iM - ; DaWin-Pro

Index
1. Introduction------------------------------------------------- 2 2. Wiring ----------------------------------------------------- 2 3. Installation--------------------------------------------------- 3 4. Basic operation----------------------------------------------- 7 5. File control-------------------------------------------------- 9 6. File comparisons---------------------------------------------- 13 7. Parameters --------------------------------------------------- 15 8. Control unit monitoring------------------------------------------- 16 9. Execution -----------------------------------------------------19 10. Communication status------------------------------------------- 29 11. Ladder editor------------------------------------------------ 31 12. Contents of main menu ---------------------------------------- 46 13. Menu tool bar------------------------------------------------ 51 14. Channel status window----------------------------------------- 51 15. Example of system PLC program---------------------------------- 52 16. Characteristics of DaWin_Pro------------------------------------- 56 17. Protocol --------------------------------------------------18. Troubleshooting and workaround-----------------------------------19. History of modification--------------------------------------------

-1INDEX

iM - ; DaWin-Pro

1. Introduction of iM-; Host Pack

In the past, operation of robot system has performed by Teach Pendant or system I/O. However, recently host S/W has developed to satisfy various users requirements and robot operations environment. iM- ; DaWin-Pro S/W provides easy and efficient integrated robot operation environment from users perspectives. Firstly, status window is provided to displays status of current robot in real-time as well as communication status window to detect unwanted communication error check. Also for an efficient program creation, memo pad (MOTION, SEQUENCE and POINT FILES) has provided for various usage and for easy creation of efficient SEQUENCE program, ladder editor has provided to convert image program to document. Lastly, by using iM- ; DaWin-Pro S/W, user can efficiently compare and analyze complex parameters which result in reducing efforts and times.

2. Wiring
2.1 Signal standard when connecting RS-232C port
Picture below shows rear view of connector from users point of view Connector used: D-Sub 9P, Female

Controller Pin Signal name 1 RDP 2 RDN/RxD 3 SDP/TxD 4 SDN 5 GND Shield (FG)

Serial port of PC Pin Signal name 2 RxD 3 TxD 5 GND Shield (FG)

-2WIRING

iM - ; DaWin-Pro

Caution when perform communication wiring 1) Use cable with braid shield. 2) Connect both side of shield (controller and PC) to D-sub connector case. 3) Connect FG of PC and controller (Frame Ground).

2-2 Communication standard for PC port

1) 2) 3) 4) Transmission speed: 9600 ~ 38600bps (5.Miscel set baud rate parameter) Data Length : 8 Bit Stop Bit : 1 Parity Check : None

3. Installation
3.1 Before installation
Select Yes when prompted whether to update OCX and DLL files during installation. However, when delete DLL, be very cautious since it could affect your Window operating system.

3.2 Program installation and execution

By executing DaWin-Pro.exe, required folders and files will be automatically copied into desired directory. When execute Setup program

(Figure 3.2) Directory structure identical shown figure 3.2 will be created.

Execution of program: 1) Click on DaWin-Pro icon from the desktop 2) Execute DaWin-Pro.EXE (English) or DaWin-Pro-KOR.EXE (Korean) from the folder where you have uncompressed provided compressed files. 3) Select icon from Start-> DaWin-Pro.

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INSTALLATION

iM - ; DaWin-Pro 3.2.2 Uninstall of program Removal process will be performed automatically. 1) Execute DaWin-Pro remove option from start program. Select start menu from your Window desktop and execute uninstall program from DaWin-Pro will result in automatic removal including folders and icons. 3) Select DaWin-Pro remove from Add/Remove menu from the control panel.

Figure 3.2.2 As shown in figure 3.2.2, removal will be performed automatically. Do not remove DLL required by operating system during uninstall process. 3.2.3 Descriptions of used files and folders Config folder: Contains various information of display, I/O and parameters to initiate program. GblVariable folder: Contains information of Global variables Image folder: Contains information of image files used in program (For 96 dpi) ImageL folder: Contains information of image files used in program (For 120 dpi) MotProgram folder: Contains information of motion program Parameter folder: Contains information of modified or saved parameters. PointFile folder: Contains information of modified or saved PointFile SeqProgram folder: Contains sequence file loaded during program initiation. Empty folder during installation is normal since there is no saved information. When save during program operation, files will be created in designated folder. -4-

INSTALLATION

iM - ; DaWin-Pro

3.2.4 Execution of S/W for PC Login window will be displayed when program is executed.

(Figure 3.2.4)

Initial password is not saved in the system registry. Therefore, click on the OK button to start the program for the first time. However, it is strongly recommended that you set the password after first login from the main program menu. When OK is selected, main program will be executed as below.

Pictures above shows offline status by failure of searching baud rate by S/W for PC since PC controller is not connected.

