KAWASAKI ROBOTS. ORIGINAL INSTRUCTION (v1.05)

Installation

6.3

Wiring

Four kind of cables have to be connected to wire the system properly:

•

Tool data cable between the tool(s) and the Compute Box

•

The provided Digital I/O wires between the Computer Box and the robot controller

•

Ethernet communication cable between the Compute Box and your computer

•

Power supply of the Compute Box

6.3.1

Tool data

Connect the data cable to the tool(s) then route the cable (blue line) to the Compute Box (CB) and use the
supplied Velcro tape (black) to fix it.

NOTE:

Leave some extra cable length around the joints so that the cable is not
pulled when the robot moves.

Also make sure that the cable bending radius is minimum 40mm (for the
HEX-E/H QC it is 70mm)

Then, connect the other end to the Compute Box's DEVICES connector.

CAUTION:

Use only original OnRobot tool data cables.

6.3.2

Digital I/O wires

For KAWASAKI robots the two most recent controllers are:

•

the F-Series which uses a DX40-50P connector for I/O interface

bending radius

extra length

Robot

controller

Installation

•

and E-Series which uses a 37-pin D-Sub (M/F) connector.

The GPIO board in the control cabinet can be used be used to connect the Compute Box to the robot
controller.

NOTE:

It is HIGHLY recommended to purchase the appropriate connector & harness parts before
installing the gripper and I/O converter. There are no screw terminals for the I/O terminal in
the controller. The I/O connections for the F-Series controller can be soldered, but the solder
points are very small. The I/O connections for the E-Series controller cannot be soldered and
require using a DB37 connector.

Controller

Description

Sample Vendor

F-Series (2AB/AE Board)

HIROSE DX40-50P Connector

Digikey, Mouser

DX-50-CV Connector Backshell

E-Series (1TW Board)

DB37 (M & F) Connector

Amazon, Digikey

Make sure that the robot is powered off completely.

First locate the DB37 connector for E-Series on the back side of the cabinet or the DX40-50P connector
for the F-Series on the side of the cabinet. Prepare the mating connectors.

Check your digital I/O module installed in the control cabinet and configure the Compute Box DIP switches
(red) accordingly:

For

PNP

type set the 1. and 2. DIP switches to OFF position (down).

For

NPN

type set the 1. and 2. DIP switches to ON position (up).

DIP switch 1: Digital Input mode

DIP switch 2: Digital Output mode

NOTE:

Do not change the DIP switch 3 and 4 otherwise the network settings will
be changed.

(Please refer to the robot manual to check whether it is an NPN or a PNP type.)

Installation

NOTE:

The Kawasaki robot controller has an XGPIO board that determines whether the robot
is configured for PNP or NPN.

•

For the F-Series, the XGPIO board (2AB/AE) is in PNP configuration by default and
can be changed by setting jumper JP8 on the board (refer to the F Controller
External IO Manual for more information).

•

For the E-Series, robot PNP/NPN is determined by the XGPIO board (1TW); to

change configurations, the controller’s XGPIO board must be swapped out.

Plug in the supplied green pluggable connectors.

The supplied connector types are:

2 x Phoenix Contact MC 1,5/8-ST-3,5 Terminal Block

1 x Phoenix Contact MC 1,5/6-ST-3,5 Terminal Block

Wire the digital I/O wires from the Compute Box to the robot.

DO1-8

: Digital outputs of the Compute Box (signals from the grippers/sensor to the robot)

DI1-8

: Digital inputs of the Compute Box (signals from the robot to the grippers/sensor)

GND

: To be used to have a common ground between the robot and the gripper/sensor

It is recommended to connect all 8 inputs and 8 outputs for simplicity.

CAUTION:

If some of the DO1-8 or DI1-8 wires will not be connected, make sure to
unscrew it from the terminal block to avoid an accidental short circuit.

CAUTION:

The 24V and GND pins are only Reference Voltage Output. It cannot be
used to power any equipment.

It is recommended to use the supplied wires only. If it is necessary to use
different wire, use one that is shorter than 3 m.

