DX100/DX200/FS100 OPTIONS

INSTRUCTIONS
FOR PROGRAMMING PENDANT CUSTOMIZATION FUNCTION

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain

for future reference.

MOTOMAN INSTRUCTIONS

MOTOMAN- □□□
INSTRUCTIONS
DX100/DX200 INSTRUCTIONS
DX100/DX200 OPERATOR’S MANUAL
DX100/DX200 MAINTENANCE MANUAL

FS100 INSTRUCTIONS
FS100 OPERATOR’S MANUAL
FS100 MAINTENANCE MANUAL
The DX100/DX200/FS100 operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.

Part Number: 166581-1CD

Revision: 0

MANUAL NO.

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Customization

MANDATORY
• This manual explains the programming pendant customization
function with the DX100/DX200/FS100 system. Read this manual
carefully and be sure to understand its contents before handling the
DX100/DX200.
• General items related to safety are listed in Chapter 1: Safety of the
DX100/DX200 Instructions. To ensure correct and safe operation,
carefully read the DX100/DX200 Instructions before reading this
manual.

CAUTION
• Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating this product.
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications.
If such modification is made, the manual number will also be
revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your
product’s warranty.

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Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or
inspection of the MOTOMAN-MH6-10/MH6F-10.
In this manual, the Notes for Safe Operation are classified as
“WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.

Indicates a potentially hazardous

WARNING situation which, if not avoided, could
result in death or serious injury to
personnel.

Indicates a potentially hazardous

CAUTION situation which, if not avoided, could
result in minor or moderate injury to
personnel and damage to equipment.
It may also be used to alert against
unsafe practices.

Always be sure to follow explicitly the

MANDATORY items listed under this heading.

Must never be performed.

PROHIBITED

Even items described as “CAUTION” may result in a serious accident in

some situations.
At any rate, be sure to follow these important items

To ensure safe and efficient operation at all times, be sure

NOTE to follow all instructions, even if not designated as
“CAUTION” and “WARNING”.

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DX100/DX200>

WARNING
• Before operating the manipulator, check that servo power is turned
OFF pressing the emergency stop buttons on the front door of the
DX100/DX200 and the programming.
When the servo power is turned OFF, the SERVO ON LED on the
programming is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop buttons do not function.
Figure 1: Emergency Stop Button

• Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Figure 2: Release of Emergency Stop
TURN

• Observe the following precautions when performing teaching

operations within the P-point maximum envelope of the
manipulator:
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no person is present in the P-point maximum envelope
of the manipulator and that you are in a safe location before:
– Turning ON the power for the DX100/DX200.
– Moving the manipulator with the programming.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the
manipulator during operation. Always press an emergency stop button
immediately if there is a problem.
The emergency stop buttons are located on the right of front door of the
DX100/DX200 and the programming.

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<FS100>

WARNING
• Before operating the manipulator, check that servo power is turned
OFF when the emergency stop button on the programming is
pressed.
When the servo power is turned OFF, the SERVO ON LED on the
programming is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency.
Figure 3: Emergency Stop Button

• In the case of not using the programming, be sure to supply the

emergency stop button on the equipment. Then before operating
the manipulator, check to be sure that the servo power is turned
OFF by pressing the emergency stop button.
Connect the external emergency stop button to the 5-6 pin and 16-
17 pin of the robot system signal connector (CN2).
• Upon shipment of the FS100, this signal is connected by a jumper
cable in the dummy connector. To use the signal, make sure to
supply a new connector, and then input it.
If the signal is input with the jumper cable connected, it does not
function, which may result in personal injury or equipment damage.
• Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Figure 4: Release of Emergency Stop
TURN

• Observe the following precautions when performing teaching

operations within the manipulator’s operating range:
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no person is present in the manipulator’s operating
range and that you are in a safe location before:
– Turning ON the FS100 power.
– Moving the manipulator with the programming.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the manipulator’s operating range
during operation. Always press the emergency stop button
immediately if there is a problem.
The emergency stop button is located on the right of the programming.

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CAUTION
• Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately,
and be sure that all other necessary processing has been
performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• For the DX100/DX200, always return the programming to the hook
on the cabinet of the DX100/DX200 after use.
For the FS100, always return the programming to a safe place after
use.
The programming can be damaged if it is left in the manipulator's work
area, on the floor, or near fixtures.
• Read and understand the Explanation of Warning Labels in the
DX100/DX200/FS100 Instructions before operating the
manipulator:

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Definition of Terms Used Often in This Manual (DX100/

DX200)
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming, and supply cables.
In this manual, the equipment is designated as follows:
Equipment Manual Designation
DX100/DX200 controller DX100/DX200
DX100/DX200 programming Programming
Cable between the manipulator and the Manipulator cable
controller

Definition of Terms Used Often in This Manual (FS100)

The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the FS100 controller,
manipulator cables, the FS100 programming (optional), and the FS100
programming dummy connector (optional).
In this manual, the equipment is designated as follows:
Equipment Manual Designation
FS100 controller FS100
FS100 programming Programming
Cable between the manipulator Manipulator Cable
and the controller
FS100 programming Programming
dummy connector dummy connector

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Descriptions of the programming keys, buttons, and displays are shown

as follows:
<DX100>
Equipment Manual Designation
Programming Character The keys which have characters printed on
Keys them are denoted with [ ].
ex. [ENTER]
Symbol Keys The keys which have a symbol printed on them
are not denoted with [ ] but depicted with a
small picture. GO
BACK

ex. page key PAGE

The cursor key is an exception, and a picture is
not shown.
Axis Keys “Axis Keys” and “Numeric Keys” are generic
Numeric Keys names for the keys for axis operation and
number input.
Keys pressed When two keys are to be pressed
simultaneously simultaneously, the keys are shown with a “+”
sign between them, ex. [SHIFT]+[COORD]
Displays The menu displayed in the programming is
denoted with { }.
ex. {JOB}

<DX200>
Equipment Manual Designation
Programming Character Keys The keys which have characters or its
Pendant /Symbol Keys symbol printed on them are denoted with [ ].
ex. [ENTER]
Axis Keys [Axis Key] and [Numeric Key] are generic
/Numeric Keys names for the keys for axis operation and
number input.
Keys pressed When two keys are to be pressed
simultaneously simultaneously, the keys are shown with a
“+” sign between them,
ex. [SHIFT]+[COORD]
Displays The menu displayed in the programming
pendant is denoted with { }.
ex. {JOB}

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<FS100>
Equipment Manual Designation
Programming Character Keys The keys which have characters printed on
them are denoted with [ ].
ex. [ENTER]
Symbol Keys The keys which have a symbol printed on
them are not denoted with [ ] but depicted
with a small picture.
GO BACK

ex. PAGE key PAGE

The Cursor is an exception, and a picture is

not shown.
Axis Keys “Axis Keys” and “Numeric Keys” are generic
Numeric Keys names for the keys for axis operation and
number input.
Keys pressed When two keys are to be pressed
simultaneously simultaneously, the keys are shown with a
“+” sign between them,
TOOL SEL
SHIFT COORD
ex. SHIFT key +COORD key
Mode Key Three kinds of modes that can be selected
by the mode key are denoted as follows:
REMOTE, PLAY, or TEACH
Button Three buttons on the upper side of the
programming are denoted as follows:
HOLD button
START button
EMERGENCY STOP button
Displays The menu displayed in the programming is
denoted with { }.
ex. {JOB}
PC Keyboard The name of the key is denoted
ex. Ctrl key on the keyboard

Description of the Operation Procedure

In the explanation of the operation procedure, the expression "Select • • • "
means that the cursor is moved to the object item and the SELECT key is
pressed, or that the item is directly selected by touching the window.

Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and TM are omitted.

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Programming Pendant
Customization Table of Contents

1 Programing Pendant Customizing Function.................................................................................... 1-1

2 Function Outline .............................................................................................................................. 2-1

3 Function Setting .............................................................................................................................. 3-1

4 Parameter Setting ........................................................................................................................... 4-1

5 API for Programming Pendant Customization Function (MotoConnect API) .................................. 5-1

6 Interface with Programming Main Software .................................................................................... 6-1

7 Startup Method of the User-Customization Application .................................................................. 7-1

7.1 Start from the Main Menu .................................................................................................. 7-1

7.2 Auto Run at Power ON ...................................................................................................... 7-1

7.3 One Touch Run with a Button............................................................................................ 7-2

8 Installing Applications...................................................................................................................... 8-1

8.1 Create the Installing Data .................................................................................................. 8-1

8.1.1 Zip File .................................................................................................................. 8-1

8.1.2 INI File .................................................................................................................. 8-1

8.2 Creating Installer................................................................................................................ 8-5

8.2.1 Necessary File ...................................................................................................... 8-5

8.2.2 Describing “pp_install.ini”...................................................................................... 8-6

8.3 Installation.......................................................................................................................... 8-7

9 Guideline for Creating Application................................................................................................... 9-1

9.1 Priority of the Application ................................................................................................... 9-1

9.2 CPU Utilization by Application ........................................................................................... 9-1

9.3 Successive Access to the DX100/DX200/FS100............................................................... 9-1

9.4 Files Created by Application .............................................................................................. 9-2

9.5 Response to Alarm ............................................................................................................ 9-2

9.6 Application Test ................................................................................................................. 9-3

9.6.1 Standard Operation Test ...................................................................................... 9-3

9.6.2 Response to Alarm ............................................................................................... 9-4

9.6.3 Continuous Run .................................................................................................... 9-4

9.6.4 Window Switching................................................................................................. 9-4

9.6.5 Cycle Time Check................................................................................................. 9-4

9.7 Other .................................................................................................................................. 9-4

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10 Development of Application in C#............................................................................................... 10-1

10.1 Preparation .................................................................................................................... 10-1

10.1.1 Developing Environment (Developing PC Environment).................................. 10-1

10.2 Development of Application for the DX100/DX200........................................................ 10-1

10.2.1 Creation of Software (PC for Development) ..................................................... 10-1

10.2.2 Controller Communication Library .................................................................... 10-2

10.2.3 Library Initialization Process............................................................................. 10-3

10.2.4 Interface with Programming Pendant Main Software ....................................... 10-4

10.3 Development of Application for the FS100 .................................................................... 10-8

10.3.1 Creation of Software (PC for Development) ..................................................... 10-8

10.3.2 Controller Communication Library .................................................................... 10-8

10.3.3 Library Initialization Process............................................................................. 10-9

10.3.4 Interface with Programming Pendant Main Software ..................................... 10-11

10.4 Application Debugging................................................................................................. 10-15

10.4.1 Parameter Setting .......................................................................................... 10-15

10.4.2 Debugging ...................................................................................................... 10-15

11 Interface Specification with Programming Pendant Main Software ............................................ 11-1

11.1 Command from the User Customized Application to

Programming Pendant Main Software........................................................................... 11-1

11.1.1 Completion of Generation................................................................................. 11-1

11.1.2 Closing of Application ....................................................................................... 11-1

11.1.3 Keymask........................................................................................................... 11-2

11.1.4 Text Input Function Start .................................................................................. 11-3

11.1.5 Switching Control.............................................................................................. 11-3

11.1.6 Setting of Notifying Information ........................................................ 11-4

11.1.7 Information Request ......................................................................................... 11-4

11.1.8 Version Information Acquisition ........................................................................ 11-5

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11.2 Command from the Programming Pendant Main Software

to the User-Customized Application............................................................................... 11-6

11.2.1 Input Character ................................................................................................. 11-6

11.2.2 Request of Control System Switching .............................................................. 11-6

11.2.3 Status Information............................................................................................. 11-7

11.2.4 Alarm .............................................................................................................. 11-11

11.2.5 Message ......................................................................................................... 11-12

11.2.6 Language........................................................................................................ 11-12

11.2.7 Version ........................................................................................................... 11-12

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Programming Pendant 1 Programing Pendant Customizing Function
Customization

1 Programing Pendant Customizing Function

With this function, user-customized windows can be created by, into the
DX100/DX200/FS100 programming, incorporating a customized
application (WindowsCE application software) developed by the user
(system integrator).
Also, this function provides APIs for the customized function (function
group) which are available at the customized application (Windows CE
application software) developed by the user (system integrator).
With these APIs, from the user-developing applications, acquiring of the
DX100/DX200/FS100 status information or writing/reading of the data are
possible.
The size of the windows that can be created with this function are full-
screen sized window only.
Indication of the user-customized window when turning ON the power
supply of the DX100/DX200/FS100 or the standard window when it is
online status can be chosen.

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Programming Pendant 2 Function Outline
Customization

2 Function Outline
This function enables creating windows for the user-customized (a
separate exe file from the YASKAWA standard application) and
incorporating them into the programming. To execute this function, the
following three functions are provided to realize this function.
1. The API that can access (Read/Write) the data in the DX100/DX200/
FS100.
2. Data sending/receiving function (communication function between
processes) between the YASKAWA standard application and the
application for the user-customized window.
3. Function to install the user-customized application to the DX100/
DX200/FS100 and register it to the menu of the system.

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Programming Pendant 3 Function Setting
Customization

3 Function Setting
This function is an optional function of the DX100/DX200/FS100.
To invalid this function, like other functions, controller-based setting is
necessary.

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Programming Pendant 4 Parameter Setting
Customization

4 Parameter Setting

No. Function Setting Value Default

S2C531 Automatic start of user-customized application function in 0: Invalid 0
the programming when start-up. 1: Valid (Invalid)
S2C541 Writing variables and I/O during play mode. 0:Permitted 1
1: Not permitted (Not permitted)
S2C542 Writing variables and I/O during edit-lock status. 0: Invalid 1
1: Valid (Not permitted)

Writing of variables and I/Os become valid when “0” is set to

NOTE S2C541, however, it may influence the manipulator’s cycle
time.

The term “during edit-lock status” in the explanation of

parameter No. S2C542 above means following statuses.
• During alarm occurrence
SUPPLE-
MENT • During external memory device operation
• During the execution of data transmission function
• During specific input “EDIT_LOCK(#40064)” ON

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Programming Pendant 5 API for Programming Pendant Customization Function (MotoConnect
Customization API)

5 API for Programming Pendant Customization Function

(MotoConnect API)
For reading/writing data to/from the user-customized application to/from
the DX100/DX200/FS100, APIs are prepared.
There are three main types of APIs as follows. For the details of each
API, refer to “DX100/DX200/FS100 OPTIONS INSTRUCTIONS
REFERENCE MANUAL FOR TEACHING CUSTOMIZING FUNCTION”
(Part No.: 166582-1CD).

