Roboffice PCX GB

DOCUMENTATION
REIS GMBH & CO. KG MASCHINENFABRIK OBERNBURG
Operating manual
Title: RobOffice PCX
Author: Pfeiffer, Brunn, Seyfarth
Date: 11.11.2004
Control version: RSV-PCX
Software revision: 15.0
Documentation for level: from level 3 – programmer
Date: 19.01.2005
Release: i.A. Elter
Original: H:\Dokumentation\Rsv-
PCX\Word_Dokumente\RobOffice_PCX_1500_GB.doc
RSV-PCX OPERATING MANUAL
Document revisions
Date Version Author Description of changes
1.0 First established document

Pfeiffer/Bru
nn
07.04.04 1.1 Seyfarth Menu item File -> CAM

Protocol described for
corresponding version
06.10.04 1.2 Pfeiffer Modification of the RSV File

transfer Module described
11.11.04 1.3 Pfeiffer Save Memory : safeguarded

file name is no longer called
backup.bck, but
savemem.bck
RobOffice_1500 03/05 GB 1
1 TABLE OF CONTENTS
1 TABLE OF CONTENTS __________________________ 2
2 GENERAL DESCRIPTION________________________ 4
3 TARGET GROUP _______________________________ 5
4 SAFETY INSTRUCTIONS ________________________ 5
5 CONDITIONS: HARDWARE AND SOFTWARE _______ 7

5.1 Prerequisites of the system __________________________ 7
6 INSTALLATION/CONFIGURATION ________________ 7
6.1 Operation of RobOffice without RealTime Kernel driver ___ 8
7 OPERATION__________________________________ 10
7.1 Extended function menus ____________________________10
7.1.1 File _______________________________________________10
7.1.2 Project ____________________________________________11
7.1.3 Save ______________________________________________11
7.1.4 Mode _____________________________________________11
7.1.5 Option_____________________________________________11
7.1.6 ProSIM ____________________________________________12
7.1.7 Information _________________________________________12
7.2 PRINT ____________________________________________12
7.3 I/O Simulation ______________________________________14
7.3.1 General ___________________________________________15
7.3.2 Configuration of the digital input/output ___________________16
7.3.3 Configuration of the analog input/output __________________18
7.3.4 Indication of user-defined variables ______________________20
7.3.5 Movement animation under RobOffice____________________21
7.3.6 Configuration of the movement animation _________________22
7.3.7 Example: Indication of the state of cams __________________25
8 ERROR MESSAGES/ DEBUGGING _______________ 26

8.1 Introduction _______________________________________26
8.2 Error messages ____________________________________27
9 ROBOFFICE – MODULES_______________________ 29
9.1 mounting __________________________________________29
9.1.1 Ksetup ____________________________________________29
9.1.2 Portmapper ________________________________________29
9.2 RSV Print__________________________________________29
9.3 TeleControl ________________________________________29

9.3.1 RSV – Chat ________________________________________29
9.3.2 RSV Filetransfer _____________________________________29
9.3.3 RSV RemoteControl__________________________________31
10 GLOSSARY_______________________________ 32
11 INDEX ___________________________________ 34
2 General Description
Contrary to the language used up to software version 7.10,

RobOffice consists of the following components:
RobOffice – VRC
Installation programs
TeleControl programs (Remote Control, Filetransfer, Chat)
Print program
RobOffice – VRC (Virtual Robot Controller) .The RobOffice

VRC is the real programming and simulation environment of the
RobotStar V – control. Up to software version 8.0 RobOffice –
VRC was called software package RobOffice.
RobOffice - VRC ensures generation of robot programs and

their simulation "offline" on a standard-PC.
On a realistic portable teach pendant the programmer finds the

same operating surface as on the real robot control. Programs
or configuration data generated in RobOffice- VRC can directly,
i.e. without further data-technical preparation, either via disk or
via a serial interface, be transferred to the robot control where
they are equivalent with regard to the functions.
The RobOffice-VRC system software includes the control

software including a real time extension for Windows operating
systems and thus ensures the correct time sequence of the
robot programs as well as of the integrated PLC with the
possibilities of the robot control.
RobOffice combines the advantages of the machine control and

the PC operating surface. Thus, generation, administration and
also documentation of complete projects is possible.
A freely configurable display surface for peripheral elements

such as I/O modules, analog display and simple movement
elements not only ensures the integration of those modules for
clearer representation in the simulation, but besides this also
facilitates integration in the programming of the robot control
RSV.
RobOffice serves as basic module for the Reis Robotics remote

