Tfden 161 003 Flexgui

1702, TFDEN-161-003, 001
FD/CFD controller
FlexGui
FlexGui Toolbox
Instruction manual
3rd edition
・Before attempting to operate the robot, please read through this operating manual
carefully, and comply with all the safety-related items and instructions in the text.
・The installation, operation and maintenance of this robot should be undertaken only
by those individuals who have attended one of our robot course.
・When using this robot, observe the low related with industrial robot and with
safety issues in each country.
・This operating manual must be given without fail to the individual who will be actually
operating the robot.
・Please direct any queries about parts of this operating manual which may not be
completely clear or any inquiries concerning the after-sale service of this robot to any
of the service centers listed on the back cover.
Table Of Contents
Table Of Contents
Chapter 1 Introduction
1.1 Introduction.......................................................................................................................... 1-1
1.2 About the software version.................................................................................................. 1-2
1.3 About the license................................................................................................................. 1-3

How to display the "FlexGui ID".................................................................................................. 1-4
How to install the license file ...................................................................................................... 1-5
Chapter 2 How to start FlexGui

2.1 Configuration ....................................................................................................................... 2-1
2.2 User Application .................................................................................................................. 2-3

2.2.1 Registering the user application ..................................................................................... 2-3
2.3 How to start the FlexGui...................................................................................................... 2-5
Automatic start............................................................................................................................ 2-5
Software key start ....................................................................................................................... 2-5
Input signal start ......................................................................................................................... 2-7
Chapter 3 FlexGui
3.1 How to operate the FlexGui ................................................................................................ 3-1
3.1.1 Starting the FlexGui ........................................................................................................ 3-1
3.1.2 Creating a new screen.................................................................................................... 3-3
3.1.3 Adding a fidget ................................................................................................................ 3-3
3.1.4 Editing the fidget ............................................................................................................. 3-4
3.1.5 Deleting a fidget.............................................................................................................. 3-6
3.2 Operation screen of the FlexGui ......................................................................................... 3-7
3.2.1 Screen belt...................................................................................................................... 3-7
3.2.2 Utility screen ................................................................................................................... 3-7
Chapter 4 Getting started with FlexGui Toolbox

4.1 Creating / closing a new FlexProject................................................................................... 4-1
4.1.1 Creating a new FlexProject ............................................................................................ 4-1
4.1.2 How to open a project (1) ............................................................................................... 4-3
4.1.3 How to open a project (2) ............................................................................................... 4-4
4.1.4 Closing the FlexProject................................................................................................... 4-4
4.2 Creating a new Screen ("Hello world")................................................................................ 4-5
4.3 Executing the Screen .......................................................................................................... 4-7
4.4 Interacting with robot programs........................................................................................... 4-8
4.5 Uploading your FlexProject to a robot............................................................................... 4-16
4.6 Aiming the better development ......................................................................................... 4-18
1
Table Of Contents
Chapter 5 FlexGui4.0
5.1 Connection procedure for FlexGui4.0 ................................................................................. 5-1
5.1.1 Setting of the browser..................................................................................................... 5-1
5.1.2 Connection of FlexGui4.0 ............................................................................................... 5-5
5.2 Starting of FlexGui4.0.......................................................................................................... 5-7
5.2.1 Creating the project ........................................................................................................ 5-7
5.2.2 Open the existing project ................................................................................................ 5-8
5.2.3 Ending of the project....................................................................................................... 5-9
5.3 Operation procedure of FlexGui4.0................................................................................... 5-10
5.3.1 Creating the new screen............................................................................................... 5-10
5.3.2 Editing of the Fidget...................................................................................................... 5-11
5.3.3 Execution of the Fidget ................................................................................................. 5-14
5.4 Operation screen of the FlexGui4.0 .................................................................................. 5-15
5.4.1 Screen belt.................................................................................................................... 5-15
5.5 Remote connection ........................................................................................................... 5-17
5.5.1 Internet connection of the controller ............................................................................. 5-17
5.5.2 Remote connection of the FlexGui4.0 .......................................................................... 5-21
Appendix
A Fidget Overview.......................................................................................................................... 1
B Robot program............................................................................................................................ 3
NOTE
2
Chapter 1 Introduction
This section will introduce FlexGUI.
1.1 Introduction ..............................................................................................1-1

1.2 About the software version .......................................................................1-2
1.3 About the license......................................................................................1-3
1.1 Introduction
1.1 Introduction
FlexGui is the new user-friendly and intuitive interface for the NACHI FD/CFD controller. It runs on the robot
controller’s teach pendant and on your computer as a part of the FlexGui Toolbox development environment.
One of FlexGui’s strengths lies in its ability to abstract features and robot programs, into easy-to-understand
Fidgets. Using Fidgets such as e.g. labels, indicator lamps, progress bars, pictures, buttons and more, the
operator can easily monitor and control the robot.
Fidgets are placed on screens, which are defined by the operator. The operator can easily switch between
screens by utilizing the Screen Belt. There is great flexibility regarding the contents of the screens, enabling robot
installations to have interfaces tailored to different operations as well as the operator’s skill level.
FlexGui Toolbox (FGT) is a development environment for FlexGui. While some editing is allowed on the teach
pendant, the FlexGui Toolbox offers expanded functionality with more fidgets, scripting using JavaScript and
precision alignment of objects. FlexGui Toolbox runs on the computer, and also includes a FlexGui preview,
enabling the integrator to test his projects. When your project is ready, FlexGui Toolbox can deploy your
flexprojects to all of your FlexGui-enabled robots. The system integrator can also perform customer support
through the remote view and remote control functionality in FGT.
FlexGui4.0 is the latest graphical interface using browser. Creating screen is possible through the computer
and the devices such as Android, iPhone and Windows Phone by using Fidgets and scripts.
When you’ve read through this document it is recommended to continue

working with the user manual. There you will get a lot of useful information on
POINT
many topics relevant for a more flexible use of FlexGui.
For more details, please refer to the User manual on www.flexgui.net. In the
manual, additional projects and materials are available.
POINT In case of the CFD controller, the FlexGui can be used only in the Smart Teach
pendant. The Compact Teach Pendant cannot use the FlexGui.
1-1
1.2 About the software version
1.2 About the software version

There are versions in FlexGui or FlexGui Toolbox.
Version correspondence is as below.
System configuration of FlexGui2.4 and FlexGui4.0 are as below.

