Antriebs- und Steuerungstechnik

rho 3

PHG Operation

102
Version

Automationstechnik
rho 3

PHG Operation

1070 073 031-102 (94.11) GB

Reg. Nr. 16149-03

E 1992

by Robert Bosch GmbH,

All rights reserved, including applications for protective rights.
Reproduction or handing over to third parties are subject to our written permission.

Discretionary charge 40.– DM

Part 1 General rho3 PHG operation

Part 2 Testing BAPS2 programs with the PHG3

 rho 3

PHG operation

Part 1
 rho3
Flexible Automation PHG

Part 1 General rho3 PHG operation

INTRODUCTION CONTENTS 0

TECHNICAL DESCRIPTION A

MENU STRUCTURE, HANDLING B

PHG FUNCTIONS C

ANNEX PHG MENU STRUCTURE D

 rho3
Flexible Automation PHG
Flexible Automation
INTRODUCTION
0 rho3
PHG

Please take careful note of the following conditions/restrictions before placing the rho3
Warning control into operation (e.g. with the PHG) since, otherwise, this could involve
- danger to life and limb (e.g. lethal accidents)
- risk to material (e.g. complete machine writeoff, complete reject production)
- economic losses (e.g. downtimes, delays in delivery).
- If there are any points which are not clear, please consult your responsible Bosch
servicing center (see last cover page).

1. AIM, PURPOSE

The aim of this manual is to provide a basic description of operation and programming of the rho3 control using
the handheld programming unit PHG.

2. TARGET GROUPS

Authorized machine fitters and setters with appropriate technical training and experience.

3. KNOWLEDGE, PRECONDITIONS

It is assumed that the reader has a sound basic knowledge of CNC and PLC techniques and all knowledge
of the Bosch rho3 control as imparted in the following documents:

Document title Sub-title

rho3 BAPS2 Programming instructions

rho3 ROPS3/IQpro Robot online/offline programming system
rho3 Machine parameters Description of the machine parameters
rho3 Signal Signal description
rho3 Interface Interface conditions

It is also assumed that the reader is familiar with the knowledge and skills imparted in the Bosch courses.
In addition, only authorized persons may work with the control.

I
Flexible Automation
INTRODUCTION
0 rho3
PHG

4. WARNING, IMPORTANT, NOTE

Notes etc. occurring in the text have the following significance:

General hint
Note

Risk to material
Important

Danger to life and limb and risk to material

Warning

5. POSSIBLE ERRORS IN THE DOCUMENTATION

We constantly endeavor to provide documentation which is free of errors, complete and understandable.
Should you nevertheless come across errors or incomplete descriptions or descriptions which you cannot un
derstand, please inform your responsible servicing office of this.

6. SYSTEM DOCUMENTATION

The machine fitter/programmer is responsible and legally liable for writing/providing correct application docu
mentation.

II
Flexible Automation
CONTENTS
0 rho3
PHG

CONTENTS

TECHNICAL DESCRIPTION A

1. INDICATORS, DISPLAYS AND OPERATING CONTROLS, OVERVIEW . . . . . . . . . . . 1

2. KEYPAD ASSIGNMENTS, PRINCIPLE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

3. KEYPAD ASSIGNMENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.1 Basic assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.2 Shift assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.3 Alt assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

4. TEXT SYMBOLS FOR KEY FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

MENU STRUCTURE, HANDLING B

1. MAIN OPERATING MODES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.2 Selection of the operating mode before switching on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.3 Changing the operating mode after switching on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.3.1 Changing from SETUP to AUTOMATIC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.3.2 Changing from AUTOMATIC to SETUP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2. MENU STRUCTURE, EXPLANATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

3. DISPLAY FUNCTIONS/ENTRIES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

4. ACTIVATE FUNCTIONS/ENTRIES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.1 Activate displayed functions/entries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.2 Activate functions/entries directly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.3 Preselect submenu levels directly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

5. QUIT DIALOGS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

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6. ENTRIES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

7. EXAMPLE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

8. SUMMARY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

PHG FUNCTIONS C

1. REFERENCING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

2. MANUAL OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

3. PROGRAMMING BAPS/PIC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.1 Programming BAPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.1.1 Edit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.1.2 Define . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.1.3 Teach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.1.4 Compile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3.2 Programming PIC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.2.1 PIC editor30
3.2.2 Counters/timers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3.2.2.1 Display timers/counters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3.2.2.2 Change timers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3.2.2.3 Change counters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3.2.3 PIC program name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
3.2.4 Erase PIC EEPROM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

4. DEFINE/TEACH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.1 Define . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.2 Teach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

5. TEST BAPS PROGRAMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

6. PIC MONITOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
6.1 PIC monitor ON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
6.2. PIC monitor OFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
6.3 New mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
6.4 Timers and counters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

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PHG

6.5 Print PIC status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

6.6 PIC program name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

7. DIAGNOSIS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
7.1 Axis displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
7.2 Errors/warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
7.3 System statuses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
7.3.1 Control status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
7.3.2 Process statuses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
7.3.3 Active mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
7.3.4 Hardware configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
7.4 Digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
7.5 Digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
7.6 RC inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
7.7 RC outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
7.8 Machine parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
7.8.1 Display machine parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
7.8.2 Set machine parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
7.8.3 Presetting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
7.8.4 Print machine parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
7.9 Test digital and CAN outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
7.10 Display PHG keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
7.11 Version display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
7.12 Machine status display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
7.12.1 MZA individual display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
7.12.2 MZA automatic display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
7.13 High-Speed Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
7.14 Digital CAN Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
7.15 Digital CAN Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

8. DEACTIVATE PHG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

9. DEVICES/FILE I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
9.1 Presetting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
9.2 List files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
9.3 Delete files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
9.4 Print files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
9.4.1 ASCII files (.QLL, ERR, DAT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
9.4.2 Point files (.PKT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
9.4.3 Machine parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

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9.5 Memory occupancy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

9.6 Memory --> EEprom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
9.7 EEprom --> Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

10. PRESELECT PROGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

10.1 Preselect processes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
10.2 Stop processes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

11. AUXILIARY FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

11.1 Control reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
11.2 Display/set clock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
11.3 RC new start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
11.4 Adjust Vfactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
11.5 Adjust Afactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
11.6 Adjust Dfactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

12. BACKUP FOR EEPROM AND EPROM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

ANNEX D

1. MENU STRUCTURE PHG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

VI
Flexible Automation
TECHNICAL DESCRIPTION
A rho3
PHG

The technical description covers the individual elements of the PHG at hardware level. The functional description
is given in the following sections (B, C, D).

1. INDICATORS, DISPLAYS AND OPERATING CONTROLS, OVER

VIEW

EMERGENCYSTOP
Display panel
Liquidcrystal display (LCD)
with 4 lines of 20 characters
BOSCH
each.

Deadman

Purpose: All move

mentes controlled by
the PHG are aborted
immediately if the
key is no longer
pressed.

Function: Enabling
movements and spe
Keypad cial functions, only as
long as Deadman is
Keys are assigned up to pressed
three functions, dependent
upon mode.

See documents "rho3 Ma

chine parameters" and
"rho3 Signal" for barring Keypadcover
keys. 7 8 9 film

Purpose: Informa
tion on functional as
4 5 6 signment of the indi
vidual keys.

1 2 3 Shift Function: Can be

turned and ex
changed manually.

0 .
PHG 3 V 1.2/1
Identification: Identification version of
PHG3, keypad as the keypad assignment
signment for rho 3
Fig. A-1 Indicators, displays and operating controls, overview

1
Flexible Automation
TECHNICAL DESCRIPTION
A rho3
PHG

KEYPAD COVER FILM

Keys of different controls are assigned different functions. The keypad cover
Warning film must always match the control. Otherwise, there is a risk of unwanted and
incorrect operator control actions etc., thus posing a danger to life and limb
and a risk to material.

Keypad cover film, side 1

A - B ;
MOVE LINEAR
1+VIAC 1- TO D

E ? F ' 2+ G 2- H
WAIT TO BEGIN END

I
IF
[ J ] 3+ K
3-JUMPL
THEN ELSE

M ( N ) 4+ O 4- P
RPT TIMES RPT_END HALT

Q R
INFO GROUP
MODE
KIN SPACE
COORDINATES 5+V _PTP 5- =

U V
S < T > 6+ 6- -

W + * X : ALT

! Y / %

Z @ ,

PHG 3 V 1.2/1

Fig. A-2 Keypad cover film, side 1

2
Flexible Automation
TECHNICAL DESCRIPTION
A rho3
PHG

Keypad cover film, side 2

A AN I (Input)

O ON O(Output)

S R M(Marker)

= JC EP NOP1

INFO
MODE

PHG 3 V 1.2/2

Fig. A-3 Keypad cover film, side 2 (for PIC programming)

3
Flexible Automation
TECHNICAL DESCRIPTION
A rho3
PHG

EMERGENCYSTOP

Please note the information, instructions, notes and warnings in documents:

Warning rho3 BAPS 2.0, rho3 ROPS3/IQpro, rho3 Machine parameters, rho3 Signal, rho3 interface

Purpose: The activated robots are stopped immediately in the event of danger.
Function: EMERGENCYSTOP pressed > Robot stop (Fig. A4).

In the
event
of danger

Fig. A-4 EMERGENCYSTOP in the event of danger

Placing back into operation of the EMER

GENCYSTOP

1. Unlock switch EMERGENCYSTOP (Fig. A5):

Turn the switch head clockwise until it pops out.

Fig. A-5 Unlocking EMERGENCYSTOP

2. Triggering control reset (Fig. A6).

EMERGENCYSTOP is always
Note pending internally after each
start of the rho 3. This signal is
reset by:
-Control reset via PIC Control reset
-Pushbutton on the control
cabinet
-PHG mode 11.1
Fig. A-6 Reset on the control cabinet

4
Flexible Automation
TECHNICAL DESCRIPTION
A rho3
PHG

2. KEYPAD ASSIGNMENTS, PRINCIPLE

The keys of the PHG are assigned up to three different functions. The Annex provides an overview of this (Annex:
PHG key assignments, overview), Fig. A7 clearly shows the basic system used:
1. Basic assignment
Assignment if only one key of the keypad is pressed at any one time.
2. Shift assignment
The assignment applies if the Shift key is pressed.
3. ALT assignment
The assignment applies if the ALT key is pressed.
The Jog keys which trigger movements are, however, active only if
a) Mode 1, 2 or 4.2 is active and
b) Deadman is pressed.

KEY ASSIGNMENT SYSTEM

BOSCH
Shift Basic*)
ALT assign- assign-
A - ment C Shift ment
MOVE Basic 1+ VIA Basic

Shift 7 8 9 Basic*)
ALT assign- assign-
T > ment U Shift ment
MOVE Basic 6+ Basic
4 5 6

8 1 2 3 Shift 9
0 .
always the same
PHG 3 V 1.2/1 assignment

*) Assignment active only in modes which trigger movements (modes 1, 2, 3.1.3, 4.2) with Deadman key pressed
Fig. A-7 Key assignment system

5
Flexible Automation
TECHNICAL DESCRIPTION
A rho3
PHG

ACTIVE KEYS IN THE INDIVIDUAL

MODES

BAPS editor and ASCII character entries

In the BAPS editor and in the case of all entry

prompts which expect an ASCII character, the keys
emphasized in Fig. A8 are active.
7 8 9
Side 1 of the keypad cover film applies.
4 5 6

1 2 3 Shift

0 .

Fig. A-8 active keys: BAPS editor + ASCII entries

Modes apart from BAPS/PIC editor or

ASCII character entries
7 8 9
In the other modes, the keys emphasized in Fig. A9
are active. 4 5 6

Side 1 of the keypad cover film applies. 1 2 3 Shift

0 .

Fig. A-9 active keys: Modes apart from BAPS/PIC editor or

ASCII entries

PIC editor

In the PIC editor, the keys emphasized in Fig. A10

are active.
Side 2 of the keypad cover film applies.

7 8 9

4 5 6

1 2 3 Shift

0 .

Fig. A-10 active keys: PIC editor

6
Flexible Automation
TECHNICAL DESCRIPTION
Keypad basic assignment A rho3
PHG

3. KEYPAD ASSIGNMENT

The diagrams below contain information on the particular modes (or sides of the keypad
Note cover film) to which the key assignment applies. The values in brackets correspond to the
applicable side of the keypad cover film:

Figure Info Availability of the key functions

(1) all modes, apart from PIC editor
(2) only PIC editor
(1+2) all modes

3.1 BASIC ASSIGNMENT

Enter

Purpose: Accepting entries/proposals (e.g. entered

Fig. A-11 Enter (1 + 2)
values, displayed values, selected modes).

Delete

Purpose: Deleting the last character entered. Press

several times consecutively if required.

