R-J3iC Controller ASCII Interface Specification 24/06/07

FANUC R-J3iC Controller

ASCII Interface function

Specification

1
R-J3iC Controller ASCII Interface Specification 24/06/07

1 Preface
In this function, robot moves on the path that is optimized by external PC. To optimize the
robot path, the software MERCATOR is used and ASCII files are transferred between R-J3iB
controller and PC.

The robot path taught in TP program is optimized by the following process.

1) Create TP program and teach some positions on the R-J3iB controller. And designate
an area that you want to optimize the robot path by new instructions.
2) Execute the program to record the taught path.
3) While robot moves on the taught path, the position data on the taught path in the
designated area are recorded in ASCII file in interpolation cycle. The record condition is
designated by another ASCII file sent from PC at start of recording. Following data is
recorded.
 Motion data in interpolation cycle
 IO data, register value, Timer value
4) When recording is ended, the recorded data are stored in ASCII files. Then these ASCII
files are transferred to PC.
5) The recorded data in these ASCII files are analyzed and optimized on PC. Then, the
optimized path file is returned to R-J3iB controller.
6) After that, the robot tracks not the taught path but the optimized path in the designated
area in TP program.

2
R-J3iC Controller ASCII Interface Specification 24/06/07

2 Function
2.1 File transfer
2.1.1 Communication
The ASCII files are sent and received between PC and R-J3iB controller. PC and R-
J3iB controller are connected by Ethernet, and ASCII files are transferred by FTP
protocol and Socket Message communication (SM communication). In SM
communication, special protocol between MERCATOR and R-J3iB controller is
used.

When the path record command and the optimized path execution command in TP
program is executed, file transfer between PC and R-J3iB controller is executed
according to the following system variable.

$IBGN_FTP.$AUTO_TRANS (Default value 2)

=0: When command is executed, file transfer does not executed.

=1: R-J3iB gets file from PC by FTP protocol at path record start.
R-J3iB sends files to PC by FTP protocol at path record end.
R-J3iB gets file from PC by FTP protocol at optimized path execution start.

=2: R-J3iB gets file from PC by SM communication at path record start.

R-J3iB sends files to PC by SM communication at path record end.
R-J3iB gets file from PC by FTP protocol at optimized path execution start.

To use FTP and SM communication in this function, it is needed to define TCP/IP

parameters and FTP client and SM client/server on R-J3iB controller before
execution. About procedure for these operations, please refer to Appendix. FTP
server can be used by default setting in R-J3iB controller.

And it is needed to set client and server tag number which is set for this function to
the following system variables.

FTP Server Tag number : $FTP_IBGN.$FTP_STAG (Default Value 1)

FTP Client Tag number : $FTP_IBGN.$FTP_CTAG (Default Value 1)
SM Server Tag number : $FTP_IBGN.$SM_STAG (Default Value 3)
SM Client Tag number : $FTP_IBGN.$SM_CTAG (Default Value 2)

3
R-J3iC Controller ASCII Interface Specification 24/06/07

4
R-J3iC Controller ASCII Interface Specification 24/06/07

To enable SM communication, it is need to start the communication program. Set

the following system variables to TRUE to start communication program
automatically at power on, then turn off/on the power.

$IBGN_FTP.$AUTO_START (Default value FALSE)

In SM communication, manual communication can be executed by the FCTN menu.

Select the following items to execute manual communication.

Start SM COMM Start manual communication with PC.

In manual communication, message sent from PC is
displayed in prompt line on TP.

End SM COMM End manual communication with PC.

2.1.2 ASCII file

There are 5 kinds of ASCII files. It is possible to hold 16 files in each file type.

1. SENSPS**.TXT (**: 1-16)

This file specifies the additional data that should be recorded with the path
data. This file is made on PC before the recording operation is executed. This
file includes the following data.
 Recording condition

2. RECORD**.IBG(**: 1-16)
This is one of the files that store the recorded position data. This file is made at
the end of recording. This file includes the following data.
 Header
 PLC point that needs to be recorded. (Copy from SENSPS**.TXT)
 Total actual FOLGE program
 Motion data in interpolation cycle (rated values of path planner in
Cartesian coordinates) (Maximum number of data is 20,000 lines.)
 Additional data specified from the file SENSPS**.TXT.

5
R-J3iC Controller ASCII Interface Specification 24/06/07

3. R_ISTW**.IBG(**: 1-16)
This is one of the files that store the recorded position data. This file is made at
the end of recording. This file includes the following data.
 Header
 PLC point that needs to be recorded. (Copy from SENSPS**.TXT)
 Total actual FOLGE program
 Motion data in interpolation cycle (actual values of path planner in
Cartesian coordinates) (Maximum number of data is 20,000 lines.)
 Additional data specified from the file SENSPS**.TXT.

4. R_ACHSW**.IBG(**: 1-16)
This is one of the files that store the recorded position data. This file is made at
the end of recording. This file includes the following data.
 Header
 PLC point that needs to be recorded. (Copy from SENSPS**.TXT)
 Total actual FOLGE program
 Motion data in interpolation cycle (actual joint values of all axis)
(Maximum number of data is 20,000 lines.)
 Additional data specified from the file SENSPS**.TXT.

5. IBGN**.IBG(**: 1-16）
This is the optimized path data file. This file is transferred from PC to R-J3iB at
the start of running of the optimized path. This file includes the following data.
 Header
 PLC point that needs to be recorded. (Copy from SENSPS**.TXT)
 Total actual FOLGE program
 Optimized motion data in interpolation cycle. (Cartesian coordinate)
(Maximum number of data is 20,000 lines.)
 Optimized additional data specified from the file SENSPS**.TXT.

Refer to “3.6 File format” about detail of each data.

6
R-J3iC Controller ASCII Interface Specification 24/06/07

2.1.3 File transfer

R-J3iB controller receives SENSPS**.TXT file from PC automatically when
recording is started. It is also possible to record without file transfer, using already
transferred file.

R-J3iB controller sends record files, RECORD**.IBG, R_ISTW**.IBG,

R_ACHSW**.IBG to PC automatically when recording is ended. It is also possible
to save files on Memory Card (MC:).

R-J3iB controller receives IBGN**.IBG file from PC automatically when optimized

path running is started. It is also possible to playback optimized path without file
transfer, using already transferred file.

Please note you cannot transfer IBGN**.IBG in the following cases.

A) When someone is saving IBGN**.IBG file.
B) When the optimized path running is executed, and any IBGN**.IBG file is
used.

If the system variable $IBGN_FTP.$AUTO_TRANS is set to 0, file transfer does not

executed automatically during program execution. In this case, it is need to insert
Memory Card on R-J3iB controller when recording is executed, because
SENSPS**.TXT file is read from Memory Card and record files are saved in
Memory Card.

If communication error occurs in above cases, the warning is issued but the
program execution is not stopped. In case of IBGN REC start and IBGN REC end,
the designated IO is output. If you want to stop the program execution with an
alarm, set the system variable $IBGN_FTP.$IGNR_COMER to FALSE.

2.1.4 Communication by manual operation on PC

In order to transfer ASCII file form PC to R-J3iB controller, access FTP server on R-
J3ib controller from FTP client on PC.

7
R-J3iC Controller ASCII Interface Specification 24/06/07

2.2 Save and load of IBGN**.IBG files

IBGN*.IBG files can be saved and loaded in FILE screen.

When you save IBGN**.IBG file, please do the following operation.

1) Display FILE screen.
2) Push [BACKUP](F4) key.
3) Select “System files” or “All of above” in the menu.

When you load IBGN**.IBG file, please do the following operation.

1) Display FILE screen in control start .
2) Push [RESTORE](F4) key.
3) Select “System files” or “All of above” in the menu.

SENSPS**.TXT file and record files can not be saved and loaded.

