YASKAWA YRC1000micro Instructions Manual

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YRC1000micro OPTIONS

INSTRUCTIONS

User’s Manual For New Language Environment MotoPlus

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference.

MOTOMAN INSTRUCTIONS

MOTOMAN-



INSTRUCTIONS

YRC1000micro INSTRUCTIONS

YRC1000micro OPERATOR’S MANUAL

YRC1000micro MAINTENANCE MANUAL

YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)

The YRC1000micro alarm codes above consists of “MAJOR ALARMS” and “MINOR ALARMS”.

181269-1CD

MANUAL NO.

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DANGER

• This manual explains MotoPlus of the YRC1000micro system.

Read this manual carefully and be sure to understand its contents before handling the YRC1000micro. Any matter not described in this manual must be regarded as "prohibited" or "improper".

• General information related to safety are described in "Chapter 1.

Safety" of the YRC1000micro INSTRUCTIONS. To ensure correct and safe operation, carefully read "Chapter 1. Safety" of the

YRC1000micro INSTRUCTIONS.

CAUTION

• In some drawings in this manual, protective covers or shields are removed to show details. Make sure that all the covers or shields are installed in place before operating this product.

• YASKAWA is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids the product warranty.

NOTICE

• The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product.

• YASKAWA may modify this model without notice when necessary due to product improvements, modifications, or changes in specifications. If such modification is made, the manual number will also be revised.

• If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover.

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Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or inspection of the YRC1000micro.

In this manual, the Notes for Safe Operation are classified as “DANGER”,

“WARNING”, “CAUTION”, or “NOTICE”.

DANGER

WARNING

CAUTION

NOTICE

Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury.

Safety Signs identified by the signal word DANGER should be used sparingly and only for those situations presenting the most serious hazards.

Indicates a potentially hazardous situation which, if not avoided, will result in death or serious injury.

Hazards identified by the signal word WARNING present a lesser degree of risk of injury or death than those identified by the signal word

DANGER.

Indicates a hazardous situation, which if not avoided, could result in minor or moderate injury. It may also be used without the safety alert symbol as an alternative to

“NOTICE”.

NOTICE is the preferred signal word to address practices not related to personal injury. The safety alert symbol should not be used with this signal word. As an alternative to

“NOTICE”, the word “CAUTION” without the safety alert symbol may be used to indicate a message not related to personal injury.

Even items described as “CAUTION” may result in a serious accident in some situations.

At any rate, be sure to follow these important items.

NOTE

To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as “DAN-

GER”, “WARNING” and “CAUTION". iii

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DANGER

• Before operating the manipulator, make sure the servo power is turned OFF by performing the following operations. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.

– Press the emergency stop button on the programming pendant or on the external control device, etc.

– Disconnect the safety plug of the safety fence.

(when in the play mode or in the remote mode)

If operation of the manipulator cannot be stopped in an emergency, personal injury and/or equipment damage may result.

Fig. : Emergency Stop Button

• Before releasing the emergency stop, make sure to remove the obstacle or error caused the emergency stop, if any, and then turn the servo power ON.

Failure to observe this instruction may cause unintended movement of the manipulator, which may result in personal injury.

Fig. : Release of Emergency Stop

TURN

• Observe the following precautions when performing a teaching operation within the manipulator's operating range:

– Be sure to perform lockout by putting a lockout device on the safety fence when going into the area enclosed by the safety fence. In addition, the operator of the teaching operation must display the sign that the operation is being performed so that no other person closes the safety fence.

– View the manipulator from the front whenever possible.

– Always follow the predetermined operating procedure.

– Always keep in mind emergency response measures against the manipulator’s unexpected movement toward a person.

– Ensure a safe place to retreat in case of emergency.

Failure to observe this instruction may cause improper or unintended movement of the manipulator, which may result in personal injury.

• Confirm that no person is present in the manipulator's operating range and that the operator is in a safe location before:

– Turning ON the YRC1000micro power

– Moving the manipulator by using the programming pendant

– Running the system in the check mode

– Performing automatic operations

Personal injury may result if a person enters the manipulator's operating range during operation. Immediately press an emergency stop button whenever there is a problem. The emergency stop button is located on the right of the programming pendant.

• Read and understand the Explanation of the Warning Labels before operating the manipulator.

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DANGER

• In the case of not using the programming pendant, be sure to supply the emergency stop button on the equipment. Then before operating the manipulator, check to be sure that the servo power is turned OFF by pressing the emergency stop button.

Connect the external emergency stop button to the 4-14 pin and

5-15 pin of the Safety connector (Safety).

• Upon shipment of the YRC1000micro, this signal is connected by a jumper cable in the dummy connector. To use the signal, make sure to supply a new connector, and then input it.

If the signal is input with the jumper cable connected, it does not function, which may result in personal injury or equipment damage.

WARNING

• Perform the following inspection procedures prior to conducting manipulator teaching. If there is any problem, immediately take necessary steps to solve it, such as maintenance and repair.

– Check for a problem in manipulator movement.

– Check for damage to insulation and sheathing of external wires.

• Return the programming pendant to a safe place after use.

If the programming pendant is left unattended on the manipulator, on a fixture, or on the floor, etc., the Enable Switch may be activated due to surface irregularities of where it is left, and the servo power may be turned ON. In addition, in case the operation of the manipulator starts, the manipulator or the tool may hit the programming pendant left unattended, which may result in personal injury and/or equipment damage. v

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Definition of Terms Used Often in This Manual

The MOTOMAN is the YASKAWA industrial robot product.

The MOTOMAN usually consists of the manipulator, the YRC1000micro controller, manipulator cables, the YRC1000micro programming pendant

(optional), and the YRC1000micro programming pendant dummy connector (optional).

In this manual, the equipment is designated as follows:

Equipment Manual Designation

YRC1000micro controller YRC1000micro

YRC1000micro programming pendant Programming pendant (optional)

Manipulator cable Cable between the manipulator and the controller

YRC1000micro programming pendant dummy connector

Programming pendant dummy connector (optional)

Descriptions of the programming pendant keys, buttons, and displays are shown as follows:

Equipment

Programming

Pendant

PC Keyboard

Character Keys

/Symbol Keys

Axis Keys

/Number Keys

Keys pressed simultaneously

Mode Key

Button

Displays

Manual Designation

The keys which have characters or symbols printed on them are denoted with [ ].

ex. [ENTER]

[Axis Key] and [Numeric Key] are generic names for the keys for axis operation and number input.

When two keys are to be pressed simultaneously, the keys are shown with a “+” sign between them, ex. [SHIFT]+[COORD]

Three kinds of modes that can be selected by the mode key are denoted as follows:

REMOTE, PLAY, or TEACH

Three buttons on the upper side of the programming pendant are denoted as follows:

HOLD button

START button

EMERGENCY STOP button

The menu displayed in the programming pendant is denoted with { }.

e.g. {JOB}

The name of the key is denoted.

e.g. Ctrl key on the keyboard vi

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Description of the Operation Procedure

In the explanation of the operation procedure, the expression "Select • • • " means that the cursor is moved to the object item and [SELECT] is pressed, or that the item is directly selected by touching the screen.

Registered Trademark

In this manual, names of companies, corporations, or products are trademarks, registered trademarks, or brand names for each company or corporation. The indications of (R) and

are omitted. vii

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Contents

1 Outline............................................................................................................................................. 1-1

1.1 Introduction ........................................................................................................................ 1-1

1.2 Features............................................................................................................................. 1-1

1.3 What MotoPlus Can Do .....................................................................................................1-2

1.4 Supported Services............................................................................................................ 1-3

1.5 Application Program Development Environment ............................................................... 1-5

1.5.1 Development Environment Configuration ............................................................. 1-5

1.5.2 Development Environment Component................................................................ 1-6

1.5.3 Application Program Execution Environment ....................................................... 1-7

1.5.4 Development Flow ................................................................................................ 1-8

1.6 Notes ................................................................................................................................. 1-9

2 Development Environment Setup ................................................................................................... 2-1

2.1 DVD Contents .................................................................................................................... 2-1

2.2 Installation of Development Environment Software ........................................................... 2-2

2.3 Installation of TELNET Connection Utility .......................................................................... 2-4

3 Creating Application Software......................................................................................................... 3-1

3.1 Rules for Creating Program Source Code ......................................................................... 3-1

3.2 Creating MotoPlus Project ................................................................................................. 3-3

3.3 Outline of MotoPlus IDE..................................................................................................... 3-4

3.4 Text Search........................................................................................................................ 3-5

3.5 MotoPlus Library Files ....................................................................................................... 3-5

