.
Merge with Existing Project
This radio button is for selecting an existing project and reading data from a USB memory into the
project. The data read from a USB memory merges with data in the existing project.
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2. Click the Next button.
Select a target folder
This area specifies folders in the USB memory to read data from them.
3. Click the Next button.
Select target data
Selecting these check boxes specify data to read from the USB memory. To read all data, click the Select
All button.
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4. Click the Next button to read the specified data from the USB memory.
Upon completion of reading, the following dialog appears.
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4.8.2 Writing data into USB memory
Follow the FDTool wizard to write data into a USB memory.
Operating procedure
1. Select Tool|USB|Write to start the FDTool wizard.
Write data into drive
This field specifies a drive for writing into a USB memory.
ROBOTPRJ (Root)
This radio button is for writing the entire project file into a USB memory.
Following folder
This radio button is for specifying a folder in the project and writing data held in the folder into a USB
memory.
Note
When writing data into a USB memory, first open a target project and then start the FDTool wizard.
The wizard cannot select an unopened project.
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2. Click the Next button.
Select target data
Selecting these check boxes specify data to write into the USB memory. To write all data, click the Select All button.
3. Click the Next button to write the specified data into the USB memory.
Upon completion of writing, the following dialog appears.
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4.9 Print
Project data of various types can be printed out.
Operating procedure
1. Choose File|Print to display the Print dialog box.
2. Select the data you wish to print and press the Preview button.
Check the preview and then make your print out.
Note
Printing out log data can result in vast amounts of printout pages, hence be sure to check the number
of pages using the preview function first before printing.
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5.1 Creating a New Program
Operating procedure
1. Choose Project|Add Program... to display the dialog box for creating a new program, head-
er file, or teach pendant (TP) panel.
2. Specify the type.
There are three choices.
• Program (*.pac)
• Header (*.h)
• Panel designer (*.pnl)
The box to the right automatically displays the corresponding template.
3. Specify a name (title) for the program.
The default is to use this program name as the file name.
To use a different file name, enter it in the File name field.
4. Press the OK button to open a new file based on the template in the corresponding win-
dow: a Program edit window in the Program view area for a program or header file or the
Panel Designer window for a TP panel.
Panel Designer procedures appear in the Panel Designer User's Manual separately issued.
Note
• The folder for the new file is the default (shown in gray) currently selected in the Project window.
If the target folder already contains a file with the name specified, pressing the OK button displays
an error message and returns to the dialog box.
• The limit is one TP panel per folder.
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5.2 Leveraging Existing Files
In practice, a key technique is to recycle files from other projects.
There are three file types.
• Program file (*.pac)
• Header file (*.h)
• Teach pendant panel (*.pnl)
Operating procedure
1. Choose Project|Import... to display an Open dialog box.
2. Select the file to add and press the Open button to add it to the Project and Program list
windows.
Note
• The folder for the file is the one currently selected in the Project window. If that folder already contains a file with that name, however, a dialog box asks permission to overwrite it.
• If you wish to import by folders, choose Project|Folder|Import and specify the folder.
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5.3 Saving a Program
The following procedure saves edits to the current program.
The File menu offers two ways to save modifications to the file in the selected Program edit window.
• Save updates the original file.
• Save As... saves them under a different name.
Only the latter warrants detailed description.
Operating procedure
1. Choose File|Save As... to display a Save As dialog box.
2. Specify the target folder and file name and press the Save button to save the contents of
the Program edit window there.
If that folder already contains a file with that name, however, a dialog box asks permission to overwrite it.
Note
• If there are multiple programs in the Program view area, the file saved is the active one, the one
in the currently selected Program edit window.
The File menu emphasizes this by adding the file name to the two menu items.
• If that folder already contains a file with that name, however, a dialog box asks permission to overwrite it.
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5.4 Editing a Program
Double-clicking a program or header file in the Project or Program list window opens it for editing in a Program
edit window.
Note
• If the Project window does not show file names, press its Display files button.
• The Program view area provides a tab interface for switching between files.
Alternatively, tiled and other layouts display multiple files for direct selection.
WINCAPS III provides the following program editing functions.
Configurable Program edit windows
The Program edit window text editor gives the user control over the font, size, and colors for displaying text.
Syntax highlighting assigns different colors to distinguish between, for example, operators and comments. For
further details on Program edit window display options, refer to 3.1.1 "WINCAPS III basic settings" (P. 14).
Finding and replacing strings
Find and replace strings in headers and programs.
Search ranges and regular expressions can be used.
Other functions
• Jump to...
This is for moving the cursor to a line, specified by number, in the Program edit window.
• Comment out
This submenu command changes the lines selected in the Program edit window into comments.
• Indent
This submenu command indents the lines selected in the Program edit window.
• Bookmark
This submenu is for working with bookmarks, markers on lines in Program edit windows.
These markers make it easier to return to that position.
• Helper functions
These are to help command input by listing candidates and showing command syntax.
