MotoOPCServer Part Number: CD Revision: 0

Transcription

1 MotoOPCServer Part Number: CD Revision: 0

2 2 Introduction Table of contents 1 INTRODUCTION 4 2 INSTALLATION AND BASIC CONFIGURATION System requirements Installation of MotoOPCServer Robot controller settings 6 3 DCOM CONFIGURATION 8 4 ONFIGURATION OF MOTOOPCSERVERS Common Tracing Devices Example data 21 5 EXECUTING MOTOOPCSERVER 22 6 TROUBLESHOOTING Service does not start Connection problems Motoman robotec GmbH

3 Introduction 3 LIST OF FIGURES Figure 1 Installation...5 Figure 2 MotoOPCServer service registration...6 Figure 3 Configuration of DCOM component Motoman NX100 OPC Server...8 Figure 4 Authentication level...9 Figure 5 Identity...9 Figure 6 Security...10 Figure 7 Launch and Activation Permissions...10 Figure 8 Access permissions...11 Figure 9 Configuration of OPC Enum component...11 Figure 10 DCOM properties MyComputer...12 Figure 11 MyComputer Properties...12 Figure 12 COM Security...13 Figure 13 Access Permission...13 Figure 14 Launch and Activation Permissions...14 Figure 15 MotoOPCServer configuration software...16 Figure 16 Device definition...19 Figure 17 OPC client with Items provided by MotoOPCServer...21 Figure 18 MotoOPCServer service MotoOPCServer...22 Figure 19 Communication Tester...23 Figure 20 Successful communication...23 LIST OF TABLES Table 1 System variables...15 Table 2 TraceError...17 Table 3 TraceWarning...17 Table 4 TraceInfo...17 Table 5 TraceDebug...18 Table 6 Tracing, recommended settings...18 Table 7 Item definition file (Config-Typ1.csv)...19 Table 8 Columns of item definition file...20 Table 9 Data type mapping...20 Motoman robotec GmbH

4 4 Introduction 1 Introduction OLE for Process Control shortly called OPC is based on COM / DCOM - technology. Main target of OPC is to simplify the connection between production applications and business/office applications. OPC has the following advantages Avoiding manufacturer dependence at hard- and software. Plug & Play configuration of data exchange. Multi-Client access to data sources. Network ability and Internet / Intranet. Basically OPC architecture consists of OPC server and OPC client components. MotoOP- CServer is an OPC server application for Motoman DX100/NX100 robot controllers. An OPC server is an implementation of an OPC interface. OPC clients are accessing the services provided by OPC servers exclusively by using the interface which is defined by OPC specification. An OPC server is the component which offers the following services: Reading and Writing process data (Data Access) Observing Alarms with optional filters (Alarm & Event) Security- und Batch functions Currently MotoOPCServer solely provides an Data Access interface, which is read-only. OPC client software is not part of this software package. OPC clients are using the standardised methods provided by the OPC server. There are some OPC clients available for free for example from Motoman robotec GmbH

5 Installation and basic configuration 5 2 Installation and basic configuration 2.1 System requirements Windows PC WindowsXP/2000 Ethernet TCP/IP network Microsoft Internet Explorer (V minimum) Microsoft.NET Framework (provided on CDROM) Robot controller DX100 or NX100 with suitable firmware (>3.30) 2.2 Installation of MotoOPCServer First check if your system meets the given system requirements. Install Microsoft.NET Framework if necessary. Installation of hardware key should be done after software installation. Otherwise there may be some problems in case of USB hardware keys. Before starting software installation procedure, login to windows system with local administrative rights. Insert CDROM into CDROM drive of computer. The installation now starts automatically. If not use windows explorer, change to CDROM drive letter and run cdstarter.exe directly from CDROM. After splash screen is displayed select installation of MotoOPCServer. Figure 1 Installation Motoman robotec GmbH

6 6 Installation and basic configuration Install OPC Core Components This option is activated by default, because OPC Core Components are necessary to run MotoOPCServer. OPC-Server service After installation is completed OPC server is automatically registered as a windows service. The service is not started automatically. Figure 2 MotoOPCServer service registration OPC server uses the following names and identifiers: OPC DA Server Name OPC DA CLSID OPC DA ProgID Motoman NX100 OPC Server {16EE9A19-58E1-4d78-A29A-F06E29737A6D} Motoman.NX100OPCServer.DA If corresponding message appears restart your computer. Execution of MotoOPCServer is only possible, if the hardware key is attached to the parallel port (optional USB port) of your computer. Please confirm selected interface is a parallel interface and not a 25pin serial one. After installation is finished please proceed with the following chapters: DCOM configuration Configuration of MotoOPCServer 2.3 Robot controller settings Following settings must be done to allow communication between MotoOPCServer and DX100/NX100 robot controller. Configuration of Ethernet TCP/IP interface. Parameter Computer Communication FTP option HTTP option RS-Parameter RS000=2 RS005= Motoman robotec GmbH

