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SOFTWARE

KR C...

KUKA.OfficeLite

Release 5.2

Issued: 01 Aug 2005


OfficeLite R5.2 04.04.03 en

Version: 03
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e Copyright

2005

KUKA Roboter GmbH


This documentation or excerpts therefrom may 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, in the case of a replacement or service work. We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on a regular basis, however, and necessary corrections will be incorporated in subsequent editions. Subject to technical alterations without an effect on the function.

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Contents
1
1.1 1.2

General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Purpose of the program, requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Minimum system requirements (hardware and software) . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5
5 5

2
2.1 2.2 2.3 2.3.1 2.4 2.4.1 2.4.2

Installation, upgrade, uninstallation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


Reinstalling the software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Uninstalling the software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Uninstalling KUKA.OfficeLite . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Licensing and starting the software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Licensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Starting the software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6
6 9 11 11 12 12 13

3
3.1 3.2 3.2.1 3.2.2 3.2.3 3.2.4 3.2.5 3.3 3.4 3.5 3.5.1 3.5.2 3.5.3 3.5.4 3.5.5 3.6

Operator control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
HMI user interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Copy Mada . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Softkeys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Directory tree display modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Plausibility mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Copying data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I2t monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Simulation of physical inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Functions that are not supported . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Constraints and miscellaneous instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Brightness and contrast settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Reserved IP address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Archiving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Problems arising in joint operation with FTP servers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Problems in conjunction with Siemens PLC software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Minimizing the display window and exiting KUKA.OfficeLite . . . . . . . . . . . . . . . . . . . . . . . . . .

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General

1
1.1

General
Purpose of the program, requirements
The program KUKA.OfficeLite allows convenient use of the KUKA KR C system software on a PC for training, simulation and programming purposes. Furthermore, the program contains a user--friendly copy function for copying existing machine data with a plausibility check of the files to be copied. KUKA.OfficeLite cannot be used to operate robots; furthermore, this program must not be installed on KR C controllers. Administrator rights are required for installing and licensing the program and for working with offline tools. Operation of KUKA.OfficeLite does not require a KCP control panel, MFC card or other additional hardware components (e.g. bus systems), nor can OfficeLite be used to control such 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 or higher 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 PCs should 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 System Software (VSS).

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2
2.1

Installation, upgrade, uninstallation


Reinstalling the software
Administrator access rights are required for installing the software. To ensure that the installation runs smoothly, first close any Windows applications that are running, 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 texts will be displayed.

Select the desired language and click on Next. The setup routine is started; click on Next.

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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 list which 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 between KUKA.OfficeLite V 5.2 and KUKA.Sim Pro. This allows KUKA.OfficeLite to be used as a virtual controller for robot simulations and cycle time investigations. The corresponding KUKA VRC Interface can be selected according to the version of KUKA.Sim Pro used. The KUKA VRC Interface for KUKA.SimPro V 2.0 can also be used in conjunction with Delmia IGRIP V5.

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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 started manually. G KUKA VRC Interface for KUKA.SimPro V 2.0 The Systray KrcVrcMgr.exe is started via the Windows Startup routine. KUKA.SimPro V 2.0 uses this VRC Manager file to establish the connection to KUKA.OfficeLite V 5.2 and starts the KUKA.OfficeLite V 5.2 instance via KrcVrc.exe.

The individual services can be terminated manually by pressing the right mouse button and selecting the command Terminate. The option Show displays the version information. Installation / uninstallation of the KUKA VRC Interface The KUKA VRC Interface can be found on the CD under \Internat\VRC and can be installed at any time. G G The KUKA VRC Interface for KUKA.SimPro V 1.1 is located in the directory 1.1 The KUKA VRC Interface for KUKA.SimPro V 2.0 is located in the directory 2.0

NOTE Only one KUKA VRC Interface can be installed. Setup.exe will automatically delete an existing version. An uninstallation Setup program is located in the directory UNINST. It can be used for both KUKA 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 for KUKA Sim Pro V 1.1).

