PC Software
RCM-101-MW, RCM-101-USB
Operation Manual
Fifteenth Edition
IAI America, Inc.
Thank you for purchasing our product.
This Operation Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product.
The CD or DVD that comes with the product contains operation manuals for IAI products.
When using the product, refer to the necessary portions of the applicable operation manual by printing them out or displaying them on a PC.
After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product can reference it quickly when necessary.
[Important]
xThis Operation Manual is original.
xThe product cannot be operated in any way unless expressly specified in this Operation Manual. IAI shall assume no responsibility for the outcome of any operation not specified herein.
xInformation contained in this Operation Manual is subject to change without notice for the purpose of product improvement.
xIf you have any question or comment regarding the content of this manual, please contact the IAI sales office near you.
xUsing or copying all or part of this Operation Manual without permission is prohibited.
xThe company names, names of products and trademarks of each company shown in the sentences are registered trademarks.
CAUTION
Disconnection of the Teaching Pendant from the PCON, ACON, SCON ERC2, ERC3, ROBONET, PSEP, ASEP, DSEP, MSEP and MSCON Controller
*After disconnecting the Teaching Pendant from the PCON, ACON, SCON, ROBONET, MSEP or MSCON controller with the AUTO/MANU switch, always turn the AUTO/MANU switch to AUTO.
*For the PCON, ACON, ERC2, ERC3, PSEP, ASEP and DSEP controller without AUTO/MANU switch, always set the MANU operation mode to “Monitor Mode 2” on the main window before disconnecting the Teaching Pendant from the controller. (Refer to 3.2, “Operations Using the Toolbar Buttons.”)
(Note) When connected to the controller without AUTO/MANU switch, the conditions shown below occur. When the controller is set by connecting the Teaching Pendant to the gateway unit/SIO converter, the conditions shown below occur.
ƔIf the Teaching Pendant is disconnected while the setting of “Teach 1”or “Teach 2” remains, I/O will become invalid and control from PLC will become impossible.
ƔIf the Teaching Pendant is disconnected while the setting of “Monitor 1” remains, the maximum speed will become the safety speed set for the parameter regardless of a command from PLC.
Before opening this product, read the software license agreement (hereinafter referred to as “Agreement”). This Agreement applies to the PC software that comes with this product (hereinafter referred to “Software”). By using this software, you are deemed to have agreed to the terms of this Agreement. You may not use this software if you do not agree to the terms of this Agreement.
If you do not agree to the terms of this Agreement, please return your product in the original, unused condition, and IAI will refund the price you paid for the product.
IAI Corporation (hereinafter referred to as “IAI”) shall grant to the user (hereinafter referred to as “the User”), and the User shall accept, a non-transferable, non-exclusive right to use the software program supplied with this Agreement (hereinafter referred to as “the Licensed Software”), based on the following terms and conditions.
Witnesseth
1. Term of Agreement
This Agreement shall take effect when the User opens this software and remain effective and in force until this Agreement is terminated upon a written request made by the User to IAI or pursuant to the provision of Section 3.
2. Right of Use
The User may use this software on a computer on the condition that an external equipment communication cable manufactured and sold by IAI (hereinafter referred to as “Dedicated Connection Cable”) is used. The User or a third party may use this software on multiple computers on the condition of using dedicated connection cables.
3. Termination of Agreement
If the User violates any of the provisions specified in this Agreement or any material reason arises that makes continuation of this Agreement difficult, IAI may terminate this Agreement immediately without serving any notice. If this Agreement is terminated, the User shall destroy this software, dedicated connection cable or cables, and all copies of this software, within ten (10) days from the date of termination of this Agreement.
4. Scope of Protection
IAI may change any and all specifications regarding this software without prior notice. IAI shall also provide no warranty in connection with this software.
Neither the User nor any third party may demand compensation for any loss suffered by the User or third party as a result of use of this software by the User or third party.
The PC software RCM-101-MW and RCM-101-USB supports the following controller models of the specified versions and later.