Fig. A-12 Delete (1 + 2)

Mode

Purpose: Direct activation of a mode. MODE

Syntax:
Mode No. Enter
No. Number of the required mode Fig. A-13 Mode (1 + 2)
(see Annex, Menu structure PHG)

7
Flexible Automation
TECHNICAL DESCRIPTION
Keypad basic assignment A rho3
PHG

Coordinates

Selection of the coordinate

Note system refers to the currently
active kinematic (see section COORDINATES
"Shift assignment")

Fig. A-14 Coordinates (1)

Purpose: Selection of the coordinate system:

MK Joint coordinates
RK World coordinates *)
GK Gripper coordinates *)
Selection: By pressing the key repeatedly.
*) optional

Figures
7 8 9
Purpose: Entering numbers (mode numbers, ad
dresses etc.).
4 5 6

1 2 3

0 .
Fig. A-15 Figures (1 + 2)

BAPS language elements

MOVE LINEAR VIA TO

Purpose: More convenient editing of movement and

sequential programs.
WAIT UNTIL BEGIN END
A BAPS language element does not need to be en
tered as a letter string. A key stroke suffices.

IF THEN ELSE JUMP

RPT TIMES RPT_END HALT

V_PTP =

Fig. A-16 Basic assignment BAPS2 language elements

8
Flexible Automation
TECHNICAL DESCRIPTION
Keypad basic assignment A rho3
PHG

Jog

Purpose: Manual traversing of axes of the current 1+ 1-

group (Section 8.1) in the positive (e.g. 1+) or nega
tive (e.g. 4) direction.
Each pair of Jog keys (e.g. 2+, 2) is assigned pre
cisely to one axis of the current group. 2+ 2-
Assignment of axis and key, see description Machi
ne parameter P19 und PIC signal description.
Availability: Only if
a) mode 1, 2, 3.1.3 or 4.2 is active and 3+ 3-
b) Deadman key is pressed.
Coordinates: Selection of the coordinate system for
the relevant kinematic 4+ 4-
see coordinates (basic assignment).
Function: Up to 3 axes may be traversed simulta
neously by simultaneously pressing the corre
sponding Jog keys.
5+ 5-
Effect of pressing the key:
- Press lightly once:
Traversing by 1 increment
6+ 6-
- Keep pressed:
First slow, continuous traversing,
then rapid, continuous traversing Fig. A-17 Jog (1)

If, when jogging an axis, this

Important axis has reached its maximum
speed owing to pressing the
Jog key for a period and if a furt
her axis is then jogged, this axis
accelerates immediately to
maximum speed.

PIC language elements

A AN I
Purpose: More convenient editing of PIC programs.
A PIC language element does not need to be entered O ON O
as a letter string. A key stroke suffices.
The command set of PIC is im S R M
Note plemented here, and not that of
BAPS-PIC. = JC EP NOP1

Fig. A-18 PIC language elements (2)

9
Flexible Automation
TECHNICAL DESCRIPTION
Keypad Shift assignment A rho3
PHG

3.2 SHIFT ASSIGNMENT

INFO

Shift and key pressed simultaneously.

Info
Fig. A-19 Info (1 + 2)

Help text for active mode. You can page with

Cursor up and Cursor down (currently in prepara
tion).

Kinematic
KIN
Purpose: Selection of a kinematic so as to permit the
assigned coordinate system to then be selected (see
Coordinates).
Selection: By pressing the key repeatedly.
Fig. A-20 Kinematic (1)
Assignment: Assignment of kinematic No. and
name, see Description
Machine parameters P1 and P301.

Cursor

Cursor left Quit dialog and move one menu lev

el up. In the editor: Moving cursor in the line/ scrolling
line horizontally.
Cursor right In the editor: Moving cursor in the
line/scrolling line horizontally.
Cursor up Scrolling list vertically.
Cursor down Scrolling list vertically. Fig. A21 Cursor (1 + 2)

Letters
A B C D
Purpose: Entering letters (e.g. variable names,
BAPS programs etc.) E F G H

I J K L
M N O P

Q R
S T U V

W X
Y

Fig. A22 Letters (1) Z

10
Flexible Automation
TECHNICAL DESCRIPTION
Keypad ALT assignment A rho3
PHG

3.3 ALT ASSIGNMENT

GROUP

ALT and key pressed simultaneously.

Group
Fig. A-23 Group (1)

Purpose: Selection of the group whose axes are to

be traversed (for Group, see Description machine
parameter P19 and PIC signal description).
Selection: By pressing the key repeatedly.

Special characters
- ;
Purpose: Entry of special characters (e.g. editing
movement programs)
? '

[ ]

( )

SPACE

< >

+ * :

! / %

@ ,
Fig. A-24 Special characters (1)

11
Flexible Automation
TECHNICAL DESCRIPTION
Keypad basic assignment A rho3
PHG

4. TEXT SYMBOLS TO KEY FUNCTIONS

For reasons of simplification, the corresponding text symbols and not the actual key captions are shown below.

Text symbols for Implemented by Comment

key function key/combination

Enter Accept entry

Delete Delete character

Figures Figure keys Basic assignment

Letters Letter keys Shift assignment

Special characters Special character keys ALT assignment

Commands Command keys Basic assignment, editing

Cursor left ! Abort dialog

Shift + 1

Cursor right %

Shift + 3

Cursor up * Display upper entry

Shift + 5

Cursor down , Display lower entry

Shift + .

Examples:

Group ALT INFO GROUP

MODE
Select axis group

+2 2+ G Move axis 2 positive

START

MOVE TO A - 1- D Command: MOVE TO

MOVE TO

12
Flexible Automation
MENU STRUCTURE, HANDLING
B rho3
PHG

1. MAIN OPERATING MODES

1.1 GENERAL

The rho3 control has two main operating modes: SETUP and AUTOMATIC. Only one of these operating modes
may be active at any one time.
The Annex "Menu structure PHG" shows which modes are available in the two operating modes:
SETUP: All modes are available; however, only user processes containing no traverse statements and which
have been declared as "permanent" processes may be started (see BAPS2 programming instructions).
AUTOMATIC: All movement-triggering operator control actions with the PHG are barred.

1.2 SELECTING THE MAIN OPERATING MODE BEFORE SWITCHING ON

Please note the information, instructions, notes and warnings in documents:

Warning rho3 BAPS 2, rho3 Machine parameters, rho3 Signal, rho3 Interface.

1. Set the mode selector switch on the control cab

inet to the required main operating mode.
SETUP AUTOMATIC

Fig. B-1 Mode selector switch

2. Switch on control.
XXXXX stands for current version
*** Setup ***
DD.MM.YYYY stands for the current date of the
version XXXXX DD.MM.YYYY

=> The control is in the selected main operating

mode after an internal test has been conducted.

*** Automatic ***

XXXXX DD.MM.YYYY
- - PHG deactivated - -

13
Flexible Automation
MENU STRUCTURE, HANDLING
B rho3
PHG

1.3 CHANGING THE MAIN OPERATING MODE AFTER SWITCHING ON

1.3.1 Changing from SETUP to AUTOMATIC

For reasons related to safety, it is possible to switch over from setup to automatic only if
- the PHG has been deactivated (Mode 8) or
- the PHG has not been connected (system
without PHG).

Procedure with PHG connected:

1. Deactivate PHG:

Mode 8 Enter
*** Setup ***

- - PHG deactivated - -

2. Set the mode selector switch on the control cab

inet to AUTOMATIC (Fig. B2).
SETUP AUTOMATIC

Fig. B-2 Mode selector switch

=> The control is in main operating mode AUTO

MATIC.

*** Automatic ***

- - PHG deactivated - -

14
Flexible Automation
MENU STRUCTURE, HANDLING
B rho3
PHG

1.3.2 Changing from AUTOMATIC to SETUP

` Set the mode selector switch on the control cab

inet to SETUP (Fig. B3).
SETUP AUTOMATIC

Fig. B-3 Mode selector switch

=> The control is in main operating mode SETUP.

*** Setup ***

- - PHG deactivated - -

When you quit main operating mode AUTOMATIC, all non-permanent, active user processes are stopped.
Processes which have been declared permanent remain active if the RC input 61 ("Permanent processes are
to remain active") is set.

15
Flexible Automation
MENU STRUCTURE, HANDLING
B rho3
PHG

2. MENU STRUCTURE, EXPLANATION

The menu structure (see Annex "Menu structure PHG") provides information on all available modes
("Submodes") and how to find them in the menus.
In the form represented, the individual menu levels are arranged vertically, in hierarchically descending se
quence from left to right.

Chapter "PHG functions" is subdivided in such a way that the section numbers each corre
Note spond directly to the assigned entries (modes) of the menu structure.
Fig. B4 explains this interrelationship on the basis of a specific example

7.3.2 Process statuses

7 Diagnosis 1 Axis displays Positions

2 Errors/warnings
Lag
Offset
3 System statuses
1 Control status End point
4 Digital inputs
2 Process statuses
5 Digital outputs

6 RC inputs 3 Current mode

7 RC outputs 4 Hardware configuration

8 Machine parameters
1 Displaymachineparam.
9 Test digital outputs
2 Set machine param.
10 Display PHG keys 3 Presetting

11 Version display 4 Print

12 Machine status display

1 MZA individual display
2 MZA automatic display

Fig. B-4 Reference Section No. <-> Menu structure

For reasons of simplification, the individual modes/entries in the texts are referred to with their section number.
Example: Mode 7.3.2 means: Process statuses.

16
Flexible Automation
MENU STRUCTURE, HANDLING
B rho3
PHG

3. DISPLAY FUNCTIONS/ENTRIES

The functions/entries of the active menu can be displayed with keys:

Cursor down Display lower function/entry
Cursor up Display upper function/entry

11 Auxiliary functions 1 Control reset

2 Display/setclock
Cursor up
3 RC new start

4 Adjust Vfactor

5
Cursor down Adjust Afactor

6 Adjust Dfactor

Fig. B-5 Display functions/entries, reference to menu structure

Auxiliary functions
2=Display/set clock

11 Auxiliary functions 1 Control reset

2 Display/setclock

3 RC new start

Menu structure 4 Adjust Vfactor Display panel

5 Adjust Afactor

6 Adjust Dfactor

Fig. B-6 Display functions/entries, reference menu structure < - > display panel

17
Flexible Automation
MENU STRUCTURE, HANDLING
B rho3
PHG

4. ACTIVATE FUNCTIONS/ENTRIES

4.1 ACTIVATE DISPLAYED FUNCTIONS/ENTRIES

A function/entry displayed with Cursor down / Cursor up can be activated by pressing key Enter

Enter

Fig. B-7 Activate displayed functions/entries

4.2 ACTIVATE FUNCTIONS/ENTRIES DIRECTLY

A function/entry of the active menu can be activated directly (i.e. without displaying it beforehand) by making
the following entry:
Mode No. Enter
No. Number of the required function/entry

Mode n Enter n

Fig. B-8 Activate functions/entries directly

4.3 SELECT SUBMENU LEVELS DIRECTLY

Currently in preparation.

18
Flexible Automation
MENU STRUCTURE, HANDLING
B rho3
PHG

5. QUIT DIALOGS

Dialogs can be quit at any time with Cursor left (Fig. B9).

Cursor left

Fig. B-9 Quit dialogs

6. ENTRIES

'#' in the display panel means: The PHG awaits entry

of a value or confirmation of the value displayed/pre
set.
Time and date
Example:
08.10.91 13.43.20
Mode 11.2
Hours:#

Option 1:
Accept displayed value (in this case: hours) un
changed (and continue to the next query, in this Time and date
case: minutes).
08.10.91 13.43.20
Enter
Minutes:#

Option 2:

Change displayed value:

Value Enter Time and date
Example: Change hours to 14: 08.10.91 14.43.20
1 4 Enter
Minutes:#

Option 3:
Abort procedure: Cursor left

19
Flexible Automation
MENU STRUCTURE, HANDLING
B rho3
PHG

7. EXAMPLE

Activate Mode 7.3.2: 7.3.2

Mode 7 Enter
or
Cursor down Diagnosis
until display 7=Diagnosis
1=Axis Displays
Enter 2=Errors warnings

Mode 3 Enter
or System statuses
Cursor down 1=Control status
until display 3=System statuses 2=Process statuses
Enter

Mode 2 Enter
or Norm. Process active: 0
Cursor down Perm. Process active: 0
until display 2=Process statuses Sub. Process active: 0
Enter Process error: 0

Fig. B-10 Example: Activate Mode 7.3.2

8. SUMMARY

Cursor left

Cursor up

Mode n Enter n Enter

Cursor down

Fig. B-11 Summary: Menu structure, handling

20
Flexible Automation
PHG FUNCTIONS
Reference points C rho3
PHG

1. REFERENCING

Warning Please note the information, instructions, notes and warnings in documents:
rho3 BAPS 2.0, rho3 Machine parameters, rho3 Signal, rho3 Interface.

Warning Before traversing axes, please ensure that

` there is no one in the working range/danger zone of the robot(s),
` that the working range/danger zone has been adequately safeguarded
` that the relevant accident prevention regulations of the employers' liability insurance
associations
have been followed.
` Even at reduced speed, robot arms may apply considerable forces
which may lead to serious injury or even death.

Important
Before traversing axes, please ensure that there are no objects in the entire working range
of the robot(s).

