Motoman Advanced Robot Visual Interface

Visual DCI
User's Manual
Version 3.0
Part Number 141069-1
Revised 6/9/99

February 28, 1998

MOTOMAN
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200 FAX: (937) 847-6277
24-HOUR SERVICE HOTLINE: (937) 847-3200

The information contained within this document is the proprietary property of Motoman, Inc.,
and may not be copied, reproduced or transmitted to other parties without the expressed written
authorization of Motoman, Inc.

©1998 by MOTOMAN
All Rights Reserved

Because we are constantly improving our products, we reserve the right to change specifications without
notice. YASNAC and MOTOMAN are registered trademarks of YASKAWA Electric Manufacturing.
 TABLE OF CONTENTS
Section Page
List of Figures ..............................................................................................................................................................iii
List of Tables................................................................................................................................................................iii
1 INTRODUCTION
1.1 Requirements................................................................................................................................1-1
1.2 Visual DCI Components...........................................................................................................1-2
1.3 Trademark Acknowledgments..............................................................................................1-2
2 SAFETY
2.1 Introduction....................................................................................................................................2-1
2.2 Standard Conventions ..............................................................................................................2-2
2.3 General Safeguarding Tips.....................................................................................................2-3
2.4 Mechanical Safety Devices.....................................................................................................2-3
2.5 Installation Safety........................................................................................................................2-4
2.6 Programming Safety .................................................................................................................2-4
2.7 Operation Safety ..........................................................................................................................2-5
2.8 Maintenance Safety....................................................................................................................2-6
3 INSTALLATION
3.1 Installing Visual DCI...................................................................................................................3-1
3.2 Installing the Hardware Key...................................................................................................3-2
3.3 Connecting the Data Cables...................................................................................................3-2
3.3.1 XRC Connection...........................................................................................................3-2
3.3.2 MRC Connection..........................................................................................................3-3
3.3.3 ERC Connection...........................................................................................................3-4
3.3.4 Building a Data Cable................................................................................................3-5
3.4 Removing Visual DCI ................................................................................................................3-5
4 GETTING STARTED
4.1 The Main Visual DCI Window...............................................................................................4-1
4.2 Using Variable Labels ...............................................................................................................4-2
4.2.1 Assigning Variable Labels.......................................................................................4-2
4.2.2 Clearing Label Assignments..................................................................................4-4
4.2.3 Opening an Existing Variable File........................................................................4-4
4.2.4 Saving Variable Files..................................................................................................4-5
4.3 Specifying a Program File Path............................................................................................4-6
4.4 Customizing Visual DCI ...........................................................................................................4-7
4.4.1 Assigning User Names.............................................................................................4-7
4.4.2 Run Minimized Option..............................................................................................4-7
4.5 Setting Communications Parameters...............................................................................4-8

MOTOMAN i Visual DCI User’s Manual

 Section Page
5 THE VARIABLE EDITOR
5.1 Index Variable................................................................................................................................5-1
5.2 Creating/Modifying the Robot Program Structure ....................................................5-2
5.2.1 Saving Variables to the PC.....................................................................................5-2
5.2.2 Loading Variables from the PC............................................................................5-4
5.2.3 Loading and Saving Job Files...............................................................................5-4
5.3 Using the Variable Editor.........................................................................................................5-5
5.4 Closing a Visual DCI Session................................................................................................5-8
6 ERROR RESOLUTION
6.1 Error Monitor Display ...............................................................................................................6-1
6.2 Error Recovery..............................................................................................................................6-1
6.3 Visual DCI Error Table ..............................................................................................................6-2
7 TECHNIQUES
7.1 Optimizing for Cycle Time ......................................................................................................7-1
7.2 Optimizing for Variable Latency...........................................................................................7-1
7.3 Optimizing Memory Usage.....................................................................................................7-2
7.4 Avoiding Response Time Errors..........................................................................................7-2
8 OLE COMMANDS AND PROPERTIES
8.1 Visual DCI OLE Properties......................................................................................................8-1
8.2 Methods...........................................................................................................................................8-2
8.3 Example Enable/Disable Commands.................................................................................8-2
8.4 Example Commmunications Port Setting Commands............................................8-3
8.5 Example File Path Command ................................................................................................8-3
8.6 Read a Variable.............................................................................................................................8-3
8.7 To Write a Variable.....................................................................................................................8-3
8.8 To Read a Variable on Change .............................................................................................8-4
9 TROUBLESHOOTING
9.1 DCI Stops Functioning Normally.........................................................................................9-1
9.2 Visual DCI Does Not Work After Installation ................................................................9-2
9.2.1 Is Visual DCI Activated on the Controller?.....................................................9-2
9.2.2 Do Customer Accessible Parameters Match Equipment?.....................9-2
9.2.3 Are The Cables Connected?...................................................................................9-4
9.2.4 Is Visual DCI Turned On and Activated?.........................................................9-4
9.3 Downloading Jobs......................................................................................................................9-4
9.4 Loading and Saving Variables..............................................................................................9-5
9.5 Applications....................................................................................................................................9-6
APPENDIX
A.1 Sample Code Using Visual Basic 4.0................................................................................A-1
A.2 Sample MRC Jobs......................................................................................................................A-3
INDEX

Visual DCI User’s Manual ii MOTOMAN

 LIST OF FIGURES
Figure Page
Figure 3-1 MRC Serial Interface Connector .......................................................................................3-3
Figure 3-2 ERC Serial Interface Connector.........................................................................................3-3
Figure 3-3 Remote Computer Communications Cable.................................................................3-4
Figure 4-1 Visual DCI Main Screen.........................................................................................................4-1
Figure 4-2 The Name Variables Screen ................................................................................................4-2
Figure 4-3 Assigning a Variable Label...................................................................................................4-3
Figure 4-4 The Variable Label Table.......................................................................................................4-3
Figure 4-5 The Variable File Form - Opening a File ........................................................................4-4
Figure 4-6 The Variable File Form -Saving a File.............................................................................4-5
Figure 4-7 The Robot Program Path Screen .....................................................................................4-6
Figure 4-8 The Enter DCI User Name Dialog .....................................................................................4-7
Figure 4-9 Run Options Selection............................................................................................................4-7
Figure 4-10 Communications Link Parameters Screen..................................................................4-9
Figure 5-1 The VarEdit Password Box ..................................................................................................5-5
Figure 5-2 The Variable Editor...................................................................................................................5-6
Figure 5-3 Selecting a Variable for Editing .........................................................................................5-7
Figure 5-4 Display of Uploaded Variable..............................................................................................5-7
Figure 5-5 Entering Variable Changes...................................................................................................5-8
Figure 6-1 The Error Monitor Display....................................................................................................6-1
Figure 8-1 ReadOnChange Transaction Flow....................................................................................6-5

LIST OF TABLES
Table Page
Table 4-1 Default settings for Visual DCI...........................................................................................4-8
Table 6-1 Visual DCI Program Errors..................................................................................................6-2
Table 6-2 Hardware Key Errors...............................................................................................................6-3

MOTOMAN iii Visual DCI User’s Manual

 NOTES

Visual DCI User’s Manual iv MOTOMAN

 SECTION 1
INTRODUCTION
Visual DCI is an on-line control system developed for the Motoman family of
robots. Visual DCI includes a built-in variable editor which lets the user modify
any robot variable including byte, integer, double, real, and external variables.
These modifications are performed while the robot is in cycle, and gives the user
the ability to control many robot actions from a remote PC. The Visual DCI
program also allows the user to upload and download complete robot programs
which can be simultaneously modified with the MARIS editor.
New features incorporated in Version 3.0 of Visual DCI include:
• May be operated under either ERC, MRC, or XRC control
• Multiple copies of Visual DCI can be run concurrently
• Can be operated via OLE Automation
• Update speed can be changed for optimum performance
These new features simplify system setup, and enhance the overall performance
and usability of Visual DCI.
Visual DCI is one in a family of MotoSoft™ quality software products.

1.1 Requirements
To run Visual DCI, you will need the minimum required hardware and software
listed below:
Computer IBM PC or compatible
Processor Intel 80386SX25
Memory 4 MB
Hard Disk 6 MB minimum available
CD ROM Drive
Monitor VGA Graphics
Input Device Mouse
COM Port One RS-232 port capable of operating at 9600 baud
for each copy of Visual DCI
Interface Cable One RS-232 serial interface cable for each copy of
Visual DCI (Supplied with Visual DCI)
Operating System Microsoft Windows 95/98 or Windows NT
Controller Software Controller software must have the DCI
Communications option installed

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INTRODUCTION

1.2 Visual DCI Components

Before you start the Visual DCI installation, make sure that your Visual DCI
package includes all of the items listed below:
• Communications Kit (Motoman Part Number 132529-1) including:
• Two RS-232 serial interface cables, 25 pin to 25 pin
(Motoman Part Number 132389-1)
• Two Adapters, 25 pin to 9 pin
(Motoman Part Number 132520-1)
• Two Adapters, 25 pin to 9 pin
(Motoman Part Number 142960-1)

1.3 Trademark Acknowledgments

Microsoft is a registered trademark of Microsoft Corporation. Visual Basic,
Windows 95/98, and Windows NT are trademarks of Microsoft Corporation.

Visual DCI User’s Manual 1-2 MOTOMAN

 SECTION 2
SAFETY
2.1 Introduction

It is the purchaser’s responsibility to ensure that all local, county,

state, and national codes, regulations, rules, or laws relating to
safety and safe operating conditions for each installation are met
and followed.