Table 1 List of Supported Models
Model Name |
Initial Supported Version |
RCP *1 |
V1.00.00.00 |
RCS *1 |
V3.00.00.00 |
E-Con *1 |
V3.00.05.00 |
RCP2 *1 |
V4.00.00.00 |
ERC *1 |
V4.00.00.00 |
ERC2 |
V6.00.00.00 |
ERC3 |
V8.03.00.00 |
PCON-C/CG/CF |
V6.00.00.00 |
PCON-CA |
V8.03.00.00 |
ACON |
V6.00.00.00 |
SCON-C |
V6.00.00.00 |
SCON-CA |
V8.00.00.00 |
ROBONET |
V6.00.04.00 |
ASEP *2 |
V7.00.00.00 |
PSEP *2 |
V7.00.00.00 |
DSEP *2 |
V8.04.00.00 |
MSEP *3 |
V9.01.00.00 |
MSCON |
V9.02.00.00 |
*1: This PC software also supports the RCP, RCS, E-Con, RCP2, and ERC controllers.
(Note) Confirm the connected model and version of this application. If any unsupported model is connected, it may operate unexpectedly.
(Note) ERC2, ERC3, PCON, ACON, SCON or MSCON cannot be used by linking with any model shown in *1, *2 and *3.
Models in *1, *2 and *3 cannot be linked with each other.
The software reset function is effective for models corresponding to V4.00.00.00 or later of the supported version.
[1]This software is copyrighted by IAI Corporation (IAI).
[2]The software and the manual can only be used upon the software license agreement.
[3]IAI cannot assume responsibility for any damage or loss resulting from the use of this software or the manual.
[4]Please note that the version or edition number printed on the face of this manual does not correspond to the software version number.
[5]The content of this manual is subject to change without notice.
[6]This software runs on Windows shown below. This manual has been written on the assumption that the user already has a basic understanding of Windows operations.
(However, this software does not contain Windows.)
Port used |
Type |
Supported Operating Systems |
RS-232C |
RCM-101-MW |
Windows 2000 SP4 or later, Windows XP SP2 or later *1, |
Windows Vista *2, Windows 7 *2 |
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USB |
RCM-101-USB |
Windows 2000 SP4 or later, Windows XP SP2 or later *1, |
Windows Vista *2, Windows 7 *2 |
*1 Supported by software version V7.00.00.00 or later
*2 Supported by software version V9.00.00.00 or later
Microsoft, MS, MS-DOS, Windows, Windows 98SE, Windows Me, Windows 2000, Windows XP, Windows Vista and Windows 7 are registered trademarks of Microsoft Corporation.
Copyright© Feb 2012. IAI Corporation. All rights reserved.
1. |
Preparation Before Use.................................................................................................................... |
1 |
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1.1 |
Items Supplied with This Software (Product Components)............................................................ |
1 |
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1.2 |
Operating Environment.................................................................................................................. |
2 |
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1.3 |
Installing the Software ................................................................................................................... |
3 |
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1.3.1 How to Install the PC Interface Software for RC......................................................................... |
3 |
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1.3.2 How to Uninstall PC Interface Software for RC .......................................................................... |
9 |
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1.3.3 How to Install the USB Conversion Adapter Driver Software ................................................... |
10 |
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1.3.4 How to Change the IAI USB COM Port..................................................................................... |
24 |
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1.4 |
Starting the Software ................................................................................................................... |
26 |
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1.5 |
Setting of communication Window............................................................................................... |
28 |
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2. Checking for Connected Axes........................................................................................................ |
29 |
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3. |
Main Window.................................................................................................................................. |
30 |
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3.1 |
Operating from the Main Menu.................................................................................................... |
32 |
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3.2 |
Operations Using the Toolbar Buttons......................................................................................... |
37 |
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3.3 |
Tree View .................................................................................................................................... |
39 |
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3.4 |
Status Bar.................................................................................................................................... |
40 |
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4. |
Selecting an Axis............................................................................................................................ |
41 |
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5. Editing Position Data on CON Controllers and Older Models ........................................................ |
42 |
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5.1 |
Online Mode ................................................................................................................................ |
42 |
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5.2 |
Offline Mode ................................................................................................................................ |
68 |
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5.2.1 Creating New Position Data ...................................................................................................... |
68 |
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5.2.2 |
Reading a File ........................................................................................................................... |
70 |
6. Initial Setting and Position Data Editing for SEP Controllers ......................................................... |
72 |
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6.1 |
Initial Setting................................................................................................................................ |
72 |
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6.2 |
Editing Position Data ................................................................................................................... |
79 |
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6.2.1 |
Online Mode .............................................................................................................................. |
79 |
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6.2.2 |
Offline Mode .............................................................................................................................. |
90 |
7. |
Editing Parameters......................................................................................................................... |
94 |
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8. |
Monitoring |
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98 |
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8.1 |
Status Monitor Window................................................................................................................ |
98 |
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8.2 |
