C3G Robot Controller: System Software Load &communication Ports

UPDATED 2002-02-18 C3G Robot Controller Software Load
C3G ROBOT CONTROLLER

SYSTEM SOFTWARE LOAD &COMMUNICATION PORTS
BOOTMON ENVIRONMENT ACTIVATION

Enter BOOTMONITOR environment typing on teach pendant:
CONFIGURE/CONTROLLER/RESTART/REBOOT
PASSWORD will be requested, type CGGG
CONFIRMATION will be requested, type Y
BOOTMON SYSTEM SOFTWARE RELOAD

Type on teach pendant: RESET/INIT
BOOTMON CHANGE DEFAULT PORT

Type on teach pendant: CONFIGURE/CONTROLLER/RESTART/BOOTMON
Type FEATURE and current default port will be shown on screen.
If, for instance, the default port is FD and we want to exclude it:
disconnect floppy cable

type FEATURE/NOFD
type START
Automatically, the C3G controller will enable COM0: as default.
To restore FD: as default port:
connect floppy cable

type FEATURE/FD
type START
LOADING ONLY SCC SOFTWARE USING C3G INTEGRATED FLOPPY

Insert in floppy drive C3G system disc 1/3
From BOOTMON environment issue the command CF SCC and then press ENTER.
Page 1 of 15
SYSTEM SOFTWARE LOADING BACK-UP RESTORE
USING C3G INTEGRATED FLOPPY

Load time is high, about 20 minutes.
You need the three system software discs + the work program disc.
When C3G asks to load software insert in FD: system software disc 1/3 .
When C3G BOOTMON will scan the 57400 baud speed, software loading will start; wait for C3G to ask disc
2/3 on TP.
Insert in FD: system software disc 2/3; press ENTER on TP; wait for C3G to ask disc 3/3 on TP.
Insert in FD: system software disc 3/3; press ENTER on TP.
At the end of software loading C3G will ask on TP to update time: type current time.
C3G will ask on TP to update date: type current date.
After the system has booted, insert in FD: the disc containing the back-up files.
On teach pendant type FILER/UTILITY/RESTORE
Verify system data are correct.
You can also perform CONFIGURE/CONTROLLER/RESTART/COLD so startup programs are executed and
proper settings are loaded.
USED FILES ON
USED PORTS TASK PC REQ.D NOTES DIFF.TY
CABLES PC REQ.D
LOAD SYS SW
FD: N/A NO NO 1
LOAD BACKUP
USING C3G FLOPPY CONNECTED ON THE FLY

Turn off C3G cabinet
Connect flat cable to FD:
Turn on C3G cabinet
FD: led should flash, if not press RESET key
When C3G will scan the 57400 baud speed, software loading will start.
Perform software loading operations like in Using integrated floppy
Page 2 of 15
USING C3G PARALLEL PAR: PORT AND SERIAL COMP: PORT, PC WITH FLOPPY (A:)
You need a parallel cable plus a standard serial C3G-PC cable, the three system software discs + the work
program disc, the terminal emulator PCInt or WinPCInt program.
Verify the flat cable from RBC board to PAR: exists
Use of the standard serial C3G-PC cable allows you to control C3G from PC.
Connect parallel cable to PAR: and to PC.
Connect standard serial C3G-PC cable to COMP: and to PC.
Start terminal emulator on PC.
Choose LOAD SYSTEM SOFTWARE.
Insert in A: system software disc 1/3.
Type choosen directory A:\ then ENTER, ENTER.
Select COM1: as communication port on PC
When C3G will scan the PAR: port, disc 1 software loading will start; wait for C3G to ask for disc 2/3.
Insert in A: system software disc 2/3 and press ENTER on PC; wait for C3G to ask for disc 3/3.
Insert in A: system software disc 3/3 and press ENTER on PC.
At the end of software loading C3G will ask on PC to update time: type current time.
C3G will then ask on PC to update date: type current date.
After the system has booted, on PC press ALT+D to change directory where back-up files are present. E.g. if
you have a back-up disc, you can type A:\, ENTER, ENTER.
Then on PC perform FILER/COPY COMP:*.* with destination RD:
When all back-up files have been copied, exit the terminal emulator by pressing ALT+X
USED FILES ON
CABLES PC REQ.D
PAR: PARALLEL LOAD SYS SW