We suggest that you obtain and review a copy of the ANSI/RIA National Safety
Standard for Industrial Robots and Robot Systems. This information can be
obtained from the Robotic Industries Association by requesting ANSI/RIA
R15.06. The address is as follows:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: 313/994-6088
FAX: 313/994-3338
Ultimately, the best safeguard is trained personnel. The user is responsible for
providing personnel who are adequately trained to operate, program, and maintain
the robot cell. The robot must not be operated by personnel who have not
been trained!
We recommend that all personnel who intend to operate, program, repair, or use
the robot system be trained in an approved Motoman training course and become
familiar with the proper operation of the system.
This safety section addresses the following:
• Standard Conventions (Section 2.2)
• General Safeguarding Tips (Section 2.3)
• Mechanical Safety Devices (Section 2.4)
• Installation Safety (Section 2.5)
• Programming Safety (Section 2.6)
• Operation Safety (Section 2.7)
• Maintenance Safety (Section 2.8)

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SAFETY

2.2 Standard Conventions

This manual includes information essential to the safety of personnel and
equipment. As you read through this manual, be alert to the four signal words:
• DANGER
• WARNING
• CAUTION
• NOTE
Pay particular attention to the information provided under these headings which
are defined below (in descending order of severity).

DANGER!
Information appearing under the DANGER caption concerns the
protection of personnel from the immediate and imminent hazards
that, if not avoided, will result in immediate, serious personal injury
or loss of life in addition to equipment damage.

WARNING!
Information appearing under the WARNING caption concerns the
protection of personnel and equipment from potential hazards that
can result in personal injury or loss of life in addition to
equipment damage.

CAUTION!
Information appearing under the CAUTION caption concerns the
protection of personnel and equipment, software, and data from
hazards that can result in minor personal injury or
equipment damage.
NOTE: Information appearing in a NOTE caption provides additional information which is helpful in
understanding the item being explained.

Visual DCI User’s Manual 2-2 MOTOMAN

 SAFETY

2.3 General Safeguarding Tips

All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. General safeguarding
tips are as follows:
• Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation of this robot,
the operator’s manuals, the system equipment, and options and accessories
should be permitted to operate this robot system.
• Do not enter the robot cell while it is in automatic operation. Programmers
must have the teach pendant when they enter the robot cell.
• Improper connections can damage the robot. All connections must be made
within the standard voltage and current ratings of the robot I/O (Inputs
and Outputs).
• The robot must be placed in Emergency Stop (E-Stop) mode whenever it is
not in use.
• In accordance with ANSI/RIA R15.06, section 6.13.4 and 6.13.5, use
lockout/tagout procedures during equipment maintenance. Refer also to
Section 1910.147 (29CFR, Part 1910), Occupational Safety and Health
Standards for General Industry (OSHA).

2.4 Mechanical Safety Devices

The safe operation of the robot, positioner, auxiliary equipment, and system is
ultimately the user’s responsibility. The conditions under which the equipment
will be operated safely should be reviewed by the user. The user must be aware
of the various national codes, ANSI/RIA R15.06 safety standards, and other local
codes that may pertain to the installation and use of industrial equipment.
Additional safety measures for personnel and equipment may be required
depending on system installation, operation, and/or location. The following
safety measures are available:
• Safety fences and barriers
• Light curtains
• Door interlocks
• Safety mats
• Floor markings
• Warning lights
Check all safety equipment frequently for proper operation. Repair or replace any
non-functioning safety equipment immediately.

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SAFETY

2.5 Installation Safety

Safe installation is essential for protection of people and equipment. The
following suggestions are intended to supplement, but not replace, existing
federal, local, and state laws and regulations. Additional safety measures for
personnel and equipment may be required depending on system installation,
operation, and/or location. Installation tips are as follows:
• Be sure that only qualified personnel familiar with national codes, local
codes, and ANSI/RIA R15.06 safety standards are permitted to install the
equipment.
• Identify the work envelope of each robot with floor markings, signs,
and barriers.
• Position all controllers outside the robot work envelope.
• Whenever possible, install safety fences to protect against unauthorized
entry into the work envelope.
• Eliminate areas where personnel might get trapped between a moving robot
and other equipment (pinch points).
• Provide sufficient room inside the workcell to permit safe teaching and
maintenance procedures.

2.6 Programming Safety

All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. Programming tips are
as follows:
• Any modifications to PART 1 of the controller PLC can cause severe
personal injury or death, as well as damage to the robot! Do not make any
modifications to PART 1. Making any changes without the written
permission of Motoman will VOID YOUR WARRANTY!
• Some operations require standard passwords and some require special
passwords. Special passwords are for Motoman use only. Y O U R
WARRANTY WILL BE VOID if you use these special passwords.
• Back up all programs and jobs onto a floppy disk whenever program
changes are made. To avoid loss of information, programs, or jobs, a
backup must always be made before any service procedures are done and
before any changes are made to options, accessories, or equipment.
• The concurrent I/O (Input and Output) function allows the customer to
modify the internal ladder inputs and outputs for maximum robot
performance. Great care must be taken when making these modifications.
Double-check all modifications under every mode of robot operation to
ensure that you have not created hazards or dangerous situations that may
damage the robot or other parts of the system.
• Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation, manuals,
electrical design, and equipment interconnections of this robot should be
permitted to operate the system.
Visual DCI User’s Manual 2-4 MOTOMAN
 SAFETY
• Improper operation can damage the equipment. Only trained personnel
familiar with the operation, manuals, electrical design, and equipment
interconnections of this robot should be permitted to operate the system.
• Inspect the robot and work envelope to be sure no potentially hazardous
conditions exist. Be sure the area is clean and free of water, oil, debris, etc.
• Be sure that all safeguards are in place.
• Check the E-STOP button on the teach pendant for proper operation before
programming.
• Carry the teach pendant with you when you enter the workcell.
• Be sure that only the person holding the teach pendant enters the workcell.
• Test any new or modified program at low speed for at least one full cycle.

2.7 Operation Safety

All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. Operation tips are
as follows:
• Be sure that only trained personnel familiar with the operation of this robot,
the operator’s manuals, the system equipment, and options and accessories
are permitted to operate this robot system.
• Check all safety equipment for proper operation. Repair or replace any non-
functioning safety equipment immediately.
• Inspect the robot and work envelope to ensure no potentially hazardous
conditions exist. Be sure the area is clean and free of water, oil, debris, etc.
• Ensure that all safeguards are in place.
• Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation, manuals,
electrical design, and equipment interconnections of this robot should be
permitted to operate the system.
• Do not enter the robot cell while it is in automatic operation. Programmers
must have the teach pendant when they enter the cell.
• The robot must be placed in Emergency Stop (E-Stop) mode whenever it is
not in use.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller, external servo box, and
other equipment. Disconnect and lockout/tagout all electrical circuits before
making any modifications or connections.
• All modifications made to the controller will change the way the robot
operates and can cause severe personal injury or death, as well as damage
the robot. This includes controller parameters, ladder parts 1 and 2, and I/O
(Input and Output) modifications. Check and test all changes at slow speed.

MOTOMAN 2-5 Visual DCI User’s Manual

SAFETY

2.8 Maintenance Safety

All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. Maintenance tips are
as follows:
• Do not perform any maintenance procedures before reading and
understanding the proper procedures in the appropriate manual.
• Check all safety equipment for proper operation. Repair or replace any non-
functioning safety equipment immediately.
• Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation, manuals,
electrical design, and equipment interconnections of this robot should be
permitted to operate the system.
• Back up all your programs and jobs onto a floppy disk whenever program
changes are made. A backup must always be made before any servicing or
changes are made to options, accessories, or equipment to avoid loss of
information, programs, or jobs.
• Do not enter the robot cell while it is in automatic operation. Programmers
must have the teach pendant when they enter the cell.
• The robot must be placed in Emergency Stop (E-Stop) mode whenever it is
not in use.
• Be sure all safeguards are in place.
• Use proper replacement parts.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller, external servo box, and
other equipment. Disconnect and lockout/tagout all electrical circuits before
making any modifications or connections.
• All modifications made to the controller will change the way the robot
operates and can cause severe personal injury or death, as well as damage
the robot. This includes controller parameters, ladder parts 1 and 2, and I/O
(Input and Output) modifications. Check and test all changes at slow speed.
• Improper connections can damage the robot. All connections must be made
within the standard voltage and current ratings of the robot I/O (Inputs
and Outputs).

Visual DCI User’s Manual 2-6 MOTOMAN

 SECTION 3
INSTALLATION
NOTE: This manual assumes that you are familiar with basic Windows terms and operations. If this is
not the case, please refer to your Microsoft Windows documentation.

3.1 Installing Visual DCI

NOTE: This manual assumes that you are familiar with basic Windows terms and operations. If this is
not the case, please consult your Microsoft Windows 95/98 documentation.
To install Visual DCI, proceed as follows:
1. Insert the CD-ROM Browser disc into your CD-ROM drive.
2. The setup program should execute automatically.
NOTE: Setup will execute automatically when the CD is inserted into your CD-ROM drive unless
autoexecute has been disabled on your computer. If the setup program does not autoexecute,
you can select demo32.exe” from the CD-ROM Open Properties dialog. Demoshield Player
will appear and prompt you for a “.dbd” file. Double-click “*.dbd” to begin the install process.
3. An introduction screen will appear. Click Next to continue the installation.
4. Three option buttons are displayed:
• Install Motoman Software
• Exit
• Learn aboutMotoman Software
Click Install Motoman Software.
5. A Motoman Software License Agreement page will appear. Click Yes to
agree to the terms outlined in the scrolling window.
6. A software selection screen will appear. Click the desired software button to
install the software you purchased.
NOTE: You can install any of the software titles on the CD-ROM, but you must install a hardware
security key for each package you purchased. If the hardware key is not installed, you will not
be able to run the software you purchased.
7. After you make your software bundle selection, a package selection screen
will appear. Click the desired package button to install the software package
you purchased.
8. The CD-ROM Browser will display a list of software titles included in the
purchased bundle.
9. Click the displayed buttons to begin installation of the software.
10. Installers for each of the selected packages will guide you through the
installation process.
NOTE: Visual DCI will not function until you have installed the hardware key (see 3.2).

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INSTALLATION

3.2 Installing the Hardware Key

The hardware key supplied with Visual DCI must be installed on your computer
or the software will not start. The hardware key attaches to the computer’s
parallel port connector. This port is commonly used to connect printers and other
peripheral devices to your computer. To attach the hardware key:
1. Turn your computer off.
2. Disconnect any printer currently connected to your computer’s parallel port.
3. Carefully insert the hardware key into the parallel connector. If the key does
not fit, do not force it. The key should fit snugly but does not require
significant force to insert.
NOTE: Consult the documentation that came with your PC if you are unsure which connector is the
parallel port.
4. Connect your printer cable to the free end of the hardware key. The key will
not interfere with the operation of your printer.

