<H2><A NAME="1">Version Information</A></H2>
<PRE><A HREF="#TOP">[TOP]</A><br>
F Number: F00000    
VERSION : HandlingTool         
$VERSION: V8.2092       1/28/2014
DATE:     18-MAR-19 10:33 

VERSION INFORMATION::
SOFTWARE:              ID:
HandlingTool          7DC2/12
S/W Serial No.      : REL_SW    
Controller ID       : F00000    
Default Personality (from FD) 
R-2000iB/165F         V8.20P/12 
Servo Code          : 1234567890
Cart. Mot. Parameter: V3.00
JNT. Mot. Parameter : V3.00
DCS                 : V3.3.2
Stop pattern        : A
Software Edition No.: V8.20P/12 
Update Version      : None
Customization Ver.  : None
Root Version        : V8.2092   
Boot MONITOR        : V0.00P/00
Teach Pendant       : 7D01/09I
Media from FRA        02/12/2014

CONFIG::
FEATURE:              ORD NO:
HandlingTool          H552
English Dictionary    H521
4D Standard           R782
Analog I/O            H550
Angle Shift           J614
Auto Software Update  ATUP
Automatic Backup      J545
Background Editing    J616
Camera I/F            VCAM
CnrRndImp             CRIM
Common calib UIF      CUIF
Condition Monitor     J628
Control Reliable      CNRE
Data Acquisition      R631
Diagnostic log        RSCH
Document Viewer       DOCV
Dual Check Safety UIF DCSU
Enhanced User Frame   J604
Ext. DIO Config       EIOC
Extended Error Log    R542
Extended User Frames  R696
External DI BWD       ESET
FCTN Menu Save        J516
FTP Interface         J716
Group Mask Exchange   MASK
HTTP Proxy Svr        PRXY
High-Speed Skip       J627
Host Communications   HOCO
Hour Meter            J513
I/O Interconnect 2    J542
Incr Instruction      J510
KAREL Cmd. Language   J650
KAREL Run-Time Env    J539
Kernel + Basic S/W    H510
License Checker       LCHK
LogBook(System)       OPLG
MACROs, Skip/Offset   J503
MH Core               MHCR
MechStop Protection   MCSP
Mirror Shift          J506
Mixed logic           J554
Mode Switch           MDSW
Motion Diag. Core     MDCO
Motion Optm. Core     OPCO
Motion Profiler       MPRO
Motion logger         R637
Multi-Tasking         J600
PCM function          PCMF
Position Registers    J514
Print Function        J507
Prog Num Selection    J515
Program Adjust        J517
Program Shift         J505
Program Status        PRST
Program Viewer        J697
RDM Robot Discovery   FRDM
Remote Conn Standard  RMCN
Robot Servo Code      H930
SNPX basic            SNBA
Shift Library         SHLB
Shift and Mirror Lib  SMLB
Socket Messaging      R636
TCP Auto Set          J520
TCP/IP Interface      HTCP
TMILIB Interface      TMIL
TP Firmware           R789
TP Menu Accounting    TPAC
TPTX                  TPTX
Telnet Interface      TELN
Tool Offset           J509
Torque Simulator I/F  J882
Touch Panel           R781
Trouble Diag. & Prev. J958
USB port on iPendant  J957
Unexcepted motn Check UECK
User Frame            UFRM
VCalibration Common   VCCM
Vision Core           VCOR
Vision Library        VIPL
Vision SP CSUI        CSUI
Vision SP CSXC        CSXC
Web Plus              WEBP
Web Server            HTTP
Web Svr Enhancements  R626
iPendant              CGTP
iPendant Grid Display IGUI
iPendant Setup        IPGS
iRCalib. Standard     IRCL
iRCalibration AAVM    J888
R-2000iB/165F         H738
Ascii Program Loader  R796
Ascii Upload          R507
Constant Path         R663
Cycle Time Priority   J523
FRL Params            R651
HMI Device (SNPX)     R553
PC Interface          R641
Password Protection   J541
64MB DRAM             D064
64MB FROM             F064
Arc Advisor           R666
Cell I/O              CLIO
Common shell          R645
Common shell core     CMSC
Common softpanel      CMSP
Common style select   STYL
Cycle time Opt.       CTOP
Disp 2nd analog port  R528
Enhanced Rob Serv Req ORSR
Enhanced T1 Mode      R680
OLPC Support files    OLSP
OPT TP Ins            OPIS
PC Send Macros        SEND
Robot Library Setup   RLCM
Robot Service Request SRSR
SSPC error text       ETSS
Soft Limit            SLMT
Space Check           J609
TCPP Extention        TCPE
Virtual Robot         FVRC
istdpnl               IPNL