TERMINAL
YES 2
EMULATOR
COMP: SERIAL LOAD BACKUP
Page 3 of 15
USING C3G PARALLEL PAR: PORT (CHECK IF ALSO SERIAL), PC HD

Load time is lowest, about 5 minutes.
You need a parallel cable plus a standard serial C3G-PC cable, the three system software discs + the work
program disc, the terminal emulator PCInt or WinPCInt program.
Verify the flat cable from RBC board to PAR: exists.
Create on PC a directory for system files and load the three system discs to the newly created directory.
Modify with Notepad the C3GLOAD.BCF file, deleting all the writing like:
!******************************
!* INSERT DISKETTE NUMBER ... *
WAIT
And then adding after the instruction SET:
SPEED 0
MOUNT RD:
GET C:\<back-up_folder>\*.*
DISMOUNT RD:
Type choosen directory C:\<sys_sw_folder> then ENTER, ENTER.
When C3G BOOTMON will scan the PAR: port, software loading will start.
At the end of software loading C3G will ask to update time: type current time.
C3G will ask to update date: type current date, then the transfer of back-up files will start.
When all back-up files have been transferred, exit the terminal emulator by pressing ALT+X
USED FILES ON
CABLES PC REQ.D
LOAD SYS SW NEED TO MODIFY FILES

TERMINAL
PAR: PARALLEL YES 3
EMULATOR
LOAD BACKUP FASTEST UPLOAD
Page 4 of 15
USING C3G PARALLEL PAR: PORT, PC HD

Load time is low, about 6 minutes.
You need a parallel cable, the three system software discs + the work program disc, the terminal emulator
PCInt or WinPCInt program.
Create on PC a directory for back-up files and load the back-up discs to the newly created directory.
When C3G BOOTMON will scan the PAR: port, disc 1 software loading will start; wait for C3G to ask for disc
2/3 on TP.
Press ENTER on TP; wait for C3G to ask for disc 3/3 on TP.
Press ENTER on TP.
C3G will then ask on TP to update date: type current date.
Wait for C3G to complete reboot.
Enter BOOTMONITOR environment typing on teach pendant:
CONFIGURE/CONTROLLER/RESTART/BOOTMONITOR
type SP 0
type MOUNT RD:
On PC press ALT+D to change directory where backup files are. E.g. type C:\<back-up_folder> then ENTER,
ENTER
On TP in BOOTMONITOR environment type: GET *.*
Page 5 of 15
When transfer is complete, type: START (C3G will boot to PDL environment)
Exit terminal emulator by pressing ALT+X
USED FILES ON
CABLES PC REQ.D
LOAD SYS SW
TERMINAL
PAR: PARALLEL YES FAST UPLOAD 3
EMULATOR
LOAD BACKUP
Page 6 of 15
USING C3G PARALLEL PAR: PORT AND SERIAL COMP: PORT, PC HD

Load time is low, about 6 minutes.
You need a parallel cable, the three system software discs + the work program disc, the terminal emulator
PCInt or WinPCInt program.
Use of the standard serial C3G-PC cable allows you to control C3G from PC.
Create on PC a directory for back-up files and load the back-up discs to the newly created directory.
Connect standard serial C3G-PC cable to COMP: and to PC.
Start PCInt or WinPCInt on PC.
When C3G will scan the PAR: port, disc 1 software loading will start; wait for C3G to ask on PC for disc 2/3.
Press ENTER on PC; wait for C3G to ask on PC for disc 3/3.
Press ENTER on PC.
At the end of software loading C3G will ask on PC to update time: type current time.
C3G will then ask on PC to update date: type current date.
On PC press ALT+D to change directory where backup files are. E.g. type C:\<back-up_folder> then ENTER,
ENTER
Then on PC perform FILER/COPY COMP:*.* with destination RD:
When all back-up files have been copied, exit the terminal emulator by pressing ALT+X
USED FILES ON
CABLES PC REQ.D
LOAD SYS SW
KERMIT
COM0: SERIAL 9F-9F YES 1
PROTOCOL
LOAD BACKUP
Page 7 of 15
USING C3G SERIAL COM0: PORT, PC WITH FLOPPY (A:)

