fanuc R-30iA, R-30iA Mate, R-30iB CONTROLLER Operators Manual

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R-30+A/R-30+A Mate/R-30+B CONTROLLER

Ethernet Function

OPERATOR'S MANUAL

B-82974EN/02

Before using the Robot, be sure to read the "FANUC Robot Safety Manual (B-80687EN)" and
understand the content.

• No part of this manual may be reproduced in any form.

• All specifications and designs are subject to change without notice.

The products in this manual are controlled based on Japan’s “Foreign Exchange and
Foreign Trade Law”. The export from Japan may be subject to an export license by the
government of Japan.
Further, re-export to another country may be subject to the license of the government of
the country from where the product is re-exported. Furthermore, the product may also be
controlled by re-export regulations of the United States government.
Should you wish to export or re-export these products, please contact FANUC for advice.

In this manual we have tried as much as possible to describe all the various matters.
However, we cannot describe all the matters which must not be done, or which cannot be
done, because there are so many possibilities.
Therefore, matters which are not especially described as possible in this manual should be
regarded as “impossible”.

B-82974EN/02 SAFETY PRECAUTIONS

SAFETY PRECAUTIONS

Thank you for purchasing FANUC Robot.
This chapter describes the precautions which must be observed to ensure the safe use of the robot.
Before attempting to use the robot, be sure to read this chapter thoroughly.

Before using the functions related to robot operation, read the relevant operator's manual to become
familiar with those functions.

If any description in this chapter differs from that in the other part of this manual, the description given in
this chapter shall take precedence.

For the safety of the operator and the system, follow all safety precautions when operating a robot and its
peripheral devices installed in a work cell.
In addition, refer to the “FANUC Robot SAFETY HANDBOOK (B-80687EN)”.

1 WORKING PERSON

The personnel can be classified as follows.

Operator:

Turns robot controller power ON/OFF

•

Starts robot program from operator’s panel

•

Programmer or teaching operator:

Operates the robot

•

Teaches robot inside the safety fence

•

Maintenance engineer:

Operates the robot

•

Teaches robot inside the safety fence

•

Maintenance (adjustment, replacement)

•

- An operator cannot work inside the safety fence.

- A programmer, teaching operator, and maintenance engineer can work inside the safety fence. The
working activities inside the safety fence include lifting, setting, teaching, adjusting, maintenance,
etc.

- To work inside the fence, the person must be trained on proper robot operation.

During the operation, programming, and maintenance of your robotic system, the programmer, teaching
operator, and maintenance engineer should take additional care of their safety by using the following
safety precautions.

- Use adequate clothing or uniforms during system operation

- Wear safety shoes

- Use helmet

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SAFETY PRECAUTIONS B-82974EN/02

2 DEFINITION OF WARNING, CAUTION AND

NOTE

To ensure the safety of user and prevent damage to the machine, this manual indicates each precaution on
safety with "Warning" or "Caution" according to its severity. Supplementary information is indicated by
"Note". Read the contents of each "Warning", "Caution" and "Note" before attempting to use the
oscillator.

WARNING

Applied when there is a danger of the user being injured or when there is a

danger of both the user being injured and the equipment being damaged if the
approved procedure is not observed.

CAUTION

Applied when there is a danger of the equipment being damaged, if the

approved procedure is not observed.

NOTE

Notes are used to indicate supplementary information other than Warnings and

Cautions.

• Read this manual carefully, and store it in a sales place.

3 WORKING PERSON SAFETY

Working person safety is the primary safety consideration. Because it is very dangerous to enter the
operating space of the robot during automatic operation, adequate safety precautions must be observed.
The following lists the general safety precautions. Careful consideration must be made to ensure
working person safety.

(1) Have the robot system working persons attend the training courses held by FANUC.

FANUC provides various training courses. Contact our sales office for details.

(2) Even when the robot is stationary, it is possible that the robot is still in a ready to move state, and is

waiting for a signal. In this state, the robot is regarded as still in motion. To ensure working
person safety, provide the system with an alarm to indicate visually or aurally that the robot is in
motion.

(3) Install a safety fence with a gate so that no working person can enter the work area without passing

through the gate. Install an interlocking device, a safety plug, and so forth in the safety gate so that
the robot is stopped as the safety gate is opened.

The controller is designed to receive this interlocking signal of the door switch. When the gate
is opened and this signal received, the controller stops the robot (Please refer to "STOP
TYPE OF ROBOT" in SAFETY PRECAUTIONS for detail of stop type). For connection, see
Fig.3 (a) and Fig.3 (b).

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B-82974EN/02 SAFETY PRECAUTIONS

(4) Provide the peripheral devices with appropriate grounding (Class A, Class B, Class C, and Class D).
(5) Try to install the peripheral devices outside the work area.
(6) Draw an outline on the floor, clearly indicating the range of the robot motion, including the tools

such as a hand.

(7) Install a mat switch or photoelectric switch on the floor with an interlock to a visual or aural alarm

that stops the robot when a working person enters the work area.

(8) If necessary, install a safety lock so that no one except the working person in charge can turn on the

power of the robot.

The circuit breaker installed in the controller is designed to disable anyone from turning it on
when it is locked with a padlock.

(9) When adjusting each peripheral device independently, be sure to turn off the power of the robot
(10) Operators should be ungloved while manipulating the operator’s panel or teach pendant. Operation

with gloved fingers could cause an operation error.

(11) Programs, system variables, and other information can be saved on memory card or USB memories.

Be sure to save the data periodically in case the data is lost in an accident.

(12) The robot should be transported and installed by accurately following the procedures recommended

by FANUC. Wrong transportation or installation may cause the robot to fall, resulting in severe
injury to workers.

(13) In the first operation of the robot after installation, the operation should be restricted to low speeds.

Then, the speed should be gradually increased to check the operation of the robot.

(14) Before the robot is started, it should be checked that no one is in the area of the safety fence. At the

same time, a check must be made to ensure that there is no risk of hazardous situations. If detected,
such a situation should be eliminated before the operation.

(15) When the robot is used, the following precautions should be taken. Otherwise, the robot and

peripheral equipment can be adversely affected, or workers can be severely injured.

- Avoid using the robot in a flammable environment.

- Avoid using the robot in an explosive environment.

- Avoid using the robot in an environment full of radiation.

- Avoid using the robot under water or at high humidity.

- Avoid using the robot to carry a person or animal.

- Avoid using the robot as a stepladder. (Never climb up on or hang from the robot.)

(16) When connecting the peripheral devices related to stop(safety fence etc.) and each signal (external

emergency , fence etc.) of robot. be sure to confirm the stop movement and do not take the wrong
connection.

(17) When preparing trestle, please consider security for installation and maintenance work in high place

according to Fig.3 (c). Please consider footstep and safety bolt mounting position.

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SAFETY PRECAUTIONS B-82974EN/02

RP1
Pulsecoder
RI/RO,XHBK,XROT

RM1
Motor power/brake

EARTH

Dual chain

Single chain

Safety fence

Interlocking device and safety plug that are activated if the
gate is opened.

Fig. 3 (a) Safety fence and safety gate

Emergency stop board

Panel board

or Panel board

EAS1

EAS11

EAS2

EAS21

Panel board

FENCE1

FENCE2

(Note)

（Note）

In case of R-30iB

In case of R-30iA

Terminals EAS1,EAS11,EAS2,EAS21 are provided on the

Terminals EAS1,EAS11,EAS2,EAS21 or FENCE1,FENCE2

emergency stop board.

are provided on the operation box or on the terminal block
of the printed circuit board.

In case R-30iA

In case of R-30iA Mate

Terminals EAS1,EAS11,EAS2,EAS21 are provided on the

Terminals EAS1,EAS11,EAS2,EAS21 are provided

emergency stop board or connector panel

on the emergency stop board or connector panel.
(in case of Open air type)

In case R-30iA Mate
Terminals EAS1,EAS11,EAS2,EAS21 or FENCE1,FENCE2

Termianls FENCE1,FENCE2 are provided
on the emergency stop board.

are provided on the emergency stop board or in the connector
panel of CRM65 (Open air type).

Refer to controller maintenance manual for details.

Refer to the ELECTRICAL CONNCETIONS Chapter
of CONNECTION of controller maintenance manual for details.

Fig. 3 (b) Limit switch circuit diagram of the safety fence

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B-82974EN/02 SAFETY PRECAUTIONS

Hook for safety belt

Fence

Steps

Trestle

Footstep
for maintenance

Fig.3 (c) Footstep for maintenance

3.1 OPERATOR SAFETY

The operator is a person who operates the robot system. In this sense, a worker who operates the teach
pendant is also an operator. However, this section does not apply to teach pendant operators.

(1) If you do not have to operate the robot, turn off the power of the robot controller or press the

EMERGENCY STOP button, and then proceed with necessary work.

(2) Operate the robot system at a location outside of the safety fence
(3) Install a safety fence with a safety gate to prevent any worker other than the operator from entering

the work area unexpectedly and to prevent the worker from entering a dangerous area.

(4) Install an EMERGENCY STOP button within the operator’s reach.

The robot controller is designed to be connected to an external EMERGENCY STOP button.
With this connection, the controller stops the robot operation (Please refer to "STOP TYPE
OF ROBOT" in SAFETY PRECAUTIONS for detail of stop type), when the external
EMERGENCY STOP button is pressed. See the diagram below for connection.

Dual chain

External stop button

Single chain

External stop button

Emergency stop board

Panel board

or Panel board

EES1

EES11

EES2

EES21

Panel board

EMGIN1

EMGIN2

Fig.3.1 Connection diagram for external emergency stop button

(Note)
Connect EES1 and EES11, EES2 and EES21 or EMGIN1
and EMGIN2

（Note）

In case R-30iB

Connect EES1and EES11,EES2 and EES21or EMGIN1and EMGIN2.

EES1,EES11,EES2,EES21 are on the emergency stop board

In case of R-30iA
EES1,EES11,EES2,EES21 or EMGIN1,EMGIN2 are on the panel board.

In case R-30iA
EES1,EES11,EES2,EES21 or EMGIN1, EMGIN2 are on the

In case of R-30iA Mate

panel board.

EES1,EES11,EES2,EES21　are on the emergency stop board
or connector panel (in case of Open air type).
EMGIN1,EMGIN2　are on the emergency stop board.

In case R-30iA Mate
Terminals EAS1,EAS11,EAS2,EAS21 or FENCE1,FENCE2

Refer to the maintenance manual of the controller for details.

are provided on the emergency stop board or in the connector
panel of CRM65 (Open air type).

Refer to the ELECTRICAL CONNCETIONS Chapter
of CONNECTION of controller maintenance manual for details.

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3.2 SAFETY OF THE PROGRAMMER

While teaching the robot, the operator must enter the work area of the robot. The operator must ensure
the safety of the teach pendant operator especially.

(1) Unless it is specifically necessary to enter the robot work area, carry out all tasks outside the area.
(2) Before teaching the robot, check that the robot and its peripheral devices are all in the normal

operating condition.

(3) If it is inevitable to enter the robot work area to teach the robot, check the locations, settings, and

other conditions of the safety devices (such as the EMERGENCY STOP button, the DEADMAN
switch on the teach pendant) before entering the area.

(4) The programmer must be extremely careful not to let anyone else enter the robot work area.
(5) Programming should be done outside the area of the safety fence as far as possible. If programming

needs to be done in the area of the safety fence, the programmer should take the following
precautions:
－ Before entering the area of the safety fence, ensure that there is no risk of dangerous situations

in the area.

－ Be prepared to press the emergency stop button whenever necessary.
－ Robot motions should be made at low speeds.
－ Before starting programming, check the entire system status to ensure that no remote instruction

to the peripheral equipment or motion would be dangerous to the user.

Our operator panel is provided with an emergency stop button and a key switch (mode switch) for selecting the
automatic operation mode (AUTO) and the teach modes (T1 and T2). Before entering the inside of the safety
fence for the purpose of teaching, set the switch to a teach mode, remove the key from the mode switch to prevent
other people from changing the operation mode carelessly, then open the safety gate. If the safety gate is opened
with the automatic operation mode set, the robot stops (Please refer to "STOP TYPE OF ROBOT" in SAFETY
PRECAUTIONS for detail of stop type). After the switch is set to a teach mode, the safety gate is disabled. The
programmer should understand that the safety gate is disabled and is responsible for keeping other people from
entering the inside of the safety fence. (In case of R-30iA Mate Controller standard specification, there is no mode
switch. The automatic operation mode and the teach mode is selected by teach pendant enable switch.)

Our teach pendant is provided with a DEADMAN switch as well as an emergency stop button. These button and
switch function as follows:
(1) Emergency stop button: Causes an emergency stop (Please refer to "STOP TYPE OF ROBOT" in SAFETY

PRECAUTIONS for detail of stop type) when pressed.

(2) DEADMAN switch: Functions differently depending on the teach pendant enable/disable switch setting

status.
(a) Disable: The DEADMAN switch is disabled.
(b) Enable: Servo power is turned off when the operator releases the DEADMAN switch or when the

operator presses the switch strongly.

Note) The DEADMAN switch is provided to stop the robot when the operator releases the teach pendant or

presses the pendant strongly in case of emergency. The R-30iB/R-30iA/ R-30iA Mate employs a
3-position DEADMAN switch, which allows the robot to operate when the 3-position DEADMAN switch is
pressed to its intermediate point. When the operator releases the DEADMAN switch or presses the
switch strongly, the robot stops immediately.

The operator’s intention of starting teaching is determined by the controller through the dual operation of setting the
teach pendant enable/disable switch to the enable position and pressing the DEADMAN switch. The operator
should make sure that the robot could operate in such conditions and be responsible in carrying out tasks safely.

Based on the risk assessment by FANUC, number of operation of DEADMAN SW should not exceed about 10000
times per year.

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The teach pendant, operator panel, and peripheral device interface send each robot start signal. However the
validity of each signal changes as follows depending on the mode switch and the DEADMAN switch of the operator
panel, the teach pendant enable switch and the remote condition on the software.

In case of R-30iB/R-30iA controller or CE or RIA specification of R-30iA Mate controller

Mode

AUTO

mode

T1, T2

mode

T1,T2 mode: DEADMAN switch is effective.

Teach pendant enable switch Software remote condition Teach pendant Peripheral device

Teach pendant

enable switch

On

Off

On

Off

In case of standard specification of R-30iA Mate controller

On Ignored Allowed to start Not allowed

Software

remote

condition

Local Not allowed Not allowed Not allowed

Remote Not allowed Not allowed Not allowed

Local Not allowed Allowed to start Not allowed

Remote Not allowed Not allowed Allowed to start

Local Allowed to start Not allowed Not allowed

Remote Allowed to start Not allowed Not allowed

Local Not allowed Not allowed Not allowed

Remote Not allowed Not allowed Not allowed

Teach pendant Operator panel Peripheral device

Local Not allowed Not allowed Off

Remote Not allowed Allowed to start

(6) (Only when R-30iB/R-30iA Controller or CE or RIA specification of R-30iA Mate controller is

selected.) To start the system using the operator’s panel, make certain that nobody is the robot work
area and that there are no abnormal conditions in the robot work area.

(7) When a program is completed, be sure to carry out a test operation according to the procedure

below.

(a) Run the program for at least one operation cycle in the single step mode at low speed.
(b) Run the program for at least one operation cycle in the continuous operation mode at low

speed.

(c) Run the program for one operation cycle in the continuous operation mode at the intermediate

speed and check that no abnormalities occur due to a delay in timing.

(d) Run the program for one operation cycle in the continuous operation mode at the normal

operating speed and check that the system operates automatically without trouble.

(e) After checking the completeness of the program through the test operation above, execute it in

the automatic operation mode.

(8) While operating the system in the automatic operation mode, the teach pendant operator should

leave the robot work area.

3.3 SAFETY OF THE MAINTENANCE ENGINEER

For the safety of maintenance engineer personnel, pay utmost attention to the following.
(1) During operation, never enter the robot work area.

(2) A hazardous situation may arise when the robot or the system, are kept with their power-on during

maintenance operations. Therefore, for any maintenance operation, the robot and the system should
be put into the power-off state. If necessary, a lock should be in place in order to prevent any other
person from turning on the robot and/or the system. In case maintenance needs to be executed in the
power-on state, the emergency stop button must be pressed.

(3) If it becomes necessary to enter the robot operation range while the power is on, press the

emergency stop button on the operator panel, or the teach pendant before entering the range. The

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SAFETY PRECAUTIONS B-82974EN/02

maintenance personnel must indicate that maintenance work is in progress and be careful not to
allow other people to operate the robot carelessly.

(4) When entering the area enclosed by the safety fence, the maintenance worker must check the entire

system in order to make sure no dangerous situations exist. In case the worker needs to enter the
safety area whilst a dangerous situation exists, extreme care must be taken, and entire system status
must be carefully monitored.

(5) Before the maintenance of the pneumatic system is started, the supply pressure should be shut off

and the pressure in the piping should be reduced to zero.

(6) Before the start of teaching, check that the robot and its peripheral devices are all in the normal

operating condition.

(7) Do not operate the robot in the automatic mode while anybody is in the robot work area.
(8) When you maintain the robot alongside a wall or instrument, or when multiple workers are working

nearby, make certain that their escape path is not obstructed.

(9) When a tool is mounted on the robot, or when any moving device other than the robot is installed,

such as belt conveyor, pay careful attention to its motion.

(10) If necessary, have a worker who is familiar with the robot system stand beside the operator panel

and observe the work being performed. If any danger arises, the worker should be ready to press
the EMERGENCY STOP button at any time.

(11) When replacing a part, please contact FANUC service center. If a wrong procedure is followed, an

accident may occur, causing damage to the robot and injury to the worker.

(12) When replacing or reinstalling components, take care to prevent foreign material from entering the

system.

(13) When handling each unit or printed circuit board in the controller during inspection, turn off the

circuit breaker to protect against electric shock.

If there are two cabinets, turn off the both circuit breaker.
(14) A part should be replaced with a part recommended by FANUC. If other parts are used, malfunction

or damage would occur. Especially, a fuse that is not recommended by FANUC should not be used.
Such a fuse may cause a fire.

(15) When restarting the robot system after completing maintenance work, make sure in advance that

there is no person in the work area and that the robot and the peripheral devices are not abnormal.

(16) When a motor or brake is removed, the robot arm should be supported with a crane or other

equipment beforehand so that the arm would not fall during the removal.

(17) Whenever grease is spilled on the floor, it should be removed as quickly as possible to prevent

dangerous falls.

(18) The following parts are heated. If a maintenance worker needs to touch such a part in the heated

state, the worker should wear heat-resistant gloves or use other protective tools.

－ Servo motor
－ Inside the controller
－ Reducer
－ Gearbox
－ Wrist unit

(19) Maintenance should be done under suitable light. Care must be taken that the light would not cause

any danger.

(20) When a motor, reducer, or other heavy load is handled, a crane or other equipment should be used to

protect maintenance workers from excessive load. Otherwise, the maintenance workers would be
severely injured.

(21) The robot should not be stepped on or climbed up during maintenance. If it is attempted, the robot

would be adversely affected. In addition, a misstep can cause injury to the worker.
When perform

(22)

ing maintenance work in high place, secure a footstep and wear safety belt.

(23) After the maintenance is completed, spilled oil or water and metal chips should be removed from the

floor around the robot and within the safety fence.

(24) When a part is replaced, all bolts and other related components should put back into their original

places. A careful check must be given to ensure that no components are missing or left not mounted.

(25) In case robot motion is required during maintenance, the following precautions should be taken :

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- Foresee an escape route. And during the maintenance motion itself, monitor continuously the
whole system so that your escape route will not become blocked by the robot, or by peripheral
equipment.

- Always pay attention to potentially dangerous situations, and be prepared to press the emergency
stop button whenever necessary.

(26) The robot should be periodically inspected. (Refer to the robot mechanical manual and controller

maintenance manual.) A failure to do the periodical inspection can adversely affect the performance
or service life of the robot and may cause an accident

(27) After a part is replaced, a test operation should be given for the robot according to a predetermined

method. (See TESTING section of “Controller operator’s manual”.) During the test operation, the
maintenance staff should work outside the safety fence.

4 SAFETY OF THE TOOLS AND

PERIPHERAL DEVICES

4.1 PRECAUTIONS IN PROGRAMMING

(1) Use a limit switch or other sensor to detect a dangerous condition and, if necessary, design the

program to stop the robot when the sensor signal is received.

(2) Design the program to stop the robot when an abnormal condition occurs in any other robots or

peripheral devices, even though the robot itself is normal.

(3) For a system in which the robot and its peripheral devices are in synchronous motion, particular care

must be taken in programming so that they do not interfere with each other.

(4) Provide a suitable interface between the robot and its peripheral devices so that the robot can detect

the states of all devices in the system and can be stopped according to the states.

4.2 PRECAUTIONS FOR MECHANISM

(1) Keep the component cells of the robot system clean, and operate the robot in an environment free of

grease, water, and dust.

(2) Don’t use unconfirmed liquid for cutting fluid and cleaning fluid.
(3) Employ a limit switch or mechanical stopper to limit the robot motion so that the robot or cable does

not strike against its peripheral devices or tools.

(4) Observe the following precautions about the mechanical unit cables. When theses attentions are not

kept, unexpected troubles might occur.

• Use mechanical unit cable that have required user interface.

• Don’t add user cable or hose to inside of mechanical unit.

• Please do not obstruct the movement of the mechanical unit cable when cables are added to

outside of mechanical unit.

• In the case of the model that a cable is exposed, Please do not perform remodeling (Adding a
protective cover and fix an outside cable more) obstructing the behavior of the outcrop of the
cable.

• Please do not interfere with the other parts of mechanical unit when install equipments in the
robot.

(5) The frequent power-off stop for the robot during operation causes the trouble of the robot. Please

avoid the system construction that power-off stop would be operated routinely. (Refer to bad case
example.) Please execute power-off stop after reducing the speed of the robot and stopping it by
hold stop or cycle stop when it is not urgent. (Please refer to "STOP TYPE OF ROBOT" in
SAFETY PRECAUTIONS for detail of stop type.)

(Bad case example)

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SAFETY PRECAUTIONS B-82974EN/02

• Whenever poor product is generated, a line stops by emergency stop.

• When alteration was necessary, safety switch is operated by opening safety fence and

power-off stop is executed for the robot during operation.

• An operator pushes the emergency stop button frequently, and a line stops.

• An area sensor or a mat switch connected to safety signal operate routinely and power-off stop

is executed for the robot.