3.6 Program Build (Compile/Link) ............................................................................................ 3-5

3.7 Changing Build Settings..................................................................................................... 3-6

3.8 How to Use the DX200 Projects on YRC1000micro .......................................................... 3-7

3.8.1 Difference Points of the API.................................................................................. 3-7

4 Valid/Invalid Setting of MotoPlus Function...................................................................................... 4-1

5 Installation and Start-up of Application Program............................................................................. 5-1

5.1 Installation of Application Program in Maintenance Mode ................................................. 5-1

5.2 Start-up of Application Program......................................................................................... 5-6

5.3 To Temporarily Prevent MotoPlus Application from Starting ............................................. 5-6

6 User Defined File ............................................................................................................................ 6-1

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Contents

6.1 Saving in and Reading from External Memory .................................................................. 6-1

6.1.1 Procedure to Save or Read User Defined File ..................................................... 6-1

6.2 Initialization of User Defined File ....................................................................................... 6-3

6.3 Setting of File Control Task Priority Limit........................................................................... 6-5

6.3.1 Changing File Control Task Priority Limit ............................................................. 6-5

7 Debugging ...................................................................................................................................... 7-1

7.1 Debugging Environment .................................................................................................... 7-1

7.2 Connecting YRC1000micro with PC.................................................................................. 7-2

7.3 Debugging via Telnet Communication............................................................................... 7-4

7.3.1 Operation Procedure ............................................................................................ 7-4

7.3.2 Example Usage of Printf() .................................................................................... 7-7

7.4 Debugging by User Variables of YRC1000micro............................................................... 7-8

8 Development Support Tool ............................................................................................................. 8-1

8.1 Outline ............................................................................................................................... 8-1

8.1.1 Introduction........................................................................................................... 8-1

8.1.2 Overview of Functions .......................................................................................... 8-1

8.2 Using the Support Tool ...................................................................................................... 8-2

8.2.1 Support for the Functions ..................................................................................... 8-3

8.3 Basic Settings .................................................................................................................... 8-4

8.3.1 Connecting a PC with the YRC1000micro............................................................ 8-4

8.3.2 Communication Settings....................................................................................... 8-4

8.3.3 Setting Procedure................................................................................................. 8-4

8.4 Online Download ............................................................................................................... 8-5

8.4.1 System Settings ................................................................................................... 8-5

8.4.2 Inserting the USB Memory in the Controller ......................................................... 8-5

8.4.3 Operating Procedure ............................................................................................ 8-6

8.5 Application Property List .................................................................................................... 8-7

8.5.1 Operating Procedure ............................................................................................ 8-7

8.5.2 How to Set Application Information ...................................................................... 8-8

8.5.3 Setting Procedures............................................................................................... 8-9

8.6 Port Debug ...................................................................................................................... 8-10

8.6.1 Measuring Procedures ....................................................................................... 8-11

8.6.2 Optional for Measuring ....................................................................................... 8-12

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Contents

8.6.3 How to Mount the Application ............................................................................. 8-13

8.6.4 Debug Port APIs ................................................................................................. 8-14

8.7 Copy Protection ............................................................................................................... 8-18

8.7.1 Protection Activation (MotoPlusIDE)................................................................... 8-18

8.7.2 Acquiring the Serial File (MotoPlus Monitor) ...................................................... 8-19

8.7.3 Generating the Protection Key (MotoPlusIDE) ................................................... 8-19

8.7.4 Loading the Protection Key (MotoPlus Monitor) ................................................. 8-20

8.7.5 Useful Functions (MotoPlusIDE)......................................................................... 8-21

8.7.5.1 Generate and Download the Protection Key ......................................... 8-21

8.7.5.2 Download the Application and the Protection Key Simultaneously ....... 8-21

9 Alarm List ........................................................................................................................................ 9-1

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1 Outline

1.1

Introduction

1.1 Introduction

This function is used to develop customer specific applications that operate on the main CPU board (ACP30 circuit board) of the

YRC1000micro. The function name MotoPlus is an abbreviation of

Moto man Professional P rogramming L ang u age for S uperior Use.

MotoPlus is a programming IDE (integrated development environment) for professionals, with which the application program developed on the PC using C language runs as a task of the robot controller. Users can develop a variety of application programs on their own without modifying the source codes of the robot controller.

NOTE

To use the MotoPlus function, set the MotoPlus FUNC. to

“USED” in the OPTION FUNCTION of the maintenance mode.

1.2 Features

1. With C language as the system development language and a wealth of standard libraries, users can create customer specific application programs.

2. With the text editor of MotoPlus IDE, users can program off-line.

3. The created application program runs as a task on the main CPU of the robot controller. Thus, no additional hardware is required.

4. The created application program runs as the native code of the CPU.

Thus, the execution speed becomes faster.

5. With a variety of included APIs (application program interface) to transmit data from/to the job and the Ethernet communication port, users can easily correct the manipulator position and connect the robot to the external PC or sensors.

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1 Outline

1.3

What MotoPlus Can Do

1.3 What MotoPlus Can Do

Users can use the C language, a general programming language, and the

C language and MotoPlus libraries to develop a customer specific application program in which various types of resources are used, e.g., the Ethernet communication port and the programming pendant of the robot controller. Refer to

fig. 1-1 “Available Resources for MotoPlus”

Fig. 1-1: Available Resources for MotoPlus

JOB task

Data transmission

Application task

Data transmission

ＣＩＯ

Power

Load from the SD / start

Data transmission

(File input)

SD card

(ACP31 SD file ）

Data transmission

(Winsock)

Ethernet

(RJ45)

(Socket communication

Ethernet)

PC Panel computer Vision

Application program examples:

1. Operation to correct the manipulator position by a communication program with a vision sensor or other sensors, and by data from the sensor

2. Data transmission with an external PC via the Ethernet (TCP/IP) communication

3. JOB execution sequence control

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1 Outline

1.4

Supported Services

1.4 Supported Services

MotoPlus provides users with a variety of services as follows:

1. Application task control

Application task start/stop, data transmission between application programs by the mailbox and semaphore, exclusive control and execution synchronization

2. Robot control

Robot control from the application program

3. JOB control

Start-stop control of the JOB by the application, data transmission between Jobs by variables (byte, integer, double-precision, floatingpoint, character string, and position variable), and execution synchronization

4. CIO control

I/O between the application program and the CIO, and read/ write of the register

5. Ethernet communication control

The Ethernet (TCP/IP) communication from the application, especially using the socket function library included as an API

6. Programming pendant communication

Data transmission between the application and the programming pendant application

7. EVENT

Event notification to the application at every I/O control cycle and interpolation control cycle of the system

8. Sensor control

The APIs which transfer data to and from a job and change operating conditions such as path correction and speed change, and the instructions which transfer data between a job and MotoPlus application

9. Memory management

The protected memory management

Specific instructions, malloc and mfree, support the data area which the system manages for MotoPlus.

10. General-purpose file control

The function to access multiple general-purpose files by using the fixed area on CMOS as a drive

11. Existing file control

The function to access existing files (jobs and condition files, etc. which can be loaded and saved by external memory)

12. Servo control

Servo control from the application program

13. User watchdog

Watchdog to monitor whether the application operates normally

14. Coordinate conversion

Calculation of the manipulator order or inverse kinematics, coordinate conversion, pulse conversion from the feedback pulse to the arithmetic pulse, or linear algebra calculation.

15. Development environment

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1 Outline

1.4

Supported Services

(1) Integrated development environment (MotoPlus IDE) for source file project management, program editor, and compiler and linker

(2) Installation of the MotoPlus application from the SD/USB memory in the programming pendant

(3) Debugging by printf() via Telnet

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1 Outline

1.5

Application Program Development Environment

1.5 Application Program Development Environment

A MotoPlus application program is written in C language on a PC and debugged on the YRC1000micro controller. Use the text editor of

MotoPlus IDE to write the application program, then compile and link it to create the execution object. This is installed and executed on the

YRC1000micro to debug.

1.5.1 Development Environment Configuration

Use a PC to develop an application program. The system is configured as

shown in fig. 1-2 “Development Environment Configuration”

to debug using Telnet. Install the developed application by loading it to the SD of the main CPU (ACP31) using the SD/USB memory in the programming pendant.

