Manual · 2020-03-05 · [749 004] Festo GDCP-CDSA-SW-EN 0909a 3 Edition ... Chapter 2...

Trimming: On top: 61.5 mm Underneath: 61.5 mm Left: 43.5 mm Right: 43.5 mm

Display and operating unit

Manual Software handbook Type CDSA-D1-VX

Manual 560 340 en 0909a [749 004]

Festo GDCP-CDSA-SW-EN 0909a 3

Edition _____________________________________________________________ en 0909a

Designation _________________________________________________ GDCP-CDSA-SW-EN

Order no. ____________________________________________________________ 560 340

(Festo AG & Co KG., D-73726 Esslingen, 2009)

Internet: http://www.festo.com

E-mail: [email protected]

The copying, distribution and utilization of this document as well as the communication of its contents to others without expressed authorization is prohibited. Offenders will be held liable for compensation of damages. All rights reserved, in particular the right to carry out patent, utility model or ornamental design registrations.

http://www.festo.com/

4 Festo GDCP-CDSA-SW-EN 0909a

Index of revisions

Author:

Name of manual: GDCP-CDSA-SW-EN

File name: GDCP-CDSA-SW-EN

File saved at:

Consec. no. Description Index of revisions Date of revision

001 Creation 0805NH 07.07.2008

002 Correction 0909a 25.07.2009

Contents


CONTENTS

1. Document declaration ............................................................................................. 7

1.1 Starting the CDSA simulation ................................................................................ 7

2. Commissioning ..................................................................................................... 10

2.1 Installation .......................................................................................................... 10

2.2 Setup menu ......................................................................................................... 10

2.2.1 Introduction to the setup menu ........................................................... 10

2.2.2 Masks in the setup menu ..................................................................... 11

2.2.3 Equipment reset .................................................................................. 13

3. User interface ........................................................................................................ 14

3.1 General information............................................................................................. 14

3.2 Philosophy of use ................................................................................................ 15

3.2.1 Interface on the CDSA .......................................................................... 15

3.2.2 Status line ............................................................................................ 16

3.3 Overview of the menus and buttons .................................................................... 18

4. Message masks .................................................................................................... 20

4.1 Message classes.................................................................................................. 20

4.1.1 Message states .................................................................................... 21

4.2 Messages ............................................................................................................ 21

4.3 Message log ........................................................................................................ 23

4.3.1 Help for messages ............................................................................... 24

5. Position mask ....................................................................................................... 25

6. Project mask ......................................................................................................... 28

7. Program mask ....................................................................................................... 30

7.1 Editing line .......................................................................................................... 32

7.2 Variable mask ...................................................................................................... 33

7.3 Instruction mask .................................................................................................. 34

7.4 Parameter mask .................................................................................................. 35

7.5 Label list (dialogue) ............................................................................................. 37

7.6 Operator dialogue ............................................................................................... 37

8. Text editor mask ................................................................................................... 38

9. Setup mask ........................................................................................................... 39

9.1 Settings ............................................................................................................... 39

9.2 System information ............................................................................................. 40

Contents


9.3 Menu bar ............................................................................................................. 41

9.4 User ..................................................................................................................... 42

9.4.1 Register dialogue ................................................................................. 42

9.4.2 User management – registered (all users) ........................................... 43

9.4.3 User management – management (only administrators) ..................... 44

10. Variable mask ....................................................................................................... 46

10.1 Create new variable ............................................................................................. 48

11. I/O monitor ........................................................................................................... 49

11.1 Overview ............................................................................................................. 49

11.2 Detail ................................................................................................................... 50

12. Execution mask ..................................................................................................... 53

13. Working with the CDSA ......................................................................................... 54

13.1 Start/stop program ............................................................................................. 54

13.2 Creating a new program ...................................................................................... 54

13.3 Edit program ........................................................................................................ 54

13.3.1 Insert instruction ................................................................................. 56

13.3.2 Changing parameters ........................................................................... 57

13.3.3 Modifying an expression in a program instruction ............................... 57

13.4 Teach/modify parameter values .......................................................................... 58

13.5 Messages ............................................................................................................ 59

13.5.1 Acknowledging the message in the message mask ............................. 59

1. Document declaration


1. Document declaration This manual describes the function of the CDSA-D1-VX operator unit and the CDSA simula-tion. The simulation is an implementation of the full function of the CDSA-D1-VX through a

PC program.

Chapter 2 (Commissioning) applies only to the CDSA-D1-VX operator unit; all other chap-ters apply also for the CDSA simulation.

Please note

The CDSA simulation does not include the safety equipment of the CDSA-D1-VX operator unit. The emergency stop switch and permis-sion button are lacking. You must be aware of this risk when using the CDSA simulation!

Please note

Small deviations in the function of the CDSA simulation are de-scribed at the corresponding location

1.1 Starting the CDSA simulation

The CDSA simulation runs on a standard PC, as used for the FCT (Festo Configuration Tool), for example. It is a functionally complete replacement for the CDSA-D1-VX operator unit, except for the limitation in the safety functions described above.

Call-up from the CMXR FCT plug-in

With the CMXR FCT plug-in started, the CDSA simulation can be activated via the menu option "Components | Start CDSA simulation". The following dialogue points out the lim-ited safety functions:



The simulation program is not started until confirmation is given through the "Start CDSA simulation" key.

Call-up from the Windows user interface

The simulation can also be started directly from the Windows interface using the normal methods for applications. The same dialogue as above is shown first; upon confirmation, the simulation program starts.