(6) Robot stops urgently when collision detection alarm (SRVO-050) etc. occurs. The frequent urgent

stop by alarm causes the trouble of the robot, too. So remove the causes of the alarm.

5 SAFETY OF THE ROBOT MECHANISM

5.1 PRECAUTIONS IN OPERATION

(1) When operating the robot in the jog mode, set it at an appropriate speed so that the operator can

manage the robot in any eventuality.

(2) Before pressing the jog key, be sure you know in advance what motion the robot will perform in the

jog mode.

5.2 PRECAUTIONS IN PROGRAMMING

(1) When the work areas of robots overlap, make certain that the motions of the robots do not interfere

with each other.

(2) Be sure to specify the predetermined work origin in a motion program for the robot and program the

motion so that it starts from the origin and terminates at the origin.

Make it possible for the operator to easily distinguish at a glance that the robot motion has

terminated.

5.3 PRECAUTIONS FOR MECHANISMS

(1) Keep the work areas of the robot clean, and operate the robot in an environment free of grease, water,

and dust.

5.4 PROCEDURE TO MOVE ARM WITHOUT DRIVE POWER

IN EMERGENCY OR ABNORMAL SITUATIONS

For emergency or abnormal situations (e.g. persons trapped in or by the robot), brake release unit can be

used to move the robot axes without drive power.
Please refer to controller maintenance manual and mechanical unit operator’s manual for using method of
brake release unit and method of supporting robot.

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6 SAFETY OF THE END EFFECTOR

6.1 PRECAUTIONS IN PROGRAMMING

(1) To control the pneumatic, hydraulic and electric actuators, carefully consider the necessary time

delay after issuing each control command up to actual motion and ensure safe control.

(2) Provide the end effector with a limit switch, and control the robot system by monitoring the state of

the end effector.

7 STOP TYPE OF ROBOT

The following three robot stop types exist:

Power-Off Stop (Category 0 following IEC 60204-1)

Servo power is turned off and the robot stops immediately. Servo power is turned off when the robot is

moving, and the motion path of the deceleration is uncontrolled.

The following processing is performed at Power-Off stop.

- An alarm is generated and servo power is turned off.

- The robot operation is stopped immediately. Execution of the program is paused.

Controlled stop (Category 1 following IEC 60204-1)

The robot is decelerated until it stops, and servo power is turned off.

The following processing is performed at Controlled stop.

- The alarm "SRVO-199 Controlled stop" occurs along with a decelerated stop. Execution of the
program is paused.

- An alarm is generated and servo power is turned off.

Hold (Category 2 following IEC 60204-1)

The robot is decelerated until it stops, and servo power remains on.
The following processing is performed at Hold.

- The robot operation is decelerated until it stops. Execution of the program is paused.

WARNING

The stopping distance and stopping time of Controlled stop are longer than the

stopping distance and stopping time of Power-Off stop. A risk assessment for
the whole robot system, which takes into consideration the increased stopping
distance and stopping time, is necessary when Controlled stop is used.

When the emergency stop button is pressed or the FENCE is open, the stop type of robot is Power-Off
stop or Controlled stop. The configuration of stop type for each situation is called stop pattern. The stop
pattern is different according to the controller type or option configuration.

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There are the following 3 Stop patterns.

Stop

pattern

AUTO P-Stop P-Stop C-Stop C-Stop P-Stop

A T1 P-Stop P-Stop - C-Stop P-Stop

T2 P-Stop P-Stop - C-Stop P-Stop
AUTO P-Stop P-Stop P-Stop P-Stop P-Stop

B T1 P-Stop P-Stop - P-Stop P-Stop

T2 P-Stop P-Stop - P-Stop P-Stop
AUTO C-Stop C-Stop C-Stop C-Stop C-Stop

C T1 P-Stop P-Stop - C-Stop P-Stop

T2 P-Stop P-Stop - C-Stop P-Stop

Mode

Emergency

stop

button

External

Emergency

stop

FENCE open SVOFF input

Servo

disconnect

P-Stop: Power-Off stop
C-Stop: Controlled stop

-: Disable

The following table indicates the Stop pattern according to the controller type or option configuration.

Option

Standard A (*)
Controlled stop by E-Stop (A05B-2600-J570) C (*)

R-30iB

(*) R-30iB does not have servo disconnect.

R-30iA R-30iA Mate

Option

Standard B (*) A A A A (**) A A
Stop type set (Stop pattern C)
(A05B-2500-J570)

Standard

(Single)

N/A N/A C C N/A C C

Standard

(Dual)

RIA

type

CE

type

Standard

RIA

type

CE

type

(*) R-30iA standard (single) does not have servo disconnect.
(**) R-30iA Mate Standard does not have servo disconnect, and the stop type of SVOFF input is

Power-Off stop.

The stop pattern of the controller is displayed in "Stop pattern" line in software version screen. Please
refer to "Software version" in operator's manual of controller for the detail of software version screen.

"Controlled stop by E-Stop" option

When "Controlled stop by E-Stop" (A05B-2600-J570) option (In case of R-30iA/R-30iA Mate, it is Stop
type set (Stop pattern C) (A05B-2500-J570)) is specified, the stop type of the following alarms becomes
Controlled stop but only in AUTO mode. In T1 or T2 mode, the stop type is Power-Off stop which is
the normal operation of the system.

Alarm Condition

SRVO-001 Operator panel E-stop Operator panel emergency stop is pressed.
SRVO-002 Teach pendant E-stop Teach pendant emergency stop is pressed.
SRVO-007 External emergency stops External emergency stop input (EES1-EES11, EES2-EES21) is

open. (R-30iA/R-30iB controller)

SRVO-194 Servo disconnect Servo disconnect input (SD4-SD41, SD5-SD51) is open.

(R-30iA controller)

SRVO-218 Ext.E-stop/Servo Disconnect External emergency stop input (EES1-EES11, EES2-EES21) is

open. (R-30iA Mate/R-30iB controller)
SRVO-408 DCS SSO Ext Emergency Stop In DCS Safe I/O connect function, SSO[3] is OFF.
SRVO-409 DCS SSO Servo Disconnect In DCS Safe I/O connect function, SSO[4] is OFF.

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B-82974EN/02 SAFETY PRECAUTIONS

Controlled stop is different from Power-Off stop as follows:

- In Controlled stop, the robot is stopped on the program path. This function is effective for a system
where the robot can interfere with other devices if it deviates from the program path.

- In Controlled stop, physical impact is less than Power-Off stop. This function is effective for
systems where the physical impact to the mechanical unit or EOAT (End Of Arm Tool) should be
minimized.

- The stopping distance and stopping time of Controlled stop is longer than the stopping distance and
stopping time of Power-Off stop, depending on the robot model and axis. Please refer to the
operator's manual of a particular robot model for the data of stopping distance and stopping time.

In case of R-30iA or R-30iA Mate, this function is available only in CE or RIA type hardware.

When this option is loaded, this function cannot be disabled.

The stop type of DCS Position and Speed Check functions is not affected by the loading of this option.

WARNING

The stopping distance and stopping time of Controlled stop are longer than the

stopping distance and stopping time of Power-Off stop. A risk assessment for
the whole robot system, which takes into consideration the increased stopping
distance and stopping time, is necessary when this option is loaded.

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B-82974EN/02 TABLE OF CONTENTS

TABLE OF CONTENTS

SAFETY PRECAUTIONS............................................................................s-1

1 OVERVIEW .............................................................................................1

1.1 OVERVIEW ...................................................................................................1

1.2 BACKUP AND RESTORE.............................................................................2

1.2.1 Overview..................................................................................................................2

1.2.2 Application File Backup and Restore.......................................................................2

1.3 FILE TRANSFER PROTOCOL (FTP)............................................................2

1.4 TCP/IP PROTOCOL......................................................................................3

1.5 BOOTP AND TFTP PROTOCOLS................................................................3

1.6 TELNET.........................................................................................................3

1.7 DOMAIN NAME SERVICE (DNS) .................................................................3

1.8 WEB SERVER...............................................................................................3

1.9 PROXY SERVER ..........................................................................................4

1.10 POINT-TO-POINT PROTOCOL CONNECTIVITY.........................................4

1.11 DYNAMIC HOST CONFIGURATION PROTOCOL.......................................4

1.12 SOCKET MESSAGING .................................................................................4

1.13 SIMPLE NETWORK TIME PROTOCOL (SNTP)...........................................4

1.14 ETHERNET PACKET SNIFFER....................................................................4

1.15 ROS INTERFACE PACKETS OVER ETHERNET (RIPE).............................4

1.16 HOST COMMUNICATIONS ..........................................................................5

1.16.1 Overview..................................................................................................................5

1.16.2 Architecture..............................................................................................................5

1.16.3 Devices.....................................................................................................................6

2 SETTING UP TCP/IP...............................................................................7

2.1 OVERVIEW ...................................................................................................7

2.2 HARDWARE REQUIREMENTS AND INSTALLATION.................................7

2.2.1 Overview..................................................................................................................7

2.2.2 Hardware Requirements...........................................................................................7

2.3 DISPLAYING THE ETHERNET HARDWARE (MAC) ADDRESS ...............10

2.3.1 Overview................................................................................................................10

2.3.2 Ethernet Hardware (MAC) Address.......................................................................10

2.3.3 Ethernet Hardware (MAC) Address Locations ......................................................13

2.4 SETTING UP TCP/IP...................................................................................14

2.4.1 Caution for Setting IP Address...............................................................................18

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2.5 FANUC SERVER ACCESS CONTROL (FSAC)..........................................19

2.5.1 Overview................................................................................................................19

2.5.2 Access Levels.........................................................................................................19

2.5.3 Access Denied........................................................................................................20

2.5.4 System Variables....................................................................................................20

2.5.5 Example Configuration ..........................................................................................21

3 FTP OPERATIONS...............................................................................22

3.1 OVERVIEW .................................................................................................22

3.2 SETTING UP AND STARTING FTP............................................................22

3.3 FTP CLIENT USERNAMES AND PASSWORDS........................................26

3.4 ACCESSING AND USING CLIENT DEVICES ............................................28

3.4.1 Access Description.................................................................................................28

3.4.2 File Specification for Client Devices .....................................................................28

3.4.3 Starting and Stopping a Client Device ...................................................................28

3.4.4 Teach Pendant File Access.....................................................................................29

3.5 ACCESSING SERVER DEVICES...............................................................30

3.5.1 Overview................................................................................................................30

3.5.2 Access Description.................................................................................................30

3.5.3 Starting and Stopping a Server Device...................................................................30

3.5.4 Blocking Downloads of Certain File Groups .........................................................31

3.5.4.1 Features.............................................................................................................. 31

3.5.4.2 Examples ...........................................................................................................31

3.6 FTP SERVICES...........................................................................................32

3.6.1 Overview................................................................................................................32

3.6.2 Environment Services.............................................................................................32

3.6.3 File Transfer Services.............................................................................................33

3.6.4 Directory Services..................................................................................................33

3.6.5 Miscellaneous FTP Information.............................................................................34

3.7 ACCESSING USER PROGRAM, SETUP, AND DIAGNOSTIC

INFORMATION............................................................................................35

3.7.1 Overview................................................................................................................35

3.7.2 System Files ...........................................................................................................37

3.7.3 Error Log Files .......................................................................................................37

3.7.4 FTP Transfer Log ...................................................................................................38

4 DOMAIN NAME SERVICE (DNS).........................................................39

4.1 OVERVIEW .................................................................................................39

4.2 DEFINING DNS PARAMETERS .................................................................39

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5 TELNET.................................................................................................42

5.1 OVERVIEW .................................................................................................42

5.2 SETTING UP TELNET ON YOUR ROBOT.................................................42

5.2.1 Telnet Setup............................................................................................................42

5.2.2 Connecting to a Telnet Server................................................................................44

6 WEB SERVER.......................................................................................45

6.1 OVERVIEW .................................................................................................45

6.2 SETTING UP THE WEB SERVER..............................................................45

6.2.1 Overview................................................................................................................45

6.2.2 Using FANUC Server Access Control (FSAC) to Control Access to the Web Server

................................................................................................................................46

6.3 USING THE WEB SERVER ........................................................................46

6.3.1 Overview................................................................................................................46

6.3.2 Connecting to a Robot Home Page ........................................................................46

6.3.3 Customizing Your Robot Home Page.................................................................... 48

6.3.4 Customizing Diagnostic Files, Variable File Listings, and TP Program Listings..49

6.3.5 Running KAREL Programs from the Web Browser..............................................50

6.3.6 Creating Web Pages Based on KAREL Programs .................................................51

6.4 SERVER SIDE INCLUDES..........................................................................56

6.4.1 Overview................................................................................................................56

6.4.2 Syntax.....................................................................................................................57

6.4.3 Global Variables.....................................................................................................58

6.4.4 Local Variables.......................................................................................................59

6.4.5 String Substitution..................................................................................................59

6.4.6 #ECHO Command..................................................................................................60

6.4.7 #INCLUDE Command...........................................................................................61

6.4.8 #EXEC Command..................................................................................................61

6.4.9 #SET Command.....................................................................................................62

6.4.10 #IF, #ELIF, #ELSE, #ENDIF.................................................................................62

6.4.11 #PRINTENV Command.........................................................................................63

6.4.12 SSI EXAMPLES....................................................................................................63

6.5 HTTP AUTHENTICATION...........................................................................64

6.5.1 Overview................................................................................................................64

6.5.2 Operation................................................................................................................65

6.5.2.1 Overview ........................................................................................................... 65

6.5.2.2 Robot controller password option not enabled.................................................. 66

6.5.2.3 Robot controller password option enabled........................................................66

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6.5.2.4 Example configuration.......................................................................................67

6.5.2.5 Accessing iPendant screens through the web server ......................................... 67

7 PROXY SERVER ..................................................................................68

7.1 OVERVIEW .................................................................................................68

7.1.1 Operation of Proxy Server......................................................................................68

7.1.2 Requirements for Using Proxy Server....................................................................68

7.2 CONFIGURATION OF PROXY SERVER ...................................................68

7.3 ERRORS RETURNED BY THE PROXY SERVER .....................................69

8 POINT-TO-POINT PROTOCOL CONNECTIVITY.................................71

8.1 OVERVIEW .................................................................................................71

8.2 SETTING UP PPP ON YOUR CONTROLLER............................................71

8.2.1 Overview................................................................................................................71

8.2.2 Configuring the P2, and P3, Ports ..........................................................................72

8.2.3 Changing IP Addresses ..........................................................................................73

8.3 SETTING UP PPP ON YOUR PC ...............................................................74

8.3.1 Overview................................................................................................................74

8.3.2 Setting up PPP on a Network PC ...........................................................................74

9 DYNAMIC HOST CONFIGURATION PROTOCOL...............................95

9.1 OVERVIEW .................................................................................................95

9.1.1 Introduction to DHCP ............................................................................................95

9.1.2 Features of the Robot DHCP Client .......................................................................95

9.2 SETTING UP DHCP ON THE ROBOT........................................................95

9.2.1 DHCP Setup...........................................................................................................95

9.2.2 Advanced DHCP Setup..........................................................................................97

9.3 DHCP SYSTEM VARIABLES......................................................................99

9.4 DHCP TROUBLESHOOTING....................................................................100

10 SOCKET MESSAGING.......................................................................101

10.1 OVERVIEW ...............................................................................................101

10.2 SYSTEM REQUIREMENTS......................................................................101

10.2.1 Overview..............................................................................................................101

10.2.2 Software Requirements ........................................................................................101

10.2.3 Hardware Requirements.......................................................................................101

10.3 CONFIGURING THE SOCKET MESSAGING OPTION............................101

10.3.1 Overview..............................................................................................................101

10.3.2 Setting up a Server Tag........................................................................................102

10.3.3 Setting up a Client Tag.........................................................................................104

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10.4 SOCKET MESSAGING AND KAREL........................................................106

10.4.1 Overview..............................................................................................................106

10.4.2 MSG_CONN( string, integer ).............................................................................106

10.4.3 MSG_DISCO( string, integer )............................................................................106

10.4.4 MSG_PING( string, integer )...............................................................................107

10.4.5 Exchanging Data during a Socket Messaging Connection...................................107

10.5 NETWORK PERFORMANCE....................................................................107

10.5.1 Overview..............................................................................................................107

10.5.2 Guidelines for a Good Implementation................................................................107

10.6 PROGRAMMING EXAMPLES...................................................................108

10.6.1 Overview..............................................................................................................108

10.6.2 A KAREL Client Application..............................................................................108

10.6.3 A KAREL Server Application..............................................................................110

10.6.4 ANSI C Loopback Client Example......................................................................112

11 SIMPLE NETWORK TIME PROTOCOL (SNTP)................................114

11.1 OVERVIEW ...............................................................................................114

11.2 SETTING UP SNTP...................................................................................114

11.3 USING SNTP.............................................................................................116

11.4 TROUBLESHOOTING...............................................................................118

12 ETHERNET PACKET SNIFFER .........................................................119

12.1 OVERVIEW ...............................................................................................119

12.2 SETTING UP THE ETHERNET PACKET SNIFFER.................................119

12.3 USING THE RING BUFFER AND TRIGGERS..........................................120

13 ROS INTERFACE PACKETS OVER ETHERNET (RIPE)..................121

13.1 OVERVIEW ...............................................................................................121

13.2 RIPE SETUP .............................................................................................121

13.3 FILE ACCESS ...........................................................................................123

13.4 ASSOCIATED OPTIONS ..........................................................................123

13.5 XML CONFIGURATION FILE....................................................................124

13.6 TELNET.....................................................................................................124

13.7 VARIABLE ACCESS .................................................................................125

13.8 SYNCHRONIZED TIMING ........................................................................125

13.9 NETWORK DESIGN CONSIDERATIONS.................................................125

14 PC SHARE ..........................................................................................128

14.1 OVERVIEW ...............................................................................................128

14.2 SETTING UP AND STARTING PC SHARE..............................................128

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14.2.1 Setting Up PC Share Client Tags.........................................................................128

14.2.2 Configuring PC Share..........................................................................................131

14.3 ACCESSING AND USING PC SHARE CLIENT DEVICES.......................132

14.3.1 Access Description...............................................................................................132

14.3.2 File Specification for PC Share Client Devices....................................................132

14.3.3 Starting and Stopping a Client Device.................................................................133

14.3.4 Teach Pendant File Access...................................................................................134

14.3.5 Saving FANUC iRVision log to PC share folder.................................................134

14.4 PASSWORDS AND SECURITY................................................................134

14.4.1 Passwords.............................................................................................................134

14.4.2 Supported Security Protocols...............................................................................135

14.5 CONFIGURE THE REMOTE PC...............................................................135

15 ADVANCED i Pendant FUNCTIONS ..................................................139

15.1 OVERVIEW ...............................................................................................139

15.2 iPENDANT CONTROLS INSTALLATION.................................................139

15.3 REMOTE MONITORING...........................................................................139

15.3.1 Overview..............................................................................................................139

15.3.2 Setup.....................................................................................................................139

15.3.2.1 Requirements................................................................................................... 139

15.3.2.2 Configuring Internet Explorer ®.....................................................................140

15.3.2.3 Testing the Network Connection.....................................................................149

15.3.3 Operation..............................................................................................................150

15.3.3.1 Remotely monitoring the iPendant..................................................................150

15.3.3.2 Troubleshooting Remote Connection..............................................................152

15.3.4 Limitations............................................................................................................152

15.4 REMOTE OPERATION .............................................................................152

15.4.1 Overview..............................................................................................................152

15.4.2 Setup.....................................................................................................................153

15.4.2.1 Requirements................................................................................................... 153

15.4.2.2 Configuring Microsoft® Internet Explorer......................................................153

15.4.3 Remote iPendant Operation..................................................................................153

15.4.3.1 Connecting to the controller ............................................................................153

15.4.3.2 Keys................................................................................................................. 155

15.4.3.3 Editing guidelines............................................................................................156

15.4.3.4 Background editing guidelines ........................................................................ 157

15.4.4 Limitations............................................................................................................157

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APPENDIX

A DIAGNOSTIC INFORMATION............................................................161

A.1 VERIFYING NETWORK CONNECTIONS.................................................161

A.1.1 Overview..............................................................................................................161

A.1.2 Ethernet Status LEDs ...........................................................................................161

A.1.3 PING Utility .........................................................................................................161

A.2 ETHERNET LEDS.....................................................................................162

A.3 10 BASE-T/100 Base T-X CONNECTOR PIN ASSIGNMENTS................163

B CONFIGURE FTP WITH A KAREL COMMAND FILE........................164

B.1 CONFIGURING NETWORK PARAMETERS WITH A KAREL COMMAND

FILE...........................................................................................................164

C NETWORK DESIGN AND PERFORMANCE......................................168

C.1 GUIDELINES FOR US ING ETHERNET....................................................168

D CABLE CONNECTION .......................................................................170

D.1 CONNECTING TO Ethernet ......................................................................170

D.2 LEADING OUT THE Ethernet CABLE.......................................................171

D.3 100BASE-TX CONNECTOR (CD38A/CD38B) PIN ASSIGNMENTS........172

D.4 TWISTED-PAIR CABLE SPECIFICATION................................................172

D.4.1 Cable Connection .................................................................................................172

D.4.2 Cable Materials.....................................................................................................173

D.4.3 Connector Specification .......................................................................................174

D.5 ANTI-NOISE MEASURES.........................................................................174

D.5.1 Clamping and Shielding of Cables.......................................................................174

D.5.2 Grounding the Network........................................................................................177

D.6 CHECK ITEMS AT INSTALLATION ..........................................................179

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B-82974EN/02 1.OVERVIEW

1 OVERVIEW

1.1 OVERVIEW

This manual contains information about robot networking options including FTP, Advanced Internet
Connectivity and Customization, and Socket Messaging.
For information on the PC-Interface option see the PC Developer Kit documentation, and related help
files.
The FTP option is loaded by default with all application software packages. The FTP option on the robot
includes :

• FTP Server, which allows remote FTP clients to initiate file transfers with the robot ( Section 1.3 )

• FTP Client, which allows the robot to initiate file transfers with remote FTP servers ( Section 1.3 )

• Telnet Server, which allows remote telnet clients to access teach pendant display ( Section 1.6 )

• Web Server, which allows remote browsers to access the robot web server and accessing error logs,

ascii program listings, and a wealth of diagnostic content ( Section 1.8 )

• Remote access to the robot through a serial modem using the point to point protocol (PPP). ( Chapter
8 )

The Advanced Internet Connectivity and Customization option includes :

• iPendant Proxy Server, allowing the iPendant to browse outside of the robot to other web servers
across the robot Ethernet connections

( Chapter 7 )

• Enhanced Web Server, allowing access to customized web pages on the robot with dynamic content

( Chapter 6 )

• Domain Name Service (DNS), allowing the robot DNS client to contact a remote DNS server to
resolve network names into IP addresses. This is useful for FTP client functionality on the robot
when network names are used and also for browsing with the iPendant

( Chapter 4 )

• Dynamic Host Configuration Protocol (DHCP), allowing the robot DHCP client to contact a remote
DHCP server to get network identity such as IP address, name, subnet mask, and router settings.

