发那科机器人焊接应用的IO配置总线型.docx

发那科机器人焊接应用的IO配置总线型.docx

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发那科机器人焊接应用的IO配置总线型

发那科机器人焊接应用的I/O配置（总线型）

VersionInformation

【TOP】
FNumber:
YH14979  
VERSION:
SpotTool+           
$VERSION:
V7.5093     06/14/2010
DATE:
    14-AUG-1118:
21
VERSIONINFORMATION:
:
SOFTWARE:
             ID:
SpotTool+            7DA5/12
S/WSerialNo.     :
88150    
ControllerID      :
YH14979  
DefaultPersonality（fromFD）
R-2000iB/210F        V7.50P/12
ServoCode         :
V15.01 
Cart.Mot.Parameter:
V3.00
JNT.Mot.Parameter:
V3.00
DCS                :
None
SoftwareEditionNo.:
V7.50P/12
UpdateVersion     :
None
CustomizationVer. :
None
RootVersion       :
V7.5093  
BootMONITOR       :
V7.70P/06
TeachPendant      :
7D0F/01M
BrowserPlugins    :
V7.7004
TPCoreFirmware   :
V7.7004
MediafromFRL       06/24/2010
CONFIG:
:
FEATURE:
             ORDNO:
SpotTool+            H590
EnglishDictionary   H521
MultiLanguage（CHIN）H539
AAVisionMastering  AAVM
AnalogI/O           H550
AutoSoftwareUpdate ATUP
AutomaticBackup     J545
BackgroundEditing   J616
CameraI/F           VCAM
CellI/O             CLIO
Commonshell         R645
Commonshellcore    CMSC
Commonsoftpanel     CMSP
Commonstyleselect  STYL
ConditionMonitor    J628
ConstantPath        R663
ControlReliable     CNRE
CornerRegion        R654
Diagnosticlog       RSCH
DisableFaults       CDSB
DispensePlug-in     SPLG
DualCheckSafetyUIFDCSU
EnhancedMirrorImageR698
EnhancedRobServReqORSR
EnhancedT1Mode     R680
EnhancedUserFrame  J604
Ext.DIOConfig      EIOC
ExtendedErrorLog   R542
ExternalDIBWD      ESET
FCTNMenuSave       J516
FTPInterface        J716
GroupMaskExchange  MASK
High-SpeedSkip      J627
HostCommunications  HOCO
HourMeter           J513
I/OInterconnect2   J542
IncrInstruction     J510
KARELCmd.Language  J650
KARELRun-TimeEnv   J539
Kernel+BasicS/W   H510
LicenseChecker      LCHK
LogBook（System）      OPLG
MACROs,Skip/Offset  J503
MHgrippercommon    MHGC
Mat.HandlingOption  MPLG
MechStopProtection  MCSP
MirrorShift         J506
Mixedlogic          J554
ModeSwitch          MDSW
Motionlogger        R637
MultiApplEnabler   MAEN
MultiEquipment      J617
Multi-Tasking        J600
PositionRegisters   J514
PrintFunction       J507
ProgNumSelection   J515
ProgramAdjust       J517
ProgramShift        J505
ProgramStatus       PRST
ProgramToolBox      R598
RDMRobotDiscovery  FRDM
RobotServiceRequestSRSR
RobotServoCode     H930
SNPXbasic           SNBA
SealCommon          SLCM
ShiftLibrary        SHLB
ShiftandMirrorLib SMLB
SoftPartsinVCCM   SPVC
SpotPlug-in         SPPG
TCPAutoSet         J520
TCPSpeedPrediction J524
TCP/IPInterface     HTCP
TMILIBInterface     TMIL
TPMenuAccounting   TPAC
TPTX                 TPTX
TelnetInterface     TELN
ToolOffset          J509
UnexceptedmotnCheckUECK
UserFrame           UFRM
VisionCore          VCOR
VisionLibrary       VIPL
VisionSPCSXC       CSXC
VisionShiftTool    CVVF
WebServer           HTTP
WebSvrEnhancements R626
iPendant             CGTP
iPendantGridDisplayIGUI
iPendantSetup       IPGS
R-2000iB/210F        H601
ServoGunAxes       H869
AutoTuningCS       J952
CollisionGuard      R534
CollisionGuardPack J684
CycleTimePriority  J523
DeviceNetInterface  J753
DeviceNet（Slave）     J754
Disp2ndanalogport R528
ExtendedAxisControlJ518
ExtendedUserFrames R696
FANUCServoGunChangeJ665
FRLParams           R651
HMIDevice（SNPX）    R553
Multi-GroupMotion   J601
PCInterface         R641
PMC（FAPTLadder）     J760
PasswordProtection  J541
ROSEthernetPackets R603
ServoGunOption     J643
ServoGunWTCompens J933
SpaceCheck          J609
USBportoniPendant J957