Start screen of the CDSA simulation

2. Commissioning


2. Commissioning

2.1 Installation

The operator unit must be connected to the CMXR multi-axis controller via an Ethernet interface in order to enable commissioning and series operation. Connection is made via the CAMI-C connection box. The connnection circuitry can be found in the corresponding documentation.

Please note

This information is part of the documentation package.

It is essential that you observe the information and the safety in-structions in the documentation GDCP-CDSA-SY.

2.2 Setup menu

The setup menu consists of the network setup and the display setup and serves to define:

Network setup

IP Address Subnet Mask Default Gateway Host IP address

Display setup

Backlight time Brightness Touch calibration

2.2.1 Introduction to the setup menu

Please note

If the button for activating the setup menu is not pressed, the handheld terminal will switch automatically to the step menu after a timeout period of 2 minutes, providing a connection to the control-ler could be created.

During the boot procedure, "Enter Setup Mask?" appears for 2 seconds on the display. If

the button is held pressed down during this time, you can access the setup menu.

Set the desired values for the handheld terminal (IP Address, Subnet Mask, Default Gate-way) and the multi-axis controller (Host IP address) in the setup menu.

2. Commissioning


In order to activate the changes, select "Save/Exit".

The run-up will follow in the sequence as specified in the next chapter. Corresponding messages will be shown on the display, depending on the run-up procedure.

2.2.2 Masks in the setup menu

The settings displayed correspond to the standard settings when the device is delivered.

KeTop T50 Firmware

Display Setup

Backlighttime / on:

/off:

10

0

120

KeTop T50Vx_0.07

05.10.2006

Save/Exit

+1 -1 +10 -10

Network Display

sec

sec

Brightness:

In order to modify the values in the entry fields in the above network/display setup menu by means of the soft keys '+1', '+10', '-1', '-10', the entry field to be modified must first be activated by means of touch. With the soft key 'Save/Exit', the new set values are saved in the EEPROM and the menu concluded.

2. Commissioning


Menu option Explanation Default setting

IP Address Setting the IP address of the CDSA-C1 192.168.100.101

Subnet Mask

Setting the subnet mask 255.255.255.0

Default

Gateway

Default gateway 192.168.100.1

HOST IP

IP address of the CMXR controller 192.168.100.100

Backlight time Time duration for display dark switching:

on: Time from last input result to

switching the background

lighting to "low."

off: Time from switching the

background lighting from

"low" to switching "off."

on: 120 sec

off: 0 sec (deactivated)

Brightness Setting the display brightness (0 to 10). 10

Touch screen

calibration

If you are already in the setup menu, you

should press the button for the setup menu

again in order to activate the touch screen

calibration of the handheld terminal.

Select the 3 reference points one after the

other.

Please note

When calibrating the reference points, click

the touch screen only briefly with the touch

pin. Pressing the reference points for too

long will lead to incorrect calibration.

If the reference points lie too close to each

other (assuming previous calibration was

incorrect), the touch screen calibration must

be carried out again. When the 3 reference

points have been entered, calibration is

concluded automatically and the setup

menu appears again. The calibration

procedure can be saved with "Save".

-

Tab. 2.1: Menu

2. Commissioning


2.2.3 Equipment reset

If the equipment is to be restarted (to start commissioning, for example), this can be done through a combination of buttons:

Simultaneous actuation of the buttons

"Program mask", "Message mask", "Stop" (see point 3.3)

This makes it possible to avoid interruption of the power supply of the CDSA-D1-VX.

3. User interface


3. User interface

3.1 General information

The handheld terminal has a graphical user interface that has an easy-to-understand and intuitive design. It is not necessary to have special knowledge of programming and com-puters in order to use the handheld terminal. All information is available in German and English. The language is selected within the software for the handheld terminal, without having to restart the system.

-

-

3. User interface


3.2 Philosophy of use

3.2.1 Interface on the CDSA

1 Jog panel

2 Menu bar

3 Selected

mask

4 Mask panel

5 Status line

Fig. 3.1: Interface CDSA

Element Description

Menu bar Mask-specific, softkey panel with pop-up menus

Status line Fixed, always visible

Jog panel Axis display in relevant jog coordinate system (serves only for display; switching

is carried out with the relevant buttons on the CDSA). The buttons on the jog

panel are transferred in real time to the controller).

Mask panel Switch between individual masks (serves only for display, switching is carried out

with the relevant buttons on the CDSA).

Tab. 3.1: Menu

1

2

3

5

4

3. User interface


3.2.2 Status line

On top: 1 Operating mode

2 Program status

3 Name of the kinematics

4 Jog coordinate system

5 Automatic override

6 Robot status

7 User level/

write authorization

Underneath: 1 Project program name

2 User icons (6)

3 Connection status

4 Time

5 Current message

6 Acknowledge current

message

Element Description

Operating mode The graphic user interface shows in this range the currently set operating

mode for the selected robot.

Invalid: Not a valid operating mode

HAND: Manual override active

AUTO: Automatic mode active

Program status <empty>: No program being executed

STOP: Programs stopped

RUN: At least one program is started

Project / program name Name of the currently running project and of the current program (sepa-

rated by "," otherwise "-" is shown.

If several programs have been started, the program containing the main

pointer will be shown.

Kinematics Name of the selected kinematics

Automatic override Shows the override (speed of the robot) in automatic mode

Robot status Drives switched off

Drives switched on, errors exist

Ready to run

1

2

3

4

5

6

7

1

2

6

3

4

5

3. User interface


Element Description

Write authorization and user

level

Display of user level of the currently registered user If the user has write

authorization, the field will be shown with a blue background. The write

authorization enables the user to carry out commands and to modify

values.

