____________________________________________________________________________ README for COSIMIR Control, 10/2001 ======================================== (C) Copyright 2001. Institute of Robotics Research, Dortmund, Germany.

____________________________________________________________________________ ============================================================================ C O N T E N T S - Installation - Dongle (Hard lock) - PROFIBUS driver KTPROFI - Materialflow driver - Sample projects - COSIMIR Control Educational Version ============================================================================ Installation ============ 1. Use the "SETUP" program to install COSIMIR Control. Take care of the advise concerning the dongle (see below). 2. Use the symbol "Uninstall COSIMIR Control" on Windows 3.1x. On Windows 95 and Windows NT 4.0 open "Control Panel/Add/Remove Programs", select "COSIMIR Control" from the list displayed on the property page "Install /Uninstall" and press the "add/remove" button. 3. SETUP installs the latest version of CTL3D.DLL in the WINDOWS\SYSTEM director y, because COSIMIR Control will only work with this version of CTL3D.DLL. If other applications replace this DLL with an older one, problems might occur. In this case COSIMIR Control\BIN\CTL3D.DLL has to copied into th e WINDOWS\SYSTEM directory. Dongle (Hard lock) ================== 1. To execute COSIROP under Windows 95 or Windows NT system drivers are required which will be installed by the setup program. If the drivers have been installed the computer will be rebooted and you have to restart the SETUP program. 2. Setup of the dongle drivers can be forced by "SETUP -dongle". 3. When using the dongle on one of the parallel printer ports LPT1: or LPT2: there might be address conflicts with soundcards, which are compatible with "Covox Speech Thing (TM)" or "Disney Sound Source (TM)". The conflicts can be solved by disabling these options or by changing the address range of the soundcard. To verify that problems with the dongle are really caused by the soundcard, we recommend to temporarily remove the soundcard from the system. 4. Resource conflicts in your system caused by multiple use of the same interrupts or I/O addresses by network or sound cards and the parallel ports may interfere with the dongle. Check your system configuration in this case and make sure that the network or sound card and the parallel ports don't use the same IRQs or I/O address ranges. 5. Under Windows 95 you can see the dongle drivers in the "Control Panel/Hardwar e" in the category "Protection".

6. In a few cases there might be problems due the the BIOS configuration of the printer port. You should try different BIOS configurations (SPP, EPP, ...) for the printer port in this case. PROFIBUS driver KTPROFI ======================= 1. Installation /*****************************************************************/ /* I M P O R T A N T */ /*****************************************************************/ The COSIMIR Control PROFIBUS driver works with a PROFIBUS PC interface board o f the TMGi-tec company. The segment address and the interrupt setting of the PC board have to be set in a jumper field on the board. For further information read the manual of the PROFIBUS PC board. The following segment addresses are valid and depend on the operating system used: Operating system Segment address Windows3.x 0xCC00 to 0xDC00 Windows95 0xCC00 to 0xDC00 WindowsNT 0xC800 to 0xDC00 Pay attention that after setting the interrupts there must not be any conflicts with other PC devices such as VGA card, sound card, etc. As a precaution the use of interrupts should be disabled. After setting the segment address and the interrupts the PC board can be plugged into a free 8 bit slot. 1.1 Pay attention to the "setup instructions" in the online help of the PROFIBUS driver. 1.2 WINDOWS Memory management The memory allocated by the board (4- or. 16 kB depends on the board type) must be reserved in the file CONFIG.SYS because the dynamic memory management of Windows3.x should not have any access to this part of the memory. Example in the file CONFIG.SYS for the board address D000: DEVICE=EMM386.EXE NoEMS X=D000-D3FF. 1.3 PCs with a PCI bus When you are using a PC with a PCI bus, you probably have to enable memory accesses to ISA expansion boards in the PCs BIOS. Typical BIOS setting options are: ISA MEM Block Base or ISA Shared Memory Base Address and ISA Shared Memory Size Here you have to fill in the segment address and the memory allocated by the PROFIBUS board. Sample Projects =============== 1. You can find sample projects in the directory DEMOS and its subdirectories. 2. Furthermore there may be samples from COSIMIR Control seminars in the director y PROJECTS\SCHULUNG. COSIMIR Control Educational Version ============================= If you should have installed an educational version of COSIMIR Control

the restrictions of this version will be displayed in a start up dialog box. 1. Time limit: If the total run time will be exceeded COSIMIR Control will be terminated auto matically. Before COSIMIR Control will be terminated there will be the opportunity to sav e changes. If the time limit for the production mode will be exceeded, the production mode will be terminated automatically. 2. Restrictions of the material flow controller (MATFLOW): If the maximum number of control elements will be exceeded the associated components will not be initializable. This will be reported when you will switch into the production mode. If the maximum number of carriers will be exceeded during run time, all carriers will be stopped and there states will change to faulty.