Setup OfficeLite En

OfficeLite R5.2 04.04.03 en 1 of 26

SOFTWARE

KR C...

KUKA.OfficeLite

Release 5.2

Issued: 01 Aug 2005 Version: 03

2 of 26 OfficeLite R5.2 04.04.03 en

e Copyright 2005

KUKA Roboter GmbHThis documentation or excerpts therefrommay not be reproduced or disclosed to third parties without the express permission of the publishers.Other functions not described in this documentation may be operable in the controller. The user has no claim to these functions, however, inthe case of a replacement or service work.We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepanciescannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on aregular basis, however, and necessary corrections will be incorporated in subsequent editions.Subject to technical alterations without an effect on the function.

3 of 26OfficeLite R5.2 04.04.03 en

Contents

1 General 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Purpose of the program, requirements 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Minimum system requirements (hardware and software) 5. . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 Installation, upgrade, uninstallation 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 Reinstalling the software 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Upgrade 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Uninstalling the software 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2.3.1 Uninstalling KUKA.OfficeLite 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Licensing and starting the software 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2.4.1 Licensing 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2.4.2 Starting the software 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Operator control 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 HMI user interface 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Copy Mada 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.2.1 Softkeys 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.2.2 Directory tree display modes 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.2.3 Plausibility mode 20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.2.4 Copying data 20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.2.5 I2t monitoring 20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Simulation of physical inputs 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 Functions that are not supported 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5 Constraints and miscellaneous instructions 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.5.1 Brightness and contrast settings 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.5.2 Reserved IP address 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.5.3 Archiving 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.5.4 Problems arising in joint operation with FTP servers 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.5.5 Problems in conjunction with Siemens PLC software 25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.6 Minimizing the display window and exiting KUKA.OfficeLite 26. . . . . . . . . . . . . . . . . . . . . . . . . .

KUKA.OfficeLite


1 General


1 General

1.1 Purpose of the program, requirements

The program KUKA.OfficeLite allows convenient use of the KUKA KR C system softwareon a PC for training, simulation and programming purposes.

Furthermore, the program contains a user--friendly copy function for copying existingmachine data with a plausibility check of the files to be copied.

KUKA.OfficeLite cannot be used to operate robots; furthermore, this programmust not beinstalled on KR C controllers.

Administrator rights are required for installing and licensing the program and for workingwith offline tools.

Operation of KUKA.OfficeLite does not require a KCP control panel, MFC card or otheradditional hardware components (e.g. bus systems), nor can OfficeLite be used to controlsuch components and systems.

1.2 Minimum system requirements (hardware and software)

The following are required to run OfficeLite:

-- Pentium or equivalent, at least 256 Mbytes RAM; recommended 850 MHz orhigher

-- Windows 2000 or Windows XP operating system

-- Microsoft Internet Explorer 5.0 or higher(included on the supplied CD).

-- Required hard disk space approx. 200 MB

Various energy saving modes that are frequently activated, for example, with laptop PCsshould be deactivated during KUKA.OfficeLite operation as they can lead to malfunctions.

KUKA.OfficeLite V5.2 cannot be used for the simulation or programming of VW SystemSoftware (VSS).

KUKA.OfficeLite


2 Installation, upgrade, uninstallation

2.1 Reinstalling the software

Administrator access rights are required for installing the software.

To ensure that the installation runs smoothly, first close anyWindows applications that arerunning, including any that are running in the background, e.g. McAfee.

Place the included CD in the CD--ROM drive, and start the program “Setup.exe”.

Shared Memory driver and VxWin are automatically installed by the DeviceInstaller.

In the case of Windows XP SP1, no firewall for NW adapter RTOS (RealTimeOS Visual--Network) may be activated.

First a selection menu opens which you can use to define the language in which the textswill be displayed.

Select the desired language and click on “Next”.

The setup routine is started; click on “Next”.

2 Installation, upgrade, uninstallation (continued)


In the next dialog window, select the robot type.