Purpose
Manually approaching the (machine) reference points with Jog keys.
All axes with incremental path measuring system must be referenced (moved to their reference points) after each
system new start (switching on the control) so that the control is familiar with the absolute axis positions. The
axes can be traversed only manually with the Jog keys before this is done.

Referencing- yes/no
Axes with absolute path measuring system (e.g.
angle encoders) do not need to be referenced. Ref *** Setup ***
erencing is required only if the following message is VE05D 05.02.1991
displayed in line 3 of the display panel after a system
new start. No reference points!
"No reference points!"

21
Flexible Automation
PHG FUNCTIONS
Reference points C rho3
PHG

Explanation of the display panel Scroll lines

Scrolling display of the axes of the active group verti

a b c d e cally on the display panel:
Cursor down / Cursor up
K01 . A_1 0.00 * R
K01 . A_2 0.00 * R Reference point approach
K01 . A_3 0.00 * R
Gr.01 Posit. Please note the assignment of
Warning group / kinematic/ axis and Jog
keys (see Description machine
g f parameters).

a) Kinematic name
Keep Deadman pressed and briefly press corre
sponding Jog key => assigned axis automatically
b) Axis name
approaches reference point.
c) Value
Absolute axis position in MK after reference point has Example
been approached. The reference point may differ
from the machine datum (always 0.00) by the so-
called offset (see Description machine parameters). Reference axis 1 of kinematic 1.
Deadman + 1+ or 1
d) Status position servo loop
No display: Axis position not corrected
K01.A_1 -180.00 *
*: Axis is within the "inposition range" defined via
machine parameters; K01.A_2 0.00 * R
K01.A_3 0.00 * R
e) Reference point to be approached
Gr. 01 Posit.
R: Reference point yet to be approached
No display: Reference point already approached
Display "R" disappears as soon as the reference
f) Axis position
point has been approached.
Value c) refers to the axis position
(lag, offset and end point can be displayed
with Cursor right.

g) Group
Selection with Group

22
Flexible Automation
PHG FUNCTIONS
Manual C rho3
PHG

2. MANUAL OPERATION

Please note the information, instructions, notes and warnings in documents:

Warning rho3 Machine parameters, rho3 Signal, rho3 Interface.

Before traversing axes, please ensure that

Warning ` there is no one in the working range/danger zone of the robot(s)
` that the working range/danger zones have been adequately safeguarded
` and that the relevant accident prevention regulations of the employers' liability
insurance associations
have been complied with
` Even at reduced speed, robot arms may apply substantial forces
which may lead to serious injury or even death.

Setting increments, speeds for continuous and

Note continuous fast traverse, see Description machine parameters P111..P117.

Purpose
Manual traversing of the axes with Jog keys and display of position, lag and offset at rest and during traversing.

23
Flexible Automation
PHG FUNCTIONS
Manual C rho3
PHG

Explanation of the display panel g) Traverse mode

Increment: Minimum traversing unit for Jog mode
(press Jog keys only briefly). Display is not seen until
a b c d e after coordinate systems have been selected. See
Description machine parameters P111..P116 for set
ting the increments.
K01 . A_1 -180.00 * RK
Cont.L.: With Jog key pressed, initially
K01 . A_2 -9.99 * RK continuously slow traversing
K01 . A_3 40.00 * RK Cont.S.: If the Jog key is pressed slightly longer, con
Gr.01 Incr. 1 Posit. tinuously rapid traversing

h) Group
h g f Selection with Group.

a) Kinematic name
Scrolling lines
b) Axis name
Scrolling the display of the axes of the active group
c) Value vertically in the display panel:
Referred to the displays in the other fields. Cursor down / Cursor up

d) Status position servo loop

No display: Axis position not corrected Manually traversing axes

*: Axis is within the "inposition range" defined via Please note the assignment of
machine parameters Warning axis traversing direction and
Jog keys (+/) and the assign
e) Active coordinate system ment of group/ kinematic/axis
MK: Joint coordinates and Jog keys (see Description
machine parameters).
RK: World coordinates
GK: Gripper coordinates
No display: No coordinate system active
Preconditions
Activating coordinate system:

1. Select Kinematic with Kinematic 1. In the case of RK and GK: Reference points must
have been approached.
2. Select coordinate system with
Coordinates 2. Coordinate system selected:
Kinematic / Coordinates
f) Significance of the values in field c) Coordinate and kinematic preselection is
Posit.: Axis position possible only with the "DEADMAN" key pressed.

Lag: Lag (display only) Procedure:

Offset: Offset (display only),
see rho3 Machine parameters KeepDeadman pressed and press the correspond
P306 "Offset adjustment" ing Jog key(s) (it is possible to press up to three Jog
keys simultaneously).
Selection with Cursor right.

24
Flexible Automation
PHG FUNCTIONS
Programming BAPS/PIC C rho3
PHG

3. PROGRAMMING BAPS2/PIC

Note Please note the information, instructions and notes in documents:

rho3 BAPS2, rho3 ROPS3, rho3 Machine parameters, rho3 Signal, rho3 Interface.

3.1 PROGRAMMING BAPS2

Purpose
Writing, modifying, correcting and optimizing etc.
` BAPS2 programs via Editor
` Compiling them in IRDATA code via the compiler
` Defining points of compiled programs
` Teaching points of compiled programs

Program preselection
Programs are preselected with menu prompting. The preselected program remains active for the subordinate
modes (Edit, Define, Teach, Compile) until Mode 3.1 is activated again after a level return (Cursor left).
There are two options for program preselection:
1. Cursor preselection
Select the required file with
Cursor down / Cursor up
and preselect it with
Enter.
2. Direct preselection
Explicitly enter the file name including extension (.QLL for source file, .ERR for error file) and confirm with
Enter.
File name Enter
If the file does not yet exist, you will see message:
"Create new file: Enter"
Enter : Create new file
Cursor left : Return to menu of Mode 3
Cursor up / Cursor down : Return to program preselection

25
Flexible Automation
PHG FUNCTIONS
Programming BAPS/PIC C rho3
PHG

3.1.1 Edit Editor functions

` Move cursor and, if applicable, scroll lines

Purpose (line length is max. 80 characters):
Writing, modifiying, correcting or optimizing etc.
Cursor keys
BAPS2 source files (.QLL) or ASCII files (.DAT).
` Terminate line and start new line:
Explanation of the display panel
Enter
` Insert line:
a b Move cursor to start of line and
Enter
PROGRAM ABCD ` Delete characters (to left of cursor,
START autorepeat function)
REP. 2 TIMES # Delete
COM : # Z: 3 S: 11
` Delete line with
f e d c
Shift + Delete
Editor commands
a) Source program text

b) Cursor ` Exit
Mode E
c) Current cursor column
Store files. Original file is overwritten.
d) Current cursor line
` Compile exit
e) Input prompt Mode C
is displayed after Store and compile files. Original file is over
written.
Mode
L (line No.) or In the case of compilation errors, the number
Mode S (Search string) of such errors is displayed in the display panel
(see "Compile"). The compiler writes the error
(See below, Editor commands)
messages and warnings in plain text into a file
of the same name (.ERR).
f) Editor command
Read error file:
Editor commands always start with Mode.
1. Preselect editor again
COM: is displayed if key Mode has been pressed
and prompts you to enter an editor command 2. Switchover source/error file:
(E, C, Q, L, S).
ALT + 6+
(See below, Editor commands)
This change can be repeated as required, and
the relevant cursor positions are retained.
Print error file (.ERR), see
Note Mode 9.

26
Flexible Automation
PHG FUNCTIONS
Programming BAPS/PIC C rho3
PHG

` Quit
Mode Q
Quit editor without storing (any changes are
lost, original files remain unchanged).
` Line
Mode L No. Enter
Move cursor to start of line No.

` Search
Mode S String Enter
Search for first occurrence of the character
string String as of the current cursor position
in the direction of the end of the file and set
cursor to start of the character string.
Repeat search for same character string:
Enter
Search for new character string String:
String Enter
Quit search
Cursor left

Example

Creating new BAPS2 source file ABCD.QLL:

Program text PHG entries

PROGRAM ABCD PROGRAM SPACE ABCD ENTER

START START ENTER
REP. 10 TIMES REP. SPACE 10 SPACE TIMES ENTER
MOVE P1 MOVE SPACE P1 ENTER
MOVE P2 MOVE SPACE P2 ENTER
REP._END REP._END ENTER
PROGRAM_END PROGRAM_END ENTER
Mode E ENTER

27
Flexible Automation
PHG FUNCTIONS
Programming BAPS/PIC C rho3
PHG

3.1.2 Define
a b
See Section 4.1
Def. APS
P1
X_A 120.000 #

e d c

3.1.3 Teach
a b
See Section 4.2.
Teach APS
P1 --
#

e d c

28
Flexible Automation
PHG FUNCTIONS
Programming BAPS/PIC C rho3
PHG

3.1.4 Compile

Purpose
Generating an executable IRDATA program (.IRD) from the preselected BAPS2 source program (.QLL) and test
ing for formal errors.
If program errors are detected, generation of an error file (.ERR).

Error display
The PHG displays the following if program errors are detected:
` Number of errors and warnings

The compiler writes the errors and warnings in plain text (line length = max. 80 characters) into an error file of
the same name (.ERR). In order to view this file, please preselect the editor again:
1. Preselect editor.
If the editor is called directly after the compiler, the cursor will automatically be positioned at the first line
with an error.
2. ALT + 6+ (switchover source/error file and vice versa)

Vertical/horizontal scrolling with

Cursor down / Cursor up

Cursor left / Cursor right
You can change between source and error file in any direction and as frequently as required. The last cursor
position in the two files is retained.
See the Annex for an explanation of the error messages.
If no errors have occurred, message "No errors" is displayed.

Error
If there are errors in the program, no new .IRD file and no new .PKT file are created. The existing files (of an earlier,
error-free compiler run) are retained unchanged.
Errors must be corrected in the source file.

Warnings
Warnings are messages of the compiler relating to possible errors.
Compiled programs which contain warnings can be started; however, you should check the significance of the
warnings beforhand.

29
Flexible Automation
PHG FUNCTIONS
Programming BAPS/PIC C rho3
PHG

3.2 PROGRAMMING PIC

Warning PIC statements, particularly if they use addresses which have already been defined/used,
may substantially influence the function of the PIC program and may thus lead to malfunc
tions which, in turn, may result in machine damage or even lethal injury.

Before making any changes, please inform yourself adequately as to whether and
how the individual PIC addresses are assigned (see rho3 Signal description).

Keypad cover film, side 2 applies.

It is assumed that the reader has a sound basic knowledge of PLC programming with state
ment lists.
The last PIC statement of the PIC program must be PE since, otherwise, any statements
following will also be executed cyclically.

3.2.1 PIC editor

Purpose
Subsequent modification of the PIC program stored on the EEPROM.

Preconditions
` EMERGENCYSTOP activated before preselection of Mode 3.2.1.
` EEPROM writeprotect switch on the I/O board must be set to position 0 (see rho3 Interface conditions).

General
The PIC editor offers functions "Search" and "Edit".
Search supports targeted preselection of a specific PIC address/PIC statement on the basis of various search
criteria (address, operand, statement, JC, PE).
Editing permits actual editing of the PIC program. Precisely one PIC statement per line. End of program = PE.
Change to function "Search" with Cursor left. Repeat search with last search criterion: Cursor down.

30
Flexible Automation
PHG FUNCTIONS
Programming BAPS/PIC C rho3
PHG

Search Edit

Explanation of the display panel Explanation of the display panel

a a

PIC editor PIC editor

Max. PIC address = 4095 Max. PIC address = 4095
Search = ? 4077 AN E107.4

b b

a) Max. PIC address a) Max. PIC address

Dependent upon configuration level.
Dependent upon configuration level.
b) PIC statement
b) Enter search criterion
Precisely one PIC statement per line.
The following criteria are valid:
It is not possible to insert a line. It is only possible to
` PIC address overwrite a line (in the case of extensions: Reserve
0 .. max. PIC address space with NOP1 commands).
0 = Start of program
Statements, see "Available PIC commands".
` Operand (E/A/M) (Next page)
Exp.: M117.2
` PIC statments, complete
Exp.: UN E107.4 c) Current PIC address
` JC (without jump address) Increment/decrement addresses:
Exp.: SPB Cursor down / Cursor up.
` JC (with jump address)
Exp.: SPB 1020
` NOP1 (dummy command)
Change to search:
Exp.: NOP1
` PE (= End of program) Cursor left
Exp.: PE
After you enter the search criterion and terminate
with Enter , the display changes to Edit, provided the
search criterion was fulfilled.