CONFIG2::
DEMO. FEATURE:        ORD NO:

MOTOR::
    GR: AX:     MOTOR ID AND INFO:
     1   1   ACaiSR30/3000 80A H1 DSP1-S1
     1   2   ACaiSR30/3000 80A H2 DSP1-S2
     1   3   ACaiSR30/3000 80A H3 DSP1-S3
     1   4    ACaiS12/4000 40A H4 DSP1-S4
     1   5    ACaiS12/4000 40A H5 DSP1-S5
     1   6    ACaiS12/4000 40A H6 DSP1-S6

SERVO::
GROUP: AXIS:  SERVO PARAM ID:
     1   1    P02.02
     1   2    P02.02
     1   3    P02.02
     1   4    P02.02
     1   5    P02.02
     1   6    P02.02


</PRE><H2><A NAME="2">Memory Detail</A></H2>
<PRE><A HREF="#TOP">[TOP]</A><P>

MEMORY USAGE::

MEMORY DETAIL (MAIN):
Pools        TOTAL     AVAILABLE      LARGEST
TPP          700.0KB     693.7KB     693.7KB
PERM        2040.0KB     832.5KB     832.0KB
SYSTEM          .0KB       0.0KB       0.0KB
SHADOW      6698.3KB    6344.5KB      32.0KB
TEMP       65458.6KB   45602.6KB   45416.3KB
FROM      130764.0KB  118034.0KB        .0KB
HARDWARE
FROM     128MB
DRAM      64MB
SRAM       2MB

860 memconfig skipped for virtual.


</PRE><H2><A NAME="3">Program Status Information</A></H2>
<PRE><A HREF="#TOP">[TOP]</A><P>

TASK STATES:

1      PNLINST status = ABORTED

******  History Data  ******
Routine depth: 0  Routine: PNLINST                             
Line:   224       Program: PNLINST                               Type: PC    

2       PSCOLD status = ABORTED

******  History Data  ******
Routine depth: 0  Routine: PSCOLD                              
Line:    93       Program: PSCOLD                                Type: PC    

3     SYRSRUTL status = ABORTED

******  History Data  ******
Routine depth: 0  Routine: SYRSRUTL                            
Line:    63       Program: SYRSRUTL                              Type: PC    

4      ATSHELL RUNNING @ 1035 in ATSHELL of ATSHELL

******  History Data  ******
Routine depth: 0  Routine: ATSHELL                             
Line:  1035       Program: ATSHELL                               Type: PC    

5     LOADCELL status = ABORTED

******  History Data  ******
Routine depth: 0  Routine: LOADCELL                            
Line:    91       Program: LOADCELL                              Type: PC    

6      SWIMSET status = ABORTED

******  History Data  ******
Routine depth: 0  Routine: SWIMSET                             
Line:   348       Program: SWIMSET                               Type: PC    

7              status = ABORTED

</PRE><H2><A NAME="4">I/O status information</A></H2>
<PRE><A HREF="#TOP"></A><P>

IO STATUS::

