NH Robostar

Robostar Robot Controller Manual
ROBOSTAR ROBOT
N1 Series
UNI-HOST MANUAL
INSTRUCTION MANUAL
OPERATION MANUAL
PROGRAMMING MANUAL
√ UNI-HOST MANUAL
GAIN SETUP MANUAL
ALARM CODE MANUAL
www.robostar.co.kr
Robostar Co., Ltd.

Copyright ⓒ ROBOSTAR Co., Ltd. 2012
Copyright of this manual is reserved to Robostar Co., Ltd.

Any part of this manual cannot be used as other forms or other means without permission of Robostar.
The specifications are subject to change without notice in advance.

About Product Warranty
About Product Warranty
Products of Robostar Co., Ltd. are manufactured under the strict quality control. All the
Robostar products’ warranty period is one year from the date of manufacture. In this period,
Robostar is only responsible for the mechanical failures due to negligence of Robostar, or the
problems on design and manufacture occurring during normal use, in which the service is
free of charge.
However, such free service is not possible in the following cases.
(1) after the warranty period has expired
(2) failures arising due to improper repair, alteration, redeployment, or other mishandling,
when, under the instruction of you or any third party
(3) failures as a result of using parts, grease, etc. which have not been designated by
Robostar.
(4) failures caused by accidents, such as fire, disaster, earthquake, storms, or other natural
disasters
(5) failures caused in manure, flooding, or other environment
(6) failure caused by the consumption of consumable parts
(7) failures arising when not being operated under the instructions listed in the user or
instruction manual and the maintenance manual
(8) damages in cost other than the cost of robot repairing
Address and contact points of Robostar Robostar Co., Ltd.
 Request for service and

 Head Office & Factory Inquiry of products
119-38, Sasa-dong, Sangnok-gu, - Information on
Ansan-City, Gyeonggi-do, Republic of Marketing
Korea (426-220) TEL. 031-400-3600
FAX. 031-419-4249
 2nd Factory - Customer Service
960, Gosaek-dong, Gwonseon-gu, TEL. 1588-4428
Suwon-City, Gyeonggi-do, Republic of
Korea (441-813)
www.robostar.co.kr
i Robostar Co., Ltd.

Constitution of User Manual
Constitution of User Manual
The user manual for this product is constituted as follows. When using this product first,
please fully read all the manuals before use.
 Instruction Manual
A controller is generally explained. Overview of the controller, installation, and interfacing

to peripherals are explained.
 Manipulation & Operation Manual
As well as general use of the controller, parameter setup, JOB program editing, robot
operation, etc. are explained.
 Programming Manual
RRL (Robostar Robot Language) which is the robot program of Robostar and how to
write a robot program by using RRL are explained.
 Unihost Manual
‘Unihost’ which is the on-line PC program of Robostar is explained.
 Gain Setup Manual
How to set up the gain necessary for trial run, and the motor response performance
according to change in the gain value are explained.
 Alarm Code Manual
Reasons for and countermeasures against the alarms which can occur while operating
the controller are explained.
ii Robostar Co., Ltd.

Contents
Contents
CHAPTER 1 USING N1 UNIHOST MANAGER .................................................................................................. 1-1
1.1 FIRST CONNECTION .......................................................................................................................................... 1-1

1.2 DEFAULT SCREEN .............................................................................................................................................. 1-5
1.3 FILE MENU ....................................................................................................................................................... 1-6
1.3.1 Connect .................................................................................................................................................... 1-6
1.3.2 Disconnect ............................................................................................................................................... 1-6
1.3.3 New Project .............................................................................................................................................. 1-7
1.3.4 Open Project ............................................................................................................................................ 1-8
1.3.5 Option ...................................................................................................................................................... 1-9
CHAPTER 2 USING N1 FILE TRANSFER PROGRAM .................................................................................... 2-1
2.1 DEFAULT SCREEN ............................................................................................................................................. 2-1