Connect the Compute Box inputs to the robot outputs and the Compute Box outputs to robot
inputs.

Installation

For simplicity, it is recommended to map the pins in order:

DO1 to the robot's Digital input 1

DO2 to the robot's Digital input 2

…

DO8 to the robot's Digital input 8

DI1 to the robot's Digital output 1

DI2 to the robot's Digital output 2

…

DI8 to the robot's Digital output 8

E-Series

List of the important pins of the CN2 and CN4 connectors:

Rear view of the male 37 pin sub-d connector:

Rear view of the female 37 pin sub-d connector:

Pin

Description

Pin

Description

CN4 - 1

Digital input 1

CN2 - 1

Digital output 1

CN4 - 2

Digital input 2

CN2 - 2

Digital output 2

CN4 - 3

Digital input 3

CN2 - 3

Digital output 3

CN4 - 4

Digital input 4

CN2 - 4

Digital output 4

CN4 - 5

Digital input 5

CN2 - 5

Digital output 5

CN4 - 6

Digital input 6

CN2 - 6

Digital output 6

CN4 - 7

Digital input 7

CN2 - 7

Digital output 7

CN4 - 8

Digital input 8

CN2 - 8

Digital output 8

CN4 - 18

IN-COM1

CN2 - 36

OUT-COM1

Please note which pin you used during the wiring, in a later step it is going to be needed for the mapping.

To have a common signal ground the following two pins needs to be wired together:

Pins from

Pins to

Description

Compute Box - GND

CN4 - 18

Compute Box GND to IN-COM1

Compute Box - GND

CN2 - 36

Compute Box GND to OUT-COM1

Installation

F-Series

List of the important pins of the DX40-50P connector:

Pin

Description

Pin

Description

Digital input 1

Digital output 1

Digital input 2

Digital output 2

Digital input 3

Digital output 3

Digital input 4

Digital output 4

Digital input 5

Digital output 5

Digital input 6

Digital output 6

Digital input 7

Digital output 7

Digital input 8

Digital output 8

IN-COM1

OUT-COM1

Please note which pin you used during the wiring, in a later step it is going to be needed for the mapping.

To have a common signal ground the following two pins needs to be wired together:

Pins from

Pins to

Description

Compute Box - GND

Compute Box GND to IN-COM1

Compute Box - GND

Compute Box GND to OUT-COM1

6.3.3

Ethernet cable

Connect the provided Compute Box (ETHERNET connector) and your computer with the
supplied UTP cable.

This connection is only needed for programming.

Installation

CAUTION:

Use only original OnRobot ethernet cables or replace it with one
that is shielded and no more than 3 meter long.

WARNING:

Check and make sure that the Compute Box enclosure (metal) and the
robot controller enclosure (metal) are not connected (no galvanic
connection between the two).

6.3.4

Power supply

Connect the supplied power supply to the Compute Box 24V
connector.

NOTE:

To disconnect the power connector, make
sure to pull the connector housing (where the
arrows are shown) and not the cable.

CAUTION:

Use only original OnRobot power supplies.

Finally, power up the power supply that will power the Compute Box and the connected Tool(s).

Operation

Operation

NOTE:

It is assumed that the Installation has finished successfully. If not, first do
the installation steps in the previous section.

7.1

Overview

OnRobot WebLogic requires to be programmed first with the help of a computer connected to the
Compute box. Then it can run standalone without any Ethernet connection.

Steps to program it:

•

Setup the Compute Box's Ethernet interface and connect to the Compute Box

•

Open the Web Client on your computer to access the WebLogic menu

•

Write your program in the WebLogic menu

The following subsections will guide you through these steps.

Operation

7.2

Ethernet Interface setup

A proper IP address must be set for the Compute Box and the robot/computer to be able to use the
Ethernet interface. There are three ways how it could be configured (using the DIP switch 3 and 4):

•

Auto mode

(factory default)

This is the easiest way of getting the IP addresses to be configured for both the Compute Box and
the robot/computer. It is recommended to start with this mode, so this is the factory default
setting.