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AIN[   1]    0  
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AOUT[   4]    0  
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AOUT[   6]    0  
UI[   1]  ON  *IMSTP
UI[   2]  ON  *Hold
UI[   3]  ON  *SFSPD
UI[   4] OFF  Cycle stop
UI[   5] OFF  Fault reset
UI[   6] OFF  Start
UI[   7] OFF  Home
UI[   8]  ON  Enable
UI[   9] OFF  RSR1/PNS1/STYLE1
UI[  10] OFF  RSR2/PNS2/STYLE2
UI[  11] OFF  RSR3/PNS3/STYLE3
UI[  12] OFF  RSR4/PNS4/STYLE4
UI[  13] OFF  RSR5/PNS5/STYLE5
UI[  14] OFF  RSR6/PNS6/STYLE6
UI[  15] OFF  RSR7/PNS7/STYLE7
UI[  16] OFF  RSR8/PNS8/STYLE8
UI[  17] OFF  PNS strobe
UI[  18] OFF  Prod start
UO[   1] OFF  Cmd enabled
UO[   2]  ON  System ready
UO[   3] OFF  Prg running
UO[   4] OFF  Prg paused
UO[   5] OFF  Motion held
UO[   6] OFF  Fault
UO[   7] OFF  At perch
UO[   8] OFF  TP enabled
UO[   9] OFF  Batt alarm
UO[  10] OFF  Busy
UO[  11] OFF  ACK1/SNO1
UO[  12] OFF  ACK2/SNO2
UO[  13] OFF  ACK3/SNO3
UO[  14] OFF  ACK4/SNO4
UO[  15] OFF  ACK5/SNO5
UO[  16] OFF  ACK6/SNO6
UO[  17] OFF  ACK7/SNO7
UO[  18] OFF  ACK8/SNO8
UO[  19] OFF  SNACK
UO[  20] OFF  Reserved
SI[   1] OFF  Fault reset
SI[   2]  ON  Remote
SI[   3]  ON  Hold
SI[   4] OFF  User PB#1
SI[   5] OFF  User PB#2
SI[   6] OFF  Cycle start
SI[   7] OFF  
SI[   8]  ON  CE/CR Select b0
SI[   9]  ON  CE/CR Select b1
SI[  10] OFF  
SI[  11] OFF  
SI[  12] OFF  
SI[  13] OFF  
SI[  14] OFF  
SI[  15] OFF  
SI[  16]  ON  
SO[   1] OFF  Cycle start
SO[   2] OFF  Hold
SO[   3] OFF  Fault LED
SO[   4] OFF  Batt alarm
SO[   5] OFF  User LED#1
SO[   6] OFF  User LED#2
SO[   7] OFF  TP enabled
SO[   8] OFF  
SO[   9] OFF  
SO[  10] OFF  
SO[  11] OFF  
SO[  12] OFF  
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SO[  14] OFF  
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RI[   1] OFF  
RI[   2] OFF  
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RI[   8] OFF  
RO[   1] OFF  
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RO[   6] OFF  
RO[   7] OFF  
RO[   8] OFF  
FLG[   1] OFF  
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FLG[1003] OFF  
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FLG[1009] OFF  
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FLG[1024] OFF  

</PRE><H2><A NAME="5">I/O Configuration Information</A></H2>
<PRE><A HREF="#TOP">[TOP]</A><P>
IO CONFIGURATION::

