Table 1. SETUP Protocols Screen Items
ITEM | DESCRIPTION |
TCP/IP |
This item allows you to configure networking parameters. |
TELNET |
This item allows you to configure TELNET parameters. |
SNIFF |
This item allows you to configure and run the Ethernet Packet Sniffer. |
SM |
This item allows you to configure socket messaging parameters. |
RIPE |
This item allows robots doing a common job to share information efficiently. |
PC SHARE |
This item allows you to configure global PC Share parameters. |
PROXY |
This item allows you to configure proxy server parameters. |
PPP |
This item allows you to configure Point to Point Protocol. |
PING |
This item allows you to check networking connectivity on the robot. |
HTTP |
This item allows you to configure HTTP parameters. |
FTP |
This item allows you to configure FTP password parameters. |
DNS |
This item allows you to configure domain name system parameters. |
Several parameters are used to configure and set the functions of the TCP/IP connections. Table 2, " TCP/IP Interface Parameters " lists and describes the TCP/IP Interface parameters you must define.
Table 2. TCP/IP Interface Parameters
PARAMETERS | DESCRIPTION |
---|---|
Robot Name |
This item specifies the name of the robot controller. The robot name defaults to ROBOT. This name field is common between Ethernet ports and is local to the robot. |
Port # IP Address |
This item specifies a unique internet (IP) Address for the robot Ethernet Interface. Consult your network administrator for the IP address setting. The port # indicates whether you are working with port #1 (TOP RJ45 connection labeled as CD38A) or port #2 (bottom RJ45 connection labeled as CD38B). Use the (F3) port FUNCTION key to change ports to configure. If the Enhanced Vision Ethernet Port option (R825) is loaded then the Vision Ethernet Port (CD38C) is also available and is referred to as Port #3. |
Router IP Address |
This item specifies the Internet (IP) Address of the router. This setting is common between the first two Ethernet ports. The router IP address must be on the same subnet as one of the first two Ethernet ports. If the Enhanced Vision Ethernet Port option (R825) is loaded then the Vision Ethernet Port (CD38C, referred to as Port #3) router setting is independent of the router for the first two ports. |
Subnet Mask |
This item is used to distinguish local hosts from hosts that must be reached across routers. The default is 255.255.255.0. Consult your network administrator for the proper setting. |
Board Address |
This item displays the Ethernet Hardware (MAC) address for the Ethernet Interface. This field is read only. This address conforms to the standards of Ethernet board addresses. |
Host Name (LOCAL or SHARED) |
This item specifies the Internet hostname. Entries for any hosts referred to by an FTP client tag, for example, are required, unless DNS is used. This item is case sensitive. |
Internet Address |
This item specifies the corresponding Internet address of each host. |
Table 3. Telnet Setup Screen Items
USERNAME | DESCRIPTION |
---|---|
tpdisplay |
This item allows you to log into the teach pendant device and displays the teach pendant output over the remote Telnet connection. |
kcl |
This item allows you to log into the KCL device. Make sure that the KCL option is loaded first. If the CRT/KB option is loaded and the port is configured for KCL/CRT, logging in via Telnet as KCL will bring up a KCL/CRT display. |
help or ? |
This item displays a help screen related to the topic you have selected. |
Table 4. SETUP TELNET Screen Items
ITEM | DESCRIPTION |
Username |
This item is the device on the robot to which users can connect. |
AccessValues: OUTPUT, INPUT, or NONE |
This item is the access level of the device. It can
be one of the following:
NOTE The TP device doesn't support INPUT access. |
Password |
This item is the password that allows access to the device. To enter a password, move the cursor to this field, press ENTER, and type the password. When you are finished, press ENTER. |
Timer Units: minutes Range: 0 - 99 Default: 0 |
This item is an inactivity timeout value. It indicates the number of minutes of inactivity over the TELNET connection before the robot closes the connection. |
Table 5. Ethernet Packet Sniffer Setup Items
ITEM |
