Title: System Software Upgrade Robotware 2.1 to 3.0 (Cold boot) Arcware Author: C. Schwalbach Editor: Approval: Created: 5/1/98 TSB-Number: 98008 Control System: S4 Products: ALL Requested Action: For Information Only REASON: Installation procedure Robotware 3.0 Arcware (Cold boot) PROCEDURE: Step 1 . Make back up copy of all boot disks received. The disks can be copied on any IBM compatible computer. NOTE: If the robot has been in service prior to performing this revision upgrade, save all programs, all modules, and all parameters to the user disk (FLP1, a high density floppy disk) Step 2. Save Modules. Program window, View , modules. Highlight each module, one at a time, and Save module to the user disk (FLP1). Compare the number of modules in memory, to the number on the user disk. Make sure that both locations have the same modules. Step 3. Save Parameters. Misc, System parameters, Save all parameters as, Select the syspar directory on the user disk (FLP1), save the parameters. Step 4. Run the calibration routine. The calibration routine is located on the system parameter disk. This routine will move the robot to align the scribe marks. Load the routine. Program window, file, open, service, calibrat, (choose the routine that is specific to the robot) NOTE: If the scribe marks are not aligned after running this routine call technical support Warning: Execution of the calibration routine will cause robot motion!!! Step 5. Load System operating software (cold boot) A. Initiate cold boot: Either 1 or 2 will initiate a cold boot 1. Misc., Service, File, Restart, push the numbers 1, 3, 4, 6, 7, 9, then press the Cboot and O.K. The teach pendant display will prompt for boot disk 1 when it is ready. 2. Remove power from the robot control. Disconnect the two batteries from the control system backplane. (located under the system card cage) The batteries are to be left disconnected for a minimum of 15 minutes. Reconnect batteries and restore power to the control. The robot control will now perform a destructive memory test. This will take 3 to 5 minutes. B. Load boot disk 1/3 When the teach pendant display prompts insert boot disk 1/3 and press any key. C. Load boot disk 2/3 Insert boot disk 2/3 when the teach pendant display prompts and press any key. D. Load boot disk 3/3 Insert boot disk 3/3 when the teach pendant display prompts and press any key. Select the type of boot (standard, or service). NOTE: A standard boot is selected if your system controls 6 internal axis and no external axes. A service boot is selected if the system controls the 6 internal axis and any external axes. The teach pendant display will now prompt to insert the IRB disk into the floppy disk drive. E. Load Teach pendant text disk Select the language (English, German, Spanish, etc.) Select IRB type to install i.e. (1400, 2400, 3400, 6400) Select the robot type. i.e. select mount (floor, ceiling) , (base, foundry, 2.5-10...) F. Load the IRB disk. The robot control will retrieve the files needed from the IRB disk. The teach pendant display will then prompt for any optional disks to install? (YES or NO) G. Load option disks Option Disks are: Advanced Functions Multi Tasking Arcware Arcware Plus Spotware Spotware PLUS RAP Serial Link Weld Timer Interface Sensor Interface Arc weld System (IRBP) disk NOTE: The option disk can be installed in any order unless cold booting an ARCITEC system. The ARCITEC disk must be installed last. To install the option disks answer YES when the teach pendant display prompts for any option disks. Insert the option disk into the floppy disk drive, and press OK. Install each option disk one at a time. If there are not any option disks or all option disks are installed press NO. Loading of control software is now complete. The robot control will warm boot at this point. NOTE: When the robot control has finished the warm boot, the teach pendant will display JOINT SYNC ERROR. This is normal as the system parameters have not been loaded and the revolution counters have not been updated. H. Load system parameters. NOTE: The system parameters can be loaded from one of two sources. If the robot is not yet been in service, the source for parameters is the parameter disk supplied with the robot. If the robot has been in service, and were saved prior to this procedure the source for the system parameters is the user disk (FLP1). Load the system parameters from the syspar directory on the disk. Insert the disk in the drive: misc., system parameter, load saved parameters. Select the syspar directory and press ENTER. NOTE: DO NOT PRESS OK Load only the EIO, MOC, and PROC files from the system parameter directory. Each file must be loaded separately. After the parameters have been loaded the robot control must be restarted to activate the parameters. Note: When changing or adding parameters to an Arc Welding System. It is necessary to perform a P-Start. This loads Arc Welding System parameters. Restart and P-start control 1. Restart Misc, service, file, restart, OK 2. P-start Misc, service, file, restart, 2, 5, 8, (OK will change to P-start), P-start I. Update revolution counters. Move the robot using the joystick so that all the calibration marks are aligned, then update the revolution counter: Misc., View, Calibration, Calibrate, Rev. Counter, Update (all axis should be included), OK. NOTE: After you update the revolution counters it is imperative that you run the calibration routine to verify that the robot is properly calibrated. The calibration routine is located on the system parameter disk. This routine will move the robot to align the scribe marks. Load the routine. Program window, file, open, service, calibrat, (choose the routine that is specific to the robot) After the routine is run ensure that the scribe marks on each axis line up. If the mark for a given axis does not line up you must follow the update procedure a second time, making sure that the scribe mark is closely aligned. Run the calibration routine again to verify the alignment of the marks. NOTE: If the scribe marks are not aligned after running routine call technical support. Warning: Execution of the calibration routine will cause robot motion!!! Step 6. Load all modules The robot system is now ready for operation.
