Abstract

In our daily use of an IML robot, it's a good habit to backup the program after the parameters setting in case that there's a wrong operating or setting in the future. In this chapter we'll discuss how to export the program of the IML robot to a USB and how to reload a program from the USB key.

The following requirements must be met when using PENDANT to download the program:

1. Download the PENDANT program: The OS already exists in the SD card of the PENDANT (Downloadable from the factory)
2. Download the controller program: The program already exists in the controller and can communicate with the PENDANT normally (Downloadable from the factory)

2.1. Preparation before downloading

First of all, you need to create 4 new folders in the USB root directory:

[penupdate], [pen_msg], [controllerupdate], [NCP]

Place the downloaded file inside the corresponding folder, see the table below:

A List of Corresponding Files

Folder on the left	File on the right	Illustrate
[penupdate]	pne_set	pendant setup	the reboot takes effect
	pendant-gui	Qt linux executable file
pen_msg	all_msg.txt	Pendant Textual information
	Other msg...	Pendant Textual information
[controllerupdate]	TRC1000.dsb	Controller action program
	TRC1000.dop	Controller initialization, setup
	motc.dat	Motion control programs
	machine01	Mechanical parameter program 01
	...	...
	machine32	Mechanical parameter program 32
[NCP]	NCP01.NCP	NCP File	Compiles to take effect
	...
	NCP99.NCP	NCP File

2.2. Prepare to download the program

Insert the USB into the USB port of the handset, and it is recommended to choose a regular brand of USB that has not been specially handled.

Tap the [File Management] icon at the top of the screen , select [Import from USB].

When a file is recognized in the USB, [Import from USB] displays the folder prepared in advance on the USB flash drive.

Click to select the folder in (2) to display the subfiles in the folder in (1), select the subfiles you want to import, and click Import. (If you only select (2) and click[Import], all the contents of the folder will be downloaded).

After the download is complete, the downloaded file will be restarted according to the prompts of the downloaded file, and the downloaded file will take effect after the restart.

For details of whether you need to restart, please refer to the [File Download Table]