User icons User-defined icons can show various control states here, depending on

the program (position 0 = outside left, position 5 = outside right).

Currently left: EMERGENCY STOP status /

Last current message The last current message is shown In this field.

Jog coordinate system Display of the active jog coordinate system. The labelling of the jog panel

also depends on this coordinate system.

Connection status Connection to the controller OK

Connection to the controller interrupted or does not exist

Connection to the controller not initialized.

Message status At least one error message active

<empty>: No error message active (but warnings or information may ex-

ist)

The last activated error message is always shown in a red line below the

status line (the message classes shown can be configured). These can be

masked out with a click on the message text or acknowledged with the

appropriate button in the line.

Time Display of the system time

Tab. 3.2: Contents of the status line

3. User interface


3.3 Overview of the menus and buttons

-

-

Icon Description

Application mask (CANopen SDO, PLC Interface)

Service range (setup, I/O monitor)

Variable mask

Project mask

Program mask

Position mask

Message mask

Start/continue program

Interrupt all running programs

3. User interface


Icon Description

Jog buttons for axes 1 … 6 (move individual axis)

Reserved for extensions

Function button for extensions


Enable drives


Switching over the JOG coordinate system


Switch between "Step" and "Cont" for testing programs

- Step for individual step

- Cont for continuous run (normal)

Increase or decrease jog speed

Tab. 3.3: Overview

4. Message masks


4. Message masks Messages triggered from the message system of the controller are shown in these masks.

Messages: Shows all current messages (message buffer)

Message log: Shows all messages which have occurred (report buffer)

In order to distinguish their treatment, messages are divided into 32 classes. In the HMI configuration, message classes can be grouped together as desired. By means of a selec-tion list on the masks, display can be limited to one group.

Message classes which are not assigned to any group are shown in the group "Other Messages". The group "All Messages" is specified as standard by the system.

4.1 Message classes

In order to distinguish their treatment, messages are divided into 32 classes. Classes 1 … 6 are reserved for the system (firmware), classes 7 … 32 are available for ap-plications.

Icons are used for displaying the message classes and message states in the message masks.

Class Icon Description

1

Fatal firmware error The controller is stopped. All processes are frozen.

2

Serious functional error The controller stops and switches off the peripheral devices in a controlled manner.

3

Slight functional error The application can react selectively.

4

Warnings of the firmware The application can react selectively.

5

Information of the firmware The application can react selectively.

6

Serious error in the application The controller stops and switches off the peripheral devices in a controlled manner.

7 … 16

Medium and slight errors in the application, warnings and information The application can react selectively.

17 … 32

For these classes no message buffers, but only report buffers are created. They are written exclusively by the firmware and cannot be read by the application.

without secondary venting

Standard icon for all message classes which are not assigned their own icon.

Tab. 4.1: Icons

4. Message masks


4.1.1 Message states

The status of each message is also shown with each message in the message masks. The following statuses are possible:

Icon Status / description

Message serves only as information (no acknowledgment necessary).

Message must be acknowledged by the application.

Messsage must be acknowledged by the user.

Message must be acknowledged by the user and the application.

Message must be acknowledged either by the user or the application.

Message is acknowledged by the application.

Message is acknowledged by the user.

Tab. 4.2: Message states

4.2 Messages

All current messages are shown in this mask. The list corresponds to the contents of the message memory.

4. Message masks


Column Description

CL (class) Display the message class or the corresponding icon.

Time The time when the message occurred.

St. (status) Shows the status icon of the message.

Description Display of the message text (translation text). These are provided by the controller.

Tab. 4.3: Explanations of the message window

Button / field Description

Group Here the displayed message list can be limited to one group.

Confirm Acknowledge selected message.

Disp. ID With this button, either the message text or the message key can be shown under De-

scription. The message key comprises the component number, message number and

instance number (e.g. component 2000, message 200, instance: 17 results in message

key 2000_200_17).

Help When this button is pressed, a help page for the marked message will be shown.

Confirm All All displayed messages will be acknowledged.

Tab. 4.4: Explanations of the message window

4. Message masks


4.3 Message log

This mask shows the contents of the report memory in list form. This contains all mes-sages (message classes 1 … 32) in consecutive order. The number of displayed messages

depends on the configured size of the report memory (ring buffer).


Group Here the displayed message list can be limited to one group.

Disp. ID With this button, either the message text or the message key can be shown under De-

scription. The message key comprises the component number, message number and

instance number (e.g. component 2000, message 200, instance: 17 results in message

key 2000_200_17).

Help When this button is pressed, a help page for the marked message will be shown.

Tab. 4.5: Explanations of the message log

4. Message masks


4.3.1 Help for messages

After confirmation with the "Help" button, a separate dialogue with additional informa-tion on the selected message will be shown. The contents of the dialogue always have the

same structure.

Field Description

Message Message group and sub-group – separated by "_"

Text Text of the message with wildcard "%n" for any existing variable text parts.

Reason Description of the possible causes of errors.

Effect Effects of the cause of this message.

Solution Remedy

Parameter n Description of the variable parts embedded in the text.

Tab. 4.6: Layout of the help page for the messages

5. Position mask


5. Position mask The current axis positions of the robot are shown in this mask. The coordinate system (reference system) can then be selected.

5. Position mask


The actual axis, joint and cartesian values as factors of the set display system are shown

in this table. The number of actual values shown in the table also depends on the selected display coordinate system.

Column Description

Name Designation of the axis / joint or cartesian designation.