( 3.2.4.1)

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INSTALLATION

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When PC is connected with controller, program window will display as below.

After execution of Setup files, *.ocx files will be created in the program folders. These files are very important to execute the program correctly. Please do not remove these files.

3.2.5 Others System requirements to operate S/W for PC are as follows: Window 98 or above on Pentium 2 processor and above. Minimum of 32 MB of main memory Minimum of 20 MB of hard disk space At least 1 serial port Mouse or other pointing device

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INSTALLATION

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4 Basic operations
4.1 Screen configuration
Sigma S/W for PC provides convenient working environment by providing essential function buttons, such as creation of robot program, manual operation, task execution and special task mode as well as printing of current location of robot in on screen.

Menu selection bar Program selection tree (Figure 4.1) Workspace

View channel

4.2 Description of screen configuration

1) Menu selection bar - Consist of file, view, tool, window and help file as well as provides method of creating user program. 2) Program selection tree - Structure of tree and assist to control files, file comparison, parameter management and monitor control unit by one click on the program menu. 3) Workspace - Place where required tasks are performed - All tasks are performed in this space however, file comparison and ladder editor are executed in new forms thus not affected by restriction of this space. -7-

FILE CONTROL

iM - ; DaWin-Pro 4) View channel status - Displays selected channel status in channel selection box. - Displays current status, location and speed in real-time mode. (Only if automatic refresh is selected)

5. File control
5.1 Basic screen configuration of file control

( 5.1)

5.1.1 Upload - Process of importing files from controller to PC. - Sequence 1) Click on upload tab on the top of the screen. 2) Motion program, PointFile and sequence files saved in controller are displayed on the screen. 3) Select file to upload (Controller -> PC) and click on the activated button provide below. 4) Dialog window requesting for target folder of selected files is displayed. 5.1.2 Download - Process of importing files from PC to controller. - Sequence 1) Click on download tab on the top of the screen. 2) Motion program, Pointfile and sequence files saved in the PC are displayed on the screen. 3) Select file to download (PC -> controller) and click on the activated button provide below -8-

FILE CONTROL

iM - ; DaWin-Pro 4) Download completion message is displayed. Assigned tasks can not be performed and error message will be displayed when robot is Servo ON status. Before download process, make sure that check mark on the channel field at the right bottom of the screen.

5.1.3 Copying - Process of copying of file from controller to controller. - Sequence 1) Click on the copy tab on the top of the screen. 2) Motion program, Pointfile and sequence files saved in the controller are displayed on the screen. 3) Select file to be copied (Controller -> Controller) and assign name of target file then click activated button below as shown in figure 5.1.3

(Figure 5.1.3)

4) Completion message will be displayed when copying of selected file completes. Make sure that you assign extension file type before start the copying process. (For example, *.PGM, *.PNT, *.SEQ)

5.1.4 Deletion - Process of deleting specific files from the controller. - Sequence 1) Click on the deletion tab at the top of the screen. 2) Motion program, Pointfile and sequence files saved in the controller are displayed on the screen. 3) Select file to be deleted and click on the activated button below. 4) Completion message will be displayed when deletion of selected file completes. Make sure that you maintain sequence files required to start program during deletion.

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FILE CONTROL

iM - ; DaWin-Pro 5.1.5 Change name - Process of changing file names from the controller. - Sequence 1) Click on the change name tab at the top of the screen. 2) Motion program, Pointfile and sequence files saved in the controller are displayed on the screen. 3) Select file that you wish to change name and enter new file name in text box below then click on the activated button. (Similar to copy process and same cautions are required). 4) Message Change names process completed is displayed on the screen.

5.2 New functionality of file control

- In previous file control window, when download is performed, the path of the folder has changed to installed directory which caused inconvenience for users. However, DaWin-Pro uses Dasa.INI to save file creation path thus when next download occurs, the previously used path are provided.

(Figure 5.2) During initial installation of the program, the Dasa.ini file is not created. However, when program is executed, Dasa.ini file is created under installed directory.

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FILE CONTROL

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5.2 New functionality of file control

- In previous IM-, changing of file ID functionality has not provided. As a result, when motion program is deleted it calls incorrect point file which caused robot to operate incorrectly. To resolve this issue, DaWin-Pro provides functionality of fixing ID file and point file when file is deleted and created again. The procedure of this process is similar to change name process.

- Sequence 1) Click on Change ID at the top of the screen. 2) Motion program, Pointfile and sequence files saved in the controller are displayed on the screen. 3) Select file that you wish to change ID and enter desired ID in text box below then click on the activated button. (Similar to copy process and same cautions are required). 4) Change ID process has succeeded message are displayed on the screen.

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FILE CONTROL

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6 File comparisons
- Opens up 2 files to compare and sorted by line to compare differences between them.