•

Fixed IP mode

(192.168.1.1)

If the

Auto mode

does not work, use this mode to have a fixed IP for the Compute Box. This requires

a manual IP address configuration for the robot/computer. (This mode could also be used to reset
the IP address to a known value if the Compute Box become unreachable in

Advanced mode

•

Advanced mode

(any static IP/subnet mask)

If the Fixed IP address (192.168.1.1) is already in use in your network or a different subnet needs to
be configured, in this mode the IP address and subnet mask can be changed to any value. This also
requires a manual IP address configuration for the robot/computer.

NOTE:

To change between modes, first change the DIP switches and then the
Compute Box power needs to be cycled for the changes to take effect.

Auto mode

Use the factory default settings (DIP switch 3 and 4 in OFF position).

In this case, the Compute Box has both Dynamic Host Configuration Protocol (DHCP) client,
and DHCP server enabled.

DHCP Client enabled

means, Compute Box will automatically obtain ("get") IP address FROM the

connected robot/computer if that is capable of assigning ("give") IP to the Compute Box.

DHCP Server enabled

means, Compute Box will automatically assign ("give") IP address TO the connected

robot/computer if that was configured to obtain ("get") IP address automatically.

NOTE:

The assigned IP range is 192.168.1.100-105 (with subnet mask 255.255.255.0).

If the Compute Box is used in a company network where a DHCP server is
already in use, it is recommended to disable the DHCP server of the Compute
Box by setting DIP switch 4 to the ON position.

If no IP was assigned to the Compute Box within a minute, it will automatically
get a fallback IP address (192.168.1.1).

NOTE:

If the Compute Box was in

Advanced mode

, first reset the IP setting by

switching to

Fixed IP mode

and then switch back to

Auto mode

Operation

Fixed IP mode

Set the DIP switch 3 and 4 in ON position and cycle the power for the changes to take effect.

In this case the IP address of the Compute Box is set to 192.168.1.1 (subnet mask is
255.255.255). Both the DHCP Client and Server options are disabled.

Make sure to set the robot/computer IP address manually. To have a proper communication the
robot/computer IP address must be in the range of 192.168.1.2 - 192.168.1.254.

Example robot/computer setting:

IP address: 192.168.1.2

Subnet mask: 255.255.255.0

Other settings like Gateway, DNS Server, etc. could be kept empty or set to 0.0.0.0.

Advanced mode

Set the DIP switch 3 in OFF and DIP switch 4 in ON position and cycle the power for the changes
to take effect.

In this case the IP address of the Compute Box could be set to any value by using the Web Client. For more
details see section

Configuration menu

In this mode, the DHCP server option is disabled.

Make sure to have a matching IP setting to your robot/computer network for a proper communication.

NOTE:

If the Compute Box become unreachable (due to improper or forgotten
IP settings), switch to

Fixed IP mode

to reset the IP setting.

Operation

7.3

Web Client

To access the Web Client on your computer first the Ethernet interface needs to be set up to have a proper
communication between your computer and the Compute Box. It is recommended to use Auto mode (for
further details see section

Ethernet Interface setup

Then do the following steps:

•

Connect the Compute Box to your computer with the supplied UTP cable.

•

Power the Compute Box with the supplied power supply

•

Wait one minute for the Compute Box LED to turn from blue to green.

•

Open a web browser on your computer and type in the IP address of the Compute Box (factory
default is 192.168.1.1).

The Sign-in page opens:

The factory default administrator login is:

Username

: admin

Password

: OnRobot

Operation

7.4

OnRobot WebLogic menu

There are two tabs to choose from:

•

Browser -

manage (import/export, etc.) the WebLogic programs

•

Program Editor -

create/edit or run WebLogic programs

In the following these two will be described.

7.4.1

Browser

This tab lists the WebLogic programs that are stored on the Compute Box.

•

To create a new program, go to the

Program Editor

tab.

•

To edit a stored program, click on the pencil icon and it will be loaded in the

Program Editor

•

Any program can be deleted by clicking on the trash icon.

