The options page mainly involves robot connection, software upgrade, import and export, and feature demonstration. Note: Using a USB drive with excessively large capacity may result in slow copying speeds, which can affect backup and export performance.

14.1 Connect

①	Search for available robots: Search for all robots in the same LAN (except direct connection). When the robot is connected, it will be displayed that the controller service and the update service are both connected. If the robot can not be found when Robot Assist and the robot are in the same LAN, or the real-time position of the robot is not displayed on the 3D interface after connecting the robot, the user can enter the "Settings" - "HMI Settings" interface and select the IP address assigned to the LAN in the Bound IP Address drop-down box to solve the above two problems.
②	Display the connection status, and the user can select to disconnect it.
③	Enable the function of automatic reconnection: When the network between the robot controller and Robot Assist is disconnected, Robot Assist will try reconnection automatically and will stop trying after the preset reconnection time.
④	There are two ways for reconnection: (1) Check the checkbox: the total duration of reconnection = single duration * the number of reconnections. The user can specify a single duration and the number of connections and within the total reconnection duration, Robot Assist will attempt to perform automatic reconnections. (2) Uncheck the checkbox: Robot Assist will keep trying to reconnect the controller.

10.2 About ROKAE

It introduces software version, component information, and company profile.

14.3 Software upgrade

14.3.1 Controller upgrade

Through the controller upgrade function, it is possible to: (1) upgrade the controller software version and (2) restore data.
Upgrade controller version: Select the upgrade package, click "Upload", and the interface will prompt "Uploaded successfully". Follow the pop-up prompt to restart the controller.
Restore data: Select the data package to be restored, check the data to be restored, and click "Upload". Follow the pop-up prompt to restart the controller.

14.3.2 Controller backup

This function can achieve data backup of the controller. Check the data for backup, click "Open" to select the backup directory, and then click "Export". The exported file is an encrypted file in RPA format.

Robot configuration: controller settings - system configuration; calibration - zero point voltage value of torque sensor; body parameters - overload coefficient; motion parameters - parameters and safety control; etc.
Native parameters: calibration — encoder values, angle calibration settings, and base frame; dynamic settings — (third order) friction coefficient; body parameters — DH parameters, reduction ratio, etc.
Interactive data: dynamic settings - feedforward and constraint switch; motion parameters - stopping distance, Search, and minimum radius of turning zone, Conf, force control parameters, xPanel configuration, quick adjustment, teach pendant mode, communication, and safety.
Controller logs: version information files, user configuration files, controller logs, and project logs. Only the logs generated in the last three days can be exported, and more logs can be exported in the log module on the export page.
HMI logs: syslog, mirror version description file, and version information file of the teach pendant.
System logs: IPC syslogs, interfaces files, and rc.local files.

14.3.3 HMI upgrade

Only for xPad2, and it aims to upgrade the teach pendant HMI software. Click "Open", select the HMI software upgrade package in the USB drive directory, and click "Upgrade" to start the HMI upgrade process. After the HMI upgrade is completed, the HMI software will start automatically and the HMI upgrade is finished.

14.3.4 Restart robot

It aims to restart the IPC system, and the upgrade service connection needs to be established for this operation.

14.3.5 Erase configuration

It aims to erase custom configurations, robot configurations, body parameters, project data, etc. For instructions on the above data, please refer to the "Controller Backup" section. Performing this function will still retain the relevant operation logs of the control system. Please use it with caution.
Check the content to be erased, click "Erase Configuration", and manually restart the robot to take effect.
Note: The upgrade service connection needs to be established for this operation.

14.3.6 Erase all configurations

It aims to restore the control system to its factory default state. This function will reset configuration files, project data, and interactive data within the control system but still retain relevant logs. Please use it with caution.
Note: The upgrade service connection needs to be established for this operation.

14.3.7 Example of control system upgrade

When the user wants to upgrade the control system, contact ROKAE to obtain the new version of the control system installation package. Refer to the operation steps below:

Step	Picture	Explanation
1. Prepare the installation package.
2. Open the HMI and connect to the controller and the upgrade service.
3. Before upgrading, it is recommended to back up the control system to avoid the loss of important data. You can check the backup content in the "Backup" option and select "Export Folder" to export the backup.		This step is not mandatory.
4. Select the installation package, and the upgrade option will be configured according to the installation package. Click "Upload".		Do not select "Interactive Data", "Robot Configuration", "Controller Logs", "Project Data", "Demo Case", or "Servo" in the "Controller Upgrade" option.
5. After successful upload, the HMI will prompt to restart the robot and upon the restart, the control system upgrade is completed.

Note 1. When the controller version does not match the HMI version, the HMI will display real-time log information on the top status bar, with the content stating "Version mismatch. Recommend HMI version: [xxx]". 2. When the controller version does not match the configuration file version, the HMI will pop up a warning in the middle after booting up, as shown in the following figure. At this time, any robot motion operation will be disabled, and the correct version of the configuration file needs to be upgraded according to the controller log information.

