Subscribe to Our Youtube Channel
Related Manuals for Comau C5G-R1C
Summary of Contents for Comau C5G-R1C
- Page 1 RoboShop Program Software version 2.0.0 CR00758151_en-04/2019.11 Instruction Handbook...
- Page 2 Reproduction of text and illustrations is not permitted without prior written approval by COMAU S.p.A. COMAU S.p.A. reserves the right to alter product specifications at any time without notice or obligation. Copyright © 2008-2013 by COMAU - Date of publication 11/2019...
-
Page 3: Table Of Contents
Comau Robotics Product Instruction SUMMARY SUMMARY PREFACE ............6 Symbols used in the manual . - Page 4 Comau Robotics Product Instruction SUMMARY Description ............. . . 35 Contextual keys .
- Page 5 Comau Robotics Product Instruction SUMMARY Additional Virtual Keys ............70 ZOOM.
-
Page 6: Preface
Comau Robotics Product Instruction PREFACE PREFACE – Symbols used in the manual – Reference documents – Modification history. Symbols used in the manual The symbols for WARNING, CAUTION and NOTES are indicated below together with their significance. This symbol indicates operating procedures, technical information and precautions that if ignored and/or are not performed correctly could cause injuries. -
Page 7: Reference Documents
Comau Robotics Product Instruction PREFACE Reference documents This document refers to RoboShop software tool for C5G/R1C Control Unit. In addition to the current manual, the complete manuals set for C5G/R1C consists of: Comau Control Unit – Technical Specifications – Transport and installation –... -
Page 8: Modification History
Comau Robotics Product Instruction PREFACE Modification history – In the 02/0218 manual version, the following considerable changes have been made, compared to 01/1017 previous version: • updated par. 2.3 Requirements on page 20 • description improved for par. 2.5 How to get a full licence for RoboShop on page 23 •... -
Page 9: General Safety Requirements
CE marking of the system are the responsibility of the Integrator. – COMAU declines any and all responsibility for accidents caused by incorrect or improper use of the Robotic system (Robot and Control Unit), by tampering with circuits, components, software and with the use of spare parts that are not included in the spare parts list. -
Page 10: Safety Requirements
Comau Robotics Product Instruction GENERAL SAFETY REQUIREMENTS 1.2 Safety requirements 1.2.1 Purpose These safety requirements are aimed to define a series of behaviours and obligations to be observed when performing the activities listed in the paragraph Applicability. 1.2.2 Definitions Robotic system (Robot and Control Unit) The Robotic system is defined as the operating installation composed of: Robot, Control Unit, Teach Pendant and other possible options. -
Page 11: Applicability
Comau Robotics Product Instruction GENERAL SAFETY REQUIREMENTS Decommissioning and Dismantling Decommissioning is defined as the activity that involve the mechanical and electrical removal of the Robot and Control System from a production unit or from an environment in which it was under study. -
Page 12: Operating Modes
Comau Robotics Product Instruction GENERAL SAFETY REQUIREMENTS 1.2.4 Operating modes Installation and Start-up – The startup is only possible when the Robot and Control System has been correctly and completely installed. – The system installation and startup is exclusively the task of the authorised personnel. - Page 13 – To load or update the system software (for example after boards replacing), use only the original software handed over by COMAU. Scrupulously follow the system software loading procedure described in the Instruction Handbooks supplied with the specific product. After loading, always make some Robot motion tests at low speed remaining outside the protected area.
- Page 14 Comau Robotics Product Instruction GENERAL SAFETY REQUIREMENTS Functioning in Programming mode – The Robot is only to be programmed by the authorised personnel. – Before starting to program, the operator must check the Robotic system (Robot and Control Unit) to make sure that there are no potentially dangerous irregular conditions, and that there is nobody inside the protected area.
- Page 15 Comau Robotics Product Instruction GENERAL SAFETY REQUIREMENTS – The operator can activate automatic operation only after having checked: • that the Robot and Control System is not in maintenance or repair status; • that the protection barriers are correctly positioned;...