•

Programs can be exported to your computer by clicking on the down arrow icon.

•

Exported programs can be imported with the

Import

button.

NOTE:

The program name that are edited in the

Program Editor

is bolded.

Operation

7.4.2

Program Editor

This tab shows the currently edited WebLogic program.

WebLogic programs contains 1 or more "rows".

A row contains conditions (blue part) and commands (gray part) like this:

(

) DI1=1

(

Then

) RG2-Width=77 (force=20N)

(If the robot sets the Digital Input 1 (DI1) of the Compute Box to high,

then

open the RG2 gripper

to 77 mm.)

Another row in a program can be like this:

(

) DI1=0

(

Then

) RG2-Width=20 (force=40N)

(If the robot sets the Digital Input 1 (DI1) of the Compute Box to low,

then

close the RG2 gripper to

20 mm.)

With the above two rows in a program an RG2/6 gripper could be operated (opened and closed) with a
single Digital output of a robot, while the opening and closing width and force can be programmed to any
value.

To execute a WebLogic program first make sure to enter a program name and click on the

Save

button to

store it and then click on the

Run

button.

Operation

NOTE:

To make a program run automatically when the Compute Box is powered
on just leave the program running while you power the Compute Box off.

To start a new program, click on the

New

button.

•

To add a new row, click on the

Add new conditions and commands

•

To delete a row, click on the

icon.

•

To move the row up or down click on the

icons.

NOTE:

Conditions and commands are executed from the top to the bottom.
Same commands at the bottom can override the ones at the top.

•

To duplicate a row click on the

icon.

•

To disable a row (not to be executed) uncheck the checkbox

next to the row number.

The rows must have at least one condition and at least one command to be executed.

Conditions

Conditions are the input fields marked by blue.

There are two types of conditions:

•

Digital Input type - like DI4=1

•

Device specific value type - like HEX Fx > 10N

These types of conditions can be combined with AND or OR logic to form a more complex condition:

( DI4=1 )

(HEX Fx > 10 N

AND

HEX Fx < 20N )

Condition is true if Fx is between 10N and 20N or robot has signaled high in Digital Input 4.

Digital inputs (DI1-DI8) can have the following three states: (click to cycle through the states)

•

Don’t care (this bit is masked and will give true result for the bit)

•

- give logic true if Input bit is low

•

-give logic true if Input bit is high

Operation

NOTE:

If no Digital Input type of condition is needed set DI1-DI8 to don't care.

For Device specific values first set the

Select device

by clicking on the arrow icon.

NOTE:

The list contains only the connected devices. If you would like to
select a device that is not currently connected check the

Show all

devices

checkbox.

For RG2/6, VG10 / VGC10 and Gecko there are three numbers after the device name:

•

- If the device is mounted on a Quick Changer or a HEX-E/H QC

•

- If the device is mounted on the Primary side of a Dual Quick Changer

•

- If the device is mounted on the Secondary side of a Dual Quick Changer

NOTE:

If a Device specific value type condition is not needed set it to

-- Not selected --

and it will give true result.

Commands

Commands are the input fields marked with gray.

There are two types of commands:

•

Device specific value type - like

(set RG2 width 77 mm and with force = 20N)

•

Digital Output type - like DO4=1

(set Digital Output 4 to logic high)

NOTE:

Both types are always executed so make sure that the not relevant part
is always set to Don't change or

-- Not selected --

For Device specific value first set the

Select device

by clicking on the arrow icon.

NOTE:

The list contains only the connected devices. If you would like to
select a device that is not currently connected check the

Show all

devices

checkbox.

For RG2/6, VG10 / VGC10 and Gecko there are three numbers after the device name:

•

- If the device is mounted on a Quick Changer or a HEX-E/H QC

•

- If the device is mounted on the Primary side of a Dual Quick Changer

•

- If the device is mounted on the Secondary side of a Dual Quick Changer

Operation

Digital outputs (DO1-DO8) can have the following three states: (click to cycle through the states)

•

Don’t change

•

- set the Output bit to logic low

•

- set the Output bit to logic high

List of Device specific values

Gecko .............................................. 81

HEX-E/H QC ..................................... 82

RG2/6.............................................. 82

RG2-FT ............................................ 83

VG10 / VGC10.................................. 83

NOTE:

Each device has an

OnStart

condition that becomes True only once the

device is connected or the program is started and then becomes
immediately False. This can be used to detect if a device is connected or
set any initial value on program start.