System Description
System monitor Acquires the DX100/DX200/FS100 data.
APIs for data reading.
System control Operates the DX100/DX200/FS100. APIs for data
writing are included.
File transmission Transfer files with the function equivalent to External
Memory Function.

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Programming Pendant 6 Interface with Programming Main Software
Customization

6 Interface with Programming Main Software

The interface to perform screen switching and data transmission between
the YASKAWA standard applications and the user-customized
applications are prepared.

For the details of the interface with the YASKAWA standard window
applications, refer to “DX100/DX200/FS100 OPTIONS INSTRUCTIONS
REFERENCE MANUAL FOR TEACHING CUSTOMIZING FUNCTION”
(Part No.: 166582-1CD).

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Programming Pendant 7 Startup Method of the User-Customization Application
Customization 7.1 Start from the Main Menu

7 Startup Method of the User-Customization Application

There are three ways of starting method of the user-customized
application as follows.
• Start from the main menu.
• Auto run at power ON.
• One touch run with a button.

7.1 Start from the Main Menu

Like indicating the standard window, this application can be started from
the main menu. Where to register on the main menu or which notation to
indicate can be specified on the application basis.

7.2 Auto Run at Power ON

The user-customized application can be started same time when the
power supply of the DX100/DX200/FS100 is turned ON. Set this auto run
function when installing the application.
Only one user-customized application can be automatically started in the
DX100/DX200/FS100 system and this application can be started also
from the main menu.
Before using this function, be sure to set “1(valid)” to the programming
pendant customization application (S2C531=1) Auto Run function of at
power ON.

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Programming Pendant 7 Startup Method of the User-Customization Application
Customization 7.3 One Touch Run with a Button

7.3 One Touch Run with a Button

To start the user-customized application by a single operation, start-up
function of this application can be allocated to a button at the lower right of
the programming pendant window.
Allocate the application to the button when installing it.
Only one application can be allocated to the button for One Touch Run
function and this application can be started also from the main menu.
When putting a name to the button, the name will be the same one as the
name of the sub menu. Up to fourteen characters can be used as its
name and it may not be indicated properly if it exceeded.

One Touch Run button

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Programming Pendant 8 Installing Applications
Customization 8.1 Create the Installing Data

8 Installing Applications

8.1 Create the Installing Data

8.1.1 Zip File

Zip applications (*.exe), accessary files (dll, data files, etc.), and
accessary folders with its application’s name. And place the application
(*.exe) on the root of zip file.
For example, if the name of the created application is AmpleApp.exe, and
that of the library used in the application is SampleApp.dll and zip them.
The name of the zip file should be SampleApp.zip.
For zipping, use the zipping tool regularly used on the desk top.

8.1.2 INI File

To an INI file, please describe the information necessary for installing the
application. For the name of the INI file, put the same name as the zip file.
Following is an example format of the SampleApp’s INI file
(SampleApp.ini).

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Programming Pendant 8 Installing Applications
Customization 8.1 Create the Installing Data

[APPLICATION_INFO]
APP_NAME {Application Name}
Name of the application. It is same as application root folder name and exe.file name
(extension is excluded). This name functions as the identifier of this application.
Restrictions: Within 12 or less of single-byte characters.
APP_VER {Application Version}
Version of the application itself, and it is described as “*.**-**-developer name”.
* : one-byte character
Developer name: abbreviated name of the company which developed the application.
Ex.1.00-00-YE
Restrictions: Use 11 of single-byte characters like “**.**-**-**”.
SYS_VER {System Version}
To keep compatibility with the controllers, the version is not checked.
Specify “SYS_VER=NS0.00-00”.
FILE_SIZE {File Size}
Describes the total size of decompressed file group.
(including files in the sub folders)
It is used to check the disk capacity when installing the file.
Unit: KB
FOLDER_NAME {Installation Folder Name}
Name of the folder created in the programming pendant when this application is installed.
The application is decompressed and saved under
DiskOnChip/PP_APP ”folder name”
when installed.
If the name is not specified, the application name is adopted instead.
APP_TYPE {Application Type}
Specify “APP_TYPE_OVERLAPPED_EXE”.
In the programming pendant customization function, only the application with which a full-
screen sized window type can be created.
SYS_STATUS {Displaycondition on the basis of system state}
Indication of the programming pendant customization function window can be restricted on
the basis of its system status.
When a certain status cannot be displayed, the menu of the status will not be displayed on
the main menu.

0x01: Concealed when edit is locked

0x02: Concealed when alarming
0x04: Concealed in the teach mode
0x08: Concealed in the play mode

0x00: Displayed in the operation mode or higher

0x40: Displayed in the edit mode or higher
0x80: Displayed in the management mode or higher

Note: Specified in hex. notation.

Ex.SYS_STATUS=0x4a
– Displayed as a menu on the main menu in the edit or management mode.
– Concealed from the main menu in the play mode or when alarming.
AUTO_RUN {f Auto Run Function Enabled/Disabled}
Auto Run function valid = “TRUE” Auto Run function valid = “FAULSE”
If a certain application is to be started up automatically, set “TRUE” to Auto Run function
when installing the application.
Note: It is usually set “TRUE” when the operation from the programming pendant is not
necessary.

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Programming Pendant 8 Installing Applications
Customization 8.1 Create the Installing Data

<DX100/FS100>

[MENU_INFO
TOPMENU_ID {Top menu}
Specify a top menu to add the application.
Top menu Setting value
JOB 1
WORK CONDITION 2
VARIABLE 3
I/O 4
ROBOT 5
SYSTEM INFO. 6
FD/PC CARD 7
PARAMETER 8
CONTROLLER SETTING 9
OPTIONAL 10
MANUFACTURE RESERVE 11
(FUTURE EXPANSION) 12-20
APPLICATION 21
SUBMENU_NAME_* {Submenu Name}
Specify a character string for indication in the sub menu
Desired language can be chosen from the followings.
Note: Up to 20 single-byte characters.
Up to 14 single-byte characters for the
name of OneTouch Run function button.
SUBMENU_NAME_JAPANESE= “12345678901234567890”
SUBMENU_NAME_ENGLISH= “BBB”
SUBMENU_NAME_GERMAN= “CCC”
SUBMENU_NAME_SWEDISH= “DDD”
SUBMENU_NAME_FRENCH= “EEE”
SUBMENU_NAME_FINNISH= “FFF”
SUBMENU_NAME_ITALIAN= “GGG”
SUBMENU_NAME_SPANISH= “HHH”
SUBMENU_NAME_HANGLE= “III”
SUBMENU_NAME_CHINESE= “JJJ”
SUBMENU_NAME_TAIWANESE= “KKK”
SUBMENU_NAME_CZECH= “LLL”
SUBMENU_NAME_POLISH= “MMM”
SUBMENU_ICON {Submenu Icon} (for future expansion)
From the icon file, specify an icon to be indicated in the sub menu.