CTL ...........................................................................................................................Alarm List |
103 |
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8.3 |
Velocity/Current ..............................................................................................Monitor Window |
105 |
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8.4 |
Servo ..............................................................................................................Monitor Window |
107 |
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8.5 |
Maintenance ..............................................................................................information Window |
112 |
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9. |
Setup............................................................................................................................................ |
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113 |
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9.1 |
Setting ...................................................................................................of application Window |
113 |
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9.2 |
Assigning ........................................................................................................an Axis Number |
116 |
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9.3 |
Time ..............................................................................................................................Setting |
117 |
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9.4 |
Load .................................................................................................................Cell Calibration |
119 |
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10. Version Information ...................................................................................................................... |
121 |
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11. Smart Tuning ...............................................................Function (Version V8.03.00.00 or Later) |
122 |
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11.1 |
Restrictions................................................................................................................................ |
123 |
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11.1.1 ......................................................................Actuator Applicable for Smart Tuning Function |
123 |
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11.1.2 ...................................................................................................................Parameter Setting |
123 |
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11.2 |
Outline ..............................................................................................of Smart Tuning Function |
123 |
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11.2.1 Setting of maximum acceleration/deceleration speed considering the indicated |
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carrier load and velocity |
124 |
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11.2.2 Setting of acceleration/deceleration speed to provide the shortest operation time |
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figured out from the indicated carrier load and moving distance ............................................ |
124 |
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11.2.3 Overshoot judgment on S motion operation ........................................................................... |
124 |
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11.2.4 Test Run.................................................................................................................................. |
124 |
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11.2.5 Takt time calculation................................................................................................................ |
124 |
11.3 |
Operation in Edit position data Window..................................................................................... |
125 |
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11.3.1 Explanation of Window Screen ............................................................................................... |
125 |
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11.3.2 Explanation of Each Operation ............................................................................................... |
129 |
11.4 |
Operation on Test Run and Takt Time Calculation.................................................................... |
140 |
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11.4.1 Outline of Test Run Operation ................................................................................................ |
140 |
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11.4.2 Explanation of Each Window for Test Run Operation............................................................. |
141 |
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11.4.3 Explanation of Takt Time Calculation Window........................................................................ |
156 |
12. Off Board Tuning Function on SCON-CA and MSCON Controller .............................................. |
165 |
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12.1 |
Restrictions................................................................................................................................ |
166 |
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12.1.1 Actuators Applicable for Off Board Tuning Function............................................................... |
166 |
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12.1.2 Restrictions in Operation......................................................................................................... |
166 |
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12.1.3 Caution Regarding Gain Set No. 0.......................................................................................... |
166 |
12.2 |
Guideline of Off Board Tuning Function .................................................................................... |
167 |
12.3 |
How to Start up.......................................................................................................................... |
167 |
12.4 |
Operation to Select Target Axis Number for Off Board Tuning.................................................. |
168 |
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12.4.1 Explanation of Each Item Shown in Window .......................................................................... |
168 |
12.5 |
Operation on Off Board Tuning ................................................................................................. |
170 |
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12.5.1 Outline of Operation ................................................................................................................ |
170 |
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12.5.2 Explanations for each Item in Select actuator Window........................................................... |
171 |
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12.5.3 Explanations for each Item in Carrier load Select Window..................................................... |
177 |
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12.5.4 Explanations for each Item in Select adjustment method Window ......................................... |
183 |
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12.5.5 Explanations for each Item in Manual Window ....................................................................... |
187 |
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12.5.6 Explanations for each Item in Test run Window...................................................................... |
193 |