Value Actual value of the axis or coordinate

Unit Unit of the dispayed value

Status

(only with axes)

Display of the axis statuses in text form The following statuses can be displayed:

Sim: Axis is simulated

E+: Limit switch + reached

E-: Limit switch – reached

Nref: Not referenced

OK: Drives referenced

Several statuses separated by hyphens can also be shown in this field.

Tab. 5.1: Explanation of the position mask

Next to the "World" button, the designation of the reference system will appear on the button when a reference system is selected. With this the display can be activated to the cartesian reference system.

5. Position mask


Button / element Description

Kinematic Includes the name of the kinematics. No selection possible.

Reference System A reference system can be selected in this selection list. The selected reference system

will be shown in the button to the right next to the "World" button.

V-Path Display of the path speed.

Mode Not in use

V-Jog (field) Display of the jog override

Drives Selecting the Drives display system

Joints (Axes) Selecting the Joints display system

World Selecting the World coordinate system

Reference System Selecting the coordinate system of the Reference System

V-Jog (button) The jog override can be selected here (100 %, 50 %, 25 % 10 %, 1 inc., 0.1 inc.).

Jog Here you can switch over to the jog coordinate system.

The following jog coordinate systems can be selected:

Joints

World

Reference System

Tool

Tab. 5.2: Explanation of the position mask

Selection when actuating the V-jog or jog button.

6. Project mask


6. Project mask All available projects with all programs will be shown in alphabetical sequence on this page. In order that a project can be displayed in this view, the project must be in the ap-

plication index in the controller.

Column Description

Name The displayed name of the project corresponds to the index name of the FTL project.

State The following statuses will be displayed:

--- : inactive (project neither opened nor loaded)

compiled: (Project opened, but not loaded) defective

loaded: (Project opened and loaded)

active: (Program started)

interrupted: (Program stopped)

will be downloaded: Specifies that a project is being closed

will be loaded: Specifies that a project is being loaded

Setting Not used in this column.

Tab. 6.1: Explanation of the project mask

6. Project mask


Menu button Description

Load The selected project is loaded. After successful loading the status changes from

". . ." or from compiled to loaded. The load behaviour of the projects can be set in

the configuration (only one project, only one project with automatic closing of the

previously loaded project or several projects at the same time).

Open (project) Selected project opened, but not loaded. (Several projects can be opened parallel)

After successful opening the status of the project changes from ". . ." to compiled.

Open (program) Opens the program view of the selected program (only possible if program is trans-

lated). The relevant project will also be opened, if this has not yet been opened or

loaded.

Unload (project) Close open project. After successful closing the status of the project changes from

compiled to ". . .".

Unload (program) Exits the selected active program. After successful termination, the status changes

from active or interrupted to ". . .".

Refresh The status of all projects is checked and if necessary updated.

File Opens a menu with the following file operations:

Rename

Delete

Insert

Copy

New program: creates a new program in the current project.

New project

Save

Import: imports a project or a program from a previously set index or disc drive.

When a project is imported, the current (selected) project in the

project mask will be completely replaced.

Export: exports a selected project or a program to a previously set index or

drive unit.

Tab. 6.2: Explanation of the project mask

7. Program mask


7. Program mask The contents of the program selected in the project mask can be shown and modified in this mask. In addition to modifying parameters, you can also insert or delete instructions

in the program.

Please note

If the translation of the project which contains the program to be edited is incorrect, the program mask cannot be opened.

The defective program can be processed in the text editor mask.

For processing the programs, nested masks are used which must be exited in the same sequence as they are opened. Depending on the activity carried out, the masks necessary for this will be opened in order to create or to modify step-by-step the desired program code. The following masks and lists are used for creating a program. Program mask (main mask) Variable mask Instruction mask Parameter mask Label list (dialogue) Operator dialogue

1 Main pointer

2 Program name

3 Operating mode

4 Position of the

main pointer

5 Selected line

Fig. 7.1: Program mask

The background of the program mask is represented in the following colours, depending on the loading status of the program: White background: Program is loaded Grey background: Program is not loaded but only open

2

5

3

4

1

7. Program mask



Modify With this button you can switch to the edit mode. An editing line will then be shown, in

which the selected (blue) line can be edited. If a change is possible at this position, the

corresponding selection mask (e.g. variable mask) will also be shown.

Macro Inserts the macro last selected in the instruction tree at the current cursor position (no

program access or logic commands).

New Opens the instruction mask. An instruction (program access, routine call, logic command)

can be selected from the instruction tree and inserted in front of the cursor position in the

program.

Set PC Sets the program pointer at the cursor position (blue background). At the next start com-

mand the application runs from this line. When Set PC has been carried out, the previous

program pointer position will be shown in brackets after the current position. This display

is retained until an instruction is carried out. This button is only active when the program

is loaded.

Step/Cont Switch between individual step mode (Step) and run mode (Cont) (display in the status

line of the program mask). This button is only active when the program is loaded.

Processing Opens a menu with the following commands:

Keyboard

Opens a keyboard window in which the selected line of the opened program can be ed-

ited.

Subprogram:

Opens the currently marked subprogram in the program mask (close with Return).

Return:

Closes the subprogram opened in the program mask. The main program from within

which this subprogram has been opened,will be shown again in the program mask.

Formatting

Searching

Commenting out/Cancelling comment:

A comment mark will be set or deleted at the beginning of the current line (none of the

instructions in the line will be taken into consideration).

Deactivating/Activating:

A disable comment mark (##) will be inserted (or deleted) at the beginning of the current

line. Deactivated instructions still exist in the execution structure, but are not carried out.

If the instructions contain expressions, named elements in these expressions will never-

theless be checked for syntax. Therefore variables in deactivated expressions cannot

simply be deleted (e.g. correct with variables).