Fig. 1-2: Development Environment Configuration

Robot controller

PC (Windows 7 (32bit) /

Windows 10)

SD/USB memory

(Load)

Main CPU

　 (SD)

X-

S-

Y-

L-

X+

S+

Y+

L+

高速

高

低

8 9

Z-

T-

Z+

T+

選　択

Ethernet

Program development environment Program execution environment

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1 Outline

1.5

Application Program Development Environment

1.5.2 Development Environment Component

No. Device

Windows PC

Text editor

Compiler

Linker/library

MotoPlus library

SD/USB memory

Ethernet cable

Ethernet hub

Installation DVD

Details

CPU: 1GHz or more

Memory: 1 Gbyte or more

Hard disk space: 40 Gbyte or more

OS: Windows 7 (32bit)

Windows 10

Creates the application source program in C language.

MotoPlus IDE editor is recommended. (A commerciallyavailable text editor and Windows Notepad can also be used.)

Converts the source program into the machine language of the target CPU.

Integrated in MotoPlus IDE, and can be executed from the menu.

Links the C language library provided by GNU with the developed application program to create an executable load module.

Integrated in MotoPlus IDE, and can be executed from the menu.

API library which provides application program services of the robot controller such as data communication with JOB.

Integrated in MotoPlus IDE.

SD memory or USB memory to load the developed load module into the controller.

Connects the PC with the controller via Ethernet to debug the developed program.

CAT5 or greater (cross/straight) cable

Connects the PC with the controller.

Installs the above-mentioned software on the Windows PC.

Remarks

Prepared by the user

Provided by

YASKAWA

Provided by

YASKAWA

Provided by

YASKAWA

Prepared by the user

Provided by

YASKAWA

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1 Outline

1.5

Application Program Development Environment

1.5.3 Application Program Execution Environment

The application program developed in the above-mentioned program development environment is stored in the SD on the main CPU (ACP31)

of the robot controller, as shown in fig. 1-3 “Program Execution

Environment”

Fig. 1-3: Program Execution Environment

ACP31 built-in SD memory

ACP30 circuit board

Controller OS

startup

Application

program

(MotoPlusApl.out)

Load, startup

System

JOB

obtain data

MotoPlusApl.

out

Application

program

When the controller power is turned ON, the application program

MotoPlusApl stored in the SD on the main CPU (ACP31), is loaded into the memory of the ACP30 circuit board. Then, the application program is started as a task on the real-time operating system controller OS, and executed synchronously with the system program. The application task can start multiple tasks, and can perform data transmission with JOB or

I/O, synchronous execution control, and exclusive control, by using the mailbox or semaphore.

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1 Outline

1.5

Application Program Development Environment

1.5.4 Development Flow

Fig. 1-4: Program Development Flow

Modify the program

Write the source program in

C language by using the editor of MotoPlus IDE.

By using MotoPlus IDE, compile the source program (e.g. abc.c) and create an application program

(e.g. abc.o).

<3.1 Rules for Creating Program Source Code>

Use the editor of MotoPlus IDE.

Notepad, WordPad, or another text editor can also be used.

<3.2 Creating MotoPlus Project>

Use GNU C compiler provided by YASKAWA (included in

MotoPlus IDE).

No compile error?

Link the above-mentioned object modules with the C language library and the robot library to create the execution module (e.g. MotoPlusApl.out).

No compile error?

Load the application program into the robot controller.

Start the application program.

Debug.

OK?

Development completed.

<3.2 Creating MotoPlus Project>

Use GNU linker and library.

Only static links are supported.

ELF (Executable and Linkable

Format) is used as the module.

Compiling and linking are done simultaneously by MotoPlus IDE.

<4.1 Installation of Application

Program in Maintenance Mode>

Relocatable module with

ELF object format.

<4.2 Start-up of Application

Program>

1. Starts with turning ON the power.

<5. Debugging>

Debug by connecting to SHELL, system software, via TELNET.

Use printf() and puts().

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1 Outline

1.6

Notes

1.6 Notes

NOTE

• C language memory operation

When programming in C language, the pointer variable which stores the memory address can be used. If the pointer variable is set incorrectly, the system memory area may be rewritten.

If the system memory area is rewritten, critical problems occur, e.g., the software hangs up (the hang-up status is detected by a CPU exception or the watchdog check function, then the servo power turns OFF and the system shuts down), the robot stops its operation due to an alarm, or the programming pendant becomes inoperable.

If the system memory operation is incorrect, the application itself may not operate as it is designed. Thus, by testing adequately, the error location can be found. Check the functions of the application software well enough, and make sure that all functions operate as designed.

• Task “mpUsrRoot” which starts when the power is turned ON

The task “mpUsrRoot” has a high priority to start other application tasks and initialize the entire application quickly. Due to its high task priority, if a time-consuming process (100 microseconds or longer) is done in this task, the processing time for the robot control becomes insufficient. Then the system alarm may occur or the programming pendant or the HOLD button may freeze. Thus, as the sample program (refer to

“Chap.17.3 Task Control Sample Program” in “YRC1000micro

OPTIONS INSTRUCTIONS Programmer’s Manual For New

Language Environment MotoPlus (HW1484526)”, make sure to complete the task “mpUsrRoot” after starting up another application or creating a semaphore.

• Debugging via Telnet

1. After completing debugging, set the Telnet function to

INVALID (S2C1119 = 0). This is because the Telnet function consumes the system processing time, and an alarm may occur due to insufficient processing time for robot operation.

2. With the Telnet function, debug only the tasks with normal priority. For debugging the tasks with high priority (the tasks started with the task priority:

MP_PRI_IO_CLK_TAKE, MP_PRI_IP_CLK_TAKE, or

MP_TIME_CRITICAL, or the task “mpUsrRoot”), use the variables of the YRC1000micro. This is because, if printf() or puts() is done with a high priority task, the processing time for the robot operation control is consumed, and a system alarm may occur due to insufficient processing time.

3. After completing debugging, make sure to clear the debugging code using printf() or puts() which is described in the source code. This is because the processing time of printf() and puts() influences the system, and an error may occur such as insufficient processing time during robot operation.

4. When using the SHELL debugging function of the controller OS which becomes available by connecting with the YRC1000micro via Telnet, a system alarm may occur due to insufficient processing time for robot operation. Do NOT use the SHELL debugging function.

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2 Development Environment Setup

2.1

DVD Contents

2 Development Environment Setup

2.1 DVD Contents

The DVD contains the following items.

Root

Folder

Manual

(Japanese/

English)

Sample

VisualStudio

2015

Sentinel

Driver

Contents

MotoPlus IDE installer

MotoPlus user’s manual

Remarks

MotoPlus programmer’s manual

MotoPlus reference manual

GCC manual

Sample source code

Installer of VisualStudio2015 Service

Pack

Installer of the system driver for the hardware key

MotoPlus outline, installation procedure of the development environment, and development procedure

Programming procedure

API specifications

2-1

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2 Development Environment Setup

2.2

Installation of Development Environment Software

2.2 Installation of Development Environment Software

Install MotoPlus IDE as indicated in the following procedure.

1. Insert the MotoPlusIDE installation DVD in the DVD slot on the PC.

If AutoRun is enabled, the installation starts.

If not, run “setup.exe” in the DVD.

2. Install MotoPlusIDE.

The installation window of the MotoPlusIDE appears.

3. Click 〔 Next> 〕 .

The following window appears to specify the installation destination folder.

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2 Development Environment Setup

2.2

Installation of Development Environment Software

4. Click 〔 Next> 〕 .

The following confirmation window for installation appears.

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5. Click 〔 Next> 〕 .

The progress of the installation appears.

When the installation is completed properly, the following window appears.

Upon completing the installation, shortcuts of MotoPlusIDE are added on the desktop and in the Programs folder of the Start menu.

6. After completing the installation, restart the PC.

Shutdown the PC and restart it.

7. Install the system driver for the hardware key.

After restarting the PC, start “SentinelSystemDriverInstaller7.5.9.exe” in the “SentinelDriver” folder in the installation DVD.

8. Install the hardware key.

Insert the provided hardware key into any available USB connector.

The message “Your new hardware is installed and ready to use.” will appear in the taskbar.

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2 Development Environment Setup

2.3

Installation of TELNET Connection Utility

2.3 Installation of TELNET Connection Utility

To debug the MotoPlus application, connect the YRC1000micro and the

PC via TELNET and describe using printf() in the application program.

Thus, the TELNET connection utility is prepared. Install it by following the procedure below.

1. Copy the entire “YRC1000_TELNET” folder in the MotoPlus installation DVD into an appropriate hard disk of the PC.

(“YRC1000_TELNET.exe” and “YRC1000_TELNET.ini” must be in the same folder.) Run “YRC1000_TELNET.EXE” to connect to the

YRC1000micro via TELNET.