CAUTION!
Proper use of the hardware key is extremely important! Performing
tape backups, file transfers, I/O control, or using parallel
communication cables between devices with the key installed may
permanently damage the key.
Observe the following guidelines to protect your hardware key:
• Remove the hardware key from the computer if the parallel port is used for
any operation other than printing.
• The key may not operate properly when stacked with any additional keys or
if attached to anything other than a parallel port (e.g. SCSI adapter).
It is highly recommended that the key(s) be insured for the full value of the
software package. Lost or stolen keys cannot be replaced. If the key is lost,
you will have no alternative but to purchase a new copy of the software.
If the key is accidentally damaged, return it to Motoman for replacement. There
is a charge for key replacement.

3.3 Connecting the Data Cables

Before you can use Visual DCI, you must establish the physical interface between
the robot controller and the remote PC. Complete the steps described in this
section before you begin to use Visual DCI.

3.3.1 XRC Connection

1. Connect the 25-to-9 pin adapter (P/N 142960-1 included) to the 25-pin data
cable connector.
2. Connect the data cable to the 9-pin serial interface connector (CN03) on the
CPU unit inside the XRC controller (see Figure 3-1).

Visual DCI User’s Manual 3-2 MOTOMAN

 INSTALLATION
3. Connect the other end of the data cable to the COM port of your computer.
Use the 25-to-9 pin adapter (Part No. 132520-1, included) if your computer
has a 9-pin COM port.
CN03
SERIAL INTERFACE CPU

Figure 3-1 XRC Serial Interface Connector

3.3.2 MRC Connection

If you have an MRC controller, there are two ways to connect the controller to
your computer.
• External connection—recommended if you use a portable computer to run
Visual DCI and you move it between different controllers
• Internal connection—recommended if the computer running Visual DCI will
be left permanently attached to the controller.
External Connection
1. Lift the subpanel cover and connect the 25-pin data cable connector to the
serial interface connector, Figure 3-1.
2. Connect the other end of the data cable to the COM port of your computer.
Use the 25-to-9 pin adapter (Part No. 132520-1, included) if your computer
has a 9-pin COM port.

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INSTALLATION
SERVO POWER MODE CYCLE E.STOP
PLAY TEACH REMOTE AUTO 1 CYCLE STEP
RESET

ET

RES
ES
ET
ALARM/ R
ERROR

ON ON OVERRUN RECOVERY
HOLD START
POWER EDIT LOCK

OFF OFF

AC100V 0.5A RS-232C

SUBPANEL SERIAL INTERFACE

CONNECTION

Figure 3-1 MRC Serial Interface Connector

Internal Connection
1. Turn the MRC main power off. Remove one of the cable access plates from
the side of the MRC cabinet and route the female end of the data cable into
the cabinet.
NOTE: Use a sealed strain relief in the plate to secure the data cable. A sealed strain relief will prevent
debris from entering the cabinet and reduce the possibility of damaging components inside the
MRC cabinet if the data cable is accidentally pulled.
2. Open the MRC cabinet door and locate the MCP01 board.
3. Install the serial interface cable between the robot controller and the remote
PC.
4. Run the cable where it will not present a tripping hazard.

3.3.3 ERC Connection

1. Connect the 25-pin data cable connector to the data interface connector on
the front control panel of the ERC, Figure 3-2.
2. Connect the other end of the data cable to the COM port of your computer.
Use the 25-to-9 pin adapter (Part No. 132520-1, included) if your computer
has a 9-pin COM port.

E. STOP

F1 F2 F3 F4 F5

FUNCTION DATA SERVO POWER

START
DISP EDIT 7 8 9 ON

OP1 OP2 4 5 6
MODE

1 2 3 PLAY TEACH REMOTE

CURSOR
HOLD
— 0 *
CYCLE

CANCEL # ENTER CRT

AUTO 1 CYCLE STEP
OFF

AC 100V 0.5A OVERRUN EDIT LOCK

RS232C
RECOVERY ON OFF

Serial Interface
Connector

Figure 3-2 ERC Serial Interface Connector

Visual DCI User’s Manual 3-4 MOTOMAN
 INSTALLATION

3.3.4 Building a Data Cable

You can use the serial interface cable supplied with your Visual DCI package, or
you can make a cable to suit your specific needs. Figure 3-3 illustrates the
required cable connections.

REMOTE
CONTROLLER COMPUTER
SHIELD
PIN 1
(Connect at controller only)
PIN 2 PIN 2

PIN 3 PIN 3

PIN 4 PIN 4

PIN 5 PIN 5

PIN 7 PIN 7

PIN 6 PIN 6

PIN 8 PIN 8

PIN 20 PIN 20

Figure 3-3 Remote Computer Communications Cable

NOTE: You do not use all of the pins on the serial interface cable connectors. Any unused pins can be
left open.

3.4 Removing Visual DCI

To deinstall Visual DCI:
1. Double-click Add/Remove Programs in the Windows Control Panel.
2. Select “Visual DCI” from the list and click Add/Remove.
3. Click Yes to confirm deletion of the Visual DCI program files.

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INSTALLATION

NOTES

Visual DCI User’s Manual 3-6 MOTOMAN

 SECTION 4
GETTING STARTED
This section provides an introduction to the Visual DCI program. It includes
descriptions of the screen layouts and menu options.
To launch Visual DCI, select Visual DCI from the Windows 95 Start menu.
Visual DCI is located in the Motoman program group unless you specified
another group during installation.

4.1 The Main Visual DCI Window

When you first start Visual DCI, the main Visual DCI window will appear,
Figure 4-1.

VARIABLE EDITOR
WORK AREA

CONTROL PANEL

ERROR MONITOR ERC LINK STAT

DISPLAY

Figure 4-1 Visual DCI Main Screen

Variable Editor Work Area
Data will be displayed in this region of the screen when you are editing variables.
Control Panel
The Visual DCI Control Panel is used to select the Visual DCI mode of operation.
From here you can set up communications parameters, assign variable labels,
specify a program file path, and turn Visual DCI ON and OFF. You can also use
the Control Panel to turn the system’s Variable Editor ON and OFF.

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GETTING STARTED
ERC Link Stat
The ERC Link Stat block monitors and displays the status of the communications
link between the ERC and Visual DCI.
Error Monitor Display
The error monitor display lists errors as they occur and suggests solutions to the
errors. It also allows the users to reset errors.

4.2 Using Variable Labels

Visual DCI lets the user assign variable labels to any or all variables. Using
variable labels does not affect the robot program, Visual DCI only uses the labels
internally. This feature provides the convenience of making variables more easily
recognizable.
For example, if the value of variable B1 determines which job the robot performs,
we might rename this variable “Robot Seq.” Visual DCI now recognizes any
reference to variable B1 and substitutes the label “Robot Seq.”
Visual DCI also lets you save variable label assignments in variable files that use
the .var file extension. You can then retrieve the appropriate file for use as
required. By doing this you can maintain a variable file for each robot program.

4.2.1 Assigning Variable Labels

To assign variable labels, proceed as follows:
1. Click DCI OFF to make sure that the Visual DCI communications link is
off. The indicator bar above DCI OFF turns red.
2. Click Variable Labels. The NAME VARIABLES screen appears:

Figure 4-2 The NAME VARIABLES Screen

3. Select from the left hand box the variable to which you want to assign a
label. If the variable is not visible in the list area, scroll up or down the
variable list.

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 GETTING STARTED

Figure 4-3 Assigning a Variable Label

4. Click the text box above Replace Name, and type in the label you want to
use.
5. Click Replace Name to accept the variable label. Once a label is assigned to
a variable, it appears in the table in the right hand box.

Figure 4-4 The Variable Label Table

NOTE: The first column of the table lists all variables. Any assigned labels appear in the table’s
second column. The word TRUE appears in the third column for any variable to which a label
has been assigned. You can use the scroll bar to the right of the table to move the display up
and down the table.

NOTE: You can resize the table columns so that the complete variable names and labels appear in the
table. Click in the column you want to resize, and then press SHIFT and the > key to expand or
SHIFT and the < key to contract the column.
6. Click the down-arrow button or select Exit from the Variable Names menu
to return to the Visual DCI main screen.
NOTE: If you want to keep the assigned labels for use in future sessions, you must first save them to a
variable file (refer to Section 4.2.4, Saving Variable Files). Otherwise, label assignments are in
effect only for the current session, and will be lost when you exit Visual DCI.

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GETTING STARTED

4.2.2 Clearing Label Assignments

Whenever you start Visual DCI, the program refers to the visdci.ini file during its
initialization process. The program uses the variable label file recorded in the .ini
file. If you want to assign a new set of labels or create a new variable label file,
you can clear all current labels at one time. To clear all label assignments,
proceed as follows:
1. Click Variable Labels on the Control Panel.
2. Select Init from the Variable Names menu. This clears all variable label
assignments for the current session.
3. Click the down-arrow button to return to the Control Panel.
NOTE: Unless you save new assignments, this procedure clears the label assignments for the current
session only (refer to Section 4.2.4, Saving Variable Files).

4.2.3 Opening an Existing Variable File

To open an existing variable file, proceed as follows:
1. Click Variable Labels on the Control Panel.
2. Select Open from the Variable Names menu. This opens the Variable File
Form from which you can select the appropriate variable file.

Figure 4-5 The Variable File Form - Opening a File

NOTE: If you want to cancel the open file operation, click Cancel at any time before you click OK. This
immediately cancels the operation and returns you to the NAME VARIABLES screen.
3. Select the variable file you want to use.
a) If necessary, click the arrow next to the drive selection block to open a
list of available drives. The file path block displays a directory tree from
which you can select the appropriate file directory.
b) Double-click the file directory you want to open. A list of variable files
will appear in the left hand selection block.
c) Select the variable file you want, then click OK to confirm your
selection. Visual DCI loads the selected variable file and returns to the
NAME VARIABLES screen.
4. Click the down-arrow button to return to the Control Panel.