You can either accept the type which is offered, or select the desired robot type from the listwhich opens when you click on the “Browse” button.

After selecting the robot type, click on “Next”.

Optional KUKA VRC Interface:

The KUKA VRC Interface is required in order to establish a connection betweenKUKA.OfficeLite V 5.2 and KUKA.Sim Pro. This allows KUKA.OfficeLite to be used as avirtual controller for robot simulations and cycle time investigations.

The corresponding KUKA VRC Interface can be selected according to the version ofKUKA.Sim Pro used.

The KUKA VRC Interface for KUKA.SimPro V 2.0 can also be used in conjunction withDelmia IGRIP V5.

KUKA.OfficeLite


The KUKA VRC Interface Systray icons:

G KUKA VRC Interface for KUKA.SimPro V 1.1

The Systray icon “KrcSim.exe” is visible once KUKA.OfficeLite V 5.2 has been startedmanually.

G KUKA VRC Interface for KUKA.SimPro V 2.0

TheSystray “KrcVrcMgr.exe” is started via theWindowsStartup routine. KUKA.SimProV 2.0 uses this VRC Manager file to establish the connection to KUKA.OfficeLite V 5.2and starts the KUKA.OfficeLite V 5.2 instance via KrcVrc.exe.

The individual services can be terminated manually by pressing the right mouse buttonand selecting the command “Terminate”.

The option “Show” displays the version information.

Installation / uninstallation of the KUKA VRC Interface

TheKUKAVRC Interface canbe foundon theCDunder “\Internat\VRC” and can be installedat any time.

G The KUKA VRC Interface for KUKA.SimPro V 1.1 is located in the directory “1.1”

G The KUKA VRC Interface for KUKA.SimPro V 2.0 is located in the directory “2.0”

NOTEOnly one KUKA VRC Interface can be installed. Setup.exe will automatically delete anexisting version.

An uninstallation Setup program is located in the directory “UNINST”. It can be used for bothKUKA Sim Pro versions.

The KUKA VRC Interface can also be uninstalled in Windows XP or Windows 2000 via“Start/Control Panel/Software”.

This menu can also be used to display support information (e.g. “KUKA VRC Interface forKUKA Sim Pro V 1.1”).



2.2 Upgrade

If youwish to install a newer program version, a software upgrade is required. Theprocedureis initially the same as that for reinstallation. You are additionally asked which settings fromthe previous version are to be retained. The following window is opened for this purpose:

If you select the option “Mada” (retain machine data), the robot type remains unchanged,i.e. it is taken from the previous version of KUKA.OfficeLite.If this option is not selected, a further window is opened in which you can select the robottype again.

If you select the option “R1”, the programs you have created in the previous version ofKUKA.OfficeLite are converted. If this option is not selected, KUKA.OfficeLite is startedwith an empty R1 directory.Your programs are nonetheless backed up in the directory “KRC_OLDINST”.

KUKA.OfficeLite


The following dialog only appears in Windows XP. Here, the compatibility with Windows XPis checked.

NOTEAnswer the dialog query with “Continue Anyway”. Otherwise, the system will not runcorrectly.



2.3 Uninstalling the software

2.3.1 Uninstalling KUKA.OfficeLite

Should it be necessary to uninstall KUKA.OfficeLite, this can be done under “Software” inthe Windows menu “Control Panel”.

Note:If KUKA.OfficeLite is uninstalled, the entireKRCdirectory is deleted, including any filesand subdirectories not created with KUKA.OfficeLite. These are not copied to the backupdirectory KRC--OLDINSTx.Copy these contents to a different directory before carrying out the uninstallation.

The KRC--OLDINSTx directories can be deleted manually if they are no longer required.These are simply backup files.

Note:Following uninstallation of KUKA.OfficeLite, the computer must be shut down andrebooted.