DESCRIPTION |
---|---|
Status Default: OFFLINE |
The status of the sniffer. Possible values are ONLINE, and OFFLINE. This field is not editable. |
Packet Count Default: 0 |
The number of Ethernet packets sniffed. This field is not editable. Note that if the ring buffer is used, this will display the total number of packets sniffed and not the number of packets in the current ring buffer. |
Filter Default: NONE |
The name of the filter being used. Only packets matching the filter are captured. |
Trigger Default: NONE |
The name of the trigger being used. When the trigger is matched, the capture is stopped. |
Interface Default: Port1 |
The name of the interface being used. Possible values are Port1 and Port2. |
Dump file Default fr:sniff.cap |
The location where the Ethernet capture file is to be saved. |
Buffer Size Default: 50000 |
The maximum number of bytes used for capturing and storing an Ethernet capture on the controller. This determines the size of the capture buffer. |
Ring Buffer Default: FALSE |
Determines if the capture should run continuously with a ring buffer, or if the capture should automatically stop when the capture buffer is exhausted. |
You can view Socket Messaging parameters from the SETUP SM screen. This protocol is not configurable from the SETUP Host Comm screen. Socket messaging can be configured from the SETUP Clients or SETUP servers screens. For more information, refer to the Internet Options Manual.
The User Socket Messaging Option gives you the benefit of using TCP/IP socket messaging from KAREL.
Socket Messaging enables data exchange between networked robots and a remote PC with LINUX, or a UNIX workstation. A typical application of Socket Messaging might be a robot running a KAREL program that sends process information to a monitoring program on the remote PC. The combination of PC-Interface option on the robot and PC-Developers Kit on the PC is recommended for data exchange between the robot and a Windows-based PC.
Socket Messaging uses the TCP/IP protocol to transfer raw data, or data that is in its original, unformatted form across the network. Commands and methods that Socket Messaging uses to transfer data are part of the TCP/IP protocol. Since Socket Messaging supports client and server tags, applications requiring timeouts, heartbeats, or data formatting commands can provide these additional semantics at both the client and server (application) sides of the socket messaging connection.
In order to use Socket Messaging, you need to configure the following network hardware and software parameters:
You need configure the server tags you want to use for socket messaging. Use Setting up a Server Tag to set up your server tags.
If the server tags you want to use are being used by a network protocol other than TCP/IP, you need to undefine the tags before they can be used for socket messaging. After making sure the tag you want to use is not critical to another component of your network, you must undefine the tag.
Procedure 1. Setting up a Server Tag
The tag you want to set up is not configured to be used by another device on your network.
Cold start the controller.
On the teach pendant, press and hold the SHIFT and RESET keys. Or, on the operator panel, press and hold RESET.
While still pressing SHIFT and RESET on the teach pendant (or RESET on the operator panel), turn on the power disconnect circuit breaker.
Release all of the keys.
On the teach pendant, Press MENU.
Select SETUP.
Press F1, [TYPE].
Select Host Comm.
Press F4, [SHOW].
Choose Servers.
Move the cursor to the tag you want set up for Socket Messaging, and press F3, DETAIL. You will see screen similar to the following.
SETUP Tags Tag S3: Comment: **************** Protocol Name: ******** Current State: UNDEFINED Startup State: Server IP/Hostname:***************** Remote Path/Share: ***************** Port: ***** Inactivity Timeout: 15 min Username: anonymous Password **********
Move the cursor to Protocol name, and press F4, [CHOICE].
Select SM.
Move the cursor to Startup State, and press F4, [CHOICE].
Select START.
Press F2, [ACTION].
Select DEFINE.
Press F2, [ACTION].
Select START.
Set the system variable:
Press MENU.
Select NEXT.
Select SYSTEM, and press F1, [TYPE].
Select Variables.
Move the cursor to $HOSTS_CFG, and Press ENTER.