( Chapter 9 )

• Simple Network Time Protocol (SNTP), allowing the robot SNTP client to get updated date/time
information from a remote SNTP server

( Chapter 11 )
 PC Share, allowing the robot to connect to and perform file operations on remote PC network

Shares.

( Chapter 14 )

NOTE

Note that the Advanced Internet Connectivity and Customization option will also

load the FTP option if it is not already loaded.

The Socket Messaging option enables an application developer to write KAREL applications on the robot
to communicate with unique application protocols based on TCP/IP and the sockets interface. ( Chapter
10 )
It is extremely useful to understand the various file devices available on the robot when accessing the
robot remotely using FTP or Web Server. These include :

• Memory Device (MD:). Files on this device are created dynamically based on the current contents of
user programs, variables, and diagnostic data in both binary and ASCII formats. This is the default
device when first connecting to the robot FTP server (however you can change directory to other
devices).

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1. OVERVIEW B-82974EN/02

• Binary Memory Device (MDB:). This subset of memory device includes only the binary
versions and is roughly equivalent to a “Backup – all of the above” from the teach pendant file
menu.

• FlashRom (FR:)

• RamDisk (RD:)

• Memory Card (MC:)

• USB Memory Stick Device (UD1:, UT1:)

See the “Storage Devices” section under the “Program and File Manipulation” chapter in the application
tool OPETATOR’S MANUAL for additional details on these devices.
You need to set up the TCP/IP parameters for your robot’s controller before you can set up and use any of
these options. Refer to Chapter 2 for information about setting up the TCP/IP parameters.

NOTE

You must supply the Ethernet cable to attach to the Ethernet port in the controller.

Figure 1.1 shows the typical components used in a communications network.

Fig. 1.1 Network components

1.2 BACKUP AND RESTORE

1.2.1 Overview

The following kinds of backup and restore methods are provided:

• Application file backup and restore

• Image backup and restore - includes complete operating system, loaded options, and application files

(generally, non-volatile memory) as image

1.2.2 Application File Backup and Restore

File-based backup and restore operates on discrete files. The controller must be operational in the
Controlled start or Cold start state and have FTP installed to perform file operations.

1.3 FILE TRANSFER PROTOCOL (FTP)

The File Transfer Protocol (FTP) comes from the TCP/IP Internet protocol suite. It promotes sharing of
files between diverse computers. The FTP Interface uses the following commands:

• Server

• get

• put

• mget

• mput

• dir

• delete

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B-82974EN/02 1.OVERVIEW

• rename

• cd

• Client

• get

• put

• mget

• mput

• dir

• delete

The FTP Interface, or FTP, was designed to conform with the appropriate subset of the FTP Specification.
FTP is the application layer of the "File Transfer Protocol (FTP)," RFC 959, ISI, October 1985.
The commands listed above are for use with FTP on a robot.
FTP function is a standard function. FTP function is loaded by default with all application software
packages.

1.4 TCP/IP PROTOCOL

Transmission Control Protocol (TCP) is intended for use as a highly reliable host-to-host protocol
between hosts in packet-switched computer communications networks. It fits into a layered protocol
architecture just above a basic Internet Protocol (IP). The IP provides a way for TCP to send and receive
variable-length segments of information enclosed in Internet datagram "envelopes."

1.5 BOOTP AND TFTP PROTOCOLS

1.4 BOOTP AND TFTP PROTOCOLS The BOOTP and TFTP protocols are generally used to boot
diskless workstations on a TCP/IP communications network. BOOTP provides the identity (IP address) to
the diskless workstation based on an Ethernet hardware address. TFTP is then used to transfer
information to load the workstation. The robot uses these protocols for image backup and restore
operations.

1.6 TELNET

The controller can support three Telnet connections. Telnet can be used to establish terminal sessions
between a robot controller and a remote PC with Telnet software installed on it. This allows you to access
your robot’s teach pendant display remotely, CRT/KB options, or a Diagnostic terminal depending on
your system’s configuration.
Telnet function is a standard function. Telnet function is loaded by default with all application software
packages.

1.7 DOMAIN NAME SERVICE (DNS)

Domain Name Service (DNS) allows a robot controller to establish an Ethernet connection to a remote
server without having to know the IP address of the remote server.
DNS function is a option software. R558 is required for this function.

1.8 WEB SERVER

The robot controller supports the hypertext transfer protocol (http) and can act as a web server, which
allows it to respond to a remote web browser's request for information from the robot controller. In
addition, the web server option can allow you to access diagnostic information, ASCII versions of system

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1. OVERVIEW B-82974EN/02

variables, and teach pendant programs. The FANUC Robotics web server option is compatible with most
http software packages.
Web server function is standard function. Web server function is loaded by default with all application
software packages.

1.9 PROXY SERVER

The proxy server on the robot allows you to browse web servers on the network from the iPendant. For
the browser on the iPendant to be able to view web servers on the network, it needs a proxy server to
proxy web requests from the iPendant to the remote server.
Proxy server function is standard function. Proxy server function is loaded by default with all application
software packages.

1.10 POINT-TO-POINT PROTOCOL CONNECTIVITY

Point-to-Point Protocol (PPP) allows devices to connect to each other across a dedicated point to point
link.
Point-to-point protocol connectivity is standard function. Point-to-point protocol connectivity is loaded
by default with all application software packages.

1.11 DYNAMIC HOST CONFIGURATION PROTOCOL

DHCP ( Dynamic Host Configuration Protocol ) is a service which automates robot configuration on an
existing Ethernet network.
DHCP function is an option software. R558 is required for this function.

1.12 SOCKET MESSAGING

The User Socket Messaging Option gives you the benefit of using TCP/IP socket messaging from
KAREL.
Socket messaging function is an option software. R648 is required for this function.

1.13 SIMPLE NETWORK TIME PROTOCOL (SNTP)

Simple Network Time Protocol (SNTP), allowing the robot SNTP client to get updated date/time
information from a remote SNTP server
Simple network time protocol function is an option software. R610 is required for this function.

1.14 ETHERNET PACKET SNIFFER

The Ethernet Packet Sniffer allows for packets to be captured directly on the robot controller and then
saved to a file.
Ethernet packet sniffer function is an option software. R659 is required for this function.

1.15 ROS INTERFACE PACKETS OVER ETHERNET (RIPE)

Real Time Operating System (ROS) Interface Protocol over Ethernet feature (also called Robot Ring,
RIPE or ROSIP) allows robots doing a common job to share information.

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B-82974EN/02 1.OVERVIEW

RIPE function is an option software. This function will be loaded when iRVision or Robot link function
is ordered.

1.16 HOST COMMUNICATIONS

1.16.1 Overview

The FTP Interface enables the controller to communicate with external or host devices across an Ethernet
network. FTP uses host communications to perform communications operations.
To use the FTP Interface, you must understand host communications. This section contains information
on

• Host communication architecture

• Host communication devices

1.16.2 Architecture

The host communications architecture is based on a client-server model. In this model,

• The client is the device that needs a service.

• The server is the device that provides the service.

Clients

Host communications clients request a service to be performed and receive service replies. You access
robot clients using a client device name, called a tag. Client tags are C1: through C8:. When the controller
acts as the client, all service requests will pass from the controller to the host device. After a tag is started,
it becomes a device available to the controller. The host device will operate as a server, responding to
requests from the controller as they are received. See Figure 1.16.2(a).

NOTE

Client operation is available from the teach pendant.

Fig. 1.16.2(a) The controller as a client

Servers

You access robot servers using a server device name, called a tag . Host communications servers are
started on devices with server tags S1: through S8:. These devices cannot be accessed directly. A server is
normally started on a tag and runs transparently to the controller.
A host device operating as a client will make service requests to the server, which is the controller. See
Figure 1.16.2(b) .

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1. OVERVIEW B-82974EN/02

Fig. 1.16.2(b) The controller as a server

1.16.3 Devices

A host communications device consists of

• A communications tag

• A communications protocol

• An optional serial port name (not used with FTP)

Defining a Device

You make communications devices known to the system by defining them. Defining a communications
device involves specifying the communications tag and protocol.
Defining a device makes the device known to the system but does not allocate the resources the device
needs.
To remove a communications device from the system, you must undefine it. This frees the tag so it can be
defined as another device.

Using a Device

The way in which a device is used depends upon the kind of device it is.
Client devices C1: through C8: are used like local file storage devices. Client devices do not have to be
started before they are accessed. The devices automatically will be started when opened and stopped
when closed. Client devices must be defined before they can be used.
Server devices S1: through S8: must be started before any services can be requested. Servers are
normally started upon power up and remain running while the controller is powered up. All host devices
can be configured to start automatically upon power up.

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2 SETTING UP TCP/IP

2.1 OVERVIEW

You must set up TCP/IP before you can use Internet Protocol Applications. Setup is required in two
areas:

• Hardware - includes port initialization and cable and connector requirements

• Software - includes host communication device definition

2.2 HARDWARE REQUIREMENTS AND INSTALLATION

2.2.1 Overview

This section contains information on hardware requirements and installation for the Ethernet interface.
After you have connected the Ethernet interface to the network, you must configure the TCP/IP
parameters. Refer to Section 2.4,Section 4.2 for information about installing and configuring FTP and
TCP/IP parameters.

2.2.2 Hardware Requirements

R-30iA and R-30iB supports two 10 Base-T or 100 Base-TX interfaces through the RJ45 Ethernet
connectors (CD38A and CD38B). R-30iB controller has another one RJ45 Ethernet connector which is
labeled CD38C. This port is strictly for digital camera for FANUC. By default, each RJ45 Ethernet port
will auto-negotiate with the other equipment on the network. Refer to Appendix A for information on the
connector and diagnostic LEDs. R-30iA Mate supports only one 10 Base-T or 100 Base-TX interfaces
through the RJ45 Ethernet connector.
The auto-negotiate feature can be disabled through the $ENETMODE system variable. This should only
be needed in special circumstances such as when Full Duplex behavior is desired and the other node does
not support auto-negotiation.

NOTE

CD38C port is a dedicated digital camera for FANUC. It is not allowed to use as

general-purpose Ethernet port. Please do not connect Ethernet cable to CD38C of
R-30iB controller other than the above camera.

NOTE

$ENETMODE[1] refers to the first (upper RJ45 on the Main board) interface

labeled as CD38A and $ENETMODE[2] refers to the second interface labeled as
CD38B. $ENETMODE[2] is not supported on R-30iA Mate.

Table 2.2.2 Ethernet configuration setup

Baud Rate/Duplex Half Duplex Full Duplex

10 MBPS $ENETMODE[ ].$SPEED=0

$ENETMODE[ ].$FULL_DUPLEX=FALSE

100 MBPS $ENETMODE[ ].$SPEED=1

$ENETMODE[ ].$FULL_DUPLEX=FALSE

$ENETMODE[ ].$SPEED=0
$ENETMODE[ ].$FULL_DUPLEX=TRUE

$ENETMODE[ ].$SPEED=1
$ENETMODE.$FULL_DUPLEX=TRUE

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2. SETTING UP TCP/IP B-82974EN/02

NOTE

The default settings of $ENETMODE[ ].$SPEED=2 indicate that auto-negotiation

will be used. Normally this variable should not be charged. The baud rate and
duplex node will be set to the fastest setting that both devices on the list can
support.

See Figure 2.2.2(a) for location of the 10 Base-T/100 Base-TX of R-30iB. See Figure 2.2.2(b) for
location of the 10 Base-T/100 Base-TX of R-30iA. See Figure 2.2.2(c) for location of the 10 Base-T/100
Base-TX of R-30iA Mate.

Fig. 2.2.2(a) Main board (R-30iB) ethernet connectors

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Fig. 2.2.2(b) Main board (R-30iA controller) ethernet connectors

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2. SETTING UP TCP/IP B-82974EN/02

Fig. 2.2.2(c) Main board (R-30iA Mate) ethernet connectors

2.3 DISPLAYING THE ETHERNET HARDWARE (MAC)

ADDRESS

2.3.1 Overview

For communications to occur over the Ethernet, the Ethernet Hardware (MAC) Address must be set. This
section shows you how to display the Ethernet Hardware address, which might be required in the process
of configuring a BOOTP server.

2.3.2 Ethernet Hardware (MAC) Address

The Ethernet Hardware Address is set by the manufacturer, and consists of a 6 byte (48 bit) value. The
first three bytes are the manufacturer's code, and the last three bytes are a unique serial number for the
Ethernet interface.
The Ethernet Hardware (MAC) address can be found on a label attached to the Main board. See Figure

2.3.2(a) for R-30iB. See Figure 2.3.2(b) for R-30iA. See Figure 2.3.2(c) for R-30iA Mate.

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B-82974EN/02 2.SETTING UP TCP/IP

Fig. 2.3.2(a) Ethernet hardware (MAC) address on main board for R-30iB

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2. SETTING UP TCP/IP B-82974EN/02

Fig. 2.3.2(b) Ethernet hardware (MAC) address on main board for R-30iA

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B-82974EN/02 2.SETTING UP TCP/IP

Fig. 2.3.2(c) Ethernet hardware (MAC) address on main board for R-30iA Mate

2.3.3 Ethernet Hardware (MAC) Address Locations

The Ethernet Hardware (MAC) address can be found in the following locations:

• The physical label on the Main board. See Figure 2.3.2(b) .

• Using SHOW ETHERNET ADDRESS from the BMON Menu. Refer to Procedure 2-1 .

• The Board Address, which can be accessed from the TCP/IP Setup Screen. Refer to Section 2.4 .

• In the system variable $TMI_ETHERAD[x] where x is 1 for port 1, and 2 for port 2.

NOTE

You cannot make changes to the Ethernet Hardware MAC address.

Procedure 2-1 Displaying the Ethernet Hardware (MAC) Address

Steps

1. Turn off the controller. Hold the F1 and F5 keys while you turn on the controller. The controller will

display the BMON Menu. You will see a screen similar to the following.

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2. SETTING UP TCP/IP B-82974EN/02

******* BMON MENU *******

1. Configuration menu

2. All software installation(MC:)

3. INIT start

4. Controller backup/restore

5. Hardware diagnosis

6. Maintenance

7. All software installation(Ethernet)
Select :

2. Select Hardware Diagnosis, and press ENTER. You will see a screen similar to the following.

****** Hardware Diagnoses Menu ******

1. Show size of RAM/ROM modules

2. Show list of S-BUS modules

3. Dump memory

4. Write memory

5. Check SRAM memory

6. Clear vision SRAM memory

7. Check FROM memory

8. Display MAC address

9. Return to main menu
Select :

3. Select Display MAC Address, and press ENTER. You will see a screen similar to the following.

MAC ADDRESS Number ? [1-3] :

4. Select 1–3 and press ENTER. The MAC address will be displayed similar to the following.

MAC address[1] 00:E0:E4:F0:A1:12

Press Enter and then choose Return to Main Menu to display the BMON Menu. Then choose the

Configuration Menu. From this menu you can choose to perform a Controlled start, Cold start, or
Hot start.

2.4 SETTING UP TCP/IP

There are four options for configuring the FTP software and TCP/IP parameters:

• Use Procedure 2-1 through Procedure 2-2 if you want enter all the information necessary for FTP

and TCP/IP setup yourself.

• Use the FTPSETUP program to enter the information for you. Refer to Appendix B for information

about using the FTPSETUP program

• Use Dynamic Host Configuration Protocol (DHCP) to automatically setup IP address, name, subnet

mask, and router.

TCP/IP Parameters

Several parameters are used to configure and set the functions of the TCP/IP connections. Table 2.4(b)
lists and describes the TCP/IP Interface parameters you must define.

Table 2.4(a) SETUP protocols screen items

ITEM DESCRIPTION

TCP/IP This item allows you to configure networking parameters.
TELNET This item allows you to configure TELNET parameters.
SM This item allows you to configure socket messaging parameters.
RIPE This item allows robots doing a common job to share information.
PROXY This item allows you to configure proxy server parameters.

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ITEM DESCRIPTION

PPP This item allows you to configure Point to Point Protocol.
PING This item allows you to check networking connectivity on the robot.
HTTP This item allows you to configure HTTP parameters.
FTP This item allows you to configure FTP parameters.
DNS This item allows you to configure domain name system parameters.

Table 2.4(b) TCP/IP interface parameters

PARAMETERS DESCRIPTION

Robot Name

Port # IP Address

Router IP Address

Subnet Mask

Board Address

Host Name

Internet Address

This item specifies the name of the robot controller. The robot name defaults
to ROBOT.
This name field is common between Ethernet ports and is local to the robot.

This item specifies a unique internet (IP) Address for the robot Ethernet
Interface. Consult your network administrator for the IP address setting. The
port # indicates whether you are working with port #1 (TOP RJ45 connection
labeled as CD38A) or port #2 (bottom RJ45 connection labeled as CD38B).
Use the (F3) port FUNCTION key to change ports to configure.

This item specifies the Internet (IP) Address of the router. This setting is
common between Ethernet ports. The router IP address must be on the same
subnet as one of the Ethernet ports.

This item is used to distinguish local hosts from hosts that must be reached
across routers. The default is 255.255.255.0. Consult your network
administrator for the proper setting.

This item displays the Ethernet Hardware (MAC) address for the Ethernet
Interface. This field is read only. This address conforms to the standards of
Ethernet board addresses.

This item specifies the Internet host name. Entries for any hosts referred to
by an FTP client tag are required. This item is case sensitive.

This item specifies the corresponding Internet address of each host.

Use Procedure 2-2 to define TCP/IP parameters.

Procedure 2-2 Defining TCP/IP Parameters

Conditions

 You have performed TCP/IP hardware installation. Refer to Section 2.2 if you have not

installed the hardware.

Steps

1 Press MENUS.
2 Select SETUP.
3 Press F1, [TYPE].
4 Select Host Comm. You will see a screen similar to the following.

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2. SETTING UP TCP/IP B-82974EN/02

SETUP Protocols
Protocol Description
1 TCP/IP TCP/IP Detailed Setup
2 TELNET Telnet Protocol
3 PC SHARE PC Share Setup
4 PING Ping Protocol
5 HTTP HTTP Authentication
6 FTP File Transfer Protocol
7 DNS Domain Name System

5 Make sure TCP/IP is selected.
6 Press F3, DETAIL. You will see a screen similar to the following.

SETUP HOST COMM
TCP/IP
Robot name: PDEROB024
Port # IP addr: 172.22.194.24
Subnet mask: 255.255.240.0
Board address: 08:00:19:02:F2:22
Router IP addr: 172.22.192.1

Host Name (LOCAL) Internet Address
1 ********* ******************
2 ********* ******************
3 ********** ******************
4 ********** ******************
5 ********** ******************
6 ********** ******************
7 ********** ******************
8 ********** ******************
9 ********** ******************
10 ********** ******************
11 ********** ******************
12 ********** ******************
13 ********** ******************
14 ********** ******************
15 ********** ******************
16 ********** ******************
Host Name (SHARED) Internet Address
1 ********** ******************
2 ********** ******************
3 ********** ******************
4 ********** ******************
5 ********** ******************
6 ********** ******************
7 ********** ******************
8 ********** ******************
9 ********** ******************
10 ********** ******************
11 ********** ******************
12 ********** ******************
13 ********** ******************
14 ********** ******************
15 ********** ******************
16 ********** ******************
17 ********** ******************
18 ********** ******************
19 ********** ******************
20 ********** ******************

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NOTE

There are two areas in which to enter the Host Name and Internet Address

mappings on the TCP/IP Setup screen:

 Local Area - Data in this area is saved as part of SYSVARS.SV ($HOSTENT[]).

SYSVARS.SV should not be shared between robots.

 Shared Area - can include any Host Name/Internet Address mapping that is to be used as part

of the client tag configuration, but should not include robot name or router name entries. Data
in this area is saved as part of SYSHOST.SV ($HOST_SHARED[]).

In addition to Host name/Internet Address mapping, SYSHOST.SV ($HOST_SHARED[])

contains information about Telnet and DNS. A SYSHOST.SV can be shared between robots
and can be downloaded from one robot to create a complete DNS, Telnet, and Shared host

7 Move the cursor to each item and specify the appropriate information:

configuration on another robot.

• Robot name — specify the unique name of the robot controller.

• Port # — indicates whether you are configuring interface #1 (top RJ45 labeled as CD38A) or

interface #2 (bottom RJ45 labeled as CD38B). Use the F3, Port key to change.

• Robot IP Address — specify IP address of the robot.

• Subnet Mask - This must be set. The default value is 255.255.255.0. Consult your network

administrator for guidance in setting this value. Refer to Table 2.4(c) for standard subnet mask
settings.

• Board address — This is the Ethernet (MAC) address of the robot.

• Router IP address — specify IP address of the router. This can be left blank if no router is

used. The router address needs to be on the same subnet as interface #1 or interface #2. This is
where packets for any destination not on subnet for interface #1 or #2 will be sent.

WARNING

Restrictions for the robot name.

•

It is available only one symbol alphabet, numbers, and minus.

Other symbols can not be used. Also, please do not insert the extra space.

The first character must be alphabet.
The last character must not be symbol minus.

•

•

WARNING

Please do not insert the extra space in the IP address or 0. The controller will not

be able to communicate properly if there is extra space or zero.

NOTE

The board address is displayed and cannot be changed. Refer to Section 2.3 if

you want to display the Ethernet Hardware (MAC) address.

NOTE

Robot Name, Router IP address, and the Host Name/Internet Address table are

shared between Ethernet interface #1 and interface #2.

• Host Name/Internet Address - specify the unique host name and Internet address of each host

with which the controller will communicate as a client.

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2. SETTING UP TCP/IP B-82974EN/02

Table 2.4(c) Standard subnet mask settings

If the first byte of the IP address is between Set the subnetmask to

0 and 127 (Class A) 255.0.0.0
128 and 191 (Class B) 255.255.0.0
192 and 223 (Class C) 255.255.255.0

8 Press F3, LIST, to return to the SETUP Protocols screen.

NOTE

If the controller is connected to an isolated or private network and no routers are

used, all equipment must use the same network address in order to communicate.
RFC 1597 makes recommendations for setting IP addresses on isolated or private
networks. An example of this is the network address 192.168.0 is a Class C
address and can support 254 devices, 192.168.0.1 through 192.168.0.254. If you
have a private network and have no constraints for setting IP addresses, use the
Class C network address 192.168.0.X, where X is a unique number between 1 and
254, for each device on your network.