Repeat last search:

Cursor down

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PHG FUNCTIONS
Programming BAPS/PIC C rho3
PHG

Edit, continue

Available PIC commands

German English Significance Notes/explanation

U A AND operation These commands must be followed

by an argument:
UN AN ANDNOT operation Valid arguments:
O O OR operation Inputs E0.0 to E127.7
ON ON ORNOT operation Outputs A0.0 to A127.7
S S Set (output or marker) Markers M0.0 to M127.7
R R Reset (output or marker)
= = Assign result

SPB JC Conditional jumps Jump address must lie

between current and maximum
PIC address (e.g. 4095)

NOP1 NOP1 No operation Dummy operation

PE PE End of program Following addresses

have no effect

Interactions

Cursor down Preselect next PIC address up

Cursor up Preselect next PIC address down

Cursor left Change the function "Search"

The last statement edited remains unchanged unless it has been
accepted with Enter
w Continue edit: Criterion Enter
w Repeat last search: Cursor down
w Quit PIC editor completely: Cursor left

Delete Overwrite current statement with NOP1

Enter Accept current statement and store permanently in EEPROM

32
Flexible Automation
PHG FUNCTIONS
Programming BAPS/PIC C rho3
PHG

Error messages

Entry error Invalid PIC command key or invalid PIC address

Invalid E/A/M Invalid argument for PIC commands A, AN, O, ON, S, R, or =.
Valid arguments: E, A or M
Bit No. error Byte/bit No. invalid.
Invalid byte and/or bit No.
Valid range: 0.0 to 127.7
Bit No. invalid Invalid bit No.
Valid range: 0 to 7
Format error Input format invalid.
Example: Only a character entered after
an AND command as argument.
Entry illegal set or reset command applied to input.

RC interface
PIC 250
RC
O88.0 EEPROM O88.0 1.
Program I/
RCE . memory O92.7 O
. 8kB 64
8150 com I88.0 I/
O81.7 mands 40
8 counters I95.7 O
M0,.0..1.7,
8 timers
M2.0...M4.7
Retentive O93.0
I 8.0 markers 2.
RCA
. Retentive O97.7 I/
. markers O
I96.0 64
Non-reten I/
I63.7 tive markers
I103.7 40
Non-reten O
tive markers

I 0.0 O 0.0 I 64.0 O 82.0

I 7.7 O 1.7 I 79.7 O 84.7

Fig. C-1 PIC250 address assignment, schematic, see rho3 Signal description for further details

33
Flexible Automation
PHG FUNCTIONS
Programming BAPS/PIC C rho3
PHG

3.2.2 Counters/timers0

Counters and timers can be set permanently via ma Counters (Z), Timers (T)
chine parameters (see Mode 7.8; see also rho3 Des 1=Display timers, counters
cription machine parameters).
2=Change timers
Purpose
Display or change counters and/or timers.

3.2.2.1 Display timers/counters

Interactions
Timers, counters
Page through timers (T) and counters (Z): T0= 10 T1= 10
Cursor down / Cursor up T2= 10 T3= 10
Quit display mode:
Cursor left

3.2.2.2 Change timers

Data are machine parameters.
Warning See rho3 Description machine
Preselect timer parameters.

Cyclic preselection with Enter.

Change timer
Change (T) timers
Change value of the displayed timer and move auto T0= 10 #
matically to next timer:
Value Enter
Valid range for value:
0 to 999999

Store changes

` Quit change mode

Cursor left Change (T) Change
` Store changes temporarily in RAM until next ENTER --> MP timers
system new start:
Cursor left
` Store changes permanently in EEPROM (over
write machine parameters):
Enter

34
Flexible Automation
PHG FUNCTIONS
Programming BAPS/PIC C rho3
PHG

3.2.2.3 Change counters Data are machine parameters.

Warning See rho3 description Machine
parameters.
Preselect counters

Cyclic preselection with Enter.

Change counters Change (Z) timers

Z0= 10 #
Change value of the displayed counter and move au
tomatically to next counter:
Value Enter
Valid range for value:
0 to 999999

Store changes

` Quit change mode

Change (Z) change
Cursor left
ENTER --> MP counters
` Store changes temporarily in RAM until next
system restart:
Cursor left
` Store changes permanently in EEPROM (over
write machine parameters):
Enter

35
Flexible Automation
PHG FUNCTIONS
Programming BAPS/PIC C rho3
PHG

3.2.3 PIC program name 3.2.4 Erase PIC EEPROM

Purpose All data in the PICEEPROM

Important are erased (PIC program).
Version check or comparison with version on
offline programming unit on the basis of
` creation date Purpose
` creation date Erasing entire EEPROM, i.e. overwriting it with NOP1
` file size. commands.
In the case of modifications of the PIC program using This is sometimes useful for extensive changes or
the PIC editor, the system date and time are automat modifications.
ically stored as well (= Modification date and time).

Precondition
Explanation of the display panel
EEPROM writeprotect switch on the I/O board must
be set to position 0 (see rho3 Interface conditions).
a b c

PIC250 programs
R3_5D.P2X 454W
19.09.91 14:17

a) PIC module

PIC250 = PIC for rho3

b) Program name

c) File size in words

1 word = 16 bits = 1 statement

d) Creation or modification date and time

36
Flexible Automation
PHG FUNCTIONS
Define/teach C rho3
PHG

4. DEFINE/TEACH

Purpose
Redefining/teaching points of a BAPS program.

Preselection point file (.PKT)

*** Setup ***
Cursor down / Cursor up
ABCD .PKT 384
Enter
Byte 25.10.91 13:13
Preselect with: ENTER

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Flexible Automation
PHG FUNCTIONS
Define/teach C rho3
PHG

4.1 DEFINE 4.2 TEACH

Purpose Purpose
Assigning (if applicable new) coordinate values to Assigning the current axis coordinates (if applicable
points by numerical entry. new axis coordinates) to points after the axes have
been moved manually to the required position be
forehand with Jog keys.
Explanation of the display panel
General
a b
With Cursor right / Cursor left, you can change be
tween two functions "Point preselection" and "Manu
Def. APS al".

P1 Point preselection:
X_A 120.000 #
Preselection of kinematic and point.
Kinematic
e d c
Cursor up / Cursor down
Enter
a) Point name

Preselect with Manual

Cursor down / Cursor up Display of the axis coordinate values of the selected
point and manual traversing of the axes with Jog
b) Kinematic name keys.
c) Entry prompt Assign the current coordinates to preselected point:
` Continue to next coordinate: Enter
Enter Reject current coordinates (which have not been
` Enter/change value: value confirmed with Enter ) and return to point preselec
Enter tion:
Cursor left
d) Value

e) Axis coordinate

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Flexible Automation
PHG FUNCTIONS
Define/teach C rho3
PHG

Point preselection (further to teach) Manual (further to teach)

Explanation of the display panel Explanation of the display panel

a b a b c d e

Teach APS K02 . X_A 0.00 * RK

P1 -- K02 . Y_A 0.00 * RK

K02 . Z_A 0.00 * RK
# Gr.01 Incr. 1 Posit.

d c h g f

a) Point name a) Kinematic

Preselect point of the active kinematic to be taught Display only
with:
b) Axis coordinate
Cursor up / Cursor down
Enter c) Value

b) Kinematic d) Status position servo loop

*: Axis is within the inposition range defined
c) Definition status
via machine parameters
++:Point has been overtaught in current session No display: Axis not corrected

: Point not taught/defined e) Coordinate system

No display:
f) Axis position
Point taught/defined
g) Increment
d) Direct point preselection
Minimum traversing unit in Jog mode.
Point name Enter
Advantageous in the case of h) Group
Note large point files or fields (one
and multidimensional).
Exp.: PF1 (2,3,4) Enter
Change to point preselection:

Change to manual: Cursor left

Cursor right

39
Flexible Automation
PHG FUNCTIONS
Test BAPS programs C rho3
PHG

5. TEST BAPS PROGRAMS

Preparations

Preselect BAPS program

Cursor down / Cursor up BAPS program Test
ABCD .IRD 440
Byte 25.10.91 18.20
Preselect with: ENTER

Enter

ABCD .IRD
Press RC START

Press RCSTART on the control cabinet.

ABCD .IRD
1=Set oberservation
2=Delete observation

Reference

Please see Part 2 of this manual for further informa

tion.

40
Flexible Automation
PHG FUNCTIONS
PIC Monitor C rho3
PHG

6. PIC MONITOR

Keypad cover film, side 2 applies.

Warning

6.1 PIC MONITOR ON

Purpose
Testing the active PIC program by observing the dynamic display of current PIC address, PIC statement, logic
states of I/O/M etc. during the program run.

Function
The PIC program continues to run cyclically. After each PIC program run, the logic state of the operands involved
in the selected PIC address and the current logic operation result (RLO) are determined, buffered and displayed.
Determining the current logic state may be linked to fulfillment of a trigger condition (Modes 6.1.1 and 6.1.2)

General
The PIC monitor offers functions "Search" and "Monitor".
Search assists targeted preselection of a specific PIC address/PIC statement on the basis of various search crite
ria (address, operand, statement, JC, EP).
Monitor is the actual monitor function.
Change to function "Search" with Cursor left. Repeat search with last search criterion:
Cursor down.

41
Flexible Automation
PHG FUNCTIONS
PIC Monitor C rho3
PHG

Search (further to PIC monitor) Monitor (further to PIC monitor)

Explanation of the display panel Explanation of the display panel

a a b

PIC monitor PIC monitor

Max. PIC address = 4095 T RLO
Search = ? 1 AN M127.0 HL

d e d c

a) Max. PIC address a) Trigger condition

dependent upon configuration level.
T Trigger condition of the freeze function fulfilled
(see below)
b) Enter search criterion
The following criteria are valid: b) Operand/logic operation result
` PIC address
E Input: State of the operand (in this case marker
0 .. max. PIC address
M127.0)
0 = Start of program
` Operand (I/O/M) V Logic operation result:
Exp.: M117.2 Result of applying the command (operator) in
current PIC statement to the operand and the
` PIC statement, complete
logic operation result of the preceding PIC state
Exp.: UN E107.4
ment.
` JC (without jump address)
Exp.: SPB A Output:
Assigned state at output or marker (com
` JC (with jump address)
mand '=')
Exp.: SPB 1020
` NOP1 (dummy command) c) Logic states
Exp.: NOP1
H = High, L = Low, * = Statement skipped/not ex
` PE (=End of program) ecuted with JC.
Exp.: PE Correspondence with RLO above
After you enter the search criterion and terminate
d) PIC statement
with Enter, the display changes to monitor, provided
the search criterion was fulfilled.
e) PIC address

Repeat last search:

Change to search:
Cursor down
Cursor left

42
Flexible Automation
PHG FUNCTIONS
PIC Monitor C rho3
PHG

Set trigger condition (freeze function)

The trigger condition can be set with Modes 6.1.1 and 6.1.2. You exit these modes with:
Cursor right
and then mode preselection (modes 1 or 2)

Signal evaluation Trigger instant Set with Mode:

dynamic, to: I/O/M RLO *)

Leading edge 6.1.1.1 6.1.2.1

Trailing edge 6.1.1.2 6.1.2.2

Positive pulse 6.1.1.3 6.1.2.3

Negative pulse 6.1.1.4 6.1.2.4

*) I Input, O Output, M Marker, Result (RLO) Logic operation result

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Flexible Automation
PHG FUNCTIONS
PIC Monitor C rho3
PHG

6.2. PIC MONITOR OFF

Purpose
Switching off the monitor function running in the background (e.g. freeze function) if "New mode" (Mode 6.3)
has been preselected. "Monitor off" is automatically defined when you quit the PIC monitor normally provided
no trigger condition has been set.

6.3 NEW MODE

Currently in preparation.

Purpose
Combined test of BAPS and PIC programs.
You can change as required between operating modes "Mode 5, Test BAPS programs" and "Mode 6, PIC moni
tor" and vice versa with
Cursor right
For example, after each interrupt or, possibly, after each singlestep of the BAPS program, you could view the
logic states of PIC statements, timers and counters.

Precondition

PIC250 monitor must be active ("Mode 6.1, PIC monitor ON").

Quit new mode

Cursor left

6.4 TIMERS AND COUNTERS

See Section 3.2.2. Counters (Z), Timers (T)

1=Display timers, counters
6.5 PRINT PIC STATUS 2=Change timers

Currently in preparation

6.6 PIC PROGRAMS

a b c
See Section 3.2.3.
PIC250 Programs
R3_5D.P2X 454W
19.09.91 14:17

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Flexible Automation
PHG FUNCTIONS
Diagnosis C rho3
PHG

7. DIAGNOSIS

Purpose
Inspection of the actual statuses, e.g. for the purpose of error diagnosis or for commissioning.

