• Overview
• What is read from the controller backup
• Project tree
• Robot info
• CTB data: tools, frames, soft limits, interference areas

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▲ Overview

DReS opens Yaskawa Motoman jobs (*.JBI, INFORM language of the NX100 / DX100 / DX200 / YRC1000 controllers) directly from a controller backup. Besides a syntax-aware text editor it reads the configuration of the controller from the backup and uses it everywhere a job needs it: control groups, tools, user frames, soft limits, interference areas, variable names, macros and I/O names. With the geometry of the robot (YaskawaGenericKinematics.xml) and the gear data of the controller the points can be edited in degrees and in Cartesian coordinates, with a 3D preview of the robot. Everything works offline, on a copy of the backup - the editor never connects to the robot.

▲ What is read from the controller backup

A project is a directory with the backup of one controller (the files as saved by the controller, e.g. CMOS / ALL backup). A job opened from such a directory automatically uses the configuration of its controller, even if another project is active.

File	Content	Where it is used
*.JBI	jobs: header (//POS), instructions	viewer, point table, point editor
SYSTEM.SYS	system and parameter version, application, language, control groups (//ROBOT NAME: R1..R8, B1..B8, S1..S24 with model and axis mask), version information, time counters (control power, servo power, playback, moving, operating, energy time)	Robot info, model of the robot for the kinematics, control group of every point
TOOL.CND	tool data: TCP X, Y, Z, Rx, Ry, Rz, centre of gravity, weight, moment of inertia	CTB data, TCP in the point editor and in 3D
UFRAME.CND	user frames: name, tool and taught points ORG / XX / XY (pulses), resulting frame (BUSER)	CTB data, frame of the Cartesian tab, user frames in 3D
SC.PRM	pulse soft limits of every axis of every control group (S1CxG400..415)	CTB data, marking of points outside the limits (point table, motion editor, point editor)
CUBEINTF.CND	interference areas: cubes (X, Y, Z in µm) and axis interference (pulses), control group, name	CTB data
RC.PRM, SV.PRM	gear ratio (RC<g>G) and encoder resolution (SV<g>G) of every axis	pulses per degree of every axis - axis values in degrees
VARNAME.DAT	names (comments) of the global variables B, I, D, R, S, P, BP, EX	tooltips and the long-text column of the viewer
VAR.DAT	values of the global variables at the time of the backup, global position variables P / BP / EX	tooltips ([backup: value]), global positions in the point table (read only)
MACRO.DAT	macro definitions: macro number, MJ number, macro job and names of its arguments	tooltip of MACROn MJ#(m), Go to the macro job
IONAME.DAT	names of the inputs and outputs	tooltips and the long-text column (setting IO names file)

▲ Project tree

A Yaskawa project is shown in the tree of the Files tab with the name of the robot (model of R1 from SYSTEM.SYS) and the files sorted into folders. The job of a line is opened by a double-click in the tree, the jobs already open are listed under Open documents with their comment (///COMM).

▲ Robot info

The Robot info tab shows the data of SYSTEM.SYS of the active project:

• controller type (derived from the system version: NS = NX100, DS = DX100, DN = DX200, YAS = YRC1000) and application,
• control groups - every robot, base axis and station with its model and number of axes,
• system version, parameter version, language, date of the backup,
• version information of the controller boards,
• time counters (control power, servo power, playback, moving, operating and energy time) for the whole controller and for every group and tool,
• a link to open SYSTEM.SYS itself.

▲ CTB data: tools, frames, soft limits, interference areas

The CTB data tab shows the configuration data of the controller as a tree:

Node	Content
Tool data	every defined tool (TOOL 0..63) with its name; expanded: X, Y, Z [mm], Rx, Ry, Rz [°]
Base data	user frames grouped by robot (R1, R2 ...): name, tool used for teaching, taught points ORG / XX / XY, resulting frame
Load data	tools with a load: weight [kg], centre of gravity [mm], moment of inertia [kg·m²]
Soft limits [pulse]	negative and positive pulse limit of every axis of every control group (SC.PRM)
Interference areas	cubes (method, control group, X / Y / Z min–max in mm) and axis interference areas (pulse range of the axes) with their names from CUBEINTF.CND