2. Also, configure the settings of TELNET connection by

“YRC1000_TELNET.ini”. Set the IP address of the YRC1000micro here. ipaddress: IP address of the YRC1000micro

(Set the same IP address as the one set in the HOST

SETUP window.) sendtime: Waiting time from the startup of “YRC1000_TELNET.EXE” until starting the TELNET connection (default value: 8, unit: sec) inputTime: Waiting time from starting the TELNET connection until starting to login (default value: 4, unit: sec)

NOTE

When the setup utility completes, you must also install the system driver for the hardware key. Start “Sentinel System

Driver Installer 7.5.9.exe” to install the driver.

3. Insert the provided hardware key into any available USB connector.

The message “Your new hardware is installed and ready to use.” will appear in the taskbar.

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3 Creating Application Software

3.1

Rules for Creating Program Source Code

3 Creating Application Software

3.1 Rules for Creating Program Source Code

Be sure to observe the following rules when creating the source code.

Refer to “YRC1000micro OPTIONS INSTRUCTIONS Programmer’s

Manual For New Language Environment MotoPlus (HW1484526)” for detailed information on programming configuration, files to be included, and sample programs.

Please remember that the source code should follow ANSI-C syntax. The only exception is that users should not define a “main (…)” function. This is replaced by “mpUsrRoot(…)”.

1. Up to 32 one-byte characters can be used for a file name. Up to 16 two-byte characters can also be used. File names are case-sensitive.

Set “.c” as the extension.

2. Put “#include<MotoPlus.h>” at the top of each source code file. When

“MotoPlus.h” is included, the information of all services provided by

MotoPlus is included.

3. The application entry point is the function which is called from the system software when the YRC1000micro is started. This function must be described as: void mpUsrRoot (int arg1, int arg2, int arg3, int arg4, int arg5, int arg6, int arg7, int arg8, int arg9, int arg10)

Be sure to describe mpExitUserRoot at the end of the mpUserRoot function.

void mpUsrRoot (int arg1, int arg2, int arg3, int arg4, int arg5, int arg6, int arg7, int arg8, int arg9, int arg10)

{

/* 10 parameters from arg1 to arg10*/ mpExitUsrRoot;// End of mpUsrRoot program (End of the task)

} e.g. filename: abc.c

* The original argument of arg1 to arg10 is mpUsrRoot. arg1 to arg10

are prepared to receive arguments in the future.

At present, arg1 is the function name of the user entry, and arg2 to

arg 10 are reserved for the manufacturer (if referenced, all of them

are “0”).

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3.1

Rules for Creating Program Source Code

NOTE

HOLD button may freeze. Thus, as the sample program

(refer to “Chap.17.3 Task Control Sample Program” in

“YRC1000micro OPTIONS INSTRUCTIONS Programmer’s Manual For New Language Environment MotoPlus

(HW1484526)”, make sure to complete the task “mpUsr-

Root” after starting up another application or creating a semaphore.

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3 Creating Application Software

3.2

Creating MotoPlus Project

3.2 Creating MotoPlus Project

Start MotoPlus IDE from the Windows Start menu. The window of

MotoPlus IDE, similar to that of Visual Studio, appears.

To create a MotoPlus application, create a project first. The project is the unit to manage the source files for each application program.

All of the source files required for the application are included in the project. Double-click an existing project in Windows Explorer, then

MotoPlus IDE automatically starts and the project is opened.

To create a new project, go to the top menu bar, then click File > New >

Project. Then, the following window appears.

Type a project name (up to 32 single-byte characters which can be used as a file name), then a folder to store the source file will be automatically created (the folder can be located anywhere in the PC). Select the type of the MotoPlus file to be created from “Project Settings”.

There are following options for “Project Settings”:

1. Executable program (default): Creates an *.out file. This is a normal

MotoPlus application which can be executed as a task of the

YRC1000micro.

2. MotoPlus library file: Creates a static library file (*.yrcmLib). This type of library cannot be executed on the YRC1000micro but can be called from MotoPlus application. Thus, import it from another project file to use it.

When a new project is created, the source code template “mpMain.c” opens. Use it if necessary. Delete it if not necessary.

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3.3

Outline of MotoPlus IDE

3.3 Outline of MotoPlus IDE

The left pane of MotoPlus IDE contains the project tree. This lists all source files, header files, and library files that will be compiled when the project is built. To edit a file that is in the project tree, double-click the filename, then the contents of the file appears as a new tab in the source editor window. See

fig. 3-1 “Main interface for MotoPlus IDE” .

Fig. 3-1: Main interface for MotoPlus IDE

Right-click on the project tree to show the following options:

1. Remove a file from the project

2. Create sub-folders to organize files (click and drag files to move them to a new folder)

3. Add files to the project (new or existing)

4. Add MotoPlus libraries to the project

5. Compile the code and build your program

The source editor has the following features:

• Automatic syntax highlighting of keywords

• Automatic indenting

• Undo/redo up to 50 actions

• Tab for each open document for easy navigation between files

• Right-click menu to instantly open the header file that has been included

• Search for text in the entire project

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3.4

Text Search

3.4 Text Search

To search for text, go to the top menu bar and click Edit > Find and

Replace (shortcut is Ctrl + f). Then, the “Find” dialog appears. When

“Find All” is selected, the cursor will not immediately go to the next searched text. Instead, the bottom pane will change to the “Find Results” tab to show the search results. Double-click a result in this pane to go to the corresponding source code tab and move the cursor to the searched text.

3.5 MotoPlus Library Files

A MotoPlus library file (*.yrcmLib) is a file containing the source code which is already compiled. After the source code is compiled to .mpLib format, it cannot be edited or viewed. (The library can be distributed and used without distributing the source code.)

To create a library file, select “Create MotoPlus Library file” when creating a new project. This library can be used by other projects, but in this case, prepare an appropriate header file (*.h) in advance. Also, DO NOT use mpUsrRoot() function for the library.

To use the library file in an executable project, go to the top menu bar and click Project > Add MotoPlus library file. Then you can locate an .mpLib file on your computer. When you select the file, it will be copied to the current project folder along with the corresponding header file. If the header is not present (or is named differently), it will not be copied. In this case, you must refer to the library documentation provided by the creator of the library. When you build your project, the compiled code from the library will be added to the final executable object (.out).

3.6 Program Build (Compile/Link)

To compile the created source code and build either an executable object

(*.out) or a library file (*.yrcmLib), go to the top menu bar and click Build >

Build Project. This will save any changes made to the project.

The bottom pane will automatically switch to the “Output” tab during a build attempt. The text box in this window will log the build process. The

“Build Errors” tab will display any errors or warnings given by the compiler.

If there is a fault in the source code, it will indicate the line number where it encountered the error. To quickly go to the appropriate file and line number, just double-click the error message. Please note that due to the structure of C language, an error on any line could be caused by a fault in any line above the error. If there is a fault in an include file, the error message may not even indicate the correct file.

If the Output window indicates the build was successful, you will be able to locate your *.out file in a folder labeled “output”. This folder will be in the directory of your project file. If your project is set to build a library file, the output folder will contain the *.yrcmLib file and the *.h file.

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3.7

Changing Build Settings

3.7 Changing Build Settings

To change build settings, select “Build”, then “Build settings...” under the menu.

The sample program in the DVD is created in the default installation folder

(C:Program Files\Yaskawa\MotoPlusIDE_YRCmicro). Thus, when it is installed in another folder, the build settings must be initialized.

To initialize the build settings, check “Edit Enable/Disable” and click on the button “Restore factory defaults”.

Also, compile options, build options, etc. can be changed by using

“Compile Code Command” or “Build Executable Command”, but basically, use the default settings.

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3.8

How to Use the DX200 Projects on YRC1000micro

3.8 How to Use the DX200 Projects on YRC1000micro

YRC1000micro is different from DX200 in the execution environment of

MotoPlus application. Therefore the MotoPlus application for DX200 is unavailable on YRC1000micro.

The MotoPlus application available on YRC1000micro can be made by using the application for DX200. The procedure is as follows:

1. Copy the folder which includes the MotoPlus application for DX200 by another name.

(When the folder (C:\My_First_MP_Project\Sample) includes any project, copy the folder (C:\My_First_MP_Project\Sample) and make a new folder (C:\My_First_MP_Project\Sample1)).

2. Open the copied folder and change the file extension of

“Sample.dnProj” to “Sample.yrcmProj” in the .

Change the extension of a project file “Sample.dnProj” in the copied folder to “Sample.yrcmProj”.

3. Double-click the file Sample.yrcmProj and start the

MotoPlusIDE_YRCmicro.

4. Click the MotoPlusIDE_YRCmicro menu “build”, then click “Build

Setting...”.