KUKA.OfficeLite


2.4 Licensing and starting the software

User rights are sufficient for runningOfficeLite, with the exception of offline tools, for whichAdministrator rights are required.

2.4.1 Licensing

Two licensing options are available:

G License ServerThe license is accessed from a server with a certain number of (floating) licenses.This option is only supported in the case of PCs with a Windows operating system.Detailed information on this can be found in the “FLEXLMt End Users Guide”,in the chapter [6.3.2 Configuring the License Manager as a Windows Service](C:\KRC\UTIL\FLEXLM\EndUser.pdf).

G License FileThe license is valid for a specific PC (MAC address).

For (floating) server licenses, a corresponding license server must be available tomanagethe licenses provided by KUKA Roboter GmbH.

Files for licensing individual PCs (license files) are available on request from TechnicalSupport at KUKA Roboter GmbH.

License request for individual PC and license server

To create a license request, call the program “LMTools.exe” in the directory“C:\KRC\UTIL\FLEXLM”. In the window that now opens, click on the “System Settings” tab.

All the relevant data are shown in theboxes. Click on thebutton “SaveHOSTID Info to aFile”,enter a name in the input box in the dialog window that opens (<Name>.txt) and save thefile.



Please send this file (<Name>.txt) by e--mail [email protected]

You will then be sent the license file.

2.4.2 Starting the software

The software is started by clicking on the new entry OfficeLite in the Windows programgroup “KUKA”. The following window is opened the first time the program is started:

Specify here whether a license server or a license file for an individual PC is available andclick on “Next>”.

If “Specify the License Server” is selected, the following window is displayed:

Enter the name of the license server in the input box and click on “Next>”.

If “Specify the License File” is selected, the following window appears:

KUKA.OfficeLite


Enter the name of the license file in the input box and click on “Next>”. You can browse forthe file by clicking on “Browse”.

On completion of the licensing operation a corresponding message appears on the screen.Once this message has been acknowledged, the program is ready for operation.

3 Operator control


3 Operator control

3.1 HMI user interfaceWhen KUKA.OfficeLite has been started successfully, the following display appears on themonitor:

As you can see, the HMI (Human Machine Interface) user interface of KUKA.OfficeLite isnearly identical to that of the KUKA Control Panel (KCP). An additional toolbar is availableat the top left of the display containing KCP control elements that are integrated into theKUKA Control Panel as buttons and switches.

Their meanings are as follows:

Program stop key

Program execution is stopped by clicking on this icon with the left mouse button. If the“Program start forwards” (Start +) or “Program start backwards” (Start --) button is active, itis deactivated by clicking on this icon.

Program start forwards

A selected program is started by clicking on this icon with the left mouse button. “Programstart forwards” remains active (locked) throughout program execution until the icon isleft--clicked again or the “Program stop” key is pressed.

KUKA.OfficeLite


Program start backwards

Clickingon this iconwith the left mousebutton initiates “Programstart backwards” andallowsprograms to be executed in M--Step mode.

Enabling switch

Clicking on this icon with the left mouse button simulates actuation of the KCP enablingswitch (enabling switch actuated). It remains active until the icon is clicked again with the leftmouse button.

Mode selector switch

Clicking with the left mouse button on the left--hand side of the button cycles through T1,T2,AUT and EXT modes respectively.

Clicking with the left mouse button on the right--hand side of the button opens a selectionmenu in which the operating mode can be selected directly by clicking on it.

The “Window selection” key, familiar from the KCP, is not available.Focusing on the desired window is carried out by clicking with the left mouse button on thewindow concerned in the user interface.

PinUp

This is an additional operator control element that is not contained in the KCP. Clicking onthis iconwith the left mouse button causes theHMI window to remain permanently displayedin the foreground.

Detailed information about the user interface and working with the KUKA robot controller(KRC) can be found in the operating and programming handbooks for the KRC software.