DIN    1  -   8   RACK:   0   SLOT:   1   PORT:  19
DIN    9  -  16   RACK:   0   SLOT:   1   PORT:  27
DIN   17  -  22   RACK:   0   SLOT:   1   PORT:  35
DIN   25  -  64   RACK:   0   SLOT:   2   PORT:   1
DIN   65  - 104   RACK:   0   SLOT:   3   PORT:   1
DIN  105  - 144   RACK:   0   SLOT:   4   PORT:   1
DOUT    1  -   8   RACK:   0   SLOT:   1   PORT:  21
DOUT    9  -  16   RACK:   0   SLOT:   1   PORT:  29
DOUT   17  -  20   RACK:   0   SLOT:   1   PORT:  37
DOUT   25  -  64   RACK:   0   SLOT:   2   PORT:   1
DOUT   65  - 104   RACK:   0   SLOT:   3   PORT:   1
DOUT  105  - 144   RACK:   0   SLOT:   4   PORT:   1
AIN    1   RACK:   0   SLOT:   1   CHANNEL:   1
AIN    2   RACK:   0   SLOT:   1   CHANNEL:   2
AIN    3   RACK:   0   SLOT:   1   CHANNEL:   3
AIN    4   RACK:   0   SLOT:   1   CHANNEL:   4
AIN    5   RACK:   0   SLOT:   1   CHANNEL:   5
AIN    6   RACK:   0   SLOT:   1   CHANNEL:   6
AIN    7   RACK:   0   SLOT:   2   CHANNEL:   1
AIN    8   RACK:   0   SLOT:   2   CHANNEL:   2
AIN    9   RACK:   0   SLOT:   2   CHANNEL:   3
AIN   10   RACK:   0   SLOT:   2   CHANNEL:   4
AIN   11   RACK:   0   SLOT:   2   CHANNEL:   5
AIN   12   RACK:   0   SLOT:   2   CHANNEL:   6
AIN   13   RACK:   0   SLOT:   3   CHANNEL:   1
AIN   14   RACK:   0   SLOT:   3   CHANNEL:   2
AIN   15   RACK:   0   SLOT:   3   CHANNEL:   3
AIN   16   RACK:   0   SLOT:   3   CHANNEL:   4
AIN   17   RACK:   0   SLOT:   3   CHANNEL:   5
AIN   18   RACK:   0   SLOT:   3   CHANNEL:   6
AOUT    1   RACK:   0   SLOT:   1   CHANNEL:   1
AOUT    2   RACK:   0   SLOT:   1   CHANNEL:   2
AOUT    3   RACK:   0   SLOT:   2   CHANNEL:   1
AOUT    4   RACK:   0   SLOT:   2   CHANNEL:   2
AOUT    5   RACK:   0   SLOT:   3   CHANNEL:   1
AOUT    6   RACK:   0   SLOT:   3   CHANNEL:   2
UI[   1] *IMSTP
UI[   2] *Hold
UI[   3] *SFSPD
UI[   4] Cycle stop
UI[   5] Fault reset
UI[   6] Start
UI[   7] Home
UI[   8] Enable
UI    1  -   8   RACK:   0   SLOT:   1   PORT:   1
UI[   9] RSR1/PNS1/STYLE1
UI[  10] RSR2/PNS2/STYLE2
UI[  11] RSR3/PNS3/STYLE3
UI[  12] RSR4/PNS4/STYLE4
UI[  13] RSR5/PNS5/STYLE5
UI[  14] RSR6/PNS6/STYLE6
UI[  15] RSR7/PNS7/STYLE7
UI[  16] RSR8/PNS8/STYLE8
UI    9  -  16   RACK:   0   SLOT:   1   PORT:   9
UI[  17] PNS strobe
UI[  18] Prod start
UI   17  -  18   RACK:   0   SLOT:   1   PORT:  17
UO[   1] Cmd enabled
UO[   2] System ready
UO[   3] Prg running
UO[   4] Prg paused
UO[   5] Motion held
UO[   6] Fault
UO[   7] At perch
UO[   8] TP enabled
UO    1  -   8   RACK:   0   SLOT:   1   PORT:   1
UO[   9] Batt alarm
UO[  10] Busy
UO[  11] ACK1/SNO1
UO[  12] ACK2/SNO2
UO[  13] ACK3/SNO3
UO[  14] ACK4/SNO4
UO[  15] ACK5/SNO5
UO[  16] ACK6/SNO6
UO    9  -  16   RACK:   0   SLOT:   1   PORT:   9
UO[  17] ACK7/SNO7
UO[  18] ACK8/SNO8
UO[  19] SNACK
UO[  20] Reserved
UO   17  -  20   RACK:   0   SLOT:   1   PORT:  17

</PRE><H2><A NAME="6">Safety Status Information</A></H2>
<PRE><A HREF="#TOP">[TOP]</A><P>

STOP SIGNALS::

External ESTOP   FALSE
SOP Estop        FALSE
TP ESTOP         FALSE
Hand Broken      FALSE
OverTravel       FALSE
Low Air Alarm    FALSE
Fence Open       FALSE
Belt Broken      FALSE
TP Enable        FALSE
TP Deadman       FALSE
SVOFF Detect     FALSE
Non Teacher Enb  FALSE