(Figure 6.1) - As shown in figure 6.1, opens up 2 files and click on Compare button in the middle. Difference between two files are distinguished and displayed by activated layers as shown in figure 6.2

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FILE COMPARISON

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(Figure 6.2)

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FILE COMPARISON

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7. Parameters managements
- Program that displays all the parameter in the controller in one screen.

(Figure 7.1)

- Input value can be entered in one of two ways as shown in figure 7.1 1) When combo box is located in value part (image on left): when combo box is activated, detailed information is displayed. Select desired operation and click to perform parameter update. 2) When combo box is not provided in value part (image on right): Select enter on field that you wish to apply change and enter value. Press enter again to finalize the change.

Change of value does not guarantee change of parameter value in the controller. If you wish to change value of specific section, click down button and if you wish to change all value, select download category of all parameters and click on down button.

If the version of parameter is different, error message will be generated and up/download buttons deactivated.

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PARAMETERS

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8. Control unit monitoring

(Figure 8)

- The method of changing variables is identical to changing of parameters in parameter management. But, as shown in figure 8.0.1 (Area of I/O 255~399), if the values are not allowed to change by user, the filed will not be activated even selected by enter key. (Refer to SIGMA manual 6-2 for more details).

(Figure 8.0.1) - 15 -

MONITORING

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8.1 Latest data

When this button is clicked, real-time data update is performed by communicating with PC and controller. However, real-time update consumes system resource remarkably. when this button is clicked. Figure 8.1 shows status of button activated

(Figure 8.1)

8.2 Transfer all and selective transfer

- Transfer all button sends all changed information of each table (GINT, GPNP, GFLT, I/O) to controller. - Selective transfer sends specific cell to be changed (Activated in blue color shown in figure 8) to controller. The reason selective transfer of global location variable is not activated? It is intentionally designed to be activated only when all lines are selected. Because integer or float number has only one value and when a specific cell is clicked, a selective transfer is activated automatically. But in case of point, if a selective transfer is activated when a specific cell or multiple cells are selected by using mouse drag, it seems only value of selected cells are downloaded. Therefore, it is designed that selective transfer option is activated when all lines are selected. Note that when click on number on very left hand side will select all lines.

8.3 Control unit -> Screen button

- This button imports all global variables into screen from controller.

(Figure 8.3) As shown in figure 8.3, the message informs users whether to upload all variables or not. When user clicks on the OK button then all variables will be updated. Command described above only imports information of controller into screen. If you wish to save the variable information, click on the Save to PC button to save variable information to desired folder.

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MONITORING

iM - ; DaWin-Pro

(Figure 8.3.1)

8.4 Screen-> Save to PC

- Please refer to paragraph above.

8.5 PC -> Screen

- This function displays global variables saved in PC This button only displays information on the screen and does not transfer the information to controller. If you wish to transfer information to controller, please refer to section 8.6 below.

8.6 Screen -> Control unit button

- Performs reverse function of control unit to screen and download modified variable on the screen to control unit.

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MONITORING

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9. Execution
9.1 Common execution screen
- Execution part is consist of 3 different screens. Each part can be categorized into origin, run and teach parts.

Channel selection part Select action

(Figure 3.5.1)

Displays status of the system

9.2 Origin screen (Screen of origin execution)

(Figure 3.5.2)

: Displays result of origin search has performed correctly when program executes. : Displays current location for each axis (When origin is found correctly, it is set to 0) : Command button to search origin again. - 18 -

EXECUTION

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9.3 Jog & Teach screen (Screen to move robot to desired place by using jog action)

(Figure 9.3)

Functionalities of Jog & Teach :

Teach Type one click of jog button decide distance of robot movement. (Incremental move unlimitedly while clicked, inching distance moved defined in parameter)

Combo box that decide types of motion are as follows:

(Figure 3.5.3.2)

- Move selection location: Move to value specified in from current location. - Incremental move: Increase distance specified in from current location. - Control unit point file movement: Select one of the point file saved in control unit and move distance based on selected file. (At this point, combo box () is activated and enable user to select desired file) - 19 -

EXECUTION

iM - ; DaWin-Pro - PC point file movement: Select one of the point file saved in PC and move distance based on selected file. pc (At this point, button is activated and enable user to select desired file)

(Figure 9.3.1)

: This command decides the types of motion operation. PTP Move to location by using defined value from the current location. (It uses shortest path from the starting point to end point. Depending on the current location, the movement is decided by combination of current location and axis and produces shape of S type end of the axis)