Gecko

Conditions

Description

Preload

Actual force applied to the pads [N] (below 50N it reads 0N)

Ultrasonic

Actual distance measured from the bottom of the gripper to the object.[mm]

Pad position

Actual position of the pads either

Out

Pads worn

If a Grip was detected and then object distance becomes more than 18mm
(without the pads being pulled IN) the object is lost so the Pads are

Bad

otherwise reads

Good

Busy

Pads are in motion

Grip

While the pads are OUT if the

Preload

force is reached and the object distance

is less than 18mm, then Grip becomes

TRUE

otherwise

FALSE

. (resets to

FALSE

by pulling the pads IN)

Commands

Description

Pad position

To pull the pads

or push the pads

Out

Preload threshold

To set the preload force limit that is used to detect a successful

Grip

Available options are: 50N, 90N, 120N

Reset error logs

Clears the errors (e.g.: Pads worn)

Operation

HEX-E/H QC

Conditions

Description

Bias

TRUE

if the sensor has been zeroed (biased).

F3D, T3D

F3D

= √𝐹𝑥

+ 𝐹𝑦

+𝐹𝑧

[N]

T3D

= √𝑇𝑥

+ 𝑇𝑦

+𝑇𝑧

[Nm]

Fx, Fy, Fz, Tx, Ty, Tz

Actual force [N] and torque [Nm] values

Commands

Description

Bias

Set to

TRUE

to zero the F/T sensor signals (not permanent, will revert on

power reset)

RG2/6

Conditions

Description

Width

Actual width of the gripper [mm]

Busy

True if the gripper is in motion (can only accept new commands when not
busy)

Grip

Internal or external grip is detected.

Safety pressed

True if any of the gripper's safety switch is currently being pressed.

Safety triggered

True if any of the gripper's safety switch is triggered.

Commands

Description

Width

Set the gripper to a new width [mm] with a gripping force [N]

Fingertip offset

Set the fingertip offset from the inner side of the metal [mm]. Positive number
means inward.

Power cycle

If safety switch stopped the gripper use this to get back to normal operation.

Resets the tool power for a second. If another gripper is connected, that will also
be powered off and powered on for a second. (Make sure that during power off
no part to will be dropped.)

Operation

RG2-FT

Conditions

Description

Proximity (L,R)

Actual values of the left and right fingertip proximity sensors [mm]

Width

Actual width of the gripper [mm]

Busy

True if the gripper is in motion (can only accept new commands when not
busy)

Grip

Internal or external grip is detected.

FT Bias

TRUE

if the sensor has been zeroed (biased).

Left and Right
F3D,T3D

F3D

= √𝐹𝑥

+ 𝐹𝑦

+𝐹𝑧

[N] where Fx, Fy, Fz are the fingertip sensor force

components
T3D

= √𝑇𝑥

+ 𝑇𝑦

+𝑇𝑧

[Nm] where Tx, Ty, Tz are the fingertip sensor torque

components

Both F3D,T3D

The combined F3D and T3D acting on an object that the gripper gripped on

Commands

Description

Width

Set the gripper to a new width [mm] with a gripping force [N]

Bias

Set to

TRUE

to zero the F/T sensor signals (not permanent, will revert on

power reset)

VG10 / VGC10

Conditions

Description

Actual vacuum A

Actual vacuum B

Actual vacuum level [0-80%] for channel A and channel B

Commands

Description

Current limit

Set the current limit (0-1000mA), default is 500mA

Grip

Sets the vacuum level (0-80%) for channel A (param1) and channel B (param2)

Idle

Switch of the motor but keep the valve closed for channel A, B or A+B

Release

Opens the valve to quickly release the vacuum for channel A, B or A+B

Additional Software Options

Additional Software Options

8.1

Compute Box

8.1.1

Interfaces

There are two interface types that could be used:

•

Ethernet interface

This interface can be used to access the Web Client that can be used to monitor, control, and update
the grippers/devices. Furthermore, via this interface the OnRobot WebLogic can also be accessed
to program the Digital I/O Interface.