YELLOWBOX           J775
iRCalibrationVShift J994
ArcAdvisor          R666
AuxServoCode       SVMO
CommoncalibUIF     CUIF
CycletimeOpt.      CTOP
ExtendedAxisSpeed  EXTS
Funcstup            FCSP
HTTPProxySvr       PRXY
HighSpeedServoGun  J886
IntelligentTPPCI/F J770
JPNARCPSUPRM       J885
Motherboarddriver   MOBO
PCSendMacros       SEND
PressureControl     PCTL
RequiresCP          CPRQ
RobotLibrarySetup  RLCM
SSPCerrortext      ETSS
ServoGunCore       J670
ServoHandChange    SVHC
Sgdiagcore          SGDG
SocketMessaging     R636
SoftLimit           SLMT
TCPPExtention       TCPE
VCalibrationCommon  VCCM
VisShiftI/FCommon  CVVC
VisionShiftCommon  CVVS
istdpnl              IPNL
iPendantHMISetup   U001
RMHELPINCLVISPKGSU004
SMBTPBackup        U006
RIPEGET_VARFIX     U007
FLEXTOOL:
ADDR729.FDU008
CVISADDEPADVPKG  U009
CVISNOWTWTESTLOAD U010
LOADHELPFORSELECT U011
FALSEALARMCPMO-130 U012
MD:
HANGFROMINTP   U013
R709DRAMAVAILCHECKSU014
CVISVPCSSUPPLIMCHKU015
CVISVPFFPOSDIFFIXU016
8-12CHARACTERPROGRAU017
SAVEFRAMEVAR.SV     U018
TPEnableNOAM       U026
STRCTURESHADOWUPDATU027
RIPESTATICSTOOMUCHU028
TIMQMOTN-003        U030
ROBOGUIDEDAUGHTER   U032
DisabletouchinEditU033
PATHNODEMOVETO     U035
RIPEREMOVETIMERETRYU038
VMXPACKMAYASSERT   U039
CYCLEDATAMAYBECORU040
TOOMANYARCOPTIONS U043
PMCDisplaywaitfix U044
APSH-171fix         U045
SLOWT1MOTN         U046
GET_POS_TPEfix      U047
jogdisablebyappwaU048
CVISVPEPHISTRTFIXU049
MXSPDTBCPMO003     U050
CVISBARCODEENHANCE U051
prvsavemaynotworkU052
HighRIPEtrafficfixU053
printfromsysvarscrU054
PROGRAMADJUSTFORSHU058
RIPE/GETSETERRORHANU060
IPENDANTSCREENUNREAU061
HANDLEPARTCORRECTIOU064
NOFILEBACKGROUNDEDU066
CVISEPPKGINCLSVIPU067
SIXDIGITVERSIONS   U068
CVISNEWVERSIONP06 U069
IMAGESAVELOAD      U070
DISPPROCISSUE      U071
REPLANJOINTDELTA   U078
TPEDITCALLFROMFIX U079
CVISFIXIPNDTRTIMGU080
$coord_maskdefault  U084
R719ENHANCEMNT/FIXESU085
LocalHoldTIMQAdjusU097
PG:
CHDELMONcancausU100
CVIS:
3Dmulti-viewdU101
IncreaseNumberofFDU103
KARELCANNOTACCESSMU104
RobotSettingsareloU108
PAINT-Wait/Release U109
FlexTool:
BackwardmoU114
PAINT-PaintPRORepaU117
EDITSCREENISCLOSEDU500
ANTIDEFECTUIFFIX   U507
PNIOV750FIX1       U509
FIXLOADINGDBSYSVARU510
FIXEDGEDETECTION   U511
ONLINEHELPBUGFIX   U512
CVIS:
CAMCALIBFIX  U514
DISPCUSTOMFORSSGUNU515
FIXABCJARKYMOTION U517
MILLIMETERCONVERSIONU518
GARBLEDSTRREG      U519
ALARMTEXTBUGFIX   U520
DISPCUSTDRYFORSSGU521
IMPROVELWRDETECTIONU523
CVISFREEZEVLOGTASKU525
VP2SMMCONVERSION   U526
FIXTPFREEZEIBPX   U527
FXDB/TBBUSYRUNNINGU528
RECORDCALIBRATIONLOU529
DIVCALCULATIONFIX  U530
FIXFORBWDRETURN   U531
CONDITIONMONITORFIXU532
VOFS:
UNEXPALARMFIXU533
FIXSERVOGUNTEXT   U534
FIXFENCESVEMGABNMLU535
DCSCC_SAFEIOALARM  U537
IMPROVEDGUNTOUCHUP U540
FIXGUNCHGWITHDNETU541
UPDATEGUNTCHPAEAMS U542
DOTPETTERNBUG      U543
CVIS:
IRVISIONBUGFIU544
UPDATESVGNERRORTXTU545
FIXTOOLCHGWITHDNETU546
MLOCKCHKWITHGUNCHGU547
MECHCOMPFORGUNTCH U549
IMPROVEGUNTCHPARAMSU550
VISIONMEMORYLEAK   U551
FIXUNWANTEDMESSAGE U552
SUPPORTDETSOFTWORKU553
CVIS:
SPECCHANGEOFVU554
GRIDDETECTBUGFIX  U559
MOTOR:
:
   GR:
AX:
    MOTORIDANDINFO:
    1  1  ACaiSR30/300080A H1DSP1-L
    1  2  ACaiSR30/300080A H2DSP1-M
    1  3  ACaiSR30/300080A H3DSP1-J
    1  4   ACa12/4000iS40A H4DSP1-K
    1  5   ACa12/4000iS40A H5DSP2-L
    1  6   ACa12/4000iS40A H6DSP2-M
    1  7     aiF22/300080A  H DSP-
    2  1      aiS8/400080A  H DSP-
SERVO:
:
GROUP:
AXIS:
 SERVOPARAMID:
    1  1   P02.06
    1  2   P02.06
    1  3   P02.06
    1  4   P02.06
    1  5   P02.06
    1  6   P02.06
    1  7   P00.39
    2  1   P00.39