maintenance (with serial data communication).
Additionally to RobOffice – VRC the RobOffice – package

consists of programs for the remote maintenance (resp. the
TCP/IP communication), the Print Program and programs for
the correct installation of the VRC and the communication
software between RobOffice - VRC and ProSIM.
3 Target group
Programmers and Service Personnel
4 Safety instructions
Programs generated in RobOffice, particularly when they

contain position information, after their transfer into the robot
control must be checked in test mode. Configuration programs
being faulty and not according to the current software level of
the robot control (e.g. machine data) might cause malfunctions
in the robot control.
Malfunctions can jeopardize both man and machine!
It has to be ensured that the versions of RobOffice and the

robot control are identical, that the configuration programs (e.g.
machine data) correspond to those of the robot control and that
RobOffice is correctly installed. Therefore, completely read the
instructions before you begin with installation.
In remote maintenance mode it has to be ensured that there are

no persons staying in the safety area (resp. work envelope) of
the robot. Even in remote maintenance mode the safety
equipment must always be active.
5 Conditions: Hardware
and Software
Knowledge of operation of Windows 2000 and Windows XP is

condition for installation of RobOffice. In addition to that you
must have the possibility to log in as system administrator.
5.1 PREREQUISITES OF THE SYSTEM
For utilization of RobOffice your system must at least meet the

following conditions:
operating system Windows 2000 / XP
processor PentiumIII 500 or higher
accumulator at least 128 MB RAM
mass memory 30 MB free fixed disk memory
graphical board at least 65536 colors (High Color)
drives 3.5 inch with 1.44 MB
CD-ROM
network board 10/100 Base CAT5 or RJ45
6
Installation/Configuration
From version 8.01 on, RobOffice is delivered on CD. For

installation insert the CD into the drive and start the program
“Setup.exe”. Further, you will be guided by the installation
program.
6.1 OPERATION OF ROBOFFICE WITHOUT

REALTIME KERNEL DRIVER
For some versions of operating systems the RealTime Kernel

drivers may cause malfunction. A misbehavior that e.g. is
found due to the fact that RobOffice VRC apparently “is
freezing” was observed for Windows 9x in conjunction with
certain laptops.
The RealTime Kernel drivers for instance ensure the realtime

behavior with regard to cycle time considerations. In case this is
not necessarily required, RobOffice may, with certain
restrictions, even be started without the realtime behavior. For
this purpose the RobOffice VRC linkage on the desktop only
needs rework after the installation:
For Windows 2000, for example :
Activate linkage with right mouse key, click on properties and at

the point ”destination” complete the call ”...\...\roboffice.exe”
with the parameter ”nokithara”.
Consequently:
“...\...\roboffice.exe” nokithara
After new start of RobOffice the remark ”This is not a RealTime

Version” will appear. The remark can be simply acknowledged.
However, an adequate driver is still condition for the described

method.
As of RSV version 12 you can alternatively start

”RobOffice_nk.exe” (without any drivers) instead of
”RobOffice.exe nokithara”.
Then, however, no statement can be given regarding the

temporal runtime behavior of RobOffice. The so-called
”nokithara” version should only be applied in a system where a
normal start is not possible.
7 Operation
7.1 EXTENDED FUNCTION MENUS
RobOffice has extended functions compared to the control.

These functions can be reached via pulldown menus.
7.1.1 File
Path Setup: Setup of the archival path
Print to File: From version 7.0 on the documentation of the

programs in HTML and text format as well as
the print-out in text format is possible as
described in paragraph 7.2.
Before starting “Print to File” for the first time it

has to be ensured that prior to this the file
lang.lib was created with Create Systab.
Cam Protocol Relevant for commissioning or maintenance of

installations with safety functions. Serves for
generation of cam protocols as described in
the documentation ”Parameterization of the
SafetyController”. These logs are stored in the
project directory and there in the subdirectory
Cams.
This menu item exists in versions 9.2 to 11.x.