•

Digital I/O interface

This interface could be used to communicate via simple digital I/O lines with the robots. There are
8 digital input and 8 digital output that could be used. These inputs and outputs can be programmed
through the OnRobot WebLogic that requires the Ethernet interface to be used (only for
programming time).

8.1.2

Web Client

Ethernet Interface Setup

Then do the following steps:

•

Connect the Compute Box to your computer with the supplied UTP cable.

•

Power the Compute Box with the supplied power supply

•

Wait one minute for the Compute Box LED to turn from blue to green.

•

Open a web browser on your computer and type in the IP address of the Compute Box (factory
default is 192.168.1.1).

Additional Software Options

The Sign-in page opens:

The factory default administrator login is:

Username

: admin

Password

: OnRobot

For the first login a new password needs to be entered: (password must be at least 8 characters long)

Once signed in the following top menus appear:

•

Devices

- Monitor and control the connected devices (e.g.: grippers)

•

Configuration

- Change the Compute Box's settings

•

WebLogic

- Program the Digital I/O interface through OnRobot WebLogic

•

Paths

- Import/export the recorded Paths (not available to all robots)

•

Update

- Update the Compute Box and the devices

Additional Software Options

Gecko

There is a force and an ultrasonic distance sensor in the gripper. The actual values of these sensors are:

•

Preload

- the current forces acting on the pads (below 50N it displays 0N)

•

Object distance

- how far the object is from the bottom of the gripper

The state of the gripper could be:

•

Pad position

- Pads are either In or Out (out means ready for gripping)

•

Part detected

- the set preload force limit is reached, and object distance is < 18mm

•

Busy

- the pads are moving

The pads can be controlled by clicking on the

Out

and

buttons.

The

Preload threshold

value can be changed if higher preload force is required for a proper grip.

This value is only used to generate a proper

Part detected

signal.

Additional Software Options

NOTE:

Preload threshold

value set on this page is not stored permanently and

are restored to the default value (90N) on power reset.

If a part was detected and the object distance becomes > 18mm (part is lost) BEFORE the pads are set to
be IN (normal release) the

Pads worn

warning is displayed in the

Device info

tab.

To reset the warning:

•

either click on the

RESET ERRORS

button

•

or click on the

Out

button.

Additional Software Options

HEX-E/H QC

The force and torque values (

Fx,Fy,Fz

and

Tx,Ty,Tz

) are shown in N/Nm.

The

Zero

toggle switch can be used to zero the force and torque reading.

NOTE:

Zero

value set on this page is not stored permanently and are restored to

the default values on power reset.

Additional Software Options

RG2/6

The state of the gripper could be:

•

Busy

- the gripper is moving

•

Grip detected

- the set force limit is reached but the set width is not.

The status of the two safety switch shows:

•

Pushed

- the safety switch 1/2 is still being pushed

•

Triggered

- the safety switch 1/2 has been activated and gripper is stopped.

To recover from a Triggered state:

•

Check if any of the safety switch is being pushed

•

If yes, remove the object pushing the switch

Additional Software Options

•

Click on

Power cycle

to power all devices off and then on to recover.

Fingertip offset

must be set according to the current fingertips attached to the gripper. Offset is measured

from the inner mating face of the bar metal fingertips. To save the value to the gripper permanently click

Save

The gripper can be controlled by adjusting the

Force

and

Width

value. First set the required gripping force

and then adjust the width slider that will immediately control the gripper.

Additional Software Options

NOTE:

Zero

value set on this page is not stored permanently and are restored to

the default values on power reset.