Move the cursor to the structure corresponding to the tag selected in Step 8 . For example, if you are setting up tag S3, move the cursor structure element [3], as shown in the following screen.
SYSTEM Variables $HOSTS_CFG 1 [1] HOST_CFG_T 2 [2] HOST_CFG_T 3 [3] HOST_CFG_T 4 [4] HOST_CFG_T 5 [5] HOST_CFG_T 6 [6] HOST_CFG_T 7 [7] HOST_CFG_T 8 [8] HOST_CFG_T
Press ENTER. You will see a screen similar to the following.
SYSTEM Variables $HOSTS_CFG[3] 1 $COMMENT *uninit* 2 $PROTOCOL ’SM’ 3 $PORT *uninit* 4 $OPER 3 5 $STATE 3 6 $MODE *uninit* 7 $REMOTE *uninit* 8 $REPERRS FALSE 9 $TIMEOUT 15 10 $PATH *uninit* 11 $STRT_PATH *uninit* 12 $STRT_REMOTE *uninit* 13 $USERNAME *uninit* 14 $PWRD_TIMOUT 0 15 $SERVER_PORT 0
Move the cursor to $SERVER_PORT. Type in the name of the TCP/IP port you want to use for socket messaging. The server tag is now ready to use from a KAREL program.
You need configure the client tags you want to use for socket messaging. Use Setting up a ClientTag to set up your server tags. You can also use Setting up a ClientTag to undefine tags.
If the client tags you want to use are being used by a network protocol other than TCP/IP, you need to undefine the tags before they can be used for socket messaging.
Procedure 2. Setting up a ClientTag
The tag you want to set up is not configured to be used by another device on your network.
Cold start the controller.
On the teach pendant, press and hold the SHIFT and RESET keys. Or, on the operator panel, press and hold RESET.
While still pressing SHIFT and RESET on the teach pendant (or RESET on the operator panel), turn on the power disconnect circuit breaker.
Release all of the keys.
On the teach pendant, Press MENU.
Select SETUP.
Press F1, [TYPE].
Select Host Comm.
Press F4, [SHOW].
Choose Clients.
Move the cursor to the tag you want set up for Socket Messaging, and press F3, DETAIL. You will see screen similar to the following.
SETUP Tags Tag C3: Comment: **************** Protocol Name: ******** Current State: UNDEFINED Startup State: Server IP/Hostname:**************** Remote Path/Share: **************** Port: ***** Inactivity Timeout: 15 min Username: anonymous Password **********
Move the cursor to the Protocol Name item, and press F4, [CHOICE].
Select SM.
Move the cursor to the Startup State item, press F4, [CHOICE], and choose DEFINE.
Move the cursor to the Server IP/Hostname item, and press ENTER.
Type in hostname or IP address the of the remote host server you want to use for socket messaging.
If you are not using DNS, you must add the remote host and its IP address into the host entry table.
Press F2, [ACTION], and select DEFINE.
Set the system variable:
Press MENU.
Select NEXT.
Select SYSTEM, and press F1, [TYPE].
Select Variables.
Move the cursor to $HOSTC_CFG, and press ENTER.
Move the cursor to the structure corresponding to the tag selected in Step 8 . For example, if you are setting up tag C3, move the cursor structure element [3], as shown in the following screen.
SYSTEM Variables $HOSTC_CFG 1 [1] HOST_CFG_T 2 [2] HOST_CFG_T 3 [3] HOST_CFG_T 4 [4] HOST_CFG_T 5 [5] HOST_CFG_T 6 [6] HOST_CFG_T 7 [7] HOST_CFG_T 8 [8] HOST_CFG_T
Press ENTER. You will see a screen similar to the following.