As of 12.0 the protocols are generated via the
ProVis operating surface.
Create Systab Generates the file lang.lib (necessary for rrlc,
rrld and rrlprint)
Quit Terminates RobOffice
7.1.2 Project
New: Generation of a new project
Copy: Copying a project
Change: Change to another existing project
Delete: Delete a project
The STANDARD project and the current

project cannot be deleted.
7.1.3 Save
Memory: Generates a backup of the current project in

the project directory. The name is:
„savemem.bck“
7.1.4 Mode
Online: As of software version 10.0 this function is no

longer possible.
Offline: As of software version 10.0 this function is no

longer possible.
7.1.5 Option
FullScreen: Indicates the programs in a larger display,

and only represents those keys which are not
existing on the PC-keyboard.
Teachpanel: Shows a realistic PHG. The override-turning

button is represented by two keys.
LED: The released keys are indicated via LEDs
Key: Blocked keys are faded-out.
I/O-Display ON: Switches on the display of the inputs and

outputs
I/O-Display OFF: Switches off the display of the inputs and

outputs
Service In conjunction with control-specific variables

(system variables), internal control data can
be recorded. This mode has to be executed
together with the manufacturer, if required.
7.1.6 ProSIM
Connect: Connects RobOffice – VRC and ProSIM
7.1.7 Information
RobOffice version x.x
Copyright by Reis Robotics 2000
Date: Time:
TT.MM.JJJJ HH.MM.SS
Driver Version (Kithara Driver Version)
7.2 PRINT
Via the menu item <File><Print to File> it is possible to select

random programs from the current project and to store them in
different output formats
The following illustration7-1 shows the selected file tree of the

current RobOffice project. The programs desired for the print or
the output file are marked or unmarked via mouse click.
If a directory is marked, then all contained subdirectories and

programs are automatically marked, too. Programs can be
unmarked individually.
HTML exportieren ASCII exportieren
ASCII drucken
Image / Backup öffnen

Seitenansicht
Verzeichnisbaum mit Versionsinfo anzeigen

teilweise markiertem Inhalt
Vollständig markierter
Verzeichnisbaum
nicht markiertes
-Programm:
Markiertes Programm
-Verzeichnis:
Statusmeldungen
Anzahl der markierten Programme Anzahl der Programme im File
Illustration 7-1
The selected programs can be stored in HTML format or text

format or printed out on the printer in text format.
The HTML format for instance can be seen in the “Microsoft

Internet Explorer 4.0”. With the corresponding access to
Internet a connection to the “Reis Robotics” Homepage is
provided. Headlines for the output files can be determined via
the menu item <file>, <defaults> (refer to illustration 7-2 ).
Illustration 7-2
7.3 I/O SIMULATION
In order to improve the test possibilities for robot programs in

RobOffice it is possible to simulate the I/O-signals and to
visualize the system variables.
In an own simulation window it is possible to set and reset

digital inputs with a mouse click. The states of the I/O-signals
are represented accordingly.
For integer and real variables there are available analog display
elements such as seven-segment display, bar chart and slide
regulator.
For better visual representation it is possible to put background
images under the display elements.
Illustration 7-3: Display of the RobOffice-window
7.3.1 General
The size of the I/O-window is adjusted in the files win0640.txt

and win1024.txt for the corresponding screen resolution.
The display is divided into several pages with always only one
page appearing in the I/O window. A background image can be
faded in for each page. This happens automatically if a bit map

file exists for this page. This file must be in the directory
\standard\bitmap the file name having to have the following
structure :
Pagex.bmp x indicates the page number,
Set-up of the digital and analog display elements is made via

the configuration files :
\STANDARD\BITMAP\iodig.txt for digital values
\STANDARD\BITMAP\ioana.txt for analog values
Display of the states of the digital values is made via different

bit maps. These bit maps are in the directory
\STANDARD\BITMAP and are designated as follows:
Bxxxx.bmp x being a number between 1 and 100
These bit maps may be modified and completed. Size of the bit
maps is at random choice. You only have to observe that the bit
maps always have the same size for the states 0 and 1 of a
display element.
The analog values are also partially displayed via the bit maps.
These bit maps are in the directory \STANDARD\BITMAP and
are designated as follows:
Sxxxx.bmp x being a number between 1 and 100
The size, numbering and the symbols of these bit maps must
not be modified, since they have a fixed meaning in the system.
7.3.2 Configuration of the digital input/output
PageNo,x,y,IO,BmpNr0,BmpNr1,Fkt,FktPara,xTxt,yTxt,Text,Text0,Text1
Description of the file iodig.txt:
PageNo Page number on which the symbol