2.2 FILE MENU ........................................................................................................................................................ 2-4
2.2.1 Transfer .................................................................................................................................................... 2-4
2.2.2 Copy ......................................................................................................................................................... 2-7
2.2.3 Paste ........................................................................................................................................................ 2-9
2.2.4 Rename .................................................................................................................................................. 2-10
2.2.5 Delete ..................................................................................................................................................... 2-11
2.2.6 Select All ................................................................................................................................................ 2-12
2.2.7 Exit ......................................................................................................................................................... 2-12
2.3 VIEW MENU .................................................................................................................................................... 2-13
2.3.1 Toolbar ................................................................................................................................................... 2-13
2.3.2 Status bar ............................................................................................................................................... 2-13
2.3.3 Large Icons ............................................................................................................................................ 2-14
2.3.4 Small Icons............................................................................................................................................. 2-14
2.3.5 List ......................................................................................................................................................... 2-15
2.3.6 Details .................................................................................................................................................... 2-15
2.3.7 Arrange Icons by .................................................................................................................................... 2-16
2.3.8 Refresh ................................................................................................................................................... 2-16
2.4 DISPLAY MENU ............................................................................................................................................... 2-17
2.4.1 Error Log ............................................................................................................................................... 2-17
2.4.2 Download Firmware .............................................................................................................................. 2-18
iii Robostar Co., Ltd.

Contents
CHAPTER 3 DESCRIPTION OF USE OF N1 ROBOSTAREDITOR ................................................................ 3-1
3.1 JOB FILE EDIT SCREEN .................................................................................................................................... 3-1

3.1.1 Compile .................................................................................................................................................... 3-2
3.2 POINT FILE EDIT SCREEN.................................................................................................................................. 3-3
3.2.1 Initialize ................................................................................................................................................... 3-4
3.2.2 Increase .................................................................................................................................................... 3-6
3.2.3 Parameter ................................................................................................................................................ 3-8
3.2.4 Coordinate ............................................................................................................................................. 3-10
iv Robostar Co., Ltd.

Unihost Manager
Chapter 1 Using N1 Unihost Manager
This Unihost Manager is for setup of the N1 robot controller-to-computer communication and
the basic environment.
1.1 First Connection
To execute this Unihost Manager, click Unihost Manager.exe file.
Fig. 1-1
1-1 Robostar Co., Ltd.

Unihost Manager
When Unihost Manager is executed, Project selecting screen (Fig. 1-2) appears.
Move to a folder in which the Project has been created, and select project file (*.prj).
Fig. 1-2
If Cancel button is selected when there is no project file or in order to create a new project
instead the existing project, the following project creation dialog box (Fig. 1-3) appears.
Fig. 1-3
When setting a project root and entering a project name, a folder with a project name is
created in the project root, with subfolders CH1, CH2 and CH3 created respectively below
the folder with a project name. The controller type to be selected should match the
controller type being used. If they are not consistent, a function such as a file transfer does
not work. Select ‘cancel’ from project creation screen and the program is closed.
▶ When the Controller Type is not consistent, a warning window Type Mismatch
CAUTION comes up.
▶ In new project creation, if there is no Project Root folder, Project cannot be
created. Make the folder in advance, using Windows Explorer or the like.

Unihost Manager
If the existing project has been selected or a new project is selected, a dialog box for
communication connection appears.
When a usable port and communication rate are set up and then Connect button is
selected, PC-to-controller communication starts. Communication rate is set to 115200 bps,
in default.
Fig. 1-4
If connection is successful, the following screen appears. (Fig. 1-5)
그림 1-5

Unihost Manager
If connection is failed, Disconnected screen (Fig. 1-6) appears. At this time, check the
communication connected state, communication port, communication rate, and controller
mode.
(Unihost communication is supported in only Host mode of the N1 controller.)
Fig. 1-6
▶ Unihost communication is supported only in N1 controller <MAIN MENU> →

3.HOST.
CAUTION ▶ If communication connection is failed, check the followings.
① Check the communication port and the communication rate.
② Check whether the controller state is in Host Mode.
③ Check a serial cable connecting the PC and the controller.