2.4.1 Caution for Setting IP Address

Each IP address for 2 Ethernet ports of the controller must be in network with different subnet. Different
subnet means network address which determined by subnet mask is different.
For example, network address is 192.168.1 and host address is 10 when subnet mask is 255.255.255.0 and
IP address is 192.168.1.10. "Host-179 IP Address mis-configuration" alarm will be asserted when IP
address for 2 Ethernet ports has the same subnet. 2 Ethernet ports of the controller are not able to use as
Hub. Controller is not able to set 2 nodes for one network.

Fig. 2.4.1 Example of correct IP setup (In case, subnet is 255.255.255.0)

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2.5 FANUC SERVER ACCESS CONTROL (FSAC)

2.5.1 Overview

The FANUC Server Access Control (FSAC) feature controls access to the robot communication servers
based on the host (client) IP address. FSAC is loaded as part of the FTP option and is disabled by default.
The FSAC feature provides no access control at the teach pendant, so properties of this feature can be
modified at any time by someone at the teach pendant (variables associated with this feature take effect
immediately). Comparing the SYSFSAC.SV file with a known "correct" file on the host system is the
intended method to monitor setup. All setup is done directly through system variables.

NOTE

This feature only works if passwords are disabled.

2.5.2 Access Levels

Access levels allow you to perform certain kinds of actions, and allow access to specific system areas,
based upon the type of access granted. Refer to Table 2.5.2 for descriptions of available FSAC access
levels.

Table 2.5.2 FSAC access levels

Access Level Description Type of Access

0 Operator level Read only access
1 Program level Operator level, with additional access to download the

following types of files:

 TP (teach pendant)
 .PC (p-code)
 .VR (variable)

2 Setup level Program level, with additional access to download the

following types of files:

 .SV (system)
 .IO (i/o config)

3–7 User-Defined levels Read-only access
8 Installation level Full read/write access

The access level granted is indicated at login. For example, you might see a message similar to the
following:

230 User logged in at Operator Level.

If an operation is attempted without the appropriate access level, a response is given indicating the
required access level. See the following screen for an example.

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2. SETTING UP TCP/IP B-82974EN/02

/vob/net/ftp$ ftp sleepy
Connected to sleepy
220 R-J2 FTP server ready
Name (sleepy:huberjf
230 User logged in at Program Level
ftp> binary
200 Type set to 1
ftp put sysfsac.sv
200 PORT command successful
550 Requires SETUP password
ftp>

2.5.3 Access Denied

If the FSAC feature is enabled and access is not granted, the following response is sent to the FTP client:

421 Access Denied (FSAC) : closing control connection

This message is sent in response to the USER portion of the login sequence and will actively close the
FTP connection.

2.5.4 System Variables

The FSAC feature contains system variables in a file called SYSFSAC.SV. This file can be shared
between robots that have the same FTP software installed, and should always be transferred in BINARY
mode. Refer to Table 2.5.4 for a description of the system variables contained in SYSFSAC.SV.

Table 2.5.4 System variables contained in SYSFSAC.SV

Variable Name Data Type Description

$FSAC_ENABLE Integer FSAC Enable Flag. This can be set to either:

 disabled (any value other than 1 will disable it)
 1, enabled

$FSAC_DEF_LV Integer FSAC Default Access Level. This can be set to:

 0, operator level
 1, program level
 2, setup level
 3–7, user-defined levels
 8, installation level
 any other level is no access

$FSAC_LIST[].$CLNT_NAME String The name of the host system. Example: MYPC

NOTE

The name must be in the

LOCAL/SHARED host table or DNS
must be installed to resolve names.

$FSAC_LIST[1-20].$IP_ADDRESS String The IP Address of the host system. Example: 199.5.148.62
$FSAC_LIST[]. $ACCESS_LVL Integer The access level for the specific host set in

$FSAC_LIST.$IP_ADDRESS. Valid values are the same as
those used in $FSAC_DEF_LV.

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$FSAC_LIST[].$APPS Integer Applications that use this entry. The default is 255. Multiple

applications can be specified using the following bit mask:

 BIT 0: FTP
 BIT 1: Telnet
 BIT 2: HTTP (Web Server)

2.5.5 Example Configuration

To enable FTP Server Access Control on Robot 1, and give full READ/WRITE access to HOST_1 and
READ ONLY access to any other devices trying to use FTP to communicate with Robot 1, set the Robot
1 system variables as follows:

Example 2.5.5 Example system variable configuration

$FSAC_ENABLE = 1
$FSAC_DEF_LV = 0
$FSAC_LIST[1].$IP_ADDRESS = '199.5.148.62'
$FSAC_LIST[1].$ACCESS_LVL = 8

To configure Robot 2 in the same way, copy the SYSFSAC.SV file from the Robot 1 controller to the
Robot 2 controller. See Figure 2.5.5 .

Fig. 2.5.5 Example configuration

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3 FTP OPERATIONS

3.1 OVERVIEW

After you have installed and connected the appropriate Ethernet communications hardware and performed
the appropriate device setup procedures, you can use FTP to communicate between the controller and
other host devices.
This chapter contains information about the following FTP operations:

• Accessing client devices

• Accessing server devices

• Using the memory device (MD:) specification

3.2 SETTING UP AND STARTING FTP

Before you can use the FTP Interface, you must do the following:

• Define TCP/IP parameters ( Section 2.4 )

• Define FTP on a client device ( Procedure 3-1 ) if using FTP client services on the robot.

• Define and start FTP on a server device ( Procedure 3-1 ) if using FTP server services on the robot.

Table 3.2(a) lists and describes the items you must set up to define a client device. Table 3.2(b) lists and
describes the items you must set up to define a server device.

NOTE

Two FTP servers are configured and started automatically. If the robot is used as

an FTP server only, no further configuration of FTP is needed (TCP/IP still needs
to be configured as described in Section 2.4 ).

Table 3.2(a) Client device definition setup items

ITEM DESCRIPTION

Tag

Comment

Protocol*

Port Name

Startup State*

Server IP/Hostname*

This item specifies the device name client. Available client tags are C1: through C8:.
This item provides an area for you to include up to 16 characters of information that

allow you to label the device for its application use.
This item specifies the name of the protocol that will be associated with the tag. For

FTP, the protocol name is FTP.
This item is only displayed when SM (Socket Messaging) is selected as the Protocol,

and does not apply to other protocols.
This item specifies the desired startup (Power up) state for the selected tag. Three

states are possible:

• UNDEFINED - the device is not defined.

• DEFINED - the device is defined.

• STARTED - the device is defined and started.

The Startup State should normally be set to defined. When in the defined state the
client tag is started automatically from the FILE screen on the teach pendant
whenever it is used.

This item specifies the Hostname or IP address of the remote server to which the
connection will be made.

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B-82974EN/02 3.FTP OPERATIONS

ITEM DESCRIPTION

Remote Path/Share*

Inactivity Timeout

This item specifies the host path on the server, to be used for file operations, up to
64 characters. This item is case sensitive when using the FTP protocol. When using
the PC Share protocol, the Share name must be included.

This item specifies the number of minutes of inactivity on the network before a
connection will be closed.

• When set to zero, no timeouts occur.

• When set to a non-zero value, Inactivity Timeout specifies the number

of minutes of inactivity on the network before a connection will be
closed. The default value is 15 minutes.

Username*

Password*

This item specifies the username to use when logging into the remote server. The
username is case sensitive based on the host system that checks it.

This item specifies the password to use when logging into the remote server. The
password is case sensitive based on the host system that checks it.

* This item is normally set up by the user. Other items can normally remain at their default values.

Use Procedure 3-1 to define and start FTP on a client device.

Table 3.2(b) Server device definition setup items

ITEM DESCRIPTION

Tag

Comment

Protocol*

Port Name

Startup State*

Server IP/Hostname

Remote Path/Share

Inactivity Timeout

This item specifies the device name server. Available server tags are S1: through
S8:.

This item provides an area for you to include up to 16 characters of information that
allow you to label the device for its application use.

This item specifies the name of the protocol that will be associated with the tag. For
FTP, the protocol name is FTP .

This item is only displayed when SM (Socket Messaging) is selected as the Protocol,
and does not apply to FTP.

This item specifies the desired startup (Power up) state for the selected tag. Three
states are possible:

• UNDEFINED - the device is not defined.

• DEFINED - the device is defined.

• STARTED - the device is defined and started.

The Startup State is normally set to Start.
This item is not used at this time.
This item is not used at this time.
This item specifies the number of minutes of inactivity on the network before a

connection will be closed.

• When set to zero , no timeouts occur.

• When set to a non-zero value, Inactivity Timeout specifies the number

of minutes of inactivity on the network before a connection will be
closed. The default value is 15 minutes.

Username
Password

This item is not used at this time.
This item is not used at this time.

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3. FTP OPERATIONS B-82974EN/02

* This item is normally set up by the user. Other items can normally remain at their default values.

Use Procedure 3-1 to define and start FTP on a server device.

Procedure 3-1 Defining and Starting FTP on a Device

Conditions

• You have connected the Ethernet interface to a network. Refer to Section 2.2 .

• You have defined TCP/IP parameters. Refer to Procedure 2-2 .

Steps

1 Press MENUS.
2 Select SETUP.
3 Press F1, [TYPE].
4 Select Host Comm. You will see a screen similar to the following.

SETUP Protocols
Protocol Description
1 TCP/IP TCP/IP Detailed Setup
2 TELNET Telnet Protocol
3 PC SHARE PC Share Setup
4 PING Ping Protocol
5 HTTP HTTP Authentication
6 FTP File Transfer Protocol
7 DNS Domain Name System

5. To set up a server: (if required)
a. Press F4, [SHOW].
b. Select 3, Servers. You will see a screen similar to the following.

SETUP Servers

Tag Protocol Port State
1 S1: ******** ***** [UNDEFINED]
2 S2: ******** ***** [UNDEFINED]
3 S3: ******** ***** [UNDEFINED]
4 S4: ******** ***** [UNDEFINED]
5 S5: ******** ***** [UNDEFINED]
6 S6: ******** ***** [UNDEFINED]
7 S7: ******** ***** [UNDEFINED]
8 S8: ******** ***** [UNDEFINED]

c. Move the cursor to the server tag you want to set up and press F3, DETAIL. See the following

screen for an example.

SETUP Tags

Tag S1:

Comment: ****************
+ Protocol Name: FTP
Current State: UNDEFINED
+ Startup State: START
Server IP/Hostname:*****************
Remote Path/Share: *****************
Inactivity Timeout: 15 min
Username: *****************
Password *****************

+ These items are normally set up by the user. Other items can typically remain at their default

values. A detailed description of the fields in the Setup Tags screen is given in Table 3.2(b) .

d. To enter a comment, move the cursor to Comment and use the function keys to type a message

associated with this configuration and then press ENTER. You are not required to enter a
comment.

e. Move the cursor to Protocol Name and press F4, [CHOICE]. A list of available protocol

choices will be displayed.

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B-82974EN/02 3.FTP OPERATIONS

f. Select FTP and press ENTER.
g. Move the cursor to Startup State and press F4, [CHOICE].

NOTE

By default, all tags come up in the UNDEFINED state. In general, a server should

be set to the START startup state.

h. Select the startup state you want and press ENTER.
i. Move the cursor to Inactivity Timeout, type the timeout value you want, in minutes, and press

ENTER. The default value is 15 minutes.
j. Press F3, LIST, to display the list of server devices.
k. Repeat Step 5.c through Step 5.j for as many server devices as you are defining.

6. To set up a client: (if required)
a. Press F4, [SHOW].
b. Select 2, Clients. You will see a screen similar to the following.

SETUP Clients

Tag Protocol Remote State
1 C1: ******** **********[UNDEFINED]
2 C2: ******** **********[UNDEFINED]
3 C3: ******** **********[UNDEFINED]
4 C4: ******** **********[UNDEFINED]
5 C5: ******** **********[UNDEFINED]
6 C6: ******** **********[UNDEFINED]
7 C7: ******** **********[UNDEFINED]
8 C8: ******** **********[UNDEFINED]

c. Move the cursor to the client tag you want to set up and press F3, DETAIL. See the following

screen for an example.

SETUP Tags

Tag C1:

Comment: ****************
+ Protocol Name: FTP
Current State: DEFINED
+ Startup State: DEFINE
+ Server IP/Hostname: 192.168.1.49
+ Remote Path/Share: robot/programs/
Inactivity Timeout: 15 min
+ Username: Gary
+ Password ************

+ These items are normally set up by the user. Other items can remain at their default values in

most cases. A detailed description of the fields in the Setup Tags screen is given in Table

3.2(a) .

d. Move the cursor to Comment and use the function keys to enter a message associated with this

configuration. You are not required to enter a comment.

e. Move the cursor to Protocol Name and press F4, [CHOICE]. A list of available protocol

choices will be displayed.
f. Select FTP and press ENTER
g. Move the cursor to Startup State and press F4, [CHOICE].
h. Select the startup state you want and press ENTER.

NOTE

By default, all tags come up in the Undefined state. In general, a client should be

set to the Define startup state.

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3. FTP OPERATIONS B-82974EN/02

i. Move the cursor to the Server IP/Hostname field and enter the remote hostname or IP address.

When a hostname is entered, this item is case sensitive and must be defined in the host name

table ( Procedure 2-2 ) unless DNS is used.

j. Move the cursor to Remote Path/Share field and use the function keys to enter the remote host

path. This item is case sensitive and must end with a /.

k. Move the cursor to Inactivity Timeout, type the timeout value you want, in minutes, and press

ENTER. The default value is 15 minutes.

l. Move the cursor to the Username field, and type in the username for the client to use to log into

the remote FTP server.

m. Move the cursor to the Password field, and type in the password for the client to use to log into

the remote FTP server.

n. Press F3, LIST, to display the list of client devices.
o. Repeat Step 6.c through Step 6.n for as many client devices as you are defining.

7. To define and start FTP on a device:
a. Press F4, [SHOW].
b. Select Clients or Servers.
c. Move the cursor to the client or server you want to define and start.
d. Press F2, [ACTION].
e. Select 1, Define.
f. Press F2, [ACTION], again.
g. Select Start.
h. Repeat Step 7.c through Step 7.g for all of the client and server devices you want to define and

start.

3.3 FTP CLIENT USERNAMES AND PASSWORDS

Each client has the capability to communicate with a different host. Therefore, it is necessary to associate
a username, password, and password timer with each client. For a given client, you must set the username,
password, and password timer as appropriate.
You must define a password for each username. This password allows a user who enters the username
and password the ability to perform communications operations using FTP. This password is case
sensitive based on the host system that checks it.
In addition to defining the password, you may set a password timer, which is the number of minutes after
which the controller automatically will reset the password to "guest" and set the password timer to zero.
The default client username is anonymous . The default client password is guest . The default value of a
password timer is zero , which means the password will not be reset.
A username must be from 1 to 12 characters long and must consist of letters, numbers, and punctuation
that can be entered using the teach pendant. The username is case sensitive based on the host system that
checks it.
A password must be from 1 to 12 characters long and must consist of letters numbers, and punctuation
that can be entered using the teach pendant. The password is case sensitive based on the host system that
checks it.

NOTE

The host computer to which you connect might have restrictions on the characters

you can use in the username and password. Refer to your host computer
documentation for more information.

Use Procedure 3-2 to set usernames and passwords on client devices.

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NOTE

Table 3.3 defines the items needed to set up FTP client tag usernames and

passwords. FTP client usernames and passwords may also be configured in the
Client Tag Setup screen by following Procedure 3-1 . The password timer can only
be configured by following Procedure 3-2 .

Table 3.3 FTP Setup Client Username and Passw ord Items

ITEM DESCRIPTION

C1, C2 --- C8 This item is the client tag. There are up to eight client tags available.
USERNAME

(Default: anonymous)
PASSWORD

(Default: guest)
TIMER (minutes)

(Default: 0)

This item should be set to the username used to authenticate with
the remote FTP server of the corresponding FTP client tag.

This item should be set to the password used to authenticate with
the remote FTP server of the corresponding FTP client tag.

This item should be set to the number of minutes after which the
controller automatically will reset the password to "guest". A value of
0 indicates the password will not be reset.

Procedure 3-2 Setting Usernames and Passwords on Client Devices

Conditions

• You have set up FTP. Refer to Procedure 3-1 if you have not set up the FTP client devices.

Steps

1. Press MENUS.

2. Select SETUP.

3. Press F1, [TYPE].

4. Select Host Comm. You will see a screen similar to the following.

SETUP Protocols
Protocol Description
1 TCP/IP TCP/IP Detailed Setup
2 TELNET Telnet Protocol
3 PC SHARE PC Share Setup
4 PING Ping Protocol
5 HTTP HTTP Authentication
6 FTP File Transfer Protocol
7 DNS Domain Name System

5. Move the cursor to FTP and press ENTER. See the following screen for an example.

SETUP Host Comm
FTP
USERNAME PASSWORD TIMER
(minutes)
C1 anonymous ************ 0
C2 anonymous ************ 0
C3 anonymous ************ 0
C4 anonymous ************ 0
C5 anonymous ************ 0
C6 anonymous ************ 0
C7 anonymous ************ 0
C8 anonymous ************ 0

6. Move the cursor to the username you want to change and press ENTER. Use the appropriate

function keys to type the username and press ENTER. This item is case sensitive.

7. Move the cursor to the password that corresponds to that username and press ENTER. Use the

appropriate function keys to type the username and press ENTER. This item is case sensitive.

8. Move the cursor to the corresponding timer and press ENTER. Use the numeric keys to type the

time and press ENTER.

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3. FTP OPERATIONS B-82974EN/02

9. Repeat Step 6 through Step 8 for the remaining usernames and passwords you are setting.

10. Press F3, LIST, to return to the SETUP Protocols screen.

3.4 ACCESSING AND USING CLIENT DEVICES

3.4.1 Access Description

A client device does not have to be started before it is accessed. However, the tag must be defined. The
device automatically will be started when opened and stopped when closed, returning it to the defined
state.
FTP copies files of type .CF, .KL, and .LS, as ASCII files. All other file types are transferred as binary
files.

3.4.2 File Specification for Client Devices

Client devices are used like local file storage devices. The host communications file specification is as
follows:

<device_name:><\\host_name\><path_name\>file_name.file_type

This is a modified MS-DOS format. The optional host_name field is an extension to MS-DOS. The
host_name is a standard MS-DOS name from one to eight characters long. Single quotes can be used to

delimit strings or characters unacceptable to MS-DOS, such as the "¥" character. The full definitions are
as follows:

• device_name is a two- to five-character optional device name field, followed by a colon. The first

character must be a letter; the remaining characters must be alphanumeric. The default device from
the system console variable $DEVICE will be used if this field is absent (C1:, for example).

• host_name is a file name type consisting of one to eight characters. The optional host_name field

selects the network node to receive this command. It must be preceded by two backslashes and
separated from the remaining fields with a backslash. If a host_name is not present, the string
specified for the Remote (Current) will be used as the default host_name. host_name must already
have been defined in the host table ( Procedure 2-2 ).

• path_name is a recursively defined optional field consisting of one or more file_names separated

by a backslash. It is used to select the file subdirectory. It can consist of up to a maximum of 64
characters. If a path_name is not present, the string specified for the Path (Current) will be used as
the default path_name.

The root or source directory is handled as a sp ecial case. For example, access to the subdirectory

SYS linked off of the root would have a path_name of '¥SYS' . The file_spec using this
path_name would be C1:¥¥HOST¥'¥SYS'¥FILE.KL .

• file_name is from one to eight characters. Note that file_name is sent over the network in lower

case format, regardless of how it is entered. Therefore, upper case file names on a case-sensitive
remote host cannot be retrieved.

• file _type is from zero to three characters.

3.4.3 Starting and Stopping a Client Device

Use Procedure 3-3 to start, stop, and configure the client device and to start it automatically when the
controller is turned on.
Client tags can be turned on in the defined state. They will be started automatically when accessed.

Procedure 3-3 Starting and Stopping a Client Device

Conditions

• The client device you want to start or stop has been defined. ( Procedure 3-1 )

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B-82974EN/02 3.FTP OPERATIONS

Steps

1. Press MENUS.

2. Select SETUP.

3. Press F1, [TYPE].

4. Select Host Comm.

5. Press F4, [SHOW].

6. Select Clients. You will see a screen similar to the following.

SETUP Clients

Tag Protocol Remote State
1 C1: ******** **********[UNDEFINED]
2 C2: ******** **********[UNDEFINED]
3 C3: FTP **********[UNDEFINED]
4 C4: ******** **********[UNDEFINED]
5 C5: ******** **********[UNDEFINED]
6 C6: ******** **********[UNDEFINED]
7 C7: ******** **********[UNDEFINED]
8 C8: ******** **********[UNDEFINED]

7. Press F2, [ACTION].

8. Select the action you want to perform:

NOTE

A device must be in the defined state before it can be started.

• To define a device, select Define.

• To undefine a device, select Undefine.

• To start a device, select Start. The device must be in the defined state.

• To stop a device, select Stop. The device will change to the defined state.

9. To configure the client device to start automatically at power up:
a. Move the cursor to the client tag you want to start automatically and press F3, DETAIL.
b. Move the cursor to Startup State and press F4, [CHOICE].
c. Select Start, and press ENTER.
The client device will now start automatically when the controller is turned on.

NOTE

The host device must be capable of accepting this FTP login at powerup if the tag

is set to START AUTOMATICALLY when you turn the robot on. In this case, if the
host is not available, the robot controller will wait approximately one minute to
timeout before completing powerup. This is why it is recommended to have client
tags powerup in the
tags when used.

DEFINE

state. The controller will automatically start the client

3.4.4 Teach Pendant File Access

After a client device has been defined, it can be used from the teach pendant.
On the teach pendant, when you set the default device to C1:, you can do the following:

• From the SELECT screen

• Save a program to C1:

• Load a program from C1:

• From the FILE screen

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3. FTP OPERATIONS B-82974EN/02

• Generate a directory of files on C1:

• Load or restore files from C1: onto controller memory

• Back up program and system files to C1:

• Copy files to and from C1:

• Delete files from C1:

3.5 ACCESSING SERVER DEVICES

3.5.1 Overview

This section contains information about accessing server devices. A server device listens for connections
that are initiated from the host computer. One server can support one connection. Therefore, you control
the number of devices that are connected to the controller by starting only the appropriate number of
server tags. When no server tags have been started, no connections can be received.
You cannot select which server devices are used for specific connections. This is determined by the
TCP/IP Host Communication software.