FlexGui4.0 can be connected to FD controller directly through Ethernet.
1-2
1.3 About the license

The FlexGui has the following license styles. In the FD/CFD controller, demonstration version (trial version)
"FlexGui" is pre-installed. This version can be used in free. (But the created screen cannot be saved) If you want
to use the "FlexGui Remote" version, it is necessary to purchase the license file.
Table 1.3-1 FlexGui license

Free/
License Description License file
Charged
Pre-installed in the FD/CFD controller as a demonstration
version (trial version).
(NOTE) The created screen cannot be saved
FlexGui
No
Free Not necessary
(Trial version)
The created screen can be saved

It is possible to connect the PC in which the FlexGui
Toolbox is installed and the FD/CFD controller and to
transfer the screen created in the FlexGui Toolbox to the
FD/CFD controller.
If there are plural FD/CFD controllers, they must have
their own exclusive license file one by one.
FlexGui Toolbox FlexGui
FlexGui Charged Necessary
CFD
FD11
The communication between the PC in which the FlexGui

Toolbox is installed and the FD/CFD controller is possible.
It is possible to operate the FD/CFD controller from the
PC.
If there are plural FD/CFD controllers, they must have
Necessary
their own exclusive license file one by one.
(Only the key operation on the screen is possible. It is not
To use this
possible to operate the robot directly.)
“FlexGui
FlexGui Remote FlexGui Toolbox FlexGui Charged
Remote”, the
license of the
“FlaxGui” is
CFD
FD11
also necessary.
- Concerning how to purchase the license files, please contact our sales persons when
purchasing the robot controllers.
- To purchase only the license files after purchasing the robot controller, the "FlexGui ID"
IMPORTANT displayed on the teach pendant is necessary. (See the following pages)
1-3
(Reference) How to display the "FlexGui ID"

1 Turn ON the robot controller.
2 Press [Enable]+[I/F] key to start the FlexGui.

+ >>The following screen will be displayed.
FlexGui2.0
FlexGui2.4
3 Touch the [Tap to begin]

>>The following screen will be displayed.
If this screen is not displayed, touch [Connect].
1-4
4 The "FlexGui ID" displayed.
5 At this time, a temporary "license.dat" is generated in the "WORK¥FlexGUI"

folder in the FD/CFD controller.
>>This file includes the "FlexGui ID". If you make a backup data of the robot controller,
it is possible to check the ID later by opening the file using a text editor like a
notepad.exe etc.
1-5
(Reference) How to install the license file

The "license.dat" file must be installed in the designated folder of the robot controller in advance.
Please be sure that the file name must be "licence.dat" always.
Designated folder
¥WORK¥FlexGUI¥
The "license.dat" is generated using the FlexGui ID (unique ID) that differs from each
POINT other depending on the robot controller. Therefore, the file cannot be used in other controllers.
The "license.dat" file must be prepared respectively for the all controllers.
1 Insert an USB memory that has the "license.dat" to the FD/CFD controller.
FD controller
Open the controller's door and insert the USB memory to the USB port of the
CPU bopard. (Although there are 2 USB ports, the position does not matter.)
CFD controller
Insert the USB memory to the USB port on the front panel.
2 Turn ON the robot controller power.
3 Open <Service Utilities> - [36 User Application entry]
4 Press <Import>.
1-6
5 Make the following settings.
2 3
(1) Device(src) : RC External memory (USB memory)

(2) Copy source folder : The folder that has license.dat
(3) Copy source file : license.dat
(4) Copy destination folder : ¥WORK¥FlexGUI¥
After selecting the copy destination folder in the area of (4), do not forget to
press [Enter]. If [Enter] is not pressed, the copy operation can not start.
(Supplement)
Area selection : Left/right cursor keys
Item selection : Up/down cursor keys
Determine the selected item : [Enter] key
6 Press <f12 Execute>.

>> The "license.dat" in the USB memory will be copied to the robot controller's internal
memory "(WORK¥FlexGUI¥").
7 Turn OFF and ON the robot controller's power.
INFO. Concerning the file manager operation, refer to the instruction manual
"FD CONTROLLER INSTRUCTION MANUAL / BASIC OPERATIONS"
1-7
Note
1-8
Chapter 2 How to start FlexGui
This chapter describes how to start the FlexGui in the robot controller.
2.1 Configuration ............................................................................................2-1

2.2 User Application .......................................................................................2-3
2.2.1 Registering the user application ....................................................2-3
2.3 How to start the FlexGui...........................................................................2-5
2.1Configuration
2.1 Configuration
The FlexGui is more convenient when communicating with the "FlexGui Toolbox" software. The FlexGui and
the Toolbox communicates using Ethernet. Therefore, the communication setting is necessary before using the
function. The setting is to be written in the "config.ini" file in the "WORK¥FlexGUI¥" folder of the robot
controller.
FD11/CFD
FlexGui Toolbox FlexGui
FD11
Ethernet
192.168.1.2
CFD
192.168.1.1
\WORK\FlexGUI\config.ini
The default setting of the "config.ini" is for FD/CFD controller stand alone use. To use the FD/CFD controller
with the FlexGui Toolbox, please modify the config.ini refering to the environment of the FlexGui Toolbox. For the
parameter of "FlexServerAddres", set the IP address of the PC in which the FlexGui Toolbox is executed.
(Concerning the IP address of the PC, please contact the network administrator.)
At least, check the following setting.