- LINEAR Move linearly from the current location by defined value based on origin location. (Calculation of axis combination, speed of axis and all axis are taken into consideration and moves linearly from the start point to end point) - ARC Circular arc interpolate move command that use start point as an origin point and moves to target point via specified pass point. (Must define specific location from ) - CICLE Circular arc interpolate move command that uses current location as an origin point and pass through point 1.2 (Only work when movement is defined in ) : Command that decides motion operate mode. - XY: Defines movement motion mode from perpendicular angel coordinate. - Joint: Defines movement motion mode from motor axis coordinate. (Effective in case of using SCARA and it describes degree of each axis) : Combo box that allow selecting the moving point file. - As shown in , if multiple point files are used for movement, it enable user to select desired moving point. : Window that displays location of the axis

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EXECUTION

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A B

Current location of robot

(Figure 9.3.2)

: Button that move axis in corresponding to specified kind, type and mode. For example, from figure 9.3.2, if user enters 0 and 0 into A and B respectively and clicks on move button, AXIS 0 and AXIS 1 of robot will move to coordination of 0 and 0. : Button that displays current location. - Allow and provide update location of the robot from . : Windows that displays location of the axis saved in file. - When user performs task including importing files, such as Move control unit point file or Move PC pointer file, it displays the location of axis for the pointer saved in the file. : Button that refreshes point. - Command button which refreshes current location of the axis for specific pointer.

(Figure 9.3.3)

- 1. As shown in figure 9.3.3, select one line from selected pointer from the file open menu (A). - 2. Click on the location of the axis -0,0,0,0 (B). - 3. Press point refresh button (C). - 4. Check that content of the window has changed (D). On the contrary, if you wish refresh contend of point file in window , double click on the cells described as D0001 or D001 under No of left side of Window .

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EXECUTION

iM - ; DaWin-Pro , : Button that saves or opens selected or modified contents of pointer file.

: This button allows jog to move toward CW direction while the button is pressed (Anti-clockwise direction). : Displays location of axis while moving and point of completion of movement. : This button allows jog to move toward CCW direction while the button is pressed (clockwise direction). : Jog Speed Decides the speed during jog operation. (In this context, spd 0..1..2..3 are relative values and decided by jog type (17). For example, if it is a joint mode, the value is decided by JntSpd 0..12..3 from Parameter->Channel->Axis and if its XY mode, it is decided by XYSpd 01..2..3 from Parameter ->Channel->Common. : Selection box that decides operation mode. - XY: Describes movement mode on the perpendicular coordinate. - Joint: Describes movement mode on the circular arc coordinate.

: Speed configuration window - Window that allows modification of speed defined in and when the value has modified press to apply the changes. : Button that applies changes of user definition.

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EXECUTION

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9.4 Run screen (Execution screen)

- This process decides operation of the robot and should be regarded as most critical process.

(Figure 9.4.1) - Functionality of Run Firstly, refer to jog and tech part in front of speed window and apply button : Program selection combo box. - Select program that you wish from list of saved programs in the controller. Click on the screen. button on right hand side will provide list of programs with extension with *.pgmon the

: Automatic execution button. - When this button is selected, command is selected one by one and executed automatically. : Step execution button. - Unlike an automatic execution, this command performs step only when button is pressed. : Stop button. - Button used to stop program temporarily while program is executing. : Program reset button. - At initial execution stage, in other word, activated part at the top op the window will move. : Status window. - Displays all imported programs on the screen. Process currently executed is displayed in blue color and enable user to check sequence of program execution. - 23 -

EXECUTION

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Figure 9.4.2 shows example of actual process execution.

Line with blue color shows currently running command.

All buttons except stop deactivated since process running.

(Figure 9.4.2)

button are is currently

9.5 Execution screen by channels

- This screen can be used to monitor all executing programs concurrently.

(Figure 9.5.0.1)

(Figure 9.5.0.2)

- Figure 9.5.1 shows initial screen and it displays all channels that can be executed in controller. - If it is not executing, the folder can be optimized as shown in the figure 9.5.2. 9.5.1 Status of channel activation - When all 4 channels are not in use, click on the folder will result in following error message.

(Figure 9.5.1)

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EXECUTION

iM - ; DaWin-Pro 9.5.2 Status window by channel

(Figure 9.5.2)

- As shown in figure 9.5.2, execution window by channel looks similar to execution window however, at caption sector, it is written as Execution (channel 1). - Also, execution program and line as well as location of axis are displayed on the same screen.

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EXECUTION

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9.5.3 Example of execution

(Figure 9.5.3.1)

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EXECUTION

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(Figure 9.5.3.2) - As shown in figure 9.5.3.1, each channel can perform interrelated tasks or same task for each channel.

In figure 9.5.0.1, if user selects root channel directory instead of execution by channel, previously used window in DaWin-Pro is activated and can be used concurrently.

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EXECUTION

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10. Communication status

Status of communications via standard protocol and commands exchanged between PC and controller are displayed.

10.1 Off-Line-Update status.

Caption that help to distinguish direction of communication Blue font indicate signal that transferred from PC-> control unit.