The

Proximity Offset

can be used to calibrate the proximity reading. The calibration requires the following

steps to be done:

•

Write 0 mm to the

Left

and

Right

edit box and click on the

Save

button.

•

Close the gripper fully (set the

Width

to 0) while you hold a white paper between the fingertips.

•

Read the actual

Left

and

Right

Proximity

values (e.g.: 19mm and 25mm)

•

Write these values to the

Left

and

Right

edit boxes and click on the

Save

button to store it

permanently.

•

Open the gripper and the calibration is finished.

NOTE:

Setting the offsets too high may clip the proximity reading at 0 mm
(negative distance is not shown). In case of clipping (reading 0 mm), try
to decrease the offset values.

The gripper can be controlled by adjusting the

Force

and

Width

value. First set the required gripping force

and then adjust the width slider that will immediately control the gripper.

Additional Software Options

VG10 / VGC10

The actual vacuum level for

Channel A

and

Channel B

can be seen i

n percentage (in the range of 0…80

kPa vacuum). The actual value of the

Power limit

is shown in mA.

The

Power limit

can be adjusted in the range of 0...1000mA with the slider.

NOTE:

The power limit set in this page is not stored permanently and always
restored to the default value on power reset.

Higher power limit value means the required vacuum level is reached faster (higher airflow), but if it is set
too fast overshoot may occur.

Low power limit may not be sufficient for higher percentage of vacuum and the target vacuum level may
not be reached.

The

Channel A

and

Channel B

vacuum level can be set individually or in tandem by checking the

Lock

checkbox.

Make sure to set high enough vacuum before you grip and lift any object.

To release the gripped object, click on the

Release

button.

Additional Software Options

Configuration menu

Network settings:

The

MAC address

is a world-wide unique identifier that is fixed for the device.

The

Network mode

drop-down menu can be used to decide if the Compute Box will have a static or a

dynamic IP address:

•

If it is set to

Dynamic IP

, the Compute Box expects an IP address from a DHCP server. If the network

that the device is connected to has no DHCP server, then the fixed 192.168.1.1 IP is used for the
device (after 60 seconds of timeout).

•

If it is set to

Static IP

, then a fixed IP address and subnet mask must be set.

•

If it is set to

Default Static IP

, the fixed IP revert to the factory default and cannot be changed.

After all parameters are set, click on the

Save

button to store the new values permanently. Wait 1 minute

and reconnect to the device using the new settings.

Additional Software Options

Compute Box settings:

In case, more than one Compute Box is used within the same network, for identification purpose any user
specific name can be entered to the

Display name

EtherNet/IP scanner settings:

NOTE:

This is a special option of the EtherNet/IP connection for some robots.

In case when the robot is the Adapter and the Compute Box needs to be the Scanner the following addition
information is required for the communication:

•

IP address to connect to

- the robot IP address

•

Origin-to-target instance id

- refer to the robot's EtherNet/IP manual (Scanner mode)

•

Target-to-origin instance id

- refer to the robot's EtherNet/IP manual (Scanner mode)

•

Configuration instance id

- refer to the robot's EtherNet/IP manual (Scanner mode)

•

Requested packet interval (ms)

- RPI value in ms (minimum 4)

Check the checkbox and the Compute Box will try to automatically connect to the robot (via the given IP
address).

Additional Software Options

Paths menu

NOTE:

The Path feature may not be available to your robot type.

This page can be used to import, export, and delete the previously recorded paths. In this way a Path can
be copied to a different Compute Box.

To import a previously exported Path (.ofp file) click on

Import

and browse for the file.

The available Paths are listed at the end of the page. Any paths can be exported and downloaded as a .ofp
file or permanently deleted to free up the list if a path is not needed anymore.

NOTE:

Always make sure that you do not delete any path that is currently in use
in any of your robot programs. Otherwise the path will need to be re-
recorded, since the delete operation cannot be undone.

The Compute Box can store up to 100 Mbytes of paths that is roughly equal to 1000 hours of recordings.

KAWASAKI ROBOTS. ORIGINAL INSTRUCTION (v1.05) - page 3