Value
entry key
Description Setting example
FlexServerAddress The IP address of the PC in which the Toolbox 192.168.1.1
is executed
After modifying the value of "FlexServerAddres" in the "¥WORK¥FlexGUI¥config.ini" on your PC,

copy the file back to the robot controller using USB memory etc.
(Example)
<entry key="FlexServerAddress" value="demoserver.flexgui.net"/>
↓
<entry key="FlexServerAddress" value="192.168.1.1"/>
POINT If the "config.ini" is changed, the FlexGui must be re-started.
2-1
2.1Configuration
An example of config.ini
<!DOCTYPE config>
<config>
<entry key="FlexServerPort" value="16732"/>
<entry key="FlexServerAddress" value="192.168.1.1"/>
<entry key="ServerName" value="PPM Help Desk"/>
<entry key="Integrator" value="PPM AS"/>
<entry key="SharedDir" value="D:/WORK/FlexGUI/FlexGuiRoot"/>
<entry key="RobotProgramDir" value="D:/WORK/PROGRAM"/>
<entry key="NraAutoconnect" value="True"/>
<entry key="FullScreen" value="True"/>
<entry key="StartHidden" value="False"/>
<entry key="Locale" value="en"/>
<entry key="PressAndHoldMode" value="False"/>
<entry key="Width" value="640"/>
<entry key="Height" value="480"/>
<entry key="BeltItemHeight" value="80"/>
<entry key="UpdateTarget" value="D:/WORK/FlexGUI"/>
<entry key="ShowUtilityScreen" value="True"/>
<entry key="ShowNewScreen" value="True"/>
<entry key="FlexGuiName" value="FlexGui"/>
<entry key="RobotName" value="not set"/>
<entry key="UseAutoProxy" value="False"/>
<entry key="ProgramEditorEnabled" value="False"/>
<entrySet key="Backups">
<entry value="D:/WORK"/>
<entry value="D:/PLCEngine"/>
<entry value="D:/INI/RTXTCPIP.INI"/>
</entrySet>
<entrySet key="AxisPerMechanism">
<entry key="Mech1" value="6"/>
</entrySet>
</config>
2-2
2.2User Application
2.2 User Application

"User application" means software that can be executed from the FD/CFD controller. In this function, a user
application can run by copying the necessary files to the internal memory or the USB memory of the robot
controller in advance.
2.2.1 Registering the user application
If the installed FlexGui is registered as the user application, it becomes possible to start/stop it
using the teach pendant.
1 Change the operator class to EXPERT.
-> R314[Enter][Enter]
2 Open <Service Utilities> - [36 User Application entry].
3 Set the cursor to the "Application 1" and press [Enter].
4 Select the "WORK¥FlexGUI¥" folder in the folder tree and then select
"FlexGui.exe" in the file list.
5 After the selection, press <Complete>.

>>The FlexGui.exe is registered.
6 Press <Complete>.
2-3
2.2User Application
The setting items for the "User Application entry" are shown in the following table.
Table 2.2.1 User Application setting items

Item Content
Automatic Disable / enable the automatic start function of the user
application.
Disabled : The application will not start when turning ON the

robot controller.
Enabled : The application will start automatically when turning
ON the robot controller.
Display Select "Exist" or "None" of the operation screen.
Exist : Displayed
None : Not displayed
Server Enable / Disable the communication with the external PC.
Exist : Communication is enabled
None : Communication is disabled
2-4
2.3 How to start the FlexGui

"FlexGui" can be started using the User Application function.
Starting methods are following threes.
(1) Automatic start (when the FD/CFD controller is turned ON)

(2) Software key start
(3) Input signal start
(NOTE) In either way, the FlexGui will not show on the screen. To open the FlexGui screen,
press [Enable]+[I/F] key.
Automatic start
2 Open <Service Utilities> - [36 User Application entry].
3 Change the "Automatic" to "Enabled" and then press <Complete>.

>> The FlexGui will start when the robot controller power is turned ON.
Software key start

2 Open <Constant setting> - [7 f-Keys] [2 Softkeys in Teach mode] or [3 Softkeys in
Playback mode].
3 Assign "2501 User Application" for the ENABLE side.
2-5
4 Press [Enable] key.

>>A screen like the following will be displayed. "User Application" is assigned to the f1
key.
5 Press [Enable] +"User Application" key.

>>A screen like the following will be displayed.
+
6 Press [Enter].
>>A pop-up window like the following will be displayed.
7 Select [YES] to start the User Application.

Select [NO] to close the pop-up window.
2-6
Input signal start

1 Open the <Constant Setting> - [6 Signals] [2 Input Signal Assignment] [1
Standard Inputs].
2 After assigning the signal numbers, press <Complete> to save.
Parameter Description Default

The registered User Application can be started by this signal.
User App. Start 0
(The starting edge of this signal is used for the trigger)
The registered User Application can be stopped by this signal.
User App. Stop 0
(The starting edge of this signal is used for the trigger)
Assign these signals to allow the User Application to operate the robot.
Ext. App. mode While this signal is ON, it becomes possible to move the robot using the 0
User Application.
2-7
NOTE
2-8
Chapter 3 FlexGui
This section will help you get started with FlexGui on your NACHI
FD/CFD-controller.
3.1 How to operate the FlexGui......................................................................3-1

3.1.1 Starting the FlexGui.......................................................................3-1
3.1.2 Creating a new screen ..................................................................3-3
3.1.3 Adding a fidget ..............................................................................3-3
3.1.4 Editing the fidget ...........................................................................3-4
3.1.5 Deleting a fidget ............................................................................3-6
3.2 Operation screen of the FlexGui ..............................................................3-7
3.2.1 Screen belt ....................................................................................3-7
3.2.2 Utility screen..................................................................................3-7
3.1 How to operate the FlexGui
3.1.1 Starting the FlexGui

To start the operation of the FlexGui, please follow the following procedures.
Please note: If FlexGui is running in demo-mode, the feature-set is limited. Screen utilities are unavailable,
some Fidget properties are not editable, and changes will not be saved.
1 Turn On the power of the robot controller.

>>Make the setting so that the FlexGui can be started by referring to "2.3 How to start
the FlexGui"
2 Press [Enable]+[I/F] to start the FlexGui.