Unihost Manager
1.2 Default screen
A screen appearing when PC-to-controller communication is successful is as in Fig. 1-7.
① ○
2
○
3 ○
4
○
5
○
6 ○
7
○
8
○
9
Fig. 1-7
○
1 Connection state: If in connection, Connected is displayed; and if not in connection,
Disconnected is displayed.
○
2 Communication mode of the current controller.
○
3 Controller name
○
4 S/W Version of the controller
○
5 Information on each robot channel.
○
6 User selected project name
○
7 User selected project path
○
8 Execute File Transfer.

Unihost Manager
1.3 File Menu
1.3.1 Connect
This menu is enabled, as shown below, when the connection between a computer and a
robot controller is disconnected. Select this menu to connect a computer with a robot
controller.
Fig. 1-8
1.3.2 Disconnect
This menu is enabled, only when the computer and the robot controller are connected
with each other. Select this menu to disconnect a computer from a robot controller.
Fig. 1-9

Unihost Manager
1.3.3 New Project
Unihost program has adopted the concept of project for stability of files and convenience
of maintenance.
Fig. 1-10
When, in File menu, New Project menu is selected, Project creation dialog box (Fig. 1-11)
appears.
Fig. 1-11
When Project Name corresponding to the controller is entered and then OK is selected, a
folder relevant to the project name is created in PC, and, in such folder, 3 folders
corresponding to each channel.
The current channel names are fixed so that a user cannot change them.

Unihost Manager
1.3.4 Open Project
Open projects other than the currently selected project.
Fig. 1-12
When, in File menu, Open Project is selected, Project file open dialog box (Fig. 1-13)
appears.
○
2
Fig. 1-13
Move to a desired project folder and select a project file, and then click on Open button.
(When Project folder is opened, ① folder name and ② project name must be the same.)
▶ When Project folder is opened, the name of a folder in which a project locates and
CAUTION the project name must be the same. If they are not the same, File Transfer function
does not work normally.

Unihost Manager
1.3.5 Option
Sets up Project Root path, Execution file path, and a communication timeout time.
Fig. 1-14
In File menu, select Option and Option dialog box (Fig. 1-15) appears.
Fig. 1-15
Root folder of the project, a folder in which execution file is, and the timeout time are setup. If
Execute Path is wrong set up, File Transfer Program is not performed.
CAUTION ▶ When Execute Path is set up, it must be in the position of a folder in which an
execution file, FileTransfer.exe exists.

File Transfer
Chapter 2 Using N1 File Transfer Program
This File Transfer Program facilitates the transmission and reception of the files and parameters
between N1 robot controller and a computer.
2.1 Default Screen
A main screen of File Transfer Program consists of, as shown in Fig. 2-1, a window showing
file lists of PC and the controller and a trace window showing the current communication
status.
① ② ④ ⑤
③ ⑥
Fig. 2-1
① Path of currently working PC.
② Working folder of PC can be moved to a higher level.
③ File listing window of PC, which shows the file list in the working folder. The blue lined
square means that the current user has selected the file list window of PC.
④ F/W version of a controller.
⑤ A channel of the controller that a user selected. The current status is the highest (Root)
channel.
⑥ File list window of a controller, which shows the file list of the selected channel.
⑦ A trace window shows the data exchanged between PC and the controller, the error
message, etc.

File Transfer
 Description of Controller File
This is a file located in Controller Root, which includes Public parameter, Global variable and
Pallet setup value.
FILE NAME DESCRIPTION

PARA.SYS Common parameter setup file of a controller
POINT.GPT Common teaching point file of a controller
INTEGER.GIT Common integer variable file of a controller
FLOAT.GFT Common real number variable file of a controller
PALLET.PLT Pallet setup file of a controller

File Transfer
It consists of Parameter, Job, and Point file that are set up depending on the robot channel.
FILE NAME DESCRIPTION

PARA.SY1 Parameter setup file of a controller robot CH1
TEST.JOB JOB file of a controller robot CH1
TEST.PNT Individual JOB teaching point of a file controller robot CH1
▶ For each robot channel, separate parameter file exists.

