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Robostar N1 Series Manual

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Robostar Robot Controller Manual
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INSTRUCTION MANUAL
OPERATION MANUAL
PROGRAMMING MANUAL
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UNI-HOST MANUAL
GAIN SETUP MANUAL
ALARM CODE MANUAL
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  • Page 1 Robostar Robot Controller Manual INSTRUCTION MANUAL OPERATION MANUAL PROGRAMMING MANUAL √ UNI-HOST MANUAL GAIN SETUP MANUAL ALARM CODE MANUAL www.robostar.co.kr Robostar Co., Ltd.
  • Page 2 Copyright ⓒ ROBOSTAR Co., Ltd. 2012 Copyright of this manual is reserved to Robostar Co., Ltd. Any part of this manual cannot be used as other forms or other means without permission of Robostar. The specifications are subject to change without notice in advance.
  • Page 3 Products of Robostar Co., Ltd. are manufactured under the strict quality control. All the Robostar products’ warranty period is one year from the date of manufacture. In this period, Robostar is only responsible for the mechanical failures due to negligence of Robostar, or the problems on design and manufacture occurring during normal use, in which the service is free of charge.
  • Page 4 As well as general use of the controller, parameter setup, JOB program editing, robot operation, etc. are explained. Programming Manual  RRL (Robostar Robot Language) which is the robot program of Robostar and how to write a robot program by using RRL are explained. Unihost Manual ...

  • Page 5: Table Of Contents

    2.3.4 Small Icons ............................. 2-14 2.3.5 List ................................. 2-15 2.3.6 Details ..............................2-15 2.3.7 Arrange Icons by ............................ 2-16 2.3.8 Refresh ..............................2-16 ............................... 2-17 ISPLAY MENU 2.4.1 Error Log ............................... 2-17 2.4.2 Download Firmware ..........................2-18 Robostar Co., Ltd.
  • Page 6 DESCRIPTION OF USE OF N1 ROBOSTAREDITOR ..............3-1 JOB F ............................ 3-1 CREEN 3.1.1 Compile ..............................3-2 ..........................3-3 OINT CREEN 3.2.1 Initialize ..............................3-4 3.2.2 Increase ..............................3-6 3.2.3 Parameter ..............................3-8 3.2.4 Coordinate ............................. 3-10 Robostar Co., Ltd.

  • Page 7: Chapter 1 Using N1 Unihost Manager

    Unihost Manager Chapter 1 Using N1 Unihost Manager This Unihost Manager is for setup of the N1 robot controller-to-computer communication and the basic environment. First Connection To execute this Unihost Manager, click Unihost Manager.exe file. Fig. 1-1 Robostar Co., Ltd.
  • Page 8 ▶ When the Controller Type is not consistent, a warning window Type Mismatch comes up. CAUTION ▶ In new project creation, if there is no Project Root folder, Project cannot be created. Make the folder in advance, using Windows Explorer or the like. Robostar Co., Ltd.
  • Page 9 When a usable port and communication rate are set up and then Connect button is selected, PC-to-controller communication starts. Communication rate is set to 115200 bps, in default. Fig. 1-4 If connection is successful, the following screen appears. (Fig. 1-5) 그림 1-5 Robostar Co., Ltd.
  • Page 10 ▶ If communication connection is failed, check the followings. ① Check the communication port and the communication rate. ② Check whether the controller state is in Host Mode. ③ Check a serial cable connecting the PC and the controller. Robostar Co., Ltd.

  • Page 11: Default Screen

    Disconnected is displayed. ○ Communication mode of the current controller. ○ Controller name ○ S/W Version of the controller ○ Information on each robot channel. ○ User selected project name ○ User selected project path ○ Execute File Transfer. Robostar Co., Ltd.

  • Page 12: File Menu

    Select this menu to connect a computer with a robot controller. Fig. 1-8 1.3.2 Disconnect This menu is enabled, only when the computer and the robot controller are connected with each other. Select this menu to disconnect a computer from a robot controller. Fig. 1-9 Robostar Co., Ltd.

  • Page 13: New Project

    When Project Name corresponding to the controller is entered and then OK is selected, a folder relevant to the project name is created in PC, and, in such folder, 3 folders corresponding to each channel. The current channel names are fixed so that a user cannot change them. Robostar Co., Ltd.

  • Page 14: Open Project

    ▶ When Project folder is opened, the name of a folder in which a project locates and CAUTION the project name must be the same. If they are not the same, File Transfer function does not work normally. Robostar Co., Ltd.
  • Page 15 Root folder of the project, a folder in which execution file is, and the timeout time are setup. If Execute Path is wrong set up, File Transfer Program is not performed. ▶ When Execute Path is set up, it must be in the position of a folder in which an CAUTION execution file, FileTransfer.exe exists. Robostar Co., Ltd.