3.5.2 Access Description

Server devices S1: through S8: and server-client devices that perform both functions must be started
before any services can be requested. Servers are normally started when the controller is turned on and
remain running while the controller is on. All host devices can be configured to start automatically when
the controller is turned on via their Startup Mode.

3.5.3 Starting and Stopping a Server Device

Use Procedure 3-4 to start, stop, and configure the server to start automatically when the controller is
turned on.

Procedure 3-4 Starting and Stopping a Server Device

Conditions

• The server device you want to start or stop has been defined. ( Procedure 3-1 )

Steps

1. Press MENUS.

2. Select SETUP.

3. Press F1, [TYPE].

4. Select Host Comm.

5. Press F4, [SHOW].

6. Select Servers. You will see a screen similar to the following.

SETUP Servers

Tag Protocol Port State
1 S1: ******** ***** [UNDEFINED]
2 S2: ******** ***** [UNDEFINED]
3 S3: FTP ***** [UNDEFINED]
4 S4: ******** ***** [UNDEFINED]
5 S5: ******** ***** [UNDEFINED]
6 S6: ******** ***** [UNDEFINED]
7 S7: ******** ***** [UNDEFINED]
8 S8: ******** ***** [UNDEFINED]

7. Press F2, [ACTION].

8. Select the action you want to perform:

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B-82974EN/02 3.FTP OPERATIONS

NOTE

A device must be in the defined state before it can be started.

• To define a device, select Define.

• To undefine a device, select Undefine.

• To start a device, select Start. The device must be in the defined state.

• To stop a device, select Stop. The device will change to the defined state.

9. To configure the server device to start automatically at power up:
a. Move the cursor to the server tag you want to start up automatically and press F3, DETAIL.
b. Move the cursor to Startup Mode and press F4, [CHOICE].
c. Select Start, and press ENTER.
The server device will now start automatically when the controller is turned on.

3.5.4 Blocking Downloads of Certain File Groups

FTP supports preventing certain file groups from being downloaded to the robot from a remote host,
using the FTP server on the robot. For example, using this FTP feature, all TP programs can be prevented
from being downloaded to the MD device.
This feature is disabled by default and needs to be enabled before use. To enable this feature, set
$FTP_CTRL.$DNLD_FILTER = TRUE and turn the controller off and back on.
If the feature is enabled, any file that is in a special table used by FTP will be blocked from being
downloaded via the robot FTP server. An FTP error, such as “501 Permission Denied,” will be posted.
The table of files that can be blocked is made up of:

• MD:*.TP (all TP files in MD device)

• $FILE_APPBCK[x].$FILE_NAME (contents of this system variable array)

3.5.4.1 Features

• For every download request, the FTP server matches the filename with the internal table of files that

are to be blocked.

• The match is device-specific and is not case-sensitive.

• Specific files or wildcards can be supplied in $FILE_APPBCK.$FILE_NAME. Device information

can also be entered.

• The format for an entry in $FILE_APPBCK.$FILE_NAME is <device>: {filename.ext} example

MD:¥test.pc

• If the device information is not entered in $FILE_APPBCK.$FILE_NAME, the MD device is

assumed.

• If the feature is enabled, all teach pendant programs in MD device (MD:*.TP) are automatically

blocked from being downloaded to the robot regardless of $FILE_APPBCK entries.

3.5.4.2 Examples

Example 3.5.4.2(a)

Setting $FILE_APPBCK[x].$FILE_NAME to SYSSEAL.SV is equivalent to setting it to
MD:¥SYSSEAL.SV and blocks download of SYSSEAL.SV to MD device.

Example 3.5.4.2(b)

Setting $FILE_APPBCK[x].$FILE_NAME to “FR:*.DT” causes downloads of all .DT type files to FR
device to be blocked.

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3. FTP OPERATIONS B-82974EN/02

3.6 FTP SERVICES

3.6.1 Overview

The following FTP services are provided:

• Environment services

• File transfer services

• Directory services

These services can be performed only by server devices.
Figure 3.6.1 shows the relationship of host communications to the controller system. It also shows the
devices and the services that can be accessed.

Fig. 3.6.1 Host Communications model

A host device operating as a client will make service requests via the Ethernet cable to the server. All
service requests pass through the controller system library functions.

3.6.2 Environment Services

FTP provides the following environment services:

• open

• close

• username

• password

• type

open

Open is used to establish a connection between the host computer and the controller.

close

The close service is used to close a connection.

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B-82974EN/02 3.FTP OPERATIONS

When Inactivity times out, the Close request is sent to the attached host computer. You can set the
Inactivity Time to zero, which turns off the Inactivity Timer. Timer values can be set between 1 and
99,999 minutes.

username

Username is checked if the password protection option is installed on the robot controller.

password

Password is checked only if the password protection option is installed on the robot controller.

NOTE

Server passwords require the Password Protection option. The Operator level can

upload files and perform a directory. The Program level can perform Operator
tasks and download .TP, .PC, .IO, and .VR files. The Setup/Installation level can
perform Operator and Program tasks and download .SV files. If the password
protection option is not installed, you are placed in the Setup/Installation level by
default. You can use the FTP Server Access control feature to modify this
behavior.

type

Type sets the file transfer type to BINARY before transferring binary type files, such
as .IO, .PC, .SV, .TP, and .VR.

3.6.3 File Transfer Services

FTP provides the following file transfer services:

• get

• put

• mget

• mput

User program and data files can be transferred to and from I/O devices (such as the RAM disk, serial
ports, and the memory device). System files can be transferred to and from the memory device only.
Refer to Section 3.7 .
The FTP protocol uses the standard input and output services available in the controller. Any device
accessible by a KAREL program, except client devices C1: through C8:, can be accessed.

3.6.4 Directory Services

FTP provides the following directory services:

• cd

• delete

• dir

• mkdir

• pwd

• rename

• rmdir

cd

The cd service is used to change the default device.

delete

The delete service works with devices such as P3: and FLPY:. You can delete all files except system files
(such as SYSVARS.SV) with the Memory Device.

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3. FTP OPERATIONS B-82974EN/02

dir

Wildcard operations are allowed for dir using the wildcard character, "*" in the file name or extension.
Wildcards can be used as follows:

• word No wildcard. The name must match exactly.

• word* Matches names that begin with word plus zero or more characters.

• *word Matches names that end with word preceded by zero or more characters.

• *word* Matches names that contain word in the beginning, middle, or end.

NOTE

On some screens, the controller might display the teach pendant file attribute as a

file type, such as job (.JB), macro (.MR), or process (.PR). However, these are all
stored on external devices as files with the teach pendant file type extension. The
controller will not allow teach pendant file names to be used with different attribute
types. For example, there cannot be a TEST99.TP with attribute type job (.JB) and
a TEST99.TP with attribute type macro (.MR).

mkdir

The mkdir service allows you to create a directory. NOTE that directories cannot be created on MD: or
other memory devices. Refer to Section 3.7 for more information on the memory devices.

pwd

The pwd service is used to display the default device.

NOTE

If you use Distinct FTP on your host computer, the Distinct FTP client cannot

change to hidden drives and cannot transfer hidden files. You can transfer only
those files that are displayed in the directory of the memory device (MD:), the
default device of the FTP server.

rename

Rename is not available on the memory device (MD:) and memory card (MC:). Refer to Section 3.7 for
more information on the memory device.

rmdir

The rmdir service allows a user to remove or delete a directory. Note that directories cannot be removed
from MD: or other memory devices. Refer to Section 3.7 for more information on memory devices.

3.6.5 Miscellaneous FTP Information

The FTP implementation on the robot conforms to Internet standard specifications (as given by RFC 959).
In particular, the FTP server recognizes the internal commands listed in Table 3.6.5 .

Table 3.6.5 FTP Server Internal Commands

ABOR LIST PWD PASV MODE
USER NLST CWD SYST STRU
PASS RETR DELE HELP XPWD
PORT STOR RNFR NOOP XCUP
TYPE QUIT RNTO CDUP XCWD
MKD RMD XMKD XRMD

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B-82974EN/02 3.FTP OPERATIONS

Generally, UNIX based FTP servers are case sensitive, and the robot controller is case insensitive. When
using FTP client tags to communicate with a remote UNIX FTP server, by default the robot assumes
everything is lower-case. This means the robot will create directories with lower-case names, navigate
directory structures assuming all directories have lower-case names, and will access files
(read/write/open/create) assuming lower-case file names. When coming across a file or directory with an
upper-case name, the robot will be able to display the file or directory when doing a directory listing, but
will not be able to access it. Setting the system variable $FTP_CTRL.$SUBDIRCAPS to TRUE reverses
this and causes the robot controller to assume all file and directory names are upper-case. When this
system variable is changed, the robot controller must be power-cycled to take effect. However, note that
the path entered into the Remote Path/Share field of the Client Tag Setup screen is case sensitive. This
root path can be mixed case and does not assume either lower or upper case.
In general, the FTP server on the robot is compatible with any FTP client (command-line or GUI-based)
that conforms to the standard FTP specification.
In particular, the FTP server has been tested against standard UNIX and Windows-based command line
FTP clients and the following graphical FTP clients:

• GlobalScope Inc.'s CuteFTP Version 6.0

• IPSwitch's WS_FTP Pro Version 9.01

• FileZilla Version 3.2.3.1

For newer versions of FileZilla, use Procedure 3-5 to configure FileZilla to work with the robot
controller's file system.

Procedure 3-5 Configure FileZilla FTP Client

Steps

1. Launch FileZilla, select the File menu, and open the Site Manager.

2. Enter appropriate information in the General tab.

3. Select the Advanced tab and set Servertype to DOS.

4. Optionally, enter in a default remote directory.

5. Click on OK.

3.7 ACCESSING USER PROGRAM, SETUP, AND

DIAGNOSTIC INFORMATION

3.7.1 Overview

Access to user program, setup, and diagnostic information can be done over FTP using the following
devices:

• MD: provides access to both ASCII and binary versions of user setup and programs along with

alarm logs and diagnostic files.

• MDB: provides access to binary versions of user setup and programs (similar to "backup - all of the

above" on the teach pendant file menu)

• FMD: (option) provides access to ASCII versions of user setup and programs filtered to include only

user settable information (eg. internal timers or time system variables changed by the system are not
included) making these files useful for detecting user changes.

When logging into the robot FTP server from a remote client you are defaulted into the MD: device. You
can navigate to other robot file devices (FR:, RD:, MC:, MDB:, FMD:) using the change directory service
in your remote FTP client. At a command line using the cd command where in this example fmd: is the
device being used, this might look like :

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3. FTP OPERATIONS B-82974EN/02

D:\temp>ftp pderob029
Connected to pderob029.frc.com
220 FTP server ready. [PaintTool Vx.xxP/01]
User <pderob029.frc.com:<none>>:
230 User logged in [NORM].
ftp>cd fmd:
250 CWD command successful.
ftp>

The syntax used with MD: is as follows:

MD:file_name.file_type

• file_name is from one to eight characters.

• file_type is from zero to three characters.

NOTE

Rename is not supported for MD:.

Memory Device (MD:)

The memory device (MD:) treats the controller's program memory as if it were a file device. You can
access all teach pendant programs, KAREL programs, and KAREL variables loaded in the controller.

Memory Device Binary (MDB:)

The memory device binary device (MDB:) allows you to copy the same files as provided by the Backup
function on the File Menu. This allows you to back up the controller remotely such as from SMON, FTP.
The MDB: device directory function includes only those files that should normally be backed up. When
using FTP, a request to the MDB: device such as "mget *.*" (in binary mode) would provide a complete
backup of the robot system and application files based on MDB: being configured correctly.
Backing up the binary portion of the memory device (MDB:*.*) provides a complete application backup
(analogous to Backup — All of the above on the teach pendant file menu). It does not include the ASCII
versions of programs/variables so it is smaller in size and faster to back up. This backup is appropriate for
disaster recovery of the application. Note that the controller must be at CTRL start to restore most system
files.

Filtered Memory Device (FMD:)

The Filtered Memory Device option generates text versions of all backup files of user programs and
variables that have been changed manually. Included are system and KAREL variables, position and data
registers, teach pendant programs, and I/O configuration data.
You can compare these files with previous versions to determine what users or operators have changed.
Variables and programs that change without user input are filtered out, and will appear in filter exclusion
files.
After the option is installed, it will run automatically whenever you perform an Ethernet backup of the
controller from the FMD: device. After you install the Filtered Memory Device option, any of the
following filter exclusion files could appear on the FR: device.

CAUTION

Do not delete these files, or filter exclusion data will be lost.

• FR:SVAREEG.DT

• FR:KVAREEG.DT

• FR:POSREEG.DT

• FR:REGEEG.DT

• FR:TPLINEEG.DT

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B-82974EN/02 3.FTP OPERATIONS

Backing up the filtered memory device (FMD:*.*) provides a set of ASCII files that can be used with an
application designed to do comparisons with previous FMD: backups. If differences are detected then
specific files which have changed can be backed up.

3.7.2 System Files

System files are binary files that store default values for system variables, servo parameter data, and
mastering data. They contain information specific to the controller, robot, and software.
You can access the system files listed in Table 3.7.2 by specifying the Memory Device and the reserved
file names within the file access services that are supported for Memory Device.

Table 3.7.2 System files accessed through the memory device

Kind of Information File Specification

Frame information MD:¥¥TPFDEF¥FRAMEVAR.VR
FTP Server Access Control Configuration MD:[¥¥*SYSTEM*¥]SYSFSAC.SV
I/O information MD:[¥¥*SYSTEM*¥]DIOCFGSV.IO
Macro command information MD:[¥¥*SYSTEM*¥]SYSMACRO.SV
Mastering information MD:[¥¥*SYSTEM*¥]SYSMAST.SV
Number registers MD:[¥¥*NUMREG*¥]NUMREG.VR
Password variables MD:[¥¥*NUMREG*¥]SYSPASS.SV
Position registers MD:[¥¥*POSREG*¥]POSREG.VR
Servo parameters MD:[¥¥*SYSTEM*¥]SYSSERVO.SV
Shared Hosts File MD:[¥¥*SYSTEM*¥]SYSHOST.SV
System variables MD:[¥¥*SYSTEM*¥]SYSVARS.SV
[ ] denotes an optional field

NOTE

When you perform a DIR listing of the files stored on the MD: device, you will see

the system file and its ASCII version. The ASCII version of SYSVARS.SV is
SYSVARS.VA, and ASCII versions can be as large as ten times the size of the
binary version.

3.7.3 Error Log Files

Error log files are ASCII text files that provide a snapshot of the current errors in the system. They can be
backed up to the default device, but cannot be restored or loaded into the controller. However, they can be
imported to a spreadsheet application, such as Microsoft® Excel. Refer to Table 3.7.3 for a listing of error
log files.

Table 3.7.3 Error log files

File Name Kind of Information
ERRALL.LS
ERRACT.LS

The Error Log (All) file provides a snapshot of the history of errors in the system.
The Error Log (Active Alarms Only) file provides a snapshot of active errors in

the system.

Sample Error Log

See Figure 3.7.3 for an example of an error log entry.

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3. FTP OPERATIONS B-82974EN/02

Fig. 3.7.3 Sample error log entry

All of the fields of an error log file are left justified, and are delimited by double quotes (") to simplify
importing the file into a spreadsheet.

Sections of an Error Log

The first line of the error log file is called the header. It consists of the error log name, the robot hostname
and the current system time and date stamp.
The next section of the file consists of a sequence number, which is an internal system number that
identifies a particular error during consecutive accesses to the error log. The sequence number increases
sequentially, although it need not start from 1. The other fields in this section are the time and date stamp
of the error, facility name, the error code number, the error code message, the cause code message (if one
exists), and the severity text.
ERRALL.LS also has a field to include the active/inactive status of the alarm. Active alarms are denoted
by the text "act," and inactive alarms have a null field. Each of the fields, except the cause string field, is
set to a fixed width.

3.7.4 FTP Transfer Log

The robot records all FTP file transfers in a special log file called FTPLOG.DG available from the MD
device.
The log has the following features.

• The log file FTPLOG.DG can be accessed from the Teach Pendant, web browser or retrieved
through FTP.

• The number of entries in the log (log size) can be controlled by the system variable
$FTP_CTRL.$LOG_ENTRIES.

• The log can be volatile (stored in DRAM) or non-volatile (stored in CMOS). The system variable
$FTP_CTRL.$LOG_CMOS controls this behavior.

• The log is a circular buffer of entries, which means that the oldest entry is removed when the log
becomes full.

• Each line in the log will contain a record of a specific file transfer in the following format:

1. Date/time stamp

2. File operation (U)pload from robot,(D)ownload to robot

3. Filename

4. FTP transfer status code

5. FTP transfer status text

6. IP address of remote host (optional)
To save CMOS space, the last field (IP address) is recorded only if the log is stored in DRAM.

APR03 2002 14:45:46 U ERRALL.LS 226 Binary Transfer complete. 172.22.192.190
APR03 2002 14:45:54 D TEST2.TP 501 Permission denied. 172.22.192.190

Fig. 3.7.4 IP Address

Most users can leave the default configuration which sets the log size to store 50 entries in DRAM.

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B-82974EN/02 4.DOMAIN NAME SERVICE (DNS)

4 DOMAIN NAME SERVICE (DNS)

4.1 OVERVIEW

Domain Name Service (DNS) provides a method for a robot controller to communicate with a remote
server without having to know the IP address of the server.
You must do the following to be able to use DNS with your robot:

 Install and configure the network components for your Ethernet network. Refer to Section 2.2 .
 Install and configure the FTP software on the servers on your Ethernet network. Refer to Section

3.2.

Connecting to Servers with DNS

Client side networking applications, such as an FTP client, require an IP address in order to connect to a
remote server. DNS provides a way for client applications to obtain the IP address of a remote server if
one cannot be found in the local or shared host tables.
When a client application initiates a connection it will first search the local and shared host tables for the
IP address of the remote host. If an IP address cannot be found, then DNS will initiate a query to the local
DNS server. The server will respond to the query with the IP address that the client needs. DNS will parse
the response and return the IP address to the waiting client. When the client receives the needed IP
address it will continue with its attempt to establish a connection to the remote server.

4.2 DEFINING DNS PARAMETERS

You need to provide the controller with the address of at least one DNS server for your network. The
DNS client on the controller is capable of interacting with up to two DNS servers. Your network
administrator can provide you with the IP addresses of the DNS servers on your network. You must also
provide a local domain name.

DNS Parameters

Several parameters are used to configure the DNS interface on your robot. Table 4.2 lists and describes
the parameters you must define.

Table 4.2 DNS Parameters

PARAMETERS DESCRIPTION

Primary DNS Server

Secondary DNS Server

Local Domain Name

This item specifies the IP address of the primary DNS server on your
network. This server will be contacted by the robot when it is asked to
connect to a host whose IP address is unknown. Contact your network
administrator for the address of your primary DNS server. DNS will not
work if you do not provide the IP address of your primary DNS server.

This item specifies the IP address of the secondary DNS server for your
network. This server will be contacted if your primary server is
unreachable or not responding. It is not required in order for DNS to
work. Not all networks have secondary DNS servers, so you should
check with your network administrator to see if your network has one.

This item is the domain name for your local network. Examples of local
domain names are frc.com or aarnet.edu.au. Your network administrator
can provide you with the correct local domain name for your network.

NOTE

DNS will not work if you do not provide a local

domain name.

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4. DOMAIN NAME SERVICE (DNS) B-82974EN/02

PARAMETERS DESCRIPTION

Number of Retries (1,3)

Wait Time (1,7)

If a DNS server does not respond to a query, the robot will attempt to
contact the DNS server again. The number of retries is the number of
times a robot will attempt to contact a DNS server after the initial query
fails. The number of retries can be set to 1, 2 or 3 retries, and the
default is 2 retries.

This item is the amount of time the robot will wait for a response from a
DNS server before trying to initiate another query. You can set the wait
time to be between 1 and 7 seconds. The default is 2 seconds.

Use Procedure 4-1 to define DNS parameters.

Procedure 4-1 Defining DNS Parameters

Conditions

• You have installed the DNS software on your robot controllers and remote servers.

Steps

1. Press MENUS.

2. Select SETUP.

3. Press F1, [TYPE].

4. Select Host Comm. You will see a screen similar to the following.

SETUP Protocols
Protocol Description
1 TCP/IP TCP/IP Detailed Setup
2 TELNET Telnet Protocol
3 PC SHARE PC Share Setup
4 PING Ping Protocol
5 HTTP HTTP Authentication
6 FTP File Transfer Protocol
7 DNS Domain Name System

5. Move the cursor to TCP/IP and configure, if necessary. Refer to chapter of SETTING UP TCP/IP if
you have not configured TCP/IP. Otherwise, go to Step 6 .

6. Move the cursor to DNS and press F3, DETAIL. You will see a screen similar to the following.

SETUP DNS
DNS
Primary DNS server: 199.5.148.200
Secondary server : 199.5.148.201
QUERY OPTIONS
Number of retries : 2
Wait time : 2
LOCAL DOMAIN NAME
*****************************************
*****************************************

7. Move the cursor to each item and specify the appropriate information:

• Primary DNS Server - This specifies the unique address of the primary DNS server. Contact
your network administrator for the address of your network's primary DNS server.

• Secondary DNS Server - This specifies the unique address of the secondary DNS server for
your network. Your network may or may not have a secondary DNS server. Contact your
network administrator for the address of your network's secondary DNS server.

• Local Domain - This specifies the domain name of your local network.

• Number of Retries - This specifies the number of times the controller will try to contact a DNS

server if its initial query is not answered.

• Wait Time - specifies the number of seconds the client will wait before attempting another
query.

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B-82974EN/02 4.DOMAIN NAME SERVICE (DNS)

NOTE

The IP addresses of the Primary and Secondary DNS servers, the Number of

Retries, and the Wait Time are saved as part of SYSHOST.SV ($DNS_CFG). The
local domain name is also saved as part of SYSHOST.SV ($DNS_LOC_DOM).
The SYSHOST.SV file can be shared between robots and can be downloaded to
get a complete DNS configuration. In addition to DNS configuration data, the
SYSHOST.SV file contains information about Telnet ($TEL_LIST) and shared
hosts ($HOST_SHARED).