>>The following screen will show up.
In case of FlexGui 2.0
3-1
3.1 FlexGui
3 Tap the [Tap to begin]

>> The "Welcome" screen will show up.
You can select screens by pressing their icons on the left side of the screen. This
area is called the Screen Belt. If there are more screens on the belt than the space
available, you can scroll the belt by flicking it with your finger. Clicking the new screen
icon creates a new empty screen.
POINT The screen that is displayed when "Tap to begin" is touched can be set in the
Screen Utility.
3-2
3.1.2 Creating a new screen

In this section, how to create a new screen of the FlexGui is described.
1 Press "Try it" on the screen belt.

>>A new screen will be displayed.
On the right side of the screen you can see the list of available fidgets. This area is
called the FidgetBelt.
3.1.3 Adding a fidget

In this section, how to add a new fidget to the screen is described.
Fidgets configure the user interface and are defined depending on their purposes.
1 Select the fidget from the FidgetBelt and drag & drop it to the screen.
>>The fidget is placed on the screen.
POINT To select the other fidgets, scroll the FidgetBelt.
3-3
3.1 FlexGui
3.1.4 Editing the fidget

In this section, how to edit a fidget is described using a Button fidget as an example.
1 Hold (select) the fidget to be edited.

>>The "Properties" belt is displayed on the left side.
2 Drag & drop the selected fidget to the "Properties" belt.

>>A "Property Editor" is displayed on the screen.
3-4
3 Click the blank column of "onClicked" to start the edit.

>>Write the code that is executed when the button is clicked in FG-SLIM. For example,
to display a message on the FlexGui pop-up, please write the code like the following.
4 Click the green check mark to close the Property Editor.
5 Click the button fidget to test it.

>>The following screen is displayed.
POINT The setting content of the property differs from each other depending on the
fidget.
3-5
3.1 FlexGui
3.1.5 Deleting a fidget

In this section, how to delete a fidget from the screen is described.
1 Hold (select) the fidget to be edited.

>>The "Delete" belt is displayed on the right side.
2 Drag & drop the selected fidget to the "Delete" belt.

>>The fidget is deleted.
Now the programming example using the Button fidget completed. It is recommended to use the other available
fidgets to learn about the FexGui more. Concerning the FlexGui fidgets, refer to the Appendix A.
NOTE:
In case of emergency stop or special situation, the NACHI standard UI will be displayed. To display the FlexGui
again, keep pressing the [Enable] key on the teach pendant.
3-6
3.2 Operation screen of the FlexGui
3.2.1 Screen belt

When "Tap to Begin" on the Welcome screen is touched, the screen is displayed. from the left side screen belt,
the user screen and the following system screen can be opened.
Table 3.2.1-1 System screen

Icon Name Description
The Welcome screen of the FlexGui is displayed.
Welcome
The utility screen is displayed.

Display ON/OFF of the screen utility and the
FlexGui, File initialization, language selection are
available.
Utility
The Connect screen is displayed.

The connection status and the following items
that are set in the "config.ini" can be checked.
- Name
Connect
- Integrator
- Address
- Port
- FlexGui ID
The FlexGui screen is closed and the robot

controller's standard UI screen is displayed.
Standard UI
3.2.2 Utility screen

In this section, how to operate the utility screen is described.
1 Click the utility screen.

3-7
2 Click "Screen Utilities".

The following items can be set.

Default : The screen displayed when the "Tap to Begin" is clicked can be selected.
Properties : The screen settings (Background, name, fidget belt display ON/OFF can be edited)
Move up : The display order on the screen belt can be moved up.
Move down : The display order on the screen belt can be moved down.
Delete : The screen data is deleted.
3 Click the "OK" button.
>>The settings are enabled and return to 1.
4 Click "Hide FlexGui".
>>The following message is displayed.
5 Click the "Yes"

>>The FlexGui screen is turned OFF and the robot controller's standard UI screen is
displayed.
6 Press [Enable]+[I/F] key.
+ >> The FlexGui screen is displayed again.
7 Click "Reset files".
>>The following message is displayed.
8 Click "Yes" button.

>>The created screen data and the setting data will be cleared.
3-8
9 Click the "Select Language".

10 Select the desired langauge and click "OK" button.

>>The display langauge is changed and return to 1.
(NOTE) The icon display does not change.
3-9
NOTE
3-10
Chapter 4 Getting started with FlexGui
Toolbox
This chapter describes how to create a FlexProject using the FlexGui

Toolbox.
4.1 Creating / closing a new FlexProject ........................................................4-1

4.1.1 Creating a new FlexProject ...........................................................4-1
4.1.2 How to open a project (1) ..............................................................4-3
4.1.3 How to open a project (2) ..............................................................4-4
4.1.4 Closing the FlexProject .................................................................4-4
4.2 Creating a new Screen ("Hello world") .....................................................4-5
4.3 Executing the Screen ...............................................................................4-7
4.4 Interacting with robot programs ................................................................4-8
4.5 Uploading your FlexProject to a robot ....................................................4-16
4.6 Aiming the better development...............................................................4-18
4.1 Creating / closing a new FlexProject
4.1.1 Creating a new FlexProject

1 Start by locating the FlexGui Toolbox in the start-menu, click All Programs and
locate the FlexGui-Folder and open FlexGui Toolbox.
>>You will see the screen as shown below.
4-1
2 Click "New FlexProject" to create a new project.

>>"New screen and project" window is displayed.
In case of FlexGui Toolbox 2.0
In case of FlexGui Toolbox 2.4
Set the following values.

New screen name : Set the screen name.
New project name : Set the project name.
New project paths : Locate the path in which the project is stored. File dialog will be
displayed when the "Browse" button is clicked.
Target type : Select "NACHI teach pendant".
4-2
3 Click "OK" button.