Selection Opens the selection menu with the following commands:

Select all

Cut

Copy

Insert

Delete Removes the program line at the cursor position.

Undo With this button the last activity can be cancelled. Only the activities insert, replace or

remove are considered.

Tab. 7.1: Explanation of program mask

7. Program mask


7.1 Editing line

When the button Modify is pressed, the editing line will be shown in the lower part of the

program mask. The selected line of the opened program can be edited in the editing line.

The activities necessary for this will be shown in the menu bar.


Arrow keys (buttons) The range to be edited (blue background) can be selected with the arrow but-

tons.

Modify A corresponding selection mask (e.g. variable mask) will be shown, depend-

ing on the selected part of the instruction.

Keyboard Opens the virtual keyboard for direct entry of the instruction.

Cancel Exits the editing mode without change

Insert The changes are inserted in the selected line of the program and the editing

mode is concuded.

Tab. 7.2: Explanation of the editing line

7. Program mask


7.2 Variable mask

The variable masks can be opened with Modify if a variable or the relevant position of a

new expression has been selected in the editing line. The variable mask serves to select

variables. Only the variables of the opened program and the variables lying above it (global and project-wide variables) will be shown in the table. The display can be filtered according to the variable type. In the filter type, only the variable types possible in this position in the program will be offered for selection.

The variable table displayed and the menu bar are identical to the variable mask (see chapter "Variable mask"). The variable mask can be closed without change with Cancel. With OK the change undertaken will be transferred to the position marked in the editing

line and the variable mask will be closed.

7. Program mask


7.3 Instruction mask

The instruction mask serves to select new instructions when creating or modifying pro-grams and can be opened with New at any postion in the program. The instructions of-

fered for selection will be shown in a tree structure (instruction tree).


+ Favorites Frequently used instructions can be marked and copied into the "+ Favorites" folder

with this button.

Cancel Closes the instruction mask without change.

OK/Apply The selected instruction is transferred to the editing line and the instruction mask is

closed.

Tab. 7.3: Explanation of the instruction mask

An instruction can be selected here and transferred to the editing line with OK/Apply. The

instruction can be completed here (e.g. insert variables or operators). The newly created instruction can then be inserted one line above the cursor position in the program with Insert.

7. Program mask


7.4 Parameter mask

The parameters of a macro can be processed in the parameter mask. Creating new pa-rameters, entering values and teaching are possible here. How to use this mask is de-scribed in more detail in chapter 13. Working with the CDSA.

In addition to the designation, icons which describe the validity range of the parameter are also shown in the parameter list.

7. Program mask


The following icons are used for displaying the validity range:

Icon Validity range

L Local (in the relevant program)

P Project (in all programs of the project)

G Global (parameter in the project "global")

S Global (system variable)

Tab. 7.4: Icons


Variable Opens a submenu with the following entries:

Selection:

Opens the variable mask for selecting a different variable. Only the variables pos-

sible at this position are offered for selection.

New:

Opens a dialogue for creating a new project variable. In this dialogue a variable

name with type-dependent prefix can be specified with the button Purpose.

Keyboard:

The name of a variable can be entered here directly via the keyboard.

Teach If variable values in the column Value have been changed, they can be accepted

with Teach.

Clear value The value of the selected parameter can be removed with this button.

Value Direct entry of the value (constant) with parameters with which a variable or a con-

stant can be specified. The corresponding entry possibility is offered depending on

the variable type.

Cancel Closes the parameter mask without change.

OK The parameters are accepted and the parameter mask is closed.

Tab. 7.5: Explanation of program mask

Please note

If a component of a module is to be used as a parameter, this must be inserted via the variable mask (menu button Variable).

7. Program mask


7.5 Label list (dialogue)

The label list is a list with all jump targets within the program shown. When creating a jump instruction, you can select a line from this list. The label list can be opened with Modify, providing the relevant position in the editing line has already been marked.

7.6 Operator dialogue

Arithmetical, logical and comparison operators for creating expressions are offered in this dialogue. The operator dialogue can be opened with New, providing the relevant position

in the editing line has already been marked.

8. Text editor mask


8. Text editor mask A defective program can be edited with this mask. The error messages are shown in the lower part of the mask. When an error message is selected, the cursor is placed in the

relevant line of the program. Compared with the program mask, the program can only be edited by direct entry via the alphanumerical keyboard (touch screen keyboard). Help masks, such as: variable mask or instruction mask are not available in the text editor mask.

The text editor mask is shown automatically when an incorrect program is loaded or opened. The program remains open in the mask until all errors have been rectified or the relevant project has been unloaded. An already open text editor mask can be displayed again via the main menu (submenu option next to the program mask).


Edit The current line can be edited with Edit. An alphanumerical keyboard for the entries will

then be shown.

Compile Translates the project belonging to the program shown.

Undo With this button the last activity can be cancelled. Only the activities insert, replace or

remove are considered.

Insert Inserts a new line above the selected program line.

Delete Deletes the selected program line.

Tab. 8.1: Explanation of the text editor mask

9. Setup mask


9. Setup mask Settings can be modified and system information can be shown in the setup mask. A status report can also be triggered and the system started again in this mask.

9.1 Settings

Field Description

Language A system language can be selected in this list. In addition to this manual selection, a

predefined language can be assigned to each user via the user management. At the

start of the visualization, the language will be loaded to the first position in the selec-

tion list.

Date and time The system time and the current date of the controller can be set here. These are

managed and saved centrally in the controller.

User Displays the current registered user incl. user level.

Tab. 9.1: Settings of the setup mask

9. Setup mask


9.2 System information

Field Description

CDSA-IP Displays the IP address of the display device.