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12.5.7 Explanations for each Item in Adjustment record data save Window..................................... |
200 |
12.6 |
Operations in Takt time calculation............................................................................................ |
202 |
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12.6.1 Explanations for each Item in Takt time calculation Window.................................................. |
202 |
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12.6.2 Test run plan Setting Window ................................................................................................. |
203 |
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12.6.3 Test run result Display Window............................................................................................... |
207 |
13. Frequency Analysis Function for SCON-CA Controller Anti-Vibration Control |
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(Version V8.00.00.00 or Later)..................................................................................................... |
211 |
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13.1 |
Operation Overview................................................................................................................... |
212 |
13.2 |
Explanation of Each Window..................................................................................................... |
214 |
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13.2.1 Measurement Data Selection Window.................................................................................... |
214 |
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13.2.2 Sampling Window.................................................................................................................... |
217 |
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13.2.3 Analysis Result Display Window ............................................................................................. |
228 |
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13.2.4 Print Setting Window............................................................................................................... |
232 |
13.3 |
Operating Procedure ................................................................................................................. |
238 |
14. Appendix ...................................................................................................................................... |
243 |
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14.1 |
Parameter (Factory Default Setting) Initializing Method ............................................................ |
243 |
14.2 |
PC Software Error List............................................................................................................... |
245 |
15. File Extensions............................................................................................................................. |
249 |
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16. Change History ............................................................................................................................ |
250 |
Please check to make sure that the following items are included in your software package.
[1]Operation manual (1)
[2]CD-ROM containing the software*1 (1)
[3]Customer registration card (1)
[4]External connection cables (1)
External connection cables vary depending on the PC interface software type. The types and external connection cables are shown in the table below.
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Type |
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External Connection Cable |
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RCM-101-MW |
RS232C conversion unit (RCB-CV-MW): 1 cable |
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Communication cable (CB-RCA-SIO050): 1 cable |
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Compatible controller |
Connection Configuration |
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PCON, etc. |
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CB-RCA-SIO050 |
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RS232C conversion unit |
Communication cable: |
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RCB-CV-MW |
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Type |
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External Connection Cable |
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RCM-101-USB |
USB conversion unit (RCB-CV-USB): 1 cable |
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Communication cable (CB-RCA-SIO050): 1 cable |
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USB cable (CB-SEL-USB030): 1 cable |
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USB conversion unit |
Compatible controller |
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PCON, etc. |
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Connection Configuration |
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(RCB-CV-USB) |
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USB cable |
Communication cable |
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CB-SEL-USB030 |
CB-RCA-SIO050 |
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*1 ROBONET Gateway Parameter Setting Tool is stored in the CD-ROM. Refer to ROBONET Operation Manual for the how to use the tool.
1
Use Before Preparation .1
1. Preparation Before Use
You need the following environment to run this software.
Applicable operating systems |
Model number |
Supported operating systems |
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RCM-101-MW |
Windows 2000 SP4 or later, Windows XP SP2 or |
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later *1, Windows Vista *2, Windows 7 *2 |
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RCM-101-USB |
Windows 2000 SP4 or later, Windows XP SP2 or |
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later *1, Windows Vista *2, Windows 7 *2 |
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*1 Supported by software version V7.00.00.00 or later |
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*2 Supported by software version V9.00.00.00 or later |
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Applicable for 32 bit and 64 bit versions of the OS. |
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Computer |
Personal computer running an applicable operating system (Windows) |
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Keyboard |
Keyboard compatible with a personal computer running an applicable |
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operating system (Windows) |
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Memory |
Enough memory needed to run an applicable operating system |
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(Windows) |
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Display |
XGA or higher |
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Pointing device |
Mouse and other compatible driver |
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Memory-medium reading drive |
CD-ROM drive |
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Hard disk |
Hard disk with at least 20 MB of free space |
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(This software must be installed on the hard disk.) |
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Serial port |
An applicable serial port is required if the model number of your PC |
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RS232C |
software is as follows: |
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(compatible with EIA-S74) |
Model number: RCM-101-MW |
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USB port |
An applicable serial port is required if the model number of your PC |
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software is as follows: |
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Model number: RCM-101-USB |
2
This software is run from the hard disk. This section explains how to install the software.