Note
A) You cannot backup files during file transfer by program execution.
B) All IBGN**.IBG files on current device can be saved and loaded. You cannot
spfcify file to save or load.
C) You cannot load a file if a line in the file has more than 256 characters.

8
R-J3iC Controller ASCII Interface Specification 24/06/07

2.3 Manual file transfer and deletion of IBGN**.IBG

Besides backup and restore, file screen supports followings.

 Selective load of IBGN**.IBG

 Deletion IBGN**.IBG from controller
 Copy of IBGN**.IBG between devices

2.3.1 Selective load of IBGN**.IBG

Following procedure is example of selective load of IBGN**.IBG. This loads
C1:IBGN03.IBG.
A) Press MENUS key and select FILE in the menu.
B) Press F5 [UTIL] key and select FTP (Cn:) in sub menu
JOINT 10 %
1Floppy disk
2 Backup (FRA:)
3 FTP (C1:)
4 Mem Device(MC: )
FILE

1* * (all files)
2* KL (all KAREL source)
3* CF (all command files)
4* TX (all text files)
5* LS (all KAREL listings)
6* DT (all KAREL data files)
Press DIR to generate directory
[ TYPE] [ DIR ] LOAD [ BACKUP] [ UTIL ]>

C) Press [DIR] (F2) to generate directory of IBG files

JOINT 10 %
C1:\*.* 16/43
11 IBGN01 IBG ********
12 IBGN02 IBG ********
13 IBGN03 IBG ********
14 IBGN04 IBG ********

[ TYPE] [ DIR ] LOAD [ BACKUP] [ UTIL ]>

D) Move cursor to file you want to load. Then press LOAD(F3).

9
R-J3iC Controller ASCII Interface Specification 24/06/07

2.3.2 Deletion
Set device to “MD:” in file screen. Then generate directory of IBG files as you did
in previous section.
Usually, you cannot select this device in “Set device” sub menu.
To display MD: in “Set device” submenu, change $MD_SEL to 1.
JOINT 10 %
MD:\*.* 16/43
11 IBGN01 IBG ********
12 IBGN02 IBG ********
13 IBGN03 IBG ********
14 IBGN04 IBG ********

[ TYPE] [ DIR ] LOAD [ BACKUP] [ UTIL ]>

Press next key and press DELETE (F1).

CAUTION
Don’t delete any other kind of files in MD: You must delete IBG files
only. Otherwise, system may not work properly.

2.3.3 Copy between devices

Generate directory of IBG files as you did in 2.3.1.
Following is how to copy MD:IBGN03.IBG to MC:.
This corresponds to save IBGN03.IBG in R-J3iB to MC.

D) Press next key and press COPY(F2). File copy screen is displayed.

FILE Copy JOINT 10 %

MD:\*.* 1/23
From : MD:\ IBGN03.IBG
To Device: : \***
To Directory : \
To Filename: IBGN03.IBG

DO_COPY [ CHOICE] CANCEL

10
R-J3iC Controller ASCII Interface Specification 24/06/07

E) Move cursor to “To Device” and press [CHOICE] (F4).

F) Select ”Mem Card”.

FILE Copy JOINT 10 %

MD:\*.* 1/23
From : MD:\ IBGN03.IBG
To Device: : MC:
To Directory : \
To Filename: IBGN03.IBG

DO_COPY [ CHOICE] CANCEL

G) Press CO_COPY (F1).

Copy from MD to the other device is save of IBG file.

Copy to MD from the other device is load of IBG file.

Load and copy of IBG files may fail if you do when you shouldn’t do.
For example, you cannot load IBG file if IBGN START[ ] using one of IBG files.

11
R-J3iC Controller ASCII Interface Specification 24/06/07

2.4 Program
Following new instructions of TP program are used for this function.

2.4.1 Recording instructions

IBGN REC start[n] (n: File number 1-16） Recording start
IBGN REC end[n] (n: File number 1-16） Recording end

The start and end point of the recording section in TP program are taught by
these instructions. In the section from IBGN REC start to IBGN REC end, motion
data and additional data specified in SENSPS**.TXT are recorded in
interpolation cycle.

It is possible to add conditional branch instruction before recording start

instruction

IF(DI[i] and DI[j]) IBGN REC start[ｎ] (n: File number 1-16)

In case that recording is executed while the robot moves along the optimized
path, recording start instruction must be taught before the start instruction of
optimized path running.

Only following speed unit can be used in the motion instructions between IBGN
REC start and IBGN REC end. If another speed unit is used, an alarm occurs
and that motion instruction cannot be recorded.
Joint motion ： %
Linear, circular motion ： mm/sec,cm/min,inch/min
In case that the speed unit is cm/min or inch/min, the speed value is converted
to mm/sec, then recorded.

2.4.2 Optimized path execution instruction

IBGN start[n] ( n: File number ) Optimized path execution start

IBGN end[n] ( n: File number ) Optimized path execution end

12
R-J3iC Controller ASCII Interface Specification 24/06/07

The start and end point of the optimized path execution section in TP program
are taught by these instructions. In the section from IBGN start to IBGN end,
robot tracks the optimized path data and output additional data in interpolation
cycle.

It is possible to add conditional branch instruction before IBGN start instruction

IF(DI[i] and DI[j]) IBGN start[ｎ] (n: File number 1-16)

A file number can be used only one time in a TP program. The same file number
cannot be used at another place in the same TP program.

In case that some IBGN commands is taught in a program, teach one or more
motion instructions between IBGN start command and previous IBGN end
command without fail.

2.4.3 Example of program

1 :J P[1] 100% FINE ;

2 :L P[2] 100mm/sec FINE ;
3 : IF (DI[2]),IBGN REC start[3] ;
4 : IF (DI[1]),IBGN start[3] ;
5 :L P[3] 250mm/sec CNT100 ;
6 :L P[4] 150mm/sec CNT50 ;
7 :L P[5] 300mm/sec FINE ;
8 : IBGN end[3] ;
9 : IBGN REC end[3] ;
10 :L P[5] 100mm/sec FINE ;

In this example, the optimized path is executed by the following sequence.

1. At first, DI[1] is set to OFF and DI[2] is set to ON, then execute the
program in order to record the path.
2. When IBGN REC start is executed (Line 3), SENSPS03.txt is transferred
from PC to R-J3iB.
3. When IBGN REC end is executed (Line 8), following three files are made.
 RECORD03.IBG
 R_ISTW03.IBG
 R_ACHSE03.IBG

13
R-J3iC Controller ASCII Interface Specification 24/06/07

4. Then, these files are transferred from R-J3iB to PC automatically.

5. The optimized path is calculated on PC.
6. Then, DI[1] is set to ON and DI[2] is set to OFF and execute the program.
In case that recording executes while robot moves along the optimized
path, DI[2] is set to ON.
7. When IBGN start is executed (Line4), IBGN03.IBG file is transferred from
PC to R-J3iB.
8. Robot moves along the optimized path between line 5 and 7.

1 :J P[1] 100% FINE ;

2 :L P[2] 100mm/sec FINE ;
3 : IF (DI[2]),IBGN REC start[3] ;
4 : IF (DI[1]),IBGN start[3] ;
5 :L P[3] 250mm/sec CNT100 ;
6 :L P[4] 150mm/sec CNT50 ;
7 :L P[5] 300mm/sec FINE ;
8 : IBGN end[3] ;
9 : IBGN REC end[3] ;
10 :L P[6] 100mm/sec FINE ;
11 : IF (DI[2]),IBGN REC start[4] ;
12 : IF (DI[1]),IBGN start[4] ;
13 :L P[7] 250mm/sec CNT100 ;
14 :L P[8] 150mm/sec CNT50 ;
15 :L P[9] 300mm/sec FINE ;
16 : IBGN end[4] ;
17 : IBGN REC end[4] ;
18 :L P[10] 100mm/sec FINE ;

As above example, in case that some IBGN start commands is taught in a

program, one or more motion instruction must be taught between IBGN start
command and previous IBGN end command

14
R-J3iC Controller ASCII Interface Specification 24/06/07

2.5 Record path

In the section between IBGN REC start and IBGN REC end, path data and additional
data specified from the file SENSPS**.TXT are recorded.