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 GETTING STARTED

4.2.4 Saving Variable Files

To save variable label assignments to a variable file, proceed as follows:
1. Click Variable Labels on the Control Panel.
2. Select Save from the Variable Names menu. This opens the Variable File
Form in which you can specify the variable file into which you want Visual
DCI to save the current label assignments.

Figure 4-6 The Variable File Form -Saving a File

NOTE: If you want to cancel the save file operation, click Cancel at any time before you click OK. This
immediately cancels the operation and returns you to the NAME VARIABLES screen.
3. To save your variable assignments to an existing file, perform the following:
NOTE: When you save to an existing variable file, the original file is overwritten with one that contains
the current label assignments. If you have made changes to the label assignments during the
current session, these labels will replace the originals.
a) If necessary, click the arrow next to the drive selection block to open a
list of available drives. The file path block displays a directory tree from
which you can select the appropriate file directory.
b) Double-click the file directory you want to open. A list of variable files
will appear in the left hand selection block.
c) Select the variable file you want, then click O K to confirm your
selection. Visual DCI saves the selected variable file and returns to the
NAME VARIABLES screen.
4. To save a new variable file, proceed as follows:
a) Click the arrow next to the drive selection block to open a list of
available drives. The file path block displays a directory tree from
which you can select the appropriate file directory.
b) Double-click the file directory you want to open.
c) Click the filename entry block in the upper left hand corner. Type in the
filename you want to use. In Figure 4-7, the filename “new.var” is used.
d) Click OK to accept your selection. Visual DCI saves the new variable
file and returns to the NAME VARIABLES screen.
5. Click the down-arrow button to return to the Control Panel.

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GETTING STARTED

4.3 Specifying a Program File Path

The Visual DCI communications interface with the robot controller allows the
exchange of robot program files. Through Visual DCI the controller can access
remote and networked devices for off-line storage and retrieval of job files. It
also makes the program files available to other applications (for example, the
MARIS INFORM language editor) while the robot remains in cycle. To specify a
program file path to use when loading and saving robot job files, proceed as
follows:
1. Click Variable Labels on the Control Panel.
2. Select Set Path from the Robot Prog. menu. This opens the Robot Program
Path screen in which you can set the file path you want Visual DCI to use.

Figure 4-7 The Robot Program Path Screen

NOTE: If you want to cancel the set path operation, click Cancel at any time before you click OK. This
immediately cancels the operation and returns you to the NAME VARIABLES screen.
3. Select the file path you want Visual DCI to use:
a) If necessary, click the arrow next to the drive selection block to open a
list of available drives. The file path block displays a directory tree from
which you can select the appropriate file directory.
b) Double-click the file directory you want to open. Visual DCI fills in the
file path for the currently selected directory in the Path= text box. A list
of job files appears in the left hand selection block.
NOTE: The Programs block on the Robot Program Path screen shows a list of all program files in a
selected directory. These files are identified by a .JBI or .JBR file extension. However, Visual
DCI does not select a particular program file, but rather the path for the directory in which that
file is located.
c) Click OK to accept your selection. Visual DCI sets the selected file path
and returns to the NAME VARIABLES screen.
4. Click the down-arrow button to return to the Control Panel.

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 GETTING STARTED

4.4 Customizing Visual DCI

The current release of Visual DCI lets you run multiple copies of the program
simultaneously. To help avoid confusion, Visual DCI lets you assign user names
to each copy of the program.

4.4.1 Assigning User Names

To assign user names to the Visual DCI programs, proceed as follows:
1. Click Variable Labels in the Visual DCI Control Panel. The NAME
VARIABLES screen will appear.
2. Select Set from the DCI User Name menu. The following dialog will
appear.

Figure 4-8 The Enter DCI User Name Dialog

NOTE: If you want to cancel the set user name operation, click Cancel at any time before you click
Accept. This immediately cancels the operation and returns you to the NAME VARIABLES
screen.
3. Click in the text entry box at the top of the screen and type in a new user
name for the program.
4. Click Accept. Visual DCI saves the assigned user name and returns to the
NAME VARIABLES screen.
5. Click the down-arrow button to return to the Control Panel. The assigned
user name now appears in the title bar at the top of the main Visual DCI
window. It will also appear below the program icons whenever the program
runs in background.
NOTE: The Init. button on the DCI User Name screen sets the default user name, Visual DCI.

4.4.2 Run Minimized Option

You can choose to run Visual DCI in minimized mode. This option is particularly
useful when you intend to run Visual DCI from an external program through the
OLE link. The program loads and immediately reduces to its iconized form. To
select this option, proceed as follows:
1. Click on Variable Labels in the Visual DCI Control Panel. The NAME
VARIABLES screen appears.
2. Click Run Minimized Option in the Run Options box. Clicking the
checkbox repeatedly turns the Run Minimized Option on and off.

Figure 4-9 Run Options Selection

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GETTING STARTED
3. Click the down-arrow button. The program will immediately reduce to its
iconized form.
An icon will appear for each minimized copy of the program you currently have
running.
The assigned user name for each particular copy of Visual DCI appears under its
corresponding icons. The connector icon represents the Visual DCI program and
indicates the state in which the program is running; connected to or disconnected
from the robot controller.
You can restore each program component to its maximized form by double-
clicking the appropriate icon.

4.5 Setting Communications Parameters

In order for the controller and the PC to work together, the communications
parameters set up on each device must match. Typically, you need to configure
the Visual DCI communications parameters only if:
• Controller parameters are changed.
• Visual DCI is connected to a different controller.
NOTE: Visual DCI uses the same default communications parameters as the controller. If these
parameters have been changed on the controller or if you want to use a communications port
on the PC other than COM 1, follow the instructions below.

Table 4-1 Default settings for Visual DCI

Transmission Speed 9600 Baud
Number of Data Bits 8
Stop Bits 1
Parity Type Even
Comm. Port 1

NOTE: Visual DCI uses the communications settings chosen within DCI. The program ignores any
communications settings selected through the Windows Control Panel.
To configure the communications parameters:
1. Make sure that Visual DCI is OFF. The indicator bar above DCI OFF turns
red.
2. Click Set Up Comm. The Communications Link Parameters dialog box will
appear, Figure 4-10.
NOTE: If you want to cancel the communications setup operation, click Return at any time before you
click Accept. This immediately cancels the operation and returns you to the Control Panel.
3. Click the arrow next to the communications parameter(s) you want to
change. For each choice, a list of available options will appear.
4. After choosing the correct values for all parameters you want to change,
click Accept to save the changes and return to the Control Panel.
The program writes the new parameter values to the VISDCI.INI file. Visual
DCI refers to the .INI file each time you start the program.
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 GETTING STARTED

Figure 4-10 Communications Link Parameters Screen

NOTE: Clicking Reject before you accept new parameter values reads the original values in the .INI
file back into the Communications Link Parameters Screen. Once you click Accept, the new
parameter values replace the previous values in the .INI file.

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NOTES

Visual DCI User’s Manual 4-10 MOTOMAN

 SECTION 5
THE VARIABLE EDITOR
This section introduces you to the Visual DCI variable editor. It contains:
• A brief overview of the mech anics of the data transfer between the
controller and Visual DCI;
• Information on creation and/or modification of the required robot program
structure;
• Detailed instructions for the use of the variable editor.

5.1 Index Variable

The variable names used to identify different variables have two components. A
prefix letter identifies the type of variable; B for byte, I for integer, and R for real.
The second component of the variable name is a variable index with a value
ranging from 00 to 99.

P01
Variable Index—identifies the specific variable of a given type
(in this case position variable 01)
Type Prefix—identifies the variable type
(in this case a position variable)

The ERC/MRC controller commands LOADV and SAVEV do not send the
variable index to the PC. The PC receives only the type of variable (B, I, and R)
and its value. As a result, the PC has no way of knowing which of a particular
type of variable is being loaded or saved. Before the PC can properly store or
retrieve a variable, the controller must upload the variable index to the PC. You
must use an Index Variable to identify the variable index. Any byte variable can
be used as the Index Variable.
In the sample programs listed in this section, B(00) is used as the Index Variable.
Every time the controller tries to load or save a variable, it must first issue a SET
B00 command that specifies the appropriate variable index, followed by a
SAVEV B00. This gives the PC the variable index of the variable to be saved or
loaded. When the controller next gives a SAVEV or LOADV command for a
particular type of variable, the PC recognizes the specific variable identified by
the Index Variable, B(00).
NOTE: • When stepping through or developing a program, make sure that for each variable you
want the program to load or save you first set and save the Index Variable. Otherwise,
Visual DCI and the controller will run out of synchronization and cause various errors.

• You do not need to specify an Index Variable to load or save jobs. This requirement
applies only to variables.

• For additional information on variables and variable types, refer to your ERC Programming
Manual or MRC Operator’s Manual.

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THE VARIABLE EDITOR

5.2 Creating/Modifying the Robot Program Structure

Visual DCI lets you modify program variables while a robot is in cycle.
However, it is the controller that directs the operation of the robot. The controller
must upload the variables it wants to make available to Visual DCI; it must also
issue requests to the PC to download those variables back to the controller.
Before you can use Visual DCI, you must create a robot program structure to
upload variables to the PC. You can also modify an existing program structure to
accomplish the same result.
1. Make sure that the Communications and DCI Communications options are
installed on your controller software. If these features are not installed,
contact Motoman Field Service for assistance.
2. Create an initialization sequence that will upload the desired variables to the
PC. This sequence should include all variables that the robot wants Visual
DCI to be able to modify.
NOTE: The Master Job typically calls this sequence only once during program initialization. However,
the controller can upload any variable as often as necessary. This might be the case, for
example, when the program uses the same P variable to represent different positions during
different program sequences.

5.2.1 Saving Variables to the PC

The program example below shows the recommended format for the initialization
sequence. In the robot program listings below, comments regarding specific
program lines appear to the right of the program line. These comments do not
appear in the actual program listing.