Protocols exchanged between are displayed on the screen.

two

objects

(Figure 10)

- This form is used to check communication status, connection and completion. : Temporary display pause button. - Figure 3.6.1 shows the screen shot of transferring command to control unit continuously to find out the status of robot while offline. If you press button (), communication status between two objects will not be displayed anymore. However, only display screen is stopped but the communication protocol between two objects continues to check status of each other. Refer to figure 10.1

: Log removal button. - This command clears list of commands on the screen. - 28 -

COMMUNICATION STATUS

iM - ; DaWin-Pro : Disconnect communication channel when it is online. : This box configures desired communication com port. : This option enables communication line when it is offline.

10.2 Online stop status

- Button () is deactivated since it is online. If you wish to stop displaying protocol on the screen, press button will change Temporary display pause to Communication update as well as button color to green.

(Figure 10.1)

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COMMUNICATION STATUS

iM - ; DaWin-Pro

11. Ladder editor

11-1 Basic screen configuration

Sequence command button

Drawing window

( 11-1)

Following are basic commands of ladder editor. Channel selection box Used to import *.SEQ file by selecting desired channel. Name change window - Used when change file name for download. Download button - Download command to SeqProgram created by File selection box - File selection window for ladder editor. - 30 -

LADDER EDITOR

iM - ; DaWin-Pro Upload button - Importing file command to ladder editor selected at . At this point, memo pad is executed and the contents of the file will be displayed. After this, image files are imported to ladder editor. PLC file conversion button - Command button that convert SEQ file created by user to PLC file then displays to the screen.

11-2 File creation method

- Please refer to SIGMA manual for detailed descriptions of sequence commands.

Load Functionality description 1) Start operation of contact point of a and b 2) Use on/off information of contact point as a result. OUT Functionality description Print results of the operations until OUT command to selected contact point. Example of programs L005 L006 L007 L008 L009 L010 LOAD B(1).0 OUT B(1).1 LOAD NOT B(1).0 OUT B(1).2 LOAD B(1).0 OUT B(1).3

File creation method 1) Activated as a blue shown in below when click on cell for drawing.

(Figure 11-2-1)

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LADDER EDITOR

iM - ; DaWin-Pro 2) Click on desired command button. (For example, click on LOAD button) 3) When button is clicked, message box enquiring contact point will appear.

(Figure 11-2-3)

4) Enter contact point and click OK button (Enter B(1).0) 5) Load command is entered in desired location as shown in below.

(Figure 11-2-5)

6) Click on OUT button. 7) Enter contact point in message box when prompted. (Refer to figure 11-2-3) 8) Load command is inserted in desired location as shown below.

(Figure 11-2-8)

9) Click on BAR button to fill up space between LOAD and OUT (It is not mandatory. Users can also use F2 button for same effect) 10) Continue the line as below.
(Figure 11-2-10)

11) When above process is repeated, a file is created as shown below.

(11-2-11)

12) If you wish to check created file as PLC file, click on button shown in figure 11-1. - 32 -

LADDER EDITOR

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(Figure 11-2-12)

13) When you finish with checking file, click on save button and assign desired names. (Created file at this point is saved to SEQPROGRAM folder of the PC) 14) If you wish to save and download to controller simultaneously, assign name from and click on the button to save.

AND

Functionality description 1) Series connection of contact point a and b 2) Performs AND operation on specified contact point of a and b as well as series connection and use them as a result.

OR

Functionality description 1) Parallel connection of contact point a and b 2) Performs OR operation on specified contact point of a and b as well as parallel connection and use them as a result Example of program L005 L006 L007 L008 L009 L010 LOAD B(1).0 AND B(2).0 OUT B(1).1 LOAD NOT B(1).0 OR B(2).0 OUT B(1).2 - 33 -

LADDER EDITOR

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File creation method 1) Draw LOAD image at desired contact point (Refer to figure 11-2-5) 2) Enter desired contact point beside image and click on LOAD button to draw image. (Method of drawing till AND B(2).0)

(Figure 11-3-2)

3) When OUT command button is clicked, drawing images is started (Refer to figure 11-2-8) 4) Displays LOAD NOT B(1).0 screen. 5) Changed the line and display LOAD (2).0.

(Figure 11-3-5)

6) Click on the cell displayed as B(2).0 below A-contact point and click on UP OR button within drawing window. Click on the cell displayed as B(1).0 above B-contact point and click on DOWN OR button. User can choose either A or B. 7) Completed ladder file is as follow.

(11-3-7)

8) Completed File is saved in the PC or Controller.