7 Installation and basic configuration 7 RS007=1 RS029=1 Motoman robotec GmbH

8 8 DCOM configuration 3 DCOM configuration OPC security is based on DCOM security. DCOM uses security settings to protect server and client machines from unauthorized access. The security settings can be adjusted by a special tool called dcomcnfg. In the following chapter informations can be found how to configure OPC server and OPC client machines concerning DCOM secuirty. Creating user accounts For the following example two domain accounts must be created: 1 user account MotoOPCServer 1 group account svc-motoopcserver Settings of OPC server Run DCOMCNFG Tool by selecting Start=>run. Insert dcomcnfg and hit Enter key. Select Component Services=>Computers=>MyComputer=>DCOM Config=>Motoman NX100 OPC Server=>Properties Figure 3 Configuration of DCOM component Motoman NX100 OPC Server On the General tab set the Authentication level field to Connect Motoman robotec GmbH

9 DCOM configuration 9 Figure 4 Authentication level On the Identity tab select This user and specify the user account which was previously created. Make sure that this user has sufficient rights to access the ressources. For example add this user to the group of local administrators. Figure 5 Identity On the Security tab we have to customise both Launch and Activation Permissions and Access Permissions : Motoman robotec GmbH

10 10 DCOM configuration Figure 6 Security Add the user group we created earlier to the list and give them all permissions. Figure 7 Launch and Activation Permissions Repeat this process for the Access permissions Motoman robotec GmbH

11 DCOM configuration 11 Figure 8 Access permissions Configuration of OPC Enum component. This component allows a remote OPC client to browse the local machine. Configuration of this component is done in the same way as we configured the OPC server component. The sole exception is that we do not specify an account in the Identity tab. So System account remains activated. In case of permissions it is also possible to use the Everyone group instead of specifying each OPC group like svc-motoopcserver. Figure 9 Configuration of OPC Enum component Configuration of OPC clients Run DCOMCNFG Tool by selecting Start=>Run. Insert dcomcnfg and hit Enter key. Select Component Services=>Computers=>MyComputer=> Properties Motoman robotec GmbH

12 12 DCOM configuration Figure 10 DCOM properties MyComputer On the General tab select Connect and Identifiy. Figure 11 MyComputer Properties On COM-Security tab the following settings are necessary: Motoman robotec GmbH

13 DCOM configuration 13 Figure 12 COM Security Edit the default settings for access permissions and also edit the limits by adding group Anonymous Logon. Figure 13 Access Permission Now repeat this process for the Launch and Activation Permissions. Motoman robotec GmbH

14 14 DCOM configuration Figure 14 Launch and Activation Permissions Motoman robotec GmbH

15 Konfiguration des MotoOPCServers 15 4 onfiguration MotoOPCServers For configuration of MotoOPCServer a configuration file config.xml is used. The file config.xml is stored in the application folder. In addition to some basic settings like robot controller description and IP address, the file also contains the links to the optional items definition files. Without optional items the OPC server solely contains the default items which are listed in the table below. System variables Type Description Servo On Step 1-Cycle Automatic Teach Play Remote Operating Operating at Safety Speed Emergency Off Hold Alarm VT_BOOL Servo active and ready VT_BOOL Playback Mode: Step VT_BOOL Playback Mode: 1-Cycle VT_BOOL Playback Mode: Automatic VT_BOOL Operation Mode: Teach VT_BOOL Operation Mode: Play VT_BOOL Operation Mode: Remote VT_BOOL Robot/Job is running VT_BOOL Robot/Job is running with Safety Speed VT_BOOL Emergency Off signal VT_BOOL Hold signal VT_BOOL Alarm signal Alarm data VT_BSTR Alarm number and Alarm message Table 1 System variables Editing of the file config.xml should be done by a special editor called MotoOPCCfg, which is also located in the application folder. Motoman robotec GmbH

16 16 Konfiguration des MotoOPCServers Figure 15 MotoOPCServer configuration software. MotoOPCCfg allows to edit or create the config.xml file. After starting the software a new project is opened. If an already existing configuration should be changed the corresponding file must be loaded first. This is done by selecting menu item File->Open. Afterwards the configuration can be edited. To store the new configuration to file select File->Save. The configuration file is divided into different sections, which are described in the following chapters: 4.1 Common Here the delimiter can be specified which is used to separate alarm message data of robot controller, if there is more than one alarm. 4.2 Tracing In the tracing section the trace level can be specified. So the amount of trace data can be controlled Motoman robotec GmbH

17 Konfiguration des MotoOPCServers 17 After adding up the single values of each row the resulting value must be inserted into the correspondig field. traceerror: Fatal Error in OPC calls Fatal Error in OPC Callback functions Fatal Error Reading configuration Fatal Error during Sending or Receiving Table 2 TraceError (0x ) (0x ) 1 (0x1) 2 (0x2) tracewarning: Error in OPC calls 1 (0x1) Error Sending Frames (0x ) Error Receiving Frames (0x ) Error during Sending or Receiving (0x ) Table 3 TraceWarning traceinfo: OPC calls 1 (0x1) OPC Callback functions 2 (0x2) Creating and Releasing 8 (0x8) OPC objects Starting and Stopping 16 (0x10) threads Sending Frames (0x ) Receiving Frames (0x ) Reading configuration (0x ) Receiving or Sending (0x ) Table 4 TraceInfo tracedebug: Details of OPC calls Output of reference counters of objects 1 (0x1) 8 (0x8) Motoman robotec GmbH