CAUTION
▶ For each robot channel, Job and Point file is separate.

File Transfer
2.2 File menu
2.2.1 Transfer
As shown in Fig. 2-2, after selecting a file to be copied, select, in File menu, Copy to copy
the selected file to the counterpart device. In the figure below, two files in the controller are
selected and Copy is clicked.
However, copy cannot be performed for different channels.
Fig. 2-2
▶ If the channel between the controller and PC is different, file copy is not performed.
CAUTION
▶ If there is no data saved in PNT file in PC, Protocol error occurs when the file is
sent to the controller, and therefore the file cannot be transferred.

File Transfer
A file in CH1 of the controller can be transferred only to CH1 of the project folder. When a
file in CH1 of the controller is tried to be sent to CH2 or CH3 of the project folder, Check
Channel message is produced.
Fig. 2-3
 How to transfer the controller file to the project folder in PC
① Move the controller to the channel folder, in which a file to be transferred locates.
② Move the PC folder to the same position as the controller channel folder.
③ Select a controller file to be transferred.
④ After selecting the file, drag-and-drop it on PC window, or select Transfer menu in
Context Menu of the controller.
▶ If the controller Channel is different from the PC Channel, “Cannot copy files to
CAUTION Controller. Check Channel” message appears.

▶ If there is no data saved in PNT file in PC, Protocol error occurs when the file is sent
to the controller, and therefore the file cannot be transferred.

File Transfer
Fig. 2-4
For reference, a folder cannot be moved, on a PC screen, to a higher level folder made at
Project Root of Unihost Manager Option.
 In error message “Please check your communication configuration”

Cause 1) Disconnection of communication between PC and Controller
Cause 2) Unable to transfer proper data between PC and robot controller
Troubleshooting ) Attempt to reconnect after connection has automatically closed off and
the user has checked communication settings.
 Error message “Protocol error”

Cause 1) Delivery failure of the data transferred from PC due to change to controller
communication settings
Cause 2) No correct commands sent from PC to controller
Troubleshooting) Check the data sent to Controller from PC is correct, looking into
controller communication status.
▶ A folder cannot be moved, on a PC screen, to a higher level folder made at

Project Root of Unihost Manager Option.
CAUTION
▶ If there is no data saved in PNT file in PC, Protocol error occurs when the file is
sent to the controller, and therefore the file cannot be transferred.

File Transfer
2.2.2 Copy
A Copy function is used to copy the file on current channel to another channel on PC screen.
That is, this function is used for copying the channel-to-channel files on PC. The figure 2-5
below shows the copying, on PC, of 2 files on Channel 1 to Channel 2. For copying, first
select a file to copy, select Copy from File menu or press Ctrl+X with a shortcut key.
Fig. 2-5
▶ COPY COMMAND is supported in PC screen only, not in Controller screen.

▶ When, on PC screen, a job file is copied from channel to channel and is then
CAUTION transferred to the controller, be careful that the same job number cannot be
used in channels for N1 controller. If a job having the same job index is
transferred to a different channel, the job will exist in the channel, to which the
job has finally transferred.

File Transfer
Then, go to the desired Channel 2, and choose Paste menu or press Ctrl+V. The files selected
in Channel 1 are copied to Channel 2.
Copy command is not supported by Controller screen.
Fig. 2-6
▶ COPY COMMAND is supported in PC screen only, not in Controller screen.

▶ When, on PC screen, a job file is copied from channel to channel and is then
CAUTION transferred to the controller, be careful that the same job number cannot be used
in channels for N1 controller. If a job having the same job index is transferred to a
different channel, the job will exist in the channel, to which the job has finally
transferred.