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LADDER EDITOR

iM - ; DaWin-Pro AND LOAD

Functionality description - Series AND operation connection between two blocks Example of program L005 L006 L007 L008 L009 L010 LOAD B(1).0 OR NOT B(2).0 LOAD B(1).1 OR B(2).1 AND LOAD OUT B(3).1

Type of program input

OR LOAD

Functionality description - Parallel OR operation connection between two blocks. Example of program L005 LOAD B(1).0 L006 OR NOT B(2).0 L007 LOAD B(1).1 L008 OR B(2).1 L009 AND LOAD L010 OUT B(3).1 Type of program input

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LADDER EDITOR

iM - ; DaWin-Pro D

SET Functionality description 1) Maintain ON status of output of contact point (SET) 2) Input while specified contact point is ON when condition of input is set to ON. Even when condition is set to off, the specified contact point is maintained as ON. RST

Functionality description 1) Maintain output of contact point as Off status (RESET) 2) When input condition is set to ON status, it maintains specified contact point as off status. Thus when input condition changes to on, the contact point is still maintained as off. Example of program L005 L006 L007 L008 LOAD B(1).0 SET B(1).1 LOAD B(2).0 RST B(1).1

Program input type

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LADDER EDITOR

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SR

Functionality description

1) Shift Data Right 2) Equipped with input types of shift data and shift pulse. 3) Data is right shifted by 1 bit by shift pulse and highest bit (MSB) has shift value and the value at the lowest bit (LSB) is removed.

Example of program L005 L006 L007 L008 L008 L009 L009 LOAD B(1).0 LOAD B(2).0 SR B(5) LOAD B(5).7 OUT B(6).0 LOAD B(5).5 OUT B(6).1

Program input type

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LADDER EDITOR

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SL

Functionality description 1) Shift Data Left 2) Equipped with input types of shift data and shift pulse. 3) Data is left shifted by 1 bit by shift pulse and lowest bit (LSB) has shift value and the value at the highest bit (MSB) is removed.

Example of program L005 L006 L007 L008 L008 L009 L009 LOAD B(1).0 LOAD B(2).0 SL B(5) LOAD B(5).0 OUT B(6).0 LOAD B(5).2 OUT B(6).1

Program input type

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LADDER EDITOR

iM - ; DaWin-Pro SC

Functionality description 1) Specified contact point Self-Holding 2) When input is set to ON status, it applies self-holding to corresponding output to maintain output when input type is set to off status. 3) At this point, the contact point of relevant byte is set to off automatically. Example of program L005 L006 L007 L008 Program input type LOAD B(1).0 SC B(5).0 LOAD B(1).1 SC B(5).1

TMR()

Functionality description 1) Output when time schedule is satisfied depending on configured time interval as well as additional conditions 2) Range of data input 1 ~ 65536 3) Addition time: 5 [ms] 4) Maximum number of used TMR (): Total of 64-TMR(0)~TMR(64)

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LADDER EDITOR

iM - ; DaWin-Pro Example of program L005 LOAD B(2).0 L006 LOAD B(1).0 L008 TMR(0) B(3).1 <D>300 Program input type

CTR()

Functionality description 1) Output by increasing +1 to current value depend on the pulse input if an abnormal configuration occurs. 2) When a reset signal is input (On Off), current location is set to 0. 3) Data input range: 1 ~ 65536 4) Maximum number of used CTR (): Total of 64-CTR(0) ~ CTR(63) Example of program L005 LOAD B(1).0 L006 LOAD B(2).0 L008 CTR(0) B(1).1 <D>5 Program input type

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LADDER EDITOR

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D2B Functionality description 1) Save after converting BCD value of byte to binary number depending on the input pulse. Example of program L005 LOAD B(1).0 L006 D2B B(0) B(5)

Program input type

MOVI

Functionality description 1) Copy global integer variable to specified global integer variable depending on the input pulse. Example of program L005 LOAD B(1).0 L006 MOVI GINT(2) GINT(1) Program input type

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LADDER EDITOR

iM - ; DaWin-Pro INC

Functionality description 1) Increase byte value by 1 depends on the input pulse. Example of program L005 LOAD B(1).0 L006 INC B(5) Program input type

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LADDER EDITOR

iM - ; DaWin-Pro DEC

Functionality description 1) Decrease by 1 of specified byte depending on the pulse input type.

Example of program L005 LOAD B(1).0 L006 DEC B(5)

Program input type

12. Contents of main menu

- The configurations of main menu are as follows: File New file, open, print, exit View Tool, channel status bar, view channel status Tool Option, change password Window Cascade type, horizontal cascading and vertical cascading type Help Index, search and about information

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LADDER EDITOR

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12.1 File
12.1.1 Create new file 1) When select new file from file menu, dialog box will appear asking for file type as shown in figure 4.1.