CMXR-IP Displays the IP address of the controller.

System Version Displays the system version of the controller.

TC Memory Usage Specification of memory utilization in %

Tab. 9.2: Settings of the system information

9. Setup mask


9.3 Menu bar

Button Description

User Opens the log-in dialogue for registering a user or the user management if a user is already

registered,

Display Set brightness and contrast of the CDSA-C1 display.

System Opens a submenu with 4 entries:

HMI Restart: Restart of the CDSA operator unit (after acknowledgment)

Soft restart: New start of the controller

Restart: New start of the controller and the operating system

Switch off: Switches the controller off.

Version: Shows an overview of the versions of the software components used.

Disable With this button, operation of the touch function can be blocked for a certain length of time.

Report Opens a submenu with 2 entries:

"Create":

After acknowledge of a "State Report" dialogue, the report is created and also saved to the

memory card of the CMXR. Successful creation is displayed with specification of the com-

plete file name.

Example: (/harddisk0/protocol/statusreport/starep_002.tgz)

The status report is intended for Festo service personnel. It contains the following informa-

tion:

PMA stack (up to 4 files)

HMI event trace (buttons pressed)

Boot log (optional)

System catalogue

Infolog

Current PCB configuration

Task analysis (WVR file)

Status report Info file

Network status

KNet status

KNet error

Performance log

"Export":

Previously created status reports can be saved here on a USB storage medium. In a dia-

logue, the user can select one or all status reports for saving. A USB storage medium on the

CMXR or CDSA can be selected as target.

Exception: The CDSA simulation can store reports only on the USB storage medium! If

"CDSA" is selected, an error message is shown.

Tab. 9.3: Explanation of the menu bar

9. Setup mask


9.4 User

When the User button is pressed, the register dialogue appears. If a user is already regis-

tered, you can access the user management directly, whereby the full function range will

only be available to the administrator.

Please note

If the user management is accessed through a guide system, the log-in dialogue or the user management cannot be opened. The user registered in the guide system is automatically accepted.

9.4.1 Register dialogue

The register dialogue is required for changing the user and/or his rights.

Selection of a user offered in the list

Entry of the password assigned to the user

Request right to write

9. Setup mask


Entry field / check box Description

User Here you can select a user from a predefined list. This is defined by the administrator.

Password Confidential entry of the password on the keyboard.

Write Permission If this check box is set, the displayed user receives the right to write.

Logout With this button a user can withdraw from the system.

After that, the "default user" is active with his rights.

Tab. 9.4: Explanation of the register dialogue

In the User combo box, selection can be made from the list of registered users. When the corrrect password is entered and OK is pressed, the user will be registered. Switching of language or level can also take place here.

9.4.2 User management – registered (all users)

The registered user is shown on this page.

Column / button Description

User Shows the name of the registered user.

Station Designation (IP address) of the CMXR at which the user is registered.

Level User level of the registered user.

Write An active checkbox grants the user the right to write.

Tab. 9.5: Explanation of the user management - registered

9. Setup mask


9.4.3 User management – management (only administrators) On this page of the user management, new users can be created and existing users edited or deleted.

Column / button Description

User Shows the names of the users defined in the controller.

Level User level

Language Standard language of the user.

New Opens a dialogue in which a new user can be defined with all necessary settings.

Delete Deletes selected users in the list after acknowledgment.

Edit Opens a dialogue in which the user profile of the selected user can be modified.

Tab. 9.6: Explanation of the user management - administration

9. Setup mask


Changing the user profile

When a user is selected in the table and the Modify user profile button is pressed, the following dialogue for editing user settings is shown:

10. Variable mask


10. Variable mask All available variables of the current project will be shown in alphabetical sequence on this page. Variable values can also be edited directly here and new variables can be

saved.

The variables are represented in a structured way in a table (tree structure), whereby the first level contains all the programs of the current project. By opening it, the related variables can be displayed.

Column Description

Name The name and the type of the variable is shown here

(form: <Variable Name> : <Variable Type>).

With an active type filter, in contrast, the type will not be shown with the variable names,

but only in the first line of the table.

Value Value of the relevant variable. If it is a Boolean variable, a checkbox for setting and reset-

ting will be shown instead of a value. If a line is selected in the value column, an entry

panel will then be opened. The entry panel depends on the data type.

Tab. 10.1: Explanation of the variable mask - column

10. Variable mask


Column Description

Var. Type The variables displayed here can be limited to a certain variable type. If the entry <all> is

selected, all variables will be shown irrespective of type.

Project This list, which can be opened up, contains the variables of all loaded projects. The pro-

ject/program nodes and variables of the project selected here are shown in the variable

mask (project filter). If a project has not yet been selected, the first project in the list will

be used. The GLOBAL project is always shown. The project filter is shown only with the

appropriate configuration setting (ProjectAutoClose).

Variable Opens a submenu with the following entries:

Delete: Deletes the marked variable

Insert: Inserts a variable from the buffer at the current position in the table.

Copy: Copies the variable in the buffer

Cut: Cuts the variable out at the current position. The variable can then

be inserted again at another position. Shifting the variable

is only possible in the following directions:

- Program -> Project

- Project -> GLOBAL

Rename: Renames the variable

New: Creates a new variable at the current position in the table

(see section "Create new variable").

Teach The selected variable is taught with the current actual position. This only applies if the

variable can be taught (position variable). After successful teaching, an instruction dia-

logue will be shown which will automatically be masked out after a certain length of time.

Remove u… Deletes all non-used variables.

Check Check and display whether the marked variable is used.