NOP
CALL JOB: DCIINIT This is the initialization sequence.
*mainloop Identifies start of subroutine.
CALL JOB: GETV Call job to download variables from PC.
CALL JOB: DC1 IF B01=1 These three lines call job based on value of variable B(01).
CALL JOB: DC2 IF B01=2
CALL JOB: DC3 IF B01=3
JUMP *mainloop Jumps back to beginning of subroutine, can include conditional
statement.
END

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 THE VARIABLE EDITOR
Job: DCIINIT.JBI
NOP
SET B01 0 Set B(01)=0
SET B00 1 Set B(00)=1
SAVEV B00 B(00) is an index counter whose value is the index of the variable
being saved - tells the PC which variable is to be loaded.
SAVEV B01 B(01) is the variable being saved or uploaded to the PC.
SET B00 2 Index=2
SAVEV B00 Upload index value
SET B02 0 Set B(02)=0
SAVEV B02 Upload B(02) to PC
SET B00 3 Index=3
SAVEV B00 Upload index value
SET B03 0 Set B(03)=0
SAVEV B03 Upload B(03) to PC
SET B00 1
SAVEV B00
SAVEV P001
SET B0 0
SAVEV B00
SAVEV P000
SET B00 1 Set index value
SAVEV B00 Upload index
SET I01 1000 Set I(01)=1000
SAVEV I01 Upload I(01)
SET B00 2
SET D02 2000000
SAVEV B00
SAVEV D02
SET B00 3
SAVEV B00
SET R03 300
SAVEV R03
SAVEJ JOB: DC3 JBI
LOADJ JOB: DC3 JBI
RETURN
END

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THE VARIABLE EDITOR

5.2.2 Loading Variables from the PC

Variables can be downloaded from the PC to the controller as often as required.
The sample initialization sequence listed above calls the job GETV.JBI once per
cycle. The following example shows how to download the desired variables from
the PC to the controller.
Job: GETV.JBI
NOP
SET B00 1 Set index variable to 1.
SAVEV B00 Upload index variable to PC.
LOADV B01 Download B(01) from PC to the controller.
SET B00 1 Set index variable to 1.
SAVEV B00 Upload index variable to PC.
LOADV P001 Download P(01) from PC to the controller.
SET B00 2
SAVEV B00
LOADV B02
SET B00 3
SAVEV B00
LOADV B03
SET B00 0
SAVEV B00
LOADV P000
JUMP *11 IF B03 <>3
LOADJ JOB: DC3.JBI
*11
RET
END

5.2.3 Loading and Saving Job Files

The controller can use Visual DCI to access the remote PC for off-line storage
and retrieval of job files. This capacity helps to conserve online storage. It also
allows the user to open an application such as MARIS while Visual DCI runs in
background. With MARIS and Visual DCI the user can access and edit job files
without taking the robot out of cycle.
You can save jobs as either independent or related files. The .JBI and .JBR file
extensions identify each of these file types respectively. A job saved as an
independent file contains only the instructions for the named job. In a job saved
as a related file, the program instructions are searched for internal job calls. Any
jobs, frames, and tools called in the program instructions are appended to the end
of the file. The resulting file then contains the program instructions for all related
jobs.

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 THE VARIABLE EDITOR
For example, saving the MAINLINE job we used above as an independent file
would store only the MAINLINE instructions. However, when we save the same
job as a related file, the instructions for DCIINIT, GETV, DC1, DC2, and DC3
are appended to the end of the MAINLINE instructions and stored in a single file.

5.3 Using the Variable Editor

The Visual DCI Variable Editor lets the user capture and modify program
variables while the robot is in cycle. Once captured, variables can be modified
and then downloaded back to the controller.
NOTE: The Variable Editor is password protected to prevent unauthorized access to program variables.
To use the Variable Editor, proceed as follows:
1. Turn ON the Variable Editor from the Control Panel. The Variable Editor
Password box appears in the main screen work area:

Figure 5-1 The VarEdit Password Box

2. Click the password entry box, and type in the correct password. The
Variable Editor password is initially recorded as “max.”
NOTE: Be aware that the Variable Editor password is case-sensitive. If the current password is “max,”
the word must be typed in all lower case letters; “MAX” is not a valid password.
3. Click Lock. A New Password checkbox will appear in the VarEdit
Password box
4. If you want to change the Variable Editor password, you can do so at this
time.
a) Click New Password. Visual DCI prompts you to enter a new password.
NOTE: If a password already exists, you will be prompted to enter the password before you can create
a new password.
b) Click the password entry box and type in the new password.
c) Click Lock. Visual DCI prompts you to re-enter the new password..
d) Click the password entry box and type in the new password again to
verify your selection.
e) Click Lock again. Visual DCI gives a message indicating whether the
new password was correctly verified.
6. Click the down-arrow button to close the password box and enable the
editor.

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THE VARIABLE EDITOR
The Variable Editor will appear in the main screen work area, Figure 5-2.

Figure 5-2 The Variable Editor

7. Click DCI ON. The indicator bar above DCI ON turns red.
NOTE: Visual DCI must be ON before putting the robot in cycle. Visual DCI must remain ON until
after the robot is taken out of cycle.
8. At the controller, select the master job and put the robot in cycle as follows:
a) Press TEACH mode.
b) Select the job to use as the master job.
c) Put the controller in AUTO mode.
d) Press CYCLE START.
As the communications link between the controller and the PC is
established, the ERC Link Stat block displays the changing status of the
communications link. If an error occurs, a description of the error appears
in the upper display box of the Errors block. Visual DCI will display
recommended actions to resolve an error in the lower display box. Refer to
Section 6.0, Error Resolution for more information.
The controller uploads the appropriate variables to the PC as specified in the
program initialization sequence. Once this is done, these variables are
available to Visual DCI for modification. The controller continues to
upload and download variables as directed by the master job.
9. Specify the variable you want to modify in the Select Variable column of
the Variable Editor.
a) Click the down arrow next to the variable name box. A list of the
variables available for modification will appear, Figure 5-3.

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 THE VARIABLE EDITOR

Figure 5-3 Selecting a Variable for Editing

b) Select the variable you want to modify, and click EDIT Vari. If variable
labels are assigned, the labels appear in the variable selection list. If the
variable you want does not appear in the list box, use the scroll bar to
move the display up or down the list. As soon as the controller uploads
the value for the selected variable, Visual DCI updates the Variable
Editor display, Figure 5-4.

Figure 5-4 Display of Uploaded Variable

The name of the selected variable appears in the “Variable Name=” box.
Under the Variable Type column, the Variable Editor displays the type
of variable selected, that is byte, integer, and so on. For position and
external variables, the Variable Editor lists each component of either a
Cartesian coordinate, or a resolver pulse count system.
The value of the variable appears under the To/From ERC and Temp
Value columns. For position and external variables, the value of each
component of the variable is listed. Initially, the values under both of
these columns are equal. These values will change as either the
controller updates the variable, or the user modifies the variable.
Visual DCI uses the To/From ERC column as a buffer. After the initial
upload, the controller updates the values in the To/From ERC buffer, as
directed by the Master Job. The values in the To/From ERC buffer can
be transferred into the Temp Value area by clicking on the left-pointing
hand.

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THE VARIABLE EDITOR
10. To modify the value(s) of the selected variable, click the appropriate value
box under the Temp Value column, and enter the value you want. Or, you
can use the up and down arrows next to the value box to increase or
decrease the uploaded value.

Figure 5-5 Entering Variable Changes

11. Click the right-pointing hand to transfer the modified value into the
To/From ERC buffer. The controller can now download the modified
variable from the buffer.
12. You can continue to modify the previously selected variable, or select other
variables to modify as required.

5.4 Closing a Visual DCI Session

NOTE: Visual DCI must remain ON until after the robot is taken out of cycle.
To end a Visual DCI session, proceed as follows:
1. At the controller, press HOLD or change mode to TEACH or REMOTE.
This takes the robot out of cycle.
2. Click DCI OFF on the Control Panel.
NOTE: If you assigned variable labels during the current Visual DCI session and have not already
saved them, you must save these labels in a variable file before you close the session.
Otherwise, the current label assignments will be lost. Refer to paragraph 4.2.4, Saving
Variable Files.
3. Click the down-arrow button on the Control Panel. The Visual DCI main
screen will appear.
4. Click END.
Visual DCI saves any configuration changes you have made during the current
session to the visdci.ini file. These can include the default variable file, user
name assignments, and file path selections.
.

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 SECTION 6
ERROR RESOLUTION
This section describes the Visual DCI error monitor and possible errors.

6.1 Error Monitor Display

Visual DCI enables the error monitor when communications between the
controller and the remote PC are established. The error monitor display is part of
the Visual DCI main screen. If an error occurs, the display monitor identifies the
error and suggests actions to resolve the error.

Figure 6-1 The Error Monitor Display

An error description appears in the upper block of the error monitor display. If
more than one error occurs, an arrow button appears next to the description block.
Clicking the arrow button opens a drop list from which the user can select a
particular error.
Visual DCI helps the user resolve errors by offering possible solutions. A series
of recommended actions appears in the lower block of the error monitor display
whenever a selected error shows in the description block.
As corrective actions are taken, the user can reset errors in Visual DCI. Clicking
Selected clears only the highlighted error. Clicking All clears all errors.
NOTE: Clearing an error on the Visual DCI error monitor display does not resolve a problem; the user
must take corrective action.

6.2 Error Recovery

If an error occurs, perform the steps below before you turn Visual DCI off.
1. Put the controller in TEACH mode.
2. Use the RESET soft key on the controller to reset errors.
3. Find the most recent save index variable-/ variable-instruction sequence.
Use the teach pendant to step back through the program to the instruction
before the save sequence.
4. On the Visual DCI error monitor display, click either Selected or All. This
initializes an internal state machine.
5. Put the controller in AUTO mode.
6. Press START on the controller.

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ERROR RESOLUTION
NOTE: Do not turn Visual DCI off unless the procedure above does not work. Turning off Visual DCI
clears all variable information. You must then execute the controller initialization sequence
again to resume operation.