7.1 AXIS DISPLAYS Posit.: Axis position

Lag: Lag (display only)
Explanation of the display panel Offset: Offset (display only),
see rho3 Machine parameter P306
Endp.: End point = Destination point of the current
a b c d e
movement block. Display only in automatic mode
since it is only relevant in this mode. If belts are
applied, their position is displayed in automatic
K01 . A_1 -180.00 * WC mode.
K01 . A_2 -9.99 * WC Selection with Cursor right.
K01 . A_3 40.00 * WC
g) Traversing mode
Gr.01 Incr. 1 Posit.
Increment: Minimum traversing unit for Jog mode
(press Jog keys only briefly). Display is not seen until
h g f after the coordinate system has been selected. Set
ting the increments, see Description machine para
meters P111..P116.
a) Kinematics name
Cont.L.: Continuously slow traversing
b) Axis name Cont.S.: Continuously rapid traversing

c) Value h) Group
Referred to the displays in the other fields.

d) Status position servo loop 7.2 ERRORS/WARNINGS

No display: Axis position not corrected
Self-explanatory displays in plain text.
*: Axis is within the inposition range defined
via machine parameters. Display of all errors/warnings, apart from those of the
compiler.
e) Active coordinate system
JC: Joint coordinates
WC: World coordinates
GC: Gripper coordinates
No display: No coordinate system active

f) Significance of the values in fields c)

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Flexible Automation
PHG FUNCTIONS
Diagnosis C rho3
PHG

7.3 SYSTEM STATUSES ` INIT = Process initialized (but not started)

` RUNNING = Process started
7.3.1 Control status ` STOP = Process has run to STOP command;
process stops until it is restarted with key Start
Self-explanatory on the control cabinet.
` WAITING = Process is waiting for occurrence
of an event (e.g. timer, counter, end point
7.3.2 Process statuses reached, semaphore variable etc.)
` ERROR = Processrelated error (e.g. axis pre
Explanation of the display panel selection incorrect, .PKT file incorrect etc.)
` If status = Error:
Further information can be provided on the
b c error with

a d Info
EAPR2 perm.
Display
EXT1 Level : 3 1. Processrelated errors and
2. errors and warnings as in Mode 7.2.
QLL : 0 KIN : 1
h) Active line No. in BAPS source program
h Status: ERROR PRIO = 100 e (.QLL)

g f
7.3.3 Active mode

a) Name of the active external program Self-explanatory

b) Process name
Selection with Cursor down / Cursor up 7.3.4 Hardware configuration

c) Process type Self-explanatory

norm. = Normal process
perm. = Permanent process
sub. = Subprocess

d) Nesting depth of the active external program

(1 = No external program called)
See rho3 Description BAPS.

e) Active kinematics

f) Process priority

g) Process status

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Flexible Automation
PHG FUNCTIONS
Diagnosis C rho3
PHG

7.4 DIGITAL INPUTS

The digital inputs correspond to the physical inputs

on the I/O board.
Diagnosis Digital inputs
Purpose Byte/bit 12345678
Dynamic display of the input signal states (high/low) 01 LLLLLLLL
of the I/O board.

7.5 DIGITAL OUTPUTS

The digital outputs correspond to the physical out
puts on the I/O board.
Diagnosis Digital outputs
Purpose Byte/bit 12345678
Dynamic display of the output signal state (high/low) 01 LHHLLLLL
of the I/O board.

7.6 RC INPUTS

RC and PLC (= PIC) are spatially integrated. Data

are coupled via a common memory area in the RAM. Diagnosis RC inputs
This means that RC inputs and PLC outputs of the sa
me address correspond in each case. Byte/bit 12345678
01 HHLLLLLL
Purpose
Dynamic display of the RC input signal states as av
ailable to the operating system as the process
image.

7.7 RC OUTPUTS

RC and PLC (= PIC) are spatially integrated. Data Diagnosis RC outputs

are coupled via a common memory area in the RAM. Byte/bit 12345678
This means that RC outputs and PLC inputs of the sa
me address correspond in each case. 01 HLLLHHLL

Purpose
Dynamic display of the RC output signal states as av
ailable to the operating system as process image.

47
Flexible Automation
PHG FUNCTIONS
Diagnosis C rho3
PHG

7.8 MACHINE PARAMETERS Precondition

EMERGENCYSTOP active.

See rho3 Description machine

Warning parameters for the significance Procedure
and handling/application of
the machine parameters. 1. Make a backup copy of the old machine para
meters.
2. Plan the changes carefully and have them re
checked/approved.
7.8.1 Display machine parameters 3. Enter password
4. Change or confirm MP identification
PNo. Enter
5. PNo. Enter
Cursor down / Cursor up
6. Pvalue Enter
Value is stored
7.8.2 Set machine parameters 7. If necessary, set other machine parameters
8. Cursor left
Make a back-up copy before The control programs the changed machine pa
Important hand. rameters in the EEPROM and automatically per
forms a system new start.
9. Document changes
10. Make a backup copy of the modified machine
Bosch cannot be held liable for parameters.
Warning the consequences of incorrect
ly calculated machine date or
non-observance of limit data. 7.8.3 Presetting

See Section 9.1.

Access to machine parameters
Note can be barred specifically (see
rho3 Description machine pa
rameters) Change parameters
1=Coupling
After each change: 2=Printer
Warning
` Document the change
(Mode 9.4.3)
` Make a backup copy
7.8.4 Print machine parameters
Setting printer port, see Section 9.1.2.

Print machine parameters

48
Flexible Automation
PHG FUNCTIONS
Diagnosis C rho3
PHG

7.9 Test digital outputs

Purpose

Consecutively activating all physical outputs individually (Test 1) and groupby  group (Test 2) with test pulses
so as to test their functions (LEDs on I/O board and control cabinet light briefly).
Installed CAN-Outputs are tested in company with the I/O-boards

Precondition

EMERGENCYSTOP active.

Set duration of test pulses

The default is 200 ms. Output signal test

Accept 200 ms: Enter Test waiting time [ms]
Select different pulse duration [ms]: 200 #
Value Enter

Test 1

Automatic test in which all outputs of the

I/O board can be
activated bitbybit Output signal test
consecutively dependent upon the set pulse dura Test1
tion.

Test2

Automatic test in which all outputs of the I/O board

are activated
bytebybyte Output signal test
consecutively dependent upon the set pulse dura Test2
tion.

49
Flexible Automation
PHG FUNCTIONS
Diagnosis C rho3
PHG

7.10 DISPLAY PHG KEYS 7.11 VERSION DISPLAY

Purpose Purpose
Testing function of the PHG keys. Information about installed software and firmware
versions with release date.

See rho3 Signal description

Note "PHG3 key assignment" for Please quote this information
the assignment of key ad Note with all enquiries.
dresses PHG3 (= Outputs
PHG) and PLCPHG inputs.

Explanation of the display panel 7.12 MACHINEANDSTATUS

DISPLAY

b See rho3 Description configu

Note ration level and rho3 Signal
description.
a Diagnosis PHG keys
Purpose
Byte / Bit 12345678
On configuration level MZA, a specific text is as
06 LLLLLLLL signed to each of the user inputs 1..99 (e.g. "Waiting
for enable"). The PHG displays the texts whose as
signed user inputs are set.
c
7.12.1 MZA individual display

a) Bytekey address PHG Manual individual display, page with

Preselect with Cursor down to end of file
Cursor down / Cursor up and then to start of file with
b) Bitkey address PHG Cursor up

c) Key status
7.12.2 MZA automatic display
H = Key pressed
L = Key not pressed
Automatic, cyclic display. Display duration can be
set by means of machine parameter options (acces
sible only to Bosch).
A maximum of 4 keys may be
Note pressed simultaneously.

50
Flexible Automation
PHG FUNCTIONS
Diagnosis C rho3
PHG

7.13 DISPLAY HIGH-SPEED-INPUTS

Purpose
Dynamic display of the High-Speed-Input states
on the servo boards.
In a rho3 control, several servo board types can be
installed. Depending on the type, these boards have
8,9 or no High-Speed-Inputs.
The number of HS-Inputs to be used must be de
clared in machine parameter P11.

If at least 1 HS-Input is declared in P11, the state of

Note all HS-Inputs of this servo board is displayed.
Servo boards without installed HS-Inputs are
skipped.

Indications:
Inp. SB = Number of the servo board (1..3)
LLHH.. = State of the High-Speed-In
puts (L = inactive, H = active)
Byte/Bit
01 = Display of inputs 1..8
Byte/Bit
02 = Display of the 9th input

- = No High-Speed-Inputs
installed

In the following there are some examples of several

servo board configurations:

Example 1:
1 Servo 6I installed (9 HS-Inputs available, 2 de
clared in P11).

Diagnosis Inp. SB 1
Display of inputs 1..8
Byte/Bit 12345678
01 LLHHHLLL

Display of input 9 (remaining display is filled with

"-", because there is a maximum of 9 HS-Inputs Diagnosis Inp. SB 1
per servo board available).
Byte/Bit 12345678
02 L–––––––

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Flexible Automation
PHG FUNCTIONS
Diagnosis C rho3
PHG

Example 2:
1 Servo 6I installed (9 HS-Inputs available, none de
clared in P11).

Diagnosis Inp. SB 1
Display of inputs 1..8
Byte/Bit 12345678
01 ––––––––

Display of input 9 (remaining display is filled with

"-", because there is a maximum of 9 HS-Inputs Diagnosis Inp. SB 1
per servo board available).
Byte/Bit 12345678
02 ––––––––

Example 3:
1 modular servo board installed (8 HS-Inputs avail
able, 5 declared in P11).

Diagnosis Inp. SB 1
Display of inputs 1..8
Byte/Bit 12345678
01 LLHHHLLL

Example 4:
2 Servo 6I installed (9 HS-Inputs in each case avail
able, in P11 respectively 1 declared).

Diagnosis Inp. SB 1
Display of inputs 1..8 on servo board 1
Byte/Bit 12345678
01 LLLLLLLL

Display of input 9 on servo board 1 (remaining dis

play is filled with "-", because there is a maximum Diagnosis Inp. SB 1
of 9 HS-Inputs per servo board available).
Byte/Bit 12345678
02 L–––––––

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Flexible Automation
PHG FUNCTIONS
Diagnosis C rho3
PHG

Diagnosis Inp. SB 2
Display of inputs 1..8 on servo board 2
Byte/Bit 12345678
01 HLLLLLLL

Display of input 9 on servo board 2 (remaining dis

play is filled with "-", because there is a maximum Diagnosis Inp. SB 2
of 9 HS-Inputs per servo board available).
Byte/Bit 12345678
02 L–––––––

Example 5:
1 narrow servo board and 2 Servo 6I installed (the
narrow board has none, each Servo 6I has 9 HS-In
puts, 4 declared in P11 in each case).
The display starts with servo board 2, because there
are no HS-Inputs available on a narrow board.

Diagnosis Inp. SB 2
Display of inputs 1..8 on servo board 2
Byte/Bit 12345678
01 LLHHLLLL

Display of input 9 on servo board 2 (remaining dis

play is filled with "-", because there is a maximum Diagnosis Inp. SB 2
of 9 HS-Inputs per servo board available).
Byte/Bit 12345678
02 L–––––––

Diagnosis Inp. SB 3
Display of inputs 1..8 on servo board 3
Byte/Bit 12345678
01 LHHLLLLL

Display of input 9 on servo board 3 (remaining dis

play is filled with "-", because there is a maximum Diagnosis Inp. SB 3
of 9 HS-Inputs per servo board available).
Byte/Bit 12345678
02 L–––––––

53
Flexible Automation
PHG FUNCTIONS
Diagnosis C rho3
PHG

7.14 DIGITAL CAN-INPUTS CAN input

Bus:1 Ident.No.:543
Display of the digital inputs on the CAN-I/O-Mod
ules.
Selection with cursor up/down, confirm with ENTER
if the corresponding bus and identifier appears in the
display.

Dynamical display of the input signal states (High/ CAN input

Low) on the CAN-I/OModules. Bus:1 Ident.No.:543
Byte/Bit 12345678
01 LHHLLLLL

7.15 DIGITAL CAN-OUTPUTS CAN outp.

Bus:1 Ident.No.:471
Display of the digital outputs on the CAN-I/O-Mod
ules.
Selection with cursor up/down, confirm with ENTER
if the corresponding bus and identifier appears in the
display.

Dynamical display of the output signal states (High/ CAN outp.

Low) on the CAN-I/OModules. Bus:1 Ident.No.:471
Byte/Bit 12345678
01 LHHHHLLL

54
Flexible Automation
PHG FUNCTIONS
Deactivate PHG C rho3
PHG

8. DEACTIVATE PHG

This is the precondition for being able to change from main operating mode SETUP to main operating mode
AUTOMATIC.

55
Flexible Automation
PHG FUNCTIONS
Devices/file I/O C rho3
PHG

9. DEVICES/FILE I/O

Purpose
Data transfer to devices, file handling and setting of interface data.