SYSTEM Variables $HOSTC_CFG[3] 1 $COMMENT *uninit* 2 $PROTOCOL ’SM’ 3 $PORT *uninit* 4 $OPER 3 5 $STATE 3 6 $MODE *uninit* 7 $REMOTE *uninit* 8 $REPERRS FALSE 9 $TIMEOUT 15 10 $PATH *uninit* 11 $STRT_PATH *uninit* 12 $STRT_REMOTE *uninit* 13 $USERNAME *uninit* 14 $PWRD_TIMOUT 0 15 $SERVER_PORT 0
Move the cursor to $SERVER_PORT. Type in the name of the TCP/IP server port you want to use for socket messaging. The client tag is now ready to use from a KAREL program.
Table 6. PC Share Configuration Items
ITEM | DESCRIPTION |
---|---|
Enable (Default: TRUE) |
The PC Share protocol can be completely disabled by setting this item to FALSE. The robot must be power cycled for this setting to take effect. |
Domain |
Optional. A domain may be configured if required by your network. |
WINS server |
Optional. The IP address of the WINS server to be used for hostname resolution. |
Broadcast Discovery (Default: TRUE) |
Enables or disables broadcast discovery. If no WINS server is specified, or if a WINS server is specified but cannot resolve a hostname, the robot controller will send a broadcast discovery query to see if a PC with the specified hostname exists on the local subnet. Set this to FALSE to prevent this broadcast query from being sent. |
Table 7. RIPE Setup Master and Slave Items
ITEM |
DESCRIPTION |
|
---|---|---|
Displayed on Master and Slave Screen |
||
Robot Name |
This item indicates the name of the robot in the ring. |
|
Port # |
This item indicates the port number to use for RIPE. If possible, use the port that is not already in use for a factory communications link. Typically, port #2 is available for RIPE and other robot to robot communications. |
|
Displayed on Master Screen Only |
||
Master IP Address |
This indicates the IP address of the master. CautionThe master IP address must be the same for all robots in the ring. Otherwise, communications will not work properly. If the master IP address is set incorrectly, move the cursor to the Master IP address and type in the correct address. |
|
Number of Members |
This item indicates the number of robots in the ring. |
|
Update Interval |
This item indicates the heartbeat time in milliseconds (ms). This is how often RIPE checks to see which robot is online. |
|
Displayed on Slave Screen Only |
||
Slave IP address |
This item indicates the IP address of the slave. |
|
Member Index (1 is Master) |
This item should be set to a unique sequential number such as 2, 3, 4, or 5. Press F3, AUTO, to configure the robots to WAIT for the config file to be sent from the master |
You can configure proxy server parameters from the Proxy SETUP screen.
Table 8. Proxy SETUP Screen Items
ITEM | DESCRIPTION |
Enable |
This item indicates whether an external proxy is enabled or disabled. All requests not within the exception list are sent to the external proxy. |
Server |
This item can be either a name or an IP address. If it is a name, it must be in the local HOST table, or DNS must be installed and configured. This item is the next level program or external proxy (for requests that must be sent to another proxy after the robot). |
PortDefault: 8080 |
This item is the listening port of the external proxy. |
Exceptions |
This item is the list of addresses that do not need to be accessed through the external proxy server. You can use wild cards to match domains, host names, or addresses (for example, *.acme.com or 192.168.*.*). |
Table 9. HTTP SETUP Screen Items
ITEM | DESCRIPTION |
Resource Indicator Values: L, U, or A |
This item indicates whether the resource is set to
|
Name |
This item is the username. This item is displayed only when the password option is not installed. |
Pwrd |
This item is the password field. This item is displayed only when the password option is not installed. |
LevelValues: OPERATOR, PROGRAM, SETUP, or INSTALLDefault: INSTALL |
This item is the level associated with the user. It
must be at least equivalent to the level set for HTTP authentication of that
particular resource. This item is displayed only when the password option is installed. Values can be:
Usernames and passwords that are configured from the password option SETUP screen are used to authenticate the user, and the level field indicates the required minimum level necessary to access the associated resource. |
Resource |
This item indicates the resource. |
Table 10. FTP Setup Client Username and Password Items
ITEM |
DESCRIPTION |
---|---|
C1, C2 --- C8 |
This item is the client tag. There are up to eight client tags available. |
USERNAME (Default: anonymous) |
This item should be set to the username used to authenticate with the remote FTP server of the corresponding FTP client tag. |
PASSWORD (Default: guest) |
This item should be set to the password used to authenticate with the remote FTP server of the corresponding FTP client tag. |
TIMER (minutes) (Default: 0) |
This item should be set to the number of minutes after which the controller automatically will reset the password to "guest". A value of 0 indicates the password will not be reset. |
EMAIL has been incorporated into the DRC menus. Use the function keys for quick access.
