CROS and System Shell UMI-R3-171 CROS and System Shell Revision History Date 001 First release as UMI-R3-171. 99-05 CROS 1.16 for C500C. ii 98-12-23 Contents chapter 1 ...................................................................................................................... 1 Introduction ................................................................................... 1 chapter 2 ...................................................................................................................... 3 The Basics ...................................................................................... 3 The Operating System: CROS .................................................... 4 The System Shell ....................................................................... 5 Running CROS .......................................................................... 6 Starting CROS ..................................................................... 6 Shutting Down CROS .......................................................... 6 Accessing the System Shell ........................................................ 7 Starting With CROS Not Yet Running ................................... 7 Accessing With CROS Already Running ................................ 7 Starting Additional System Shells ......................................... 7 Exiting Out of a Shell ........................................................... 8 Checking System Shell Version Number ............................... 8 Using the Shell: Basics .............................................................. 9 Entering Commands ............................................................ 9 Command History ................................................................ 9 Working With Directories ..........................................................10 Changing the Current Directory .......................................... 10 Listing the Contents of a Directory ...................................... 11 Creating a Directory ............................................................ 11 Working with Files ....................................................................13 Viewing the Contents of a File ............................................. 13 Deleting a File .....................................................................14 Accessing System Tools and Applications .................................. 15 Accessing the Application Shell (ash) ................................... 15 Accessing the Teach Pendant .............................................. 15 Installing CROS ........................................................................18 Saving Existing System Files ............................................... 18 Installing CROS-500 on the Computer ................................. 18 Transferring CROS-500 to the Controller ............................. 19 Preparing Robcomm3 .......................................................... 19 Putting the Controller into Diagnostic Mode ......................... 20 Erasing ...............................................................................20 Transferring Files................................................................21 Exiting Diagnostics ............................................................. 22 Rebuilding the File System .................................................. 22 Reloading conf files ............................................................. 22 Testing CROS ..................................................................... 23 Chapter 3 ................................................................................................................... 25 System Shell Commands ................................................................ 25 Categories of Commands .......................................................... 26 Command Names: CROS, UNIX, and DOS ........................... 29 Path Separators .................................................................. 30 Wildcards ........................................................................... 30 General Command Format ........................................................ 32 98-12-23 iii Detailed Descriptions................................................................ 34 file_name ............................................................................34 ash ..................................................................................... 35 auto ...................................................................................35 axst [hidden from general users]......................................... 36 cd .......................................................................................36 chmod ................................................................................37 cksum ................................................................................38 compile ...............................................................................38 copy ...................................................................................38 cp copy ...............................................................................38 crosver ...............................................................................39 date ....................................................................................39 del ......................................................................................40 df .......................................................................................40 /diag/cal ............................................................................ 41 /diag/calgrip ...................................................................... 41 /diag/configur .................................................................... 42 /diag/encres ...................................................................... 42 /diag/f3diag [hidden from general users] ............................. 42 /diag/f3pack ...................................................................... 43 /diag/setup ........................................................................ 43 /diag/xzero ........................................................................ 44 /diag/zero .......................................................................... 44 dir ......................................................................................44 do .......................................................................................45 echo ...................................................................................45 edit .....................................................................................46 exit .....................................................................................46 help ....................................................................................47 kill ..................................................................................... 47 lcd ......................................................................................49 ln .......................................................................................49 ls dir .................................................................................. 50 md .....................................................................................52 mem ...................................................................................52 mkdev ................................................................................52 mkdir md ...........................................................................53 mkfifo .................................................................................53 mksock ...............................................................................54 more ...................................................................................54 mount ................................................................................54 msleep ................................................................................55 mv ren ................................................................................55 odometer ............................................................................56 panel .................................................................................. 56 ps .......................................................................................57 pause .................................................................................59 pedit ...................................................................................60 pwd ....................................................................................60 r3c compile .........................................................................60 rc1 [hidden from general users] ........................................... 62 rdb [hidden from general users] ........................................... 63 ren ..................................................................................... 63 rm del ................................................................................ 63 iv 98-12-23 rmdir ..................................................................................64 rpp [hidden from general users] ........................................... 64 shell ...................................................................................65 shutdown ........................................................................... 65 siocfg ..................................................................................65 sync ..................................................................................