The additional data to record, such as IO data, are specified SENSPS**.TXT file. This
file is transferred from PC to R-J3iB controller at the start of recording. If
SENSPS**.TXT file can not be read when IBGN REC start instruction is executed, the
program is paused by alarm.

When IBGN REC start is executed, R-J3iB communicates with PC to receive

SENSPS**.TXT file. During communication and reading the file, robot motion is
stopped. So, even if termination type of motion instruction immediately before IBGN
REC start is CNT, robot decelerates and locates at the taught position.

If automatic file transfer is disabled, IBGN REC START uses SESNSPS**.TXT on

Memory Card(MC:). If memory card is not inserted in R-J3iB controller, an alarm
occurs.

Following three kinds of motion data are recorded. And these data are stored in the
following files.

Motion data File

Rated values of path planner in Cartesian coordinate RECORD**.TXT
Actual values of path planner in Cartesian coordinate R_ISTW**.TXT
Actual joint values of all axes R_ACHSW**.TXT

These files are made at the end of recording. While the recorded data are stored to
these files, robot motion stopped. When auto file transfer is disabled, these files are
created on Memory Carrd(MC:). If memory card is not inserted at the end of recording,
an alarm occurs.

If one of the following events occurs during recording, a warning is issued and
designated DO is turned ON. In that case, the program execution is continued, but
record files are not made.
 CALL instruction is executed.
 Program control is returned from subprogram.

15
R-J3iC Controller ASCII Interface Specification 24/06/07

 JUMP instruction is executed.

16
R-J3iC Controller ASCII Interface Specification 24/06/07

 Program execution is paused by an alarm or any manual operations.

 The selected tool frame number is changed.
 The selected tool frame is modified.
 The selected user frame number is changed.
 The selected user frame is modified.
 Both normal motion and Remote TCP motion are taught between recording start
and recording end.

The number of warning DO is designated by the following system variable. This

warning DO is turned OFF when IBGN REC start is executed.

$IBGN_ERR_IO.$REC_IO_TYP Output Signal Type

$IBGN_ERR_IO.$REC_IO_NUM Output Signal number

In case that IBGN REC start is executed with single step mode, record files are not
made. In that case, a warning is issued when IBGN REC start is executed.

When IBGN REC start is taught but IBGN REC end is not taught, if the program is
executed, recording is executed from IBGN REC start to the program end.

When IBGN REC start is executed, if previous recording has not finished, previous
recording is terminated then new recording is started.

There must be one or more motion instruction from top of the program to the first IBGN
REC start instruction. If motion instruction is not executed before IBGN REC start is
executed, an alarm occurs.

17
R-J3iC Controller ASCII Interface Specification 24/06/07

2.6 Execution of the optimized path

Between IBGN start and IBGN end, robot moves on the optimized path that is
described in IBGN**.IBG file, and IO output, analog output, and setting of register are
done according to the description in IBGN**.IBG file.

The optimized path and the additional data to execute, such as IO data, are specified
IBGN**.IBG file. This file is transferred from PC to R-J3iB controller at the start of IBGN
execution. If IBGN**.IBG file cannot be read when IBGN start instruction is executed,
the program is paused by alarm.

When IBGN start is executed, R-J3iB communicates with PC to receive IBGN**.IBG

file . When IBGN start is executed, if IBGN**.IBG file cannot be received or read, an
alarm occurs.

During communication and reading the file, robot motion is stopped. So, even if
termination type of motion instruction immediately before IBGN start is CNT, robot
decelerates and locates at the taught position.

In the section between IBGN start and IBGN end, motion instructions taught in TP
program are ignored. In that section, only the motion and restoring data described in
IBGN**.IBG are executed.

In case that IBGN start is executed with single step mode, the program is executed
until the robot moves to the end of the optimized path, then the program is paused.

In the following case, the robot moves on the optimized path in the reverse direction by
backward execution.
 In case that the backward execution is started after the program is paused
while the optimized path is executed.
 In case that the backward execution is started after the robot reaches to the
destination position of the optimized path by single step execution.

In the following program, if the program is executed by backward from line 7

continuously, the robot moves on the taught path in the reverse direction and the
program is paused at each taught point.

18
R-J3iC Controller ASCII Interface Specification 24/06/07

1: J P[1] 100% FINE

2: IBGN START[2]
3: L P[2] 450mm/sec CNT50
4: L P[3] 300mm/sec CNT100
5: L P[4] 400mm/sec FINE
6: IBGN END[2]
7: L P[5] 500mm/sec FINE

The backward execution of the optimized path has the following restrictions.
 When the program is paused while the robot moves on the optimized path by
backward execution, forward execution cannot be done. If the backward
execution of the optimized path is started, forward execution cannot be done
until the robot reaches to the start position of the optimized path.
 Output of PLC points does not execute during backward execution.

In case that the program is paused while robot moves on the optimized path, DRY-
RUN function can be executed. Please refer to the specification of DRY-RUN.

When the optimized path is executed with T1 mode, the maximum speed of robot
motion is under 250mm/sec.

During the optimized path execution, the acceleration/deceleration time is changed to

the value defined by the following system variables. The initial value 1, which means
the minimum acceleration/deceleration time.
$PM_GRP[i].$ACC_TIME1
$PM_GRP[i].$ACC_TIME2

The first point in IBGN file must be the same position as the destination of the motion
instruction that is taught immediately before IBGN start. When IBGN start is executed,
if the first point in IBGN file is different form the current robot position, an alarm occurs
and the program is paused.

When IBGN start is executed, if the value of ITP time and tool center point is different
from the value described in IBGN file, an alarm occurs and the program is paused.

19
R-J3iC Controller ASCII Interface Specification 24/06/07

When the program is restarted after the program is paused during the optimized path
execution, if robot is out of the optimized path, the robot returns the optimized path
and then robot moves on the optimized path.

When the configuration data of all position data in the optimized path file are not same,
the alarm MOTN-156 PM: Configuration changed occurs.

20
R-J3iC Controller ASCII Interface Specification 24/06/07

2.7 Restrictions
 32M bytes DRAM CPU card (A05B-2450-H012) is needed.

 This function cannot be used in the multi motion system.

 In the TP program that has IBGN instructions, the number over 30,000 can not be
used as the label number for JUMP/LABEL instructions.

 Suppose OFFSET or OFFSET PR[ ] or TOOL OFFSET or TOOL OFFSET PR[ ] is

attached to motion instruction. In this case, please obey followings. If not, program
data in header may be wrong.

1. OFSET CONDITION and TOOL OFFSET CONDITION instruction should be taught

in a program that uses IBGN REC START[ ] and IBGN REC END[ ].Don’t use them
in a program that is called from a program for recording. Don’t use them in a
program that calls recording program for recording.

2. Following data affect OFFSET and TOOL OFFSET instruction. Statuses of the
following items are fixed. Robot uses those of when recording ended.
A) Value of PR[ ]
B) “Ignore Offset Command” and “Ignore Tool Offset” in SETUP GENERAL

3. User frame and tool frame to interpret PR[ ] for offset/Tool offset are those that
are selected when recording ended.

 The following options can be loaded with ASCII Interface function, but cannot
be used at the same time as ASCII Interface function.
Continuous turn Torque Limit
Touch Sensor Soft Float
Weaving Coordinate Motion
MIG EYE Robot Link
Line Tracking ARC related function
ARC Sensor Approach Deterrence for Dual robot
Root Path Memorization Approach Deterrence for Robot Link
AVC

21
R-J3iC Controller ASCII Interface Specification 24/06/07

2.8 System variables

System variable Default Contents

$IBGN_CFG $CMP_WAIT 0 Wait time to stop recording when IBGN
REC END command is executed. If this
system variable is set to 1, when IBGN
REC END is executed, the controller wait
4msec then stop recording.