You need a standard serial null modem cable 9F to 9F, the three system software discs + the back-up disc,
the terminal emulator PCInt or WinPCInt program.
Connect standard serial null modem cable to COM0: and to PC.
Insert in A: system software disc 1/3.
At the command prompt type A: to change drive.
At the command prompt type TRANSF (Kermit application will be started on PC)
At the PC choose a proper communication speed (e.g. 38400 baud)
When C3G BOOTMON will scan the COM0: port at (e.g.) 38400 baud, disc 1 software loading will start; wait
for C3G to ask for disc 2/3 on TP.
Insert in A: system software disc 2/3, press ENTER on TP; wait for C3G to ask for disc 3/3 on TP.
Insert in A: system software disc 3/3, press ENTER on TP.
C3G will ask on TP to update date: type current date.
After the system has booted, set on C3G Kermit protocol and transmission speed at (e.g.) 38400 baud on
COM0:
Leave Kermit on PC running.
Insert in A: back-up disc.
Then on C3G perform FILER/COPY COM0:*.* with destination RD:
USED FILES ON
CABLES PC REQ.D
PAR: PARALLEL LOAD SYS SW

TERMINAL
YES 2
EMULATOR
COMP: SERIAL LOAD BACKUP
Page 8 of 15
SAVE BACK-UP TO C3G INTERNAL FLOPPY

Note: if an internal floppy drive is present, it is connected to COM0:
Insert an empty, DOS formatted floppy in FD:
On TP, type FILER/UTILITY/BACKUP
Wait for end of file transfer.
Verify data written to FD: has same size as data present on RD:
USED FILES ON
CABLES PC REQ.D
FD: N/A SAVE BACKUP NO N/A 1
Page 9 of 15
SAVE BACK-UP TO C3G SERIAL COM0: PORT

Note: if an internal floppy drive is present, it is connected to COM0:
Set on C3G Kermit protocol and transmission speed at (e.g.) 38400 baud on COM0:
On PC, run Kermit at the Command Prompt (Kermit is found on Sys SW Disc 1/3)
At the Kermit prompt set speed typing SET SPEED 38400
At the Kermit prompt set back-up directory typing: CWD C:\<back-up_folder>
At the Kermit prompt set speed type SERVER
Then on C3G perform FILER/COPY RD:*.* with destination COM0:
Note: RD: and COM0: need to be typed, and not selected as HELP/DEVICE
On PC, to close Kermit type CTRL+C and then EXIT
Verify data written to hard drive has same size as data present on RD:
USED FILES ON
CABLES PC REQ.D
COM0: SERIAL 9F-9F SAVE BACKUP NO N/A USE IF FD: IS MISSING 2
Page 10 of 15
SAVE BACK-UP TO C3G SERIAL COMP: PORT

Connect standard serial null modem C3G cable 25M-9F to COMP: and to PC.
On C3G, if needed perform DISMOUNT of CRT_EMU protocol on COMP:
On C3G, set Kermit protocol and transmission speed at (e.g.) 38400 baud on COMP:
Then on C3G perform FILER/COPY RD:*.* with destination COMP:
USED FILES ON
CABLES PC REQ.D
COMP: SERIAL 25M-9F SAVE BACKUP YES KERMIT USE IF FD: IS MISSING 2
Page 11 of 15
SAVE BACK-UP TO C3G SERIAL COM1: PORT

Set on C3G Kermit protocol and transmission speed at (e.g.) 38400 baud on COM1:
Then on C3G perform FILER/COPY RD:*.* with destination COM0:
Note: RD: and COM1: need to be typed, and not selected as HELP/DEVICE
USED FILES ON
CABLES PC REQ.D
COM0: SERIAL 9F-9F SAVE BACKUP NO N/A USE IF FD: IS MISSING 2
Page 12 of 15
C3G null modem serial cable 25M-9F

25M Pin # connection Pin # 9F
TX 2 -------------------- 2 RX
RX 3 -------------------- 3 TX
RTS 4 -------------------- 8 CTS
CTS 5 -------------------- 7 RTS
DSR + CD 6+8 -------------------- 4 DTR
GND 7 -------------------- 5 GND
DTR 20 -------------------- 6+1 DSR + CD
Standard null modem serial cable 9F-9F

9F Pin # connection Pin # 9F
RX 2 -------------------- 3 TX
TX 3 -------------------- 2 RX
DTR 4 -------------------- 6+1 DSR + CD
GND 5 -------------------- 5 GND
DSR + CD 6+1 -------------------- 4 DTR
RTS 7 -------------------- 8 CTS
CTS 8 -------------------- 7 RTS
Page 13 of 15
232 Pinout
Pinout is as seen from the back of the connector.
Page 14 of 15
PS/2 serial cable for firmware upload PS/2M-9F