5. Click [Restore Factory Defaults] in the “Build Settings” dialogue. That makes the build settings into the default state.

6. Click the MotoPlusIDE_YRCmicro menu “build”, then click “Build

Project F7”.

When the output window “Build Successful!” appears, making the

MotoPlus application for YRC1000micro is completed.

3.8.1 Difference Points of the API

Changed the following API specifications for the YRC1000micro.

When the application created for the DX200 is operated by the

YRC1000micro, the transplantation work is required.

(1) mpGetRtc

The return value for the mpGetRtc ( ) is int type for the DX200 and

FS100, however, for the YRC1000micro, the value is the float type.

In the YRC1000micro, mpGetRtc ( ) returns the value less than 1.

Correct the return value of the mpGetRtc ( ) to the float type.

(2) Direction of the absolute angle position for the robot

For controllers DX200 or earlier, in the axis which has a gear ratio set to a negative value, the positive and negative directions of the absolute angle position and the pulse position were set to be the opposite direction.

However, for controllers YRC1000micro or later, the direction of the absolute angle position and the direction of the pulse position are set to be the same direction. For the application which operates the robot by using the absolute angle, some robot operations may be performed in the opposite direction. In the case of transplantation work, confirm the direction of the robot operation, and correct the direction if necessary.

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4 Valid/Invalid Setting of MotoPlus Function

The following is the procedure to set the MotoPlus function to valid.

1. Start the YRC1000micro in MAINTENANCE MODE, and change to the

“MANAGEMENT MODE” in the security mode.

2. Select {SYSTEM} under the main menu, then select {SETTING}.

– The option function window appears.

3. Select “MotoPlus FUNC.”

– The selection list “NOT USED”/“USED” appears.

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4 Valid/Invalid Setting of MotoPlus Function

4. Select “USED”.

– The confirmation dialog appears.

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5. Select “YES” on the confirmation dialog.

– The SRAMDRV.DAT initialization confirmation dialog appears.

6. Select “YES” on the SRAMDRV.DAT initialization confirmation dialog.

– The MotoPlus function becomes valid.

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The following is the procedure to set the MotoPlus function to invalid.

1. Start the YRC1000micro in MAINTENANCE MODE, and change to the

“MANAGEMENT MODE” in the security mode.

2. Select {SYSTEM} under the main menu, then select {SETUP}.

– The option function window appears.

3. Select “MotoPlus FUNC.”

– The selection list “NOT USED”/“USED” appears.

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4. Select “NOT USED”.

– The setting change confirmation dialog appears.

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5. Select “YES” on the confirmation dialog.

– The MotoPlus function becomes invalid.

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5 Installation and Start-up of Application Program

5.1

Installation of Application Program in Maintenance Mode

5 Installation and Start-up of Application Program

5.1 Installation of Application Program in Maintenance Mode

1. Load function

Load the application program and install it by following the instructions below.

(1) Set the security mode to the MANAGEMENT MODE. Select the main menu {MotoPlus APL.}. Then {LOAD (USER APPLICA-

TION)}, {FILE LIST}, {DELETE}, {DEVICE}, {FOLDER}, and

{MotoPlus FUNC. SETTING} appear as submenus.

(2) Specify the file location.

Select an appropriate file location with the submenus {DEVICE (to select SD/USB)} and {FOLDER (to select the folder which has the application program)}.

(3) Select and load a file.

• Select the submenu {LOAD (USER APPLICATION)}. Then,

“*.out” files in the specified folder appear as shown below.

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Installation of Application Program in Maintenance Mode

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• Move the cursor and press [SELECT]. Then, the selection indicator “ ” appears on the left of the application file name. Press

[SELECT] again to clear “ ”.

• Press [ENTER], then the following confirmation dialog box appears.

• When {YES} is selected and the selected application file contains the file which already exists in the YRC1000micro, the following confirmation dialog box appears. Select “YES” to load.

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5 Installation and Start-up of Application Program

5.1

Installation of Application Program in Maintenance Mode

2. List

Select the submenu {FILE LIST}. Then, the list of the application files which already exist in the YRC1000micro appears.

3. Deletion of application program

By the submenu {DELETE}, the application file which already exists in the YRC1000micro can be deleted.

(1) Move the cursor and press [SELECT]. Then, the selection indicator “ ” appears on the left of the application file name. Press

[SELECT] again to clear “ ”.

(2) Press [ENTER], then the following confirmation dialog box appears.

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5.1

Installation of Application Program in Maintenance Mode

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4. MotoPlus function setting

When selecting “MotoPlus FUNC. SETTING”, the following windows appear to enable or disable the autostart of the MotoPlus application program. For the detailed usage methods, refer to

chapter 5.2 “Startup of Application Program”

and

chapter 5.3 “To Temporarily Prevent

MotoPlus Application from Starting”

(1) Move the cursor and press [SELECT]. The setting is changed from “ENABLE” to “DISABLE”.

(2) Press [ENTER], and then the confirmation dialog box appears.

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5 Installation and Start-up of Application Program

5.1

Installation of Application Program in Maintenance Mode

(3) Select {YES}.

–When {YES} is selected on the confirmation dialog box, the parameter is set automatically, and then it returns to the

MotoPlus setting window.

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5 Installation and Start-up of Application Program

5.2

Start-up of Application Program

5.2 Start-up of Application Program

When the YRC1000micro is turned ON, the application program is loaded automatically and started.

<Limitations>

• Only one “*.out” file can be loaded. Thus, install only one application. If two or more applications are installed, the alarm 1020:

“MOTOPLUS APPLICATION LOAD ERROR [1]” occurs on loading.

The error status can be checked by reading $B051 from the job.

• The loadable memory size is up to 2 Mbyte as the total of the code area and the static memory area. If it is more than 2 Mbyte, the start-up fails and the alarm 1020: “MOTOPLUS APPLICATION

LOAD ERROR [4]” occurs on loading. The error status can be checked by reading $B051 from the job.

$B051 0: The application is loaded successfully on start-up.

1: The number of files exceeds the limit.

2: The memory is insufficient. (Available memory area is less than 3 Mbyte.)

3: APPLICATION folder cannot be found in the SD.

4: The size of the MotoPlus application exceeds the limit.

5.3 To Temporarily Prevent MotoPlus Application from Starting

Due to a problem of the application program, the system may hang up during robot operation, and then the YRC1000micro may not start normally. For recovery, it is necessary to start the YRC1000micro normally while preventing the application program from operating. In this case, it is necessary to start the YRC1000micro in the MAINTENANCE mode, make the settings so that the application program does not operate, start the YRC1000micro normally, and operate the robot. Follow one of the following two procedures:

1. Start the YRC1000micro in the MAINTENANCE mode, set the security mode to the MANAGEMENT MODE. Select “MotoPlus APL.”, then

“DELETE” to delete the application.

2. Start the YRC1000micro in the MAINTENANCE mode, set the security mode to the MANAGEMENT MODE. Select “MotoPlus APL.”, then

“MotoPlus FUNC. SETTING” to show the setting window. Then set

“APPLI. AUTOSTART AT POWER ON” to “DISABLE”.

If the above problem occurs during robot operation, choose the procedure

2. The above problem during robot operation may be caused by a specific condition. If the MotoPlus application is deleted with the procedure 1, after the specific condition is cleared, the MotoPlus application must be loaded again in the SD for recovery. In this case, if the application to be loaded does not exist there, the application cannot operate and the system cannot recover.

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6 User Defined File

6.1

Saving in and Reading from External Memory

6 User Defined File

With MotoPlus, user defined files can be created, read, written, deleted, etc. from an application by using the file control.

These files can be saved in or read from external memory (SD or USB) by using the programming pendant.

6.1 Saving in and Reading from External Memory

Saved files can be checked on the display of the programming pendant as

“USER DEFINED FILE”. The files can be saved in or read from external memory such as SD or USB on this display.

6.1.1 Procedure to Save or Read User Defined File

1. Start in the normal mode, and select {EX. MEMORY}, then {SAVE} or

{LOAD}.

2. Select {USER DEFINED FILE}.

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6.1

Saving in and Reading from External Memory

3. Select a file to be saved in external memory or to be loaded from external memory to the controller.

appears on the left of the selected file. Multiple files can also be selected.

5. Select a file and press [ENTER], then the following window appears.

Select “YES”.

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6.2

Initialization of User Defined File

6.2 Initialization of User Defined File

1. Start the controller in the maintenance mode. Then, select {Main

Menu}, {FILE}, then {INITIALIZE}.

2. Select “USER DEFINED FILE”.

3. Select “SRAM RAM DRIVE SRAMDRV .DAT”.

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6.2

Initialization of User Defined File

appears as shown below.