6.3 Visual DCI Error Table

The tables below list error that can occur when loading or running Visual DCI.
Table 6-1 contains the list of Visual DCI system errors. If one of these errors
occurs, it will appear in the error monitor display of the main screen.
Table 6-1 Visual DCI Program Errors
Error Recommended Action
E1—Variable too Large/Small for Variable received was too large or small for its type -
type Check controller program.
E2—Variable index > 99 Ensure that an index variable was programmed or
executed for all variables that are being saved or
loaded.
E3— ERC Command Out of Range! Received an invalid command - Check controller
Program for invalid commands. Could also be caused
by a transmission error. Please try command again.
E4—No Variable Index! Program and/or Execute a Save Byte function whose
value is the Index of the variable you are trying to Save
or Load.
E5— ERC SubCommand Out of Received an invalid command - Check controller
Range! Program for invalid commands. Could also be caused
by a transmission error. Please try command again.

Table 6-2 lists errors related to the Rainbow hardware key used to enable the
Visual DCI program. The system checks that the key is installed when the
program is initiated. The program also checks periodically to make sure that the
hardware key remains installed throughout program operation. If one of these
errors occurs, an error code appears in a Windows message box.

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 ERROR RESOLUTION
Table 6-2 Hardware Key Errors
Error Code Recommended Action
Error 894 Ensure Rainbow Hardware Key is installed on LPT1. If the Error persists, Call
Motoman Field Service.
Error 896 Ensure Rainbow Hardware Key is installed on LPT1. If the Error persists, Call
Motoman Field Service.
Error 897 Ensure Rainbow Hardware Key is installed on LPT1. If the Error persists, Call
Motoman Field Service.
Error 898 Ensure Rainbow Hardware Key is installed on LPT1. If the Error persists, Call
Motoman Field Service.
Error 899 Ensure Rainbow Hardware Key is installed on LPT1. If the Error persists, Call
Motoman Field Service.
Error 994 Rainbow Key Not Installed - Please Install key on LPT1 port.
Error 995 Ensure Rainbow Hardware Key is installed on LPT1. If the Error persists, Call
Motoman Field Service.
Error 996 Ensure Rainbow Hardware Key is installed on LPT1. If the Error persists, Call
Motoman Field Service.

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NOTES

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 SECTION 7
TECHNIQUES
In this section we offer some techniques and hints to optimize the operation of
Visual DCI for your particular applications.

7.1 Optimizing for Cycle Time

The techniques listed below can be incorporated into your processes, either singly
or in combination, to reduce total cycle time.
• Set up a byte variable that when true indicates that the values of other
variables have not changed. Write an instruction sequence in the job
program that tests the value of the change variable. In this sequence, jump
to a variable download sequence when the change variable tests false. By
waiting until changes occur to download variables, you reduce the average
number of downloads per cycle to a minimum.
Example Conditional Load Sequence
SET B00 6 - Set B(00)=6
SAVEV B00 - Upload index value
LOADV B06 - B(06) is the change variable
JUMP IF B06 <>0 - insert the variable download instructions here, these will only
execute when the change variable B(06) equals 0
*skipseq
RET
END

• Turn the variable editor off whenever practical. This eliminates the time
required to update variables in the To/From ERC buffer.
• If you need to leave the variable editor on but are not changing values, select
a variable type other than a position or external variable. These variable
types contain several value elements which must be updated.

7.2 Optimizing for Variable Latency

For some operations the robot needs to update variable values frequently. The
techniques listed below help satisfy the requirement to reduce variable latency.
• You can include instructions in your job programs to get variables as often
as required. If necessary, you could update each variable as it is used in the
program. Doing so ensures that the robot always uses the most current
value for any given variable.
• You can write several different instruction sequences to update specific
variables or groups of variables. By attaching each instruction sequence to a
different conditional statement, you can update variables only under specific
circumstances.

MOTOMAN 7-1 Visual DCI User’s Manual

TECHNIQUES
• You can call a different sequence to update selected variables as the robot
starts each new task. This method updates groups of variables as needed in
a specific instruction sequence, rather than downloading all at once.

7.3 Optimizing Memory Usage

In some cases, minimizing controller memory overhead may be a concern. The
following techniques help to conserve memory.
• Write program instructions tying controller load sequences to conditional
statements.
• Save jobs as individual rather than related files. While the use of related
files can simplify some operations, the resulting files can be very large.
This approach is most effective when the master job contains references to
several jobs, but is not likely to use all of them during a specific session.

7.4 Avoiding Response Time Errors

Some Windows applications, such as MARIS and Microsoft Word, can
monopolize system resources during their initialization processes. These system
resources may not be available to Visual DCI for significant periods of time. As a
result, delays can occur between a controller request and the PC response. If the
delay exceeds a specific period, a time-out error occurs. To avoid this type of
error, we recommend that you start your other Windows applications before you
start Visual DCI.
You may continue to experience time-out errors with certain remote PCs,
particularly those with older microprocessors and/or slower system clocks. You
can adjust certain controller communications parameters to compensate for these
response delays.
Parameter RS06 is Watchdog Timer A. This timer protects the controller from an
invalid response or no response from the remote PC. The timer can be set from 0
to 10 seconds in 0.1 second intervals. The default value is 30, which is equivalent
to 3.0 seconds.
Parameter RS08 is Retry 1, sequence retry counter. Retry 1 specifies the number
of times the controller tries to send a sequence of data after an invalid response or
no response. You can set the retry counter from 0 to 30, the default value is 10.
You may need to try different combinations of settings for these parameters until
you find one that works well with your system.

Visual DCI User’s Manual 7-2 MOTOMAN

 SECTION 8
OLE COMMANDS AND PROPERTIES
The new release of Visual DCI has added support for OLE (Object Linking and
Embedding) Automation. OLE Automation allows other PC-based application
packages to control Visual DCI. Users can, for example, set serial
communications port settings, turn on DCI, or reset the communications buffer
from other software applications.
OLE, or ActiveX as it has become known, is a vast standard that has had literally
hundreds of books dedicated to explaining it. Fortunately, creating and using an
OLE client in Visual Basic is quite simple. It is much easier to program than
DDE which was used in previous versions of Visual DCI.
OLE supports Distributed Communications (DCOM) which enables users to
control Visual DCI from remote computers which are linked together via
Ethernet. This powerful feature allows limited robot control and monitoring
from a remote PC.
Visual DCI is set up to run a new copy each time a new OLE Client requests a
Visual DCI session. This allows simultaneous communication between Visual
DCI and multiple ERC or MRC robot controllers. You can run as many copies of
Visual DCI as you have serial ports on your computer.

8.1 Visual DCI OLE Properties

Port R/W Reads or writes the RS232 serial
communications port number that the current
copy of DCI is using to communicate with a
robot controller
DataBits R/W Reads or writes the number of data bits used in
serial communications (7 or 8 bits)
StopBits R/W Reads or writes the number of stop bits used in
RS232 serial communications (0, 1, 2)
Parity R/W Reads or writes the RS232 serial
communications parity setting
BaudRate R/W Reads or writes the RS232 serial
communications baud rate
Index R/W Reads or writes current robot variable index –
normal values between 1 and 999
VarType R/W Reads or writes type of robot variable (B,I, D,R,
P,E)
Element1 R/W Reads or writes the value of robot variable
Element2 pointed to by the current Variable Type and
Index. (Only P and E variables use elements 2
Element3 through 6)
Element4
Element5
Element6

MOTOMAN 8-1 Visual DCI User’s Manual

OLE COMMANDS AND PROPERTIES

FilePath R/W Reads or writes the PC directory to which the

robot jobs will be transferred to or from the
robot controller
LastWasSuccess R True if last OLE command was successful.
False otherwise.
Visible R/W Allows the user to run Visual DCI either visible
or invisible. Some users may wish to control
Visual DCI completely from the OLE Client and
do not want Visual DCI displayed at all
ScanTime R/W Allows the user to read or write the frequency
with which Visual DCI will check or poll for
communications with the robot controller. Unit
is milliseconds (1000 equals 1 second). Normal
values are 0 to 3000.
MDontEnd R/W Allows Visual DCI to continue running after the
OLE Client terminates

8.2 Methods
DCIStart Enables serial communications between the robot and Visual
DCI.
DCIStop Disables serial communications between the robot and
Visual DCI.
ReadOnChange Registers robot variables so that DCI will update an
associated object automatically when the robot variable
changes value.
EndReadOnChange Stops or disables read-on-change operation for a specific
variable.
LimitCheck Returns True if selected robot variable has a valid value.
RobCommErrReset Initializes the all Visual DCI communications parameters
and send and receive buffers back to zero.

8.3 Example Enable/Disable Commands

Start a copy of Visual DCI Dim DCIServer As ObjectSet DCIServer =
CreateObject
(“visdci.ClassVisdciControl”)
Activate or Enable Visual DCI DCIServer.DCIStart()
to receive commands from the
MRC/ERC controller.
Disable Visual DCI to receive DCIServer.DCIStop()
commands from the MRC/ERC
controller.

Visual DCI User’s Manual 8-2 MOTOMAN

 OLE COMMANDS AND PROPERTIES

8.4 Example Commmunications Port Setting Commands

# of Data Bits DCIServer.DataBits = CommandStatus for a good
Value (where Value = 7 or command is “DataBits,0.”
8)
CommandStatus =
DCIServer.mLastResponse
Port # DCIServer.Port = xxx Where xxx is the value of the
CommandStatus = serial communications port.
DCIServer.mLastResponse Command Status gives the Visual
DCI response message (same as
last release).
Baud Rate DCIServer .BaudRate = xxx Command Status gives the Visual
CommandStatus = DCI response message (same as
DCIServer.mLastResponse last release).
“xxx” = desired baud rate
Stop Bits DCIServer. StopBits= xxx Command Status gives the Visual
CommandStatus = DCI response message (same as
DCIServer.mLastResponse last release).

Parity DCIServer. Parity()= xxx Command Status gives the Visual

CommandStatus = DCI response message (same as
DCIServer.mLastResponse last release).

8.5 Example File Path Command

DCIServer.FilePath = “c:\visdci\programs”

8.6 Read a Variable

To read a variable, first set the index and the variable type and then read the
appropriate element. For example, to read B(001), the user would enter:
Dim iResultNumber as Integer
DCIServer.Index=1
DCIServer.VarType=“B”
iResultNumber=DCIServer.Element

To read a P or an E variable, the user must also get elements 2 through 6 to get the
complete set of values.