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Programming Pendant 8 Installing Applications
Customization 8.1 Create the Installing Data

<DX200>

[MENU_INFO
TOPMENU_ID {Top menu}
Specify a top menu to add the application.
Top menu Setting value
JOB 1
WORK CONDITION 2
VARIABLE 3
IN/OUT 4
ROBOT 5
SYSTEM INFO. 6
EX.MEMORY 7
PARAMETER 8
SETUP 9
SAFETY FUNC. 10
PM 11
OPTION 12
MANUFACTURE RESERVE 13-20
APPLICATION 21
SUBMENU_NAME_* {Submenu Name}
Specify a character string for indication in the sub menu
Desired language can be chosen from the followings.
Note: Up to 20 single-byte characters.
Up to 14 single-byte characters for the
name of OneTouch Run function button.
SUBMENU_NAME_JAPANESE= “12345678901234567890”
SUBMENU_NAME_ENGLISH= “BBB”
SUBMENU_NAME_GERMAN= “CCC”
SUBMENU_NAME_SWEDISH= “DDD”
SUBMENU_NAME_FRENCH= “EEE”
SUBMENU_NAME_FINNISH= “FFF”
SUBMENU_NAME_ITALIAN= “GGG”
SUBMENU_NAME_SPANISH= “HHH”
SUBMENU_NAME_HANGLE= “III”
SUBMENU_NAME_CHINESE= “JJJ”
SUBMENU_NAME_TAIWANESE= “KKK”
SUBMENU_NAME_CZECH= “LLL”
SUBMENU_NAME_POLISH= “MMM”
SUBMENU_ICON {Submenu Icon} (for future expansion)
From the icon file, specify an icon to be indicated in the sub menu.

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Programming Pendant 8 Installing Applications
Customization 8.2 Creating Installer

8.2 Creating Installer

8.2.1 Necessary File

Create PP_APP folder on the CF for version up root folder.

Save the following folders in the PP_APP folder.

File name Function Remarks
YE_AppInstall.exe Application installer Manufacturer-supplied
pp_install.ini Configuration file of the installer. Manufacturer-supplied
Specifies the default selection of
the added application when
startup.
Unzip.dll Zip file decompresses Manufacturer-supplied
*.zip Application compressed file
*.ini Application configuration
information file

Example of PP_APP folder

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Programming Pendant 8 Installing Applications
Customization 8.2 Creating Installer

8.2.2 Describing “pp_install.ini”

For the applications described in pp_install.ini, “add” is automatically set to
{Operation} when the installer is started-up.
And for the applications not described in pp_install.ini, they can be
installed by setting “add” before installation.
APP_NUM: Specify the numbers of applications to be set
APP_NAMEn: Specify the name of applications to be set

[Default Setting]
APP_NUM=3
AMM_NAME1=APITest1
AMM_NAME2=APITest2
AMM_NAME3=OperationArea

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Programming Pendant 8 Installing Applications
Customization 8.3 Installation

8.3 Installation
Press [INTERLOCK] + [7]+ [SELECT] keys and turn ON the power supply
of the DX100/DX200/FS100.
The user-customized application installation window opens if the user-
customized application installing environment is equipped to the CF or
USB memory.
1. Check that “Add” is set to “Operation” of all the installing applications.

2. Press {Option} button when installing the application which uses the
following functions.
– Auto Run function or
– One Touch Run function

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Programming Pendant 8 Installing Applications
Customization 8.3 Installation

3. Optional setting window appears. Set Auto Run application and One
Touch Run application. The already-set applications are indicated if
any.

[Auto Run Application]

Select an application which specifies the Auto Run function at power-ON.
In the list, an application which specifies “AUTO_RUN=TRUE” with the
“application name.ini” file is indicated. In case canceling this section,
select a blank line.

[One Touch Run Application]

Select an application which specifies the One Touch Run with a Button
function. In the list, already-registered applications and those applications
to which “Add” is set to “Operation” on the window are indicated. In case
canceling this selection, select a blank line.

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Customization 8.3 Installation

4. Press {Return} button after the above setting. The window returns to
the previous one. The indication varies depending on the setting as
follows.
– “A” is indicated to the application specified as the Auto Run
application at power ON.
– “O” is indicated to the application specified as the One Touch Run
with a button.
– “*” is indicated to the application to which both functions are
specified.

5. After all settings are completed, press {Execute} button. Installation of

the applications starts. Do not turn OFF the power supply before the
installation is done because the files are being developed to both
DX100/DX200/FS100 and programming pendant.

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Programming Pendant 8 Installing Applications
Customization 8.3 Installation

6. When the installation is completed, the “Operation” section is cleared

and versions and sizes of each application are indicated. (This state is
granted as completion of installation.)

The installed application data is controlled by both DX100/

DX200/FS100 and programming pendant. Therefore, for
the data consistency, within the installed data, the
inconsistent data between the DX100/DX200/FS100 and the
programming pendant are deleted next time when the data
SUPPLE-
MENT is newly installed.
In case the programming pendant is replaced after the user-
customized application is installed, the inconsistency of the
data may occur between the DX100/DX200/FS100 and the
programming pendant.

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Programming Pendant 9 Guideline for Creating Application
Customization 9.1 Priority of the Application

9 Guideline for Creating Application

The created user-customized application is incorporated to the
manipulator and functions as a part of the manipulator system. Therefore,
it may interfere the system if it is not processed properly. To avoid this, a
guideline for creating the user-customized application is provided. Follow
this guideline when creating user-customized applications.

9.1 Priority of the Application

For the system stability, it is recommended to set “BELOW_NORMAL” to
the thread priority of the user-customized application. However, it is
prohibited to set higher than “NORMAL” to the thread priority since it may
influence a lot to the YASKAWA standard programming pendant window.
In case the higher priority than “NORMAL” is set to the application, the
YASKAWA standard programming pendant window does not work
properly and communication faults (PP communication fault) with the
DX100/DX200/FS100 may occur.

9.2 CPU Utilization by Application

It is prohibited to execute a process that the user-customized application
continuously occupies the CPU. To avoid this to happen, create a
software in which the user-customized application does not occupy the
CPU for more than 500 sec (within 300sec is recommended).
In case a process is execute which the created application continuously
occupies the DX100/DX200/FS100, the YASKAWA standard
programming pendant window does not work properly and communication
faults (PP communication fault) with the DX100/DX200/FS100 may occur.

9.3 Successive Access to the DX100/DX200/FS100

It is prohibited to execute a process that the user-customized application
continuously make access to the DX100/DX200/FS100. (Consecutive
writing of the variables, for example.) The application is recommended to
make a call to the API at intervals of more than 50 sec (100 msec is
strongly recommended).
In case a process is execute which the created application continuously
access to DX100/DX200/FS100, processing operation in the DX100/
DX200/FS100 may be influenced as follows.
• Operations during the teach mode may slow down.
• Cycle times when play back operation may slow down.