$MAX_PNUM1 50 The number of points copied to the

execution buffer before the robot motion is
started, when IBGN START is executed.

$MAX_PNUM2 2 The number of points copied to the

execution buffer at one time when the task
to copy the points is executed, while the
robot motion is executed.

$FWD_TOL_LOC 2.0 The tolerance for the difference of the

distance between the current position and
the first point of the optimize path at start.
(mm)

$FWD_TOL_ORT 0.01 The tolerance for the difference of the

orientation between the current position
and the first point of the optimize path at
start. (deg)

$FWD_TOL_EXT 0.01 The tolerance for the difference of

extended axis position between the
current position and the first point of the
optimize path at start. (deg / mm)

$FWD_TOL_ANG 0.01 The tolerance for the difference of each

axis data between the current position and
the first point of the optimize path at start.

22
R-J3iC Controller ASCII Interface Specification 24/06/07

(deg)

$BWD_TOL_LOC 50.0 No use.

$BWD_TOL_ORT 0.01 No use.

$BWD_TOL_EXT 0.01 No use.

$BWD_TOL_ANG 0.01 No use.

$BWD_RTN_SPD 200.0 Speed of the motion to return to the

original path. (mm/sec)

$UF_DATA FALSE If this system variable is set to TRUE, the

position data in the optimized path file are
the position in selected User frame.

$DBG_MASK 0 No use.

23
R-J3iC Controller ASCII Interface Specification 24/06/07

System variable Default Contents

$IBGN_DEV 3 Device that is transferred the optimized
path file.

$IBGN_ERRIO $REC_IO_TYP 0 Type of IO that is output when warning

is issued during recording.

$REC_IO_NUM 0 IO number that is output when warning

is issued during recording.

$EXE_IO_TYP 0 No use

$EXE_IO_NUM 0 No use

$IBGN_FTP $FTP_CTAG 1 Tag number for FTP client

$AUTO_TRANS 2 Communication type between PC and

R-J3iB. Refer 3.1.1 Communication.

$IGNR_COMER TRUE If this system variable is set to TRUE, a

communication alarm is ignored.

$FTP_STAG 1 Tag number for FTP server

$SM_STAG 3 Tag number for SM server

$SM_CTAG 2 Tag number for SM client

$SM_SPORT 5001 Port number for SM server

$SM_CPORT 5001 Port number for SM client

$N_PCSOFT MERCATOR Message used in SM communication

with MERCATOR

24
R-J3iC Controller ASCII Interface Specification 24/06/07

$N_RECFL1 RECORD Message used in SM communication

with MERCATOR

$N_RECFL2 R_ACHS Message used in SM communication

with MERCATOR

$N_RECFL3 R_ISTW Message used in SM communication

with MERCATOR

$N_EXEFIL IBGN Message used in SM communication

with MERCATOR

$N_FLEXT1 IBG Message used in SM communication

with MERCATOR

$N_CONDFL SENSPS Message used in SM communication

with MERCATOR

$N_FLEXT2 TXT Message used in SM communication

with MERCATOR

System variable Default Contents

$N_SPTXT1 999 Message used in SM communication
with MERCATOR

$N_SPTXT2 Keine 0 Message used in SM communication

with MERCATOR

$SEQ_VAR 0 Sequence number of communication

This value indicates the status of
communication. When this value is
changed, corresponding
communication sequence is executed.

25
R-J3iC Controller ASCII Interface Specification 24/06/07

$SNS_NUM 1 This system variable is set the number

which is designated in IBGN REC
START command, when IBGN REC
command is executed.

$SNS_CNST 0 Sensor constant. This is the number

sent form MERCATOR, when
initialization sequence is executed.
When R-J3iB received the sensor
constant from MERCATOR, set the
folder name to this variable

$FOLDER This is the folder name sent form

MERCATOR. When R-J3iB received
the folder name from MERCATOR, set
the folder name to this variable

$RECS_PRG IBSCRECS This is the program name executed

when IBGN REC START is executed.

$RECS_TMO 80000 Time out value for above program

execution.

$RECE_PRG IBSCRECE This is the program name executed

when IBGN REC END is executed.

$RECE_TMO 240000 Time out value for above program

execution.

$SM_DBG FALSE When this system variable is set

TRUE, message for communication is
displayed in USER screen.

$AUTO_START FALSE When this system variable is set

TRUE, KAREL program for SM
communication is executed at power

26
R-J3iC Controller ASCII Interface Specification 24/06/07

on.

$RESERVE 0 No use.

System variable Default Contents

$PM_GRP[ ] $ACC_TIME1 1 First acceleration time when the
optimized path is executed. (msec)

$ACC_TIME2 1 Second acceleration time when the

optimized path is executed. (msec)

$POS_ERR_LIM 16 The tolerance for the difference of the

distance between the current
interpolation point and the previous
interpolation point during the execution
of the IBNG path. (mm)

$ROT_ERR_LIM 4.0 The tolerance for the difference of the

orientation between the current
interpolation point and the previous
interpolation point during the execution
of the IBNG path. (deg)

$ENABLED 0 No use

$DBG_MASK 0 No use

$COMP_SWITCH 0 No use

$BWD_ACC1 1 First acceleration time when the

optimized path is executed backward.
This system variable is set automatically
at power on. (msec)

27
R-J3iC Controller ASCII Interface Specification 24/06/07

$BWD_ACC2 1 Second acceleration time when the

optimized path is executed backward.
This system variable is set automatically
at power on. (msec)

$JVEL_RATIO 101 The tolerance for the difference of the

axis data between the current
interpolation position and the previous
interpolation position in IBGN file. This
system variable is set the value that
designated the percentage to the
maximum joint speed,
$PARAM_GROUP.$JNTVELLIM. (%)

When this system variable is set to 100,

the tolerance is equal to the value set in
$PARAM_GROUP.$JNTVELLIM.

$REWIND_NUM 1 Interbal data for resume motion of

optimized path.

28
R-J3iC Controller ASCII Interface Specification 24/06/07

System variable Default Contents

$GTF_ACC1 - Internal data for resume motion.
Default value is dependent on robot.

$GTF_ACC2 - Internal data for resume motion.

Default value is dependent on robot.

29
R-J3iC Controller ASCII Interface Specification 24/06/07

2.9 Alarm

2.9.1 Execution alarm

INTP-570 IBGN internal error (ABORT)
Cause) Internal error.

INTP-571 IBGN file format error(n) (PAUSE)

Cause) File format for IBGN is not correct. The number n indicates detail.
Remedy) Check the file according to the following detail code.

Code Cause
The item “IPO TAKT” or “Wzk” does not exist in the header of
1
IBGN**.IBG.

2 The item “FOLGE” does not exist in the header of IBGN**.IBG.

3 The item “;” does not exist after the program data in IBGN**.IBG.

4 CODE does not exist in the header of IBGN**.IBG.

The position data is not specified by CODE in the header of

5
IBGN**.IBG.

6 CODE does not exist in SENSPS**.TXT.

7 CODE does not exist in SENSPS**.TXT.

8 The specification of analog data unit

SPS, which indicates the start of record condition, does not exist in
9
IBGN**.IBG.
The sum total of IO data and analog data designated in record
10
condition excess the maximum in IBGN**.IBG or SENSPS**.TXT.
The sum total of IO data designated in record condition excess the
11
maximum in IBGN**.IBG or SENSPS**.TXT.
The sum total of analog data designated in record condition excess
12
the maximum in IBGN**.IBG or SENSPS**.TXT.
The type of IO data or analog data designated in record condition is
13
not correct in IBGN**.IBG or SENSPS**.TXT.
The type of IO data or analog data designated in record condition is
14
not correct in IBGN**.IBG or SENSPS**.TXT.