8.7 To Write a Variable

To write a variable, first set the desired index and type. Then set the correct
element to the desired value. For example, to set B(012) = 10, the user would
enter:
DCIServer.Index = 12
DCIServer.VarType = “B”
DCIServer.Element1 = 10

MOTOMAN 8-3 Visual DCI User’s Manual

OLE COMMANDS AND PROPERTIES

8.8 To Read a Variable on Change

You can register a variable for read-on-change (ROC). This gives you the
capability to always know what the variable is without wasteful polling (checking
or getting the new value).
To perform a read-on-change, you must create an object and register it as a
read-on-change. See the dcioletest.vbp project for an example of how to create a
read-on-change capability.
The code excerpt below shows the fundamentals for creating this capability:
Dim ROC as object Create a new generic object.
Set ROC(ROCNum) = New DCIClient Set the ROC to be a DCIClient object.
ROC.VarType = B Set the DCIClient code for detailed
implementation.
ROC.Index = 10 Want to monitor B(010) for any changes.
ROCNum2 = Tell Visual DCI to monitor this Variable.
DCIServer.ReadOnChange(ROC())

When B(010) changes value, Visual DCI will write to the ROC.Element1 through
6 as appropriate for the variable type.
The user can get the new information in the Property Let function of the read on
change client.
Below is an excerpt of a the partial implementation of the object. See the
DCIClient in the dcioletest.vbp for a complete example of how to implement a
read-on-change object.
Public Property Let Element1(ByVal vNewValue As Double)
Dim StatusMessage as String
Element1 = Str(vNewValue)
StatusMessage = DCIServer.mLastResponse
End Property

Visual DCI User’s Manual 8-4 MOTOMAN

 OLE COMMANDS AND PROPERTIES
The following chart shows the timeline of events for a ROC variable transaction.
Call Visual DCI OLE
method for
Set ROC Parameters Read on Change Get new value of B10

OLE Client ROC.VarType="B" ServerDCI.ReadOnChange ROC.Element=new value

ROC.Index=10 (ROC)

CUSTOM Create ROC Object

SOFTWARE
APPLICATION Set ROC=NewROCClient

(OLE CLIENT)

VISUAL DCI
(OLE SERVER)
ReadOnChange ROC.Element1=New Value
(ROC(ROCNum))

Register ROC variable When Visual DCI detects

with Visual DCI that a registered ROC
variable has a new value,
it modifies the value of
the ROC object which
causes a Parameter Let
function to occur in the
OLE Client object

Figure 8-1 ReadOnChange Transaction Flow

MOTOMAN 8-5 Visual DCI User’s Manual

OLE COMMANDS AND PROPERTIES

NOTES

Visual DCI User’s Manual 8-6 MOTOMAN

 SECTION 9
TROUBLESHOOTING
9.1 DCI Stops Functioning Normally
Did you turn off the computer and controller?
If not, turn off both and restart.
Is at least one portion of the program functioning?
(Loading or saving certain jobs?)
If Yes, what kind of jobs are working or causing problems?
Are jobs from the same controller/robot?
If jobs are from a different system, the jobs may be incompatible.
Are any of the jobs dependent upon a job not there or currently running?
This may affect the saving of a job from controller to the PC.
Do any of the jobs have position variables?
If a job using any type of position variable is loaded into the controller, the
position variable must be defined in the controller. This is true for FDE and VDE
as well.
Were any of the jobs created with Rotsy or the MRC Editor?
If jobs were created for a different robot, CMOS file or all.prm file may affect
compatibility.
Are any of these jobs extremely long or for dual robots?
They may be out of memory. Visual DCI may also need more time to gather the
information. Change parameter RS034 to a value between 30 -100.
Create small sample jobs using different functions. Run the jobs separately to
isolate any problem caused by a specific function. For example, create jobs that
employ:
• Motion only
• Position variables (if you are using them)
• Welding commands only
• Incorrect syntax, etc.
Did you make any changes to the controller or computer?
Try reverting to the original settings to see if that affected Visual DCI (other users
may have changed settings).
Check cables. Make certain all cables are connected. Check for intermittent
connections by disconnecting and reconnecting cables. Replace cables if
necessary. Long cables can degrade signal quality. Also check for added
equipment such as welding power sources, positioners, etc. Electrical noise from
nearby devices can cause malfunction.
Check to see if a cable is damaged by swapping the cable in question with a good
cable. If you do not have an extra cable, visually check cable for damage.
MOTOMAN 9-1 Visual DCI User’s Manual
TROUBLESHOOTING
Close any other applications you have running.
Certain software can interfere with Visual DCI.
Did you encounter an Alarm 5920-1 (Insufficient memory) message?
You may have too many jobs open or several jobs may be too long. Eliminate
some jobs, break jobs down into smaller jobs, or download jobs to reduce
memory requirements.
Did you encounter an Alarm 5930-22 (Time out)?
The PC is not responding. This typically occur on systems running
Windows 3.11.
• Cables are not connected or they do not have a good connection.
• Operator error
• Visual DCI turned off
Try setting RS034 to a value between 30 and 100. The default setting is “30” (30
seconds). Increase the setting to give the controller more time to respond to the
PC.

9.2 Visual DCI Does Not Work After Installation

9.2.1 Is Visual DCI Activated on the Controller?
1. Place controller in teach mode and press EDIT.
2. Press the arrow up key.
3. Press OTHER.
This should show commands such as DELETEJ, SAVEJ, LOADV, etc.
NOTE: If the parameter was activated from the PC by Motoman, you may not be able to access these
commands If this condition arises. The parameter must be reset manually by Motoman Field
Service.

9.2.2 Do Customer Accessible Parameters Match Equipment?

Parameters to set for the RS-232 connection.
RS000 Set to “3” for FDE or “2” for Visual DCI or VDE

Parameters to set for the MCP01 board connection.

RS001 Set to “3” for FDE or “2” for Visual DCI
RS050 Data bit length (7:7 bit, 8:8 bit) (normally set to “8”)
RS051 Stop bit length (0:1 bit, 1:odd, 2:even) (normally set to “0”)
RS052 Parity check (0:no, 1:odd, 2:even) (normally set to “2”)
RS053 Baud rate [data (x) 150] equation example=> 64 x 150 = 9600
(normally set to 6)

Visual DCI User’s Manual 9-2 MOTOMAN

 TROUBLESHOOTING
Visual DCI or VDE
RS030 Data bit length (7:7 bit, 8:8 bit) (normally set to 8)
RS031 Stop bit length (0:1 bit, 1:odd, 2:even) (normally set to 0)
RS032 Parity check (0:no, 1:odd, 2:even) (normally set to 2)
RS033 Baud rate [data (x) 150] equation example=> 64 x 150 = 9600
(normally set to 7)
RS010 Data bit length (7:7 bit, 8:8 bit) (normally set to 8)
RS011 Stop bit length (0:1 bit, 1:odd, 2:even) (normally set to 0)
RS012 Parity check (0:no, 1:odd, 2:even) (normally set to 2)
RS013 Baud rate [data (x) 150] equation example=> 64 x 150 = 9600
(normally set to 6)

Additional parameter applicable for both connections.

RS034 Response Waiting Timer. May be set between 0 and 100
(normally set to 30). If you are running under Win 3.1, you may
want to set this higher.

To view from the computer, proceed as follows:

1. Double-click on the Visual DCI icon.
2. Press “Set up Comm” (on the top right).
3. It will show the following information, (default settings are in parenthesis)
• Transmission speed (9600)
• # data bits (8)
• Stop bits (1)
• Parity Type (Even)
• Comm Port (1)
4. Press Accept if changes were made
5. Press Return.
6. Press Return on the main screen.
7. Press End to exit Visual DCI.

To change a parameter on the controller, proceed as follows:

1. Press Customer.
2. Press ORG.
3. Press PRM.
4. Press MORE.
5. Press RS.
6. Press SEARCH or scroll to desired parameter.
MOTOMAN 9-3 Visual DCI User’s Manual
TROUBLESHOOTING
7. Press MODIFY.
8. Enter new value.
9. Press DIS CHG.
10. Press QUIT.
11. Turn off and on the controller power.

9.2.3 Are The Cables Connected?

From computer's serial port to the RS-232 port on the controller. It can also be
connected to the MCP01 board. Hardware key on printer port.

9.2.4 Is Visual DCI Turned On and Activated?

1. Double click on Visual DCI icon.
2. You must click on “DCI ON” before it turns on. You should have a button
in your application to turn this on. Here is the code for Visual Basic. The
coding may be different if you are using packages such as C, Excel, Basic,
etc.
Private Sub CmdStartDCI-Click()
OutMessage=“Start”
TexDDEResponse1.Text=““
TexDDEResponse1.LinkExecute OutMessage
End Sub

9.3 Downloading Jobs

1. Set up Visual DCI to download jobs.
2. Set the path:
a) Press Variable Label.
b) Press Robot Prog.
c) Press Set Path...
d) Select the directory or folder where the jobs are located.
e) Press OK.
f) Turn Visual DCI On.
3. Verify that parameters are correct for computer/controller configuration.
4. From the controller, create a job where “NAME” represents the name of the
job.
Repeat for all jobs:
NOP
LOADJ NAME.JBI
END
5. If there is a syntax error [24] followed by the alarm, the job may have been
altered from the computer or it is a job being used with another system that
is not configured in the same way.
Visual DCI User’s Manual 9-4 MOTOMAN
 TROUBLESHOOTING

9.4 Loading and Saving Variables

This job will save the variable to the computer which initializes it in Visual DCI.
Visual DCI can then modify the variable and load the new value into the
controller. The explanations are italicized.
NOP
SET D000 0 (Initialize variables when controller and computer are turned on.)
SETE P060 (1) D000
SETE P060 (2) D000
SET B000 60 (Initialize position variable P060.)
SAVEV B000
SET B000 60
SAVEV P060
*AAA (Label for a jump.)
SET B000 60
SAVEV B000
SET B000 60 (New value loaded from computer to controller.)
LOADV P060
SFTON P060 RF (Robot’s function.)
MOVJ C0002 VJ=25.00
SFTOF
SETE P060 (1) 0 (One way to reinitialize the position variable.)
SETE P060 (2) 0
JUMP *AAA (Jump to label and repeat.)
END