shall appear
X x-position of the symbol
Y y-position of the symbol

IO IO to be displayed in PLC format A1.2 E 3.2 M 4.3
The following parameter types are allowed:
E <byte number>.<bit number> PLC input
A <byte number>.<bit number> PLC output
M <byte number>.<bit number> PLC marker
SI <byte number>.<bit number> system input
SO <byte number>.<bit number> system output
P <Page> page number
BmpNo 0 number of the bitmap that is displayed if the IO
value equals to 0
BmpNo1 number of the bitmap that is displayed if the IO
value equals to 1
Fkt function that is executed if the button is operated.
The following functions are allowed:
Set <IO-Type> : Sets a bit
Clr <IO-Type> : Clears a bit
Toggle <IO-Type> : Toggles a bit
ShowPage <number> : Activates the page with the
No
FktPara Transfer parameters for the function; the following
parameter types are allowed:
E <byte number>.<bit number> PLC input
A <byte number>.<bit number> PLC output
M <byte number>.<bit number> PLC marker
SI <byte number>.<bit number> system input
SO <byte number>.<bit number> system output
Number: digit
XTxt x-position for the output text
Ytxt y-position for the output text
text This text is always indicated
Text0 Additional text that is displayed if the IO-value
equals to 0
Text1 Additional text that is displayed if the IO-value
equals to 1
If a function is entered in the parameter FKT a frame is drawn

around the bitmap that then makes it appear like an operating
element.
Illustration 7- 4: Digital indication symbols without and with

allocation of functions
Illustration 7-5: Parameters for digital symbols
7.3.3 Configuration of the analog input/output
SeitenNr,Typ,x,y,b,h,VarName,Size,NachKomma,Min,Max,Text1,Text2
Description of the file ioana.txt:
PageNo Page number on which the symbol shall appear

type Display type
1 = green seven-segment display
2 = red seven-segment display
3 = yellow seven-segment display
4 = hexadecimal display
5 = bar chart green
6 = bar chart red
7 = bar chart yellow
8 = bar chart blue
9 = 32 LED green
10 = 32 LED red
11 = 32 LED yellow
12 = 32 LED blue
13 = slide regulator vertical
X x-position of the symbol
Y y-position of the symbol
B width of the symbol
H height of the symbol
VarName name of the system variable
Size number of digits
decimals digits after the comma
Min minimum value for bar chart and slide regulator
Max maximum value for bar chart and slide regulator
Text1 physical unit of the value
Text2 description of the display
Illustration 7-6: Parameters for analog symbols
7.3.4 Indication of user-defined variables
Only system variables can be visualized with analog

indications. In order to ensure display of user-defined variables
those must be copied into system variables during running time
of the program. The following variable types are available for
this purpose:
1. _IUSER[50] for Integer Variables
2. _RUSER[50] for Real Variables
3. _SUSER[20] for character strings (max. length = 256)
7.3.5 Movement animation under RobOffice
General:
From version 7.0 on, under RobOffice it is possible to indicate

animated movements in the I/O display.
Two configuration files exist for adjustment of the movement

animation :
iomove.txt: Definition of the moved object
iolist.txt: Definition of position indication
7.3.5.1 Movement definition
7.3.5.1.1 Display
A movement is divided in up to 16 partial steps. A bitmap must

exist for each step.
The bitmaps for movement animation are marked with

mxxx.bmp. ”m” means “move” and “xxx” indicates a running
number from 1..100. The bitmaps for one movement must be
stored one after the other.
e.g. m35.bmp ... m50.bmp
7.3.5.2 Movement type
There are existing two movement types:
a) linear: If the start or end position is reached, the

movement is stopped
b) circular: When the end position is reached, the start

position is faded in again as next display.
7.3.5.2.1 Duration of movement
The time between fade-in of two bitmaps is given by indication

of the path length and the path speed.
7.3.5.2.2 Direction of movement
The movement direction, i.e. the "+" –direction and the "-" –
direction is given by indication of two control signals. If one of
the control signals is logic 1, movement into the corresponding
direction is executed.
If both control signals are logic 1 or 0, movement animation is

stopped
The control signal is indicated in conformance to the Siemens

PLC writing, e.g. A 0.0
7.3.5.3 Display of the reached position
Reaching of a position can also be displayed. For each bitmap

to be displayed an I/O can be defined that signals to the system
that this position has been reached. For this purpose there
exists the configuration file iolist.cnf with several position lists.
Reference to the moved object is made by indication of a list

number.
7.3.6 Configuration of the movement animation
7.3.6.1 iomove.txt
The object for movement animation is defined here.
Structure:
SeitenNr, x, y , IO-Plus, IO-Minus, BmpNrStart, BmpNrEnd,