- Page 16 – During the software loading phases (for example after replacement of electronic boards) use only the original software handed over by COMAU. Scrupulously follow the system software loading procedure described in the specific Instruction Handbooks; after loading, always run a test cycle, remaining outside the protected area.
- Page 17 – Before starting the dismantling operations (disassembly, demolition and disposal) of the Robot and Control System components, contact COMAU or one of its branch offices, that will indicate, according to the type of Robot and Control Unit, the operating methods in accordance with safety and environmental protection principles.
-
Page 18: General Description
Comau Robotics Product Instruction GENERAL DESCRIPTION GENERAL DESCRIPTION 2.1 Introduction The current manual gives detailed information about RoboShop program which is the Interface on Personal Computer towards C5GPlus/R1C Control Units. Starting from the current 2.0.0 version, RoboShop is a multicontrol tool, which means that more than one Control Units can be connected at the same time in a RoboShop session. -
Page 19: Basic Functions
Comau Robotics Product Instruction GENERAL DESCRIPTION 2.2 Basic functions RoboShop program provides a Graphical User Interface including dedicated environments for using the following functionalities: – connecting/disconnecting to C5GPlus/R1C Control Units, at reachable IP addresses according to the current physical connection and without any limitations on the ports (full open ports) –... -
Page 20: Requirements
Comau Robotics Product Instruction GENERAL DESCRIPTION 2.3 Requirements – Minimum requirements – Suggested requirements. 2.3.1 Minimum requirements The following requirements should be complied for RoboShop program installation on a PC: – Windows PC (not a virtual machine), compatible with all Windows Desktop OS 64 bit currently supported by Microsoft –... -
Page 21: Install And Activate
Comau Robotics Product Instruction GENERAL DESCRIPTION 2.4 Install and activate CAUTION Before installing Roboshop program, it is strongly suggested to uninstall VirtualBox application (if any in the system) and restart the PC. This prevents any possible arising problems between VirtualBox versions. - Page 22 Comau Robotics Product Instruction GENERAL DESCRIPTION A progress bar shows the operation completion status. Restart the system at the end. To activate RoboShop, simply click the icon from either the Start Menu or the PC Desktop.
-
Page 23: How To Get A Full Licence For Roboshop
Act as follows: from RoboShop select Settings functionality. An alphanumeric string is provided in the Unique Identifier field, belonging to the Registration area. Click Request license key which opens an email to send such a string to COMAU Customer Service (service.robotics@comau.com). - Page 24 GENERAL DESCRIPTION Note that the email is already filled in. Nothing to be added. Send the email. COMAU will return a licence key to be copied to the suitable field (as shown in the below figure). Click Register key A message is displayed, at the end of the operation, stating that the registration has been successfully completed.