</PRE><H2><A NAME="7">Current Position Information</A></H2>
<PRE><A HREF="#TOP">[TOP]</A><P>

CURRENT ROBOT POSITION::
Group #:  1
 
CURRENT JOINT POSITION:
Joint   1:    -15.54
Joint   2:      3.24
Joint   3:       .07
Joint   4:    -89.72
Joint   5:    -15.54
Joint   6:     89.71


Frame #:  0  Tool #:  1
CURRENT USER FRAME POSITION:
CFG: N U T, 0, 0, 0
X:   2282.00
Y:   -442.82
Z:   1300.00
W:   -180.00
P:    -90.00
R:      0.00


Tool #:  1
CURRENT WORLD POSITION:
CFG: N U T, 0, 0, 0
X:   2282.00
Y:   -442.82
Z:   1300.00
W:   -180.00
P:    -90.00
R:      0.00


</PRE><H2><A NAME="8">Ethernet Configuration Information</A></H2>
<PRE><A HREF="#TOP">[TOP]</A><P>

ETHERNET CONFIGURATION::

$HOSTNAME   :ROBOT
TMI_ROUTER  :ROUTER
TMI_ETHERAD :
Subnet mask :255.255.255.0
Host Table [17]:      QUICC0
Host Table [18]:      QUICC1
Host Table [19]:      QUICC2
Host Table [20]:      ROUTER
Host Table [21]:       PCJOG addr:192.168.0.100
Host Table [22]:      CAMPRT addr:192.168.1.10
Host Table [23]:      CAMRTR addr:192.168.1.10
Server [1]:         FTP state: 3
Server [2]:         FTP state: 3

</PRE><H2><A NAME="9">Port Setup Infromation</A></H2>
<PRE><A HREF="#TOP">[TOP]</A><P>

SERIAL PORT CONFIGURATION::

DEVICE: JRS16 RS-232-C P2:
         USAGE     : Maintenance Cons
         SPEED     : 9600
         PARITY    : None
         STOPBITS  : 1bit
         TIMEOUT   : 0
         INTERFACE : RS-232-C
DEVICE: JD17  RS-232-C P3:
         USAGE     : KCL/CRT
         SPEED     : 9600
         PARITY    : None
         STOPBITS  : 1bit
         TIMEOUT   : 0
         INTERFACE : RS-232-C

</PRE><H2><A NAME="10">Macro Setup Infromation</A></H2>
<PRE><A HREF="#TOP">[TOP]</A><P>
MACRO DEFINIIION::

[  1]NAME       :Open hand 1
     PROG NAME  : 
     Assign type:MF
     Assign ID  :1
[  2]NAME       :Close hand 1
     PROG NAME  : 
     Assign type:MF
     Assign ID  :2
[  3]NAME       :Relax hand 1
     PROG NAME  : 
     Assign type:MF
     Assign ID  :3
[  4]NAME       :Open hand 2
     PROG NAME  : 
     Assign type:MF
     Assign ID  :11
[  5]NAME       :Close hand 2
     PROG NAME  : 
     Assign type:MF
     Assign ID  :12
[  6]NAME       :Relax hand 2
     PROG NAME  : 
     Assign type:MF
     Assign ID  :13
[109]NAME       :Send Event
     PROG NAME  :SENDEVNT
     Assign type:--
     Assign ID  :0
     SYSTEM MACRO
[110]NAME       :Send Data
     PROG NAME  :SENDDATA
     Assign type:--
     Assign ID  :0
     SYSTEM MACRO
[111]NAME       :Send SysVar
     PROG NAME  :SENDSYSV
     Assign type:--
     Assign ID  :0
     SYSTEM MACRO
[112]NAME       :Get Data
     PROG NAME  :GETDATA
     Assign type:--
     Assign ID  :0
     SYSTEM MACRO
[113]NAME       :Request Menu
     PROG NAME  :REQMENU
     Assign type:--
     Assign ID  :0
     SYSTEM MACRO

</PRE><PRE><A HREF="#TOP"></A><BR>
</PRE>