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5.4.1 Finding and replacing strings
You can specify the range and method to search and replace the character string.
Target items
This field specifies the range of the target to be searched/replaced.
Choose Project to specify the file type.
Option
You can specify various search methods.
You can also select the files when executing Replace all.
Note
Double-clicking a line in the Search results window displays the corresponding program line.
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5.4.2 Other editing functions
5.4.2.1 Jump to...
This is for moving the cursor to a line, specified by number, in the Program edit window.
Operating procedure
1. Choose Edit|Jump to... to display the eponymous dialog box.
2. Enter the line number.
3. Press the OK button to move the cursor to that line.
5.4.2.2 Comment out
This submenu command changes the lines selected in the Program edit window into comments.
Operating procedure
1. Select the lines to comment out.
2. Choose Edit|Comment Block|Comment to convert them to comments.
Note
To reverse this operation, select lines and choose Edit|Comment Block|Decomment.
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5.4.2.3 Indent
This submenu command indents the lines selected in the Program edit window into comments.
Operating procedure
1. Select the lines to indent.
2. Choose Edit|Indent|Indent to indent them.
Note
To reverse this operation, select lines and choose Edit|Indent|Unindent.
5.4.2.4 Bookmark
This submenu command is for setting a bookmark on the line under the cursor, or moving the cursor to a bookmark.
(1) Setting a bookmark
The following is the procedure for setting a bookmark on the line under the cursor.
Operating procedure
1. Move the cursor to the line on which to set the bookmark.
2. Choose Edit|Toggle Bookmark to set the bookmark or, if there is already a bookmark there,
delete it.
(2) Moving to a bookmark
There are submenu commands for moving the cursor to a line with a bookmark.
Operating procedure
1. Choose Edit|Bookmark|Next Bookmark to move the cursor downward from the current po-
sition to the next bookmark.
To move the cursor upward, choose Edit|Bookmark|Previous Bookmark instead.
Bookmark
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(3) Clearing bookmarks
There is a menu command for clearing all bookmarks.
Operating procedure
1. Choose Edit|Bookmark|Clear Bookmarks.
5.4.2.5 Command candidate function
As you type a command, a command list will appear. (Ctrl + Space key will also display the command list)
The command list will automatically scrolls to the first match.
Typing CA, for example, highlights CALL.
Selecting a command on this list displays a functional description to the right.
Double-clicking one inserts it in the text.
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5.4.2.6 Insert command function
The Insert command submenu lists commands by function.
Selecting a command on this list inserts it into the program being edited.
Operating procedure
1. Move the cursor to the insertion position.
2. Choose Edit|Command Input to list the commands by function.
Note
Choosing a command inserts it with default values for any command parameters.
Edit these values without worrying about parameter syntax.
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5.4.2.7 Command builder function
This is for command input through Command builder at the cursor point in the program being edited. Necessary
parameters can also be input, allowing correct parameter statements.
You can also select from command searches or past commands entered. Help can be referred to for the commands
shown, enabling quick command input.
Programs created by users in the project are also displayed, call programs can also be created.
A: History
Select command from history of previously entered commands.
B: Find
Search commands using their names or description.
C: Insert
Selected commands are input at the cursor position on the program editing window.
D: Help
This displays the Help for the selected command.
E: Command list
Commands are listed by category.
P: Parameter
List of parameters for the selected command. Correct commands can be created by input into the values columns.
G: Brief description
Shows a simple description of the command.
H: Input command display
Displays the text inserted for the command, including the input parameters.
A
E
G
H
F
BCD
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5.4.2.8 Insert registered character string
Allows registration of character strings commonly used in program editing for fast insertion.
(1) Register character string
Operating procedure
1. Press the desired key to which the selected string should be assigned.
2. Choose Edit|Register string.
3. Press the desired key to which the selected string should be assigned.
(2) Insert registered character string
Operating procedure
1. In the Program edit window, move the cursor to the line to which the registered string
should be inserted.
2. Choose Edit|Insert registered string.
3. Press the key to insert the character string into the program edit window.
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5.4.2.9 Add comment function
Automatically adds comments to explain the applications of the variables and I/O during program editing.
Comments are added with "'//" placed after them.
If a further comment is added after changing the application description of the I/O and variables, the content from
"'//" onwards is updated.
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5.5 Program Bank
The program bank allows robot applications to share library programs/functions originally written for one specific
robot or application.
Note
Program samples are already preset in the program bank. For further details on program samples,
please refer to Programming Manual II.
5.5.1 Adding a program to a project
This adds a program from the program bank to a project.
Operating procedure
1. Choose Project|Program Bank to display the eponymous dialog box.
These programs are listed by category. Double-clicking a category displays the programs in that category.
2. Select a program.
Two tabs switch between the documentation and source code for the selected program.
Readme tab
Proper documentation covers function, syntax, usage, conditions, limitations, and other particulars.
Source tab
This displays the source code for the selected program.
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