To display the main DRC screen directly, press SHIFT and DISP. Select Help/Diagnostics. Select Diagnostics Home. Then for SMTP configuration, select Data Services Setup.
A Remote iPendant can also be used through a web browser to configure and access the SMTP screens. To launch a remote iPendant, a link entitled "Navigate iPendant (CGTP)" located at the bottom of the default robot web page can be used. Refer to the Advanced iPendant Functions appendix in the Application-specific Setup and Operations Manual for more information.
Several parameters are used to configure the DNS interface on your robot. Table 11, " DNS Parameters " lists and describes the parameters you must define.
Table 11. DNS Parameters
PARAMETERS | DESCRIPTION |
---|---|
Primary DNS Server |
This item specifies the IP address of the primary DNS server on your network. This server will be contacted by the robot when it is asked to connect to a host whose IP address is unknown. Contact your network administrator for the address of your primary DNS server. DNS will not work if you do not provide the IP address of your primary DNS server. |
Secondary DNS Server |
This item specifies the IP address of the secondary DNS server for your network. This server will be contacted if your primary server is unreachable or not responding. It is not required in order for DNS to work. Not all networks have secondary DNS servers, so you should check with your network administrator to see if your network has one. |
Local Domain Name |
This item is the domain name for your local
network. Examples of local domain names are frc.com or aarnet.edu.au. Your
network administrator can provide you with the correct local domain name for
your network. While in most instances you will only need to configure a
single local domain name, there exist rare instances where multiple local
domain names are required. Up to five names can be configured, separated by
a semicolon ';'. NoteDNS will not work if you do not provide a local domain name. |
Number of Retries (1,3) |
If a DNS server does not respond to a query, the robot will attempt to contact the DNS server again. The number of retries is the number of times a robot will attempt to contact a DNS server after the initial query fails. The number of retries can be set to 1, 2 or 3 retries, and the default is 2 retries. |
Wait Time (1,7) |
This item is the amount of time the robot will wait for a response from a DNS server before trying to initiate another query. You can set the wait time to be between 1 and 7 seconds. The default is 2 seconds. |
The DHCP setup screens are located on the Setup-Hostcomm-TCP/IP screens. The DHCP button on this screen launches the DHCP SETUP screen.
Table 12. DHCP SETUP Screen Items
ITEM | DESCRIPTION |
DHCP enable Values: TRUE or FALSE |
This item indicates whether DHCP is enabled. |
DHCP status |
This item indicates the status of the current DHCP operation. |
Table 13. Advanced DHCP SETUP Screen Items
ITEM | DESCRIPTION |
Client ID |
This item is an optional parameter that the client can send to the server to request specific configuration information. This item can use the Ethernet address of the robot, or any string identifier. If you are typing an Ethernet address, the format must be six bytes separated by colons (for example, 00:E0:E4:F7:94:AC). |
Set hostname in request |
This item allows the robot to function like Windows-based DHCP clients (PCs) in sending out its hostname in the form of a DHCP request. To use the set hostname in request field, you have to make sure that the robot hostname field is set from the TCP/IP screens first. Setting this field sets $DHCP_CTRL.$SETHOST. |
Retry rate on failure |
This item controls the rate (in minutes) at which retries occur if the robot does not get a response back from the server. The DHCP internally tries for a full minute to contact the server before giving up and reporting an error. This retry rate field determines when the next attempt to contact the server must be done. Setting this field sets the system variable $DHCP_CTRL.$RETRATE. |
Use last valid IP on failure |
This item is used in a case where the robot has a previously assigned IP address and the lease is still valid on the IP address. When power is cycled on the robot, the robot on booting contacts the DHCP server to confirm the lease (this is standard DHCP behavior). If the DHCP server does not respond for some reason (network/ server is down or damage to cables), then this field determines if the robot will continue to use the IP address. If set to TRUE, then under these conditions, the robot will continue to use the IP address; if set to FALSE, the robot will not use the IP address. Under no circumstances will the robot use the IP address beyond the lease expiration time, regardless of this setting. Setting this field sets the system variable $DHCP_CTRL.$USEIP. |
Select F4 [SHOW] and then Clients.