BmpNrPos, BewegTyp, MaxV, Laenge, PosListNr
Description:
PageNo: Page number on which the symbol shall appear
x: x-position of the symbol
y: y-position of the symbol
IO plus: IO which starts the movement into +direction
in PLC format: A 1.2 E 3.2 M 4.2
the following parameter types are allowed:
IO type: E <byte number>.<bit number>PLC input
A <byte number>.<bit number>PLC output
M <byte number>.<bit number>PLC flag
SI <byte number>.<bit number>system input
SO <byte number>.<bit number>system output
IO minus: IO which starts the movement into -direction
in PLC format: A 1.2 E 3.2 M 4.2
the following parameter types are allowed:
IO type: E <byte number>.<bit number>PLC input
A <byte number>.<bit number>PLC output
M <byte number>.<bit number>PLC flag
SI <byte number>.<bit number>system input
SO<byte number>.<bit number>system output
BmpNrStart: Number of the first movement bitmap
BmpNrEnd: Number of the last movement bitmap
BmpNrPos: Number of the movement bitmap that is indicated

during start
BewegTyp: Movement type: 1=linear, 2= circular
MaxV: Maximum speed of the path
Length: Length of the path
PosListNr: Number of the IO-list for position indication
Example:
3,10, 10,A 0.0,A 0.1,1, 8,1,1,360,360,0,
3,10,100,A 0.2,A 0.3,1, 8,1,1,180,360,0,
3,10,180,A 0.4,A 0.5,9,16,1,2, 90,360,2,
3,10,260,A 0.6,A 0.7,1, 8,1,1, 45,360,1,
7.3.6.2 iolist.txt
Here, there are defined the position indications. A maximum of

16 positions is possible per list entry. This corresponds to the
maximum number of bitmaps for one movement.
Structure:
Nr, IO-1, IO-2, IO-3, IO-4, IO-5, IO-6, IO-7, IO-8, IO-9, IO-10,
IO-11, IO-12, IO-13, IO-14, IO-15, IO-16
Description:
No : ListNumber
I0-1...IO-16 :
IO that are set when the corresponding bitmap is indicated.
Example:
0,,,,,,,,,,,,,,,,,
1,,,E 0.0,,E 0.1,,,,,,,,,,,,
2,E 0.2,,,,,,,E 0.3,,,,,,,,,
When list 2 is used, the input E 0.2 is set to logic 1 so long until
the first bitmap is indicated. If another bitmap is indicated this
input is set to 0. The input E 0.3 is set to 1 when the eighth
bitmap is indicated.
7.3.7 Example: Indication of the state of cams
Cams are switch ranges that are transferred to the

SafetyController of the robot control only during power-up of the
system. They are defined in a special program
"SAFECNF.MPR" in the directory "S:/$CONFIG/$CNF". On
request the SafetyController checks whether the flange of the
robot is situated inside or outside of a defined cam. Description
of the definition and effect of cams for various applications is
explained in a separate documentation.
RobOffice can indicate violation of the cam ranges. The

corresponding window is found under the menu "I/O – Display".
The indication of state is activated by selection of "cams".
16 Cartesian cams are available as check-box and 32 axis

cams as 7-segment indication.
If the robot flange is in a Cartesian cam, then the corresponding

check-box is provided with an identification.
If an axis is in an axis cam, then the number of the axis

allocated to same is indicated to the 7-segment-display. If two
axis cams are overlapping, then only one (the one with the
higher running number) can be displayed.
8 Error Messages/
Debugging
8.1 INTRODUCTION
Known problems
- RobOffice does not run on multiprocessor systems.
- The range of colors of the graphical board must be adjusted

to at least 65536 colors (High Color).
- As of software version 9.1 there may occur problems with

operation of RobOffice VRC with Windows 9.x operating
systems. In this case start RobOffice without RealTime
Kernel driver.
8.2 ERROR MESSAGES
Description of fault Cause Remedy
RobOffice is running RobOffice broke down during Reboot Windows