PS/2M Pin # connection Pin # 9F
RX 5 -------------------- 3 TX
GND 3 -------------------- 5 GND
TX 2 -------------------- 2 RX
PS/2M connector pinout

Pinout is as seen from the back of the connector.
Please remember this is not a standard PS/2 pinout.
NOTE
On C3G controllers with integrated floppy unit, it is not possible to use COM0: therefore FD: and COM0: are
mutually exclusive.
A cable can be assembled to connect directly to J3 socket on RBC board to upload/download files.
Please always send your feedback about procedures to service.robotics@comau.com
Page 15 of 15

C3G Robot Controller: System Software Load &communication Ports

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C3G Robot Controller: System Software Load &communication Ports

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UPDATED 2002-02-18 C3G Robot Controller Software Load

C3G ROBOT CONTROLLER

BOOTMON ENVIRONMENT ACTIVATION

PASSWORD will be requested, type CGGG

CONFIRMATION will be requested, type Y

BOOTMON SYSTEM SOFTWARE RELOAD

BOOTMON CHANGE DEFAULT PORT

PASSWORD will be requested, type CGGG

CONFIRMATION will be requested, type Y

Type FEATURE and current default port will be shown on screen.

disconnect floppy cable

To restore FD: as default port:

connect floppy cable

LOADING ONLY SCC SOFTWARE USING C3G INTEGRATED FLOPPY

SYSTEM SOFTWARE LOADING BACK-UP RESTORE

USING C3G INTEGRATED FLOPPY

Insert in FD: system software disc 3/3; press ENTER on TP.

C3G will ask on TP to update date: type current date.

On teach pendant type FILER/UTILITY/RESTORE

Verify system data are correct.

USING C3G FLOPPY CONNECTED ON THE FLY

Connect flat cable to FD:

Turn on C3G cabinet

FD: led should flash, if not press RESET key

Perform software loading operations like in Using integrated floppy

Verify the flat cable from RBC board to PAR: exists

Connect parallel cable to PAR: and to PC.

Connect standard serial C3G-PC cable to COMP: and to PC.

Start terminal emulator on PC.

Choose LOAD SYSTEM SOFTWARE.

Insert in A: system software disc 1/3.

Type choosen directory A:\ then ENTER, ENTER.

Select COM1: as communication port on PC

Insert in A: system software disc 3/3 and press ENTER on PC.

C3G will then ask on PC to update date: type current date.

Then on PC perform FILER/COPY COMP:*.* with destination RD:

Verify system data are correct.

PAR: PARALLEL LOAD SYS SW

USING C3G PARALLEL PAR: PORT (CHECK IF ALSO SERIAL), PC HD

Verify the flat cable from RBC board to PAR: exists.

Start terminal emulator on PC.

Choose LOAD SYSTEM SOFTWARE.

Type choosen directory C:\<sys_sw_folder> then ENTER, ENTER.

Select COM1: as communication port on PC

Verify system data are correct.

LOAD SYS SW NEED TO MODIFY FILES

USING C3G PARALLEL PAR: PORT, PC HD

Verify the flat cable from RBC board to PAR: exists.

Connect parallel cable to PAR: and to PC.

Start terminal emulator on PC.

Choose LOAD SYSTEM SOFTWARE.

Type choosen directory C:\<sys_sw_folder> then ENTER, ENTER.

Select COM1: as communication port on PC

Press ENTER on TP.

C3G will then ask on TP to update date: type current date.

Wait for C3G to complete reboot.

Enter BOOTMONITOR environment typing on teach pendant:

PASSWORD will be requested, type CGGG

CONFIRMATION will be requested, type Y

On TP in BOOTMONITOR environment type: GET *.*

Exit terminal emulator by pressing ALT+X

Verify system data are correct.

USING C3G PARALLEL PAR: PORT AND SERIAL COMP: PORT, PC HD

Then on PC perform FILER/COPY COMP:. with destination RD:

On TP in BOOTMONITOR environment type: GET .

Then on PC perform FILER/COPY COMP:. with destination RD:

Then on C3G perform FILER/COPY COM0:. with destination RD:

Then on C3G perform FILER/COPY RD:. with destination COM0:

Then on C3G perform FILER/COPY RD:. with destination COMP:

Then on C3G perform FILER/COPY RD:. with destination COM0: