RoboShop

Program

Software version 2.0.0

CR00758151_en-04/2019.11

Instruction Handbook
The information contained in this manual is the property of COMAU S.p.A.

Reproduction of text and illustrations is not permitted without prior written approval by COMAU S.p.A.

COMAU S.p.A. reserves the right to alter product specifications at any time without notice or obligation.

Copyright © 2008-2013 by COMAU - Date of publication 11/2019

 Comau Robotics Product Instruction

SUMMARY

SUMMARY

PREFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
Symbols used in the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Reference documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Modification history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1. GENERAL SAFETY REQUIREMENTS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...9

Responsibilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Essential safety requirements applied and fulfilled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Safety requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Applicability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

2. GENERAL DESCRIPTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...18

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Basic functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Minimum requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Suggested requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Install and activate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
How to get a full licence for RoboShop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Introduction to the User Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

3. VIEWING AREAS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...26

Basic information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Opening and closing the Environments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Opening . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Closing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

4. ENVIRONMENTS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...29
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Logger . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Contextual keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Cause&Remedy. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

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Comau Robotics Product Instruction

SUMMARY

Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Contextual keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Contextual keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Contextual keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
3D Visualization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44
Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46
Contextual keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
File System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Contextual keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Moni Viewer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Contextual keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Open File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54
I/O Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Contextual keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
General. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60
Language . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61
Default library version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61
Themes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61
Registration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .62
Directories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .62
User text archive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63
Import path . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63
Grammar file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63
Crd files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63
About . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63
Contextual keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

5. MULTICONTROL PANEL. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..64

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Multicontrol Bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Add new node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Operational notes for using a Virtual Control Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .65
Remove node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Connect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Disconnect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Teach Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Standard Virtual Keys. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

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 Comau Robotics Product Instruction

SUMMARY

Additional Virtual Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

ZOOM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .71
SCREENSHOT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .71
MOVE ON TOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .71
Virtual State Selector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .72
Virtual Enabling Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
File Transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74
Import path . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74
Grammar file. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75
Crd file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75
Translator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .76
FTP Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .76
Nodes Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Details Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

6. LOGS BAR. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...79

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Search Results. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Output Debug. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
PDL2 Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

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Comau Robotics Product Instruction

PREFACE

PREFACE
– Symbols used in the manual
– Reference documents
– Modification history.

Symbols used in the manual

The symbols for WARNING, CAUTION and NOTES are indicated below together with
their significance.

This symbol indicates operating procedures, technical information and precautions that
if ignored and/or are not performed correctly could cause injuries.

This symbol indicates operating procedures, technical information and precautions that
if ignored and/or are not performed correctly could cause damage to the equipment.

This symbol indicates operating procedures, technical information and precautions that
it are important to highlight.

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 Comau Robotics Product Instruction

PREFACE

Reference documents
This document refers to RoboShop software tool for C5G/R1C Control Unit.
In addition to the current manual, the complete manuals set for C5G/R1C consists of:

Comau Control Unit – Technical Specifications

– Transport and installation
– Control Unit Use.

These manuals are to be integrated with the following documents:

Comau Robot – Technical Specifications

– Transport and installation
– Maintenance
Programming – Motion programming
Applications – According to the required type of
application.

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Comau Robotics Product Instruction

PREFACE

Modification history
– In the 02/0218 manual version, the following considerable changes have been
made, compared to 01/1017 previous version:
• updated par. 2.3 Requirements on page 20
• description improved for par. 2.5 How to get a full licence for RoboShop on
page 23
• Description modified for Logger environment, to manage:
• new commands: Export CSV File, Log Search,
• using the colour background to handle errors severity
• described the new Save Comment key to handle Cause&Remedy User
Comment field usage
• described Match case new option of Find - Replace command (Editor
environment)
• described the Virtual Controller connection type, opposed to the Real
Controller one.
– In the 03/0719 manual version, multicontrol Roboshop environment is fully
described. The manual has been heavily modified, in order to adapt it to this feature
and to the User Interface corresponding layout changings. The most meaningful
described modifications are as follows:
• Multicontrol Panel - new chapter
• the new handling of the File System environment has been explained
• the Settings environment has been split into the two following ones: general
settings (par. 4.10 Settings on page 60) and Control Unit communication
settings (par. 5.2.8 Settings on page 73). A detailed description is provided
for the both of them
• a detailed description is supplied for the Moni Viewer environment
• a detailed description is supplied for the I/O Configuration environment.
– In the 04/1119 manual version, the following considerable changes have been
made, compared to 03/0719 previous version:
• the following new action has been described for Terminal environment
• Copy
• the following new actions have been described for File System environment
• Protect
• Unprotect
• the following newly added fields have been described for Settings command
of the Multicontrol Bar
• File Transfer
• Import path
• Grammar file
• Crd file
• Translator
• FTP Server.

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 Comau Robotics Product Instruction

GENERAL SAFETY REQUIREMENTS

1. GENERAL SAFETY REQUIREMENTS

This chapter deals with general specifications that apply to the whole Robot System.
Considering its significance, this chapter is referred unreservedly in each system
instructions handbook.

This chapter contains the following topics:

– Responsibilities
– Safety requirements.

1.1 Responsibilities

– The system integrator is responsible for ensuring that the Robotic system (Robot
and Control Unit) is installed and handled in accordance with the Safety Standards
in force in the country where the installation takes place. The application and use
of the necessary protection and safety devices, the issue of the declaration of
conformity and potential CE marking of the system are the responsibility of the
Integrator.

– COMAU declines any and all responsibility for accidents caused by incorrect or
improper use of the Robotic system (Robot and Control Unit), by tampering with
circuits, components, software and with the use of spare parts that are not included
in the spare parts list.
– The application of these Safety Requirements is the responsibility of the persons
assigned to direct / supervise the activities indicated in the section Applicability,
which should make sure that the Authorised Personnel is aware of and
scrupulously follow the requirements contained in this document in addition to the
general Safety Standards applicable to Robotic system (Robot and Control Unit) in
force in the Country where the system is installed.
– The non-observance of the Safety Standards may cause to the operators
permanent injuries or death and can damage the Robotic system (Robot and
Control Unit).

The installation shall be carried out by qualified Personnel and must conform to all
National and Local standards.

1.1.1 Essential safety requirements applied and fulfilled

The robotic system composed of Control Unit and SMART5 Robot series considers as
applied and fulfilled the following Safety Fundamental Requirements, Annex I of
Machinery Directive 2006/42/EC: 1.1.3 – 1.1.5 – 1.2.1 – 1.2.2 – 1.2.3 – 1.2.4.3 – 1.2.5
– 1.2.6 – 1.3.2 – 1.3.4 – 1.3.8.1 – 1.5.1 – 1.5.2 – 1.5.4 – 1.5.6 – 1.5.8 – 1.5.9 – 1.5.10 –
1.5.11 – 1.5.13 – 1.6.3 – 1.6.4 – 1.6.5 – 1.7.1 – 1.7.1.1 – 1.7.2 – 1.7.4.

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GENERAL SAFETY REQUIREMENTS

1.2 Safety requirements

1.2.1 Purpose
These safety requirements are aimed to define a series of behaviours and obligations
to be observed when performing the activities listed in the paragraph Applicability.

1.2.2 Definitions
Robotic system (Robot and Control Unit)
The Robotic system is defined as the operating installation composed of: Robot, Control
Unit, Teach Pendant and other possible options.

Protected Area
The protected area is defined as the area bounded by the protection barriers and
intended for the installation and operation of the Robot.

Authorised Personnel
Authorised personnel defines the group of persons who have been appropriately trained
and assigned to carry out the activities listed in the section Applicability.

Personnel in Charge
The personnel in charge defines the personnel who manages or supervises the
activities of the employed persons defined in the preceding point.

Installation and Start-up

Installation is defined as the mechanical, electrical and software integration of the Robot
and Control System in any environment that requires controlled movement of Robot
axes, in compliance with the safety requirements of the country where the System is
installed.