To change other variable, use the same format as these four lines of code. The
underlined portions are what change according to what variable is used. It is
strongly recommended to use B000 as the setting variable. If possible, do not use
it in robot jobs, only for Visual DCI.
SET B000 60
SAVEV B000
SET B000 60
LOADV P060

MOTOMAN 9-5 Visual DCI User’s Manual

TROUBLESHOOTING

9.5 Applications
Download jobs Optional features must be activated on the controller before Visual
DCI will load. This is also true for FDE (Floppy Disk Emulator)
and VDE (Visual Data Exchange). Jobs with syntax errors will
not be loaded.
NOTE: Motoman only recommends modifying jobs off-line with
the MRC Editor for commands and ROTSY for positions.
Download variables Position variables must be defined before jobs using those position
variables can be loaded. This is also true for jobs loaded with
FDE or VDE. This has been used to shift to corners of boxes of
various sizes.
Memory When running out of memory, DCI can save the jobs to the
computer, delete those jobs from the controller, and load when
needed. Another option is to purchase expanded memory.
Modified jobs The SAVEJ and SAVEV functions will save the current version of
the job or variable to the computer. This may be useful if a vision
system is used to shift a robots position. It may be used to backup
all jobs on the computer on a weekly or routine schedule. To
backup the entire system setting, it is highly recommended to use
FDE.
Saving variable May be useful if a database on the computer is used to track
schedules.
Activation Other computer program such as Visual Basic or C can open and
begin Visual DCI. Some have used this with the computer’s clock
to save information on a regular schedule.
Computer Programming Motoman does not support interface screens created by customers
unless Motoman created them as a purchased additional option. If
you want a custom interface, make sure a computer programmer
creates it. An example interface for Excel and Visual Basic are
provided. These may be modified.
Number of running copies This is limited to the number of available COM ports on the
computer.

Visual DCI User’s Manual 9-6 MOTOMAN

 APPENDIX
A.1 Sample Code Using Visual Basic 4.0
Start DCI Button
Starts application
Private Sub CmdStartDCI_Click ( )
OutMessage = “Start”
TexDDEResponse1.Text = “ “
TexDDEResponse1.LinkExecute OutMessage
End sub

Stop DCI button

Ends application
Private Sub Command3D10_Click
OutMessage = “Stop”
TexDDEResponse1.Text = “ “
TexDDEResponse1.LinkExecute OutMessage
End Sub

Stop button
Removes Visual DCI from PC's memory and severs DDE link
Private Sub CmdDCIExit1_Click ( )
TexDDEResponse1.Text = “ “
OutMessage = “Exit”
TexDDEResponse1.LinkExecute OutMessage
End
End Sub

(General)
Write, variable, new value
Private Sub Cmd | None_Click
TexDDEResponse1.Text = “ “
OutMessage = “W,B1,0”
TexDDEResponse1.LinkExecute OutMessage
End Sub

FrmRbt1
Frame for Robot 1 icons
Private Sub FrmRbt1_DragDrop (Source As
Control, X as single, Y as single)

MOTOMAN A-1 Visual DCI User’s Manual

APPENDIX

Labels
Private Sub Label1_Click
End Sub

Sample Job for Robot 2

Private Sub ComWave2_Click
If Option 1.Value = True Then
TexDDEResponse1.Text = “ “
OutMessage = “W,B2,201”
TexDDEResponsel.LinkExecute OutMessage (LinkExecute = sends to Visual
DCI and GE7'VAR will send to
controller)
Else
TexDDEResponse1.Text
OutMessage = “W,B4,201” Quit this job
TexDDEResponsel.LinkExecute OutMessage
End If
End Sub

General Coding
Private Sub Form-Load
Dim DCINameString As String Definitions for code used by
Visual Basic
Dim DCIPath As String
Dim NextLine As String
Dim FilNum As Integer
Dim I As Integer
FilNum = FreeFile Setting up communication
between this code and Visual DCI
Open “c:\windows\visdci.ini” For Input As FilNum
For I = 1 to 50
Input #FilNum, NextLine
If Mid$ (NextLine,1,I 1)=“visdcipath=“ Then
DCIPath = Mid$ (NextLine,12,22)
Exit For
End If
Next I
DCHnstance = Shell (DCEPath+”Nvisdci.exe”,7) Shell = number of active copies of
Visual DCI
Do Events
Call TimeDelay (2)
Do Events
TexDDEResponse1.LinkMode = None DDE destination, seepages 36, 37
TexDDEResponse1.LinkTopic = “VISDCI I FormDDE0” labe4 text box, picture box control
TexDDEResponse1.Linkltem=“TexDDF-Source0” Defines servoprogram *.exe
DoEvents
TexDDEResponse1.linkMode=NOTIFY NOTIFY = DCI receive a response

Visual DCI User’s Manual A-2 MOTOMAN

 APPENDIX

TexDDEResponse1.Text
OutMessage = “port,2”
TexDDEResponse1.LinkExecute OutMessage
TexDDEResponse1.Text = “ “
OutMessage = “filepath,c:\visdci\programs” Where to store and retrieve
robotjobs
TexDDEResponse1.LinkExecute OutMessage
TexDDEResponse1.Text -- “ “
OutMessage = “ComParameters,9600,E,8,2” Serial port characteristics, page 50
TexDDEResponse1.LinkExecute OutMessage
End Sub

A.2 Sample MRC Jobs

DCIN
NOP
CALL JOB:DCIIN
*STRT
CALL JOB:GETVAR Downloads variables from the PC to the
controller
CALL JOB:RUN1 IF B001 <> 0
CALL JOB:RUN2 IF B002 <> 0
CALL JOB:RUN3 IF B003 <> 0
JUMP *STRT
END

DCIIN
Initialization Sequence
NOP
CALL JOB: UPLOAD Saves jobs to the PC.
SET B000 1 Index so that PC can recognize used variable.
SET B001 0 Working variable.
SAVEV B000 Instructs PC which variable to load.
SAVEV B001 Variable is saved or loaded to the PC.
SET B000 2
SET B002 0
SAVEV B000 Used to keep the PC and controller
synchronized.
SAVEV B002
SET B000 3
SET B003 0

MOTOMAN A-3 Visual DCI User’s Manual

APPENDIX

SAVEV B000
SAVEV B003
SET B000 4
SET B004 0
SAVEV B000
SAVEV B004
END

UPLOAD
NOP
SAVEJ JOB:RLTNI.JBI
SAVEJ JOB:RUN2.JBI
SAVEJ JOB:RUN3.JBI
END

GETVAR
Downloads variable from PC to controller.
NOP
SET B000 1 Set index variable to 1
SAVEV B000 Upload index variable to PC
LOADV B001 Download B001 from PC to controller
SET B000 2
SAVEV B000
LOADV B002 In this example, B000 initializes; B001, B002,
and B003 run jobs; B004 exits
SET B000 3
SAVEV B000
LOADV B003
SET B000 4
SAVEV B000
LOADV B004
END

Visual DCI User’s Manual A-4 MOTOMAN

 INDEX
A
Applications, 9-6 Installing Visual DCI, 3-1
Assigning User Names, 4-7 Introduction, 2-1
Assigning Variable Labels, 4-2
Avoiding Response Time Errors, 7-2 L
Labels, A-2
B List of Figures, iii
Building a Data Cable, 3-5 List of Tables, iii
Loading and Saving Variables, 9-5
C Loading and Saving Job Files, 5-4
Clearing Label Assignments, 4-4
Loading Variables from the PC, 5-4
Closing a Visual DCI Session, 5-8
Connecting the Data Cables, 3-2 M
Creating/Modifying the Maintenance Safety, 2-6
Robot Program Structure, 5-2 Mechanical Safety Devices, 2-3
Customizing Visual DCI, 4-7 Methods, 8-2
MRC Connection, 3-3
D
DCI Stops Functioning Normally, 9-1
O
DCIIN, A-3 Opening an Existing Variable File, 4-4
Downloading Jobs, 9-4 Operation Safety, 2-5
Optimizing for Cycle Time, 7-1
E
Optimizing for Variable Latency, 7-1
ERC Connection, 3-4
Optimizing Memory Usage, 7-2
Error Monitor Display, 6-1
Error Recovery, 6-1
P
Example Commmunications Programming Safety, 2-4
Port Setting Commands, 8-3
Example Enable/Disable Commands, 8-2 R
Example File Path Command, 8-3 Read a Variable, 8-3
Removing Visual DCI, 3-5
F Requirements, 1-1
FrmRbt1, A-1
Run Minimized Option, 4-7
G
General Coding, A-2
S
Sample Code Using Visual Basic 4.0, A-1
General Safeguarding Tips, 2-3
Sample Job for Robot 2, A-2
(General), A-1
Sample MRC Jobs, A-3
GETVAR, A-4
Saving Variable Files, 4-5
I Saving Variables to the PC, 5-2
Index Variable, 5-1 Setting Communications Parameters, 4-8
Installation Safety, 2-4 Specifying a Program File Path, 4-6
Installing the Hardware Key, 3-2 Standard Conventions, 2-2

MOTOMAN Visual DCI User’s Manual

 INDEX
S - continued U
Start DCI Button, A-1 UPLOAD, A-4
Stop button, A-1 Using the Variable Editor, 5-5
Stop DCI button, A-1 Using Variable Labels, 4-2

T V
The Main Visual DCI Window, 4-1 Visual DCI Components, 1-2
To Read a Variable on Change, 8-4 Visual DCI Does Not Work After Installation, 9-2
To Write a Variable, 8-3 Visual DCI Error Table, 6-2
Trademark Acknowledgments, 1-2 Visual DCI OLE Properties, 8-1
XRC Connection, 3-2

Visual DCI User’s Manual MOTOMAN