8. After you have entered the required information, your Domain Name Service Setup screen should
look similar to the following.

SETUP DNS
DNS
Primary DNS server: 199.5.148.200
Secondary server : 199.5.148.201
QUERY OPTIONS
Number of retries : 2
Wait time : 2
LOCAL DOMAIN NAME
aarnet.edu.au
*****************************************

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5. TELNET B-82974EN/02

5 TELNET

5.1 OVERVIEW

Telnet is a standard protocol designed to work between any host (such as an operating system) and any
PC or UNIX terminal. The controller can function as a Telnet server. Remote hosts can use a standard
Telnet client to communicate with the server.
Current functionality on the server includes the ability to create teach pendant terminals over the remote
Telnet connection. The Telnet screens are under the SETUP Hostcomm menus.

NOTE

The Telnet function is a standard function. Telnet function is loaded by default with

all application software packages. You must first define the TCP/IP parameters
( Procedure 2-2 ) for the robot to be active on the network.

5.2 SETTING UP TELNET ON YOUR ROBOT

5.2.1 Telnet Setup

You will need to configure the Telnet option before you can use your robot as a Telnet server. Use
Procedure 5-1 to set up Telnet on your robot.
The Telnet server uses default passwords and access levels to authenticate attempts to log in. These
passwords and access levels are in effect until you override them from the Telnet screen. The default
passwords and access levels are shown in Table 5.2.1(a) .

Table 5.2.1(a) Telnet default passwords and access levels

USERNAME ACCESS LEVEL DEFAULT PASSWORD

tpdisplay Output rj3_tpd
kcl Input uninitialized

NOTE

Login names and passwords are

case sensitive

Valid Telnet Devices and Login IDs

Several parameters are used to configure the Telnet option for your robot. Table 5.2.1(b) lists and
describes the valid devices and login IDs, which are also parameters you must define on the Telnet Setup
Screen.

NOTE

If the robot has an iPendant attached, then you cannot connect to the tpdisplay

device on the controller (the login attempt will fail and an error message will be
sent to the client).

.

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B-82974EN/02 5.TELNET

Table 5.2.1(b) Telnet setup screen items

USERNAME DESCRIPTION

tpdisplay This item allows you to log into the teach pendant device and displays the teach

pendant output over the remote Telnet connection.
kcl This item has not been supported.
help or ? This item displays a help screen related to the topic you have selected.

Table 5.2.1(c) SETUP TELNET Screen Items

ITEM DESCRIPTION

Username This item is the device on the robot to which users can connect.
AccessValues: OUTPUT,

INPUT, or NONE

This item is the access level of the device. It can be one of the following:

 OUTPUT - outputs from the controller
 INPUT - both input and output
 NONE - no access to the controller

NOTE The TP device doesn't support INPUT access.

Password This item is the password that allows access to the device. To enter a password,

move the cursor to this field, press ENTER, and type the password. When you are
finished, press ENTER.

Timer
Units: minutes
Range: 0 - 99
Default: 0

This item is an inactivity timeout value. It indicates the number of minutes of inactivity
over the TELNET connection before the robot closes the connection.

Use Procedure 5-1 to set up the Telnet option.

Procedure 5-1 Setting up Telnet on Your Robot

Conditions

• You have configured the Ethernet hardware and software on your robot. Refer to Procedure
2-2 .

Steps

1. Press MENUS.

2. Select SETUP.

3. Press F1, [TYPE].

4. Select Host Comm. You will see a screen similar to the following.

SETUP Protocols
Protocol Description
1 TCP/IP TCP/IP Detailed Setup
2 TELNET Telnet Protocol
3 PC SHARE PC Share Setup
4 PING Ping Protocol
5 HTTP HTTP Authentication
6 FTP File Transfer Protocol
7 DNS Domain Name System

5. Move the cursor to TELNET and press F3, DETAIL. You will see a screen similar to the following.

SETUP Telnet
Username Access Password Timer
TP OUTPUT ******** 0
KCL OUTPUT ******** 0
CONS OUTPUT ******** 0

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5. TELNET B-82974EN/02

6. You can set up passwords and access levels only if you do not want to use the defaults. The timer
field is disabled by default (0). If a positive value is set, it determines the number of minutes of
inactivity on the connection before the connection is terminated.

With the SETUP Telnet screen displayed, press F5, HELP. You will see a screen similar to the

following.

SETUP Telnet
HELP Arrows to scroll, PREV to exit
TELNET HELP SCREEN
ACCESS
change the access level of the device, OUTPUT - Outputs
from the controller.
INPUT - Both input and output.
NONE - No access to the controller
The TP device doesn't support input access

5.2.2 Connecting to a Telnet Server

After you have set up the Telnet feature, you can use it to connect to a Telnet server. Use Procedure 5-2
to connect to a Telnet server.
More security measures, in addition to passwords, are available to control remote access into the robot.
Telnet supports the FANUC Server Access Control (FSAC) feature, which decides which remote hosts
(PCs) are allowed to connect into the robot. Refer to Section 2.5 for more information on setting up
FSAC for Telnet.

Procedure 5-2 Connecting to a Telnet Server

Steps

1. From your PC or UNIX workstation, start a standard Telnet client window, or from a command

prompt type the following:

C:\>telnet <robothost>

Where <robothost> is the host name or IP address of the robot to which you want to connect.

2. After a Telnet connection has been established, you will see the following message on the screen of

your PC or UNIX workstation:

RJ3 Telnet (Robot: <robothostname> F No: F-xxxxx)
Login:

3. From your PC or UNIX workstation, type a valid login name for the device to which you want to
connect and press ENTER. Refer to Table 5.2.1(a) for a list of valid login names.

4. Type your password and press ENTER.

5. If you have entered a valid login ID and password, your PC or UNIX workstation will be connected

to the device selected in Step 3 .

NOTE

Login names and passwords are case sensitive.

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B-82974EN/02 6.WEB SERVER

6 WEB SERVER

6.1 OVERVIEW

The web server application allows you to access files on the robot using a standard web browser. This
includes files on the robot memory device (MD:), as well as other file devices on the robot such as FR:
and RD:. The memory device includes error logs, diagnostic data, and ASCII translations of system and
program variables. The server can also be customized by including a unique home page.
The main purpose of the web browser is to provide easy access to robot programs and status information.

NOTE

You must first define the TCP/IP parameters ( Procedure 2-2 ) for the robot to be

active on the network.

6.2 SETTING UP THE WEB SERVER

6.2.1 Overview

The web server is a standard feature. The default method for using web server is to have it configured to
start automatically when the controller is turned on (it is available at Controlled start mode as well as
during normal operation). At this time, configuration of the web server is done directly through system
variables. Refer to Table 6.2.1 for the web server system variables and their descriptions.

Table 6.2.1 Web server system variables

SYSTEM VARIABLE DESCRIPTION

$HTTP_CTRL.$ENABLE

$HTTP_CTRL.$KRL_TIMOUT

$HTTP_CTRL.$HITCOUNT

$HTTP_CTRL.$BG_COLOR

This variable automatically starts the web server when the controller is
turned on if the value is greater than 0 (the default value is 1). Reset this
variable to zero if you would like to disable the web server when you turn
the controller on again.

This variable defines the maximum number of seconds to wait for a
KAREL program to complete which is requested through the web server.
Refer to section on “Running KAREL Programs from the web browser.
The default value is 10 seconds.

This variable is incremented each time the web server gets a request.
This variable can be modified at any time if, for example if you want to
reset the hitcount to 0. This is an integer variable that will roll over at the
maximum value (2147483646).

This variable is the default web page background color (FANUC yellow).
It is used in the default header and trailer files.

$HTTP_CTRL.$ENAB_TEMPL

This variable indicates whether the HTTP (Web Server) task should use
a template file for headers and trailers on any DG/LS/VA files. The
default value is 1 (enabled).

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6. WEB SERVER B-82974EN/02

SYSTEM VARIABLE DESCRIPTION

$HTTP_CTRL.$TEMPLATE

$HTTP_CTRL.$COMMENT

This variable will override the system defined template for LS/DG/VA
files if $ENAB_TEMPL is enabled (set to 1). Template files effect the
header and trailer HTML around these files so will effect their look on a
browser. Note that a query string can also be used to force a particular
template for these file types. This variable should not include an
extension as this variable really represents two files - the header and
trailer. As an example, if $TEMPLATE=FR:MYTEMP, then there should
be two files on FR: (FR:MYTEMP.HDR, FR:MYTEMP.TLR). The system
template is FRS:DEFAULT.

This variable is an available comment field. It can be used in web pages
by referencing it directly. This can be changed by the user as desired.

6.2.2 Using FANUC Server Access Control (FSAC) to Control

Access to the Web Server

You can use the FANUC Server Access Control (FSAC) feature to control access to the web server. Note
that an access level of Program level or above is required to utilize the KAREL/Server Side Include
feature within web server, based on the configuration of FSAC. An access level of Operator level or
above is required to access other files from the web server.
Access to the iPendant screens is also controlled by FSAC. If $UI_CONFIG.$READONLY[2]=TRUE,
then all levels have read-only access. If $UI_CONFIG.$READONLY[2]=FALSE, then the Operator and
User-defined levels have read-only access, the Program level will have access to screens used for
programming the robot, the Setup level will have access to screens used to set up the system, and the
Install level will have read-write access to all the screens.
Refer to Section 2.5 for more information on the FSAC feature.

6.3 USING THE WEB SERVER

6.3.1 Overview

After you have set up the web server ( Section 6.2 ) , you can use it to connect to a robot's home page,
where you can access system variable, teach pendant, error/diagnostic, and binary files.

6.3.2 Connecting to a Robot Home Page

The default home page for the robot is a listing of important diagnostic files and links.
The default home page provides a link to the memory device file list (MD:INDEX.HTM). This list is built
dynamically each time the page is requested based on the programs and variables loaded in working
memory.
The following example URLs (either Figure 6.3.2(a) or Figure 6.3.2(b) ) requests the robot default home
page shown in Figure 6.3.2(c) .

http://robotname -- if robotname is the name of the robot you want to connect to,
and it is known on the network.

Fig. 6.3.2(a) URL example

http://192.168.0.1 -- if the robot name is not known on network

Fig. 6.3.2(b) URL example

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B-82974EN/02 6.WEB SERVER

Fig. 6.3.2(c) Default robot home page

The link on the default page called "Active Programs /Variables /Diagnostics (Memory Device)" is the
memory device file list (MD:INDEX.HTM) and is shown in Figure 6.3.2(d) .

Fig. 6.3.2(d) Memory device index page

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6. WEB SERVER B-82974EN/02

The links at the top of the page shown in Figure 6.3.2(d) are defined in Table 6.3.2 .

Table 6.3.2 Program/Diagnostic link descriptions

LINK TITLE DESCRIPTION

Variable Files This link points to a section of this page that provides links to ASCII and binary

versions of any .SV file and any .VR file which is loaded (on memory device).

TP Program Files This link points to a section of this page that provides links to ASCII and binary

versions of any .TP program loaded on the robot.

Error/Diagnostic Files This link points to a section of this page that provides links to ASCII versions of

diagnostic files such as the complete alarm log (errall.ls), the active alarm log
(erract.ls), a snapshot of the I/O (iostatus.ls), or a listing of loaded software with
memory status and servo information (errcurr.ls, errhist.ls).

6.3.3 Customizing Your Robot Home Page

A customized home page can be loaded to replace the default home page. The file FR:INDEX.HTM will
be shown (if it exists on your robot controller) in place of the default home page.
The web server currently is able to return the following kinds of files:

• HTML (.htm extension on robot)

• JPEG (.jpg extension on robot)

• GIF

• TXT

• WAV

• .LS

• .VA

• .STM (See Note listed below.)

• PNG

• CLS (Java class files

NOTE

.LS and .VA files are returned with a simple HTML header and trailer appended.

Other kinds of files are returned as binary files with a "Content-type" of
"application/octet-stream".

If FR:INDEX.HTM is loaded on the controller, it should have a link to the memory device index page
(MD:INDEX.HTM). The following code is an example of a link to the memory device INDEX:
<A href="../md/index.htm"> Program / Diagnostic Files </A>
If the Web Server Enhancements Option is loaded, then the order of files searched to be used as the robot
home page is as follows:

• FR: INDEX.HTM

• FR: INDEX.STM

• FRS: INDEX.HTM (internal use- application tool-specific home page)

• FRS: INDEX.STM (internal use - application tool-specific home page)

• FRS: DEFAULT.STM (initial default home page)

NOTE

.STM files are part of the Web Server Enhancements Option support. These are

supported on user devices (such as FR:, MC:, and RD:) only if this option is
installed.

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B-82974EN/02 6.WEB SERVER

General URL Syntax

The general URL syntax to access various files on the robot is :

Example 6.3.3 (a) General URL Syntax

http://<robot>[/device]/<filename>

The area of the URL indicated by "robot" above is where the name or IP address of the robot is placed.
The "device" is optional but corresponds to physical devices on the robot (such as MC, MD, FR, RD). No
colon ":" is included in the device identifier within the URL. The "filename" is the actual file to retrieve.
An example URL including the device is:

Example 6.3.3 (b) Example URL

http://robot1/rd/mypage.htm

6.3.4 Customizing Diagnostic Files, Variable File Listings, and TP

Program Listings

You can customize the way internally generated files are displayed in a browser. Internally generated files
are diagnostic files, variable file listings, and teach pendant program listings (anything with an extension
of .DG, .LS, or .VA). These files are plain text files with a simple HTML header and trailer added so they
display as web pages. You can modify the HTML header and trailer sent in order to change the way these
pages look in the browser.
A very simple HTML header might be:

Example 6.3.4 (a) Simple HTML Header

<HTML><BODY><PRE>

A very simple HTML trailer might be:

Example 6.3.4 (b) Simple HTML Trailer

</PRE></BODY></HTML>

The above HTML header and trailer are what is sent if $HTTP_CTRL.$ENAB_TEMPL is set to 0. The
actual header also includes a META tag to indicate NOCACHE to the browser since these files are
generated dynamically each time they are requested :

Example 6.3.4 (c) Header

<HTML>
<HEAD> <META HTTP-EQUIV=\"PRAGMA\"CONTENT=\"NO-CACHE\"></HEAD>
<BODY> <PRE>

Example 6.3.4 (d) Trailer

</PRE> </BODY>
<META HTTP-EQUIV=\"PRAGMA\" CONTENT=\"NO-CACHE\">
</HTML>

The system variable $HTTP_CTRL.$ENAB_TEMPL causes a system level dynamic header and trailer to
be applied to any .DG/.LS/.VA file when served through the web server. The default value is ENABLED.
The system header file used is FRS:DEFAULT.HDR. The system trailer file is FRS:DEFAULT.TLR.
These files use "server side include" syntax. This functionality can be disabled by setting
$HTTP_CTRL.$ENAB_TEMPL to 0.

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6. WEB SERVER B-82974EN/02

Example 6.3.4 (e) $HTTP_CTRL

$HTTP_CTRL.$ENABLE Access: RW: INTEGER = 1
$HTTP_CTRL.$ENAB_DIAGTP Access: RW: INTEGER = 0
$HTTP_CTRL.$ENAB_SMON Access: RW: INTEGER = 0
$HTTP_CTRL.$ENAB_SPART Access: RW: INTEGER = 0
$HTTP_CTRL.$DBGLVL Access: RW: INTEGER = 0
$HTTP_CTRL.$KRL_TIMOUT Access: RW: INTEGER = 10
$HTTP_CTRL.$HITCOUNT Access: RW: INTEGER = 0
$HTTP_CTRL.$BG_COLOR Access: RW: STRING[25] = 'FFF9E3'
$HTTP_CTRL.$ENAB_TEMPL Access: RW: INTEGER = 1
$HTTP_CTRL.$TEMPLATE Access: RW: STRING[25] = 'FRS:DEFAULT'
$HTTP_CTRL.$COMMENT Access: RW: STRING[25] = 'FANUC Web Server

The system variable $HTTP_CTRL.$TEMPLATE can be used to define custom header and trailer files.
A typical application might be to copy FRS:DEFAULT.HDR to FR:NEWLOOK.HDR and
FRS:DEFAULT.TLR to FR:NEWLOOK.TLR, and then modify these two files as desired.

NOTE

The filename (minus extension) of the header and trailer file must be the same. If

$HTTP_CTRL.$ENAB_TEMPL is set to 1, and $HTTP_CTRL.$TEMPLATE is set
to "FR:NEWLOOK" then the modified files will be used. The filename defined in
$HTTP_CTRL.$TEMPLATE

does not

include an extension.

NOTE

The header and trailer are processed dynamically with the results held internally

and the size limited to 4KB each. This is the size of the results of the header and
trailer files after any server side include directives have been processed. If either
the header and trailer fail to process successfully, the static default header and
trailer (shown above) are used.

The system variable $HTTP_CTRL.$BG_COLOR can be used within any server side includes. To affect
the background color of the web pages, use the following syntax:

Example 6.3.4 (f) Changing the background color of web pages

<BODY bgcolor= #<!-- #echo var=$http_ctrl.$bg_color -->

Refer to Section 6.4 for more information about Server Side Includes.
A specific custom header and trailer can be applied to any .DG/.LS/.VA file on the robot by including the
template name in the query string. The web server looks for the name "_TEMPLATE" and, if found in the
query string, will apply the associated value as the template for that request. For example, to request
MD:SUMMARY.DG with a custom header/trailer, the following URL could be issued:
http://my_robot/md/summary.dg?_template=fr:my_templ
This implies that FR:MY_TEMPL.HDR and FR:MY_TEMPL.TLR exist. If either file does not exist, or
if there are processing errors, the static (internal) header and trailer are used.

6.3.5 Running KAREL Programs from the Web Browser

KAREL programs that do not include any motion can be run from the web browser. The KAREL
program must include the %NOLOCKGROUP directive. This capability allows a KAREL programmer to
generate a response.htm file based on the execution of the program using data gathered at execution time.
A typical example would be generating a production report.
To use this feature write a KAREL program and compile it with the robot version used, and load it on the
controller. Use the following guidelines when writing this program:
 The KAREL program can access any program or system variable.

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B-82974EN/02 6.WEB SERVER

 Use of condition handlers and delays is not recommended, because the program must complete

within $HTTP_CTRL.$KRL.TIMOUT. Access to files can be done if it is completed within this
time out.

 The program must create a properly formatted HTML file called RD: RESPONSE.HTM for display

at the browser. This file is the feedback from running the KAREL program. An understanding of
HTML formatting is needed in order to write this kind of program.

 Beginning in V6.22 there is a new device called TD: used for temporary files such as response.htm.

Use TD:RESPONSE.HTM for any new applications using KAREL programs and the web server.

Refer to Section 6.5 to setup access to KAREL programs through the web server.

6.3.6 Creating Web Pages Based on KAREL Programs

This section contains information about how you can integrate KAREL programs into your robot home
page, and how you can use your web browser to pass parameters to a KAREL program. Example 6.3.6(a)
through Example 6.3.6(c) in this section contain an example KAREL program (demo.kl) to provide an
example of one way you can use KAREL programs to access system variables on your robot from a
remote web browser.

Example 6.3.6 (a) Demo.kl -- Example File Access Program

%nolockgroup
CONST
HDR = 'HTTP/1.0 200 OK, request succeeded'
NAK = 'HTTP/1.0 404 File Not Found'
SERVER_ERR = 'HTTP/1.0 500 Server Error'
NOSUPPORT = 'HTTP/1.0 503 Service Unavailable'
ERRHDR = '<HTML><BODY><P><H2>'
ERRTRLR = '</H2></BODY></HTML>'
HDRHTML = 'Content-type: text/html'
HDRTEXT = 'Content-type: text/plain'
HDRJPEG = 'Content-type: image/jpeg'
HDRGIF = 'Content-type: image/gif'
HDRBIN = 'Content-type: application/octet-stream'
HDRWAV = 'Content-type: audio/basic'
DEFAULTFILE = 'INDEX.HTM'
DEFDEV = 'FR:'
SCRHDEV = 'RD:'
SYSDEV = 'FRS:'
TEXTHDR = '<HTML> <BODY> <PRE>'
TEXTTRLR = '</PRE> </BODY> </HTML>'
GETDHDR = '<HTML> <BODY> <H2> Get_data:</H2><BR><BR><OL><LI>'
GETDTRLR = '</LI></OL><BR> </BODY> </HTML>'
PAGEHDR = '<HTML> <BODY> <H2> Post data:</H2><BR><BR>'
PAGETRLR = '<BR> </BODY> </HTML>'

-- graphics and forms used in MD_FILES.HTM

BACKGROUND = 'FRS/EARTHBG.GIF'
PIC1 = 'FRS/HLINE.GIF'
VAR
count1 : integer
count2 : integer
file1 : FILE
entry : integer

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Example 6.3.6 (b)

BEGIN
if uninit(count1) then
count1 = 300
endif
if uninit(count2) then
count2 = 2
endif
count1 = count1 + 1
if (count1 MOD 10 = 0) then
count2 = count2 + 1
endif
OPEN FILE file1 ('RW', 'RD:RESPONSE.HTM')
write file1('<HTML><HEAD><TITLE>ASG_DEMO.HTM</TITLE></HEAD>',cr)

--

-- *** Example of adding some graphics content to page ***

-- *** Be sensitive to file sizes! ***

--

-- write file1('<BODY BACKGROUND="../')

-- write file1(BACKGROUND)

-- write file1('">',cr)

-- write file1('<CENTER> <H1><A NAME="TOP"><IMG SRC="../')

-- write file1(PIC1,cr)

-- write file1('" WIDTH="593" HEIGHT="153"></A></H1> </CENTER>',cr)

write file1('<H1><CENTER><BOLD>IMPORTANT CUSTOMER ',cr,cr)
write file1('</CENTER></H1>',cr)
write file1('<H1><CENTER><BOLD>Production Counts for : ')
write file1 ('PRESS1',cr)
write file1('</CENTER></H1>',cr)

Example 6.3.6 (c)

write file1('<H1><CENTER><BOLD>ProductionCount: ')
write file1(count1,cr)
write file1('</BOLD></CENTER></H1>',cr)
write file1('<H1><CENTER><BOLD>Error Count: ')
write file1(count2,cr)
write file1('</BOLD></CENTER></H1>',cr)

-- write file1(TEXTTRLR,cr)

CLOSE FILE file1
END demo

To use this feature from a browser, set KAREL as the device and the program to run as the filename
(demo in this example).