9.1 PRESETTING

Purpose
Intermatching the transmitter and receiver by means of parameters so as to permit data transfer.
The parameters can be modified
a) temporarily in the RAM until the next system new start. After this, the modifications are overwritten again
by the default parameters in the machine parameters.
b) permanently in the EEPROM,
by overwriting the machine parameters (see rho3 Description machine parameters)

Interactions (applies to Modes 9.1.1 to 9.1.7)

9.1.1 Coupling . . . . . . . . . . . . . . . . . . . 1 Coupling

9.1.2 Printer . . . . . . . . . . . . . . . . . . . . . . 2 Printer

9.1.3 Read/write SERIAL 1 . . . . . . . . . 3 Read/write SER_1

9.1.4 Read/write SERIAL 2 . . . . . . . . . 4 Read/write SER_2

9.1.5 Read/write SERIAL 3 . . . . . . . . . 5 Read/write SER_3

9.1.6 Read/write SERIAL 4 . . . . . . . . . 6 Read/write SER_4

Protocol: : 1..7
Display presettings:
Interface: 0..4
1 0
Baud rate: 9600 9600 9600
Enter (if necessary, press repeatedly)
Number of stop bits:

Parity (0,1,2) :
Change presettings: Word length:

Softwarehardware hand
shake (0/1)
` Preselect presetting: Timeout for read-in:
Enter until the required presetting
Timeout for output
is displayed.
` Change presetting temporarily to value:
Value Enter

56
Flexible Automation
PHG FUNCTIONS
Devices/file I/O C rho3
PHG

` Quit change mode:

After one or more presettings have been changed temporarily, you are requested to specify whether
changes are to be stored in MP (=Machine parameter) at the end of the parameter list or if you terminate
beforehand with Cursor left:
Store changes temporarily in RAM: Cursor left
Store changes permanently in EEPROM: Enter

Reject changes
Changes made cannot be rejected (unless they have been stored temporarily with Cursor left and this is fol
lowed by a system new start). Rather, changes made must be rewritten explicitly.

9.2 LIST FILES

List files
It is possible to page within the file list with Cursor up
and Cursor down . ABCD .IRD 440
Byte 24.10.91 18:20
Display: Arrow up/down

9.3 DELETE FILES

Delete files
It is possible to page within the file list with Cursor up
and Cursor down . The display file is deleted by ABCD .IRD 440
entering Enter
Byte 24.10.91 18:20
.
Delete ? (Yes) : ENTER

9.4 PRINT FILES

Preselect the file type to be printed.

The following file types can be printed:
Print files
1 = ASCII files with the extension 1=ASCII files
DAT,.ERR and QLL 2=Point files
2 = Point files with the extension PKT
3 = Machine parameter file without
extension

9.4.1 ASCII files (.QLL, ERR, DAT)

Enter file name, including extension, or page

Print ASCII file
within the file list with Cursor up and Cursor ABCD .QLL 100
down. The display file is printed via interface
1 (see 9.1 Presetting) by entering Enter. Byte 24.10.91 18:19
Preselect with: ENTER

57
Flexible Automation
PHG FUNCTIONS
Devices/file I/O C rho3
PHG

9.4.2 Point files (.PKT)

Print point file
ABCD .PKT 384
Handling, as with 9.4.1
Byte 16.12.91 13:33
Preselect with: ENTER

9.4.3 Machine parameters (P...)

Print out all machine parameters. Print machine parameters

9.5 Memory occupancy

MEMORY : x x x x x x x Byte
Displays the current occupancy of the user
memory
used : y y y y y y y Byte
free : z z z z z z z Byte
illuminated key --> C o n t i n u e

9.6 Memory --> EEPROM

Memory --> EEPROM
Store user programs/files in EEPROM.
Only available with corresponding memory
Files into EEPROM
option (128k EEPROM). Save
execute with : ENTER

9.7 EEPROM --> Memory

EEPROM --> Memory
Reload user programs/files from EEPROM.
Only available with corresponding memory
Files of EEPROM
option (128k EEPROM). Restore
execute with : ENTER

58
Flexible Automation
PHG FUNCTIONS
PRESELECT Program C rho3
PHG

10. PRESELECT PROGRAM

Programs are stored in files with the exten

sion IRD. The terms program and process
are used as synonyms.

10.1 PRESELECT PROCESSES

Program preselection/list.
It is possible to page within the program list
with Cursor up and Cursor down . Prese ABCD .IRD 440
lection is carried out by pressing key En Byte 24.10.91 18:20
ter.
Preselect with: ENTER

10.2 STOP PROCESSES

Processes must be in state INIT in order for

them to appear in the list.
You can page within the process list with
Cursor up and Cursor down and the dis
No process
played process is stopped by pressing key Illuminated key --> Continue
Enter.

59
Flexible Automation
PHG FUNCTIONS
Auxiliary functions C rho3
PHG

11. AUXILIARY FUNCTIONS

Selection of the individual functions with Cursor Auxiliary functions

down or Cursor up.Preselection of the selected 1=Control reset
functions with Enter. 2=Display/set clock

11.1 CONTROL RESET (RESET)

Active processes which have not been declared as

permanent are aborted. Any error messages pend
ing are reset.

11.2 DISPLAY/SET CLOCK

This function serves to set and display the time

11.3 RC NEW START

Triggers a startup .
Important:
All running processes are aborted and the system
starts up again, as after pressing the
RESET key on the control power supply unit.

11.4 ADJUST VFACTOR

Function for changing the speed factor.

Important:
The changes act directly on the active processes
and movements.

11.5 ADJUST AFACTOR

Function for changing the acceleration factor

(UPslope).

Important:
The changes act directly on the current movements.

11.6 ADJUST DFACTOR

Analogous to 11.5 for Downslope.

Important:
The changes act directly on the current movements.

60
Flexible Automation
PHG FUNCTIONS
Backup for EEPROM and EPROM C rho3
PHG

12. BACKUP FOR EEPROM AND EPROM

Warning
This may be carried out only by specially authorized quali
fied personnel !

BACKUP FOR EEPROM

Warning Make a backup copy of the machine parameters beforhand since all machine parameters
are overwritten with default values after execution of EEPROM backup.

Overwrites current machine parameters in the EEPROM with default machine parameters of the system software
(stored on EPROM).
Deadman + Alt + Mode + 0
+: means that keys must be pressed simultaneously.

BACKUP FOR EPROM

READY contact drops out, control restarts again.

Warning

Application

After exchanging the operating system software (EPROM module).

Deadman + Alt + Mode + Delete
+: means that keys must be pressed simultaneously

Erase PIC EEPROM

Warning Erases (using NOPs) the contents of the PICEEPROM. The PIC program can no longer
be run after execution of the command.

Application

ERASING PICEEPROM
Deadman + Alt + Mode + 4
+: means that keys must be pressed simultaneously

61
 Structure of PHG–Path rho3 62
Flexible Automation
Software version TO05I
1 Reference points
2 Manual Position Dead–man button
Axis lag KIN–Selection 1 Edit
Coord–Selection
Offset Group–Selection 2 Define Program Mode E Exit (exit and save)
Belts Move 3 Teach In select with ↓↑ Mode Q Quit (exit without saving)
or input Prog.– Mode L Line (Positioning cursor in line)
Tool 4 Compile
name Mode C Compile (Compile)
5 File selection Mode S Search (Search string)
3 Progr. BAPS/PIC 1 Progr. BAPS–Prog.
DEL Delete character
2 Progr. PIC–Prog. 1 PIC Editor
Shift DEL Delete line
3 Compile 2 Counter and timer 1 List counter/timer →↓←↑ Move cursor
3 PIC–Progr.–name 2 Change timer ENTER Insert line
4 PIC–EEpr. delete 3 Change counter Alt U Switch to ERR–QLL file

4 Definine/Teach In 1 Define → ( Manual selection )

Point–file Point–name New position / teach over Push dead–man button
2 Teach In
select with ↓↑ select with ↓↑ KIN–,Coord–,Group–selection
Move to existing TI–Pos
or input Prog.– or input Pnt.– Move ( to TI–Position )
name name MOVE (+LINEAR) ← ( change to TI–name )
Dead–man button Enter ( Save position )
ENTER ↓ ( Select next TI–Point )
5 Test BAPS–Progr. Select program with ↓
activate program with ENTER
execute program with ”Cycle–Start” 1 Set monitoring Name: Input variable
2 Cancel monitoring name

1 lead. edge 3 Type monitored var ↓↑ scroll Number:

2 falling edge 4 Set breakpoint Line:
3 pos. pulse 5 Cancel breakpoint Number:
↓↑ scroll
4 neg. pulse 6 Type breakpoint
7 Type A ↓ Execute single step
→ 1 Trigger on I,O,M 8 Set
→ Step Down
1 PIC Monitor on Push dead–man (Sub–prg. and ext. main–prg.
6 PIC–Monitor 2 Trigger on result 9 Single step button work off like one instruction )
2 PIC Monitor off
3 Delete trigger cond. 10 With/without movem.
3 New mode Line: input number
11 Write 1 Select
4 Timer and counter ↓↑ scroll lines
1 List counter / timer 12 Select,activate,start 2 Select process
5 Print PIC status → ← scroll in lines
2 Change timer 13 Define 3 Start
6 PIC–Prog.–name ENTER exit
3 Change counter 14 Teach In 4 Suspend
15 Exit test–system 5 Exit
1 Axis display
7 Diagnosis 6 Select program
2 Errors/warnings Position
1 Control condition Name: Input variable name
3 System conditions Axis lag A or * (last displayed var)
2 Process condition
4 Digital inputs Offset ↓↑ Scroll in alphabetical order, or
3 act. operation mode ENTER scroll down in alphab. order
5 Digital outputs Belts
4 HW–Configuration with BINARY,INTEGER,REAL,CHAR–Var
6 RC inputs Dest. point
with KIN , PNT–Var
7 RC outputs with ARRAY–Var
1 List mach.–param.
8 Mach.–parameter
8 Inactivate PHG 2 Set mach.–param.
9 Test digital outputs ↓ Increase array index by 1 until upper limit
10 Display PHG keys
3 Default settings ↑ Decrease array index by 1 until lower limit
11 Versions
4 Print mach.–param. → Display contents

12 Mach.cond.display
13Servo board inputs
1 MSD single display → Display contents
2 MSD autom. display ↓↑ Display component contents
14 CAN inputs
15 CAN outputs
1 Coupling
9 Device/File I/O 1 Default settings 2 Printer interface
2 List files 3 Read/Write SER_1
3 Delete files 4 Read/Write SER_2
1 ASCII–Files
4 Print files 5 Read/Write SER_3
2 Pkt–Files
5 Memory allocation 6 Read/Write SER_4
3 Machine parameter
6 Mem. –> EEprom
7 EEprom –> Mem.
Protocol: 2 6 4 4 – –
10 Select program 1 Select processes Pro. Protocol structure read Interface: 1 – 1 1 1 0
No Echo
2 Stop processes Baudrate: 9600 – 9600 9600 9600 9600
1 <DATA> followed by <CR> <LF> yes
3 Process conditions 2 <DATA> yes Stop–Bits: 1.0 – 1.0 1.0 1.0 1.0
3 <SOH> <STX> <DATA> <ETX> Parity ( 0=n,1=o,2=e): 0 – 0 0 0 0
11 Help functions 1 Initial position followed by no
<SOH> <STX> <CR> <LF> <ETX>
Data bits: 8 – 8 8 8 8
2 Show and set clock
4 <SOH> <STX> <DATA> <ETX> no Soft–Hardw. Hsh (0/1) 0 – 1 1 1 1
3 Reset RC 5 <DATA> no Timeout (input) –1 –1 –1 –1 –1 –1
4 Adjust Vfactor 6 PHG–Protocol yes
Timeout (output) 5000 5000 5000 5000 5000 5000
5 Adjust Afactor 7 rho1/2 compatible with Pro.No. 3 no
8 3964 R no Parity: 0= none / 1= odd / 2= even
12 Information 6 Adjust Dfactor

MODE 0 return Info in all modes MP–EEPROM–Backup EPROM–Backup Stop PIC–Program

to main menu Shift + Info –button Dead–man/Alt/Mode/0 Dead–man/Alt/Mode/Del Dead–man/Alt/Mode/4
Part 2 Testing BAPS2 programs with the PHG3
CONTENTS

1. General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

2. Preconditions
2.1. The compiler statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2.2. Affiliation of files (COMMON ID) . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

3. Preselection of BAPS2 programs for testing . . . . . . . . . . . . . . . 4

4. Entry of test system commands via PHG . . . . . . . . . . . . . . . . . 5

5. Significance and display of the individual test system commands

5.1. Set observation (mode 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
5.2. Delete observation (mode 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
5.3. Display observation (mode 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
5.4. Set interrupt (mode 4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
5.5. Delete interrupt (mode 5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
5.6. Display interrupts (mode 6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
5.7. Display of variables (mode 7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
5.7.1. Operation at the name level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
5.7.2. Operation at the index level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
5.7.3. Operation at the component level . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
5.7.4. Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
5.8. Set variables (mode 8) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
5.9. Singlestep (mode 9) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
5.10. Test with/without robot movement (mode 10) . . . . . . . . . . . . . . . . . 21
5.11. Write a program line (mode 11) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.12. Monitor BAPS processes (mode 12) . . . . . . . . . . . . . . . . . . . . . . . . . 24
5.12.1 Preselect process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5.12.2 Select process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
5.12.3 Start process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
5.12.4 Interrupt process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
5.12.5 Quit process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
5.13. Define points (mode 13) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
5.14. Teach points (mode 14) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
5.15. Quit test system (mode 15) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

6. Messages from non-selected processes

6.1. Observation reached . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
6.2. Interrupt reached . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

7. Parallel program branches (PARALLEL,PARALLEL_END) . 32

7.1. Special features in the case of SINGLESTEP (mode 9) . . . . . . . . . . 33
7.2. Special features applicable to preselect, select etc. (mode 12) . . . . . 33
 Testing BAPS2 programs rho 3
Flexible Automation with the PHG

1. GENERAL

Operating system function "Testing BAPS2 programs with the PHG" serves to
test BAPS2 programs with the hand-held programming unit (PHG) on the control
and to locate any programming errors.