>>A new FlexProject screen is displayed.
To the left is the Available fidgets and the Screen contents, to the right is the
Properties-pane. Since it is the screen itself that is selected initially, the
Properties-pane displays the properties of the screen.
When designating a project that already exists, message box as below will be
displayed.
POINT
POINT Symbols and space cannot be added in the name. If "OK" cannot be pushed,
those may be the reason. In a case like that, please check the name.
4.1.2 How to open a project (1)

1 After starting the FlexGui Toolbox, click the "Open FlexProject" button.
>>A project selecting window will open.
2 Select the desired project and click "Open" button.

>>The project screen will be displayed.
4-3
4.1.3 How to open a project (2)

1 The projects lately used will be displayed on the start screen.
2 Click the desired project.

>>The project screen will be displayed.
4.1.4 Closing the FlexProject

1 Select "Exit" in the File menu of the FlexGui Toolbox.
>>The following window will be displayed.
2 Click the "Save" button.

>>The FlexGui Toolbox will be closed.
4-4
4.2 Creating a new Screen ("Hello world")

In this very simple example, we will manipulate a Robot Variable. These are variables that robot programs on the
controller use while running, and are therefore an important aspect of creating useful Screens.
Let's create a screen with a button that displays a message if pressed. This can be done by using one of the
FD/CFD controller's string variables. The button sets the variable, and an indicator receives the variable from the
NACHI controller system (NRA) and displays it in FlexGui.
1 Start by adding a Buttohn-fidget, fidgets can be selected from the Available

fidgets-pane to the left and dragged onto the screen. Locate the button, left-click
and hold while dragging the Button-fidget onto the screen.
>>The following screen will be displayed. As you may have noticed the properties-pane
to the right changed to display the properties for the new button.
2 In the "Properties", click "edit script" of the onClicked.
>>A script window will open.
4-5
3 Select the language to write the code.
Code can be written in either FG-SLIM, which is very similar to traditional SLIM, or
JavaScript. For the remainder of this guide, FG-SLIM wlll be used.
(For details of SLIM, refer to the instruction manual "ROBOT LANGUAGE")
4 Write the following code in the script window and click the "Save" button.
With this code, a string of "Hello World!" is set to the robot variable V1$ when the OK
button is clicked.
The script windo will be closed.

5 Locate the Label fidget, left-click and hold while dragging the Label-fidget onto
the screen.
>>The following screen will be displayed. As you may have noticed the properties-pane
to the right changed to display the properties for the new label.
6 Type "V1$ is: {V1$}" in the "text" of the Label property.
Now the robot variable V1$ can be displayed on the Label.
4-6
4.3Executing the Screen
4.3 Executing the Screen

In this section, how to execute the created Screen will be described.
1 Start the "FD on Desk".
2
Click the "FlexProject preview button" of the FlexGui Toolbox.
>>The project is executed and the following screen will be displayed.
3 Push "Connect to the FD on Desk" button.

>>The button dissappears and "FDonDesk is connected" will be displayed instead.
4 Click the "OK" button.

>>"Hello World!" is displayed on the screen.
You have successfully programmed a button to manipulate a string Robot-Variable and

bound a Fidget's value to a RobotVariable!
5
Click
The project preview will finish and return to the FlexGui Toolbox screen.
4-7
4.4 Interacting with robot programs

Now that you have learned how to manipulate RobotVariables by interacting with Fidgets, you will be able to
create user-friendly and intuitive interfaces for your traditional NACHI robot programs.
To make your traditional NACHI robot programs play well together withe FlexGui, there are some aspects that
should be taken into account:
- The robot program's structure

- The use of robot variables.
One should consider what information from the robot program is of interest for FlexGui and make them into
variables. For example; if you want to create a progress bar that is used for monitoring the progress of a loop, the
count of the loop should be assigned to a variable, so that FlexGui can read it. Depicted in the following figure is an
illustration of how FlexGui communicates with robot programs via robot variables.
Fig. 4.4-1 The relationship between the FlexGui and the robot program
As seen in the figure, robot programs may also have a case-based structure where global variables are controlling
the cases. This way, the executed sections of the robot program can be controlled by FlexGui. In this section we will
create this FlexProject to control and monitor the robot program. The guidance level of this example is lower, and
we encourgae you to play around yourself. If there are any subjects that you wish to learn more about, we
recommend taking a look in the User Manual or the FlexGui Wiki (www.flexgui.net).
This example can be done either with FD on Desk or on your FlexGui-enabled robot.
4-8
First, we will create the case-based robot program as depicted in the following figure. The text version of this
robot language program can be found in Appendix B.
Fig. 4.4-2 Robot program with three cases controlled by the integer variable V1%
As can be seen in this figure, the program consists of three cases, and step 1 determines which case to execute
depending on the value of the robot integer variable V1%. Within each case, we set a string variable V1$ to some
text describing what is happening and move the robot. At the end of each case we are go back step1.
The result of this is a behavior that can be described as:

Value V1% Result
Execute case 1:
- String variable V1$ set to "Executing Case1"
1
- Move to position 1
- Jump back to step 1 (waiting for new value)
Execute case 2:
2
Execute case 3:
3
Position 1-3 that are used in Appendix B for a NACHI MC70 is depicted in the figure on the next page.
Please note:
There are many ways of controlling big collections of robot programs from FlexGui. Please see the
www.flexgui.net where a main robot program is used for controlling other robot programs by a similar
principle.
4-9
Fig. 4.4-3 The positions for the cases 1-3
This example is very simple as the cases only results in simple positional change of the robot. However, any
traditional NACHI robot language could be placed inside of the cases. For example the content of the cases could
be picking and placing objects or any other application.
When you have created your robot program, you are ready to create the FlexProject to control and monitor it. This
example will show three alternative ways of controlling the integer variable V1%, which governs which case is
executed.
Start FlexGui Toolbox and create our new project, as depicted in the following figure.
Fig. 4.4-4 Create our new project
Depicted on this figure is a project where we can execute cases in three different ways, by either:
1. Clicking one of three buttons.