  • Page 16: Chapter 2 Using N1 File Transfer Program

    ⑤ A channel of the controller that a user selected. The current status is the highest (Root) channel. ⑥ File list window of a controller, which shows the file list of the selected channel. ⑦ A trace window shows the data exchanged between PC and the controller, the error message, etc. Robostar Co., Ltd.
  • Page 17 Common parameter setup file of a controller POINT.GPT Common teaching point file of a controller INTEGER.GIT Common integer variable file of a controller FLOAT.GFT Common real number variable file of a controller PALLET.PLT Pallet setup file of a controller Robostar Co., Ltd.
  • Page 18 JOB file of a controller robot CH1 TEST.PNT Individual JOB teaching point of a file controller robot CH1 ▶ For each robot channel, separate parameter file exists. CAUTION ▶ For each robot channel, Job and Point file is separate. Robostar Co., Ltd.

  • Page 19: File Menu

    ▶ If the channel between the controller and PC is different, file copy is not performed. CAUTION ▶ If there is no data saved in PNT file in PC, Protocol error occurs when the file is sent to the controller, and therefore the file cannot be transferred. Robostar Co., Ltd.
  • Page 20 ▶ If the controller Channel is different from the PC Channel, “Cannot copy files to Controller. Check Channel” message appears. CAUTION ▶ If there is no data saved in PNT file in PC, Protocol error occurs when the file is sent to the controller, and therefore the file cannot be transferred. Robostar Co., Ltd.
  • Page 21 Project Root of Unihost Manager Option. CAUTION ▶ If there is no data saved in PNT file in PC, Protocol error occurs when the file is sent to the controller, and therefore the file cannot be transferred. Robostar Co., Ltd.

  • Page 22: Copy

    CAUTION used in channels for N1 controller. If a job having the same job index is transferred to a different channel, the job will exist in the channel, to which the job has finally transferred. Robostar Co., Ltd.
  • Page 23 N1 controller. If a job having the same job index is transferred to a different channel, the job will exist in the channel, to which the job has finally transferred. Robostar Co., Ltd.

  • Page 24: Paste

    File Transfer 2.2.3 Paste The files selected by Copy command is pasted by this Paste command. Fig. 2-7 Robostar Co., Ltd.

  • Page 25: Rename

    ① The file name is to be alphabet letters and numerals. CAUTION ② The length of file name is permissible up to 5 letters, except the extension. ③ If there is already empty file name or a file name to be changed, the error message appears. 2-10 Robostar Co., Ltd.

  • Page 26: Delete

    File Transfer 2.2.5 Delete Remove the selected file. When a file in Controller is deleted, Controller file list is updated. Fig. 2-9 2-11 Robostar Co., Ltd.

  • Page 27: Select All

    2.2.6 Select All Files in the selected file list window (a window surrounded with a blue square) are all selected. Fig. 2-10 2.2.7 Exit Exit from the File Up/Down Program which is now being executed. Fig. 2-11 2-12 Robostar Co., Ltd.

  • Page 28: View Menu

    File Transfer View menu 2.3.1 Toolbar Menu buttons to copy or delete the robot file are displayed. 2.3.2 Status bar The current status of a keyboard (Caps Lock, Num Lock, and Scroll Lock) is indicated. 2-13 Robostar Co., Ltd.

  • Page 29: Large Icons

    A screen of a file list window that a user selects is shown in the form of Small Icon. In Fig. 2-13, a file list window screen of PC with small icons is shown. Fig. 2-13 2-14 Robostar Co., Ltd.

  • Page 30: List

    A screen of a file list window that a user selects is shown in the form of detailed list. In Fig. 2-15, a file list window screen of PC in the detailed list form is shown. Fig. 2-15 2-15 Robostar Co., Ltd.

  • Page 31: Arrange Icons By

    This fail may occur if PC-to-controller communication is disconnected or the proper data cannot be transmitted between PC and a controller, as in the case of Copy. Resolving method of this problem is also identical to the case of Copy. 2-16 Robostar Co., Ltd.

  • Page 32: Display Menu

    Fig. 2-17 When Error Log is downloaded from the controller, the error contents are displayed as in Fig. 2-18. If applying Save button in Error Log screen, it is saved as a file. Fig. 2-18 2-17 Robostar Co., Ltd.

  • Page 33: Download Firmware

    This updates the firmware to the latest version when the functions of N1 Controller are modified and added. Since the work of Download Firmware has a serious effect on the controller operation, be sure to consult with Customer Support Team of Robostar before performing Download Firmware. Select Higher menu Display > Upload Firmware Fig.
  • Page 34 3) Select Confirm button ▶ When first performing the firmware download, consult with the Customer Support CAUTION Team of Robostar. ▶ If the erroneous firmware download, the controller may not be booted. ▶ Fully understand the download sequence before performing the download.
  • Page 35 (\N1_MAIN_FB.hex” has been successfully downloaded.) After completing Unihost downloading, process as Teach Pendant messages indicate. ▶ While the firmware is downloaded, do not shut down the power source. CAUTION ▶ After completing Unihost downloading, process as Teach Pendant messages indicate. 2-20 Robostar Co., Ltd.
  • Page 36 F/W. Turn ON Power Again! ▶ When first performing the firmware download, consult with the Customer Support Team of Robostar. CAUTION ▶ If the erroneous firmware download, the controller may not be booted. ▶ Whiless the firmware is downloaded, do not shut down the power source.