File Transfer
2.2.3 Paste
The files selected by Copy command is pasted by this Paste command.
Fig. 2-7

File Transfer
2.2.4 Rename
Menu File > Rename is used to change the name of the file in PC or Controller.
Fig. 2-8
If selecting the file whose name is to be changed and choosing Rename menu, the file name
becomes the state able to be changed. Enter the desired name and press “ENTER”, then the
file name is changed.
In file name change in Controller, a file list in the controller is newly updated to show the
changed file name after the changed file name is adapted.
Be cautious in changing the file name that only the alphabet letters and numerals can be used,
and the length of the file name is only permissible up to 5 letters, except the extension. In
addition, if there is already empty file name or a file name to be changed, the error message
appears in Trace window.
▶ Be careful of the followings when changing the file name.

① The file name is to be alphabet letters and numerals.
CAUTION ② The length of file name is permissible up to 5 letters, except the extension.
③ If there is already empty file name or a file name to be changed, the error
message appears.

File Transfer
2.2.5 Delete
Remove the selected file. When a file in Controller is deleted, Controller file list is updated.
Fig. 2-9

File Transfer
2.2.6 Select All
Files in the selected file list window (a window surrounded with a blue square) are all selected.
Fig. 2-10
2.2.7 Exit
Exit from the File Up/Down Program which is now being executed.
Fig. 2-11

File Transfer
2.3 View menu
2.3.1 Toolbar
Menu buttons to copy or delete the robot file are displayed.
2.3.2 Status bar
The current status of a keyboard (Caps Lock, Num Lock, and Scroll Lock) is indicated.

File Transfer
2.3.3 Large Icons
A screen of a file list window that a user selects is shown in the form of Large Icon.
In Fig. 2-12, a file list window screen of PC with large icons is shown.
Fig. 2-12
2.3.4 Small Icons
A screen of a file list window that a user selects is shown in the form of Small Icon.
In Fig. 2-13, a file list window screen of PC with small icons is shown.
Fig. 2-13

File Transfer
2.3.5 List
A screen of a file list window that a user selects is shown in the form of List.
In Fig. 2-14, a file list window screen of PC in List form is shown.
Fig. 2-14
2.3.6 Details
A screen of a file list window that a user selects is shown in the form of detailed list.
In Fig. 2-15, a file list window screen of PC in the detailed list form is shown.
Fig. 2-15

File Transfer
2.3.7 Arrange Icons by
Arrangement state of a file list window that a user selects is established. There are four
arrangement ways, such as a file name, a file number, a file size, and a file type.
Fig. 2-16
2.3.8 Refresh
A file list of a file list window that a user selects is refreshed. Refreshing the file list window of
the controller may be failed. This fail may occur if PC-to-controller communication is
disconnected or the proper data cannot be transmitted between PC and a controller, as in the
case of Copy. Resolving method of this problem is also identical to the case of Copy.

File Transfer
2.4 Display menu
2.4.1 Error Log
Error Log generated in the controller is shown. The download time may be longer depending
on the extent of error occurrence.
Fig. 2-17
When Error Log is downloaded from the controller, the error contents are displayed as in Fig.
2-18. If applying Save button in Error Log screen, it is saved as a file.
Fig. 2-18

File Transfer
2.4.2 Download Firmware
This updates the firmware to the latest version when the functions of N1 Controller are
modified and added.
Since the work of Download Firmware has a serious effect on the controller operation, be
sure to consult with Customer Support Team of Robostar before performing Download
Firmware.
1) Select Higher menu Display > Upload Firmware
Fig. 2-19
▶ When first performing the firmware download, consult with the Customer Support
CAUTION Team of Robostar.
▶ If the erroneous firmware download, the controller may not be booted.
▶ Fully understand the download sequence before performing the download.

File Transfer
2) Select a F/W file suited to a controller type

(Pay attention to the file name and capital letters)
Controller Type Firmware Version Description

N1 RO N1_MAIN_RO(YYMMDD).hex
YY- , MM– , DD-
N1 TR N1_MAIN_TR(YYMMDD).hex
** If a file name is not correct, a Firmware download is not processed.
3) Select Confirm button
CAUTION Team of Robostar.