30
R-J3iC Controller ASCII Interface Specification 24/06/07

The type of IO data or analog data designated in record condition is

15
not correct in IBGN**.IBG or SENSPS**.TXT.

31
R-J3iC Controller ASCII Interface Specification 24/06/07

INTP-572 IBGN file cannot open (PAUSE)

Cause) SENSPS**.TXT cannot be read when IBGN REC start is executed.
IBGN**.IBG cannot be opened when IBGN start is executed.
Remedy) Confirm whether memory card is inserted in R-J3iB controller.
Confirm whether these files exist in memory card.

INTP-573 IBGN rtcp and usual tool mixed (WARN)

Cause) During IBGN recording, remote tcp motion and usual motion cannot
used together
Remedy) Modify program and try again.

INTP-574 No motion statement executed before RECORD start (PAUSE)

Cause) No motion statement executed before IBGN REC start instruction.
Remedy) Execute at least one motion statement before IBGN REC start.

INTP-575 IBGN ITP TIME does not match (PAUSE)

Cause) ITP time in ASCII file is not same as this system.
Remedy) Check whether ASCII file is correct.

INTP-576 IBGN TCP data does not match (PAUSE)

Cause) TCP data in ASCII file is not same as this system.
Remedy) Check whether ASCII file is correct.

INTP-577 IBGN Program can not be restarted (PAUSE)

Cause) Program can not be restarted because Constant Joint Path is disabled.
Remedy) Enable Constant Joint Path function.

INTP-578 IBGN RECORD interrupted (WARN)

Cause) Program is paused. Recording is stopped.
Remedy) To start recording, start your program again from the beginning.

INTP-579 IBGN RECORD doesn't work in single step mode (WARN)

Cause) RECORD start instruction doesn't work in single step mode.
Remedy) Disable single step.

32
R-J3iC Controller ASCII Interface Specification 24/06/07

INTP-580 IBGN Buffer is empty (PAUSE)

Cause) There is no point data in IBGN buffer.
Remedy) Check IBGN**.IBG file.

INTP-582 IBGN RECORD buffer is full (WARN)

Cause) Buffer for recording is full. Record stopped here.
Remedy) Please shorten time to record.

INTP-583 IBGN program call/return during RECORD (WARN)

Cause) Program call or return from program occurred during recording.
Remedy) Teach IBGN REC start and end in a program and don't use CALL.

INTP-584 IBGN tool changed during RECORD (WARN)

Cause) Tool changed during recording.
Remedy) Don't change tool between IBGN REC start and IBGN REC end.

INTP-585 IBGN user frame changed during RECORD (WARN)

Cause) User frame changed during recording.
Remedy) Don't change user frame between IBGN REC start and IBGN REC
end.

INTP-586 IBGN jmp label during RECORD (WARN)

Cause) Jmp label occurred during recording.
Remedy) Don't teach jmp label instruction between IBGN REC start and IBGN
REC end.

INTP-587 IBGN illegal speed unit (WARN)

Cause) Illegal speed unit for IBGN record.
Remedy) If Joint, use %. If linear/circle, use mm/sec, cm/min or inch/min.

INTP-588 IBGN Buffer is full (PAUSE)

Cause) Buffer for executing is full.
Remedy) Check the number of point in IBGN file.

33
R-J3iC Controller ASCII Interface Specification 24/06/07

INTP-589 IBGN teach error (PAUSE)

Cause) Teaching of IBGN instruction is not correct.
Remedy) Check whether IBGN END instruction exist. Check whether IBGN END
instruction is not taught before IBGN instruction.

INTP-590 IBGN communication error (WARN)

Cause) File transfer by FTP protocol failed.
Remedy) Check the setting for communication.

INTP-591 IBGN FWD execution cannot be done (WARN)

Cause) When BWD execution is paused, FWD execution cannot be done.
Remedy) After BWD execution finish, do FWD execution.

INTP-592 IBGN RECORD index mismatch (PAUSE)

Cause) Index of IBGN REC end is different from IBGN REC start. Record of the
first index was in progress when end instruction of the second index
was executed.
Remedy) Teach proper index.

INTP-593 IBGN file cannot read (PAUSE)

Cause) IBGN file cannot read because previous IBGN command does not
finish.
Remedy) Teach motion instruction between IBGN start command and previous
IBGN end command.

INTP-595 Updating IBGN exe file (PAUSE)

Cause) One of followings occurred.
A) Transfer of IBGN**.IBG file during another transfer.
B) Backup of IBGN**.IBG during transfer of IBGN**.IBG
Remedy) Wait for a while and try again

INTP-596 Saving IBGN exe file (WARN)

Cause) Someone is saving IBGN file You cannot transfer IBGN**.IBG now.
Remedy) Wait for a while and try again.

34
R-J3iC Controller ASCII Interface Specification 24/06/07

INTP-597 IBGN exe file is in use (WARN)

Cause) IBGN START[ ] instruction is using one of IBGN file. Now IBGN file
cannot be updated.
Remedy) Wait for a while and try again

INTP-601 IBGN more than 256 characters in a line (PAUSE)

Cause) SENSPS file or IBGN file contains a line that has more than 255
characters.
Remedy) Check ASCII file and fix it.

35
R-J3iC Controller ASCII Interface Specification 24/06/07

2.9.2 Motion alarm

MOTN-150 PM: XYZ data error(L: l) (PAUSE)
Cause) Distance between current point and previous point in the optimized path
is very large. (L: l) indicates the line number in IBGN file that has
invalid data.
Remedy) Check the position data in the optimized file.

MOTN-151 WPR data error(L: l) (PAUSE)

Cause) Orientation between current point and previous point in the optimized
path is very large. (L: l) indicates the line number in IBGN file that has
invalid data.
Remedy) Check the position data in the optimized file.

MOTN-152 PM: Can’t current record data (PAUSE)

Cause) Position data cannot be recorded. This is a internal error.

MOTN-154 I/O data error(L: l) (PAUSE)

Cause) I/O port is assigned invalid. (L: l) indicates the line number in IBGN file
that has invalid data.
Remedy) Check I/O port number in SENSPS**.TXT and IBGN**.IBG.

MOTN-155 No interpolation data (PAUSE)

Cause) There are no position data in the optimized file.
Remedy) Check IBGN**.IBG.

MOTN-156 PM: Configuration changed (PAUSE)

Cause) Configuration has been changed.
Remedy) Please check configuration in IBGN**.txt.

36
R-J3iC Controller ASCII Interface Specification 24/06/07

MOTN-157 PM: Internal error (PAUSE)

Cause) Internal error

MOTN-158 PM: Original path invalid (PAUSE)

Cause) Original path invalid
Remedy) Please enable original path resume function.

MOTN-159 PM: Joint data error (L:l) (PAUSE)

Cause) Joint data are invalid. The recorded data may be around singular point
and change configuration.
Remedy) Please retry to record the data again except singular and configuration
change point.

37
R-J3iC Controller ASCII Interface Specification 24/06/07

2.10 File format

2.10.1 Record condition file
Line Data Content
1 CODE Code to designate which data shall be recorded.
(Hexadecimal)

0001 Cartesian coordinates xyz (mm)

Orientation abc (deg) (a=rot z; b=rot y;
0002
c=rot x)
0004 1st additional axis angles (deg)
0008 2nd additional axis angles (deg)
0010 3rd additional axis angles (deg)
0020 4th additional axis angles (deg)
0040 5th additional axis angles (deg)
0080 6th additional axis angles (deg)
0100 I/O 1-32(Long hexadecimal)
0200 I/O 33-64 (Long hexadecimal)
0400 AO/GO/R/Timer data 1 (Short hexadecimal)
0800 AO/GO/R/Timer data 2 (Short hexadecimal)
1000 AO/GO/R/Timer data 3 (Short hexadecimal)
2000 AO/GO/R/Timer data 4 (Short hexadecimal)
4000 Status (Integer)
8000 Turn (Integer)
10000 Point number (Integer)

XYZ, abc, E1-E3 data are always recorded even if these

data are not designed by CODE.