2. Select desired case from a ComboBox and confirming with a button.
3. Select desired case from a RadioButton and confirming with a button.
In addition, we will monitor wich case has been executed by reading the string variable V1$.
4-10
Fig. 4.4-5 Project with three ways of controlling V1% and monitoring of V1$
4-11
Method1 – Buttons
When you have successfully added the three first buttons, you may edit their onClickedscript by selecting them
and click "edit script" from the properties-pane.
Fig. 4.4-6 onClicked script of the first button
As depicted in this figure, the script inside the first button is:
[FG-SLIM]
LETVI V1%, 1
[JavaScript]
getRobotVariable(“V1%”).value = 1;
Add a similar script to the two remaining buttons, with the only change being that you modify the value to the right of
the comma to 2 and 3 for button 2 and 3, respectively.
Method2 – ComboBox
For the next part, add a ComboBox fidget, select it and edit its list-properties as depicted in the following figure.
Fig. 4.4-7 The values of the ComboBox's list.
When you have added these values to the ComboBox, we can edit the onClicked script of the associated
"Execute Selected Case"-button to execute the correct FG-SLIM snippet depending on the value of the ComboBox
as depicted in the following figure.
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Fig. 4.4-8 onClicked script of the button used for the ComboBox
As can be seen in this figure, we use IF-statements to make the button execute the appropriate snippet for
changing the integer variable. The IF-statements check the value of the ComboBox’s text-property by addressing its
path. To get the path to a Fidget, you can rightclick the Fidget in the Screen Contents-pane located in the lower left
in FlexGui Toolbox and select Copy Path.
[FG-SLIM]
IF (V"ComboBox/text"$="Case 1")
LETVI V1%, 1
ENDIF
LETVI V1%, 2
ENDIF
LETVI V1%, 3
ENDIF
[JavaScript]
If (getFidgetVariable(“ComboBox/text”).value == “Case 1”) {
}
}
}
Please note the use of V"path"$ - this is because we want to typecast the value into a string before comparing it in
the IF-statement.
4-13
Method3 – RadioButtons
Lastly, we can use radiobuttons to select the desired case to launch. When you have dragged the
RadioButton-fidget onto the screen, change its labelList entries by as depicted in the following figure. To make the
first radiobutton (case 1) the default selection, change the selected-property to 0. You may also adjust its height and
padding properties to suite your needs.
Fig. 4.4-9 The labelList of the RadioButton fidget.
Now we can edit the onClicked-event of the button we want to use for executing the selected case as depicted in
the following figure.
Fig. 4.4-10 onClicked script of the button used for the RadioButton.
In the code for this button, we again address a fidgetvariable through its path. We also use a simple expression
inside a parenthesis in the LETVI-command. The expression adds 1 to the value of the RadioButton's
selected-property. This is because it's start-index is 0, and therefore if we select the first radiobutton, the expression
will yield 1, and 2 for the second and so on.
[FG-SLIM]
LETVI V1%, (V"RadioButton/selected"%+1)
[JavaScript]
getRobotVariable(“V1%”).value = getFidgetVariable(“RadioButton/selected”).intValue+1;
Please note the use of V"path"$ - this is because we want to typecast the value into a string before comparing it in
the IF-statement.
4-14
Monitoring the program

Lastly, we add a label in the button of our screen to monitor which case is executed. This is done by binding as we
learned in the Hello World example. Add a label, and edit its text-property as depicted in the following figure.
Fig. 4.4-11 Properties of the Label
As can be seen from the picture, the text property has:

<b>Status:</b> {V1$}
The <b> and </b> that encapsulates Status: denotes that the text should be bolded, while {V1$}, tells
FlexGui to insert stringvariable 1. Consequenly, when case 1 is executed and the robot program sets V1$ to
"Executing Case 1", this string label will show: "Status: Executing Case 1"
We can now try the project by clicking the -button in FlexGui Toolbox. Remember to start playback of the
program in FD on Desk and connect preview to it by clicking the button located at the top of the preview window.
You should be able to manipulate and monitor the program as in the following figure.
Fig. 4.4-12 Runnig the example

Congratulations! You have now created a FlexProject that is able to manipulate and monitor a case-based robot
program in three different but functionally equal ways. Through this example you have been introduced to how
FlexGui can communicate with the conventional NACHI control system, and learned how to use ComboBoxes and
RadioButtons. You have also been introduced to how a FidgetVariable can be read in FG-SLIM through its path.
To learn more about how programming for FlexGui, please refer to the User Manual- or Guide to the FlexGui
Example Project document or visit the FlexGui Wiki. To deploy this project to your robot, please see chapter 4.5.
4-15
4.5 Uploading your FlexProject to a robot

(NOTE) To upload your FlexProject to the FD/CFD controller, the FlexGui running on the FD/CFD controller must be
licensed and configured to connect to your FlexGui Toolbox through ethernet. If this is not the case, please refer to
the User Manual’s configuration chapter. The document can be found on the www.flexgui.net.
FlexGui Toolbox Ethernet FlexGui
UPLOAD FD11
CFD
DOWNLOAD
The FlexProject Explorer is a part of FlexGui Toolbox. It enables both uploading and downloading of screens and
robot programs. When a FlexGui-enabled robot is connected to your FlexGui Toolbox1 , it will be available in the
menubar of FlexGui Toolbox.
As shown in the next figure, select the FlexGui that you wish to upload your project to, and start the FlexProject
Explorer.
Fig.4.5-1 Selecting FlexGui And opening FlexProject Explorer
4-16
The following figure shows FlexProject Explorer, where the local contents of FlexGui Toolbox is displayed on the
left and the contents of the connected FlexGui instance is displayed on the right. To make robot programs available
for the FlexProject Explorer, place the robot programs associated with the FlexProject inside a folder named
"Programs" inside of the projects folder.
Display the Connect screen from the teach pendant and then touch "Connect" button.
Fig.4.5-2 FlexProject Explorer
Select the Screen and the robot program and upload it to the FD/CFD controller by dragging it over to the right side
or click the ">" button. Now, the preparation to execute Flex project at FD/CFD controller is ready.
After selecting the robot program using the teach pendant, please run the robot program in the order below.
1.Select the PLAYBACK 2.MOTORS ON 3.PLAYBACK START
The FlexGui can start by [Enable]+[I/F] key.

