HYUNDAI Setup Instructions

This section introduces the process of loading the robot master-control program onto a Hyundai robot.

The process consists of the following steps:

Check Controller and Software Compatibility

  • Robot controller version: Hi5a-S (Hi5a-T10 is not supported).

Set up the Network Connection

Hardware Connection

Plug the Ethernet cable of the IPC into the CNETN3 port inside the controller or the Ethernet port on the outside, as shown below.

../../../_images/hardware_connection3.png

Hint

There are three port inside the controller, namely CNETN1, CNETN2, and CNETN3, which correspond to the EN0 address, TP address and EN2 User Ethernet address on the teach pendant respectively.

IP Configuration

  1. Go to System ‣ Control parameter ‣ Network ‣ Environment setting.

    ../../../_images/system.png
    ../../../_images/control_parameter.png
    ../../../_images/network.png
    ../../../_images/environment_setting.png

  2. Select EN2(Public), and set the right IP Address. Please also make sure that the Sebnet Mask is set to 255.255.255.0.

    ../../../_images/set_ip1.png

    Hint

    • The robot IP should be in the same subnet as the IPC.

    • The subnet mask of the IPC is the same as that of the robot, which is 255.255.255.0.

    • Restart the robot after modifying the IP address.

Load the Program Files

  1. Connect the USB flash drive to the teach pendant.

    Note

    To control a HYUNDAI robot, our master-control program 0101.JOB and 0102.JOB need to be initialized by changing the Program File Format Version information on the first line.

    Hint

    If you already have other available program on the robot, please directly copy and paste the program into the flash drive and skip to step 5.

  2. Select Command input.

    ../../../_images/load_file_1.png

  3. Choose either of the command to input, as shown below.

    ../../../_images/load_file_2.png

  4. Now you can see the robot version information on the top. Then save the program.

    ../../../_images/load_file_3.png

  5. Select the newly created program file (or a previous program file), and select Copy. Then switch to the USB folder and select Paste.

  6. Connect the flash drive to the IPC. Open the program, and then copy the first line.

  7. Copy and paste the master-control program files 0101.JOB and 0102.JOB into the flash drive. Open the two master-control program and paste the copied code to replace the first line in the program, and then save the changes.

    ../../../_images/change_file.png

    Hint

    The master-control program files are stored in xxx\Mech-Mind Software Suite-x.x.x\Mech-Center\Robot_Server\Robot_FullControl\hyundai\Hi5a-S.

  8. Connect the flash drive to the teach pendant. Go to System ‣ File manager ‣ USB, select 0101.JOB and 0102.JOB, and then select Copy. Then switch to T/P, select Paste to load the files to the robot.

Further Configuration

  1. Change the IP address of the IPC to 192.168.0.150.

Hint

This IP address is a default one which is specified in 0101.JOB and 0102.JOB. If you need to change the IP address, please modify the IP address in the program accordingly, and the new IP address should be in the same subnet as that of the robot controller.

  1. Set the management IP address of the router to 192.168.0.1.

  2. Go to System‣ User Environment.

    ../../../_images/system.png
    ../../../_images/user_environment.png

  3. Select User Key and enter the general password 314 to request permission.

  4. Change the P* Coordinate to Axis.

    ../../../_images/user_key.png

Connect to the Robot

  1. Open Mech-Center and click on Deployment Settings.

  2. Go to Robot Server, and make sure Use robot server is checked.

  3. Check if the robot model displayed after Robot type in Mech-Viz project matches the one in use.

  4. Do set Robot IP to 127.0.0.1 and click on Save.

    ../../../_images/test_robot_connection_1.png

  5. Click on Connect Robot on the toolbar.

  6. Switch the robot into AUTO mode.

  7. Open 0101.JOB, select Program ‣ Step/Function, and enter 0 in the pop-up Step selection window. The way to reset the 0102.JOB is the same.

  8. Execute the program 0101.JOB.

  9. The robot is successfully connected if:

    • A message saying Robot: server connected to the robot shows up in the Log panel, and

    • robot_icon with the robot model shows up in the Service Status panel.

Reconnect the robot

  1. Under teach mode, press R.. [NO], enter 314 and then press ENTER [YES] to request permission.

    ../../../_images/get_permission.png

  2. Each time when reconnect the robot, the background tasks should be stopped and the pstep in the foreground program should be reset to 0. Select Service‣ Monitoring ‣ Multi-tasking_state ‣ ENTER [YES] to enter the multi-tasking interface.

    ../../../_images/service.png
    ../../../_images/monitoring.png
    ../../../_images/multi-tasking_state.png

  3. Select Program (Suntask) and then select Selection. Enter 3 in the Program selection window and then press ENTER [YES] to complete configuration.

    ../../../_images/reset_pointer_0.png