-
Page 25: Introduction To The User Interface
Comau Robotics Product Instruction GENERAL DESCRIPTION 2.6 Introduction to the User Interface RoboShop User Interface includes the following areas, each one allowing to access information and commands related to the System: – Viewing Areas – Environments – Multicontrol Panel –... -
Page 26: Viewing Areas
Comau Robotics Product Instruction VIEWING AREAS VIEWING AREAS 3.1 Basic information This area can be considered as the RoboShop program main area: the majority of information exchanged with the connected and/or selected Control Units in the Nodes Panel is here displayed. -
Page 27: Opening And Closing The Environments
Comau Robotics Product Instruction VIEWING AREAS 3.2 Opening and closing the Environments – Opening – Closing 3.2.1 Opening To open an Environment, click its corresponding key. In the example shown in the figure below, there are 5 open environments (Logger, Cause&Remedy, Terminal,... -
Page 28: Closing
Comau Robotics Product Instruction VIEWING AREAS 3.2.2 Closing To close a window, use the closure key available in the tab (previous figure). -
Page 29: Environments
Comau Robotics Product Instruction ENVIRONMENTS ENVIRONMENTS 4.1 Introduction This area includes keys which allow displaying the wished Environments. Note that some Environments are even available when disconnected from the Control Unit: their keys are active (displayed in white) even when offline. -
Page 30: Logger
Comau Robotics Product Instruction ENVIRONMENTS 4.2 Logger – Description – Contextual keys. 4.2.1 Description This environment allows viewing, in the form of a list, the system Log files content. Each time this key is clicked, RoboShop opens a new session of the Logger environment, related to the currently selected and connected Control Unit. -
Page 31: Contextual Keys
Comau Robotics Product Instruction ENVIRONMENTS wished list, by means of the related contextual key (par. 4.2.2 Contextual keys on page – to view whichever Log file, open the File System window, choose the wished Log file, in the suitable device (Control Unit or PC) and folder, then open it by double clicking on its name. - Page 32 Comau Robotics Product Instruction ENVIRONMENTS System Log – Opens the system Log (system events) and displays it in the currently selected Logger window. – File Operation Opens the file operations Log and displays it in the currently selected Logger window.
- Page 33 Comau Robotics Product Instruction ENVIRONMENTS • Count - allows matching or excluding elements, by specifying a range of elements or a list of elements separated by commas, based on their count number. • Error Code - allows matching or excluding elements, by choosing a range of elements or a list of elements separated by commas, based upon their error code.
- Page 34 Comau Robotics Product Instruction ENVIRONMENTS Toggle Log Colors – Each click deactivates/activates the Log messages background color (as shown in the figures below).
-
Page 35: Cause&Remedy
Comau Robotics Product Instruction ENVIRONMENTS 4.3 Cause&Remedy – Description – Contextual keys. 4.3.1 Description This environment allows to get information about the cause of a specified error an its corresponding remedy, if any. The user must insert the error number in Error No field and either press Enter key or click the find symbol. -
Page 36: Contextual Keys
Comment field and then click Save Comment key to confirm. Note that, in case of error marked as a SYSTEM ERROR, Cause and Remedy are not displayed. Please contact COMAU Customer Service in such a situation. 4.3.2 Contextual keys None. -
Page 37: Editor
Comau Robotics Product Instruction ENVIRONMENTS 4.4 Editor – Description – Contextual keys. 4.4.1 Description This environment allows editing any files in Unicode or ASCII codes. More in detail, it allows creating, viewing, modifying and saving the majority of the existing files on a Control Unit, meaning .PDL, .COD, .LSV, .VAR, .C5G, .XML and their backup copies... -
Page 38: Contextual Keys
Comau Robotics Product Instruction ENVIRONMENTS The standard attributes (called Properties) associated to the file, are also displayed: – revision – title – version – file creation date – author – host hwere the file has been created. When opening a binary file (.COD, .VAR or .C5G), it is converted to a readable format for the user, which means in either Unicode or ASCII code. - Page 39 Comau Robotics Product Instruction ENVIRONMENTS Allows copying, pasting and cutting parts of the text – Find - Replace Allows finding, in the file, the text specified by the user and, if wished, replacing it with another text. The two keys opens the Find or Replace window to perform the wished command.
- Page 40 Comau Robotics Product Instruction ENVIRONMENTS Bookmarks – allow operating with bookmarks which help to quicker move inside the being edited file; they are mainly useful with big files. The available keys, according to the figure above, are as follows: Toggle bookmark sets the bookmark at the current position •...
