**Attention** : Read this resource material carefully and in its entirety before use, to ensure it is understood and used properly.  Failure to properly follow the instructions in the resource materials DPAM provides may result in damage to your equipment.  As a result, by using the resource materials, you are assuming the risks associated with modifying your equipment. DENSO holds no liability, implied or otherwise, for damage, injury or any legal responsibility incurred, directly or indirectly from the use of the resource materials, including any loss of data or damage to property which may occur by your use of the resource materials. The use of the resource materials are not recommended unless you have technical knowledge and functional experience with the equipment and related software. DENSO is unable to provide support, remote or otherwise, for the information included in the resource material, nor for the ancillary topics relating to the information included in the resource materials. Therefore, if you are not fully comfortable with it, we strongly recommend that you send your unit to one of our Regional Support Centers for repair.  The information contained in the resource materials are subject to change at the sole discretion of DPAM. 

Overview


The best way to obtain the latest documentation regarding the ORiN and how to communicate with your DENSO robot equipment is to download the latest version of the ORiN SDK. The following sections would reference documents that you would find on your system after you install the SDK.


Tools and Parts needed

  • Compatible robot controller
  • Full size or mini teach pendant
  • NetwoRC_ProvGuide_en PDF document of the SDK install (C:\ORiN2\CAO\ProviderLib\DENSO\NetwoRC\Doc)


Controller Setup

Enable ORiN2 Option

Section 2.2 - Controller setup

Extension ID = 1214 (1213 if controller is RC5)



Set controller's communication permission

Section 2.2 - Controller setup

Ethernet to "Read/Write" Set RS-232C to disable or "Read only"



Set Executable Token to Ethernet

Section 2.2 - Controller setup

You will input your PCs IP address. Remember that both PC and RC should be in the same network.

You will need the executable token set properly if you intend to turn the Motor ON/OF  or start a program from your PC application. This is not necessary if you intend to read and write to global variables only.



Set External Auto Mode

Section 2.4.2 - Notes in ANSI type robot controller

Along with Executable token you need to change the Auto mode to external to disable the ability to start programs from the TP (restrictions due to single access point). 



Changing Mini I/O to all general option

Section 2.3.1.1 - Mini I/O All general option

If your PC application intends to execute programs, then signals like "Step Stop (All tasks)" and "Instantaneous stop signal" need to be set to enable.

In the RC7M Version 2.90 or later, it is possible to reconfigure the Signal inputs and avoid wiring the Step Stop signal.

Mini I/O All-general option 6319.

 

Note 1: 
By activating mini I/O all-general option, a special I/O input assignment of step stop signal is nullified, and the robot cannot be step-stopped by the I/O input.


Note 2: 
By activating mini I/O all-general option, step stop wiring becomes not necessary. However, wiring for auto enable input and emergency stop input are still necessary even if the option is activated.

RobMaster file transfer

Section 2.5 - Transferring PAC program

To execute robot motion commands with the NetwoRC provider, you will need to transfer the command interpreter RobSlave.pac, RobSlave.h and UserExtension.pac.

These files are transfered suing a tool called RobMaster.exe included with the ORiN SDK

C:\ORiN2\CAO\ProviderLib\DENSO\NetwoRC\Bin\RobMaster.exe



Next Steps:

  • ORiN2 - Overview
  • NetwoRC Provider Guide User's Guide - Chapter 3: Programming with NetwoRC provider
  • CaoTester User's Guide (C:\ORiN2\CAO\Tools\CaoTester\Doc\CaoTester_UsersGuide_en.pdf)
  • NetwoRC Code Samples (C:\ORiN2\CAO\ProviderLib\DENSO\NetwoRC\Samples)