Example 6.3.6 (d) Integrating KAREL Programs into the Web Browser

http://robot1/KAREL/demo

Using a Web Page to Pass Parameters to a KAREL Program

You can create applications that can pass parameters from a form in the browser to the KAREL program.
The KAREL program is invoked based on the "submit" action in the form and parameters included in the
form are passed with the URL. The FANUC Robotics web server complies with standards found in the
HTTP 1.0 Specification. Note that only the HTTP "GET" method is supported at this time. The KAREL
program must declare string variables whose names match any parameter names being passed from the
form in order to access it. An additional string variable called "URL" should be declared to see the
complete URL request sent from the browser (for debugging).

Example 6.3.6 (e) Variable Declaration for Using a Web Page to Pass Parameters to a KAREL Program

var
URL : string[128]
Textbox1 : string[12]

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These declarations in the KAREL program invoked by the browser will give the KAREL program access
to the complete URL (if less than 128 bytes) for debugging and fill in the variable Textbox1 with the data
from "Textbox1" from the form..
Note that checkboxes are only sent from a form on the browser if they are checked. Forms can be
configured to always send the checkbox value as "false" in a hidden field first, or the KAREL program
can always reset the KAREL variable to the default state at the end of the KAREL program. Both
methods are shown in the example in Figure 6.3.6(a) through Figure 6.3.6(b) .

Fig. 6.3.6(a) Example KAREL based web page using parameters

Example 6.3.6 (f) Demo Form Interface to a KAREL Program

<!DOCTYPE HTML PUBLIC "-//IETF//DTD HTML//EN">
<html>
<head>
<meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1">
<meta name="GENERATOR" content="Microsoft FrontPage 2.0">
<title>Web Demo</title>
</head>
<body bgcolor="#FFFF00">

<p> j </p>
<p><font color="#FF0000" size="5"><strong><u>Demo Form Interface
to Karel Program</u></strong></font></p>

<p>  </p>

<form action="http://palrob/karel/web_demo" method="GET" name="uif_demo">
<input type="hidden" name="C1" value="OFF">
<input type="hidden" name="str1" value="string1">
<input type="hidden" name="str2" value="string2">
<p> j </p>
<p>There are three hidden fields included on this form : C1=off, STR1=string1,

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6. WEB SERVER B-82974EN/02

STR2=string2</p>
<p>You need to set checkbox to OFF first (always) since value is only sent if
ON!!</p>
<p>This can be done by sending hidden variable with same name as checkbox, or
resetting checkbox variable to</p>
<p>a default state at end of karel program (both approaches shown in this
example).</p>
<p><input type="text" size="20" name="str3" value="string3">Example text box
(STR3)</p>
<p><input type="checkbox" name="C1" value="ON"> Example Checkbox (C1)</p>
<p><input type="radio" checked name="R1" value="V1"> Example Radio Button (R1,
value = V1) - Show Count1</p>
<p><input type="radio" name="R1" value="V2"> Example Radio Button (R1, value=V2)

- Show Count2</p>

<p><select name="D1" size="1">
<option>Jim</option>
<option>Joe</option>
<option>Harry</option>
</select> Example dropdown box</p>
<p><input type="submit" name="B1" value="Submit"></p>
</form>
</body>
</html>

Fig. 6.3.6(b) Results of the demo form interface to a KAREL program

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Example 6.3.6 (g) Example KAREL program

-- Example karel program to respond to a form called web_demo.htm created in

-- frontpage. Note that form data is populated in corresponding karel

-- variables, IF variables are declared. A string variable called URL should

-- be declared to see exactly what is provided from browser which is useful

-- for debugging.

--

-- Example of received URL :

--

WEB_DEMO?STR1=STRING1&STR2=STRING2&STR3=STRING3&C1=ON&R1=V1&D1=JIM&B1=SUBMIT

--

-- NOTE : variables which are included in URL are populated each time

-- the program is called. Some form variables (eg. checkbox) are only

-- sent if they are checked. This behavior can be handled by always

-- passing a "hidden" variable of same name with default value from

-- form, or by resetting variables with this nature to a default state

-- after program runs (see c1 variable assignment at end of this program).

-- Program variables are uninitialized the first time a program runs

-- (aside from ones which are set by URL, since any variables included in

-- URL are set before program is called).

--

PROGRAM web_demo
%nolockgroup
CONST
TEXTHDR = '<HTML> <BODY>'
TEXTTRLR = '</BODY> </HTML>'
BACKGROUND = 'FRS/EARTHBG.GIF' -- used in MD_FILES.HTM
PIC1 = 'FR/PICTURE.GIF' -- some picture for top of response file
VAR
count1 : integer
count2 : integer
file1 : FILE
URL : string[128]
str1 : string[12]
str2 : string[12]
str3 : string[12]
c1 : string[12]
r1 : string[12]
d1 : string[12]

Example 6.3.6 (h)

BEGIN

-- Good practice to check for uninitialized variables before using

--them

if uninit(count1) then count1 = 0; endif
if uninit(str1) then str1 = ''; endif
if uninit(str2) then str2 = ''; endif
if uninit(str3) then str3 = ''; endif
if uninit(c1) then c1 = ''; endif
if uninit(r1) then r1 = ''; endif
if uninit(d1) then d1 = ''; endif
if uninit(URL) then url = ''; endif
count1 = count1 + 1 -- these might be production counts from another program
count2 = count1 * 2 -- they are just included as examples
OPEN FILE file1 ('RW', 'RD:RESPONSE.HTM')
write file1('<HTML><HEAD><TITLE>WEB_DEMO.HTM</TITLE></HEAD>',cr)
write file1('<BODY BACKGROUND="../')
write file1(BACKGROUND)
write file1('">',cr)

-- Could add a graphic to top of response file

-- write file1('<CENTER> <H1><A NAME="TOP"><IMG SRC="../')

-- write file1(PIC1,cr)

-- write file1('" WIDTH="400" HEIGHT="100"></A></H1> </CENTER>',cr)

-- write file1('"></A></H1> </CENTER>',cr)

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6. WEB SERVER B-82974EN/02

write file1('<H1><CENTER><BOLD>Results of form request :',cr,cr)
write file1('</CENTER></H1>',cr)

-- checkbox only sent if checked so send default state always

write file1('<H2><CENTER><BOLD>Received c1 (hidden) : ')
write file1(c1,cr)
write file1('</BOLD></CENTER></H2>',cr)

Example 6.3.6 (i)

write file1('<H2><CENTER><BOLD>Received str3 : ')
write file1(str3,cr)
write file1('</BOLD></CENTER></H2>',cr)
if (c1='ON') then
write file1('<H2><CENTER><BOLD>Received Checkbox : ')
write file1(c1,cr)
write file1('</BOLD></CENTER></H2>',cr)
endif
write file1('<H2><CENTER><BOLD>Received Radio button : ')
write file1(r1,cr)
write file1('</BOLD></CENTER></H2>',cr)
write file1('<H2><CENTER><BOLD>Received dropdown box : ')
write file1(d1,cr)
write file1('</BOLD></CENTER></H2>',cr)
write file1('<H2><CENTER><BOLD>Received URL : ')
write file1(URL,cr)
write file1('</BOLD></CENTER></H2>',cr)
if (r1='V1') then
write file1('<H2><CENTER><BOLD>Count1 value is : ')
write file1(count1,cr)
write file1('</BOLD></CENTER></H2>',cr)
else
write file1('<H2><CENTER><BOLD>Count2 value is : ')
write file1(count2,cr)
write file1('</BOLD></CENTER></H2>',cr)
endif

-- If default value of checkbox is not sent as hidden variable, another

-- alternative is to reset checkbox variable to default state after

-- program runs. As with all karel programs, global variables retain

-- their value between each execution

c1 = 'OFF'
write file1(TEXTTRLR,cr)
CLOSE FILE file1
END web_demo

6.4 SERVER SIDE INCLUDES

6.4.1 Overview

The FANUC Robotics web server and server side include (SSI) directives allow you to access web pages
on the robot. This provides dynamic information to clients. Such information can include the current
value of a program variable (part count, for example), current status of an I/O point, or the current error
listing.
SSI directives are directives placed into an HTML file that are replaced by the data they reference each
time the file is requested. This allows dynamic data to be included with web pages that are served from
the robot controller. SSI capability is included as part of the web server enhancements software option.
It is important to understand that the web server replaces SSI requests with the results of the request
before the web page is sent to the client browser. The FANUC Robotics web server will only do this for
files on the robot with a .STM file extension. The .STM file will include normal HTML syntax and might
also have server side include requests, which must be fulfilled before the page is sent to the client.

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The .STM file extension is the indicator to the web server that the file needs to be processed before it is
sent to the requestor (client browser).
The following directives are supported through the robot server side include mechanisms.

• Echo - the value of any system variable, program variable, or I/O point

• Exec - request to run a (non-motion) KAREL program. The result of the request is included in what

is sent to the browser.

• Include - includes any file in the current file (for example, MD:ERRALL.LS for current error
listing).

• If - conditional logic to determine whether blocks of HTML code are included in what is sent to the
browser or not (for example, if the robot is faulted display certain things; otherwise display other
things.)

• Set - each page can have up to 15 local variables which can be used for display or logic.

• Printenv - diagnostic directive to display values of global and local variables.

The file device called RAM DISK (RD:) on the robot is used as a temporary storage device for .STM file
responses. The RD: device must be available and have sufficient space for the response in order for any
request to be successful.

6.4.2 Syntax

SSI directives are entered as HTML comments. This means that they are placed within HTML comment
delimiters. The general syntax of a SSI directive is: <!--#command parameter="argument" -->
where "command" can be one of the following:

• echo: e.g.<!--#echo var="version" -->

• include: e.g.<!--#include file="md:errall.ls" -->

• exec: e.g.<!--#exec cmd="Karel/getdata" -->

• set: e.g.<!--#set var="_ginum" value="$hosts_cfg[1].$tim eout" -->

• if: e.g.<!--#if expr="tpout[1] = on" -->

• elif: e.g.<!--#elif expr="_lvar1 =_lvar3" -->

• else: e.g.<!--#else -->

• endif: e.g.<!--#endif -->

• printenv: eg.<!--#printenv -->

Each line (up to 200 characters long) is processed separately for a .STM file. If the HTML comment
delimiters are found and the first character within the comment is a "#" then the comment is interpreted as
an SSI directive and an attempt is made to process it as such.
SSI directives cannot be split between lines. The entire command must be placed on a single line.
Multiple commands can be used within a single line.
The result of the SSI directive is placed in the response sent to the client browser in place of the SSI
directive. There are certain characters that have special meaning within a SSI directive:

• curly bracket: ("{", "}") - refer to Section 6.4.5 on string substitution.

• square brackets: ("[","]") - used on the robot to delimit program names and I/O port numbers.

• dollar sign ("$") - used to indicate system variables on the robot.

• underscore ("_") - as the first character of an expression indicates a local/global variable.

• spaces/quotes/equal/# (" ","'', "=", "#") - most commands are parsed based on these characters so

improper usage will cause errors.

For example, consider the following file called example.stm and placed on the robot FR: device:

Example 6.4.2 (a) example.stm

<html>
<head><title>Example SSI file</title></head>
<body>
The value of gpin[1] is <!--#echo var="gpin[1]" -->
</body>
</html>

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6. WEB SERVER B-82974EN/02

The file is sent to the browser in response to http://<robotname>/fr/example.stm is:

Example 6.4.2 (b) File Sent to Browser Resulting from example.stm

<html>
<head><title>Example SSI file</title></head>
<body>
The value of gpin[1] is 3
</body>
</html>

This example assumes the value of gpin[1] was 3 when the request was received by the robot web server.
If sometime later the value was 5, then the resulting file sent to the browser would indicate that the value
was 5 (the SSI directive is evaluated on each request as it occurs).

6.4.3 Global Variables

The following global variables are available for use:

• _TIME

• _DATE

• _REMOTE_IP

• _DOC_NAME

• _QUERY_STR

• _URL

The _TIME and _DATE variables provide the current time/date as set on the robot controller.

Example 6.4.3 (a) Time and Date Global Variables

<!--#echo var="_TIME" --> results in 17:36:40
<!--#echo var="_DATE" --> results in yy/mm/dd

The _REMOTE_IP variable is the IP address of the browser making this request. For example, a request
from the browser with an IP address is 192.168.0.1 would have this variable set as follows:

Example 6.4.3 (b) Remote IP Address Global Variable

<!--#echo var="_REMOTE_IP" --> results in 192.168.0.1

The _DOC_NAME variable is the name of the document requested. For example, a request from the
URL: http://<robot>/fr/example.stm would result in the following:

Example 6.4.3 (c) Document Name Global Variable

<!--#echo var="_DOC_NAME" --> results in /fr/example.stm

The _QUERY_STR variable will be the portion of the URL requested which is after the "?". This
indicates data in the request. For example, a request for the URL: http://<robot>/fr/example.stm?
myvar=12 would result in the following:

Example 6.4.3 (d) Query String Global Variable

<!--#echo var="_QUERY_STR" --> results in _myvar=12

NOTE

In the example listed above, a local variable called _myvar would also be set to the

value 12. Refer to Section 6.4.4 .

The _URL variable contains the entire request as received by the robot. This variable might be useful in
debugging. It will be surrounded by HTML preformatting specifiers (<PRE>, </PRE>).

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The command #PRINTENV will print out all local and environment variables. It is also useful in
debugging. It will be surrounded by HTML preformatting specifiers (<PRE>, </PRE>) also.

6.4.4 Local Variables

Each file processed for SSI directives can have up to 15 local variables. These variables must be set each
time the file is processed (each time a request is made for the file). A local variable has a name. The name
can be up to 12 characters and must start with an underscore ("_"). Local variables also have a value. All
local variables are string variables and can be up to 40 characters in length.
Local variables can be set in two ways:

• #SET: eg.<!--#set var="_reqvar" value="$VERSION" -->

• Query String example: http://<robot>/fr/example.stm?_reqvar=$VERSION.

NOTE

The local variable _reqvar is set to the string "$VERSION" in the above examples.

The query string can be part of a request from a client browser. This might typically be created based on
providing a HTML form and a submit button. The submit button can make the request and pass the
arguments from the form as parameters. If the request is for a .STM file part of initializing the request is
to set any variables within the query string which have names beginning with the underscore (other
variables within the query string are ignored in terms of setting local variables).
For example, consider the following file called example.stm and placed on the robot FR:device:

Example 6.4.4 (a) example.stm

<html>
<head><title>Example SSI file</title></head>
<body>
<!--#set var="_reqvar" value="$VERSION" -->
The value of _reqvar is <!--#echo var="_reqvar" -->
</body>
</html>

The file sent to the browser in response to http://<robotname>/fr/example.stm is:

Example 6.4.4 (b) File Sent to Browser Resulting from example.stm

<html>
<head><title>Example SSI file</title></head>
<body>
The value of _reqvar is $VERSION
</body>
</html>

6.4.5 String Substitution

The curly bracket characters ("{","}") are used to indicate that string substitution is required within a SSI
directive. The curly brackets indicate that the value of the variable be substituted in the expression. For
example, if the local variable _reqvar is equal to $VERSION, then the expression {_reqvar} is equal to
Vx.xx where x.xx corresponds to the most recent software version..
Another example to consider is the file called example.stm and placed on the robot FR: device:

Example 6.4.5 (a) example.stm

<html>
<head><title>Example SSI file</title></head>
<body>
The value of <!#echo var="_reqvar" --> is <!--#echo var="{_reqvar}" -->
</body>
</html>

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The file sent to the browser in response to http://<robotname>/fr/example.stm?_reqvar=$version is:

Example 6.4.5 (b) File Sent to Browser Resulting from example.stm

<html>
<head><title>Example SSI file</title></head>
<body>
The value of $VERSION is "V6.xx 02/13/xxxx"
</body>
</html>

NOTE

In this case, the request could have been generated through a form where any

variable is input and the value is echoed back.

6.4.6 #ECHO Command

The #ECHO command will replace the argument with the current value of the argument. The argument
can be any system variable, program variable, I/O point, local variable, or global variable. The current
value of the argument will replace the SSI directive in the response sent to the client browser.

NOTE

Digital I/O values will show as "ON" or "OFF.”

Examples

The following illustrate various uses of this SSI directive:

• <!--#echo var="DIN[1]" --> is replaced by ON

• <!--#echo var="GPIN[2]" --> is replaced by 3

• <!--#echo var="[myprog]partcount" --> is replaced by 72

• <!--#echo var="_1var1" --> is replaced by Fault#1

• <!--#echo var=$numreg[3] --> is replaced by 22

• <!--#echo var="GPIN[_stylenum]" --> is replaced by 8

In each case the argument is evaluated for string substitutions based on curly/square brackets before the
final value is placed in the response to the client browser. Also, the I/O points must be configured on the
robot.
The I/O type must be one of the following:

• Digital Types (return value is ON/OFF):

• DIN /*digital input*/

• DOUT /*digital output*/

• TOOL /*tool output*/

• PLCIN /*PLC input*/

• PLCOUT /*PLC output*/

• RDI /*robot digital input*/

• RDO /*robot digital output*/

• BRAKE /*brake output*/

• SOPIN /*operator panels input*/

• SOPOUT /*operator panels output*/

• ESTOP /*emergency stop*/

• TPIN /*teach pendant digital input*/

• TPOUT /*teach pendant digital output*/

• WDI /*weld inputs*/

• WDO /*weld outputs*/

• UOPIN /*user operator's panel input*/

• UOPOUT /*user operator's panel output*/

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• LDIN /*laser DIN

• LDOUT /*laser DOUT*/

• WSIN /*weld stick input*/

• WSOUT /*weld stick output*/

• Analog/Group Types (return value is the numeric value of the port):

• GPIN /*grouped inputs*/

• GPOUT /*grouped outputs*/

• ANIN /*analog input*/

• ANOUT /*analog output*/

• LANIN /*laser AIN*/

• LANOUT /*laser AOUT*/

6.4.7 #INCLUDE Command

The #INCLUDE command places other files from the robot in the current response to the browser. Many
files on the controller are generated upon request (such as MD:ERRACT.LS for an active alarms) so these
included files can also include dynamic data.

NOTE

Other .STM files can be included and these will also be processed for SSI

directives.

The following examples illustrate various uses of the SSI directive:

Table 6.4.7 SSI Directives Examples

Directive Description

<PRE><!—#INCLUDE FILE=“MD:ERRALL.LS” —></PRE>. Is replaced by contents of

MD:ERRALL.LS

<pre><!--#include file="md:errall.ls" --></pre> Is replaced by ASCII listing of

abortit.tp

<!--#include file="fr:¥somefile.stm" --> Is replaced by results of

fr:¥somefile.stm

The HTML preformat specifier is needed when the requested file is not structured as an HTML document.
This is because of items such as carriage returns are not interpreted within an HTML document.
There are two considerations to nesting .STM files:

• Nesting is currently allowed to three levels.

• The local variables in one .STM file are not available to another .STM file (even when nested).

Global variables are always available and include the query string from the initial request.

6.4.8 #EXEC Command

The #EXEC command allows non-motion KAREL programs to be run within processing of the .STM file.
The results of these commands are automatically placed in the response to the client browser.

NOTE

The Server Side Include feature uses the same mechanism and follows the same

rules but enables the capability within the .STM file processing using the #EXEC
command.

Examples

The following example demonstrates this capability:

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• The "%20" is a space (ASCII value of a space is 20). This is needed since spaces are not
considered valid URL syntax. If you enter spaces in a URL some browsers (IE) will
automatically change them to the % encoding, while other browsers (Netscape) return an error
indicating the URL is invalid. The code of a "$" is %24.

• <!--#exec cmd ="KAREL/web_demo?{_Query_STR}" -->

• Run the non-motion KAREL program web_demo.pc and passes in arguments from the global

variable _QUERY_STR.

• The KAREL program is responsible for writing RD:RESPONSE.HTM. This file will be
included automatically and an error is generated if it does not exist.

The system variable associated with running KAREL programs must be set to allow execution of these
commands. Refer to Section 6.2 for information on setting up the web server.

6.4.9 #SET Command

The #SET command is used to set the name and value of a local variable. Refer to Section 6.4.4 for
details on maximum lengths and naming requirements.

NOTE

If the variable name already exists and the #SET command is issued, the value of

the local variable is modified.

Examples

See the following #SET Command examples:

• For example, the following command will set the name of a local variable to _1var1 and the value to
12:

Example 6.4.9 (a) Set the Name of a Local Variable

<!--#set var="1var1" value="12" -->

• A subsequent command to set _1var1 will update the value:

Example 6.4.9 (b) Update the Value of the Local Variable

<!--#set var="1var1" value="15" -->

NOTE

Values are always set to uppercase.

6.4.10 #IF, #ELIF, #ELSE, #ENDIF

Conditional expressions allow results sent to the browser to be based on some condition. The conditional
expression can allow the active alarms to be included only if the robot were faulted as one example.
Conditionals can be nested three levels deep. All comparisons are string comparisons unless both
arguments are strictly numeric in which case a numeric compare is done. Three comparison operators are
supported: >,<,=. String comparisons are not case sensitive. All conditional blocks must begin with #IF.
All conditional blocks must end with #ENDIF. The #ELSE command must come after #IF and #ELIF if it
is used.

Examples

The following file called example.stm is placed on the robot FR: device:

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Example 6.4.10 (a) example.stm

<html>
<head><title>Example SSI file</title></head>
<body>
<!--#if expr="tpout[1] = on" -->
<P><STRONG>ROBOT IS FAULTED!</STRONG></P>
<pre><!--#include file="md:erract.ls" --></pre>
<!--#ELSE -->
<P><STRONG>ROBOT IS NOT FAULTED!</STRONG></P>
<!--#ENDIF -->
</body>
</html>

The file sent to the browser in response to http://<robotname>/fr/example.stm (assuming robot is not
faulted based on teach pendant fault LED being off) is:

Example 6.4.10 (b) File Sent to the Browser Resulting from example.stm

<html>
<head><title>Example SSI file</title></head>
<body>
<P><STRONG>ROBOT IS NOT FAULTED!</STRONG></P>
</body>
</html>

6.4.11 #PRINTENV Command

The #PRINTENV command is useful for debugging. It outputs all the local and global variables each
time it is called. This can be a quick way to identify problems with data being passed into the .STM file
through a URL request. Or it can help with problems with handling local variables.

NOTE

The HTML preformat specifier is recommended for more readable results.