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Installation, upgrade, uninstallation (continued)

2.2

Upgrade
If you wish to install a newer program version, a software upgrade is required. The procedure is initially the same as that for reinstallation. You are additionally asked which settings from the 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 robot type again. If you select the option R1, the programs you have created in the previous version of KUKA.OfficeLite are converted. If this option is not selected, KUKA.OfficeLite is started with an empty R1 directory. Your programs are nonetheless backed up in the directory KRC_OLDINST.

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The following dialog only appears in Windows XP. Here, the compatibility with Windows XP is checked. NOTE Answer the dialog query with Continue Anyway. Otherwise, the system will not run correctly.

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Installation, upgrade, uninstallation (continued)

2.3
2.3.1

Uninstalling the software


Uninstalling KUKA.OfficeLite
Should it be necessary to uninstall KUKA.OfficeLite, this can be done under Software in the Windows menu Control Panel. Note: If KUKA.OfficeLite is uninstalled, the entire KRC directory is deleted, including any files and subdirectories not created with KUKA.OfficeLite. These are not copied to the backup directory 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 and rebooted.

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2.4

Licensing and starting the software


User rights are sufficient for running OfficeLite, with the exception of offline tools, for which Administrator rights are required.

2.4.1

Licensing
Two licensing options are available: G License Server The 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). License File The license is valid for a specific PC (MAC address).

For (floating) server licenses, a corresponding license server must be available to manage the licenses provided by KUKA Roboter GmbH. Files for licensing individual PCs (license files) are available on request from Technical Support 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 the boxes. Click on the button Save HOSTID Info to a File, enter a name in the input box in the dialog window that opens (<Name>.txt) and save the file. 12 of 26 OfficeLite R5.2 04.04.03 en

Installation, upgrade, uninstallation (continued)

Please send this file (<Name>.txt) by e--mail to simulation@kuka-roboter.de 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 program group 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 and click 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: OfficeLite R5.2 04.04.03 en 13 of 26

KUKA.OfficeLite

Enter the name of the license file in the input box and click on Next>. You can browse for the 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.

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Operator control

3
3.1

Operator control
HMI user interface
When KUKA.OfficeLite has been started successfully, the following display appears on the monitor:

As you can see, the HMI (Human Machine Interface) user interface of KUKA.OfficeLite is nearly identical to that of the KUKA Control Panel (KCP). An additional toolbar is available at the top left of the display containing KCP control elements that are integrated into the KUKA 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, it is deactivated by clicking on this icon. Program start forwards A selected program is started by clicking on this icon with the left mouse button. Program start forwards remains active (locked) throughout program execution until the icon is left--clicked again or the Program stop key is pressed.

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Program start backwards Clicking on this icon with the left mouse button initiates Program start backwards and allows programs to be executed in M--Step mode. Enabling switch Clicking on this icon with the left mouse button simulates actuation of the KCP enabling switch (enabling switch actuated). It remains active until the icon is clicked again with the left mouse 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 selection menu 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 the window concerned in the user interface.

PinUp This is an additional operator control element that is not contained in the KCP. Clicking on this icon with the left mouse button causes the HMI window to remain permanently displayed in 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.

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Operator control (continued)

3.2

Copy Mada
KUKA.OfficeLite allows the copying of machine data. A plausibility check of the source files is carried out. The Submit interpreter is deselected during the copying process and then reset to 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 directory the directory containing the data to be copied. target directory the directory to which the data are to be copied.

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Furthermore, the following softkeys are available in the softkey bar: +/Expands or closes the node selected in the visible directory tree. Refresh Restores the display of the visible directory tree to its original state. Copy Copies the file that is selected in the source directory. Close Terminates the Copy Mada function.

3.2.2

Directory tree display modes


If source directory is selected, the KRC directory tree is displayed by default (KRC mode).

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

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Operator control (continued)

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

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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 be assigned.