3 Operator control (continued)


3.2 Copy MadaKUKA.OfficeLite allows the copying of machine data. A plausibility check of the source filesis carried out. TheSubmit interpreter is deselectedduring the copyingprocess and then resetto its original state.

This function is called via the menu function“Setup”! “Copy Mada”.

The following screen is displayed:

3.2.1 Softkeys

Clicking on the respective tabs allows you to select one of the following:

source directorythe directory containing the data to be copied.

target directorythe directory to which the data are to be copied.

KUKA.OfficeLite


Furthermore, the following softkeys are available in the softkey bar:

+ / --Expands or closes the node selected in the visible directory tree.

RefreshRestores the display of the visible directory tree to its original state.

CopyCopies the file that is selected in the source directory.

CloseTerminates the “Copy Mada” function.

3.2.2 Directory tree display modes

If “source directory” is selected, the KRC directory tree is displayed by default (KRCmode).

The display can be expanded as required to show all local drives (My Computer) and thenetwork environment.



If “target directory” is selected, only the KRC directory tree is displayed.

KUKA.OfficeLite


3.2.3 Plausibility mode

Directories containing machine data are recognized and displayed accordingly.

The selected node is indicated in the status line above the directory.

User--specific machine data must contain an R1 directory, as they cannot otherwise beassigned.

3.2.4 Copying data

Preconditions are that a plausible machine data node has been selected in the sourcedirectory and that the target directory contains the subdirectories “...\R1\Mada” and“Steu\Mada”.

If errors occur during the copying process, a corresponding error message is displayed inthe message window.

The end of the copying process is indicated in the message window.

The Submit interpreter is restored to its original state once the data have been copied.

3.2.5 I2t monitoring

I2t monitoring is activated by default in KUKA.OfficeLite. If, during operation, messagesappear, relating to the triggering of this monitoring function, the variable $i2t_OL = FALSEcan be deactivated by means of the variable modification function.



3.3 Simulation of physical inputs

Open the menu “Monitor ! I/O ! Digital Inputs”. If simulation is activated via the softkey“SIM ON/OFF”, selected inputs can be set or reset by pressing the softkey “Change”.

If simulation is deactivated after inputs have been set manually, all inputs are reset, butremain saved.

If simulation is thenactivated again, all the inputs that were previously set are set onceagain.

If simulation is active, the column SIM is generated in the window.

KUKA.OfficeLite


3.4 Functions that are not supported

For technical reasons, the range of commands available in KUKA.OfficeLite is reduced. Thisaffects both the demo version and the full version in equal measure. The functions omitteddepend on the version. Examples of functions that are not supported include:

-- Safety circuit diagnosis

-- Software update

-- DSE/RDW diagnosis

-- Load data determination

-- Format floppy

-- Functions for operating field bus systems

-- CREAD/DWRITE via RS232

Functions that are not available appear gray in the menus.

3.5 Constraints and miscellaneous instructions

KRC OfficeLite V5.2 cannot be used for Volkswagen (V)KRC programs.

3.5.1 Brightness and contrast settings

The brightness and contrast settings of the KCP display are set to the default value (7). Itis not possible to change these settings.

3.5.2 Reserved IP address

The IP address 192.0.1.2 is used for the virtual network card for KUKA.OfficeLite. Thisis absolutely vital for the correct functioning of KUKA.OfficeLite andmay not be used for anyother network application on the PC.

3.5.3 Archiving

Some of the files in the INIT directory of the control software contain special entries which,on theonehand, are necessary for theoperation ofOfficeLite, but, on theother hand, preventthem from being used on a real robot controller.

So that archives can, nevertheless, be transferred, only the following files in the INITdirectory are archived or restored using the menus“Archive! All” or “Restore! All”in OfficeLite:

-- ConfExtAxis.ini

-- ConfigMon.ini

-- MenueKeyUser.ini



-- SoftKeyUser.ini

These four files may contain, for example, customer--specific entries that can be used bothin KUKA.OfficeLite and on a robot controller.