Unit of timer is 10msec.

2 CODE Communication to Mercator.(Hexadecimal)

(Not
supported) 1 : Measuring communication
2 : File transfer Mercator PC to robot controller (has no
meaning)
4 : File transfer robot controller to Mercator PC

38
R-J3iC Controller ASCII Interface Specification 24/06/07

3- PLC points that need to be recorded. After a colon a free

comment can be entered if not taken from the I/O
definition table.

F FLAG ( Mixed Logic Option is needed.)

A DO
E DI
M Marker (Mixed Logic Option is needed.)
i Register
b GO
t Timer
a AO
gE GI
aE AI

39
R-J3iC Controller ASCII Interface Specification 24/06/07

Example of SENSPS**.TXT

1FFFF
2
E 1 : Aufnahme Start
E 2 : IBGN Start
A 1 : analog 1
A 5 : A5
F 5 : Aufzeichnung Start
M 24 : Testmerker
t 3 : t3

40
R-J3iC Controller ASCII Interface Specification 24/06/07

2.10.2 Record file, Optimized Path file

1. Header
Title Data Content
Robot as well as PC can generate the
comment here, e.g. take file comment
1 File comment
from program file header.

This describes the file format with a

version number. Current file format
2 Dateiformat Version number
described here is version 1.1.

Robot or PC fills in this item in the format

3 Datum Last modification date dd.mm.yy.

Robot fills in this item. The unit of setting

4 IPO TAKT Time base value is msec.

Robot fills in this item.

Position number at About numbering, refer to PKT_Nr in 3.
5 Start
recording start Program data.

Robot fills in this item.

Position number at About numbering, refer to PKT_Nr in 3.
6 Stop
recording end Program data.

Robot fills in this item.

Three values are divided by space.
Controller + Version +
7 Roboter Robot name Controller: Type of controller.(R-J3iB)
Version: Version of software(V6.30P03)
Robot name: Host name.(H1_Rob_A)

Sensor Sensor name + Version “Sensor: VW_ASCII_1.1 Nr.:XX” is set.

8
Nr. Sensor number (XX is the file number.)
9 PC PC name PC fills in this item.
Robot clears this item at recording.

41
R-J3iC Controller ASCII Interface Specification 24/06/07

PC fills in this item.

Software name +
10 PC-Software Robot clears this item at recording.
version

Robot fills in this item.

This item is always set to Hex. All analog
11 Analog Hex or float
data is recorded by Hexadecimal.

Robot fills in this item.

The used Tool frame is set to “Tool”.
Wkz
When Remote TCP function is used,
12 Tool: X,Y,Z,a,b,c
corresponding user frame is set to
Base: X,Y,Z,a,b,c
“Base”, and “Tool” is not set.

Robot fills this item.

Nr:
IBGN Datei If IBGNxx file exists when recording
13 Nr 0 or 1 ended, this item is 1. Otherwise 0.
Aktiv 0 or 1 Aktiv:
If playback of IBGNxx file is recorded,
Aktiv is 1. Otherwise 0.

42
R-J3iC Controller ASCII Interface Specification 24/06/07

2. Record condition
Title Data Content
Robot fills in this item.
This line indicates that now the portion from
x SPS
SENSPSxx.TXT begins.

Robot fills in this item.

The data after third line in SENSPS**.TXT are
X+1
copied to this.

3. Program data
Title Data Content
Robot fills in this item.
N ;

/* PKT_Nr: X Y Z a b c Interpolation Vb Ve Aa Ae Genau Status Turn//Kommentar */

n+1

Robot fills in this item.

VW user interface motion programs can only
have the name “FOLGE***.TP”. The requested
n+2 Folge Number
”number” here is the number *** of the program
running this RECORD or IBGN file.

n+3 Robot fills in this item.

- Position and related information from the
FOLGExxx program, described two line before.

The details of each data are as follows

1. PKT_Nr: Serial number of position number

and position register number in a program.

(Example)
1:J P[1] PKT_Nr=1
2:L P[5] PKT_Nr=2
3: IBGN REC START[1] PKT_Nr=3

43
R-J3iC Controller ASCII Interface Specification 24/06/07

4:J PR[1] PKT_Nr=4

5:J P[2] PKT_Nr=5
6:J P[1] PKT_Nr=6

2. XYZ: Position data (mm)

If INCR motion, increment amount is recorded.
“INCR” is recorded after “Kommentar”.

3. abc: Orientation data (deg)

4. Interpolation: Interpolation type(LIN/PTP/ZIR)

5. Vb, Ve: Taught speed

6. Aa, Ae: Acceleration at the beginning and the

end of motion. The value of ACC is set. If ACC
instruction is not taught, this item is set to 100.

7. Genau: Termtype. If termtype is FINE, this

item is set to 0. If CD, value of it is recorded.
“CD” is recorded after “Kommentar” field.

8. Status: Configuration data. Refer to “5. Data

format”

9. Turn: Turn number. Refer to “5. Data format”

10. //: Comment is described after this.

11. Kommentar : Comment for position data.

If no comment, “P[1]” etc. is recorded instead.

Robot fills in this item.

n+m ; This means the end of header information.

44
R-J3iC Controller ASCII Interface Specification 24/06/07

4. Record data
Title Data Content
This item indicates which data is valid in this file.
The coding is hexadecimal.
n+m
CODE
+1
Refer to “CODE” in record condition file.

XYZabc Robot fills in this item.

(J1-J6) Position, additional axes position and PLC data
E1-E6 in interpolation cycle. Each data is separated by
I/O 1-32 space. Not used data is filled with 0. About data
n+m
I/O 33-64 format, refer to “5. Data format”.
+2 -
abit1-4 In the file R_ACHSW01-16, the joint data (J1-
Status J6) are recorded as the position data.
Turn
Pkt_Nr
Robot fills in this item.
Last ; This means the end of data.

Status of PC software may be added.

Comment in the file is surrounded by “/*” and “*/”.

5. Data format
Item Data Unit
XYZ Position location mm Floating number with 4 digits after comma.

abc Position deg Floating number with 6 digits after comma.

orientation
a: rotation z
b: rotation y
c: rotation x

(J1-J6) (Position data) (deg) ( In the file R_ACHSW01-16, the joint data (J1-J6)
are recorded as the position data. )
Floating number with 4 digits after comma.

45
R-J3iC Controller ASCII Interface Specification 24/06/07

E1-E6 Position of the deg Floating number with 6 digits after comma.
additional axis The data from E4 to E6 is always set to 0.

I/O 1-32 PLC data Information on PLC in long hexadecimal data type.
This data is filled up from left to right with the
status of ports described in the SENSPSxx.TXT.

I/O 33- PLC data Information on PLC in long hexadecimal data type.
64 This data is filled up from left to right with the
status of ports described in the SENSPSxx.TXT.

Abit1-4 Analog data At present, this item is always hexadecimal.

Status Configuration This item is hexadecimal. The lower 4 bits

data describe Configuration data as follows.

BIT0 : FRONT/BACK
BIT1 : UP/DOWN
BIT2 : LEFT/RIGHT
BIT3 : FLIP/NON-FLIP

Example) In case that Status is 7.