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Programming Pendant 9 Guideline for Creating Application
Customization 9.4 Files Created by Application

9.4 Files Created by Application

Save the file created by the application to the CF (Storage Card) in the
programming pendant, to the USB memory or to the root folder (on the
memory). Saving it to the flash memory (DiskOnChip) in the programming
pendant, including to the temporary file, is prohibited.
Since necessary files for the robot controller system is saved in the
DiskOnChip, the YASKAWA standard programming pendant window does
not work properly or it won’t start up in case those files are influenced.

9.5 Response to Alarm

An alarm occurs when an error is found in the robot controller system.
When an alarm occurs while the user-customized application window is
displayed, it is reported from the YASKAWA standard window to the user-
customized application.
To deal with this error, please prepare methods at the user-customized
application side.
Create applications when an alarm occurs as follows.
• Create an application which closes the user-customized application
and indicates an alarm window on the pendant YASKAWA standard
window to notify the user that it is alarming.
• Create an application which creates methods to notify the user that
an alarm is occurring in the user-customized application.
• Other than above.

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Programming Pendant 9 Guideline for Creating Application
Customization 9.6 Application Test

9.6 Application Test

Carry out sufficient test to the created user-customized applications.

9.6.1 Standard Operation Test

As tests for the application’s standard operations, check the occurrence of
errors or alarms while the created application is running. By conducting
theses tests, influences by the user-customized application to the robot
controller system and to the YASKAWA standard window can be
confirmed.
The definition of the standard operations of the created applications are as
follows.
1. Change the mode to the teach mode.
2. Create a new job.
3. After moving by the job operation, teach the move instruction.
(MOVJ VJ=10 (or around 10))
4. Insert JUMP*LABEL to the end of the job.
5. Insert *LABEL to the head of the job.
6. Move the “First step” by pressing [FWD] key to move.
7. Change the mode to the play mode.
8. Indicate the cycle time.
9. Indicate the job stack.
10. Press {Start} button and execute playback operation of the Job.

Input B variables by following the procedures below.

(For inputting I, D, and R variables procedures, substitute the same
procedures.)
1. Select {VARIABLE} - {BYTE VARIABLE} on the main menu.
2. Change the valuable on B variable window. Input 0, 128, 255, 256 or
1024. When inputting 256 or 1024, check that the range check works
properly.

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Programming Pendant 9 Guideline for Creating Application
Customization 9.7 Other

9.6.2 Response to Alarm

To confirm the alarming condition when indicating the user-created
application, conduct tests to the following two cases. And check if the
alarm is properly processed as defined at the user-created application
side.
• 24V power supply error: Start an alarm by disconnecting YIF board.
• Alarm during play back operation:
Intentionally exceed the limit by a move
instruction in which the P variable
(cartesian value) is used.

9.6.3 Continuous Run

As for the Jobs for continuous run tests, prepare Jobs for programming
pendant continuous test including layer check of variety of calculation,
R1,S1 and call job.
Execute continuous run of these Jobs and check the occurrence of alarms
or errors.

9.6.4 Window Switching

Test if switching of the window from the YASKAWA standard window to
the user-customized application window is possible.
For the user-customized application, keep indicating the window to call up
the API while test is executed. And check if those windows alternate
properly.

9.6.5 Cycle Time Check

Prepare a cycle time checking Job. Before the test, record the cycle time
(in the status that any APIs are not executed in the user-customized
application), then check the cycle time after API is executed in the
application. There will be an error for several segments time to the cycle
time due to the Job start time, but it can be ignored.

9.7 Other
Other than mentioned above, it prohibited to execute any processes than
may influence the whole robot controller system or the YASKAWA
standard programming pendant window.

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Programming Pendant 10 Development of Application in C#
Customization 10.1 Preparation

10 Development of Application in C#

10.1 Preparation

10.1.1 Developing Environment (Developing PC Environment)

1. WindowsCE5.0 : Install
2. MS Visual Studio : Install
– DX100/FS100:
MS Visual Studio 2005
Note: The debugging procedure is partially added in case Visual
studio2005 ServicePack is installed.
– DX200
MS Visual Studio 2008
3. MS .NET Compact Framework : Install
– DX100/FS100:
MS .NET Compact Framework 2.0 SP2
– DX200
MS .NET Compact Framework 3.5
4. SDK : Install SDK for programming pendant
5. IP address setting for development PC
Set the IP address of the developing PC as follows.
IP Address : 10.0.0.3
Sub-net Mask : 255.255.255.0

10.2 Development of Application for the DX100/DX200

There are following differences between the DX100/DX200 and the
FS100 when developing applications. Refer to Section 10.3
“Development of Application for the FS100” on page 10-10 developing
applications for the FS100.
• Initializing process
In the FS100 system, modification of the FS100 IP address and the
programming pendant is possible. Therefore, it is required to
receive them from the programming pendant main application as the
parameter of the application, and deliver them as the argument of
YPPConnectOpen() when the application starts up.

NOTE The library for C# (MotoConnectCSU.DLL) is common for

both DX100, DX200 and FS100.

10.2.1 Creation of Software (PC for Development)

1. With Visual Studio, newly create a project for creating application for
Windows CE 5.0.

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Programming Pendant 10 Development of Application in C#
Customization 10.2 Development of Application for the DX100/DX200

10.2.2 Controller Communication Library

1. Copy the MotoConnect in the folder under the Develop folder to the
application folder to be created.
2. Add MotoConnectCSU.dll to the project by “Reference setting”.

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Programming Pendant 10 Development of Application in C#
Customization 10.2 Development of Application for the DX100/DX200

10.2.3 Library Initialization Process

Create a MotoConnectCS object in order to utilize the API of
MotoConnectCS.
[Code example]
public partial class Form1 : Form
{
#region Initialize
/// <summary>
/// Command Line
/// </summary>
private string[] CommandLine;
public string[] SetCommandLine
{
set
{
CommandLine = value;
}
}

/// <summary>
/// AppOption : Analize Command Line
/// </summary>
private AppOption AppOpt;
/// <summary>
/// AppMessageWindow : Communicate YppMain
/// </summary>
private AppMessageWindow AppMsg;

/// <summary>
/// Endian true:big / false:little
/// </summary>
private bool EndianData = false;

/// <summary>
/// MotoConnectCSU
/// </summary>
private MotoConnectCSU.MotoConnect MotoConnect;
#endregion

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Programming Pendant 10 Development of Application in C#
Customization 10.2 Development of Application for the DX100/DX200

public Form1()
{
InitializeComponent();
}

private void Form1_Load(object sender, EventArgs e)

{
this.Visible = false;

// Set the command line argument

AppOpt = new AppOption();
AppOpt.SetOptionData( CommandLine );

AppMsg =
new AppMessageWindow(this, AppOpt.GetMainHWnd );
MotoConnect =
newMotoConnectCS.MotoConnect(EndianData);
// Completion of start upcommand sending process
AppMsg.SendCreateCommand(Handle);

this.Visible = true;
}

...