Should it be necessary, however, to backup or restore the complete INIT directory, this mustbe done explicitly via the menu item

“Archive! Configure! I/O Driver” or“Restore! Configure! I/O Driver”.

This procedure is only possible in Expert mode.

3.5.4 Problems arising in joint operation with FTP servers

In the case of joint operation with an FTP server (e.g. “Internet Information Service (IIS)”in Windows XP), reciprocal conflicts may occur.

There are three ways of avoiding this:

Method 1: The Internet Information Service (IIS) is not installed.

Deactivation of IIS during Windows setup:

Clicking on the “Details” button displays all the available subcomponents of the InternetInformation Service.

KUKA.OfficeLite


Deactivate the “FTP service” here and confirm with “OK”.

Method 2: Deactivation of an installed IIS server by uninstalling this Windows componentin Windows Setup.

Method 3: Modification of the port address used by the activated IIS server.

In “Computer Management”, select the line “FTP Sites”.



The following window is opened under “Properties”:

In the box “TCP Port”, change the value from “21” to “22”.

Bear in mind that the FTP service of the IIS is no longer functional with this new portaddress.

3.5.5 Problems in conjunction with Siemens PLC software

Problems arise if KUKA.OfficeLite and Siemens PLC software (S5, S7) are usedsimultaneously. For this reason, all background processes of the Siemens software mustbe terminated completely.

If you have any further questions on this subject, please contact Siemens customer support.

KUKA.OfficeLite


3.6 Minimizing the display window and exiting KUKA.OfficeLite

To minimize the monitor window or exit KUKA.OfficeLite, move the mouse pointer onto thestatus line underneath themessage or program window and click with the left mouse button.A corresponding query appears in the message window.

The softkey “Minimize” minimizes the KUKA.OfficeLite window

The softkey “Exit” exits the KUKA.OfficeLite program

The softkey “Cancel” cancels the procedure

Before exiting the application, robot programs that are running must be stopped anddeselected, otherwise files may be damaged.

The Cross3 window is closed automatically and must not be exited manually. It may takeup to 10 seconds before all OLE connections have been terminated.

KRC Start Center

The “KRCStart Center” icon remains in theWindows taskbar evenafter theKUKA.OfficeLiteprogram has been closed.Clicking on this icon with the right mouse button causes the following menu to be displayed:

Clicking on “Exit” closes the “KRC Start Center”.This procedure is recommended in the event of problems during the restart.

NOTEKUKA.OfficeLite should not be terminated by means of “Exit” in the KRC Start Center,as VxWorks is running in the background and could be damaged.

KRC Sim

If the program “KRC Sim” is running, the corresponding icon can be seen in the Windowstaskbar bottom right.Clicking on this icon with the right mouse button causes the following menu to be displayed:

Clicking on “Terminate” closes “KRC Sim”.

1

Index

Index -- i

BBackup files, 11

CConfExtAxis.ini, 22

ConfigMon.ini, 22

Copy Mada, 17

Copying data, 20

DDirectory tree, 18

Directory tree display modes, 18

EEnabling switch, 16

Exit, 26

Exiting OfficeLite, 26

F

FTP server, 23

HHMI, 15

HMI user interface, 15

IIIS, 23

LLanguage, 6

License File, 12

License Server, 12

Licensing, 12

MMenueKeyUser.ini, 22

Minimizing the display window, 26

Mode selector switch, 16

OOperator control, 15

P

Physical inputs, 21

Plausibility mode, 20

PLC software, 25

Port address, 24

Program start backwards, 16

Program start forwards, 15

Program stop key, 15

Purpose of the program, 5

S

Setup.Exe, 6

SIM, 21

Simulation of physical inputs, 21

Softkeys, 17

SoftKeyUser.ini, 23

Source directory, 17

Starting the software, 13

System requirements, 5

T

Target directory, 17

U

Uninstallation, 11

V

VRC Interface, 7

Documents

Setup OfficeLite En