Table 14. Client Device Definition Setup Items
ITEM | DESCRIPTION |
---|---|
* This item is normally set up by the user. Other items can normally remain at their default values. | |
Tag |
This item specifies the device name client. Available client tags are C1: through C8:. |
Comment |
This item provides an area for you to include up to 16 characters of information that allow you to label the device for its application use. |
Protocol* |
This item specifies the name of the protocol that will be associated with the tag. For FTP, the protocol name is FTP. For PC Share, select PC Share. And so on. |
Port Name |
This item is only displayed when SM (Socket Messaging) is selected as the Protocol, and does not apply to other protocols. |
Startup State* |
This item specifies the desired startup (Power up) state for the selected tag. Three states are possible:
The Startup State should normally be set to defined. When in the defined state the client tag is started automatically from KCL or from the FILE screen on the teach pendant whenever it is used. |
Server IP/Hostname* |
This item specifies the Hostname or IP address of the remote server to which the connection will be made. |
Remote Path/Share* |
This item specifies the host path on the server, to be used for file operations, up to 64 characters. This item is case sensitive when using the FTP protocol. When using the PC Share protocol, the Share name must be included. |
Inactivity Timeout |
This item specifies the number of minutes of inactivity on the network before a connection will be closed.
|
Username* |
This item specifies the username to use when logging into the remote server. The username is case sensitive based on the host system that checks it. |
Password* |
This item specifies the password to use when logging into the remote server. The password is case sensitive based on the host system that checks it. |
Use Vision Ethernet Port | This item is only available if the Enhanced Vision Ethernet Port option (R825) is loaded. If TRUE then the tag will use the vision Ethernet port (CD38C). If FALSE then one of the first two Ethernet ports will be used. |
Select F4 [SHOW] and then Servers.
Table 15. Server Device Definition Setup Items
ITEM | DESCRIPTION |
---|---|
* This item is normally set up by the user. Other items can normally remain at their default values. | |
Tag |
This item specifies the device name server. Available server tags are S1: through S8:. |
Comment |
This item provides an area for you to include up to 16 characters of information that allow you to label the device for its application use. |
Protocol* |
This item specifies the name of the protocol that will be associated with the tag. For FTP, the protocol name is FTP . |
Port Name |
This item is only displayed when SM (Socket Messaging) is selected as the Protocol, and does not apply to FTP. |
Startup State* |
This item specifies the desired startup (Power up) state for the selected tag. Three states are possible:
The Startup State is normally set to Start. |
Server IP/Hostname |
This item is not used at this time. |
Remote Path/Share |
This item is not used at this time. |
Inactivity Timeout |
This item specifies the number of minutes of inactivity on the network before a connection will be closed.
|
Username |
This item is not used at this time. |
Password |
This item is not used at this time. |
Use Vision Ethernet Port | This item is only available if the Enhanced Vision Ethernet Port option (R825) is loaded. If TRUE then the tag will use the vision Ethernet port (CD38C). If FALSE then one of the first two Ethernet ports will be used. |