14.4 Export

The export function can be used to back up controller related settings.

As shown in the figure, select the target folder, select the content to be exported, and click "OK". In addition, you can also choose to click the "One-click Relocation" button, which will automatically select the options required for the relocation operation, except for the log option.
The available export contents are as follows:

Function Module	Export Content
Programming	Specific individual project
Setting	Controller settings - other settings
	HMI settings - basic settings, theme, and workspace directory
	User group
	Dynamic settings - dynamic feedforward and dynamic constraint
	Body parameters - RD parameters, reduction ratio, and overload coefficient
	Force control parameters - force control parameters, force control model, drag optimization
	Motion parameters - motion parameters, AccSet, safety control, Search commad, minimum turning zone, default Conf
	Error code filtering
	Custom buttons
	Additional axis
Communication	System IO
	External communication
	IO device
	Bus devices
	End-effector
	RCI settings
	Serial port settings
	Encoder
Safety	Soft limit
	Virtual wall
	Collision detection
	Safe region
	Safety position
	Safety monitor
	Collaboration mode
Process Package	Conveyor belt
Log	Controller logs
	HMI logs
	Project logs
Options	Connect and auto reconnect
Robot configuration	Model file

14.5 Import

The import function can import controller settings.

Select the zip package you want to import, and after opening the package, the configuration items contained in the zip package will be automatically checked while the configuration items that are not contained will be grayed out.
The user can choose specific import content as the case may be. Note: After importing, the control system needs to be restarted to take effect.

14.6 File manager

It is intended to quickly open several folders involved in the Robot Assist software.
Note: This function is available only for PC HMI software.

Cache folder: Store the cache of Robot Assist.
Log folder: Store Robot Assist logs. The logs in the folder are consistent with the internal logs on the diagnostic interface. You can click here to enter the folder for log copying. Workplace folder: Store robot project files.

14.7 Demos

14.7.1 Seven-axis redundant motion

It is used for the demonstration of seven-axis redundant motion, including circular motion, linear motion, turning, and null-space motion, and it supports xMate ER PRO.

Step	Graphical Representation	Explanation
1. Select Option - Demo - Seven-axis redundant motion and enable Demo to enter the demonstration mode.
2. Click the mode switching button on the bottom status bar and switch to Auto Mode.
3. Click the Power-on button on the bottom status bar to power on the robot.
4. Click "Play Demo" in the upper right corner.
5. After playing the demo, click "Stop Demo" in the upper right corner.

14.7.2 Obstacle avoidance

When the demonstration manipulator enters a narrow and deep box, it will not interfere with the box structure by adjusting its orientation through null-space self-motion, which enables the robot to perform the pickup and delivery task successfully.

Step	Graphical Representation	Explanation
1. Select Option - Demo - Obstacle avoidance and enable Demo to enter the demonstration mode.
2. Click the mode switching button on the bottom status bar and switch to Auto Mode.
3. Click the Power-on button on the bottom status bar to power on the robot.
4. Click "Play Demo" in the upper right corner.
5. After playing the demo, click "Stop Demo" in the upper right corner.

14.7.3 Collision detection

It aims to demonstrate the function of collision detection.
Collision detection sensitivity settings: Support the single-axis setting and the high, medium, or low setting.
When the robot detects a collision, it stops softly. The press to continue is unavailable in version 3.0 collision detection.
When using the demo collision detection function, the collision protection* is temporarily turned off if the collision protection* function is turned on.

Step	Graphical Representation	Explanation
1. Select Option - Demo - Collision detection and enable Demo to enter the demonstration mode.
2. Click the mode switching button on the bottom status bar and switch to Auto Mode.
3. Click the Power-on button on the bottom status bar to power on the robot.
4. Click "Play Demo" in the upper right corner.
5. After playing the demo, click "Stop Demo" in the upper right corner.		To adjust the threshold of collision detection sensitivity during a demonstration, click "Stop Demo" first and replay the demo after adjustment.

14.7.4 Compliance demo

It aims to display the compliance control effect of xMate under different stiffness and spatial conditions.

Step	Graphical Representation	Explanation
1. Select Option - Demo - Compliance demo and enable Demo to enter the demonstration mode.
2. Click the mode switching button on the bottom status bar and switch to Auto Mode.
3. Click the Power-on button on the bottom status bar to power on the robot.
4. Click "Play Demo" in the upper right corner.
5. After playing the demo, click "Stop Demo" in the upper right corner.		To adjust the stiffness threshold during the Compliance demo, click "Stop Demo" first and replay the demo after adjustment.

Warning During a demonstration, all configurations of the robot have failed. Please note the following: 1. The base frame of the robot coincides with the world frame by default. 2. There is no load at the robot end-effector by default. Otherwise, the demonstration of collision detection, compliance, and other functions will be affected.