1.3.1 How to Install the PC Interface Software for RC
[1]Insert the CD-Rom containing this software into your CD-ROM drive.
[2]The installed data selection window (Fig. 1.1) will be displayed.
Select the version you wish to install from these choices: PC Interface Software for RC (ENG) and PC Interface Software for RC (EUR). Then click the corresponding button to begin the installation. (Some items are not indicated depending on the version.)
Fig. 1.1 Installed Data Selection Window
(The displayed window may vary depending on the version or other factor.)
*What to do when the Installed Data Selection window (Fig. 1.1) does not appear
If the Installed Data Selection window (Fig. 1.1) does not appear after inserting the CD-ROM, follow the procedure below to display the Installed Data Selection window.
a.Use Explorer, etc., to display a list of folders and files in the CD-ROM. The window should display the icons shown in Fig. 1.2.
Fig. 1.2 Icons
b. Double-click among the icons displayed. The Installed Data Selection window (Fig. 1.1) will appear.
3
Use Before Preparation .1
1. Preparation Before Use
[3]A previous version install check window (Fig. 1.3) is displayed. Click Yes if no previous version has been installed.
Click No if any previous version has been installed.
Installation is interrupted, then uninstall using the Program add/remove icon on the control panel.
Fig. 1.3 Previous Version Install Check Window
If the installer still detects that a previous version is installed after you have clicked Yes, the previous version detection window (Fig. 1.4) appears. If this window appears, uninstall the previous version and then repeat the installation process from the beginning.
Fig. 1.4 Previous Version Install Check Window
* How to uninstall is described at the end of how to install PC Interface Software for RC. Refer to it.
4
[4] The installation window (Fig. 1.5) for PC Interface Software for RC Click Next.
Use Before Preparation .1
Fig. 1.5 Installation Window
[5] Customer information register window (Fig. 1.6) is displayed. Enter customer information and click Next.
Fig. 1.6 Customer Information Registration
5
1. Preparation Before Use
[6]Specify a destination folder to install the PC interface software for RC. (Fig. 1.7) Normally, you can install it to the default location.
After specifying it, click Next.
Fig. 1.7 Specification of Destination Folder
[7] The wizard is ready to begin installation. Clicking Install will begin actual installation.
Fig. 1.8 Installation Preparation
6
The window shown in Fig. 1.9 will be displayed during installation.
Use Before Preparation .1
Fig. 1.9 Installation Progress
[8] When installation is completed, the window shown in Fig. 1.10 will be displayed.
Fig. 1.10 Installation Completion
7
1. Preparation Before Use
[9]When the install program is ended, a shortcut in Program o IAI o ROBO Cylinder o PC Interface Software for RC is displayed on the start menu. This software starts by selecting this item.
[10]Remove the CD-ROM.
*If install is completed with the previous version installed, two shortcuts may be located in Program o IAI o ROBO Cylinder on the start menu. In this case, only the short cut corresponding to the present version is deleted when uninstalled. Right click the shortcut for the previous version (PC Interface software for RC&E-Con) click Delete to manually delete it.
Fig. 1.11 Shortcut Delete Window for Previous Version
8
1.3.2 How to Uninstall PC Interface Software for RC
[1]Open the application add and delete window on the control panel.
[2]Select RcPc on the application add and delete window, and click Change/Remove.
Fig. 1.12 Application Add and Delete
[3] When a file delete check window (Fig. 1.13) is displayed, click Yes.
Fig. 1.13 File Delete Check
9
Use Before Preparation .1
1. Preparation Before Use
1.3.3 How to Install the USB Conversion Adapter Driver Software
When a USB port is used, it is required to install USB conversion adapter driver software.