-
Page 41: Terminal
Comau Robotics Product Instruction ENVIRONMENTS 4.5 Terminal – Description – Contextual keys. 4.5.1 Description It represents the direct Interface with the currently selected Control Unit. It allows to issue all the available System Commands, i.e. configuration, information display, instructions immediate execution, files handling, editing, execution memory handling, programs handling, settings, etc. -
Page 42: Contextual Keys
Comau Robotics Product Instruction ENVIRONMENTS It is needed to be connected to the selected Control Unit (par. 5.2.3 Connect on page 68), to be able to open its Terminal window, by clicking the Terminal key. If another PC is already connected to the same Control Unit, opening this environment cannot be allowed and an informational message is displayed on the screen. -
Page 43: Visualization
Comau Robotics Product Instruction ENVIRONMENTS 4.6 3D Visualization – Description – Contextual keys. 4.6.1 Description This key opens the Visualizzazione 3D environment. The home screen can be modified by using the mouse, as follows: – pressing the mouse wheel - keeping the wheel pressed and moving the mouse at the same time, moves the scene (floor, robot and all objects) in any directions –... -
Page 44: Robot
Comau Robotics Product Instruction ENVIRONMENTS The following settings can be modified: Show Ground (visible/invisible floor) - select the checkbox to make the floor visible – – Ground Color (floor color) - click the displayed number to open the colors table, choose the wished one and click OK to confirm. - Page 45 Comau Robotics Product Instruction ENVIRONMENTS CAUTION: modifying the Offset field ONLY acts at the viewing level: it DOES NOT affect the robt real position! When its Offset field is modified, the robot is immediately displayed in the new position (figure below).
-
Page 46: Object
Comau Robotics Product Instruction ENVIRONMENTS To modify the trace color, click the colored band to open the colors table (next figure), choose the wished one and click OK to confirm Trajectory Thickness - this is the displayed trajectory thickness. Click its •... -
Page 47: Contextual Keys
Comau Robotics Product Instruction ENVIRONMENTS – Center - coordinates of the object center, referred to the Base reference frame – Dimensions - object dimensions in x, y, z components – Orientation - object orientation in x, y, z components. Creation and modification of the objects are dynamic, i.e. any data changings are immediately displayed, helping the user’s work. - Page 48 Comau Robotics Product Instruction ENVIRONMENTS When one of these commands is clicked, the required object is added by the program (example in the figure below), both in the 3D environment and in the Simulation 3D Scene folder in the Nodes Panel.
-
Page 49: File System
Comau Robotics Product Instruction ENVIRONMENTS 4.7 File System – Description – Contextual keys. 4.7.1 Description This key allows displaying the tree structure including folders and corresponding files for all the devices existing both on the PC and on the currently connected Control Units. -
Page 50: Contextual Keys
Comau Robotics Product Instruction ENVIRONMENTS 4.7.2 Contextual keys Once the environment is opened, the following contextual keys are available (highlighted in the figure above): New Folder – Creates a new folder called “New_Folder”. It is up to the user assigning it the... - Page 51 Comau Robotics Product Instruction ENVIRONMENTS After the translation, the previous version is saved as a backup file. If any errors occur, they are displayed in the PDL2 Errors window of the Logs Bar, as highlighted in the figure below. Protect –...
-
Page 52: Moni Viewer
Comau Robotics Product Instruction ENVIRONMENTS 4.8 Moni Viewer – Description – Contextual keys. 4.8.1 Description This environment allows viewing the content of moni files, in diagram form. Such binary files contain data about the Arms, gathered to analyze situations related to them. - Page 53 Comau Robotics Product Instruction ENVIRONMENTS Act as follows to view a moni file diagram: – for moni files on the Control Unit, click twice the filename in the File System environment – for moni files on the PC • open the Moni Viewer environment and use the...
-
Page 54: Contextual Keys
Comau Robotics Product Instruction ENVIRONMENTS The diagrams representing Cartesian movements can also be displayed in 3D form, using the Switch from 2D charts to 3D Charts view toggle key (figure below on the left). 4.8.2 Contextual keys – Open File. -
Page 55: I/O Configuration
Comau Robotics Product Instruction ENVIRONMENTS 4.9 I/O Configuration CAUTION - Using this environment is only allowed since 4.11 System Software version, on Control Units provided with OPC UA option, code CR17926302. Otherwise this key is disabled. – Description – Contextual keys. - Page 56 Comau Robotics Product Instruction ENVIRONMENTS Note that it is allowed to open more than one I/O Configuration panels at the same time, each one associated to a different Control Unit. Just select the wished Control Unit and click the I/O Configuration key.