  • Page 37: Chapter 3 Description Of Use Of N1 Robostareditor

    Job writing and printing. Repeat position. Find Search up from the current Cut certain content. Previous position. Copy Copy certain content. Replace Change strings. Paste Paste copied content. Syntax Grammar check. Bookmark Configure, search, cancel with bookmark function. Robostar Co., Ltd.

  • Page 38: Compile

    When the compile is successful, a popup window “Compile succeed!” comes up as shown on Fig. 3-2 screen. Fig.3-2 Fig. 3-3 screen below shows a failure in Compile. Error Message output window represents Information including Error Number, Job Total Line and Compiler Type. Fig.3-3 Robostar Co., Ltd.

  • Page 39: Point File Edit Screen

    Fig. 3-4 below, showing a Point Editor screen, enables creating and editing Local and Global Point files used in the controller. On top of this, a Point Editor has a Description area present where the user can list details about use of each point. Fig.3-4 Robostar Co., Ltd.

  • Page 40: Initialize

    E2-axis initial position set value (Angle) ⑫ Individual application of E2-axis initial position value ⑬ Start Point set value ⑭ End Point set value ⑮ Overall application of X, Y, Z, W, E1, E2 initial position values Robostar Co., Ltd.
  • Page 41 When applying “All Apply” button, the user is once again asked for confirmation whether or not to process the initialization through Message Box as shown in Fig. 3-6. Fig.3-6 Fig. 3-7 shows a screen where the initialization is in progress. Fig.3-7 Robostar Co., Ltd.

  • Page 42: Increase

    ⑪ E2-axis increase position set value(Angle) ⑫ Individual application of E2-axis increase position value ⑬ Start Point set value ⑭ End Point set value ⑮ Overall application of X, Y, Z, W, E1, E2 increase position value Robostar Co., Ltd.
  • Page 43 RobostarEditor Fig. 3-9 shows a screen where each position value rises to : X-axis: 110, Y-axis: -115, Z-axis: 100, and -axis: 360. Fig.3-9 Robostar Co., Ltd.

  • Page 44: Parameter

    This task must be performed in advance to use a Coordinate function. ① Fig.3-10 As shown in above Fig. 3-10, select ① “LOAD PARAMETER” and open the Local Parameter file in the controller for use in coordinate conversion as shown in Fig. 3-11 below. ② ③ Fig.3-11 Robostar Co., Ltd.
  • Page 45 A Fig. 3-12 screen shows a loaded SCARA-800A parameter values. For parameter items needed for converting the formula in XY coordinates, Values for 1) Robot Type, 2) Arm-Length, 3) Tool Offset, 4) S/W Limit are used. Fig.3-12 ** In “LOAD_PARAMETER”, only the Local Parameter item can be opened. Robostar Co., Ltd.

  • Page 46: Coordinate

    ④ Button for loading data value after selecting point item ⑤ Button for application after converting a coordinate ⑥ Window for selecting Arm Form to be applied in converting a coordinate ⑦ Window for selecting TOOL to be applied in converting a coordinate 3-10 Robostar Co., Ltd.
  • Page 47 Fig.3-14 2. Selecting a point index to change a coordinate Select a point and click Data Load button as shown below. ** Applicable only when the parameter value of “LOAD_PARAMETER” tab is loaded. Fig.3-15 3-11 Robostar Co., Ltd.
  • Page 48 RobostarEditor Changing Arm From and End Effecter(TOOL) Fig.3-16 번호 좌표 E_Effect Angle -432.6 -313.791 -322.014 0.000 0.000 P0002 -103.520 -97.184 120.000 -124.310 0.000 0.000 LEFT Table 3-1 3-12 Robostar Co., Ltd.
  • Page 49 P0002. Angle values are shown in pop-up window prior to change. When applying the “Confirm” button, the already-set Angle position value is applied. Fig.3-17 Fig.3-18 shows an Angle position value applied after teaching XY coordinates through a Coordinate tab window. Fig.3-18 3-13 Robostar Co., Ltd.
  • Page 50 Rev. Revised Date Description Reviser Version 2012.07.30 First Edition Printed 2012.08.22 Controller type set Leejm Ver2.0 2013.01.15 Editor add Leebj Ver2.1 N1 ROBOT CONTROLLER CONTROLLER MANUAL FIRST EDITION JULY 2012 ROBOSTAR CO, LTD ROBOT R&D CENTER Robostar Co., Ltd.

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