runtime and could not delete the
input in the global atom table
anymore.
No Project.txt File The file project.txt is not existing in Generate the file project.txt with
RobOffice directory a text editor with the following
contents: ">,standard" and store
it in the directory of RobOffice
Path.txt not found The file path.txt is not existing in Generate the file path.txt with a
RobOffice directory \STANDARD. In text editor with the following
this file there is the standard path for contents :"a:\" and store it in the
storage. directory. \STANDARD
No Robo.fon The file robo.fon is not existing in the Install RobOffice anew.
RobOffice directory.
Can not open dnc.cnf-File The file dnc.cnf is not existing in the Install RobOffice anew.
RobOffice directory.
Description of fault Cause Remedy
COM-Device not initialized RobOffice could not open the serial Check whether the serial
interface COM X. interface indicated in the file
dnc.cnf is existing. Check
whether the serial interface
indicated in the file dnc.cnf is
free.
9 RobOffice – Modules
9.1 MOUNTING
9.1.1 Ksetup
Ksetup is an auxiliary program for removal and setting of the

RobOffice real time extension.
9.1.2 Portmapper
The Portmapper must be installed before a connection between

RobOffice – VRC and ProSIM shall be made.
9.2 RSV PRINT
Description of the print program is given under item 7.2.

However, the print program additionally allows preparation and
print out of backup files (<name.bck>).
9.3 TELECONTROL
9.3.1 RSV – Chat
This program allows a textual communication between two

network participants (chat), for instance for remote maintenance
by ReisRobotics.
9.3.2 RSV Filetransfer
The RSV file transfer allows copying of programs between two

communication partners. These may be: Robot control / robot
control, robot control / PC, robot control / RobOffice – VRC,
RobOffice – VRC / RobOffice – VRC and RobOffice – VRC / PC
(PC means fixed disk).
The connection to a communication partner can be made via

the operating element “press to connect”. Here, first an input
window “connection” appears with two input windows. In the
input window corresponding to the “RSV” there either is entered

the IP – address of the robot control or the IP – address of the
RobOffice PC. If the IP – address is already stored in the file
“rsvhosts.txt”, then it can be selected accordingly in a pull down
menu. The input window corresponding to “Drive” displays the
possible drives and directories on the PC. By operating the
keys “RSV” or “Drive” selection is made then.
The content of the selected directories is displayed in the two

list boxes. Selected programs within them are copied
accordingly by operation of the ”arrow keys”. Following
selections can be made with mode selector switch:
9.3.2.1 Mode Update
Update mode only works with controls < RSV10.
9.3.2.2 Mode Backup
In backup mode, a new backup is generated within the RSV

during ”copying” from RSV to PC, and transferred to the PC.
Vice versa, a backup can be written from the PC to the R-drive

of the RSV.
The name of the backup for the RSV File transfer compared to
backup generation on the robot control or in RobOffice VRC is
compatible to Windows. I.e., there is no limitation to allocation
of names relevant for DOS !
In RobOffice VRC, backup files can also be read in from PC

drive or from disk (in RSV-PCX only via disk). Backup files
generated with File transfer that are to be read in via the
standard disk storage in the RSV-PCX or in RobOffice VRC
have to be renamed to a file called „backup.bck“ ! A
backup distributed on several disks cannot be read back with
RSV File transfer.
9.3.2.3 Mode Source
In source mode, programs from the RSV can be stored on the

PC in decompiled ASCII format, and vice versa, ASCII
programs can be loaded into the control.
9.3.2.4 Mode Program
Program mode is the default variant. An RSV binary program is

copied from a to b.
9.3.2.5 Mode VR
VR mode is supported as of RSV version 11. It serves for

reading in of optional ProVis files into the control. (see also
documentation ProVis).
9.3.3 RSV RemoteControl
With RSV RemoteControl a photorealistic representation of the

RSV portable teach pendant is displayed. Via the menu item
“Network” a connection to a communication partner can be
made (select from “Connect”). With “Disconnect” the connection
is terminated again. Under “Options” -> “Change hosts” the list
“rsvhosts.txt” can be processed. Under “Preferences” in remote
control operation the active color of the status window can be
changed.
RSV RemoteControl is connected parallel to the real portable

teach pendant of the ROBOTstar V. Key operations are
transferred to the robot control, display contents of the real
PHG are also transferred to the display of the RSV
RemoteControl. Modifications on the real PHG are displayed on
the virtual PHG and vice versa.
Attention: With operation of the robot control via the virtual

PHG all safety relevant aspects of the robot installation must be
taken into consideration.
For slow lines, perhaps overseas, there may occur unintentional