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5. Press [ENTER], then the following window appears. Select {YES}.

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6.3

Setting of File Control Task Priority Limit

6.3 Setting of File Control Task Priority Limit

Only the normal priority (MP_PRI_TIME_NORMAL) is used as the task priority for the file control API.

When the file control API is used from the task with higher priority, the operation differs depending on the setting of the parameter S2C1101 as shown in the following table.

This setting can also be changed by using “FileControl TASK PRY. LIMIT” in the maintenance mode.

S2C1101 FileControl TASK PRY. LIMIT Operation

0 LIMITED The API returns an error.

(default value)

AUTO Temporarily changes the task priority to MP_PRI_TIME_NORMAL and executes the API.

6.3.1 Changing File Control Task Priority Limit

1. Start in the maintenance mode. Select {Main Menu}, {MotoPlus APL.}, then {MotoPlus FUNC. SETTING}.

2. Press [SELECT] at “FileControl TASK PRY. LIMIT” to select “LIMITED” or “AUTO”.

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6.3

Setting of File Control Task Priority Limit

3. Press [ENTER], then select {YES} in the “Modify?” window to complete the setting.

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7 Debugging

7.1

Debugging Environment

7 Debugging

7.1 Debugging Environment

For the debugging environment, connect the PC for development with the

RUN-TIME debugger of the controller OS via Telnet. Then you can insert printf() or puts() in the application source code to display the messages about variable and program execution states when debugging.

NOTE

Delete all the debugging codes described in the source code after completing debugging. Otherwise, the processing time of printf() and puts() may affect the system and may cause insufficient processing time, etc. during robot operation.

NOTE

With the Telnet function, debug only the tasks with normal priority. For debugging the tasks with high priority (the tasks started with the task priority: MP_PRI_IO_CLK_TAKE,

MP_PRI_IP_CLK_TAKE, or MP_TIME_CRITICAL, or the task “mpUsrRoot”), use the variables of the YRC1000micro.

This is because, if printf() or puts() is done with a high priority task, the processing time for the robot operation control is consumed, and a system alarm may occur due to insufficient processing time.

NOTE

When programming in C language, the pointer variable which stores the memory address can be used. If the pointer variable is set incorrectly, the system memory area may be rewritten.

NOTE

When using the SHELL debugging function of the controller

OS which becomes available by connecting with the

YRC1000micro via Telnet, a system alarm may occur due to insufficient processing time for robot operation. Do NOT use the SHELL debugging function.

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7.2

Connecting YRC1000micro with PC

7.2 Connecting YRC1000micro with PC

Connect the PC for development with the YRC1000micro. Then the PC can be used as the terminal to debug programs via Telnet.

As shown below, connect an Ethernet cable (shielded twisted-pair, CAT 5 or greater) to the LAN connector CN106 (LAN2) that is mounted on the front of the APW30 circuit board in the CPU rack of the YRC1000micro controller.

Y-

L-

Z-

U-

Y+

L+

Z+

U+

高速

高

低

4 5

8 9

X-

R-

Y-

B-

Z-

T-

2 3

X+

R+

Y+

B+

Z+

T+

選　択

Development PC

Robot Controller

APW30

Ethernet

LAN

To use the Ethernet service provided by MotoPlus, use a commercially available hub and set up the connection as shown below.

X-

S-

Y-

L-

77+

高速

高

低

X-

R-

Y-

B-

Z-

T-

X+

R+

Y+

B+

Z+

T+

選　択

Devices such as Vision sensor to be connected via

Ethernet

Development PC

Robot Controller

APW30

Ethernet

LAN

Hub

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7.2

Connecting YRC1000micro with PC

Use the LAN port on the front face of the APW30 board.

NOTE

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7 Debugging

7.3

Debugging via Telnet Communication

7.3 Debugging via Telnet Communication

The RUN-TIME debugger for the YRC1000micro system software, can be connected with a debug PC via Telnet to provide the user with various types of debugging function. Thus, printf() and puts() functions can be inserted in the application source code, and the desired memory content or message can be shown on the Telnet terminal.

With this procedure, debug only the tasks with normal priority. For debugging the tasks with high priority (the tasks started with the task priority: MP_PRI_IO_CLK_TAKE, MP_PRI_IP_CLK_TAKE, or

MP_TIME_CRITICAL, or the task “mpUsrRoot”), refer to

chapter 7.4

“Debugging by User Variables of YRC1000micro”

NOTE

If the Telnet function is enabled, an alarm such as “0500:

SEGMENT PROC NOT READY” may occur when the

YRC1000micro is started.

This is because the Telnet task of the YRC1000micro side is performed with a high priority, so processing of other system tasks are not performed normally.

If such an alarm occurs, restart the YRC1000micro.

Also, after completing debugging, make sure to set the Telnet function to INVALID (S2C1119 = 0).

7.3.1 Operation Procedure

1. Set the IP address, etc.

The Ethernet communication settings corresponding to your environment (such as the IP address setting at the YRC1000micro side) must be performed in the maintenance mode.

The procedure is as follows:

(1) Turn OFF the YRC1000micro then back ON while pressing the

[MAIN MENU] to start the maintenance mode.

(2) Select {SYSTEM} under the main menu, then select {SECURITY}.

Then, change the security mode to the MANAGEMENT MODE.

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7.3

Debugging via Telnet Communication

(3) Select {SYSTEM} under the main menu, then select {SETUP}. In the setup window, select {OPTION} to open {NETWORK}. In the

NETWORK window, select “DETAIL” for “HOST SETUP”.

(4) Setup the IP address in HOST SETUP window.

Nomal setting for the IP address is 192.168.255.1.

Ensure the PC IP address is on the same subnet as the

YRC1000micro.

In the case of the setting for the following YRC1000micro, the setting for PC is as follows. IP adrress:192.168.255.xx (xx: 0-255, decimal number, different from YRC1000micro value),

Subnet mask: 255.255.255.0

2. Restrictions on the IP address setting:

The Ethernet function on the YRC1000micro does not support

“10.0.0.xx” in the local IP address (xx: 0-255, decimal number). Thus,

DO NOT use “10.0.0.xx” for the IP address.

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7.3

Debugging via Telnet Communication

3. Restrictions on communication ports:

For the Ethernet function of the YRC1000micro, the system occupies the specified ports for UDP and TCP. Thus, the port numbers less than 10500 cannot be used for MotoPlus applications. Also, the ports to be used by the system may be added or changed depending on the

YRC1000micro software version. If your robot is using any optional functions related to the YRC1000micro Ethernet function, be sure not to use the port numbers that are described in the instruction manual for each optional function.

4. Set the fixed IP address (192.168.255.9) as the network setting of the

PC side.

(“192.168.255.” is the same as the YRC1000micro setting.)

(1) Select Control Panel and then double-click “Network connections”.

(2) Double-click “Local Area Connection”.

(3) Open the “General” window and select Internet protocol (TCP/IP), then click “Properties”.

(4) Check “Use the following IP address”.

(5) Enter “192.168.255.9” for the IP address.

(6) Enter “255.255.255.0” for the subnet mask.

5. Debugging via Telnet Communication

Execute the automatical log-in tool “YRC1000_TELNET.EXE” while

MOTOMAN window is shown.

When Telnet connection succeeds, prompt becomes to ” → ”, Run debugger of the OS of the controller starts automatically.

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7.3

Debugging via Telnet Communication

7.3.2 Example Usage of Printf()

The following is an example of using the printf() function. This sample displays the counter value of execution while looping.

<Operation>

1. Create the following “sample.c” with MotoPlus IDE to create

“sample.out”. motoPlus

2. Install “sample.out” to the YRC1000micro. (Refer to

chapter 5

“Installation and Start-up of Application Program” .)

3. Install the created “MotoPlusApl.out” to the YRC1000micro. (Refer to

chapter 5 “Installation and Start-up of Application Program”

4. Turn ON the YRC1000micro, and confirm that the YRC1000micro started successfully.

5. Connect the YRC1000micro with the PC via Telnet.

6. The following window appears.

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7 Debugging

7.4

Debugging by User Variables of YRC1000micro

7.4 Debugging by User Variables of YRC1000micro

Debugging with printf() or puts() for the tasks with high priority (the tasks started with the task priority: MP_PRI_IO_CLK_TAKE,

MP_PRI_IP_CLK_TAKE, or MP_TIME_CRITICAL, or the task

“mpUsrRoot”) may cause insufficient processing time for the robot operation control task. Thus, use the user variables of the YRC1000micro

(B variable, I variable, D variable, and R variable) to debug.