Everything needed for running your project is now available on your FD/CFD controller!
4-17
4.6 Aiming the better development
4.6 Aiming the better development
So far, the basic features of the FlexGui were introduced. However, the FlexGui has the versatility like the
followings.
- Remote help and remote operation

- Data gathering and visualization
- Layout, backup, and the management of the all robots in the plant
- Remote troubleshooting using a mobile device, tablet device and web
For more information about the FlexGui, please access to the www.flexgui.net.
4-18
Chapter 5 FlexGui4.0
Explanations are given for FlexGui4.0 in this section.
5.1 Connection procedure for FlexGui4.0.......................................................5-1

5.1.1 Setting of the browser ...................................................................5-1
5.1.2 Connection of FlexGui4.0..............................................................5-5
5.2 Starting of FlexGui4.0...............................................................................5-7
5.2.1 Creating the project.......................................................................5-7
5.2.2 Open the existing project ..............................................................5-8
5.2.3 Ending of the project .....................................................................5-9
5.3 Operation procedure of FlexGui4.0 ........................................................5-10
5.3.1 Creating the new screen .............................................................5-10
5.3.2 Editing of the Fidget .................................................................... 5-11
5.3.3 Execution of the Fidget ...............................................................5-14
5.4 Operation screen of the FlexGui4.0........................................................5-15
5.4.1 Screen belt ..................................................................................5-15
5.5 Remote connection ................................................................................5-17
5.5.1 Internet connection of the controller ............................................5-17
5.5.2 Remote connection of the FlexGui4.0 .........................................5-21
5.1 Connection procedure for FlexGui4.0

FlexGui4.0 is capable of creating the interface that can take care of the robot programs and signals intuitively as
below at browser by connecting to the controller.
5.1.1 Setting of the browser

It is necessary to activate FlexGui4.0 at local host to connect FlexGui4.0 to the controller.
Operate it in the next procedure.
Caution: FlexGui4.0 only supports the latest version of Google Chrome browser.
１
Launch Google Chrome from the start menu of the computer, and open the setting
screen.
２ Indicate the advanced settings, and open [Change proxy settings] of the network.
5-1
３ Open the [Local Area Network Setting] of the [Connection] tab.

Place checks at “Bypass proxy server for local addresses”.
４ Next, open the ［Control Panel］］［Programs］

［］
［Programs
［］
［Turn
［
and Features］ Windows
］from Start menu.
features on or off］
5-2
５ Place checks at <Web Management Tools> and <World Wide Web Services> of the
<Internet information services>.
６ Check that http://localhost can run by Google Chrome.

７ Input “IIS”
” at the entry field of the start menu.
⇒ Open the Internet Information Service (IIS) Manager.
5-3
８ Press <Add application> of the [Default Web Site Home].
９ Input folder name of FlexGui4.0 at <Alias> and directory path of FlexGui4.0 at

<Physical path>.
10 Press “OK”
”.
5-4
5.1.2 Connection of FlexGui4.0

To connect FlexGui4.0 to the controller, operate in the next procedure.
１ Boost FlexGui of the controller.
⇒Boost FlexGui by referring at “2.3 How to start the FlexGui” and/ or “3.1 How to operate
the FlexGui”.
２ Open “http://localhost/*****” by Google Chrome.
⇒***** will be the Alias, set at the procedure ９ of “5.1.1 Setting of the browser”.
３ Open ［Edit mode］

］ >［
［Settings］
］>［
［Addons］
］>［
［Connections］
］.
４ Press <Create new>.

⇒Input the IP address, which set at the controller by referring to “2.1 Configuration”
5-5
５ Upon completion of settings, press Save.

６ Check that the check is at the “Connected” box.
5-6
5.2 Starting of FlexGui4.0
5.2.1 Creating the project

To create the new project, follow the following procedure.
１ Open the ［Edit mode］］［Settings］］［Project］
［］［Operations］
［］.
２ Press <Create> of the New project.

⇒ Press “OK” button.
３ New project indicates below.
5-7
5.2.2 Open the existing project

To create the existing project, follow the following procedure.
１ Open the ［Edit mode］］［Settings］
［］［Project］
［］.
２ Press <Choose File> of the Upload.

⇒File selection screen indicates as below.
３ Select the file of project.json and press the “Open” button.

⇒ Press “OK”.
４ Press “OK”, again.
5-8
５ Click “Close all” then, close the dialogue.
5.2.3 Ending of the project

To save the changes of the project, follow the next procedure.
１ Open ［Edit mode］］［Settings］
［］［Project］
［］.
２ Click <Save> of the Download.

⇒ Project is saved at the download folder.
5-9
5.3 Operation procedure of FlexGui4.0
5.3.1 Creating the new screen

To create a new screen, follow the next procedure.
１ Open [Add screen].
２ Click the “Save” button to save the settings.
Settings below can be done.

Has screen belt: Display or non-display of the screen belt.
Logo: Create the logo.
Logo position: Set the logo location.
Logo width: Set the logo size.
Name: Set the name of the screen.
Background type: Only color can be selected.
Background color: Select the color of the background.
<Duplicate>: Duplicate the selected screen.

<Delete>: Delete the selected screen.
<Move up>: Move the indication order of the screen belt up.
<Move down>: Move the indication order of the screen belt down.
5-10
5.3.2 Editing of the Fidget

To create and edit the Fidget, follow the next procedure.
A movement to switch the selector switch of the controller to teach/ playback is indicated at the FlexGui4.0
screen on the browser in the example below.
１ Open ［Edit mode］］［Settings］
［］［Nodes］
［］.
⇒ Select <Nodes>.
２ Press <Add variable> and select the variable.

⇒ Press “Subscribe” button.
5-11
３ Press “Close” and close the dialogue.
４ Press the added variables.
5-12
５ Input any variable value.