(Figure 12.1.1.1)

2) When select motion program file button, memo pad application starts as shown below. (Creation of point file and sequence file are identical)

(Figure 12.1.1.2)

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MAIN MENU

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3) When creating a new file a. User can write uppercase of alphabetic character in memo pad directly. b. Select desired command (Figure 12.1.1.3) or double click on command from the form activated below program selection tree (Figure 12.1.1.4).

Figure 12.1.1.3

For example, if you wish to add SPD= command, double click on grey area will created command on the memo pad.

Figure 12.1.1.4

12.1.2 Save created file - Method of saving file is identical to other Window based application. However, if the file is motion program, assign *.PGM, *.PNT for point file and *.SEQ for sequence program.

12.2 Edit
- In case of editing, use Ctrl-C (copy), Ctrl-V (paste), Ctrl-Z (undo) and Ctrl-A (select all) command similar to Window memo pad application.

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MAIN MENU

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12.3 Compile
- Validate correctness of created motion and sequence program.

(Figure 12.3.1) - On top left of window, the button called compile is activated as shown in figure 12.3.1. - Create desired program and save it to PC then run compile command.

(Figure 12.3.2) - 46 -

MAIN MENU

iM - ; DaWin-Pro - If the program does not contain any syntax error, No error message is displayed (Figure 12.3.2) - If the program contains syntax error, error messages and line number are displayed in the window.

12.4 Option
Check communication disconnection time (sec)

Changeable element depend on the screen size

(Figure 12.4)

12.5 Password change

(Figure 12.5)

- Form to change password when program starts. and confirm password are identical.

Password can only be changed when new password

12.6 Information
- Provides short descriptions about program.

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MAIN MENU

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13 Menu tool bar

(Figure 13)

- Provides same functionalities as main menu however, tool bar provides more convenience - Similar to main menu, the contents of tool bar menu changes as selected for specific functionality. - For example, in case of file creation (12.1.1), menu tool bar changes as below (Figure 13).

(Figure 13.1)

Changed contents provides additional buttons such as edit as shown in figure 12.1

14. View channel status window

- Displays current status of robot that has been applied by user selected program.

(Figure14)

(Figure14.1)

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CHANNEL STATUS

iM - ; DaWin-Pro As shown in figure 6 and 6-1, as current location is selected, changes of A0, A1, A2 and A3 (location of axis) can be identified. Also, as the value in speed window changes (100 %-> 50 %), changes of current speed can be identified. Caution: If you not press the configure button after changes of the speed, the speed modified can not be applied and if an automatic refresh box is not selected, speed is changing however can be monitored and identified by eyes.

15. Example of system sequence program

15.1 Case of concurrent all channel operation
Description of program 1. Uses 4 channels 2. Achieve following functionalities by using H/W Input signal B(0) Port . B(0).0: Input Run command to all channels B(0).1: Input STOP command to all channels B(0).2: Input ORIGIN command to all channels B(0).3: Input EMG command to all channels B(0).4 : Input Alarm Reset command to all channels Example of program // RUN LOAD B(0).0 AND B(304).0

// Channel 1 Active condition and AND - 49 -

EXAMPLE (*.SEQ)

iM - ; DaWin-Pro D B(260).0 LOAD B(0).0 AND B(308).0 D B(270).0 LOAD B(0).0 AND B(312).0 D B(280).0 LOAD B(0).0 AND B(316).0 D B(290).0 // STOP LOAD B(0).1 D B(260).2 LOAD B(0).1 D B(270).2 LOAD B(0).1 D B(280).2 LOAD B(0).1 D B(290).2 // ORG LOAD B(0).2 AND B(304).0 D B(260).4 LOAD B(0).2 AND B(308).0 D B(270).4 LOAD B(0).2 AND B(312).0 D B(280).4 LOAD B(0).2 AND B(316).0 D B(290).4 // ESTOP LOAD B(0).3 D B(256).0 // Reset LOAD B(0).4 D B(256).1 PEND // Channel 1 Run Command // Channel 2 Active condition and AND // Channel 2 Run Command // Channel 3 Active condition and AND // Channel 3 Run Command // Channel 3 Active condition and AND // Channel3 Run Command

// Channel1 Stop Command // Channel2 Stop Command // Channel3 Stop Command // Channel4 Stop Command

// Channel1 Active condition and AND // Channel1 Origin Command // Channel2 Active condition and AND // Channel2 Origin Command // Channel3 Active condition and AND // Channel3 Origin Command // Channel4 Active condition and AND // Channel4 Origin Command

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EXAMPLE (*.SEQ)

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15.2 Case of different origin between channels