File Transfer
4) Select Confirm button
The current download progress can be monitored through a progress bar.
5) Confirm “Download System File Completed” message.

(\N1_MAIN_FB.hex” has been successfully downloaded.)
After completing Unihost downloading, process as Teach Pendant messages indicate.
▶ While the firmware is downloaded, do not shut down the power source.
CAUTION
▶ After completing Unihost downloading, process as Teach Pendant messages
indicate.

File Transfer
6) Checking & executing the update menu in T/P menu
After Unihost download has been completed, whether or not the corresponding firmware is
applied is selected.
If “ENTER” key is enabled, Firmware Update is executed; if “No” key is enabled, it is cancelled.
 Selecting if applying a firmware

ONLINE MODE
<File Mode> ① Performs F/W update
Inputs “ENTER” Key
Download complet ② Cancels F/W update

Update? (ENTER/ESC)
Inputs “ESC” Key
7) Executes Flash Write
 Executes Flash Write

ONLINE MODE
<File Mode>
Note) During Flash Update, never shut
down the power.
Do not POWER OFF!!!
Flash Write ...
8) Firmware Update completed
 Firmware Update completed

ONLINE MODE
<File Mode>
After confirming “S/W Update Complete”
message, reboot N1 controller to adapt
S/W Update Complete the downloaded F/W.
Turn ON Power Again!
Team of Robostar.
CAUTION
▶ Whiless the firmware is downloaded, do not shut down the power source.

RobostarEditor
Chapter 3 Description of Use of N1 RobostarEditor
This RobostarEditor is easy to create and modify N1 robot controller Job, Point file and
parameter values.
3.1 JOB File Edit Screen
The figure 3-1 below is a Job Editor screen, enabling Job file creation and editing. In
addition, it has a built-in compiler that tells you the presence of a Syntax error after
completion of Job writing.
Fig.3-1
1 New New file creation. 8 Undo Return to the previous task.
2 Open Job file Open. 9 Redo Return to original state.
3 Save Job writing and saving. 10 Find Search for a specific letter.
Search down from the current
4 Print Job writing and printing. 11 Repeat
position.
Find Search up from the current
5 Cut Cut certain content. 12
Previous position.
6 Copy Copy certain content. 13 Replace Change strings.
7 Paste Paste copied content. 14 Syntax Grammar check.
15 Bookmark Configure, search, cancel with bookmark function.

RobostarEditor
3.1.1 Compile
Upon completion of writing a JOB file, you can perform Compile through “F5” button input.
When the compile is successful, a popup window “Compile succeed!” comes up as shown
on Fig. 3-2 screen.
Fig.3-2
Fig. 3-3 screen below shows a failure in Compile. Error Message output window represents
Information including Error Number, Job Total Line and Compiler Type.
Fig.3-3

RobostarEditor
3.2 Point File Edit Screen
Fig. 3-4 below, showing a Point Editor screen, enables creating and editing Local and Global
Point files used in the controller. On top of this, a Point Editor has a Description area present
where the user can list details about use of each point.
Fig.3-4

RobostarEditor
3.2.1 Initialize
Figure 3-5 shows taps capable of performing an initialization over the Point to use when
editing the point at early stage. Point range configuration is set through Start Point and End
Point, also enabling performing initialization setup for individual axis and entire axis.
① ②
③ ④
⑤ ⑥
⑦ ⑧
⑨ ⑩
⑪ ⑫
⑬ ⑭
Fig.3-5
 Below is detailed description of Initialize configuration tabs.
① X-axis initial position set value (Angle) ② Individual application of X-axis initial position value
③ Y-axis initial position set value (Angle) ④ Individual application of Y-axis initial position value
⑤ Z-axis initial position set value (Angle) ⑥ Individual application of Z-axis initial position value
⑦ W-axis initial position set value (Angle) ⑧ Individual application of W-axis initial position value
⑨ E1-axis initial position set value (Angle) ⑩ Individual application of E1-axis initial position value
⑪ E2-axis initial position set value (Angle) ⑫ Individual application of E2-axis initial position value
⑬ Start Point set value ⑭ End Point set value
⑮ Overall application of X, Y, Z, W, E1, E2 initial position values