10.2.4 Interface with Programming Pendant Main Software

For sending and receiving data with the programming pendant main
software, the user-customized application employs WM_COPYDATA for
the communication between APIs.
Following are the important processing operations.
Initializing Process <1>
The following two arguments are delivered from the pendant main
software, when the customized application is started up.
• Language code
• Window handle of the programming pendant main software
For the user-customized application, obtain and save the argument data.
[Code example]
static class Program

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Programming Pendant 10 Development of Application in C#
Customization 10.2 Development of Application for the DX100/DX200

{
/// <summary>
/// It is the main entry point of the application
/// </summary>
[MTAThread]
static void Main(string[] args)
{
Form1 form1 = new Form1();
form1.SetCommandLine = args;

Application.Run(form1);
}
}

public partial class Form1 : Form

{
#region Initialize
/// <summary>
/// Command Line
/// </summary>
private string[] CommandLine;
public string[] SetCommandLine
{
set
{
CommandLine = value;
}
}

/// <summary>
/// AppOption : Analize Command Line
/// </summary>
private AppOption AppOpt;

/// <summary>
/// AppMessageWindow : Communicate YppMain
/// </summary>
private AppMessageWindow AppMsg;

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Programming Pendant 10 Development of Application in C#
Customization 10.2 Development of Application for the DX100/DX200

...

For the AppOption class, refer to its source code (AppOption.cs) which will
be provided.

Initializing Process <2>

Send the window handle of the application to the programming pendant
main software at the timing when the user-customized application window
is displayed. The programming pendant main software sends/receives
messages to/from the window to which the window handle is sent.
[Code example]
public partial class Form1 : Form
{
...

private void Form1_Load(object sender, EventArgs e)

{
this.Visible = false;

// Set the command line argument

AppOpt = new AppOption();
AppOpt.SetOptionData( CommandLine );

AppMsg = new AppMessageWindow

(this, AppOpt.GetMainHWnd );
MotoConnect = new MotoConnectCS.MotoConnect
(EndianData);

// Completion of start up command sending process

AppMsg.SendCreateCommand(Handle);

this.Visible = true;
}

...

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Programming Pendant 10 Development of Application in C#
Customization 10.2 Development of Application for the DX100/DX200

Closing Process
Notify the programing pendant main software of the closing when the
customized application is closed.
[Code example]
public partial class Form1 : Form
{

...

private void button2_Click(object sender, EventArgs e)

{ // Close
AppMsg.SendCloseCommand();
}
}

...
}

For the AppMessageWindow class, refer to its source code

(AppMessageWindow.cs) which will be provided.
AppMessageWindow.cs includes the following codes.
• WM_COPYDATA message receiving from the programming pendant
main software
• WM_COPYDATA message sending to the programming pendant
main software
• Examples of important process such as Initializing or closing
process.

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Programming Pendant 10 Development of Application in C#
Customization 10.3 Development of Application for the FS100

10.3 Development of Application for the FS100

10.3.1 Creation of Software (PC for Development)

With Visual studio2005, newly create a project for creating application for
Windows CE 5.0.

10.3.2 Controller Communication Library

1. Copy the MotoConnect in the folder under the Develop folder to the
application folder to be created.
2. Add MotoConnectCSU.dll to the project by “Reference setting”.

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Programming Pendant 10 Development of Application in C#
Customization 10.3 Development of Application for the FS100

10.3.3 Library Initialization Process

Create a MotoConnectCS object in order to utilize the API of
MotoConnectCS.
[Code example]
public partial class Form1 : Form
{
#region Initialize
/// <summary>
/// Command Line
/// </summary>
private string[] CommandLine;
public string[] SetCommandLine
{
set
{
CommandLine = value;
}
}

/// <summary>
/// AppOption : Analize Command Line
/// </summary>
private AppOption AppOpt;

/// <summary>
/// AppMessageWindow : Communicate YppMain
/// </summary>
private AppMessageWindow AppMsg;

/// <summary>
/// Endian true:big / false:little
/// </summary>
private bool EndianData = false;

/// <summary>
/// MotoConnectCSU
/// </summary>
private MotoConnectCSU.MotoConnect MotoConnect;
#endregion

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Programming Pendant 10 Development of Application in C#
Customization 10.3 Development of Application for the FS100

public Form1()
{
InitializeComponent();
}

private void Form1_Load(object sender, EventArgs e)

{
this.Visible = false;

// Set the command line argument

AppOpt = new AppOption();
AppOpt.SetOptionData( CommandLine );

AppMsg = new AppMessageWindow(this, AppOpt.GetMainHWnd );

MotoConnect = new MotoConnectCS.MotoConnect(EndianData,
AppOpt.GetYcpIPAddr, AppOpt.GetYppIPAddr);

// Completion of start up command sending process

AppMsg.SendCreateCommand(Handle);

this.Visible = true;
}

...

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Programming Pendant 10 Development of Application in C#
Customization 10.3 Development of Application for the FS100

10.3.4 Interface with Programming Pendant Main Software

For sending and receiving data with the programming pendant main
software, the user-customized application employs WM_COPYDATA for
the communication between APIs.
Following are the important processing operations.
Initializing Process <1>
The following two arguments are delivered from the pendant main
software, when the customized application is started up.
• Language code
• Window handle of the programming pendant main software
For the user-customized application, obtain and save the argument data.
[Code example]
static class Program
{
/// <summary>
/// It is the main entry point of the application
/// </summary>
[MTAThread]
static void Main(string[] args)
{
Form1 form1 = new Form1();
form1.SetCommandLine = args;

Application.Run(form1);
}
}

public partial class Form1 : Form

{
#region Initialize
/// <summary>
/// Command Line
/// </summary>
private string[] CommandLine;
public string[] SetCommandLine
{
set
{
CommandLine = value;
}

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Customization 10.3 Development of Application for the FS100

/// <summary>
/// AppOption : Analize Command Line
/// </summary>
private AppOption AppOpt;

/// <summary>
/// AppMessageWindow : Communicate YppMain
/// </summary>
private AppMessageWindow AppMsg;

...

For the AppOption class, refer to its source code (AppOption.cs) which will
be provided.

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Programming Pendant 10 Development of Application in C#
Customization 10.3 Development of Application for the FS100

Initializing Process <2>

Send the window handle of the application to the programming pendant
main software at the timing when the user-customized application window
is displayed. The programming pendant main software sends/receives
messages to/from the window to which the window handle is sent.
[Code example]
public partial class Form1 : Form
{
...

private void Form1_Load(object sender, EventArgs e)

{
this.Visible = false;

// Set the command line argument

AppOpt = new AppOption();
AppOpt.SetOptionData( CommandLine );

AppMsg = new AppMessageWindow

(this, AppOpt.GetMainHWnd );
MotoConnect = new
MotoConnectCS.MotoConnect(EndianData,
AppOpt.GetYcpIPAddr, AppOpt.GetYppIPAddr);

// Completion of start up command sending process

AppMsg.SendCreateCommand( Handle );

this.Visible = true;
}

...

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Customization 10.3 Development of Application for the FS100

Closing Process
Notify the programing pendant main software of the closing when the
customized application is closed.
[Code example]
public partial class Form1 : Form
{

...

private void button2_Click(object sender, EventArgs e)

{ // Close
AppMsg.SendCloseCommand();
}
}

...
}

For the AppMessageWindow class, refer to its source code

(AppMessageWindow.cs) which will be provided.
AppMessageWindow.cs includes the following codes.
• WM_COPYDATA message receiving from the programming pendant
main software
• WM_COPYDATA message sending to the programming pendant
main software
• Examples of important process such as Initializing or closing
process.

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Programming Pendant 10 Development of Application in C#
Customization 10.4 Application Debugging

10.4 Application Debugging

10.4.1 Parameter Setting

For the parameter set S2C533=1 for debugging the created applications.

NOTE When releasing the debugging, do not fail to set S2C533=0

to return the parameter.

10.4.2 Debugging

Additional procedures are required as follows only when the

versions except for Visual studio specified in Section 10.1.1
“Developing Environment (Developing PC Environment)”
(including the versions of ServicePack) is installed. And
this operation is necessary every time the power is turned
ON.
<Additional procedures>
Copy the following files to the \Window\ folder in the
programming pendant. Based on the rules, those files are
NOTE stored in \Program Files\Common Files\Microsoft
Shared\CoreCon\1.0\Target\wce400\<CPU>.
• Clientshutdown.exe
• ConmanClient2.exe
• CMaccept.exe
• eDbgTL.dll
Reference:
http://msdn.microsoft.com/ja-jp/library/
ms228708(VS.80).aspx

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Customization 10.4 Application Debugging

1. Select {DEBUG}- {DEBUG OVERLAP}.

2. “for ExternalExe Debug” window appears.

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Programming Pendant 10 Development of Application in C#
Customization 10.4 Application Debugging

3. Press [C# Debug] button. With this operation, the following processing
will be executed and the pendant will be ready to connect a device.
• Expansion of the memory size
(Enable to download the user-customized application)
• Execution of the device connection program
(After execution, implement device connection within three minutes)
4. In Visual Studio on the desktop, press [Project] - [Property] to select
[Debug] tab. On the window, also select “Debug” tab, and then, to
“Program argument” section, input “argument:” which was indicated
on the “for ExternalExe Debug”.

5. Press {Connect} button on “for EXternal Debug” window. It closes.

6. Connect a device via Visual Studio. Select [Tool] - [Connect to Device]
on the pull-down menu. In “Connect to Device” dialog, select
“OMRON NewPendant ARMV4I Release” and then push [Connect]
button.

– When the following window is shown, debugging is ready.

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Programming Pendant 10 Development of Application in C#
Customization 10.4 Application Debugging

7. Select {Menu} - {Debug} - {Start Debugging} to start the debugging

operation.
8. If the following window is shown when debugging is started, select
“OMRON NewPendant ARMV4I Release” and then press [Deploy]
button.

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Programming Pendant 11 Interface Specification with Programming Pendant Main Software
Customization 11.1 Command from the User Customized Application to Programming
Pendant Main Software

11 Interface Specification with Programming Pendant Main

Software

11.1 Command from the User Customized Application to

Programming Pendant Main Software

11.1.1 Completion of Generation

Code name Data configuration (Type)

EXE2YPP_CREATE_CMD HWND hwnd : Window handle for message sending destination

<Description>
The user-customized application sends this command to the programming
pendant software when it is started up.
The sending window handle is the main frame handle of the user-
customized application.
The programming pendant main software sends messages to this window
while the user-customized application is running.

11.1.2 Closing of Application

Code name Data configuration (Type)

EXE2YPP_CLOSE_CMD Not exist

<Description>
The user-customized application sends this command to the programming
pendant software when it is closed.
After receiving this command, the software side will discard or release
each object.

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Programming Pendant 11 Interface Specification with Programming Pendant Main Software
Customization 11.1 Command from the User Customized Application to Programming
Pendant Main Software
11.1.3 Keymask

Code name Data configuration (Type)

EXE2YPP_KEYMASK_CMD EBYTE byte[8] : Keymask bit
Not exist

<Description>
With this command, keys sent to the DX100/DX200/FS100 can be limited
from the user-customized application. When setting “1” to the objective
key, it is sent to the DX100/DX200/FS100.

<Key-Bit table>
D7 D6 D5 D4 D3 D2 D1 D0
W0 X+/R+ ENTER INSERT FWD SHIFT w+ Y+/B+ Z+/T+
RIGHT
W1 Y-/B- X-/R- MODIFY TEST BWD DELETE Z-/T- W-
RUN
W2 INTER MOTION Z+/U+ USAGE Y+/L+ X+/S+ C+ INFORM
LOCK TYPE LIST
W3 SHIFT AUX Z-/U- EX AXIS ROBOT Y-/L- X-/S- C-
LEFT
W4 . 0 7 ARROW ARROW 1 2 4
DOWN LEFT
W5 SERVO 5 - 3 8 FAST SLOW HIGH
ON SPEED
READY
W6 9 SELECT AREA CANCEL ASSIST PAGE DIRECT 6
OPEN
W7 Spare Spare COORD SIMPLE MULTI ARROW ARROW MAIN
MENU UP RIGHT MENU

Ex.
Set as follows when sending only [CANCEL] key to the DX100/DX200/
FS100.
byte[8] = {0x00,0x00,0x00,0x00, 0x00,0x00,0x10,0x00};
When there are no sending data, present specified key mask at the
programming pendant software side is set.

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166581-1CD
Programming Pendant 11 Interface Specification with Programming Pendant Main Software
Customization 11.1 Command from the User Customized Application to Programming
Pendant Main Software
11.1.4 Text Input Function Start

Code name Data configuration (Type)

EXE2YPP_KEYPAD_CMD DWORD type : key pad type (English/Japanese, etc.)
DWORD maxlen : limit of inputting character
SCHAR buf[128] : default character strings for keypad

<Description>
With this command, the character inputting key pad becomes available
from the user-customized application.

11.1.5 Switching Control

Code name Data configuration (Type)

EXE2YPP_CONTROL_CMD DWORD target 1: programming pendant main software
2: user-customized application

<Description>
With this command, the control system can be alternated between the
programming pendant main software and the user-customized application
by sending data.
If it is switched to the programming pendant main software, the software
side changes the display or releases the keymask, etc.
If it is switched to the user-customized application, the application side
acquires the latest necessary information and displays it, and it should
execute some initializing operations such as re-setting the keymask, etc.

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 166581-1CD
Programming Pendant 11 Interface Specification with Programming Pendant Main Software
Customization 11.1 Command from the User Customized Application to Programming
Pendant Main Software
11.1.6 Setting of Notifying Information
Code name Data configuration (Type)
EXE2YPP_GET_INFOAUTO_CMD DWORD notifyingfo Information to be notified
(specified by bit)

<Description>
With this command, setting of notifying information such as changes of the
programming pendant software side status or information sent to the user-
customized application when it is requested become available.
If it is not set, all the information is notified.
Bit is used for this setting.
0 bit: Group axis
1 bit: Motion coordinate system
2 bit: Manual speed
3 bit: Security
4 bit: Motion cycle
5 bit: Executing status
6 bit: Page shift
7 bit: Synchronizing status
8 bit: Battery
9 bit: Teach/play mode
10 bit: Multi window mode

11.1.7 Information Request

Code name Data configuration (Type)

EXE2YPP_GET_INFO_CMD Not exist

<Description>
With this command, request of the information to the programming
pendant main software becomes available.
To this request, the software side sends the information previously set as
sending information to the user-customized application.

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166581-1CD
Programming Pendant 11 Interface Specification with Programming Pendant Main Software
Customization 11.1 Command from the User Customized Application to Programming
Pendant Main Software
11.1.8 Version Information Acquisition

Code name Data configuration (Type)

EXE2YPP_GET_VERSION_CMD Not exist

<Description>
With this command, request of the version to the programming pendant
main software becomes available.
To this request, the software side sends the version which is under
running to the user-customized application.

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 166581-1CD
Programming Pendant 11 Interface Specification with Programming Pendant Main Software
Customization 11.2 Command from the Programming Pendant Main Software to the
User-Customized Application
11.2 Command from the Programming Pendant Main Software
to the User-Customized Application

11.2.1 Input Character

Code name Data configuration (Type)

YPPEXE_KEYPADRET_CMD WORD okcancel 0=OK / 1=Cancel
WCHAR buf[128] Input character string

<Description>
The programming pendant main software sends this command after
completion of inputting character strings keypad started by the user-
customized application.
Receiving this command, the application side can acquire the input
character strings.

11.2.2 Request of Control System Switching

Code name Data configuration (Type)

YPPEXE_CONTROL_CMD DWORD target 1= Programming pendant
main software
2= User-customized application

<Description>
With this command, the control system can be switched between the
programming pendant main software and the user-customized application
as specified by the sent data.
When switching to the programming pendant main software control
system, the software side will change the indication or release the
keymask after receiving this command.
When switching to the user-customized application control system, the
application side should execute various initializing operations such as
acquiring and indicating the necessary information, or resetting the
keymask, etc. after receiving this command.

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166581-1CD
Programming Pendant 11 Interface Specification with Programming Pendant Main Software
Customization 11.2 Command from the Programming Pendant Main Software to the
User-Customized Application
11.2.3 Status Information

Code name Data configuration (Type)

YPPEXE_STATUS_CMD DWORD enable[16] Valid information
DWORD value[16] Status value

<Description>
With this command, the programming pendant software side sends the
status information when
– the status information which is previously-set as sending information
is changed
or
– there is a information which is set as a sending information when
requested by the user-customized application.
When the sending information is changed, “1” is set to “enable”. And a
status value is set to “value”.
Followings are the element numbers of both “enable” and “value”
arrangements.

0 : Group axis
1 : Motion coordinate system
2 : Manual speed
3 : Security
4 : Motion cycle
5 : Executing status
6 : Page shift
7 : Synchronizing status
8 : Battery/Accessing to CF/
Touch operation invalid
9 : Teach/play mode
10 : Multi window mode
11-15 : (Unused)

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 166581-1CD
Programming Pendant 11 Interface Specification with Programming Pendant Main Software
Customization 11.2 Command from the Programming Pendant Main Software to the
User-Customized Application
Followings are the status value of each element.

Setting value Meaning

0 R1
1 R2
2 R3
3 R4
4 R5
5 R6
6 R7
7 R8
8 B1
9 B2
10 B3
11 B4
12 B5
13 B6
14 B7
15 B8
16 S1
17 S2
18 S3
19 S4
20 S5
21 S6
22 S7
23 S8
24 S9
25 S10
26 S11
27 S12
28 S13
29 S14
30 S15
31 S16
32 S17
33 S18
34 S19
35 S20
36 S21
37 S22
38 S23
39 S24

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166581-1CD
Programming Pendant 11 Interface Specification with Programming Pendant Main Software
Customization 11.2 Command from the Programming Pendant Main Software to the
User-Customized Application
1: Motion coordinate system

Setting value Meaning

0 Link coordinate
1 Cartesian coordinate
2 Cylindrical coordinate
3 Tool coordinate
4 User coordinate
5 External reference point coordinate
6 Teaching line coordinate
7 (Unused)
8 (Unused)
9 (Unused)
10 (Unused)
11-74 User coordinate (1-64)

2: Manual speed

Setting value Meaning

0 Inching
1 Low speed
2 Middle speed
3 HIgh speed

3: Security

Setting value Meaning

0 Operation mode
1 Edit mode
2 Management mode
3 Safety mode
*Only for DX200

4: Motion cycle

Setting value Meaning

0 Continuous
1 1 cycle
2 Step

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Programming Pendant 11 Interface Specification with Programming Pendant Main Software
Customization 11.2 Command from the Programming Pendant Main Software to the
User-Customized Application
5: Executing status

Setting value Meaning

0 Alarming
1 Stopped by emergency stop
2 Hold
3 Playback
4 Playback
5 Stopped

6: Page switch

Setting value Meaning

0 Page does not switch
1 Page switches

7: Synchronized motion

Setting value Meaning

0 Not synchronized
1 Synchronizing

8: Battery

Setting value Meaning

0 Normal
1 Exhausted
2 Accessing to CF
3 Touch operation invalid
4 Exhausted and touch
operation invalid

9: Teach/play mode

Setting value Meaning

0 Initial status
1 Play mode
2 Teach mode
3 Play mode
4 Teach mode
5 Teach mode

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Programming Pendant 11 Interface Specification with Programming Pendant Main Software
Customization 11.2 Command from the Programming Pendant Main Software to the
User-Customized Application
10: Multi window indication mode

Setting value Meaning

0 Single mode
1 Multi mode
2 Multi mode

Example
When changing the mode from teach to play
enable = {0.0.0.0.0.0.0.0.0.1.0.0.0.0.0.0}
value = {0.0.0.0.0.0.0.0.0.1.0.0.0.0.0.0}
When changing to return the mode from play to teach
enable = {0.0.0.0.0.0.0.0.0.1.0.0.0.0.0.0}
value = {0.0.0.0.0.0.0.0.0.2.0.0.0.0.0.0}

More than two “enable” s may become valid when several status change
occurred.
In case no information exists, “0xffff” is set to “value”.

11.2.4 Alarm

Code name Data configuration (Type)

YPPEXE_ALARM_CMD DWORD status 1 = alarming /
2 = alarm released

<Description>
The programming pendant main software sends this command when
alarm is occurred or released.

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Programming Pendant 11 Interface Specification with Programming Pendant Main Software
Customization 11.2 Command from the Programming Pendant Main Software to the
User-Customized Application
11.2.5 Message

Code name Data configuration (Type)

YPPEXE_MESSAGE_CMD DWORD msgnum Numbers of message
struct{
WORD code Message code
WCHAR buf[128] Message
}*msgnum (volume of data for all messages)

<Description>
When the message is modified, the programming pendant software sends
this command.
More than two messages are sent at a time when several messages are
modified.

Meanings of the message code

1: Error message
2: Warning message
3: System status message

11.2.6 Language

Code name Data configuration (Type)

YPPEXE_LANGUAGE_CMD DWORD language language code

<Description>
When receiving a information request command
(EXE2YPP_GET_INFO_cmd) or the language code is modified, the
programming pendant software sends this command.

11.2.7 Version

Code name Data configuration (Type)

YPPEXE_VERSION_CMD WCHAR buff[16] version information

<Description>
When the programming pendant software received a request for acquiring
version information, it sends this command.

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DX100/DX200/FS100 OPTIONS
INSTRUCTIONS
FOR PROGRAMMING PENDANT CUSTOMIZATION FUNCTION

Specifications are subject to change without notice

for ongoing product modifications and improvements.

MANUAL NO.

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