Functioning in Programming mode

Operating mode under operator control, which excludes automatic operation and allows
the following activities: manual movement of the Robot axes and programming of
working cycles at reduced speed, test of the cycle programmed at reduced speed and,
when admitted, at working speed.

Functioning in Auto / Remote mode

Operating mode in which the Robot autonomously executes the programmed cycle at
working speed, with the personnel outside the protected area, with the protection
barriers closed and included in the safety circuit, with local (located outside the protected
area) or remote start/stop.

Maintenance and Repair

Maintenance and repair intervention is defined as the activity that involve periodical
checking and/or replacement of Robot and Control System (mechanical, electrical,
software) parts or components, and trouble shooting, that ends when the Robot and
Control System has been reset to its original project functional conditions.

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Decommissioning and Dismantling

Decommissioning is defined as the activity that involve the mechanical and electrical
removal of the Robot and Control System from a production unit or from an environment
in which it was under study.
Dismantling consists of the demolition and dismantling of the components that make up
the Robot and Control System.

Integrator
The integrator is the professional expert responsible for the Robot and Control System
installation and startup.

Misuse
Misuse is defined as the use of the system outside the limits specified in the Technical
Documentation.

Action Area
The Robot action area is the enveloping volume of the area occupied by the Robot and
its equipment during movement in the area.

1.2.3 Applicability
These requirements must be applied when carrying out the following activities:
– Installation and Start-up
– Functioning in Programming mode
– Functioning in Auto / Remote Mode
– Robot axes brake release (where required)
– Maintenance and Repair
– Decommissioning and Dismantling.

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1.2.4 Operating modes

Installation and Start-up
– The startup is only possible when the Robot and Control System has been correctly
and completely installed.
– The system installation and startup is exclusively the task of the authorised
personnel.
– The system installation and startup is only permitted inside a protected area of an
adequate size to house the Robot and the equipment it is outfitted with, without
passing beyond the protection barriers. It is also necessary to check that under
normal Robot movement conditions there is no collision with parts inside the
protected area (structural columns, power supply lines, etc.) or with the barriers. If
necessary, limit the Robot working areas with mechanical hard stop (see optional
assemblies). If necessary, limit the Robot working areas with mechanical hard stop
(see optional assemblies).
– Any fixed Robot control protections are to be located outside the protected area
and in a point where there is a full view of the Robot movements.
– The Robot installation area is to be as free as possible from materials that could
impede or limit visibility.
– During installation, the Robot and the Control Unit must be handled as described
in the relative Instruction Handbooks; if lifting is necessary, check that the eyebolts
are fixed correctly and use only adequate slings and equipment.
– Fix the Robot to mount holder, with all the provided bolts and pins, tightened to the
tightening torques given in the related Instruction Handbooks.
– If present, remove the fastening brackets from the axes and check that the fixing
of the Robot fixture is secured correctly.
– Check that the Robot guards are correctly secured and that there are no moving or
loose parts. Check that the Control Unit components are intact.
– Install the Control Unit outside the protected area: the Control Unit should not be
used as part of the fence.
– Check that the voltage value of the power mains is consistent with that indicated
on the nameplate of the Control Unit.
– Before electrically connect the Control Unit, check that the circuit breaker on the
power mains is locked in open position.
– The connection between the Control Unit and the power supply mains of the plant,
must be made through a cable of dimensions suitable for the power installed on the
Control Unit (for details refer to chapter “Power supply from the electric network:
features and connection” in the Control Unit Instruction Handbooks).
– Connect the ground cable (PE) then connect the power conductors to the main
switch.
– Connect the power supply cable, first connecting the ground cable to the circuit
breaker on the power mains line, after checking with a tester that the circuit breaker
terminals are not powered. It is recommended to connect the cable armor to the
ground.
– Connect the signals and power cables between the Control Unit and the Robot.

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– Connect the Robot to the ground through the Control Unit or specific terminals,
according to the prearrangements present on Robot and/or Control Unit.
– Where provided, check that the Control Unit door/s is/are closed with the
appropriate key.
– A wrong connection of the connectors may cause permanent damage to the
Control Unit components.
– The Control Unit manages internally the main safety interlocks (gates, enabling
push-buttons, etc.). Connect the Control Unit safety interlocks to the line safety
circuits, taking care to connect them as required by the Safety Standards. The
safety of the interlock signals coming from the transfer line (emergency stop, safety
fences etc.), i.e. the making of correct and safe circuits, is the responsibility of the
Robot and Control System integrator.

In the cell/line emergency stop circuit it is necessary to include the contacts of the
emergency stop push-buttons of the Control Unit, available on the appropriate
connector (for details, refer to the electrical circuit diagrams and the specific Instruction
Handbooks according to the Unit Control model). The push-buttons are not interlocked
inside the emergency stop circuit of the Control Unit.

– The safety of the system cannot be guaranteed in case of interlocks erroneous,

incomplete or missing execution.
– The Robot stop in AUTO/REMOTE mode is set in a controlled way (IEC 60204-1,
stop of category 1); it is also possible to set the stop in category 0 by changing the
related setting within the control logic of the Control Unit safety aspects.

Setting the stop in category 0 can result in mechanical damages to the tools and loss of
load if they are not properly designed.

– When preparing protection barriers, especially light curtains and access doors,
take into consideration the Robot stopping times and distances according to the
stop category (0 or 1) and the weight of the Robot.

The stop circuit timer is normally set to 1.5 seconds. This parameter can be changed if
heavy-duty implements (e.g. rotary tables, positioners, etc.) are matched with the Robot.
The stop circuit timer can be modified by changing its setting within the control logic of
the Control Unit safety aspects. For further details, refer to the paragraph “Safety stop
circuit timer” in the Control Unit Instruction Handbooks.

– Check that the environmental and operating conditions do not exceed the limits
specified in the specific Instruction Handbooks.
– The calibration operations must be carried out with utmost attention, as indicated
in the Instruction Handbooks of the specific product, and must be concluded by
checking the correct position of the machine.
– To load or update the system software (for example after boards replacing), use
only the original software handed over by COMAU. Scrupulously follow the system
software loading procedure described in the Instruction Handbooks supplied with
the specific product. After loading, always make some Robot motion tests at low
speed remaining outside the protected area.
– Check that the barriers of the protected area are correctly positioned.

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Functioning in Programming mode

– The Robot is only to be programmed by the authorised personnel.
– Before starting to program, the operator must check the Robotic system (Robot
and Control Unit) to make sure that there are no potentially dangerous irregular
conditions, and that there is nobody inside the protected area.
– The programming should be controlled from outside the protected area whenever
possible.
– Before operating inside the Protected Area, the operator must make sure from
outside that all the necessary protections and safety devices are present and in
working order, and especially that the Teach Pendant is working properly (low
speed, emergency stop device, enabling device, etc.).
– During the programming phases, only the operator with the Teach Pendant is
allowed inside the Protected Area.
– If the presence of a second operator in the working area is necessary when
checking the program, this person must have an enabling device interlocked with
the safety devices.
– Activation of the motors (Drive On) is always to be controlled from a position
outside the range of the Robot, after checking that there is nobody in the area
involved. The Drive On operation is considered complete when the relevant
machine status indication is shown.
– When programming, the operator must remain at an appropriate distance from the
Robot to be able to avoid any irregular machine movements, and in any case in a
suitable position to avoid the risk of being trapped between the Robot and
structural parts (columns, barriers, etc.), or between movable parts of the Robot.
– When programming, the operator must avoid remaining in a position where parts
of the Robot, pulled by gravity, could move downwards, upwards or sideways
(when installed on an inclined plane).
– Testing a programmed cycle at working speed with the operator inside the
protected area, in some situations where a close visual check is necessary, is only
to be carried out after a complete test cycle at low speed has been carried out. The
test must be controlled from a safe distance.
– Special attention is to be paid when programming using the Teach Pendant: in this
situation, although all the hardware and software safety devices are active, the
Robot movement depends on the operator.
– During the execution of a new program or a varied sequence of instructions, make
sure that the movement of the Robot takes place along the intended path.
– Check while remaining out of the Robot action range and test the cycle at low
speed.

