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Chapter 2 Basic Functions and Opera-
tional Flow
2.1 WINCAPS III Basic Functions
The following describes the product's basic functions.
Communications
Communicating with a robot controller over an Ethernet or serial link.
Writing programs
Program using a PAC editor. For further details on programs, please refer to the programming manual.
The editor provides the following functions.
• Displaying line numbers
• Color-coded syntax highlighting
• Easy command input using an automatically scrolling list
• Automatic indenting
• Comment blocks
• Bookmarks
Program bank
This library holds programs covering handy DENSO robot functionality. For further details on programs,
please refer to Programming Manual II.
Users can customize programs registered in the program bank. They can also add their own.
Online monitoring
WINCAPS III monitors controller status, providing immediate access to variables, I/O values, and other quan-
tities.
Online debugging
WINCAPS III shifts control from the robot controller, allowing the operator to run robot programs held in the
robot controller from the computer running WINCAPS III.
Breakpoints, Step check, and other debugging facilities allow checking variables and I/O during operation.
Arm 3D View
This is for visualizing the robot motion and posture on the PC screen. Loading 3D data or creating simple ob-
jects enables the user to check interference with the equipment and movements of workpieces and tools without
running the actual robot.
Logging
The following functions for logging variables, I/O values, and error messages are available for efficient pro-
gram debugging.
• Error log
• Operation log
• Control log
•Trace log
• Variable log
• I/O log
• Single servo data log
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