Tab. 10.2: Explanation of the variable mask - menu

10. Variable mask


10.1 Create new variable

The dialogue for creating a new variable can be opened with the menu option "Variable New". After confirmation of the details, the new variable will be inserted at

the current position in the table.


Name Name of the new variable

Type Selection field for specifying the variable type of the

new variable.

Visibility Selection field for specifying the visibility of the

variable. The following options are available:

Program

Project

Global

The visibility of a variable can only be selected when

creating a new variable if the variable mask is

opened from within the program mask. The field is

blocked in the variable mask itself; the visibility is

regulated by the activated object.

Cancel (change is discarded)

Propose Shows a suggested variable name in the Name field.

The variable name consists of the variable type and

a continuous number.

Confirmation (new variable will be inserted at the

current position in the table).

Tab. 10.3: Create explanation of new variable

11. I/O monitor


11. I/O monitor The I/O monitor mask shows the status of the inputs and outputs of the hardware compo-nents. These can be set (force) for debug or error analysis purposes.

The I/O monitor mask is divided into two ranges: Overview (start mask) Detail

11.1 Overview

The mask serves to select one or several variables which are assigned to certain hardware modules. Representation takes place hierarchically in a tree structure, as they are incor-porated in the system.

KBUS:0 Root for all peripheral modules which are fitted to the right on the CPU.

CAN:0 Root for all drives connected to the DriveBus (CAN:0)

SLOTCAN:0 Root for all peripherals which can be addressed via the bus CAN:1 (pe-ripheral CAN).

You can select the modules by setting the checkbox to the right next to the module desig-nation. Selection of a structure element marks all elements below this.

11. I/O monitor



Detail Opens the detailed view of the selected modules.

Tab. 11.1: Explanation of the I/O monitor - button

The module status is shown in the outermost right-hand column of the selection table. The following icons are used here:

Icon Description

Module is simulated (does not exist physically)

Node monitoring (garding) deactivated

At least one input or output on the module is forced.

Unknown module status.

Module status OK

Errors

Tab. 11.2: Module status - icons

11.2 Detail

The current values of the inputs and outputs for each selected hardware module are shown in this mask.

11. I/O monitor



Overview Shows the selection of the modules ("Overview" mask).

Filter on/off Here, with "Setup", parameterized filters for the display can be switched on or off.

Setup Opens the dialogue for the filter setting (selection of the modules to be shown).

View Opens a submenu for selecting one of the following views:

- Compact: Only the connection designation and the status icon are represented.

- Standard: In addition to the connection designation and the status icon,

the assigned system variable is also shown.

- List: Shows the connections in table form

Unforce all With this button all forced I/O states can be cancelled.

Tab. 11.3: I/O monitor - detail

The states of the digital inputs and outputs are represented with the following icons:

Icon Status of the digital input / output

off

on

Forced off

Forced on

Error

Tab. 11.4: I/O monitor - icons

When an input or output is selected, an appropriate input dialogue appears for modifying the relevant values or states.

Please note

When the input dialogue is opened, the long name of the relevant system variable is loaded into the buffer. This can be inserted into the text field of the parameter selection in the setting dialogue of the software oscilloscope and the masks of the process data pack-age (via the insert button of the virtual keyboard).

11. I/O monitor


The name of the variable is shown in the header line of the dialogue.

Button Description

Actual Value Current status

Set Value Forced value

Set Only for outputs: the current setpoint value is accepted (without forcing)

Force active? Activate forced value

Tab. 11.5: Input dialogue for digital input or output

Field Description

Actual Value Actual value of the input/output

Note:

If there is a sensor fracture, "-----" is shown in this field.

A forced value will still be shown with a red frame.

Set Value Value to which the input/output is forced.

Force active? The forced setting of the value is activated by selection.

Tab. 11.6: Input dialogue for analogue input or output

12. Execution mask


12. Execution mask The execution mask shows an overview of all loaded and recently implemented programs.

Column Description

Name Designation of the project or program.

Type Type of program (MP= main program, SP=subprogram).

MR Position (line) of the main pointer.

PR Position (line) of the setup pointer.

St. (status) Program status (STOP = Program is not executed, RUN = Program is executed.)

M. (mode) Execution mode of the program (STEP = Individual step mode, CONT = Sequence mode).

Program The accessing program of a subprogram is shown in this column.

Sel. (selection) Not used at present.

Tab. 12.1: Explanation of the implmentation mask - column

Column Description

View Displays the selected program in the program mask

Step/Cont Switches between individual step mode and sequence mode with a selected and active

program.

Kill Interrupts and terminates selected program.

Tab. 12.2: Explanation of the execution mask - button

13. Working with the CDSA



13.1 Start/stop program

To be able to execute an FTL program, the following steps must be performed: In the project mask, select the project (in which the program is located). Prepare project for execution with the Load button. If needed, open project with "+" and select program. Display program with the Load button in the program mask. Changes to the program

can still be undertaken here (insert instructions, modify parameters etc.). Select the desired run mode in the menu bar with the Step/Cont button (sequence

mode or individual step mode). The program can be started with the Start button.

The implementation of a program is shown in the project mask and in the implementation mask with the status "active". The program is carried out automatically in the sequence mode (Cont). In the individual step mode (Step), only the current command (position of the program cursor) will be processed.

The program can be stopped with the Stop button.

Please note

When a program has been processed, the program cursor jumps again to the first line of the program. A restart can then be made with the start button.

This procedure does not apply to program interruptions.

13.2 Creating a new program

Switch to the project mask Select the project into which the new program is to be inserted. Open the dialogue "Create new program" in the menu "File – New program". Enter the program name in this dialogue and confirm.

