Installation and Commissioning

DDE Server 2.3SCWriteThe user can address persistent RAPID variables that are written by the robot to theDDE Server (using the SCWrite RAPID instruction). The S4 DDE Server supportsstrings and numbers as well as more complex data types like wobjdata, pos, speeddataand tooldata. The name of the variables are defined by the user.A superior-computer-write variable is only updated when the SCWrite RAPIDinstruction is executed in the robot. The user includes the SCWrite instruction at pointsin his RAPID program where he wants this update to take place.System variablesWith the system variables the user can read various status of the robot controller(controller ready/executing, program loaded, the position of the robot, etc.). Writing tothe system variables will turn the motor power on/off, load a program, run it, etc. Thesystem variables are pre-defined in the S4 DDE Server.Program variablesWith the program variables the user can control the loading and execution of programsin the robot. The variables are pre-defined in the S4 DDE Server.Error variablesWith the error variables the user can read the various error messages generated by therobot. The variables are pre-defined in the S4 DDE Server.File operationsWith the file operation variables the user can perform the following file operations: getfile, put file, delete file, rename file, get directory listing and batch operation. These arepre-defined in the S4 DDE Server.Batch operationThe S4 DDE Server offers a batch facility for file operations. The user can specifyseveral file operations in a batch file (text file) and the DDE Server will execute thisfile to do multiple file-upload, download, delete, etc. This is a feature that is used forperforming repetitive, regular file operations like back-up. A log-file reports how thefile operations went.Product Specification RobotWare for BaseWare OS 3.1 75