Functioning in Auto / Remote Mode

– The activation of the automatic operation (AUTO and REMOTE states) is permitted
only with the Robotic system (Robot and Control Unit) integrated inside an area
with protection barriers properly interlocked, as required by the Safety Standards
currently in force in the Country where the installation takes place.
– Before starting the automatic mode the operator must check the Robot and Control
System and the protected area to make sure there are no potentially dangerous
irregular conditions.

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– The operator can activate automatic operation only after having checked:
• that the Robot and Control System is not in maintenance or repair status;
• that the protection barriers are correctly positioned;
• that there is nobody inside the protected area;
• that the Control Unit doors are closed and locked with the appropriate key;
• that the safety devices (emergency stop, safety devices of the protection
barriers) are in working conditions.
– Special attention is to be paid when selecting the remote mode, in which the line
PLC can perform automatic operations of motors power up and program starting.

Robot axes brake release (where required)

– The movement of the Robot axes is possible by means of suitable control devices
(integrated, where provided, on Robot base, or available as optional devices
-brake releasing module-) and adequate lifting means. Such devices only enable
the brake deactivation of each axis. In this case, all the system safety devices
(including the emergency stop and the enable button) are powered off; also the
Robot axes can move upwards or downwards because of the force generated by
the balancing system, or the force of gravity.

Before using manual brake releasing devices, it is recommended to sling the Robot, or
hook it to an overhead traveling crane.

– The brake releasing operation generates the risk of falling axes due to gravity, as
well as the risk of impact due to an incorrect reset after the brake releasing
operation. The procedure for the correct use of the brake releasing devices
(integrated on Robot base and/or optional brake releasing module) is shown in the
“Maintenance” section of the Instruction Handbooks of the specific Robot.
– When after the interruption of an unfinished MOVE the motion is enabled again, the
typical function of trajectory recuperation may generate unpredictable paths that
may imply the risk of impact. This same condition arises at the next restart of the
automatic cycle. Avoid moving the Robot in positions that are distant from the ones
required for the motion restarting; alternatively disable the outstanding MOVE
programmes and/or instructions.

Maintenance and Repair

– The Robot (where required) is supplied with lubricants that do not contain any
harmful to health substances; however, in some cases, repeated and prolonged
exposure to the product may cause skin irritation, or if swallowed, sickness.
First Aid Measures. In case of contact with the eyes or skin: rinse the affected
areas with plenty of water; in case irritation persists, seek medical advice.
If swallowed, do not induce vomiting or administer anything by mouth; consult a
doctor as soon as possible.
– Maintenance, troubleshooting and repair are only to be carried out by authorised
personnel.
– When carrying out maintenance and repair operations, the specific warning sign
stating the maintenance status must be placed on the control panel of the Control
Unit, until the end of the operation, even if it should be temporarily suspended.
– Maintenance and replacement operations of the components or Control Unit must
be carried out (where provided and necessary) with the main switch in open
position and locked with a safety padlock.

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– Even if the Control Unit is not powered (main switch open), there may be
interconnected voltages deriving from connection to peripheral units or external
power sources (e.g. 24 Vdc input/output). Power off the external sources when
operating on involved system parts.
– Removal of panels, protection shields, grids, etc. is only allowed with the main
switch open and padlocked (where provided and necessary).
– Faulty components are to be replaced with others having the same Part No., or
equivalent components defined by COMAU.

Where required, the replaced safety components must be configured with the same
parameters as those removed.

– Trouble-shooting and maintenance activities must be carried out, whenever

possible, outside the protected area.
– Trouble-shooting executed on the control is to be carried out, whenever possible
without power supply.
– If necessary, during troubleshooting, intervene with the Control Unit powered; all
the precautions specified by Safety Standards must be observed when operating
in presence of dangerous voltages.
– Trouble-shooting on the Robot is to be carried out with the power supply powered
off (DRIVE OFF).
– At the end of the maintenance and troubleshooting operations, all the deactivated
safety devices must be reset (panels, protection shields, interlocks, etc.).
– Maintenance, repair and trouble-shooting operations must be concluded with the
check of the correct functioning of the Robotic system (Robot and Control Unit) and
all the safety devices, executed from outside the protected area.
– During the software loading phases (for example after replacement of electronic
boards) use only the original software handed over by COMAU. Scrupulously
follow the system software loading procedure described in the specific Instruction
Handbooks; after loading, always run a test cycle, remaining outside the protected
area.
– The disassembly of Robot components (e.g. motors, balancing cylinders, etc.) may
cause uncontrolled movements of the axes in different directions: before starting a
disassembly procedure, refer to the warning plates affixed on the Robot and to the
supplied Instruction Handbooks.
– On Robots equipped with balancing springs, it is forbidden to remove the protection
cover of the springs.
– Where fitted, always restore the protective casing if previously installed.

Decommissioning and Dismantling

– The decommissioning and removal of the Robot and Control System is exclusively
the task of Authorised Personnel.
– Move the Robot in transport position and mount the axes blocking brackets (when
required) referring to the plate affixed to the Robot and to the Instruction
Handbooks of the Robot itself.
– Before proceeding with decommissioning it is mandatory, depending on the type of
Control Unit:

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• on the Control Unit with power cable wired directly to the terminals of the main
switch:
• turn off the mains voltage at the Control Unit input, by disconnecting the
circuit breaker on the power mains and locking it in open position;
• check with a suitable instrument that the terminals are disconnected;
• disconnect the power supply cable from the circuit breaker on the power
mains, first disconnecting the power conductors and then the ground
conductor;
• Disconnect the power supply cable from the Control Unit and remove it.
• on Control Units equipped with a pre-assembled power cable, with a
“socket-plug” system:
• disconnect the power supply cable.
– First disconnect the connection cables between the Robot and the Control Unit,
then the earth cable.
– If installed, disconnect the pneumatic system from the air supply and blow off the
residual air.
– Check that the Robot is properly balanced and if necessary sling it correctly, then
remove the screws that fix the Robot to the supporting surface.
– Remove the Robot and the Control Unit from the work area, following all the
requirements indicated in the products Instruction Handbooks; if lifting is
necessary, check the eyebolts proper fixing and use only suitable slings and
equipment.
– Before starting the dismantling operations (disassembly, demolition and disposal)
of the Robot and Control System components, contact COMAU or one of its branch
offices, that will indicate, according to the type of Robot and Control Unit, the
operating methods in accordance with safety and environmental protection
principles.

The disposal operations must be carried out in compliance with the legislation in force
in the country where the Robotic system is installed; dispose of the batteries, oils and
other chemical liquids in an environmentally correct way and in accordance with the
regulations in force transferring them to specific waste collection centres.

– Consign the Robot and the Control Unit to a centre responsible for the dismantling
and disposal.

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2. GENERAL DESCRIPTION

2.1 Introduction
The current manual gives detailed information about RoboShop program which is the
Interface on Personal Computer towards C5GPlus/R1C Control Units.
Starting from the current 2.0.0 version, RoboShop is a multicontrol tool, which means
that more than one Control Units can be connected at the same time in a RoboShop
session.
RoboShop can run on Microsoft® Windows® desktop operating systems, supported by
Microsoft® and requires administrator priviledges to be installed.
It should be installed on the PC running the installation program, from the dedicated
directory.

NOTE ABOUT THE LICENCE

Three types of licences are available for RoboShop program:

– basic licence
– full licence, which enables using the Virtual Robot Controller.
– e.DO licence, which enables Roboshop to simulate the C5GPlus system to
control an e.DO robot, both virtual and real.

If the user wishes to pass from the basic licence to the full licence, execute the steps
described in How to get a full licence for RoboShop paragraph.

The following topics are described in this chapter:

– Basic functions
– Requirements
– Install and activate
– How to get a full licence for RoboShop
– Introduction to the User Interface.

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2.2 Basic functions

RoboShop program provides a Graphical User Interface including dedicated
environments for using the following functionalities:
– connecting/disconnecting to C5GPlus/R1C Control Units, at reachable IP
addresses according to the current physical connection and without any limitations
on the ports (full open ports)
– viewing files existing on the connected Control Units and the PC
– editing and translating programs in PDL2 language (.PDL file) into executable
format (.COD file)
– searching and viewing errors
– opening a Terminal window for each connected Control Unit, to directly issue
commands towards it.
– 3D viewing of all the robots controlled by the connected Control Units.

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2.3 Requirements
– Minimum requirements
– Suggested requirements.

2.3.1 Minimum requirements

The following requirements should be complied for RoboShop program installation on
a PC:
– Windows PC (not a virtual machine), compatible with all Windows Desktop OS 64
bit currently supported by Microsoft
– RAM - minimum size 8 GB
– Hardware virtualization technology extensions (Intel VT-x, AMD-V) enabled - done
on system Bios
– administrator rights needed for installation.

2.3.2 Suggested requirements

For an optimum usage experience with virtual machines, it is strongly suggested to
have:
– RAM - 16 GB
– processor - i7 recent or corresponding.

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2.4 Install and activate

CAUTION
Before installing Roboshop program, it is strongly suggested to uninstall VirtualBox
application (if any in the system) and restart the PC. This prevents any possible arising
problems between VirtualBox versions.

To install RoboShop on the PC, run the dedicated installation program and follow the
wizard simple indications.
The needed steps are as follows:

a. select the installation language.

Note that the chosen language will NOT be the one for RoboShop use, but only
the one used during the installation phase.

b. Accept the licence conditions and then choose the install folder for RoboShop.

c. Choose the wished folder for the Start Menu. Start the installation phase by clicking
Install key.

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d. A progress bar shows the operation completion status. Restart the system at the
end.

To activate RoboShop, simply click the icon from either the Start Menu or the PC
Desktop.

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2.5 How to get a full licence for RoboShop

Ask COMAU Customer Service, to obtain a full licence.
Act as follows:

a. from RoboShop select Settings functionality.

b. An alphanumeric string is provided in the Unique Identifier field, belonging to the

Registration area.

c. Click Request license key which opens an email to send such a string to COMAU
Customer Service ([email protected]).

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Note that the email is already filled in. Nothing to be added.

d. Send the email.

e. COMAU will return a licence key to be copied to the suitable field (as shown in the
below figure).

f. Click Register key

g. A message is displayed, at the end of the operation, stating that the registration has
been successfully completed.

h. Restart RoboShop program.

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2.6 Introduction to the User Interface

RoboShop User Interface includes the following areas, each one allowing to access
information and commands related to the System:
– 1 - Viewing Areas
– 2 - Environments
– 3 - Multicontrol Panel
– 4 - Logs Bar.

A detailed description of all the User Interface areas and the corresponding commands,
is provided in the following chapters.

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3. VIEWING AREAS

3.1 Basic information

This area can be considered as the RoboShop program main area: the majority of
information exchanged with the connected and/or selected Control Units in the Nodes
Panel is here displayed.
The available Environments are:
– Logger - allows viewing, sorting and filtering errors and actions occurred on the
selected Control Unit
– Cause&Remedy - allows reading the cause of a specified error and its remedy, if
any
– Editor - allows creating, viewing and editing PDL2 programs
– Terminal - is the direct interface with the currently selected and connected Control
Unit
– 3D Visualization - shows the 3D visualization environment for the robots attached
to all the connected Control Units
– File System - allows handling files and folders existing on the PC and the
connected Control Units.
It also allows to translate .PDL files into executable format
– Moni Viewer - allows viewing the content of moni.log type files
– I/O Configuration - allows viewing the configuration of I/O ports belonging to the
slected Control Unit
– Settings - allows accessing to general settings and information of the RoboShop
program.

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3.2 Opening and closing the Environments

– Opening
– Closing

3.2.1 Opening
To open an Environment, click its corresponding key.
In the example shown in the figure below, there are 5 open environments (Logger,
Cause&Remedy, Terminal, 3D Visualization, File System), but 2 only are displayed.

In the Viewing Area a maximum of TWO panels related to the Environments can be
displayed at the same time.
If some more Environments are wished to be opened, the opened but not displayed
panels are selectable by means of the corresponding tabs.

The panels corresponding to the Environments are composed by a viewing window and
a label (tab) containing the following information (figure above):

• name (1) - name of the corresponding environment

• placeholder (2) - allows making the panel movable or fixed. Clicking the first
time, the panel is released from the viewing area. The next click causes it to
be fixed to the viewing area again.
• closure key (3) - allows closing the panel.

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3.2.2 Closing
To close a window, use the closure key available in the tab (previous figure).

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4. ENVIRONMENTS

4.1 Introduction
This area includes keys which allow displaying the wished Environments.

Note that some Environments are even available when disconnected from the Control
Unit: their keys are active (displayed in white) even when offline.

Depending on the Environment, some contextual keys might become available, which
are necessary to properly handle the Environment itself.
In the shown below example, the Editor environment Contextual keys are highlighted.

The available environments are:

– Logger
– Cause&Remedy
– Editor
– Terminal
– 3D Visualization
– File System
– Moni Viewer
– I/O Configuration
– Settings.

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4.2 Logger

– Description
– Contextual keys.

4.2.1 Description
This environment allows viewing, in the form of a list, the system Log files content.
Each time this key is clicked, RoboShop opens a new session of the Logger
environment, related to the currently selected and connected Control Unit.
The name of the Control Unit associated to a session is displayed in the session label
(tab), as shown in the figure below.

The viewable Log files are:

– the history of the events occurred on the Control Unit associated to the Logger
session - System Log contextual key
– the list of all the file operations - File Operation contextual key.
To access the Log files, act in one of the following ways:
– to view either the System Log or the File Operation list, select the wished Control
Unit, open the Logger environment by clicking the correponding key and select the

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wished list, by means of the related contextual key (par. 4.2.2 Contextual keys on
page 31)
– to view whichever Log file, open the File System window, choose the wished Log
file, in the suitable device (Control Unit or PC) and folder, then open it by double
clicking on its name. RoboShop opens a Logger environment session and
displays such a file.
The displayed Log list can be sorted by the content of any wished column (e.g.
Timestamp, Error Code, etc), simply clicking on the name of the wished column. Click
again to invert the order.
By double clicking on a Log list element, the Cause&Remedy environment is opened
displaying the selected error information, as shown in the following figure.

Each element in the Log list has its own background colour, to indicate the message
severity.
The background can be:
– green: INFORMATIONAL message. The system is NOT in ALARM state
– blue: WARNING message
– red: ERROR message. The system is in ALARM state
– purple: FATAL message. The system is in FATAL ERROR state.

4.2.2 Contextual keys

Once the environment is opened, the following contextual keys are enabled (figure
above):

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– System Log

Opens the system Log (system events) and displays it in the currently selected
Logger window.

– File Operation

Opens the file operations Log and displays it in the currently selected Logger
window.

– Clear

Clears the currently selected Logger window.

– Export CSV File

Allows exporting log information to a .CSV file. A window is opened when issuing
this command, providing a menu (figure below):
• Export Selected - to export the currently selected elements only
• Export All - to export the whole currently open log.

– Log Search

Allows filtering errors by column. When this command is issued, the search symbol
is made available in each column header (figure below), in order to allow searching
at the column level. Click such a search symbol to choose whether removing all
filters in the column (All), or customizing the wished search operation (Custom).

Choosing Custom item, depending on the column type, a specific window is

opened for the required search operation. Click OK key in the open window, to start
searching.
The following search setup window is provided for the different column types:
• Timestamp - allows matching or excluding elements, by specifying start date
and/or time and end date and/or time, or a specific moment (e.g. today,
yesterday, this week, in the last hour, etc)

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• Count - allows matching or excluding elements, by specifying a range of

elements or a list of elements separated by commas, based on their count
number.

• Error Code - allows matching or excluding elements, by choosing a range of

elements or a list of elements separated by commas, based upon their error
code. This window is exactly like the Count column one.
• Severity - allows matching or excluding elements, by choosing a range of
elements or a list of elements separated by commas, based upon their error
severity. This window is exactly like the Count column one.
• Source - allows matching or excluding elements, by choosing the element
source (PROGRAM, SYSTEM, USER, etc).

• Message - allows matching or excluding elements, by choosing the message

content (e.g. “Feature not available”), or a list of contents separated by
commas, choosing whether looking for the whole phrase, any words, all
words in any sequence, matching case, using wildcards.

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– Toggle Log Colors

Each click deactivates/activates the Log messages background color (as shown in
the figures below).

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4.3 Cause&Remedy

– Description
– Contextual keys.

4.3.1 Description
This environment allows to get information about the cause of a specified error an its
corresponding remedy, if any.
The user must insert the error number in Error No field and either press Enter key or
click the find symbol.
RoboShop program looks for such an error in the .CRD file, specified in Settings -
Directories - Crd files area.
Such files, including all the errors and corresponding causes and remedies, are divided
by language, referred to as:
– allrobmsgd.crd - German
– allrobmsge.crd - English
– allrobmsgf.crd - French
– allrobmsgi.crd - Italian
– allrobmsgp.crd - Portuguese
– allrobmsgs.crd - Spanish.
If some applications are delivered, the corresponding .crd files could be present too.
– aw_ms.crd - arc welding
– cl_ms.crd - common libraries
– gl_ms.crd - glue

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– hn_ms.crd - handling
– st_ms.crd - stud
– sw_ms.crd - spot welding
– tc_ms.crd - tool change.

Refer to par. 4.10.1.2.4 Crd files on page 63 to add or remove a .CRD file.

The user is allowed to customize any comments associated to a certain error, by typing
his/her own comment in the associated User Comment field and then clicking Save
Comment key to confirm. Such a text string is saved in the file specified in the User text
archive field.
If deleting the existing comment is wished, cancel the text string from the User
Comment field and then click Save Comment key to confirm.

Note that, in case of error marked as a SYSTEM ERROR, Cause and Remedy are not
displayed.
Please contact COMAU Customer Service in such a situation.

4.3.2 Contextual keys

None.

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4.4 Editor
– Description
– Contextual keys.

4.4.1 Description
This environment allows editing any files in Unicode or ASCII codes. More in detail, it
allows creating, viewing, modifying and saving the majority of the existing files on a
Control Unit, meaning .PDL, .COD, .LSV, .VAR, .C5G, .XML and their backup copies
(.BKP, .BKC, .BKL, .BKV, .BK5, .BKM).
It takes advantage of assisted writing mechanisms, with autotype functionality and use
of colours.
The New File creation window is displayed when clicking the Editor key.

The user can insert the following information in it, related to the new file:
– Type of file - indicates whether a new file is wished to be created containing a
PDL2 language program (New PDL2 Program) or empty (Blank File)
– Arm number - if the new file contains a PDL2 program, this field specifies either
the used arm for motion programs or the NOHOLD attribute (figure below). In case
of empty file, this field is not active

– Enter File name - indicates the wished filename.

Clicking OK, RoboShop opens the Editor window for the new file.
To open an already existing file, instead, on the PC or on one of the existing Control
Units in the Nodes Panel, choose the corresponding device and folder including such a
file, by means of the File System function and click twice on its filename. In such a way,
the file is opened in the Editor environment.

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The standard attributes (called Properties) associated to the file, are also displayed:
– revision
– title
– version
– file creation date
– author
– host hwere the file has been created.
When opening a binary file (.COD, .VAR or .C5G), it is converted to a readable format
for the user, which means in either Unicode or ASCII code.

Translating a file to the corresponding binary format, can be issued by activating the
Translate command in the File System environment.

4.4.2 Contextual keys

When the environment is open, the following contestual keys are enabled:

– New File

allows creating a new file. The New File window is opened, exactly like when
clicking the Editor key

– Open File

Opens the specified file on the PC

– Save

Saves the file into the source folder

– Encode

Allows specifying how to encode the file content, for viewing it:

• Encode ANSI - ASCII

• Encode UCS-2LE-BOM - Unicode

– Copy - Paste - Cut

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Allows copying, pasting and cutting parts of the text

– Find - Replace

Allows finding, in the file, the text specified by the user and, if wished, replacing it
with another text. The two keys opens the Find or Replace window to perform the
wished command.
The figures below show, respectively, the Find functionality and the Replace one.

The following fields are available:

• Find what - text to be found (highlighted in yellow)
• Replace with - text to be replaced (highlighted in green)
• Match whole word only - looks for the whole word only
• Match case - matches uppercase/lowercase
• Wrap around - continues finding starting from the beginning, when the file
end (or the file beginning) is reached
• Search Mode - search modality
• Direction - indicates whether searching is to be performed towards the file
end (Down) or the file start (Up)
and the following commands:
• Find Next - looks for the specified text next occurrence
• Count - displays the total amount of occurencies found in the file, for the
specified text
• Find All - looks for and highlights all the occurencies of the specified text, in
the current file
• Replace - substitutes the specified text to the found one
• Replace All - substitutes the specified text to the found one, everywhere in
the current file
• Close - closes the Find or Replace window.

– Undo - Redo

allow canceling the previous operations (Undo) or execute them again (Redo)

– Goto line

opens the corresponding window and, when OK key is clicked, moves the cursor
to the line specified in the Go To Line field.

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– Bookmarks

allow operating with bookmarks which help to quicker move inside the being edited
file; they are mainly useful with big files. The available keys, according to the figure
above, are as follows:
• Toggle bookmark sets the bookmark at the current position
• Next bookmark moves the Editor cursor to the next bookmark
• Previous bookmark moves the Editor cursor to the previous bookmark
• Delete all bookmarks deletes ALL the currently set bookmarks.

A fast way to set/delete a bookmark, is to click inside the vertical bar on the left of the
displayed program, as indicated in the figure below.

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4.5 Terminal

– Description
– Contextual keys.

4.5.1 Description
It represents the direct Interface with the currently selected Control Unit. It allows to
issue all the available System Commands, i.e. configuration, information display,
instructions immediate execution, files handling, editing, execution memory handling,
programs handling, settings, etc.
During the same RoboShop session, a Terminal window for each one of the connected
Control Units can be opened, selecting one at a time and clicking this key each time.
An example displaying three Terminal windows at the same time (associated to three
individual Control Units) is shown in the figure above.
La frecce presenti nell’esempio mostrato nella figura sopra, indicano la linea dei
comandi nella finestra Terminal di ciascuna delle tre Unità di Controllo.
Commands are displayed in the lowest row of the menu and can be selected by either
clicking on them or using the associated F1-F8 functional keys.
The red arrow in the figure above, indicates the command line in the Terminal window
of each Control Unit.

NOTEs ABOUT DIRECTORIES

– In case of file transfer from PC to Control Unit, set the PC side directory to be used.
Refer to Settings - Directories function.
– It is also allowed to set the directory which a program will use to transfer files
from/to the selected device on the selected Control Unit. Refer to Settings -
Directories function.

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It is needed to be connected to the selected Control Unit (par. 5.2.3 Connect on

page 68), to be able to open its Terminal window, by clicking the Terminal key.
If another PC is already connected to the same Control Unit, opening this environment
cannot be allowed and an informational message is displayed on the screen.

4.5.2 Contextual keys

When the environment is open, the following contestual keys are enabled:

– Copy

allows copying (Copy) the Terminal window in textual format, to be saved pasting
it (^V) in any text editor tool, as shown in the figure below.

– Terminal Help

opens a window in which the PC keys, associated to special functions in the

Terminal environment, are listed, as shown in the following figure.

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4.6 3D Visualization

– Description
– Contextual keys.

4.6.1 Description
This key opens the Visualizzazione 3D environment.
The home screen can be modified by using the mouse, as follows:
– pressing the mouse wheel - keeping the wheel pressed and moving the mouse
at the same time, moves the scene (floor, robot and all objects) in any directions
– long pressing the left key - keeping the left key pressed and moving the mouse
at the same time, the floor inclination and therefore the scene view, can be
modified
– mouse wheel rotation - rotating the wheel, causes the scene to be zoomed in and
out.
It is also allowed modifying the general settings of the 3D simulation scene, by selecting
the Simulation 3D Scene folder in the Nodes Panel (figure below).

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The following settings can be modified:

– Show Ground (visible/invisible floor) - select the checkbox to make the floor visible
– Ground Color (floor color) - click the displayed number to open the colors table,
choose the wished one and click OK to confirm.
– Background Color - click the colored band to open the colors table, choose the
wished one and click OK to confirm.

In the 3D Visualization environment all the controlled robots by the currently connected
with Roboshop Control Units are displayed,,as well as their movements and any
objects added by means of the Create Cube / Sphere / Cylinder / Cone command.
To act on the robots and objects 3D visualization mode, select the wished Robot or
Object, clicking it in the corresponding folder (Controllers for robots and Simulation 3D
Scene for objects) of the Nodes Panel.
The wished element (robot or object) could also be selected by CTRL+clicking it, in the
3D visualization area.
This causes its setting parameters to be displayed in the Details Panel: the user is
allowed to modify them according to what is described in the following sections:
– Robot
– Object.

4.6.1.1 Robot

Selecting a robot in the Controllers folder, or by memans of CTRL+click on the

displayed robot, the user is allowed to access the following related viewing settings
(figure above), in the Details Panel:
– Model - model of the selected robot. Read-only field
– Visible - the robot is displayed in the 3D Visualization area when the checkbox is
selected
– Offset - offset, in the X, Y and Z components, referred to the Base reference frame
All the robots are displayed in the reference frame origin. To be able to view them
separately, the user is allowed to “move” them by means of the Offset field. In the
example shown in the next figure, a Six robot is selected.

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CAUTION: modifying the Offset field ONLY acts at the viewing level: it DOES NOT
affect the robt real position!

When its Offset field is modified, the robot is immediately displayed in the new
position (figure below).

– Trajectory Color, Trajectory Thickness, Draw Trajectory - these fields are

available to view the TCP trajectory of the selected robot. They have the following
meanings:
• Trajectory Color - this is the color for viewing the trajectory when the robot
executes a movement (figure below).

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To modify the trace color, click the colored band to open the colors table (next
figure), choose the wished one and click OK to confirm

• Trajectory Thickness - this is the displayed trajectory thickness. Click its

value and modify it as wished
• Draw Trajectory - select this checkbox to enable viewing the trajectory. Use
the Delete Trace contextual key to cancel the currently displayed trajectory.
– Show toolframe, Show userframe - select them to enable viewing, respectively,
the Tool frame and the User frame.

4.6.1.2 Object
Selecting an object in the Simulation 3D scene folder, its settings are displayed in the
Details Panel (figure below).

The user is allowed to modify them as wished. The available fields are:
– Name - object name
– Color - object color
To modify the color, click it to open the colors table (next figure), choose the wished
one and click OK to confirm.

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– Center - coordinates of the object center, referred to the Base reference frame
– Dimensions - object dimensions in x, y, z components
– Orientation - object orientation in x, y, z components.
Creation and modification of the objects are dynamic, i.e. any data changings are
immediately displayed, helping the user’s work.

4.6.2 Contextual keys

When the environment is opened, the following contextual keys are enabled
(highlighted in red in the figure above):

– Load Scene

loads a previously saved 3D scene (Save Scene command)

– Save Scene

saves the current 3D scene

– Import Object

allows importing external objects from files with .obj extension

– Create Cube / Sphere / Cylinder / Cone

allow creating objects in a predefined geometric shape (cube, sphere, cylinder and
cone).

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When one of these commands is clicked, the required object is added by the
program (example in the figure below), both in the 3D environment and in the
Simulation 3D Scene folder in the Nodes Panel.

– Delete Object

allows deleting the currently selected object in the Nodes Panel

– Delete Trace

Cancels the displayed trace of the currently selected robot trajectory. Refer to
par. 4.6.1.1 Robot on page 44 to modify the trajectory trace settings.

– Fit View

Fits the 3D scene viewing to the 3D Visualization window dimensions

– Views

Allows viewing the 3D scene from different perspectives. Click to open the choice
menua:
• Top View - from the top
• Bottom View - from the bottom
• Left View - from left
• Right View - from right
• Front View - from the front
• Back View - from the back

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4.7 File System

– Description
– Contextual keys.

4.7.1 Description
This key allows displaying the tree structure including folders and corresponding files for
all the devices existing both on the PC and on the currently connected Control Units.
The displayed data are:
– Name
– Size
– Type
– date of the last modification (Date Modified).
The path to the selected folder is displayed in the first row of the window and can be
used to go back to higher hierarchy folders, by clicking the wished level in the path.
In the shown below example, the LOG folder files are viewed. Nell’esempio della figura
sottostante sono visualizzati i file della cartella LOG. Clicking in the path, the user could
go back to either SYS, or UD: or C101 Control Unit, or the Root.

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4.7.2 Contextual keys

Once the environment is opened, the following contextual keys are available
(highlighted in the figure above):

– New Folder

Creates a new folder called “New_Folder”. It is up to the user assigning it the

wished name, by means of the Rename command.

– Open

Opens the selected file in the Editor environment.

– Delete

Cancels the selected element (either a folder and its subfolders or a file). The user
is prompted for confirmation before deleting. Multiple selection is allowed.
If restoring the deleted folder and its subfolders is wished, use the Paste command
(ref. Cut/Copy/Paste), selecting the destination folder.

– Cut/Copy/Paste

Allows cutting/copying/pasting one or more elements (either a folder and its

subfolders or a file). Multiple selection is allowed.

The user can also use the drag and drop functionality which allows to “drag” an element
(either a folder and its subfolders or a file) and “drop” it to the wished position.

– Rename

Allows renaming the selected element (either a folder or a file).

– Refresh

Refreshes the content of the File System environment view.

– Translate

Translates the selected file. It is allowed to translate files from binary (e.g. .COD)
to ASCII or Unicode (e.g. .PDL) and viceversa (e.g. opening a .PDL file and
translate it to .COD).
Note that .C5G files are translated to .PDL files.

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After the translation, the previous version is saved as a backup file.

If any errors occur, they are displayed in the PDL2 Errors window of the Logs Bar,
as highlighted in the figure below.

– Protect

Allows protecting the selected file, by means of a password. Protecting folders is

not available.

– Unprotect

Allows deleting the selected file protection, by typing the suitable passwaord.

Note that all the listed above commands are available by clicking the mouse right key
on the wished element (either folder or file), as shown in the figures below.

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4.8 Moni Viewer

– Description
– Contextual keys.

4.8.1 Description
This environment allows viewing the content of moni files, in diagram form. Such binary
files contain data about the Arms, gathered to analyze situations related to them.
In the below example, the diagrams are shown of two moni files for, respectively,
Cartesian (left figure) and Joint (right figure) movements.

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Act as follows to view a moni file diagram:

– for moni files on the Control Unit, click twice the filename in the File System
environment
– for moni files on the PC
• open the Moni Viewer environment and use the Open File contextual key, or
• click twice the filename in the File System environment.
The user is allowed to change the viewing mode of the diagram, selecting the displayed
information (Target Position, Real Position, Error Position, etc), by means of the
Multiple Values menu shown in the following figure.

For the Cartesian movements it is also allowed to select the wished components (X, Y,
Z, individual Euler angles) by means of the One Value menu.

For the Joint movements it is allowed to select the wished Axis (Axis menu).

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The diagrams representing Cartesian movements can also be displayed in 3D form,

using the Switch from 2D charts to 3D Charts view toggle key (figure below on the
left).

4.8.2 Contextual keys

– Open File.

4.8.2.1 Open File

This contextual key allows opening a moni.log file existing on the PC.
Follow the path until the folder containing the wished file: select it. Then click Open key
to confirm and display the required diagram.

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4.9 I/O Configuration

CAUTION - Using this environment is only allowed since 4.11 System Software version,
on Control Units provided with OPC UA option, code CR17926302.
Otherwise this key is disabled.

– Description
– Contextual keys.

4.9.1 Description
This environment allows viewing the I/O ports configuration corresponding to the
currently selected Control Unit.
Such an information is read-only, i.e. it cannot be modified.
Data displayed by the I/O Configuration environment are dinamically refreshed.
The I/O Configuration panel is composed by two areas (refer to the next figure):
– I/Os list (highlighted in red in the figure)
– name (Port Name) and value of the currently selected I/O port (Current Port
Value) in the list (highlighted in yellow in the figure).

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Note that it is allowed to open more than one I/O Configuration panels at the same
time, each one associated to a different Control Unit.
Just select the wished Control Unit and click the I/O Configuration key.

The figure below shows an example of two simultaneous I/O Configuration panels.

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4.9.2 Contextual keys

Once the environment is opened (as shown in the figure at the beginning of current
par. 4.9 I/O Configuration on page 55), the following contextual keys are available.

– Add I/O Device

this command adds the selected I/O ports associated to the wished I/O device
(highlighted in yellow in the example below), to the current view.

Click OK to confirm and display the selected I/O ports.

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– Add I/O Port

this command adds the wished I/O ports to the current view. The user is allowed to
select them in a list in which they are displayed by port type, as shown in the figures
below.
In the following example, some I/O ports are added to the ones already displayed
in the previous example (par. – Add I/O Device on page 57).

Click OK to confirm and display the selected I/O ports.

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NOTE
Proceed as follows to remove one or more ports from the displayed ones in the I/O
Configuration, environment:
– open the I/O ports list, by means of Add I/O Device or Add I/O Port contextual keys
– unselect the ports to be removed
– click OK to confirm.

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4.10 Settings

– Description
– Contextual keys.

4.10.1 Description
The Settings environment, displayed in a dedicated window, allows setting up the
general parameters for the RoboShop program functioning (figure above).
The setting functions are grouped as follows:
– General
– Directories
– About.

4.10.1.1 General
General settings about the Language, the Default Library version for the Translator, the
User Interface background and the RoboShop program registration.
– Language
– Default library version
– Themes

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– Registration.

4.10.1.1.1 Language

So far, the only available language is English.

4.10.1.1.2 Default library version

It indicates the translator library version, to be used while translating the binary files
(.COD, .VAR, .C5G).

4.10.1.1.3 Themes

Three different background colors are available for the User Interface, from the Themes
menu, show in the figure above:
– Dark
– Medium

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– Light
as shown in the figures below.

The user can choose the wished background by selecting it in the corresponding menu
and clicking Apply key, as shown in the left figure above.

4.10.1.1.4 Registration

The usage of this setting functionality is fully described in par. 2.5 How to get a full
licence for RoboShop on page 23.

4.10.1.2 Directories

– User text archive

– Import path
– Grammar file

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– Crd files.

4.10.1.2.1 User text archive

It is a file containing the added user comments to the error messages, in
Cause&Remedy environment.

4.10.1.2.2 Import path

Directory path to translate PDL2 programs containing the IMPORT clause.

4.10.1.2.3 Grammar file

This field is only used for NODAL systems. It specifies the directory of the syntax file, on
the PC.

4.10.1.2.4 Crd files

It allows adding and removing .crd files, i.e. the ones in which looking for errors cause
and remedy from the Control Unit. Such files can be stored in whichever device on the
network, not necessarily local to the PC on which RoboShop is active.

4.10.1.3 About
Provides information about the RoboShop program (version number, release date, etc).

4.10.2 Contextual keys

None.

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5. MULTICONTROL PANEL

5.1 Introduction

This area (highlighted in the figure above), alwais displayed, is dedicated to the Control
Units which RoboShop can connect and communicate to.
As already stated, RoboShop is able to connect to more than one Control Unit at
simultaneously, in the same session.
The Multicontrol Panel (figure above) is composed by:
– Multicontrol Bar (3.1)
– Nodes Panel (3.2)
– Details Panel (3.3).

5.2 Multicontrol Bar

This bar provides the needed commands to handle the Control Unit which can interact
with RoboShop. With reference to the figure above, from left to right, the following
commands are available:
– Add new node

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– Remove node
– Connect
– Disconnect
– Teach Pendant
– Settings.

5.2.1 Add new node

It allows adding a new Node, i.e. a new Control Unit, to the Controllers folder.

In the displayed window, the following information must be supplied:

– Virtual - this checkbox is only available with complete licence .
Refer to par. 2.5 How to get a full licence for RoboShop on page 23 to acquire it.
Select the checkbox to add a virtual Control Unit.

In case of Virtual Control Unit, carefully follow the Operational notes for using a Virtual
Control Unit.

– Name - name to identify the being added Control Unit

– Url / Type - if adding a real Control Unit, specify the IP address (Url); if a virtual
Control Unit is to be added, instead, open the Type menu, as shown in the figure
above, and choose the wished type.
Click OK to confirm.

5.2.1.1 Operational notes for using a Virtual Control Unit

A Virtual System activated for the first time, is in minimum configuration, i.e. in a default
configuration in which neither arms nor auxiliary axes are specified; in such a situation,
act as follows.

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a. Activate the Virtual Teach Pendant by means of the dedicated key.

Program SETUP1 is automatically run, to allow the user to configure the system as
wished.

b. Select the wished language for SETUP1 execution (Italian or English), clicking the
language name.

Execute the described below steps to customize the new Virtual System
configuration.

For a detailed description about the system configuration, refer to Control Unit USE
manual, chap. SETUP Page, par. 5.17.3.11 - Reload Software.

c. Click the DEVICE field in the displayed page, to open the menu and select the
wished device from which loading the wished configuration.

CAUTION - Before going on, verify that the Transfer Directory is set to the directory of
the data files related to the chosen Virtual Control version. Refer to par. 5.2.8.1 File
Transfer on page 74 for further details.

d. Click OK to confirm.

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e. Select arm, family, model, auxiliary axes if any, MOVE statement mode, etc. to
configure the virtual system.

f. Press Save key at the end, to save the newly created configuration.

g. Click OK key to confirm.

h. Restart the Virtual System by pressing Restart key.

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i. At the end of the system power up, the new Virtual Controller is properly configured
and ready to be used.

5.2.2 Remove node

Select the Control Unit to be removed and click on the Remove node key .

Click Yes to remove.

5.2.3 Connect
The connection between PC and real Control Unit is based on the TCP/IP protocol.
When the physical connection is done, run RoboShop program.
Note that in case of Virtual Control Unit, the mentioned above physical connection is not
required.
If needed, some functionality Settings can be modified before connecting.
Click Connection key to connect to the Control Unit, as shown in the figure below.

CAUTION
Roboshop allows connecting MORE THAN ONE real Control Units at the same time
and JUST ONE Virtual Control Unit.

Select the Control Unit to be connected and click the Connect key (figure below).

Insert Username and Password; click OK to proceed. The connection operation could

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take some seconds.

Username and Password must have already been defined on the being connected
Control Unit.

When the Control Unit is connected, the corresponding “LED”, in the Nodes Panel,
becomes green.

5.2.4 Disconnect
Select the Control Unit to be disconnected and click the Disconnect key (figure below).

The operation is performed without any confirmation prompt.

When the Control Unit is disconnected, the corresponding “LED”, in the Nodes Panel,
becomes red.

5.2.5 Teach Pendant

Select the Control Unit involved in the connection with the Virtual Teach Pendant.

Click the Teach Pendant command key (highlighted in the figure above on the left).
After a few seconds two windows are opened on the PC, representing respectively the
Virtual Teach Pendant screen and keyboard.

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The VirtualTP5 keyboard includes

– Standard Virtual Keys, i.e. the ones corresponding to the TP5 real keyboard keys,
– Additional Virtual Keys, to simulate all buttons/selector existing in the real TP5.