RobostarEditor
When applying “All Apply” button, the user is once again asked for confirmation whether or
not to process the initialization through Message Box as shown in Fig. 3-6.
Fig.3-6
Fig. 3-7 shows a screen where the initialization is in progress.
Fig.3-7

RobostarEditor
3.2.2 Increase
Fig. 3-8 shows an editing tab dedicated to an increase, when editing Point, by a certain
amount up to the data set by the user within the set range. A point set range is set through
Start Point and End Point, allowing an individual and entire axis also to see a certain amount
of point value increase.
Fig.3-8
 Below is detailed description of Increase configuration tabs.
① X-axis increase position set value(Angle) ② Individual application of X-axis increase position value
③ Y-axis increase position set value(Angle) ④ Individual application of Y-axis increase position value
⑤ Z-axis increase position set value(Angle) ⑥ Individual application of Z-axis increase position value
⑦ W-axis increase position set value(Angle) ⑧ Individual application of W-axis increase position value
⑨ E1-axis increase position set value(Angle) ⑩ Individual application of E1-axis increase position value
⑪ E2-axis increase position set value(Angle) ⑫ Individual application of E2-axis increase position value
⑬ Start Point set value ⑭ End Point set value
⑮ Overall application of X, Y, Z, W, E1, E2 increase position value

RobostarEditor
Fig. 3-9 shows a screen where each position value rises to : X-axis: 110, Y-axis: -115, Z-axis:
100, and -axis: 360.
Fig.3-9

RobostarEditor
3.2.3 Parameter
The Fig.3-10 below shows a tab that can LOAD PARAMETER information needed when using
a function of Point Coordinate, known as XY coordinate conversion formula, in Point Editor.
This task must be performed in advance to use a Coordinate function.
Fig.3-10
As shown in above Fig. 3-10, select ① “LOAD PARAMETER” and open the Local Parameter
file in the controller for use in coordinate conversion as shown in Fig. 3-11 below.
② ③
Fig.3-11

RobostarEditor
A Fig. 3-12 screen shows a loaded SCARA-800A parameter values. For parameter items
needed for converting the formula in XY coordinates,
Values for 1) Robot Type, 2) Arm-Length, 3) Tool Offset, 4) S/W Limit are used.
Fig.3-12
** In “LOAD_PARAMETER”, only the Local Parameter item can be opened.

RobostarEditor
3.2.4 Coordinate
1) Description
A Point Editor value is basically saved as a robot’s joint coordinate value, therefore
when there is a need for changing it to XY coordinates, you need to use a
Coordinate window. A coordinate window tells if a random XY-coordinates of
SCARA robot stays within the range of operation and enables coordinate
conversion.
①
○
2 ○
3
○
4
○
5
○
6
○
7
Fig.3-13
① Window for selecting a point index to convert XY coordinates

② Point value converted from joint value into XY value
③ Number of the point index selected in current conversion formula
④ Button for loading data value after selecting point item
⑤ Button for application after converting a coordinate
⑥ Window for selecting Arm Form to be applied in converting a coordinate
⑦ Window for selecting TOOL to be applied in converting a coordinate

RobostarEditor
2) Operation Description
1. Selecting a point index to change a coordinate

When selecting a point requested for coordinate conversion, full highlight color applies to
the point line selected as shown below.
Fig.3-14
2. Selecting a point index to change a coordinate

Select a point and click Data Load button as shown below.
** Applicable only when the parameter value of “LOAD_PARAMETER” tab is loaded.
Fig.3-15