The terms program and process are used a synonyms in this document.

The operator has the option of testing several processes simultaneously, starting
new processes and terminating running processes without having to quit the test
system.
When the test system is quit, all processes which have been started via the test sys
tem are aborted. This also applies to permanent processes if RC input 61 (PIC ad
dress A7.5 , "Permanent processes are to remain active") is not set.

1
 Testing BAPS2 programs rho 3
Flexible Automation with the PHG

2. PRECONDITIONS

In order to permit a process to be tested, the following conditions must be fulfilled:

- Operating mode "SET-UP" must be preselected.

- The IRD program of the process must be present in the control.
(The SYM, PKT and QLL file should also be present in the control in order to
make testing practical.)

- In the case of processes with traverse movements and axes without absolute
measuring system, the reference points must have been approached.

-The RC input 22 (PIC address A2.6 , "Test/Manual, not") must be set.

- The control must be "READY", i.e. no errors may be pending (e.g. EMER-
GENCYSTOP or EMERGENCY MODE WITHOUT RC).

Exception : Permanent processes (processes without traverse state

ment) can be tested even if the control is not "READY" and
if no reference point has been approached.

- The BAPS2 program part to be tested may not be

masked with the compiler statement ";;TESTINFO -"
or the test system (see Section 2.1).

2.1. The compiler statement

" ;;TESTINFO +/- "

With this statement, it is possible to generate IRD programs with (;;TESTINFO +)

or without (;;TESTINFO -) information for the test system. An IRD program without
test information affords the advantage that it requires less user memory and can be
run faster. This program can, however, no longer be tested. The compiler statement
may also be used several times in a BAPS2 program in order to permit the test sys
tem access to only specific program parts.

2
 Testing BAPS2 programs rho 3
Flexible Automation with the PHG

2.2. Affiliation of files (COMMON ID)

Each user file (QLL, IRD, SYM, PKT) is provided with an internal identification
(COMMON ID) in the rho-3. This additional distinction (besides the file name) can
prevent non-interrelated files being tested. Different, COMMON IDs may occur if,
for example, a QLL program is re-edited and then not compiled. In this case, IRD,
SYM and, possibly, PKT would have an identification which differs from that of the
changed QLL file. This difference between QLL and IRD may lead to major misun
derstandings during testing.
If different COMMON IDs are found when starting the test system, the operator's
attention is brought to this by means of a prompt on the PHG. Testing is then, admit
tedly, still possible, but access to the file with different identification is denied.

Example:

If the identifications between IRD and QLL do not correspond, the prompt

"Wrong QLL file"

is displayed in the 3rd PHG line.

3
 Testing BAPS2 programs rho 3
Flexible Automation with the PHG

3.PRESELECTION OF BAPS2 PROGRAMS FOR TESTING

The test system is activated on the PHG in mode SETUP by selecting mode 5. If
testing is possible (see Section 2), all IRD programs present in the control are of
fered for preselection.

Display on the PHG:

BAPS program test

dana .IRD Size
Date, time
Select with : ENTER

dana : Program name

Operating options:

Preselect displayed program

Enter

Preselect further BAPS programs

Shift +

Shift +

Shift + Quit testing, return to SETUP

After preselection of an IRD program with ENTER, the test system is activated by
setting the RC input 21 (PIC address A2.5 , "Program start").

Display on the PHG:

dana .IRD

Confirm RC start

Operating options (via the interface):

PROGRAM START : Start process in test system.

CONTROL RESET : Return to SETUP.

4
 Testing BAPS2 programs rho 3
Flexible Automation with the PHG

4. ENTRY OF TEST SYSTEM COMMANDS VIA PHG

If all conditions specified in Point 2 are fulfilled, if an IRD program is preselected and
if RCSTART is pressed, the operator is then offered all test system commands for
selection.
The current process name and the line number of the next executable command
are displayed in the 1st PHG line. All errors detected when entering commands are
indicated by means of the message in line 3 of the PHG. These error messages are
retained until the next PHG key is pressed.

Display on the PHG:

dana XXXXX
1=Set observation
2=Delete observation

xxxxx : Next executable program line

Operating options:

MODE 1..15 direct preselection of the test system command

Selection of test system commands with

Shift +
arrow keys

Shift +

All processes activated by the test system are aborted and

Shift + the test system is quit. The abort is not executed until after
acknowledging with the ENTER key.

5
 Testing BAPS2 programs rho 3
Flexible Automation with the PHG

5. SIGNIFICANCE AND DISPLAY OF THE INDIVIDUAL TEST SYSTEM COM

MANDS.

The following commands are possible in the test system:

5.1. Set observation (mode 1)

Set observation means that the running program is interrupted if the value of the
variable is changed.
This command permits any variable defined in a BAPS program to be observed. If
the command is selected, the variable name is then requested.

Display on the PHG:

dana xxxxxx
Set observation

Name:

xxxxx : Next executable program line

Operating options:

Entry of the variable name (max. 12 letters)

Enter Execute command

Select new test system command, observation is not set.

Shift +

If ENTER is entered, the test system acknowledges execution of the command with
the following display.

Display on the PHG:

dana xxxxx
Observation set
xyz
Illuminated key -->
Continue
xyz : Variable to be observed.
xxxxx : Next executable program line

If the variable is written during the further sequence of the process, a correspond
ing prompt is displayed in the last line of the PHG and process execution is inter
rupted (see Section 6.1).

6
 Testing BAPS2 programs rho 3
Flexible Automation with the PHG

5.2. Delete observation (mode 2)

This command deletes an observation set previously. If the command is prese

lected, the variable name is then requested.

Display on the PHG:

dana xxxxx
Delete observation

Name:

xxxxx : Next executable program line

Operating options:
Entry of the variable name (max. 12 letters)

Enter Execution of the command

* Delete all observations

Select new test system command, observation is not de

Shift +
leted.

If no observations are set, this is indicated by means of a corresponding message.

7
 Testing BAPS2 programs rho 3
Flexible Automation with the PHG

5.3. Display observation (mode 3)

This command displays all observations existing in the currently selected process.

Display on the PHG:

dana xxxxx
Display observation
Name

xxxxx : Next executable program line

name : Variable name

Operating options:

Shift +

Shift + Display further observed variables

Shift + Select new test system command.

If no observations are set, this is indicated by message:

No observation

8
 Testing BAPS2 programs rho 3
Flexible Automation with the PHG

5.4. Set interrupt (mode 4)

This command permits an interrupt point to be set in a BAPS program at each pro
gram line containing an executable command. When the corresponding line is
reached, the process is stopped before the line is executed. After preselection of
the command, the number of the interrupt is requested first, and then the program
line number.

Display on the PHG:

dana xxxxx
Set interrupt
Number:
Line :

xxxxx : Next executable program line

Operating options:
Entry of the interrupt number ( max. 32767, the number 1 is the default)

Entry of the program line number ( max. 32767 )

Terminating the entry of the interrupt number or

Enter terminating the entry of the line and executing the
command.

Select new test system command, interrupt is not

Shift + set.

After entry of the line number and ENTER, the test system acknowledges execution
of the command with the following display.

Display on the PHG:

dana xxxxx
Interrupt set
z : abc
Illuminated key -->
Continue
xxxxx : Next executable program line
z : Interrupt number
abc : Program line number

If a program line at which an interrupt point has been set is reached during the furt
her sequence of the process, a corresponding prompt is displayed in the last line of
the PHG and process execution is interrupted (see Section 6.2).

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5.5. Delete interrupt (mode 5)

This command deletes a previously set interrupt. When the command is selected,
the interrupt number is then requested.

Display on the PHG:

dana xxxxx
Delete interrupt

Number:

xxxxx : Next executable program line

Operating options:

Entry of the interrupt number ( max. 32767, the number 1 is the default)

Delete all interrupts

*
Enter Execute command

Select new test system command, interrupt is not

Shift + deleted.

If no interrupts are set, this is indicated by message:

no interrupt.

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5.6. Display interrupts (mode 6)

This command displays all interrupts existing in the currently selected process.

Display on the PHG:

dana xxxxx
List interrupt
x :z

xxxxx : Next executable program line

x : Interrupt number
z : Program line number
Operating options:

Shift + Display further interrupts

Shift +

Shift + Select new test system command

If no interrupts are set, this is indicated by message:

No interrupt.

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5.7. Display of variables (mode 7)

This command permits contents of any variables to be displayed.

The display of the current contents depends upon the type of variable to be dis
played.

In the case of variables of type BINARY, INTEGER or DEC, the value of the variable
is displayed directly.

In the case of variables of type CHARACTER, the current contents are represented
as characters (e.g. 'A') or as a three-digital decimal number (e.g. 000).
In the case of variables of type TEXT, the "TEXT" is displayed. The contents of the
first character of the text are not displayed until you request more detailed informa
tion on the variable with SHIFT ARROW RIGHT. xyz[1] is then displayed as the vari
able name and the first character is then displayed as the current contents. Further
operator control actions are described in Section 5.7.2. "Operation at the index lev
el".

In the case of variables of type FIELD, "FIELD" and the lower and upper field limit
are displayed, corresponding to the declaration in the BAPS program (e.g.
FIELD[-2..2]). The contents of the first field element are not displayed until you re
quest more detailed information on the variable with SHIFT ARROW RIGHT.
xyz[Lower_field limit] is then displayed as the variable name and either the value of
the field element is displayed as the currrent contents, dependent upon the type of
field element, or, in the case of TEXT, FIELD or group, a corresponding display as
just described. Further operator control actions are described in chapter "Opera
tion at the index level".

In the case of variables of type group (KINEMATIC, POINT or MK_POINT), the

(first) component names are displayed (e.g. X_K,Y_K,Z_K). The contents of the first
component name are not displayed until you request more detailed information on
the variable with SHIFT ARROW RIGHT. xyz.first_component name is then dis
played as the variable name and either the value of the component is displayed as
the current contents, dependent upon the type of component, or, in the case of
TEXT, FIELD or group, a corresponding display as just described. Further operator
control actions are described in Section 5.7.3. "Operation at the component level".

The variable name is requested after preselection of the command.

Display on the PHG:

dana xxxxx
Display

Name:

xxxxx : Next executable program line

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Operating options:

Variable name : Selection of a name; if necessary with index

or component name (max. 12 characters)

Preselection of the last displayed variable name

*
[Index] : Direct preselection of a field index
*
.Component : Direct preselection of a component
*
Quitting display mode
Shift +

Display on the PHG:

dana xxxxx
xyz
Current contents
#

xxxxx : Next executable program line

xyz : Variable name

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5.7.1. Operation at the name level

You will be at the name level if only a name without field index and/or component
name is given as the variable name.

Operating options:

Variables before this in alphabetic order.

Shift + A transition occurs to the alphabetically last vari
able of the next sub-area at the alphabetically first
variable. The sub-areas are changed in the order
kinematic variables, IRD variables, PKT variables
and starting again with the kinematic variables.

Variables following this in alphabetic order.

Shift + The transition to the alphabetically first variable of
the next sub-area occurs at the alphabetically last
variable. The sub-areas are changed in the order
kinematic variables, PKT variables, IRD variables
and starting again with the kinematic variables.

Jump to the index level at FIELD

Shift + Jump to the component level at group (KINEMAT
IC,POINT,MK_POINT)
Repetition of the display in the case of BINARY, IN
TEGER, DEC or CHARACTER (practical in the case
of variables of type INPUT for instance).

Shift + Quit display mode

Enter As for Shift +

Variable name : Direct preselection of another name

if applicable with index or component name
(max. 12 characters)

*[Index] : Direct preselection of a field index

*.Component : Direct preselection of a component

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5.7.2. Operation at the index level

You will be at the index level if only a field index without component name occurs at
the end of the variable name.

Operating options:

Decrement index by 1 to min. to the lower field lim

Shift + it, then return to FIELD level

Increment index by 1 to max. to the upper field limit

Shift + then return to FIELD level

In the case of FIELD :

Shift + Jump to the index level,
in the case of group (KINEMATIC,POINT,MK_POINT):
Jump to the component level,
in the case of BINARY, INTEGER, DEC or CHARACTER
Repetition of the display (practical in the case of variables
of type INPUT for instance).

Return to the FIELD level

Shift +

Enter as for Shift +

Variable name : Direct preselection of another name

if applicable with index or component name
(max. 12 characters)

*[Index] : Direct preselection of a field index

*.Component : Direct preselection of a component

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5.7.3. Operation at the component level

You will be at the component level if there is a component name at the end of the
variable name.

Operating options:

Preceding component to min. to first component,

Shift + then return to group level

Next component to max. to last component, then

Shift + return to group level

In the case of FIELD:

Shift + Jump to the index level
In the case of group (KINEMATIC,POINT,MK_POINT):
Jump to the component level
In the case of BINARY, INTEGER, DEC or CHARACTER :
Repetition of the display (practical in the case of variables
of type INPUT for instance).