BIT0=1 : FRONT
BIT1=1 : UP
BIT2=1 : LEFT
BIT3=0 : NON-FLIP

Turn Turn number This item is hexadecimal. The lower 4 bits

describe Turn number as follows.

46
R-J3iC Controller ASCII Interface Specification 24/06/07

BIT0, BIT1: TURN number 4

BIT2, BIT3: TURN number 5
BIT4, BIT5: TURN number 6

00: Turn number is 0.

01: Turn number is 1.
10: (No use.)
11: Turn number is -1.

Example: TURN = 0x00000034

BIT0, BIT1 : 00 TURN NUMBER 4 = 0
BIT2, BIT3: 01 TURN NUMBER 5 = 1
BIT4, BIT5: 11 TURN NUMBER 6 = -1

Pkt_Nr Serial number of Point number to which the robot approaches in the
position original FOLGE*** program.

In the case of circular motion, the position number

of the intermediate point of circular is ignored.
Pkt_Nr of all position in the circular motion are the
number of the destination position.

About the meaning of the serial number, refer to

“3. Program data”.

47
R-J3iC Controller ASCII Interface Specification 24/06/07

Example) Record file(RECORD**.IBG) / Optimized Path file(IBGN**.IBG)

**** Header Information **** ( This line does not exist in real file.)
AHLENERK.7ACHS;
Dateiformat : 1.1;
Datum : 9.12.2002;
IPO TAKT : 15;
Start : 3;
Stop : 65;
Roboter : VRS_1 VERSION002.01a vom 26.11.02 VRS1_AB;
Sensor : BAHNVIS_3.41 Nr. : 1;
PC : ;
PC - Software : ;
Analog : hex;
Wkz : tool 0.000 mm, 0.000 mm, 0.000 mm, 0.00 Grd, 0.00 Grd, 0.00 Grd;
IBGN Datei Nr : 0 Aktiv : 0;
**** Record condition **** ( This line does not exist in real file.)
SPS :
E 1 : Aufnahme Start
E 2 : IBGN Start
A 1 : analog 1
A 5 : A5
F 5 : Aufzeichnung Start
M 24 : Testmerker
S 1 : Senden
S 15 : Start
S 16 : Aufzeichnung Start
S 30 : pt
t 3 : t3
**** Program data **** ( This line does not exist in real file.)
;
/*PKT_Nr : X Y Z a b c Interpolation Vb Ve Aa Ae Genau Status Turn //Kommentar*/
Folge: 78
0 : 1827.1077 -310.8549 988.4280 -87.623158 -28.336284 -91.416794 PTP 100 0 100 100 0 0 0 //
1 : 1827.1664 -310.7703 988.5379 -87.625841 -28.324034 -91.416126 PTP 100 0 100 100 0 0 0 //
2 : 1827.1077 -310.8549 988.4280 -87.623158 -28.336284 -91.416794 PTP 100 0 100 100 0 0 0 //
3 : 1826.9729 -310.6933 977.9237 -87.596391 -28.387352 -91.418695 LIN 66 0 800 800 0 0 0 //
4 : 1819.7736 -303.5348 978.0617 -87.602303 -28.371515 -91.417564 LIN 40 40 800 800 2 0 0 //

---------

65 : 1997.2272 -47.6646 976.3467 -87.608141 -28.355399 -91.415606 LIN 40 0 800 800 2 0 0 //

66 : 1997.3039 -47.5015 987.3747 -87.612317 -28.328960 -91.415139 LIN 40 40 800 800 2 0 0 //
67 : 1827.1664 -310.7703 988.5379 -87.625841 -28.324034 -91.416126 LIN 66 0 800 800 0 0 0 //
68 : 1827.1077 -310.8549 988.4280 -87.623158 -28.336284 -91.416794 LIN 66 0 800 800 0 0 0 //
;
( To be continued )

48
R-J3iC Controller ASCII Interface Specification 24/06/07

**** Record data / Optimized Path data **** ( This line does not exist in real file.)
10503;
1826.9729 -310.6933 977.9237 -87.596387 -28.387351 -91.418695 0 0 0 0 0 0 80000000 0 0000 0 0 0 0 0 4
1826.9723 -310.6927 977.9237 -87.596387 -28.387351 -91.418695 0 0 0 0 0 0 80000000 0 0000 0 0 0 0 0 4
1826.9699 -310.6904 977.9237 -87.596387 -28.387346 -91.418695 0 0 0 0 0 0 80000000 0 0000 0 0 0 0 0 4
1826.9638 -310.6842 977.9239 -87.596397 -28.387331 -91.418695 0 0 0 0 0 0 80000000 0 0000 0 0 0 0 0 4
1826.9510 -310.6714 977.9241 -87.596416 -28.387303 -91.418685 0 0 0 0 0 0 80000000 0 0000 0 0 0 0 0 4
1826.9281 -310.6488 977.9245 -87.596426 -28.387252 -91.418685 0 0 0 0 0 0 80000000 0 0000 0 0 0 0 0 4
1826.8918 -310.6128 977.9253 -87.596454 -28.387172 -91.418676 0 0 0 0 0 0 80000000 0 0000 0 0 0 0 0 4
1826.8386 -310.5597 977.9263 -87.596492 -28.387055 -91.418666 0 0 0 0 0 0 80000000 0 0000 0 0 0 0 0 4
1826.7642 -310.4859 977.9276 -87.596559 -28.386893 -91.418666 0 0 0 0 0 0 80000000 0 0000 0 0 0 0 0 4

-----------

1038.0003 100.7071 1400.0239 -90.186748 0.447055 178.277087 0 0 0 0 0 0 08000000 0 0000 0 0 0 0 0 24

1038.0003 100.7071 1400.0239 -90.186748 0.447055 178.277087 0 0 0 0 0 0 08000000 0 0000 0 0 0 0 0 24
1038.0003 100.7071 1400.0239 -90.186748 0.447055 178.277087 0 0 0 0 0 0 08000000 0 0000 0 0 0 0 0 24
1038.0003 100.7071 1400.0239 -90.186748 0.447055 178.277087 0 0 0 0 0 0 08000000 0 0000 0 0 0 0 0 24
;

49
R-J3iC Controller ASCII Interface Specification 24/06/07

Appendix A) Procedure to define TCP/IP parameters

1. Press MENUS key and select SETUP in the menu.

2. Press F1[TYPE] key and select Host Comm.

SETUP Protocols JOINT 10 %

1/8
Protocol Description
1 TCP/IP TCP/IP Detailed Setup
2 TELNET Telnet Protocol
3 SM Socket Messaging Device
4 PROXY Proxy Server
5 PPP Point to Point Protocol
6 PING Ping Protocol
7 HTTP HTTP Authentication
8 FTP File Transfer Protocol

[ TYPE ] DETAIL [ SHOW ]

3. Move cursor to TCP/IP and Press F3(DETAIL) key.

4. Following screen is displayed.

SETUP Protocols JOINT 10 %

TCP/IP 2/32
Robot name: ROBOT
Robot IP addr: ******************
Router IP addr: ******************
Subnet Mask: 255.255.255.0
Board address: 08:00:19:02:60:37

Host Name (LOCAL) Internet Address

1 ********** ******************
2 ********** ******************
3 ********** ******************

[ TYPE ] LIST PING HELP

5. Set the following items according to the system.

 Robot IP Address
 Router IP Address (If needed)
 Subnet mask
 Host name and Internet address

50
R-J3iC Controller ASCII Interface Specification 24/06/07

6. Following is the example for setting.

SETUP Protocols JOINT 10 %

TCP/IP 2/32
Robot name: ROBOT
Robot IP addr: 192.168.0.1
Router IP addr: 192.168.0.255
Subnet Mask: 255.255.255.0
Board address: 08:00:19:02:60:37

Host Name (LOCAL) Internet Address

1 HOST_PC 192.168.010
2 ********** ******************
3 ********** ******************

[ TYPE ] LIST PING HELP

7. After setting, please turn off and on the power of R-J3iB controller.

51
R-J3iC Controller ASCII Interface Specification 24/06/07

Appendix B) Procedure to define and start FTP Client and Socket Message client

1. Before definition of FTP client and SM client, please set up TCP/IP parameter.
2. Press MENUS key and select SETUP in the menu.
3. Press F1 [TYPE] and select Host Comm in the menu.