18 18 Konfiguration des MotoOPCServers Details during starting and stopping of threads Details during Sending of Frames Details during Receiving of frames Details during Sending or Receiving Table 5 TraceDebug 16 (0x10) (0x ) (0x ) (0x ) The following table gives an overview of the recommended settings. Additional traces should only be activated if necessary. traceerror tracewarning traceinfo tracedebug tracefileenable tracefile1 tracefile2 tracefilemaxsize Table 6 Tracing, recommended settings. Output of fatal errors (0xFFFFFFFF) Output of warnings (0xFFFFFFFF) Output of additional information (0xFF000003) Output of debugging information (0x0) Activate/Deactivate tracing (true / false) Filename of first tracing output file. Filename of second tracing output file. Maximum size of created files. 4.3 Devices In the Device section the device which represents the data source is defined. For each device a name and an IP address must be specified. Additionally the full pathname of an special item definition file can be specified here. This file contains those items which should be handled by OPC server in addition to the default items Motoman robotec GmbH

19 Konfiguration des MotoOPCServers 19 Figure 16 Device definition An example of an item definition file is given below. The file consists of 7 columns which are separated by tabulators. Table 7 Item definition file (Config-Typ1.csv) Rows starting with the # character are comment lines. The remaining columns are described in the following table. Columns Item-Name OPC-Type Motoman-Type Description Name of OPC item Type of OPC item. Following OPC item types are supported: VT_BOOL VT_UI1 VT_I2 VT_I4 VT_R4 VT_BSTR Type of data source in robot controller. Following types are valid: 0: Byte variable (B-Variable) 1: Integer variable (I-Variable) 2: Double (Integer) variable (D-Variable) Motoman robotec GmbH

20 20 Konfiguration des MotoOPCServers 3: Real variable (R-Variable) 7: String variable (S-Variable) 101 IO Address (1 Bit) 108 IO Address group (8 Bit) Address Address data of data source. In case of variables variable number is specified here (e.g. 50 for B050), in case of IO items starting address of IO block must be inserted here. When using address groups keep in mind that starting address of group is only valid if it fits the condition: starting address=xxxxx+n*10 rw Valid access mode (currently not used!) r: read-only w: writing and reading Comment Description of OPC item Table 8 Columns of item definition file Following mapping between Motoman data types and OPC data types is possible: Motoman data type Byte, Integer, Double, Real variable String variable IO s Table 9 Data type mapping OPC data typ VT_BOOL, VT_UI1, VT_I2, VT_I4, VT_R4 VT_BSTR VT_BOOL, VT_UI1, VT_I2, VT_I4, VT_R4 It is recommended to use correspondig data types (B~VT_UI1, I~VTI2, D~VT_I4, R~VT_R4) to prevent loss of data Motoman robotec GmbH

21 Konfiguration des MotoOPCServers Example data After installation is completed a configuration file is already present in the application folder. This example file contains two robots with two different item definition files (Config- Typ1.csv and Config-Typ1.csv, content is equal), which are also located in the application folder. Running the MotoOPCServer with these files will result in the following scenario, if we use the freely available Matrikon OPC client to access the OPC server. Figure 17 OPC client with Items provided by MotoOPCServer Motoman robotec GmbH

22 22 Executing MotoOPCServer 5 Executing MotoOPCServer MotoOPCServer is installed as a windows service. To control service execution you have to Select Start menu=>settings=>control Panel=>Administrative Tools=>Services. Select corresponding service MotoOPCServer out of the list of available services. In the context menu you have the ability to control the execution of the service that means mainly starting and stopping the service. If the service won t start check system and application log files for further information. If you want to start the service automatically each time windows starts, open the properties of the service and switch Startup type from Manual to Automatic. Figure 18 MotoOPCServer service MotoOPCServer Motoman robotec GmbH

23 Troubleshooting 23 6 Troubleshooting 6.1 Service does not start Check System and Application Event Log. There may be a problem with the hardware key. 6.2 Connection problems If status items are always displayed with quality Bad, the connection to corresponding robot should be checked. This can be done as follows: Open command line and execute ping command: ping <IP address of robot controller> If ping command is not successful check physical connection between robot and pc (cabeling, switches etc.), firewall settings if present (this OPC server uses port 80), die Ethernet settings of robot. Execute tool CommunicationTester.exe. A shortcut is created in start menu. The tool itself is located in the application folder of MotoOPCServer. Figure 19 Communication Tester If the communication was successful following message is displayed. The two numbers displayed behind may differ according to the status of the robot controller: Figure 20 Successful communication Otherwise Error is displayed. In this case check controller settings (refer to chapter 2.3). Motoman robotec GmbH

24 24 Troubleshooting Contact MOTOMAN robotec GmbH Kammerfeldstraße Allershausen Germany Phone Fax Yaskawa America, Inc. Motoman Robotics Division 100 Automation Way Miamisburg, OH United States Phone Motoman robotec GmbH