Description of program 1. Uses 3 channels and performs return of origin of channel 1 after return of origin of channel 2 and channel 3 have completed. 2. Uses signal to H/W Input B(0).4 port as a return of origin signal. B(0).4: Return of origin signal of user Example of program LOAD B(0).4 AND NOT B(304).1 AND NOT B(308).1 AND NOT B(312).1 D B(270).4 LOAD B(270).4 D B(280).4 LOAD B(308).4 AND B(312).4 SET B(100).0 LOAD B(100).0 AND NOT B(308).4 AND NOT B(312).4 SET B(100).1 LOAD B(100).1 RST B(100).0 LOAD B(100).1 D B(260).4 LOAD B(100).1 AND B(304).4 SET B(100).2 LOAD B(100).2 RST B(100).1 LOAD B(100).2 AND NOT B(304).4 RST B(100).2 PEND // Input origin of signal of user // Channel1 Run Flag (If not in operation) // Channel2 Run Flag (If not in operation) // Channel3 Run Flag (If not in operation) // Channel2 Org Command // Channel2 Org Command // Channel3 Org Command // Flag of return of origin activity of channel2 // Flag of return of origin activity of channel3 // Internal variable (Channel2,3 have initiate return of origin activity) // Flag of return of origin activity of channel2 // Flag of return of origin activity of channel3 // Internal variable (Channel2,3 have completed return of origin activity) // After Channel2,3 return of origin activity // Channel1 Org Command // Channel1 Org Command // Flag of return of origin activity of channel1 // Internal variable (Channel1 has initiated return of origin activity)

// Flag of return of origin activity of channel1 (Channel1 has completed return of origin activity)

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EXAMPLE (*.SEQ)

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15.3 Case of operations by using front panel switch of controller

Description of program 1. Performs following functionalities by using two switches provided in front panel of controller. 2. Two switches: START/ORG, STOP/RST 3. Operation functionality - RUN, STOP, ORG, RESET, Program Reset 4. Functionalities of switches - START/ORG: Operates by input of return of origin before return of origin activity and by program after return of origin has completed. - STOP/RST: Provide function of Stop while operate, Reset during alarm status and reset (initialization) during stopped state by pressing approximately 0.5 seconds. Example of program LOAD B(300).2 // Run/Org Panel S/W Load AND B(304).0 // Channel1 Active Flag AND NOT B(304).6 // Channel1 Org OK Flag AND NOT B(304).1 // Channel1 Run Flag D B(260).4 // Channel1 Org Command LOAD B(300).2 // Run/Org Panel S/W Load AND B(304).0 // Channel1 Active Flag AND NOT B(304).4 // Flag of return of origin activity of channel1 D B(260).0 // Channel1 Run Command LOAD B(300).3 // Stop/Reset Panel S/W Load AND B(304).1 // Flag of channel1 during Run state D B(260).2 // Channel1 Stop Command LOAD B(300).3 // Stop/Reset Panel S/W Load AND B(304).7 // Channel1 Error Flag D B(260).5 // Channel1 Reset Command LOAD B(300).3 // Stop/Reset Panel S/W Load AND NOT B(304).7 // Channel1 Error Flag (Normal state) AND NOT B(304).1 // Channel1 Run Flag (Stop state) D B(100).0 // Reset S/W is pressed during stop state not Alarm state LOAD B(100).0 LOAD B(100).0 TMR(0) B(101).0 <D> 100 // 0.5s Timer LOAD B(101).0 D B(262).2 // Channel1 Pgm Reset LOAD NOT B(304).2 // Channel1 PgmLoad Flag (If program has initialized) RST B(262).2 // Pgm Reset Clear LOAD NOT B(304).2 RST B(100).0 LOAD NOT B(304).2 RST B(101).0 PEND

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EXAMPLE (*.SEQ)

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16. Characteristic of DaWin_Pro

- Program modification history and introduction: Previous Sigma_HostProgram has restriction of ROM version. As ROM version changes, program had to be updated in order to execute properly. As results, user had difficulties in maintaining the program and cause inconvenience. For this reason, new host version has released. (Name, icon and install file) - How to use: The methods are identical to previous version. However, 6 point file access which was not available in previous version has added. Also, 6th axis control and monitoring are also possible as iM-SUPER and iMS-J HostProgram. - Caution 1. Unlike previous host, new DaWin_Pro import text file to define structure of the program. In other word, there are parameter.txt and option.txt in the config directory under program install directory. By using these files, the structure of program is decided. Therefore, users must make sure that these two files are existed. Also, if you change these file name, program will not be executed. Path: Installed Directory -> Config -> Parameter.txt and Option.txt 2. Version management Most of values in Parameter.txt are provided with default setting. Check Parameter version in Miscel for each ROM version and corresponding parameters. Please refer to picture below:

3. Increase of number of PointFile - Previous Sigma Host monitors and controls 4th axis. New version of Sigma DaWin_Pro has modified to monitor and control 6th axis. Therefore, transferring functionality 4 PointFiles have increased to 6 PointFiles as well as transferring of coordinate and hand used in scalar and can be displayed within the program.

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CHARACTERISTIC