”key bounce”. This can be suppressed with the ”Options”->”Key
Repeat Delay”. Doing so, the system variable
_RAUTOREPTIME of the contacted control is set to the value 5
for the period of connection only which also influences the
operation on the original teach pendant. The original value of
this variable is set again after having terminated the connection.
10 Glossary
Term Explanation
RSV ROBOTstarV
PLC PLC
I/O input / output
HTML Hypertext Markup Language
LED Light Emitting Diode
TEACH Portable teach pendant

PENDANT
11 Index
display elements ...................................15 Internet ................................................. 14
archiving path .......................................11 ioana.txt .............................................. 19
output formats.......................................13 iodig.txt ............................................... 17
movement animation ............................22 iolist.cnf ............................................... 23
duration of movement...........................22 iolist.txt .......................................... 22, 25
direction of movement..........................23 iomove.txt ...................................... 22, 23
movement types....................................22 LED...................................................... 12
screen resolution...................................16 multiprocessor systems ........................ 27
bitmap..................................................16 override-turning button ........................ 12
dnc.cnf ....................................................8 TEACH PENDANT............................. 12
I/O-signals ............................................15 position lists ......................................... 23
Remote maintenance ..............................7 setup.exe ................................................ 7
Graphical board ...................................27 PLC ...................................................... 23
High Color............................................27 Text-Format ......................................... 11
background image ................................16
Homepage............................................14
HTML ..................................................11

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DOCUMENTATION

REIS GMBH & CO. KG MASCHINENFABRIK OBERNBURG

Title: RobOffice PCX

Author: Pfeiffer, Brunn, Seyfarth

Control version: RSV-PCX

Software revision: 15.0

Documentation for level: from level 3 – programmer

Release: i.A. Elter

Date Version Author Description of changes

1.0 First established document

07.04.04 1.1 Seyfarth Menu item File -> CAM

06.10.04 1.2 Pfeiffer Modification of the RSV File

11.11.04 1.3 Pfeiffer Save Memory : safeguarded

1 TABLE OF CONTENTS __________________________ 2

3 TARGET GROUP _______________________________ 5

4 SAFETY INSTRUCTIONS ________________________ 5

5 CONDITIONS: HARDWARE AND SOFTWARE _______ 7

8 ERROR MESSAGES/ DEBUGGING _______________ 26

9.3 TeleControl ________________________________________29

Contrary to the language used up to software version 7.10,

TeleControl programs (Remote Control, Filetransfer, Chat)

RobOffice – VRC (Virtual Robot Controller) .The RobOffice

RobOffice - VRC ensures generation of robot programs and

On a realistic portable teach pendant the programmer finds the

The RobOffice-VRC system software includes the control

RobOffice combines the advantages of the machine control and

A freely configurable display surface for peripheral elements

RobOffice serves as basic module for the Reis Robotics remote

Additionally to RobOffice – VRC the RobOffice – package

Programmers and Service Personnel

Programs generated in RobOffice, particularly when they

Malfunctions can jeopardize both man and machine!

It has to be ensured that the versions of RobOffice and the

In remote maintenance mode it has to be ensured that there are

Knowledge of operation of Windows 2000 and Windows XP is

5.1 PREREQUISITES OF THE SYSTEM

For utilization of RobOffice your system must at least meet the

operating system Windows 2000 / XP

processor PentiumIII 500 or higher

accumulator at least 128 MB RAM

mass memory 30 MB free fixed disk memory

graphical board at least 65536 colors (High Color)

drives 3.5 inch with 1.44 MB

network board 10/100 Base CAT5 or RJ45

From version 8.01 on, RobOffice is delivered on CD. For

6.1 OPERATION OF ROBOFFICE WITHOUT

For some versions of operating systems the RealTime Kernel

The RealTime Kernel drivers for instance ensure the realtime

For Windows 2000, for example :

Activate linkage with right mouse key, click on properties and at

After new start of RobOffice the remark ”This is not a RealTime

However, an adequate driver is still condition for the described

As of RSV version 12 you can alternatively start

Then, however, no statement can be given regarding the

7.1 EXTENDED FUNCTION MENUS

RobOffice has extended functions compared to the control.

Path Setup: Setup of the archival path

Print to File: From version 7.0 on the documentation of the

Before starting “Print to File” for the first time it

Cam Protocol Relevant for commissioning or maintenance of

This menu item exists in versions 9.2 to 11.x.

Create Systab Generates the file lang.lib (necessary for rrlc,

rrld and rrlprint)