5.2.6 Standard Virtual Keys

The standard virtual keys simulate all the black, blue and other colours keys, existing
in the real TP5 keyboard.
To simulate pressing and releasing the standard virtual keys, use the mouse left and
right keys, according to the following rules:
– clicking left on a virtual key, switches it to the opposite state, until the mouse key is
not released
– clicking right on a virtual key, keeps it in the opposite state: if the virtual key WAS
NOT pressed, clicking right presses it and keeps it pressed; if the virtual key WAS
pressed, clicking right releases it and keeps it released
– to remove the press of only one standard virtual key, just click right on it.
– to remove the press of one or all pressed standard virtual keys, just click either left
or right, everywhere out of the virtual keys.

A pressed standard virtual key is represented by a yellow border (see the examples in
the following figure).

For further details about the real TP5 keyboard, refer to Control Unit USE, chap.TP5
Teach Pendant, par.5.3.1 Keys.

5.2.7 Additional Virtual Keys

These virtual keys allow a better use of the virtual Teach Pendant, taking advantage of
some functionalities related to the visualization and other buttons/selector existing in the
real TP5.

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– ZOOM
– SCREENSHOT
– MOVE ON TOP
– Virtual State Selector
– Virtual Enabling Device.

5.2.7.1 ZOOM

This key allows modifying, in circular mode, the virtual keyboard visualization, as shown
in the next figures. The available visualizations are:
– ZOOM NORMAL - medium size
– ZOOM IN - big size
– NO ZOOM - virtual keyboard not displayed
– ZOOM OUT - small size

Each click on this key circularly changes (NORMAL -> IN -> NO -> OUT -> NORMAL,
etc.) the virtual keyboard visualization, as shown in the four figures above.

5.2.7.2 SCREENSHOT

It allows to capture the current virtual screen view and save it to a file, with unique name
assigned by the system, in the screenTP folder, automatically created on the Personal
Computer Desktop. A suitable message informs that the new file has been saved. Click
OK to close it. Each click on this key, creates and saves a new file.

5.2.7.3 MOVE ON TOP

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When this virtual key is clicked, the virtual keyboard is displayed in the front, over the
virtual screen.
In the shown below example, the MOVE ON TOP key is pressed in the figure on the left,
so the visualization is changed, as shown in the figure on the right.

5.2.7.4 Virtual State Selector

This “key” simulates the real State Selector; it allows changing the System state by
means of the mouse keys, regardless of whether right or left.
The available states, like for the real System, are:
– Progr - programming
– Local - auto local
– Remote - auto remote.
Two operation modalities are available:
– circular - at each click on the virtual selector (see figure below on the left), the
System switches to the subsequent state; in the shown example, it is switched to
Local, since the circular sequence is Progr -> Local -> Remote -> Progr, etc.

– direct - clicking on one of the three symbols representing the available states, the
System directly switches to the required state; in the shown example (figure below)
it is switched to Local, since such a state was required by the user.

As shown in the previous figures, the virtual key press or the wished state “reservation”
are both represented in yellow.

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5.2.7.5 Virtual Enabling Device

This virtual key simulates the real Enabling Device (existing on the TP5 rear side) and
must be “kept pressed” to allow the robot motion.
It can be used in Programming state (Progr) only.
When the Enabling Device is pressed, the use of the Virtual State Selector is not
allowed.
As for the real Enabling Device, it can be pressed and released. Pressing and releasing
can be simulated by means of the mouse keys, regardless whether right or left. Each
time this virtual key is clicked, the current state is switched and the new state is kept.

As shown in the previuos figures, the virtual enabling device press is represented in
green.

5.2.8 Settings
This command allows accessing the following settings. Click Ok to save settings and
close.
– File Transfer - files transer folder
– Import path - path search directory for declarations including the IMPORT clause
– Grammar file - directory including the NODAL syntax file
– Crd file - adding/removing .crd files
– Translator - setting related to the PDL2 programs offline translation
– FTP Server - connecting Roboshop and Control Units in FTP Server modality.

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5.2.8.1 File Transfer

This field allows setting the folder to be used during the files list transfer/viewing
operations from and to the connected PC.

5.2.8.2 Import path

Directory path to translate PDL2 programs containing the IMPORT clause.

Directly type in the Import path field or click ... key (as shown in the figure above), to
insert the wished path search. A window is opened as shown in the figure below:

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Click Add... key, (as highlighted in the previous figure), select the wished path and click
Ok to confirm.
Similarly, in the same window, select the wished path, click Remove key and click Ok
to confirm, to delete an existing Import path setting.

5.2.8.3 Grammar file

This field is used for NODAL systems only. It includes the PC folder in which the nodal
syntax file can be read.
Directly type in the Grammar file field or click ... key (as shown in the figure above), to
select it in the window opened by Roboshop.

5.2.8.4 Crd file

This field allows adding and removing .crd files, i.e. the ones in which looking for errors
cause and remedy from the Control Unit. Such files can be stored in whichever device
on the network, not necessarily local to the PC on which RoboShop is active.
Click ... key (as shown in the figure above), to add or remove a file.

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In the window above, click Add... key, select the wished .crd file and click Ok key to
confirm.
Similarly, select the wished .crd file, click Remove key (figure above) and click Ok to
confirm, to delete it.

5.2.8.5 Translator

When selected, this checkbox states that PDL2 programs are always offline translated,
even if the Control Unit is connected. The path search specified in the Import path field
is used for variables, types and routines declared with the IMPORT clause.

5.2.8.6 FTP Server

RoboShop can interface the Control Units in FTP server modality.

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The configuration of such a modality is made by means of the FTP server settings
window, shown in the figure above.
Some configurable ports are defined in this window to be allowed to access. A maximum
of 9 can be configured.
The user should specify the following information for each port:
– enable/disable, using the corresponding checkbox
– home directory for the connection - it can be specified either by typing the path or
clicking the three horizontal dots, browsing until the wished folder and then clicking
Select folder.
– NET_C - in case of backup and restore functionality, with RoboShop acting as the
Control Unit server, it is allowed to use the NETx: ports (with ‘x’ from 1 to 9) after
enabling the corresponding checkbox.

5.3 Nodes Panel

In this panel, RoboShop handles a tree structure containing the following Nodes:
– Control Units (in the Controllers folder). A “LED” is associated to each Control Unit
name. Its color has the following meaning:
• grey - the Control Unit has been added to the tree but it has never been
connected
• red - the Control Unit is currently not connected
• green - the Control Unit is currently connected.
– Robot (as Control Unit child Nodes)
– Objects of the 3D simulation (in the Simulation 3D scene folder).

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5.4 Details Panel

This panel contains any detailed information related to the Nodes, i.e. to the elements
listed in the Nodes Panel, folders, Control Unit, associated robot, objects, associated to
the 3D word, if any.
The majority of such an information is related to editable settings of the corresponding
Node.
The following figures show two examples of Details Panel, respectively for Robot and
Object.

For any detailed operational information, about this panel fields and their modification,
refer to par. 4.6 3D Visualization on page 43, Robot and Object subsections.

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6. LOGS BAR

6.1 Introduction

The Logs Bar displays messages coming from RoboShop existing environments and
functionalities and also from active applications, if any.
Using the key placed on its left side (as highlighted in the figure above), the viewing area
can be vertically enlarged/reduced.
When the Logs Bar is reduced, a commands menu is available on the right (figure
below).

The types of provided information are as follows:

– Output
– Search Results
– Output Debug
– PDL2 Errors.

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The user can select the wished one by means of either the commands menu or the icons
displayed on the right when the Logs Bar is enlarged (figure below).

6.2 Output
Displays all messages coming from any RoboShop environments and functions and
from applications, if any, running on the Control Unit.

6.3 Search Results

Displays all he results of any search operations (Find command) in Editor environment.

6.4 Output Debug

Diagnostics function reserved to COMAU Customer Service.

6.5 PDL2 Errors

Displays the results of translating the program files (.COD, .PDL. and .VAR, .LSV).

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