The new program can now be opened and edited in the program mask.

13.3 Edit program

A program is edited in the program mask. The program mask can alternatively be called up

with one of the two buttons: Load button: The program can be edited and executed. For this, the program must be

in the Stop condition. Open button: The program can only be edited, but not started.



Please note

Defective programs are shown automatically in the text editor mask and can be edited there.

1 Main pointer

2 Program name

3 Operating mode

4 Position of the

main pointer

5 Selected line

Fig. 13.1: Program mask

The main pointer specifies the line which is to be executed next. The line with the coloured background specifies that this command has been selected (cursor position).

Please note

An overview of the possible commands can be found in the chapter "Program mask".

1

3

4

2

5



13.3.1 Insert instruction

Place the cursor in the line in front of which the new instruction is to be inserted. Open the instruction mask with the New button.

Select the desired instruction in the instruction tree and insert in the editing line with

OK/Apply.

Please note

If a certain parameter must be specified in the new instruction, the appropriate selection mask will then be shown (e.g. for the selec-tion of an assignment, the variable mask will be shown after con-firmation with OK/Apply).

The selected instruction will either be inserted into the editing line incompletely or with a standard parameter. Before this instruction can be inserted in the program, it must first be completed. Use the arrow buttons to mark the position of the new expression to be modified.

Either enter directly the desired expression via the keyboard or open futher selection with Modify. Depending on the position, the appropriate selection will be offered (e.g.

variable mask). Conclude selection with OK or with Confirm in the case of direct keyboard entry. The

expression will be inserted in the editing line. If necessary, carry out further modifications in the same manner. If the new instruction is complete, it will be inserted in front of the current cursor posi-

tion in the program.



13.3.2 Changing parameters

Select the instruction Switch to the editing mode with the Modify button.

The parameter mask will be opened and the selected instruction shown in the editing line.

Modifying the parameter with one of the following methods:

- Direct value entry: Click on the value and enter the value directly in the entry panel which appears.

- Value button: When this button is pressed, an entry panel will be opened for direct entry of the value. This method is used if a combo box for selecting the variable is shown in the Value field, but an INT value is to be specified, for example.

- Variable menu: A variable can be inserted in the current instruction here (either with Select, New or Keyboard).

When the parameters have been adapted, conclude the change with OK.

The parameter has now been modified.

13.3.3 Modifying an expression in a program instruction

Select expression Switch to the editing mode with the Modify button.

The editing line will be opened and the selected instruction shown therein. Use the arrow buttons to mark the part of the expression to be modified in the editing

line. Change the marked part with the appropriate menu entries. Conclude the change with OK.

The expression has been changed.



13.4 Teach/modify parameter values

Teaching or modifying parameter values can take place either directly by entry or by modi-fication of the variable values with the jog buttons.

Please note

This sequence represents only a sample procedure. If necessary, the sequence can be adapted to the individual requirements.

Select the desired macro or program in the program window. Switch to the individual step mode with Step/Cont. Using the Start button, carry out the program in individual steps, up to the positioning

command to be adjusted.

Direct entry

Open the parameter mask with Modify. Enter the new values in the Values table column in the parameter mask.

The values entered will be accepted immediately. Close the parameter mask with OK.

With jog buttons

Correct the position of the robot with the jog buttons. Open the parameter mask with Modify. Accept the new position values in the parameter mask with the Teach button and close

the parameter mask with OK.



13.5 Messages

All the messages which have occurred will be shown in the message mask and can be ac-knowledged here.

Messages can also be shown directly in the status line. The message classes for this dis-play form can be configured. Usually messages which draw attention to a problem in the system or in the process are shown in this manner.

13.5.1 Acknowledging the message in the message mask

Open the message mask Select the message Confirm the selected message with Confirm

All the messages can be acknowledged with Confirm all. For security reasons a confirming

dialogue will be shown before final acknowledgement is carried out.


INDEX

C

Confirm ................................................ 58 Connection status ................................ 16 Coordinate system ............................... 24

D

Default gateway............................... 9, 11 Display setup ......................................... 9

E

Editing line ........................................... 31 Execution mask ................................... 52

H

HOST IP ............................................... 11

I

I/O monitor mask ................................ 48 Instruction mask .................................. 33 IP address ........................................ 9, 11

K

KBUS ................................................... 48 Kinematics ........................................... 15

L

Label list .............................................. 36

M

Message classes .................................. 19 Message log ........................................ 19 Message status ................................... 16 Message statuses ................................ 19

Messages ...................................... 19, 58 Module status...................................... 49

N

Network setup ....................................... 9

O

Operating mode ................................... 15 Operator dialogue ............................... 36 Override ............................................... 15

P

Parameter mask ................................... 34 Program mask ..................................... 29 Program status .................................... 15 Project mask ........................................ 29

R

Reference points .................................. 11 Register dialogue ................................. 41 Report memory .................................... 22 Robot status ........................................ 15

S

Setup mask .......................................... 38 Setup menu ........................................... 9 Subnet mask .................................... 9, 11

T

Text editor mask .................................. 37 Touch screen calibration ...................... 11

U

User levels ........................................... 16 User management ............................... 42 User profile .......................................... 44

V

Variable mask ...................................... 32 Variables ............................................. 45

Index


Manual · 2020-03-05 · [749 004] Festo GDCP-CDSA-SW-EN 0909a 3 Edition ... Chapter 2...

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Transcript of Manual · 2020-03-05 · [749 004] Festo GDCP-CDSA-SW-EN 0909a 3 Edition ... Chapter 2...