Return to the group level

Shift +

Enter as for Shift +

Variable name : Direct preselection of another name

if applicable with index or component name
(max. 12 characters)

*[Index] : Direct preselection of a field index

*.Component : Direct preselection of a component

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5.7.4. Example

Procedure for display of @IPOS of the KINEMATIC ROB1 with the axis names A_1,
A_2, A_3, A_4 of program PROGNAME.
Current program line is 10.

Entry of MODE 7 in the test system

PROGNAME 10
DISPLAY

Name:#

Entry : ROB1

PROGNAME 10
ROB1
IPOS,@IPOS,LIMIT_M->
#

Entry: SHIFT ARROW RIGHT

PROGNAME 10
ROB1.IPOS
X_K,Y_K,Z_K,U_K
#

ENTRY: SHIFT ARROW DOWN

PROGNAME 10
ROB1.@IPOS
A_1,A_2,A_3,A_4
#

ENTRY: SHIFT ARROW RIGHT

PROGNAME 10
[email protected]_1
0.000
#

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ENTRY : ENTER

PROGNAME 10
[email protected]_2
-100.000
#

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5.8. Set variables (mode 8)

This command permits the contents of any variables to be changed.
Operation and selection correspond to the descriptions of display mode (as de
scribed in Section 5.7).
It is not permitted to set input variables. They are skipped when "paging".
If you have selected a variable of type BINARY, INTEGER, DEC or CHARACTER by
entering a name or with the arrow key, you will also see a question mark before
character # on the fourth line.
The value can then be changed by entering a value. A value can be entered in the
case of a variable of type CHARACTER by entering the character in quotes or by
entering a decimal number.
A different variable can be selected without changing the value of the current vari
able instead of entering a value by entering a name or entering with the arrow keys,
as described for display.

5.9. Singlestep (mode 9)

When this command is preselected, any executable BAPS program statement can
be executed individually.
After the command has been preselected, a line number is requested. The number
of the next executable program statement is the default.

Display on the PHG:

dana xxxxx
Singlestep

Line:

xxxxx : Next executable program line

Operating options:

Entry of the line number ( max. 32767 ; xxxxx is the default)

The program line to be executed is preselected

Enter and displayed on the PHG in line 3.

For reasons of safety, the statement contained in the prese

lected line is not yet executed !!
Select new test system command. Singlestep op
Shift + eration does not yet occur.

After you enter the line number and acknowledge with ENTER, you can execute the
program statement by pressing key SHIFT ARROW DOWN.

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Display on the PHG:

dana xxxxx
Singlestep
Program line

xxxxx : Next executable program line

Operating options:

Shift + Enter new program line number

Singlestep operation does not yet occur
Execution of the selected program statement.
Shift +

The next program statement is not displayed until after complete execution of the
program statement. If several statements occur in one program line, the same pro
gram line is displayed until all statements of this line have been executed.

Note:
The program line is displayed if the control does not have a QLL file of the currently
active program.

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5.10. Test with/without robot movement (mode 10)

This command permits the currently selected process to be tested with or without
robot movement.

Display on the PHG:

dana xxxxx
Test "With movement"

Switch over with ENTER

or

dana xxxxx
Test "Without movement"
Switch over with ENTER

xxxxx : Next executable program line

The current status is displayed in the
2nd line.

Operating options:

Execution of the command

Enter
Switchover occurs.

Select new test system command.

Shift + Switchover does not occur.

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5.11. Write a program line (mode 11)

This command permits QLL program lines to be displayed on the PHG. After prese
lection, the test system requests you to enter the line number to be displayed.

Display on the PHG:

dana xxxxx
Write

Line :

xxxxx : Next executable program line

Operating options:

Entry of the program line number ( max. 32767 ; xxxxx is the default)

Enter Execution of the command

Select a new test system command

Shift + Writing does not occur.

After you enter the required line number, the contents of the program line are dis
played on the PHG.

Display on the PHG:

dana xxxxx
Write
Program line

xxxxx : Next executable program line

Operating options:

Quit display, enter new test system command.

Enter

Shift +

Shift + Scrolling within a line

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Shift +

Shift + Scrolling within the QLL program

When program lines are displayed, blanks between line number and the first char
acter of the line are masked.
The next executable program line is identified with prefix "-->".

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5.12. Monitor BAPS processes (mode 12)

If mode 12 is preselected, the operator has the choice of 5 additional test system
commands.
These 5 commands serve to prepare processes for the test system and to start, in
terrupt or terminate processes.

Display on the PHG:

dana xxxxx
1= Preselect
2= Select

xxxxx : Next executable program line

Operating options:

MODE 1 Preselect process

MODE 2 Select process

MODE 3 Start process

MODE 4 Interrupt process

MODE 5 Terminate process

Shift +

Shift + Preselection of modes 1-5 with the arrow keys

Shift + Enter new test system command.

Note: If no process is selected (see notes on 1st PHG line), you cannot quit
this command level.

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5.12.1 Preselect process

By preselecting this command, the operator can make processes available for the
test system without having to quit the test system. The precondition is that the pro
cess not yet be accessible to the test system and that all conditions listed in Section
2 be fulfilled.
On the PHG, the operator is offered all processes for selection whose IRD pro
grams are present in the user memory.

Display on the PHG:

Preselect
dana .IRD Size
Date, time
Preselect with: ENTER

Operating options:

The displayed process is started for the test sys

Enter
tem.

Shift +

Shift + Offering further processes for preselection.

Enter new test system command.

Shift + No preselection occurs.

When the operator enters ENTER, he is prompted to press the PROGRAMSTART

key in order to activate the process for the test system. When this key is pressed,
the process is selected automatically and all test system commands are available
for the newly preselected process.

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5.12.2 Select process

In the rho 3 control, it is possible for several processes to be active simultaneously.

If several processes are activated for testing, it is possible to switch over between
the individual processes with "SELECT". The name of the currently selected pro
cess is always displayed on the 1st PHG line. The suffix 'Sxx' (xx is a 2-digit num
ber) states that the process is a sub-process (see Section 7).
When this command is called, the operator is offered all processes to which he can
switch over. A process can be selected if it has been made known to the test system
by preselection (see Section 5.12.1) and if it is currently executing no program
steps.

Display on the PHG:

Select
dana .IRD Size
Date, time
Preselect with: ENTER

Operating options:

The displayed process is selected for the test sys

Enter tem. All subsequent commands then refer to this
process.

Shift +

Shift + Offering further processes for selection

Shift + Enter new test system command.

No selection occurs.

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5.12.3 Start process

When this command is preselected, the selected process can be started as of any
program line.
The test system prompts you to enter a program line number as of which the BAPS
program is to be executed. If no program line number is entered, the program is
executed as of the next executable program statement.

Display on the PHG:

dana xxxxx
Start

From line:

xxxxx : Next executable program line

Operating options:

Entry of the program line number (max. 32767; xxxxx is the default)

Enter Execution of the command

Select new test system command

Shift + No start occurs.

The process can now be influenced by the test system only if a previously set inter
rupt or observation is triggered or if it is stopped by an interrupt (see Section
5.12.4). Otherwise, the program runs to its programmed end or to an abort (e.g.:
EMERGENCYSTOP).
When the operator enters ENTER, he is prompted to preselect or select a new pro
cess (see Sections 5.12.1 or 5.12.2).

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5.12.4 Interrupt process

This command gives the operator the option of interrupting a running process. All
running processes which have been activated by the test system and which are not
selected can be interrupted. After preselection of the command, it is possible to use
the arrow keys to search for the process to be interrupted.

Display on the PHG:

Interrupt
dana

Preselect with: ENTER

Operating options:

Enter Interrupting the displayed process.

Select new test system command

Shift + No interrupt occurs

Shift +

Shift + For selection of further processes

When ENTER is entered, the displayed process is stopped before the start of its
next BAPS command. The interrupted process is then automatically selected.

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5.12.5 Quit process

This command provides the operator with the option of aborting the currently se
lected process.

Display on the PHG:

Quit
Quit current process

Execute with ENTER

Operating options:

Enter The selected process is aborted

Shift + Select new test system command

No abort occurs
After aborting the selected process, the operator is prompted to select a new pro
cess (if present).
If no further process is active for testing, you return to SETUP.

5.13. Define points (mode 13)

This command permits points to be defined using the PHG without having to quit
the test system. The definition procedure is the same as when calling via MODE 4
(Define, Teach In), MODE 1 (Define).

5.14. Teach points (mode 14)

This command permits points to be taught using the PHG without having to quit the
test system. The teaching procedure is the same as when calling via MODE 4 (Defi
ne, Teach In), MODE 2 (Teach In).

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5.15. Quit test system (mode 15)

This command permits the operator to abort all processes and quit the test system
again. If RC input 61 (PIC address A7.5 , "Permanent processes are to remain acti
ve") is not set at the instant at which the command is executed, all permanent pro
cesses are also aborted.

Display on the PHG:

dana xxxxx
Quit test system

Continue : ENTER

xxxxx : Next executable program line

Operating options:

Abort all processes (see above) and return to

Enter SETUP.

Select new test system command

Shift + No abort occurs.

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6. MESSAGES FROM NON-SELECTED PROCESSES

Several processes can be tested simultaneously in the test system of the rho 3.
Consequently, it is possible for the selected process to be tested whilst another
non-selected process runs to an interrupt point or whilst an observed variable is
being written. This is indicated to the operator in the last line of the PHG.

6.1. Observation reached

If a variable for which an observation has been set previously is written in a process,
the operator will see a note in the last line of the PHG. The note may also be sig
nalled by non-selected processes.

Display in the last PHG line:

Obs.rea.: dana1

dana1 : Process which signals the interrupt.

The note in the last line is retained until the next PHG key is pressed.

6.2. Interrupt reached

If a process runs to a previously set interrupt, the operator will see a note in the last
line of the PHG. The note may also be signalled by nonselected
processes.

Display in the last PHG line:

Int.rea.: dana1

dana1 : Process signalling the interrupt.

The note in the last line is retained until the next PHG key is pressed.

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7. PARALLEL PROGRAM BRANCHES (PARALLEL,PARALLEL_END)

Specially identified program parts can be executed in parallel, i.e. simultaneously,

as of BAPS Version 2.1. The keywords "PARALLEL" , "AND" and "PARAL
LEL_END" are used for identification.

Example:

1 ;;kinematic : (1 = ROBI1 )
2 ;;kinematic : (2 = ROBI2 )
3
4 Program Test
5
6 Point : p0,p1,p2,p3,p4
7
8 Start
9 Move ROBI1 to P0 ;Main process TEST
10 Move ROBI2 to P1
11
12 Parallel
13 Move ROBI1 to P2 ;Subprocess TEST S01
14 and
15 Move ROBI2 to P3 ;Subprocess TEST S02
16 Parallel_end
17
18 Move ROBI1 to P4 ;Main process TEST
19 Stop
20 End

When this example program is executed, the kinematic ROBI1 approaches point
P0 and, then, kinematic ROBI2 approaches point P1. Kinematic ROBI2 does not
start its movement until ROBI1 has reached point P0.
In the parallel branch, the traversing statements are executed simultaneously, i.e.
ROBI1 moves to P2 whilst ROBI2 is moving to P3.
The test system handles the statements between "PARALLEL" and "PARAL
LEL_END" as independent processes (subprocesses). The name of a subpro
cess consists of the main process name, an 'S' and a consecutive number.
In the example, the subprocesses are designated TEST S01 and TEST S02.

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7.1. Special features in the case of SINGLESTEP (mode 9)

If a main process is executed in "SINGLESTEP", the test system handles the state
ments of subprocesses (commands between "PARALLEL" and "PARAL
LEL_END") as one single command line.

Example:

A main process is tested and the next statement to be executed is "PAR

ALLEL". If a "SINGLESTEP" is now executed, new test system com
mands cannot be entered until all commands between "PARALLEL" and
"PARALLEL_END" have been executed completely. (See also Section
5.9.)

If lines which belong to a subprocess are selected from a main process

("SINGLESTEP" specifying a line number), the PARALLEL statement has no ef
fect. When an "AND" statement is reached, the system branches to ""PARALLEL-
END" without allowing for subsequent subprocesses.

Example:

In the above example, the main process (TEST) is preselected. The oper
ator also specifies the line number 13 for SINGLESTEP. This means that
the command is executed in subprocess TEST S01. The next program
line to be executed would be 18. Subprocess TEST S02 is not executed
!!

7.2. Special features applicable to preselect, select etc. (mode 12)

Since subprocesses are processes without their own IRD program, it is generally
not possible to preselect them.
Subprocesses can be selected only if the main process has executed a "PARAL
LEL" statement and "PARALLEL_END" has not yet been reached (see restrictions
for "SINGLESTEP").
In order to permit a subprocess to be selected, it must be interrupted by an inter
rupt point or an observation during execution.

Important:
The remaining subprocesses continue only if a subprocess has been
stoppped owing to an interrupt point or observation!

Starting, interrupting and terminating a subprocess functions in the same way as

with a main process. In the case of "START", the same special features must be
allowed for as with "SINGLESTEP" (see Section 7.1).

33
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34
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