Modifying a system

Overview

The Modify Controller System Wizard, used to modify existing systems, is launched from the System Builder.The wizard helps you with tasks like changing robots, adding and removing external axes and other options. A system that is running must be first shut down before modification.

Starting the wizard

To start the wizard when creating a new station:

1 If the system is currently running, on the Controller menu, point to Shutdown and then click Shutdown.

2 On the Controller menu, click System Builder to bring up a dialog box.

3 In the System directory list, enter or browse to the system directory. Select a system from the list beneath, review the system properties and add and save any comments.

4 In the Actions group, click Modify. This starts the wizard.

5 Read the information on the welcome page and click Next.

Modifying the program revision

The RobotWare versions that are available for the system are determined by the controller key. The key is essential to the system and cannot be modified.

To use another RobotWare version than the available ones, create a new system with another key.

To optionally modify the program revision, follow the appropriate step or steps:

1 To keep the current RobotWare version, select Yes and then click Next . 2 To replace the current RobotWare version, Select No, replace it..

3 In the Media pool box, enter the path to the media pool. You can also click the Browse button and browse to the folder.

4 In the New program revision box, select which version of RobotWare you want to use. Only RobotWare versions that are valid for the RobotWare key are available.

5 Click Next.

Adding or removing drive keys

The drive key corresponds to the drive modules in your controller. For MultiMove systems, you have one drive module (and one key) for each robot. The keys for your system are delivered together with the controller.

the system is created with a vritual controller key, virtual drive keys are generated by the wizard. when you have added one virtual drive key for each robot, you select which robot to use for each key on the Modify Options page.

To optionally add or remove the keys for the drive modules, follow these steps:

1 To add a key for a drive module, enter the key in the Enter Drive Key box.

You can also click the Browse button and browse to the key file.

Continues on next page

3HAC032104-001 Revision: K 163

6.4.4 Modifying a system

2 Click the right arrow button. The key now appears in the Added drive key list.

If you have a MultiMove system, repeat steps 1 and 2 for each drive key to add.

3 To remove a drive module, select the corresponding key in the Added drive key list and click Remove drive key.

If you have a MultiMove system, repeat step 3 for each drive key to remove.

4 If you have a MultiMove system, make sure that the keys are numbered in the same way as their corresponding drive modules are connected to the controller module. Use the up and down arrows to rearrange the drive keys, if necessary.

5 Choose whether you want to create the system as it is now, or to continue with the wizard.

If you want to create the system as it is now, click Finish.

If you want to modify options, parameter data or add files to or remove files from the home directory, click Next.

Adding or removing additional options

To optionally add or remove additional options:

1 To add an addtional option, in the Enter Key box, enter the option key. You can also click the Browse button and browse to the option's key file.

2 Click the Arrow button.

The option that the key unlocks is now displayed in the Added Options list.

Note

If several versions of an additional option exists, only the latest version can be selected. To use an older version, remove the other versions of the additional option from the Mediapool.

3 Repeat steps 1 and 2 for all options you want to include.

4 To remove an additional option, iIn the Added options list, select the option you want to remove.

5 Click Remove.

6 Choose whether you want to create the system as it is now, or to continue with the wizard.

If you want to create the system as it is now, click Finish.

If you want to modify parameter data or add files to or remove files from the home directory, click Next.

Modifying options

To optionally modify any options, follow these steps:

1 In the Option tree, expand the option folders to the level where you find the option you want to modify.

Only the options unlocked by the used keys are available.

Continues on next page

164 3HAC032104-001 Revision: K

6.4.4 Modifying a system Continued

2 Modify the option.

3 Repeat steps 1 and 2 for all options you want to modify.

4 Choose whether you want to create the system as it is now, or to continue with the wizard.

If you want to create the system as it is now, click Finish.

If you want to modify parameter data or add files to or remove files from the home directory, click Next.

Adding or removing parameter data

Parameter data is stored in the parameter data files (.cfg files). each parameter topic has its own parameter file. You can add only one parameter file for each topic.

To addor remove parameter data, follow these steps:

1 To add parameter data, in the Parameter data box, enter the path to the folder for the parameter data files. You can also click the Browse button and browse to the folder.

2 In the list of parameter data files, select the file you want to include and press the Arrow button. Repeat for all files you want to include.

The included parameter data files will now appear in the Added parameter data files list.

Repeat steps 1 and 2 for each parameter data file you want to add.

3 To remove parameter data, in the Added parameter data files list, select the parameter data file to remove.

4 Click Remove.

5 Choose whether you want to create the system as it is now, or to continue with the wizard.

If you want to create the system as it is now, click Finish.

If you want to add to or remove files from the home directory, click Next.

Add files to or remove files from the home directory

You can add any type of file to the system’s home directory, or remove files from it. When the system is loaded to a controller, these files will also be loaded. To optionally add files to or remove files from the system's home directory, follow these steps:

1 To add files, in the Files box, enter the path to the folder for the files you want to include. You can also click the Browse button and browse to the folder.

2 In the list of files, select the file to add and click the Arrow button. Repeat for all files you want to add.

The added files will now appear in the Added files list.

3 To remove files, in the Added files list, select the file to remove.

4 Click Remove.

5 Choose whether you want to create the system as it is now, or to continue with the wizard.

If you want to create the system as it is now, click Finish.

Continues on next page

3HAC032104-001 Revision: K 165

6.4.4 Modifying a system Continued

If you want to read a summary before you create the system, click Next.

Complete the Modify Controller System wizard

To complete the wizard, follow these steps:

1 Read the system summary.

2 If the system is OK, click Finish.

If the system is not OK, click Back and make modifications or corrections.

Result

Modifications will take effect when the wizard is completed.

If the system has been downloaded to a controller, it must be downloaded again before the modifications will take effect on the controller.

If the system is used by a VC, perform an I-start for the changes to take effect.

Deleting a system

To delete a system, follow this steps:

1 From the System Builder dialog box, select the system and then click Delete.

166 3HAC032104-001 Revision: K

6.4.4 Modifying a system Continued