RobostarEditor
3. Changing Arm From and End Effecter(TOOL)
Fig.3-16
번호 좌표 X Y Z W E1 E2 Arm E_Effect
Angle -432.6 -313.791 120 -322.014 0.000 0.000 - -
P0002
X-Y -103.520 -97.184 120.000 -124.310 0.000 0.000 LEFT W1
Table 3-1

RobostarEditor
4. Changing modified coordinate
Fig. 3-17 shows a screen when applying “Data Apply” after changing X, Y-axis values on
P0002. Angle values are shown in pop-up window prior to change. When applying the
“Confirm” button, the already-set Angle position value is applied.
Fig.3-17
Fig.3-18 shows an Angle position value applied after teaching XY coordinates through a
Coordinate tab window.
Fig.3-18

S/W
Rev. Revised Date Description Reviser
Version
V.1 2012.07.30 First Edition Printed
V.2 2012.08.22 Controller type set Leejm Ver2.0
V.3 2013.01.15 Editor add Leebj Ver2.1
N1 ROBOT CONTROLLER
CONTROLLER MANUAL
FIRST EDITION JULY 2012
ROBOSTAR CO, LTD
ROBOT R&D CENTER
Robostar Co., Ltd.

NH Robostar

Uploaded by

Copyright:

Available Formats

NH Robostar

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

NH Robostar

Uploaded by

Copyright:

Available Formats

Robostar Robot Controller Manual

Robostar Co., Ltd.

Copyright of this manual is reserved to Robostar Co., Ltd.

The specifications are subject to change without notice in advance.

About Product Warranty

Address and contact points of Robostar Robostar Co., Ltd.

 Request for service and

i Robostar Co., Ltd.

Constitution of User Manual

A controller is generally explained. Overview of the controller, installation, and interfacing

 Manipulation & Operation Manual

‘Unihost’ which is the on-line PC program of Robostar is explained.

 Gain Setup Manual

 Alarm Code Manual

ii Robostar Co., Ltd.

CHAPTER 1 USING N1 UNIHOST MANAGER .................................................................................................. 1-1

1.1 FIRST CONNECTION .......................................................................................................................................... 1-1

CHAPTER 2 USING N1 FILE TRANSFER PROGRAM .................................................................................... 2-1

2.1 DEFAULT SCREEN ............................................................................................................................................. 2-1

iii Robostar Co., Ltd.

CHAPTER 3 DESCRIPTION OF USE OF N1 ROBOSTAREDITOR ................................................................ 3-1

3.1 JOB FILE EDIT SCREEN .................................................................................................................................... 3-1

iv Robostar Co., Ltd.

Chapter 1 Using N1 Unihost Manager

1.1 First Connection

To execute this Unihost Manager, click Unihost Manager.exe file.

1-1 Robostar Co., Ltd.

1-2 Robostar Co., Ltd.

If connection is successful, the following screen appears. (Fig. 1-5)

1-3 Robostar Co., Ltd.

▶ Unihost communication is supported only in N1 controller <MAIN MENU> →

1-4 Robostar Co., Ltd.

1.2 Default screen

A screen appearing when PC-to-controller communication is successful is as in Fig. 1-7.

1-5 Robostar Co., Ltd.

1.3 File Menu

1-6 Robostar Co., Ltd.

1.3.3 New Project

1-7 Robostar Co., Ltd.

1.3.4 Open Project

Open projects other than the currently selected project.

1-8 Robostar Co., Ltd.

1-9 Robostar Co., Ltd.

Chapter 2 Using N1 File Transfer Program

2.1 Default Screen

2-1 Robostar Co., Ltd.

 Description of Controller File

FILE NAME DESCRIPTION

2-2 Robostar Co., Ltd.

FILE NAME DESCRIPTION

▶ For each robot channel, separate parameter file exists.

2-3 Robostar Co., Ltd.

2.2 File menu

2-4 Robostar Co., Ltd.

 How to transfer the controller file to the project folder in PC

CAUTION Controller. Check Channel” message appears.

2-5 Robostar Co., Ltd.

 In error message “Please check your communication configuration”

 Error message “Protocol error”