-
Page 57: Contextual Keys
Comau Robotics Product Instruction ENVIRONMENTS 4.9.2 Contextual keys Once the environment is opened (as shown in the figure at the beginning of current par. 4.9 I/O Configuration on page 55), the following contextual keys are available. – Add I/O Device this command adds the selected I/O ports associated to the wished I/O device (highlighted in yellow in the example below), to the current view. - Page 58 Comau Robotics Product Instruction ENVIRONMENTS Add I/O Port – this command adds the wished I/O ports to the current view. The user is allowed to select them in a list in which they are displayed by port type, as shown in the figures below.
- Page 59 Comau Robotics Product Instruction ENVIRONMENTS NOTE Proceed as follows to remove one or more ports from the displayed ones in the I/O Configuration, environment: – open the I/O ports list, by means of Add I/O Device Add I/O Port contextual keys –...
-
Page 60: Settings
Comau Robotics Product Instruction ENVIRONMENTS 4.10 Settings – Description – Contextual keys. 4.10.1 Description The Settings environment, displayed in a dedicated window, allows setting up the general parameters for the RoboShop program functioning (figure above). The setting functions are grouped as follows: –... -
Page 61: Language
Comau Robotics Product Instruction ENVIRONMENTS – Registration. 4.10.1.1.1 Language So far, the only available language is English. 4.10.1.1.2 Default library version It indicates the translator library version, to be used while translating the binary files (.COD, .VAR, .C5G). 4.10.1.1.3 Themes... -
Page 62: Registration
Comau Robotics Product Instruction ENVIRONMENTS – Light as shown in the figures below. The user can choose the wished background by selecting it in the corresponding menu and clicking Apply key, as shown in the left figure above. 4.10.1.1.4 Registration The usage of this setting functionality is fully described in par. -
Page 63: User Text Archive
Comau Robotics Product Instruction ENVIRONMENTS – files. 4.10.1.2.1 User text archive It is a file containing the added user comments to the error messages, in Cause&Remedy environment. 4.10.1.2.2 Import path Directory path to translate PDL2 programs containing the IMPORT clause. -
Page 64: Multicontrol Panel
Comau Robotics Product Instruction MULTICONTROL PANEL MULTICONTROL PANEL 5.1 Introduction This area (highlighted in the figure above), alwais displayed, is dedicated to the Control Units which RoboShop can connect and communicate to. As already stated, RoboShop is able to connect to more than one Control Unit at simultaneously, in the same session. -
Page 65: Add New Node
Comau Robotics Product Instruction MULTICONTROL PANEL – Remove node – Connect – Disconnect – Teach Pendant – Settings. 5.2.1 Add new node It allows adding a new Node, i.e. a new Control Unit, to the Controllers folder. In the displayed window, the following information must be supplied: –... - Page 66 Comau Robotics Product Instruction MULTICONTROL PANEL Activate the Virtual Teach Pendant by means of the dedicated key. Program SETUP1 is automatically run, to allow the user to configure the system as wished. Select the wished language for SETUP1 execution (Italian or English), clicking the language name.
- Page 67 Comau Robotics Product Instruction MULTICONTROL PANEL Select arm, family, model, auxiliary axes if any, MOVE statement mode, etc. to configure the virtual system. Press Save key at the end, to save the newly created configuration. Click OK key to confirm.