In this case, use the API for writing to the variable “mpPutVarData()” in the

MotoPlus application to describe debug information, then debug while checking the data in the VARIABLE window on the programming pendant.

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8 Development Support Tool

8.1

Outline

8 Development Support Tool

8.1 Outline

8.1.1 Introduction

This chapter explains the functions of the tool to support development of the MotoPlus application (hereafter referred to as "the application").

To use the development support tool, the optional Ethernet function is required.

8.1.2 Overview of Functions

The MotoPlus application development support tool contains the following functions.

No.

Function

Online Download

Application Property List

Port Debug

Copy Protection

Details

A function which downloads the application from MotoPlusIDE to the robot controller (hereafter referred to as "the controller").

A function which displays the detailed information, such as the operation status of the application.

A function which measures the processing time of the application.

A function which prevents applications that are copied illegally from being used.

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8 Development Support Tool

8.2

Using the Support Tool

8.2 Using the Support Tool

The application development support tool can be used by MotoPlusIDE and the programming pendant (MotoPlus Monitor).

(MotoPlusIDE)

Each function is available from the "Debug" menu in MotoPlusIDE.

Fig. 8-1: MotoPlusIDE

(MotoPlus Monitor)

On the programming pendant, select Main Menu, {MotoPlus APL.}, and then select {MotoPlus MONITOR} to use the functions.

Fig. 8-2: MotoPlus Monitor

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8 Development Support Tool

8.2

Using the Support Tool

8.2.1 Support for the Functions

Some functions cannot be used with MotoPlus Monitor. The following table shows which functions can be used.

No.

Function

Online Download

Application Property List

Port Debug

Copy Protection

MotoPlusIDE



MotoPlus Monitor



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8 Development Support Tool

8.3

Basic Settings

8.3 Basic Settings

8.3.1 Connecting a PC with the YRC1000micro

Connect PC with the YRC1000micro by using the Ethernet cable as shown in

chapter 7.2 “Connecting YRC1000micro with PC” .

8.3.2 Communication Settings

The MotoPlusIDE enables functions to be used individually for all controllers connected with a PC. Register the communication settings of the controller in advance, and then select upon use.

For MotoPlus Monitor, only one controller which is connected with the programming pendant can use the functions. Therefore, registration of the communication settings is not necessary.

Fig. 8-3: Communication Settings

8.3.3 Setting Procedure

1. Select the "Debug" menu in MotoPlusIDE, and then select

"Communication Settings”.

2. In the window, register the IP address and any name for the controller.

Fig. 8-4: Communication Settings Window

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8 Development Support Tool

8.4

Online Download

8.4 Online Download

A function which downloads the application from MotoPlusIDE to the robot controller.

Loading the application is usually performed in the maintenance mode, however, this function allows the application to load in the online mode.

Since this function omits the time and effort required for restarting the maintenance mode, the operating time can be reduced when debugging the application. A USB memory is required when using this function.

Fig. 8-5: Online Download

NOTE

Use this function only when debugging the application.

When the application is released, return the parameter which is set when using this function to the original setting values, and then load from the maintenance mode as usual.

8.4.1 System Settings

Settings are required to load the application on the USB memory of the board. Set the following parameter.

Parameter Setting value Details

S2C1113 1 A function to load the application on the USB memory of the board.

0: Invalid, 1: Valid

8.4.2 Inserting the USB Memory in the Controller

This function enables the application file to be saved to the USB memory of the board. Mount a USB memory on the CPU board (JANCD- ACP31) of the controller board.

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8 Development Support Tool

8.4

Online Download

Fig. 8-6: Location of the USB on the Board

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8.4.3 Operating Procedure

Select the "Debug" menu in MotoPlusIDE, and then select "Download".

1. Select the controller to receive the download.

2. Select the application file (.out file) to download.

When downloading the application file of a project which is currently open, select the "Download Out file of this project" check box.

3. Click [Download].

4. Turn OFF the controller and then turn it back ON.

If the download is executed after selecting the "Reset Robot

Controller" check box, the controller automatically restarts when the download is completed.

Fig. 8-7: Online Download Window

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8 Development Support Tool

8.5

Application Property List

8.5 Application Property List

Acquires and displays the application properties. The following properties can be displayed.

• Application name

• Application version

• Application file size

• Task name

• Task executing priority

8.5.1 Operating Procedure

If using MotoPlusIDE, select the "Debug" menu, and then select

"Application Property List".

If using MotoPlus Monitor, select {Application Property List}.

1. If using MotoPlusIDE, select the controller to display the properties.

2. Press {Refresh}.

Application information appears.

Fig. 8-8: Application Property List Window

1 2

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8 Development Support Tool

8.5

Application Property List

8.5.2 How to Set Application Information

For the application name, the version, and the task name, the contents which are set by MotoPlus API are displayed.

Fig. 8-9: Setting the Application Information

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8 Development Support Tool

8.5

Application Property List

8.5.3 Setting Procedures

1. Set the application name and the version by using mpApplicationInfoNotify(). For using mpApplicationInfoNotify(), confirm the MotoPlus reference manual.

2. Set the task name by using mpTaskPropNameSet().

mpTaskPropNameSet

Set the task name to be displayed in MotoPlus IDE.

 Syntax int mpTaskPropNameSet( int taskId, char* name

);

 Argument

[taskId]

Specify the task ID to set the task name.

Specify the acquired task ID by using mpCreateTask().

[name]

Specify the task name. For the task name, use a maximum of 32 characters.

 Return value

-1: Error

NOTE

When the information is not set, the default setting value is displayed.

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8 Development Support Tool

8.6

Port Debug

8.6 Port Debug

By executing the API for the port debug, the executing time for the task or the routine can be measured.

No.

Name

Time Division

Port 0 - Port 4

Graph Area

Org Position

Time Range

Port Number

Trigger

Robot Controller

Measure Time

Accumulate

Details

Shows the unit [ms/div] of the time axis

(the horizontal axis).

Shows the measuring port. Any name can be set by using the debug port API

(for details, refer to chapter 8.6.3 “How to

Mount the Application”

Shows the measuring data. Displays the time which is set in the Time Range.

Optional for measuring.

Sets the home position of the measuring data.

(For details refer to

chapter 8.6.2 “Optional for Measuring”

Sets the displaying time [ms] for measuring data.

Sets the number of the measuring port.

Optional for measuring.

Measures by applying the trigger.

(For details refer to chapter 8.6.2

The controller to use this function

Optional for measuring.

Measures the time.

(For details refer to chapter 8.6.2

Optional for measuring.

Accumulates the measuring data.

(For details refer to chapter 8.6.2

Start (Stop) Starts/stops the measuring.

Save Image / Save CSV Saves the measuring data.

Status Bar

Shows the operating status.

Port Debug exits.

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8 Development Support Tool

8.6

Port Debug

8.6.1 Measuring Procedures

Select the "Debug" menu, and then select "Port Debug" when using the

MotoPlusIDE.

Select {Port Debug} when using MotoPlus Monitor.

1. When using MotoPlusIDE, select the controller to connect with.

2. Set the measuring conditions.

Time Range Sets the displaying time [ms] for measuring data.

Port Number Specify the number of the measuring port.

3. Press {Start} to start measuring in Port Debug. After starting, switch

{Start} to {Stop}. Press {Stop} to finish measuring.

Fig. 8-10: Port Debug Window

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8 Development Support Tool

8.6

Port Debug

8.6.2 Optional for Measuring

Trigger If the option is enabled, only the measuring data is displayed when the trigger conditions are satisfied.

Set the port number and trigger conditions to apply the trigger. The trigger conditions are shown below.

Down

Detects the rising edge.

Detects the falling edge.

Up&Down Detects both edges, rising and falling.

Level Detects exceeding of the threshold level.

Fig. 8-11: Trigger

Org Position Adjusts the display of the home position of the measuring data.

Depending on the adjustment of the home position, the displays differ as shown below.

(When the trigger is "UP")

Fig. 8-12: Home Position

Measure Time When the option is enabled, two cursors for measuring and the time between the cursors are displayed.

When adjusting the position of the cursors, any time can be measured.

Fig. 8-13: Measure Time

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8 Development Support Tool

8.6

Port Debug

Accumulate

Fig. 8-14: Accumulate

Accumulates the measuring data. When the option is enabled, all measuring data is drawn by overlapping. The example below shows when the option is enabled. (Trigger is Up.) The deviation of the timing when the port is turned to 0 is caused by the deviation of the position of the rising edge.

Save Image / CSV The measuring results are saved as an image file or a CSV file.

For MotoPlusIDE, specify the destination to save and the file name, and then press the save button.