MemoryDetail

【TOP】
MEMORYUSAGE:
:
MEMORYDETAIL（MAIN）:
Pools       TOTAL    AVAILABLE     LARGEST
TPP         800.0KB    577.8KB    555.0KB
PERM       1978.0KB    371.6KB    366.5KB
SYSTEM     7182.0KB      2.5KB      2.5KB
SHADOW     5894.5KB   5556.5KB     32.0KB
TEMP      21052.5KB   1422.8KB    714.2KB
FROM      31857.0KB   9258.0KB       .0KB
HARDWARE
FROM     32MB
DRAM     32MB
SRAM      2MB
MEMORYDETAIL（COMM）:
Pools       TOTAL    AVAILABLE     LARGEST
TPP           0.0KB      0.0KB      0.0KB
PERM         48.0KB     47.8KB     47.8KB
SYSTEM     6144.0KB   5553.0KB   5553.0KB
SHADOW     5894.5KB   5556.5KB     32.0KB
TEMP       9844.5KB   8201.3KB   7949.9KB

ProgramStatusInformation

【TOP】
TASKSTATES:
1       RESETstatus=ABORTED
****** HistoryData ******
Routinedepth:
0 Routine:
RESET                              
Line:
    1      Program:
RESET                                Type:
TP   
2    STHICHNGstatus=ABORTED
****** HistoryData ******
Routinedepth:
0 Routine:
STHICHNG                           
Line:
  128      Program:
STHICHNG                             Type:
PC   
3     PNLINSTstatus=ABORTED
****** HistoryData ******
Routinedepth:
0 Routine:
PNLINST                            
Line:
  223      Program:
PNLINST                              Type:
PC   
4      PSCOLDstatus=ABORTED
****** HistoryData ******
Routinedepth:
0 Routine:
PSCOLD                             
Line:
   93      Program:
PSCOLD