-
Page 68: Remove Node
Comau Robotics Product Instruction MULTICONTROL PANEL At the end of the system power up, the new Virtual Controller is properly configured and ready to be used. 5.2.2 Remove node Select the Control Unit to be removed and click on the Remove node key . -
Page 69: Disconnect
Comau Robotics Product Instruction MULTICONTROL PANEL take some seconds. Username and Password must have already been defined on the being connected Control Unit. When the Control Unit is connected, the corresponding “LED”, in the Nodes Panel, becomes green. 5.2.4 Disconnect Select the Control Unit to be disconnected and click the Disconnect key (figure below). -
Page 70: Standard Virtual Keys
Comau Robotics Product Instruction MULTICONTROL PANEL The VirtualTP5 keyboard includes – Standard Virtual Keys, i.e. the ones corresponding to the TP5 real keyboard keys, – Additional Virtual Keys, to simulate all buttons/selector existing in the real TP5. 5.2.6 Standard Virtual Keys The standard virtual keys simulate all the black, blue and other colours keys, existing in the real TP5 keyboard. -
Page 71: Zoom
Comau Robotics Product Instruction MULTICONTROL PANEL – ZOOM – SCREENSHOT – MOVE ON TOP – Virtual State Selector – Virtual Enabling Device. 5.2.7.1 ZOOM This key allows modifying, in circular mode, the virtual keyboard visualization, as shown in the next figures. The available visualizations are: –... -
Page 72: Virtual State Selector
Comau Robotics Product Instruction MULTICONTROL PANEL When this virtual key is clicked, the virtual keyboard is displayed in the front, over the virtual screen. In the shown below example, the MOVE ON TOP key is pressed in the figure on the left, so the visualization is changed, as shown in the figure on the right. -
Page 73: Virtual Enabling Device
Comau Robotics Product Instruction MULTICONTROL PANEL 5.2.7.5 Virtual Enabling Device This virtual key simulates the real Enabling Device (existing on the TP5 rear side) and must be “kept pressed” to allow the robot motion. It can be used in Programming state (Progr) only. -
Page 74: File Transfer
Comau Robotics Product Instruction MULTICONTROL PANEL 5.2.8.1 File Transfer This field allows setting the folder to be used during the files list transfer/viewing operations from and to the connected PC. 5.2.8.2 Import path Directory path to translate PDL2 programs containing the IMPORT clause. -
Page 75: Grammar File
Comau Robotics Product Instruction MULTICONTROL PANEL Click Add... key, (as highlighted in the previous figure), select the wished path and click Ok to confirm. Similarly, in the same window, select the wished path, click Remove key and click Ok to confirm, to delete an existing Import path setting. -
Page 76: Translator
Comau Robotics Product Instruction MULTICONTROL PANEL In the window above, click Add... key, select the wished .crd file and click Ok key to confirm. Similarly, select the wished .crd file, click Remove key (figure above) and click Ok to confirm, to delete it. -
Page 77: Nodes Panel
Comau Robotics Product Instruction MULTICONTROL PANEL The configuration of such a modality is made by means of the FTP server settings window, shown in the figure above. Some configurable ports are defined in this window to be allowed to access. A maximum of 9 can be configured. -
Page 78: Details Panel
Comau Robotics Product Instruction MULTICONTROL PANEL 5.4 Details Panel This panel contains any detailed information related to the Nodes, i.e. to the elements listed in the Nodes Panel, folders, Control Unit, associated robot, objects, associated to the 3D word, if any. -
Page 79: Logs Bar
Comau Robotics Product Instruction LOGS BAR LOGS BAR 6.1 Introduction The Logs Bar displays messages coming from RoboShop existing environments and functionalities and also from active applications, if any. Using the key placed on its left side (as highlighted in the figure above), the viewing area can be vertically enlarged/reduced. -
Page 80: Output
6.3 Search Results Displays all he results of any search operations (Find command) in Editor environment. 6.4 Output Debug Diagnostics function reserved to COMAU Customer Service. 6.5 PDL2 Errors Displays the results of translating the program files (.COD, .PDL. and .VAR, .LSV). - Page 82 Original instructions Made in Comau...
Need help?
Do you have a question about the C5G-R1C and is the answer not in the manual?
Questions and answers