For MotoPlus Monitor, specify the external memory device to save to, and then press the save button.

The results are saved in the root folder of the selected external memory device.

The name of the image file is

" PortDebugImageYYYYMMDD_HHMMSS.bmp".

The name of the CSV file is

" PortDebugImageYYYYMMDD_HHMMSS.csv".

YYYYMMDD_HHMMSS indicates the time stamp when saving (Year/Month/Date/Hour/Minute/

Second).

8.6.3 How to Mount the Application

Execute API for port debugging at the processing part to measure. Before using the debug port, it is necessary to execute mpDebugPortNameSet() once.

The number of ports which are available is 5. It is possible to set values from 0 to 100 for each port.

Fig. 8-15: How to Implement Port Debug

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8 Development Support Tool

8.6

Port Debug

8.6.4 Debug Port APIs

mpDebugPortInit

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Initializes the debug port for the port debug function of MotoPlusIDE.

Before using the port, it is necessary to execute it once.

 Syntax int mpDebugPortInit( int portNo, char* name

);

 Argument

[portNo]

Specify the port number from 0 to 4.

[name]

Specifies the name of the debug port. The port name which is specified in this step is displayed in the window of the port debug. For the port name, use a maximum of 32 characters.

 Return value

-1: Error

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8.6

Port Debug

mpDebugPortHigh

Sets the output level of the debug port to High.

 Syntax int mpDebugPortHigh( int portNo,

);

 Argument

[portNo]

Specify the port number from 0 to 4.

 Return value

-1: Error

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8.6

Port Debug

mpDebugPortLow

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Sets the output level of the debug port to Low.

 Syntax int mpDebugPortLow( int portNo

);

 Argument

[portNo]

Specify the port number from 0 to 4.

 Return value

-1: Error

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8.6

Port Debug

mpDebugPortLevelSet

Sets the output level of the debug port to a specified value.

 Syntax int mpDebugPortLevelSet( int portNo, int level

);

 Argument

[portNo]

Specify the port number from 0 to 4.

[level]

Specify the output level. The valid settable range is 0 to 100.

 Return value

-1: Error

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8 Development Support Tool

8.7

Copy Protection

8.7 Copy Protection

This function enables the application to only be started on the specified controller. The use of an illegally copied application is prevented by using a different controller.

Copy protection procedures are shown below.

1. Write the protection activation process in the application source.

2. Acquire the serial file from the controller to use the application.

3. Create a protection key from the acquired serial file.

4. Load the created protection key to the controller.

When protection of the application is enabled, the protection key is checked before starting the application. When the key is unauthorized or the key does not exist, the application does not start.

8.7.1 Protection Activation (MotoPlusIDE)

Write the following argument (mpCopyProtectActive()) in the source file of the application. When turning the return value ON, the protection is enabled. When turning the return value OFF, the protection is disabled.

If the argument is not written, protection is disabled.

{ long mpCopyProtectActive( void )

}

return ( ON ); // ON: Activate protection, OFF: Inactivate protection

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8.7

Copy Protection

8.7.2 Acquiring the Serial File (MotoPlus Monitor)

Acquires the serial file from the controller.

1. Select {Protection Key} in MotoPlus Monitor.

2. Select the Memory Device to save the serial file.

3. Press {Save}.

The serial file (MPSERIAL.DAT) is saved in the root folder of the selected memory device.

Fig. 8-16: Serial File Acquisition Window

8.7.3 Generating the Protection Key (MotoPlusIDE)

Generate the protection key from the acquired serial file.

1. Open the project of the application by using MotoPlusIDE, and build once.

2. Select "Protection Key" from the "Debug" menu.

3. Press {Open}, and select the acquired serial file (MPSERIAL.DAT).

4. Press {Generate}.

The key file (application name.KEY) is generated in the same folder as the

OUT file of the application.

Fig. 8-17: Protection Key Generation Window

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8.7

Copy Protection

NOTE

• The protection key cannot be generated if the project of the application does not exist.

• The protection key cannot be generated if the project of the application is not built.

8.7.4 Loading the Protection Key (MotoPlus Monitor)

Load the protection key to the controller.

1. Save the protection key file to the root folder of the memory device, and then mount the memory device on the programming pendant.

2. Select {Protection Key} in MotoPlus Monitor.

3. Select the memory device which the protection key is saved to.

4. Press {Open}.

5. The key file list on the memory device appears. Select the key file to load.

6. Press {Load}.

The protection key loads from the memory device to the controller. The application which is created in

chapter 8.7.1 “Protection Activation

(MotoPlusIDE)” can be used. Copy protection procedures are complete.

Fig. 8-18: Protection Key Download Window

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8 Development Support Tool

8.7

Copy Protection

8.7.5 Useful Functions (MotoPlusIDE)

8.7.5.1 Generate and Download the Protection Key

MotoPlusIDE enables batch execution from acquiring the serial file to downloading the protection key.

1. Select "Protection Key" from the "Debug" menu.

2. Select the controller to use.

3. Enable the options "Upload Serial data from Controller" and

"Download Protect Key" options.

4. Press {Generate & DL}.

Fig. 8-19: Generate and Download the Protection Key

8.7.5.2 Download the Application and the Protection Key Simultaneously

MotoPlusIDE enables the downloading of the protection key simultaneously when downloading online.

1. Select "Download" from the "Debug" menu.

2. Enable the "Download Protect Key" option.

3. Select {Download}.

Fig. 8-20: Download the Application and the Protection Key Simultaneously

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9 Alarm List

Alarm Number Alarm Name

1020 MOTOPLUS APPLICATION

LOAD ERROR

4478

4479

MM TASK NO RESPONSE

(MotoPlus)

MOTOPLUS MM TASK

WATCHDOG ERROR

Subcode Meaning

1 The number of loaded files exceeds the limit.

2 The memory is insufficient. (Available memory area is less than 3 Mbyte.)

Failed to open the directory.

Load failure (Failed to open the file.)

Load failure (Undefined symbol)

Load failure (Others: application overloaded)

Failed to initialize the API library.

No user root task

Failed to create the user root task.

Failed to create RAM-Disk.

The process requested from the MotoPlus application to the MM task was not completed within the specified time.

The man-machine task does not run for 3 seconds or more.

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YRC1000micro OPTIONS

INSTRUCTIONS

User’s Manual For New Language Environment MotoPlus

HEAD OFFICE

2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan

Phone +81-93-645-7703 Fax +81-93-645-7802

YASKAWA America Inc. (Motoman Robotics Division)

100 Automation Way, Miamisburg, OH 45342, U.S.A.

Phone +1-937-847-6200 Fax +1-937-847-6277

YASKAWA Europe GmbH ( Robotics Divsion )

Yaskawastrasse 1, 85391 Allershausen, Germany

Phone +49-8166-90-100 Fax +49-8166-90-103

YASKAWA Nordic AB

Verkstadsgatan 2, Box 504 ,SE-385 25 Torsas, Sweden

Phone +46-480-417-800 Fax +46-486-414-10

YASKAWA Electric (China) Co., Ltd.

22F, One Corporate Avenue, No.222, Hubin Road, Huangpu District, Shanghai 200021, China

Phone +86-21-5385-2200 Fax ＋ 86-21-5385-3299

YASKAWA SHOUGANG ROBOT Co. Ltd.

No7 Yongchang North Road, Beijing E&T Development Area , China 100176

Phone +86-10-6788-2858 Fax +86-10-6788-2878

YASKAWA India Private Ltd. (Robotics Division)

#426, Udyog Vihar, Phase- IV, Gurgaon, Haryana, India

Phone +91-124-475-8500 Fax +91-124-475-8542

YASKAWA Electric Korea Corporation

35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, Korea 07326

Phone +82-2-784-7844 Fax +82-2-784-8495

YASKAWA Electric Taiwan Corporation

12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan

Phone +886-2-8913-1333 Fax +886-2-8913-1513

YASKAWA Electric (Singapore) PTE Ltd.

151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741

Phone +65-6282-3003 Fax +65-6289-3003

YASKAWA Electric (Thailand) Co., Ltd.

59,1st-5th Floor, Flourish Building, Soi Ratchadapisek 18,Ratchadapisek Road,

Huaykwang, Bangkok 10310, THAILAND

Phone +66-2-017-0099 Fax +66-2-017-0199

PT. YASKAWA Electric Indonesia

Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma,

Jakarta 13610, Indonesia

Phone +62-21-2982-6470 Fax +62-21-2982-6741

Specifications are subject to change without notice for ongoing product modifications and improvements.

C Printed in Japan August 2018 17-07

MANUAL NO.

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