[Compatible software]
RCM-101-USB (with USB conversion adaptor + cable)
(1)Windows XP and Windows 2000
For Windows XP and Windows 2000 follow the steps below to install the software. [For how to install in Windows 7 and Windows Vista, refer to (2) Windows Vista.]
[1]Insert the CD-ROM of this software into your CD-ROM drive.
[2]The installed data selection window (Fig. 1.14) will be displayed. Click [USB conversion adapter].
Fig. 1.14 Installed Data Selection Window
(The displayed window may vary depending on the version, data in the CD or other factors.)
10
[3]You are prompted to set the folder of the copy destination. If you use the displayed folder as it is, click Copy. To change it, enter it manually or click Browse to set the folder of the copy destination.
On the browse for folder window (Fig. 1.16), click the folder of the copy destination to select it and then click OK. Once you have clicked OK, the browse for folder window (Fig. 1.16) will disappear and the selected folder path will be displayed on the window to specify the folder of the copy destination (Fig. 1.15).
Fig. 1.15 Window to Specify Folder of Copy Destination
Fig. 1.16 Browse for Folder Window
[4]When the folder of IAI USB (copy data) already exists in the copy destination, you are prompted to overwrite it.
Click OK to overwrite it, or click Cancel to stop copying.
Fig. 1.17 Overwrite Confirmation Window [5] The complete window (Fig. 1.18) will be displayed.
Fig. 1.18 Complete Window
11
Use Before Preparation .1
1. Preparation Before Use
[6]Once the complete window (Fig. 1.18) has been displayed, click OK. The complete window (Fig. 1.18) will disappear. Then, click Cancel on the window to specify the folder of the copy destination (Fig. 1.15).
The window to specify the folder of the copy destination (Fig. 1.15) will disappear.
Finally, click Exit on the data selection window (Fig. 1.14). The data selection window (Fig. 1.14) will disappear.
[7]Remove the CD-ROM.
[8]Then, insert the USB conversion adapter (RCB-CV-USB) into the USB port of your PC.
[9]Windows will open the Found New Hardware Wizard. Click Next.
Fig. 1.19 Found New Hardware Wizard Start Window
12
[10]The driver search select window will open.
Check the Search for a suitable driver for my device (recommended). Click Next.
Fig. 1.20 Driver Search Select Window
[11]The locate driver files window will open. Select Specify a location.
Click Next.
Fig. 1.21 Specify the Locate Driver Files Window
13
Use Before Preparation .1
1. Preparation Before Use
[12]The “Copy manufacturer’s files from:” window will open.
Click Browse and find K: \IAI USB (the folder you have specified in [3] of 1.3.3) and set it. Click OK.
Fig. 1.22 Specify the Copy Manufacturer’s Files from Window
[13]The driver files search results window will open. Click Next.
Fig. 1.23 Driver Files Search Results Window
14
[14]When the IAI USB Composite Device driver installation finish is displayed, the installation of the driver is completed.
Click Finish.
Fig. 1.24 IAI USB Composite Device Installation Finish Window
[15]Subsequently, the found new hardware wizard window will open. Click Next.
Fig. 1.25 Found New Hardware Wizard Window
15
Use Before Preparation .1
1. Preparation Before Use
[16]The install hardware device drivers window will open.
Select the Search for a suitable driver for my device recommended. Click Next.
Fig. 1.26 Driver Search Select Window
[17]The locate driver files window will open. Select Specify a location.
Click Next.
Fig. 1.27 Locate Driver Files Window
16
[18]The copy manufacturer’s files from window will open.
Click Browse and find K:\IAI USB (the folder you have specified in [3] of 1.3.3) and set it. Click OK.
Fig. 1.28 Specify the Copy Manufacturer’s Files from Window
[19]The driver files search results window will open. Click Next.
Fig. 1.29 Driver Files Search Results Window
17
Use Before Preparation .1
1. Preparation Before Use
[20]When the IAI USB to UART Bridge Controller driver installation finish window is displayed, the driver installation is completed.
Click Finish.
Fig. 1.30 IAI USB to UART Bridge Controller Installation Finish Window
[21] The installation of all drivers is completed.
18