3.2.4

Copying data
Preconditions are that a plausible machine data node has been selected in the source directory 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 in the 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, messages appear, relating to the triggering of this monitoring function, the variable $i2t_OL = FALSE can be deactivated by means of the variable modification function.

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Operator control (continued)

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, but remain saved. If simulation is then activated again, all the inputs that were previously set are set once again. If simulation is active, the column SIM is generated in the window.

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3.4

Functions that are not supported


For technical reasons, the range of commands available in KUKA.OfficeLite is reduced. This affects both the demo version and the full version in equal measure. The functions omitted depend 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). It is 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. This is absolutely vital for the correct functioning of KUKA.OfficeLite and may not be used for any other 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 the one hand, are necessary for the operation of OfficeLite, but, on the other hand, prevent them from being used on a real robot controller. So that archives can, nevertheless, be transferred, only the following files in the INIT directory are archived or restored using the menus Archive ! All or Restore ! All in OfficeLite: ---ConfExtAxis.ini ConfigMon.ini MenueKeyUser.ini OfficeLite R5.2 04.04.03 en

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Operator control (continued)

--

SoftKeyUser.ini

These four files may contain, for example, customer--specific entries that can be used both in KUKA.OfficeLite and on a robot controller. Should it be necessary, however, to backup or restore the complete INIT directory, this must be 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 Internet Information Service.

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Deactivate the FTP service here and confirm with OK.

Method 2: Deactivation of an installed IIS server by uninstalling this Windows component in Windows Setup. Method 3: Modification of the port address used by the activated IIS server. In Computer Management, select the line FTP Sites.

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Operator control (continued)

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 port address.

3.5.5

Problems in conjunction with Siemens PLC software


Problems arise if KUKA.OfficeLite and Siemens PLC software (S5, S7) are used simultaneously. For this reason, all background processes of the Siemens software must be terminated completely. If you have any further questions on this subject, please contact Siemens customer support.

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3.6

Minimizing the display window and exiting KUKA.OfficeLite


To minimize the monitor window or exit KUKA.OfficeLite, move the mouse pointer onto the status line underneath the message or program window and click with the left mouse button. A corresponding query appears in the message window. The softkey Minimize The softkey Exit The softkey Cancel minimizes the KUKA.OfficeLite window exits the KUKA.OfficeLite program cancels the procedure

Before exiting the application, robot programs that are running must be stopped and deselected, otherwise files may be damaged. The Cross3 window is closed automatically and must not be exited manually. It may take up to 10 seconds before all OLE connections have been terminated.

KRC Start Center The KRC Start Center icon remains in the Windows taskbar even after the KUKA.OfficeLite program 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. NOTE KUKA.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 Windows taskbar bottom right. Clicking on this icon with the right mouse button causes the following menu to be displayed:

Clicking on Terminate closes KRC Sim.

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Index

B
Backup files, 11

P
Physical inputs, 21 Plausibility mode, 20 ConfExtAxis.ini, 22 ConfigMon.ini, 22 Copy Mada, 17 Copying data, 20 PLC software, 25 Port address, 24 Program start backwards, 16 Program start forwards, 15 Program stop key, 15 Directory tree, 18 Directory tree display modes, 18 Purpose of the program, 5

E
Enabling switch, 16 Exit, 26 Exiting OfficeLite, 26

S
Setup.Exe, 6 SIM, 21 Simulation of physical inputs, 21

F
FTP server, 23

Softkeys, 17 SoftKeyUser.ini, 23

H
HMI, 15 HMI user interface, 15

Source directory, 17 Starting the software, 13 System requirements, 5

I
IIS, 23

T L
Language, 6 License File, 12 License Server, 12 Licensing, 12 Target directory, 17

U M
MenueKeyUser.ini, 22 Minimizing the display window, 26 Mode selector switch, 16 Uninstallation, 11

O
Operator control, 15 Index -- i

V
VRC Interface, 7

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