SETUP Protocols JOINT 10 %

1/8
Protocol Description
1 TCP/IP TCP/IP Detailed Setup
2 TELNET Telnet Protocol
3 SM Socket Messaging Device
4 PROXY Proxy Server
5 PPP Point to Point Protocol
6 PING Ping Protocol
7 HTTP HTTP Authentication
8 FTP File Transfer Protocol

[ TYPE ] DETAIL [ SHOW ]

4. Press F4 [SHOW] and select Client in the menu.

SETUP Client JOINT 10 %

1/8
Tag Protocol Remote State
1 C1: ******** **********[UNDEFINED]
2 C2: ******** **********[UNDEFINED]
3 C3: ******** **********[UNDEFINED]
4 C4: ******** **********[UNDEFINED]
5 C5: ******** **********[UNDEFINED]
6 C6: ******** **********[UNDEFINED]
7 C7: ******** **********[UNDEFINED]
8 C8: ******** **********[UNDEFINED]

[ TYPE ] [ACTION] DETAIL [ SHOW ]

5. Move cursor to the tag which is used for this function. And Press F3 DETAIL key.

52
R-J3iC Controller ASCII Interface Specification 24/06/07

SETUP Tags JOINT 10 %

1/11
Tag C1:

Comment: ****************
Protocol name: ********
Port name: *****
Mode: *************************
Current
State: UNDEFINED
Remote: ****************************
Path:

[ TYPE ] [ACTION] LIST [CHOICE]

6. Move the cursor to item “Protocol name” and press F4 [CHOICE]. Select FTP or SM in
the menu.
7. Move the cursor to Startup Remote and press enter key. Then, enter host name for FTP
server PC or SM server PC.
8. Move the cursor to Startup State and press F4 [CHOICE]. Select START in the menu.
9. Press F2 [ACTION] and select DEFINE in the menu. Confirm that Current State change
to DEFINED.
10. Press F2 [ACTION] again and select START in the menu. Confirm that Current State
change to STARTED.

SETUP Tags JOINT 10 %

1/11
Tag C1:

Comment: ****************
Protocol name: FTP
Port name: *****
Mode: *************************
Current
State: STARTED
Remote: HOST_PC
Path:
Startup
State: START
Remote: HOST_PC
Path: *********************************
Options
Error Reporting: OFF
Inactivity Timeout: 15 min

[ TYPE ] [ACTION] LIST [CHOICE]

53
R-J3iC Controller ASCII Interface Specification 24/06/07

11. If you need, set up Username and Password for FTP client by the following procedure.
If you do not change, the username is “anonymous” and the password is “guest” in
default setting.

12. Press F3 LIST to display list screen.

SETUP Client JOINT 10 %

1/8
Tag Protocol Remote State
1 C1: FTP **********[STARTED ]
2 C2: ******** **********[UNDEFINED]
3 C3: ******** **********[UNDEFINED]
4 C4: ******** **********[UNDEFINED]
5 C5: ******** **********[UNDEFINED]
6 C6: ******** **********[UNDEFINED]
7 C7: ******** **********[UNDEFINED]
8 C8: ******** **********[UNDEFINED]

[ TYPE ] [ACTION] DETAIL [ SHOW ]

13. Press F4 [SHOW] and select Protocol in the menu.

SETUP Protocols JOINT 10 %

1/8
Protocol Description
1 TCP/IP TCP/IP Detailed Setup
2 TELNET Telnet Protocol
3 SM Socket Messaging Device
4 PROXY Proxy Server
5 PPP Point to Point Protocol
6 PING Ping Protocol
7 HTTP HTTP Authentication
8 FTP File Transfer Protocol

[ TYPE ] DETAIL [ SHOW ]

14. Move cursor to FTP and press F3 DETAIL.

SETUP Host Comm JOINT 10 %

FTP 1/8
USERNAME PASSWORD TIMER
( minutes )
C1 anonymous ************ 0
C2 anonymous ************ 0
C3 anonymous ************ 0
C4 anonymous ************ 0
C5 anonymous ************ 0
C6 anonymous ************ 0
C7 anonymous ************ 0
C8 anonymous ************ 0

[ TYPE ] LIST

54
R-J3iC Controller ASCII Interface Specification 24/06/07

15. Move cursor to the username you want to change and press enter. Enter the username
using the function key. This item is case sensitive. If you want to enter username in
capital letters, press the function key with shift key.

16. Move cursor to the password that corresponds to that username and press enter. Enter
the password using the function key. This item is case sensitive. If you want to enter
password in capital letters, press the function key with shift key.

17. If you need, enter the password timer. Move the cursor to the corresponding timer and
enter the timer value. If you set the password timer, the password is reset to “guest”
after the setting time. The unit of this value is minute. If the timer is set to 0, the
password is not reset.

18. If you want to change the port number of FTP server, please set the port number to the
system variables $SERV[3].$PORT.

55
R-J3iC Controller ASCII Interface Specification 24/06/07

Appendix C) Procedure to define and start Socket Message server

1. Before definition of SM server, please set up TCP/IP parameter.

2. Press MENUS key and select SETUP in the menu.
3. Press F1 [TYPE] and select Host Comm in the menu.

SETUP Protocols JOINT 10 %

1/8
Protocol Description
1 TCP/IP TCP/IP Detailed Setup
2 TELNET Telnet Protocol
3 SM Socket Messaging Device
4 PROXY Proxy Server
5 PPP Point to Point Protocol
6 PING Ping Protocol
7 HTTP HTTP Authentication
8 FTP File Transfer Protocol

[ TYPE ] DETAIL [ SHOW ]

4. Press F4 [SHOW] and select Server in the menu.

SETUP Server JOINT 10 %

1/8
Tag Protocol Remote State
1 S1: FTP ********** [STARTED ]
2 S2: FTP ********** [STARTED ]
3 S3: ******** **********[UNDEFINED]
4 S4: ******** **********[UNDEFINED]
5 S5: ******** **********[UNDEFINED]
6 S6: ******** **********[UNDEFINED]
7 S7: ******** **********[UNDEFINED]
8 S8: ******** **********[UNDEFINED]

[ TYPE ] [ACTION] DETAIL [ SHOW ]

5. Move cursor to the tag which is used for this function. And Press F3 DETAIL key.

56
R-J3iC Controller ASCII Interface Specification 24/06/07

SETUP Tags JOINT 10 %

1/11
Tag C1:

Comment: ****************
Protocol name: ********
Port name: *****
Mode: *************************
Current
State: UNDEFINED
Remote: ****************************
Path:

[ TYPE ] [ACTION] LIST [CHOICE]

6. Move the cursor to item “Protocol name” and press F4 [CHOICE]. Select SM in the
menu.
7. Move the cursor to Startup State and press F4 [CHOICE]. Select START in the menu.
8. Press F2 [ACTION] and select DEFINE in the menu. Confirm that Current State change
to DEFINED.
9. Press F2 [ACTION] again and select START in the menu. Confirm that Current State
change to STARTED.

SETUP Tags JOINT 10 %

1/11
Tag C1:

Comment: ****************
Protocol name: SM
Port name: *****
Mode: *************************
Current
State: STARTED
Remote: ****************************
Path:
Startup
State: START
Remote: *********************************
Path: *********************************
Options
Error Reporting: OFF
Inactivity Timeout: 15 min

[ TYPE ] [ACTION] LIST [CHOICE]

57