Examples

The SSI directive <PRE><!--#PRINTENV --></PRE>will return the following result:

Example 6.4.11 Result of #PRINTENV SSI Directive

_MYVAR : 12
_LVAR1 : MYPROG
_URL : /fr/example.stm?_myvar=12 HTTP/1.1
Accept: image/gif, image/x-xbitmap, image/jpeg, image/pjpeg,
application/vnd.ms-excel, application/msword, application/vnd.mspowerpoint,
*/*
Accept-Language: en-us
Accept-Encoding: gzip, deflate
User-Agent: Mozilla/4.0 (compatible; MSIE 5.0; Windows NT; DigExt)
Host: remora
Connection: Keep-Alive
_DOC_NAME : /fr/example.stm
_QUERY_STR : _myvar==12
_REMOTE_IP : 192.168.0.1
_TIME : 16:14:44
_DATE : 01/02/19

6.4.12 SSI EXAMPLES

See Example 6.4.12(a) for SSI directive examples.

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6. WEB SERVER B-82974EN/02

Example 6.4.12 (a) SSI Example

<HTML>
<HEAD><META HTTP-EQUIV="PRAGMA"CONTENT="NO-CACHE">
</HEAD>
<BODY>
<!--This is a comment-->
<P><H1>Hi - this is a test</H1>
<p>The value of $version is : <!--#echo var=$version -->
<p>The value of $acc_maxlmt is : <!--#echo var=$acc_maxlmt -->
<p>The value of $rmt_master is : <!--#echo var=$rmt_master -->
<p>The value of $io_auto_cfg is : <!--#echo var=$io_auto_cfg -->
<p>The value of $http_ctrl.$dbglvl is :
<!--#echo var=$http_ctrl.$dbglvl -->
<p>The value of $hosts_cfg[1].$state -->
<!--#echo var=$hosts_cfg[1].$state -->
<p><strong><pre>The value of $hosts_cfg[1] is:
<!--#echo var=$hosts_cfg[1] --></pre><strong>
<p>The value of $SCR.$TEMPER_LIMS[1]=<!--#echo var=$SCR.$TEMPER_LIMS[1] -->

Example 6.4.12 (b)

<p><pre>$SCR.$TEMPER_LIMS:<!--#echo var=$SCR.$TEMPER_LIMS --></pre>
<p>The value of din[6] is : <!--#echo var=din[6] -->
<p>The value of dout[5] is : <!--#echo var=dout[5] -->
<p>The value of tpin[TP_ENBL] is : <!--#echo var=tpin[249] -->
<p>The value of tpin[TP_ENBL] is : <!--#echo var=tpin[249] -->
<p>The value of tpout[FAULT] is : <!--#echo var=tpout[1] -->
<p>The value of anin[1] is : <!--#echo var=anin[1] -->
<p>The value of anout[1] is : <!--#echo var=anout[1] -->
<p>The value of [myprog]myint is : <!--#echo var=[myprog]myint -->
<p>The value of [myprog]myreal is : <!--#echo var=[myprog]myreal -->
<p>The value of [myprog]mystring is : <!--#echo var=[myprog]mystring -->
<p>The value of [myprog]mybool is : <!--#echo var=[myprog]mybool -->
<p><pre>The value of [myprog]mypos is : <!--#echo var=[myprog]mypos --></pre>
<br>This is the next line.
<p>The value of numreg[1]=<!--#echo var=$numreg[1] -->
<p>The value of posreg[1,1] is <pre><!--#echo var=$posreg[1,1] --></pre>
<p>
<pre><!--#include file=md:errall.ls --></pre>
<p>
<p>
<pre><!--#exec cmd=kcl/show%20mem --></pre>
<p>
</BODY>
<META HTTP-EQUIV="PRAGMA"CONTENT="NO-CACHE">
</HTML>

6.5 HTTP AUTHENTICATION

6.5.1 Overview

The HTTP Authentication feature can restrict access to certain resources (files) on the robot through the
web server. This capability is included with the Web Server Enhancements option. A resource can be
restricted to require authentication (name/password) or can be completely locked so no access is available
through the web server.
If a resource must be authenticated then the robot web server will respond with a HTTP Authentication
error (401). Then the browser will prompt you for a name and password. When you provide the name and
password the request is sent back to the robot with the credentials provided. If the credentials match, then

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B-82974EN/02 6.WEB SERVER

the resource can be accessed. If the resource is locked, then an HTTP Forbidden error (403) is returned
indicating that no access is allowed.

NOTE

The only HTTP authentication method supported is BASIC . Basic uses base 64

encoding method for HTTP Authentication.

The HTTP Authentication feature also applies to any external requests through the web server. It does not
apply to any requests from the local iPendant web browser.
The following resources can be authenticated:

• iPendant (this expands internally to FRH:¥CGTP¥CGTP.HTM) web server access — This entry
limits access to teach pendant screens from your browser. This functionality requires either the web
enhancement option or internet connectivity and customization options are loaded.

• KAREL:DEMO— This entry limits access to the demo.pc KAREL program through your browser.

• FR:*.HTM — This entry limits access to any files with a HTM extension on the FR: device.

NOTE

Wild cards can be used within the resource description. However wildcard

expansion is limited to an entire field (device, path, name and extension). The first
matching entry between the actual request and the protected resource list will
apply. This request matching is not case sensitive (but names and passwords are
case sensitive).

The HTTP authentication feature is used within the robot controller password option. If the password
option is enabled, then the HTTP authentication uses the names and passwords configured within the
password option and the associated access levels. If the robot controller password option is not enabled,
then the names and passwords are local to HTTP authentication.

6.5.2 Operation

6.5.2.1 Overview

HTTP Authentication is configured through the HTTP Authentication SETUP screen. This can be found
under the SETUP Menu by choosing Host Comm .
The following resources require authentication by default.

• iPendant

• KAREL:*

• KCL:*

Refer to Table 6.5.2 for information on the HTTP SETUP Screen Items.

NOTE

Changes to the SETUP screen take effect immediately.

Table 6.5.2.1 HTTP SETUP Screen Items

ITEM DESCRIPTION

Resource Indicator
Values: L, U, or A

Name This item is the username. This item is displayed only when the password option is

This item indicates whether the resource is set to

• L ocked - No access is allowed

• U nlocked - Unlimited access is allowed

• A uthenticate - Name and passwords are required

not installed.

Pwrd This item is the password field. This item is displayed only when the password option

is not installed.

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6. WEB SERVER B-82974EN/02

ITEM DESCRIPTION

LevelValues: OPERATOR,
PROGRAM, SETUP, or
INSTALLDefault: INSTALL

This item is the level associated with the user. It must be at least equivalent to the
level set for HTTP authentication of that particular resource. This item is displayed
only when the password option is installed. Values can be:

• OPERATOR

• PROGRAM

• SETUP

• INSTALL (default)

Usernames and passwords that are configured from the password option SETUP
screen are used to authenticate the user, and the level field indicates the required
minimum level necessary to access the associated resource.

Resource This item indicates the resource.

6.5.2.2 Robot controller password option not enabled

If the controller password option is not enabled, then the HTTP Authentication Setup screen is shown. If
the Resource is set to (A)uthenticate then the name and password must match. Names and passwords are
limited to 6 characters and are case sensitive .

NOTE

The name and password must be set before any resource requiring authentication

can be accessed.

HTTP Authentication Setup Screen (controller password
option not active)
HTTP Setup
PROTECTED RESOURCES
Name Pwrd Resource
A ***** ***** iPendant
A ***** ***** KAREL:*
A ***** ***** KCL:*
A ***** ***** **********************
A ***** ***** **********************
A ***** ***** **********************
A ***** ***** **********************
A ***** ***** **********************

6.5.2.3 Robot controller password option enabled

If the controller password option is enabled then the HTTP Authentication Setup screen shown below will
be displayed. See the following screen for an example. If the Resource is set to Authenticate then the
name and password entered must correspond to a user defined within the password option setup screens.
The level associated with that user must be at least equivalent to the levels set for HTTP Authentication
of that resource.
The default level set for all resources is Install. This can be changed by importing a password
configuration file from the SETUP Passwords menu.

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B-82974EN/02 6.WEB SERVER

HTTP Authentication Setup Screen (controller password
option active)
HTTP Setup
PROTECTED RESOURCES
Resource
A iPendant
A KAREL:*
A KCL:*
A ***********************
A ***********************
A ***********************
A ***********************
A ***********************

6.5.2.4 Example configuration

The following example configuration will allow unrestricted access to all files on the FR: device with
the .HTM extension., but require authentication for any other files on the FR: device. Since the first
match in the list applies, any requests that match FR:*.HTM will use the configuration associated with
this item, while other requests to FR: will use the configuration for the FR:*.* item.

NOTE

You must use the UNLOCK setting for FR:*.HTM and the AUTH setting for FR:*.*

HTTP Authentication Setup Screen with an Example
Custom Configuration
HTTP Setup
PROTECTED RESOURCES
Name Pwrd Resource
A***** ***** iPendant
A***** ***** KAREL:*
A***** ***** KCL:*
U***** ***** FR:*.HTM
A***** ***** FR:*.*
A***** ***** ***********************
A***** ***** ************************
A***** ***** ************************

6.5.2.5 Accessing iPendant screens through the web server

The robot iPendant screens can be accessed through the robot web server using one of the following
URLs:

• http://myrobot/frh/cgtp/echo.htm (non-interactive TP display)

• http://myrobot/frh/cgtp/cgtp.htm (interactive TP display, independent TP session)

Access to cgtp.htm requires a password to be configured for the iPendant resource. By default, all screens
are read-only. To enable access, set $UI_CONFIG.$READONLY[2]=FALSE.
Refer to the “Advanced iPendant Functions ” appendix in this manual for more information.

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7. PROXY SERVER B-82974EN/02

7 PROXY SERVER

7.1 OVERVIEW

7.1.1 Operation of Proxy Server

The proxy server on the robot allows you to browse web servers on the network from the iPendant. For
the browser on the iPendant to be able to view web servers on the network, it needs a proxy server to
proxy web requests from the iPendant to the remote server. The proxy server gets the response from the
remote server and forwards it to the browser.
The proxy server operates in three different modes:

 Mode 1: Allows access to all web servers on the building network.
 Mode 2: Allows access to limited web servers on the building network.
 Mode 3: Allows access to all web server on the building network and access to the internet using the

building proxy server.

In the first mode (the default when proxy server option is loaded on the robot), a user can access all web
servers on the building network from the iPendant. In the second mode, a user has restricted access to
web servers on the building network. The servers have to be explicitly specified. Wildcard filtering is
allowed.
The third method can be used when internet access from the building network is allowed using a building
proxy server ( contact your Information Systems department for details for your building proxy server.)
The proxy server on the robot can be set up so that it uses the building proxy server for internet access.
You can specify all the web servers that have direct access and no building proxy is required.

NOTE

The iPendant only supports the Basic (base 64 encoding) method for HTTP

Authentication. If the building proxy server requires authentication, a pop-up
window appears on the iPendant for you to enter the name and password.

7.1.2 Requirements for Using Proxy Server

The proxy server is available for use only by the web browser on the iPendant. It cannot be used from
Ethernet or PPP Serial/Modem connections.
When browsing a particular web server, the proxy server needs to resolve names to IP addresses. So, the
DNS (Domain Name Server) Client option is required. If the DNS option is not installed, you must make
sure the web server name (used in the URL for the web browser) is present in the host entry table.

7.2 CONFIGURATION OF PROXY SERVER

By default, when the proxy server option is installed, it is ready for use and works in mode 1. In order for
mode 2 or 3 use the following procedure.

Procedure 7-1 Installing the Proxy Server Option

1. Press MENUS

2. Select Setup.

3. Press F1, [TYPE], and select HOSTCOMM. You will see a screen similar to the following.

NOTE

You might have to go to the next page of the menu to see this option.

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B-82974EN/02 7.PROXY SERVER

SETUP Protocols
Protocol Description
1 TCP/IP TCP/IP Detailed Setup
2 TELNET Telnet Protocol
3 PROXY Proxy Server
4 PPP Point to Point Protocol
5 PING Ping Protocol
6 HTTP HTTP Authentication
7 FTP File Transfer Protocol
8 DNS Domain Name System

4. Scroll to the PROXY protocol and press F3, DETAIL. You will see a screen similar to the
following.

Proxy/Setup
External Proxy
Enable : FALSE
Server : **************************
Port : 8080
Exceptions:

1) **********************************

2) **********************************

3) **********************************

4) **********************************

5) **********************************

6) **********************************

7) **********************************

8) **********************************

5. To operate in mode 2 (allow limited access to web server on the building network), leave (External
Proxy) Enable to be FALSE. Scroll to the Exceptions and enter the host names that you want to
allow an iPendant user to access. You can enter wildcard at the beginning or the end of the entry. If
no wildcards are used, an exact match is performed. Some examples are *.yahoo.com, 192.168.0.*,
www.fanucrobotics.com. In the first case, all host names starting with 192.168.0 will be allowed. In
the third case, an exact match for the hostname will be performed.

6. To operate in mode 3 (allow access to external web sites through a building proxy server and full

access to web servers on the building network), change (External Proxy) Enable to be TRUE. Enter
the external proxy server name or IP address (you can obtain this from your Information Systems
department). The default port on the external proxy server is 8080 (you are able to change that if
necessary). For all the web servers that are to be accessed directly from the robot without contacting
the external proxy server, enter the names that would be used in the URL in the Exceptions list. For
these entries, the robot will contact the web server directly.

NOTE

The Exception list uses string compare for the URL and the exception. It does not

resolve the IP address for blocking or redirecting requests.

7.3 ERRORS RETURNED BY THE PROXY SERVER

The Proxy Server returns any errors due to configuration to the web browser. The Proxy Server
specifically returns the following errors.
 HTTP 400 — Bad Request: The request was not in the expected form. The expected form is

http://hostname/...

 HTTP 403 — Forbidden: You are operating in mode 2 and were trying to browse a web server that

was not in the exception list.

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7. PROXY SERVER B-82974EN/02

 HTTP 414 — Request URI Too Long The request (http://hostname/..) was longer than 4 Kbytes.

The proxy server can handle requests only up to 4 Kbytes long. The content length can be any size
but the URI can only be 4 Kbytes long.

 HTTP 500 — Internal Server Error: There was a problem opening connections as the system is out

of resources.

 HTTP 502 — Bad Gateway : The hostname in the web request could not be resolved to an IP address.

If you are using an external proxy server, the IP address does not match. Or, the web server you are
trying to get does not respond. Verify that you have the DNS option installed or you have the
hostname of the web server being used in the URL in the host entry table.

NOTE

The remote web server or the external proxy server might return one or more of

these errors. The errors are standard HTTP errors specified by the RFC
documents for the HTTP Protocol. You can contact your Information Systems
department if you have any questions regarding these HTTP errors.

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B-82974EN/02 8.POINT-TO-POINT PROTOCOL CONNECTIVITY

8 POINT-TO-POINT PROTOCOL

CONNECTIVITY

8.1 OVERVIEW

Point-to-Point Protocol (PPP) allows devices to connect to each other across a dedicated point to point
link.
The controller supports up to one user PPP connection via a serial port or with a modem installed in your
controller. All internet options, except Ethernet Image Backup and Restore and BOOTP/DHCP, are
available for devices to use over the PPP link.

8.2 SETTING UP PPP ON YOUR CONTROLLER

8.2.1 Overview

Point-to-Point Protocol (PPP) allows for simple point-to-point connections between network devices that
exchange data. PPP allows a PC or other network device to establish a simple point-to-point network
connection to your controller either directly through the P2 or P3 serial ports, or through an external
modem connected to one of the available serial ports.
You can make remote dial-in PPP connections to your robot, either through external modems installed on
the P2 or P3 serial ports.

IP Addresses

Table 8.2.1(a) and Table 8.2.1(b) show the default IP Addresses for the P2 and P3 ports.

Table 8.2.1(a) Addresses for P2 Port (Direct Serial Port or External Modem)

ITEM IP ADDRESS

Robot 1.1.2.10
Remote (PC) 1.1.2.11
Subnet Mask 255.255.255.0

Table 8.2.1(b) Addresses for P3 Port (Direct through Serial Port or External Modem)

ITEM IP ADDRESS

Robot 1.1.3.10
Remote (PC) 1.1.3.11
Subnet Mask 255.255.255.0

If possible, you should use the default values in these tables. However, if you need to use different IP
addresses for your Robot and Remote device, the IP addresses can be modified by using Procedure 8-3 .

NOTE

If your robot is connected to an Ethernet network, you need make sure that the IP

addresses for the PPP connections of both the robot and the remote device are on
the same subnet, and that the subnet is different from the Ethernet subnet you are
using for your robot.

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8.POINT-TO-POINT PROTOCOL CONNECTIVITY B-82974EN/02

Supported Modems

The following external modems are supported:

• US Robotics Sportster, 56K Faxmodem with 2x

• US Robotics Sportster, 28,800 Fax Modem with V.34 and V.32bis

8.2.2 Configuring the P2, and P3, Ports

You can configure ports P2 and P3 on the controller to be used as direct serial PPP connections, or you
can connect an external modem to ports P2 and P3. Refer to Procedure 8-1 to configure port P2 or P3 for
direct serial port connections to your network. Refer to Procedure 8-2 to set up port P2 or P3 for external
modem connections to your network.

Procedure 8-1 Setting up Port P2 or P3 as Direct Serial Port Connections

Steps

1. Cold start the controller.

a. On the teach pendant, press and hold the SHIFT and RESET keys. Or, on the operator panel,

press and hold RESET.

b. While still pressing SHIFT and RESET on the teach pendant (or RESET on the operator

panel), turn on the power disconnect circuit breaker.

c. Release all of the keys.

2. Press MENUS.

3. Select SETUP.

4. Press F1, [TYPE].

5. Select Port Init. You will see a screen similar to the following.

SETUP Port Init
Connector Port Comment
1 JRS16 RS-232-C P2: [No use ]
2 JD17 RS-232-C P3: [No Use ]

6. Move the cursor to the port you want to set up, either P2 or P3. Press F3 DETAIL. You will see a
screen similar to the following.

7. Move the cursor to Device, and press F4, [CHOICE].

8. Move the cursor to PPP and press ENTER.

NOTE

The default and maximum supported baud-rate for the serial connection is 19.2

KB/Sec.

9. If the teach pendant does not show any messages, the port has been initialized for PPP. If the port
setting was not displaying a No Use message, turn the controller off, and then on again.

Procedure 8-2 Setting up Port P2 or P3 for an External Modem

Steps

1. Cold start the controller

a. On the teach pendant , press and hold the SHIFT and RESET keys. Or, on the operator panel ,

press and hold RESET.

b. While still pressing SHIFT and RESET on the teach pendant (or RESET on the operator

panel), turn on the power disconnect circuit breaker.

c. Release all of the keys.

2. Press MENUS.

3. Select SETUP.

4. Press F1, [TYPE].

5. Select port Init, and press ENTER. You will see a screen similar to the following.

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B-82974EN/02 8.POINT-TO-POINT PROTOCOL CONNECTIVITY

SETUP Port Init
Connector Port Comment
1 JRS16 RS-232-C P2: [No use ]
2 JD17 RS-232-C P3: [No Use ]

6. Move the cursor to the port you want to configure, either P2 or P3, and press F3, DETAIL. You will
see a screen similar to the following.

SETUP Port Init
PORT B P3:
1 Device [No Use ]
2 Speed(Baud rate) [19200]
3 Parity bit [None ]
4 Stop bit [1bit ]
5 Time out value(sec) [ 0]

7. Move the cursor to Device and press F4, [CHOICE].

8. Move the cursor to Modem/PPP and press ENTER.

NOTE

The default and maximum supported baud rate for serial connections is 19.2

KB/sec.

9 Turn the controller off, and then on again for the changes to take effect.

8.2.3 Changing IP Addresses

When assigning IP addresses to ports P2 and P3 you should use the default values listed in Table 8.2.1(a)
and Table 8.2.1(b) . However, if you need to use different IP addresses for your robot or remote device,
the default IP addresses can be changed by performing Procedure 8-3 .

Procedure 8-3 Changing the Default IP Addresses

Conditions

• You have performed a Cold start on your controller

Steps

1. Press MENUS.

2. Select SETUP.

3. Press F1, [TYPE]

4. Select Host Comm.

5. Move the cursor to PPP.

6. Press F3, DETAIL.

You will see a Port initialized for PPP or PPP/Modem message.

7. Press F3, DETAIL. You will see a screen similar to the following.

SETUP PPP Port
P3

Peer IP address : 1.1.3.11
Robot IP address : 1.1.3.10
Subnet mask : 255.255.255.0

8. Change the IP addresses and the subnet mask as desired.

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8.POINT-TO-POINT PROTOCOL CONNECTIVITY B-82974EN/02

8.3 SETTING UP PPP ON YOUR PC

8.3.1 Overview

You can configure your network PC for a Remote Access Server (RAS) dial-up connection. You can
establish the dial-up connection to network devices either directly through a serial port. Use Procedure
8-4 to configure the RAS Software on your PC. For detailed information about how to add a dial-up
connection to your PC, refer to the operating system software manual for your PC's operating system, or
contact your network administrator.

NOTE

RAS is a component of Windows NT/98/2000.

8.3.2 Setting up PPP on a Network PC

You should configure your PC for PPP connection. This manual contains step by step instructions on how
to configure PC with Windows 2000 and Windows XP operating systems. Refer to Procedure 8-4 ,
Procedure 8-5 , and Procedure 8-6 .

Procedure 8-4 Setting Up PPP on a PC with Windows 2000

1. Click Control Panel, Network and Dial Up Connections, and Make a New Connection. You will
see a screen similar to the following.

Fig. 8.3.2(a) Control Panel

2. In the Network Connection Wizard, select Connect directly to another computer and click Next.
You will see a screen similar to the following.

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B-82974EN/02 8.POINT-TO-POINT PROTOCOL CONNECTIVITY

Fig. 8.3.2(b) Network Connection

3. Select Guest. The robot controller will be the host and you must click Next to continue. You will see
a screen similar to the following.

Fig. 8.3.2(c) Guest

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8.POINT-TO-POINT PROTOCOL CONNECTIVITY B-82974EN/02

4. In the Select a Device Screen, select Communications cable between two computers (COMx),
where x is the COM port you will be using for your connection. Click Next to continue. You will see
a screen similar to the following.

Fig. 8.3.2(d) Select a Device

5. If you want all users who log on to y our PC to use this connection, select For all users and click
Next. You will see a screen similar to the following.

Fig. 8.3.2(e) For All Users

6. Type a name for this connection. Select Finish. You will see a screen similar to the following.

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