⇒ Press “Save” button.
６ Next, select the screen to add the fidget, and open the [Edit mode].
⇒ Drug the Fidget from the screen belt of the right side to the screen.
７ Drug the added Fidget to the screen belt <Prosperities> of the left side.
Edit screen of the fidget indicates as below.
⇒ Input the variable value, set at procedure ５ after @ in the <Value>.
８ Press “Save” button.
5-13
5.3.3 Execution of the Fidget

Here, execution procedure of the fidget, which is created at “5.3.2 Editing of the Fidget” are explained.
１ Close the [Edit mode].
２ Switch the selector switch of the controller to <Playback>.

⇒ Color of the Indicate will switch.
Linking the value of fidget with robot variable is successful above.
5-14
5.4 Operation screen of the FlexGui4.0
5.4.1 Screen belt

Screen belts are located at right and left side in the browser as below. Other than the screen, created by the user
and the system screen of the Table 5.4.1-1 or the edit screen of the 5.4.1-2 is possible to select from the screen
belt located at the left side. Selecting the Fidget can perform from the screen belt, located at the right side.
Please refer to “Appendix A: Fidget Overflow” regarding with the selectable Fidget list.
Table 5.4.1-1 System screen

Indicates Help of the screen belt.
Help
Becomes possible to edit / setting of the

screen.
Edit mode
Table 5.4.1-2 Edit screen

Indicates the settings screen.
Items below can be set.
・Add, edit or delete of the variables.
Settings ・Create, load and save of the project.
・Selection of the language
・Connection setting to the controller
5-15
Select the multiple fidgets.
Multi select
Delete the selected fidget.

Function as same even drugging the fidget to
the right side screen belt.
Delete
Release the selection of the fidget.
Unselect all
Bring back edit to the original.
Undo
Redo the edit.
Redo
Copy the selected fidget.
Copy
Cut off the selected fidget.
Cut
Paste the copied or cut fidget.
Paste
5-16
5.5 Remote connection

FlexGui4.0 can remotely operate via internet by communicating with FlexGui2.4, which runs at the side of
controller. It becomes useful to support the user since it enables the indication and the operation of the
FlexGui4.0 screen remotely by this.
Cautions: Permission from the non-operation side is necessary for safety to operate remotely.
The network below configure in this example.
5.5.1 Internet connection of the controller

It is necessary to connect controller to the internet so that FlexGui4.0 can remotely connect. In this example,
using ①Wi-Fi Router for LAN terminal and ②WAN 側 Wi-Fi Router for WAN side to connect as the figure
above.
Follow the next procedure to operate.
１ Perform settings for ①Wi-Fi Router for LAN terminal.
２ Open [Control panel] [Network and Internet] [Network connection] from start menu of
the computer.
5-17
３ Open property of <Internet Protocol version 4 (TCP/IPv4)> from the property of

Ethernet.
４ Set the IP address that is the same network as the LAN side IP address.
⇒ Please refer to the factory setting of the Wi-Fi Router for terminal, currently using
regarding with the LAN side IP address.
５ Connect ①Wi-Fi Router for LAN terminal and computer by Ethernet cable.
5-18
６ Launch the browser and input the LAN side IP address of the ①Wi-Fi Router for LAN
terminal to the address bar of the browser.
⇒ Refer to the factory setting of the Wi-Fi Router for terminal, currently using regarding with
the LAN side IP address.
７ Set the LAN side IP address to manual setting from [LAN setting].
⇒ Please input the IP address of the same network as the IP address, set at the controller
by referring to “2.1 Configuration”.
８ Set the information of the WAN-side Wi-Fi Router from ［無線設定 (Wireless set)］］［エ
アステーション間接続 (Connection between Air Station)］］.
９ Connect Wi-Fi Router for LAN terminal and the FD controller by Ethernet cable.
10 Check that the Wi-Fi Router for LAN terminal and the WAN-side Wi-Fi Router are
connected.
11 Enable the Wi-Fi of the computer and connect the computer and WAN-side Wi-Fi
Router.
5-19
12 Open the setting page of the WAN-side Wi-Fi Router, currently using.
⇒ Please refer to the document of the WAN-side Wi-Fi Router for the username and the
password.
13 By referring to “2.1 Configuration”, input the IP address of the same network as the IP
address, set at the controller for the setting of DHCP.
14 Enable the DMZ. Set the IP address of the controller to the DMZ IP address.
⇒ By referring to “2.1 Configuration”, input the IP address, which is set to the controller to
DMZ IP address.
5-20
15 Check the global IP address of the ②WAN side Wi-Fi Router.
5.5.2 Remote connection of the FlexGui4.0

By connecting to the controller and ① or ②, it enables the controller to connect to the internet at 5.5.1. And next,
connect a computer to launch FlexGui4.0 to different network then, connect to the controller FlexGui2.4 via
internet as the figure below ③-②.
Follow the next procedure.

１ Launch FlexGui2.4 of the controller.
⇒ Run the FlexGui2.4 referring at “2.3 How to start the FlexGui” or “3.1 How to operate the
FlexGui”
２ Connect the computer to run the FlexGui4.0 to the ③Wi-Fi Router of another network.
⇒ Open the setting page of the using Wi-Fi Router. (Refer to 12 of “5.5.1 Internet
connection of the controller”.)
３ Set the network settings of the DHCP of ③Wi-Fi Router same as computer.
⇒ Refer to 13 “5.5.1 Internet connection of the controller”.
４ Enable the DMZ of the ③Wi-Fi Router.
⇒ Set the IP address of the computer to run FlexGui4.0 to the DMZ IP address. (Refer to
14 of “5.5.1 Internet connection of the controller”
５ Launch FlexGui4.0 from Google Chrome.
Open ［Edit mode］］［Settings］
［］［Addons］
［］［Connections］
［］.
⇒Please refer to “5.1.2 Connection of FlexGui4.0”.
5-21
６ Press <Create new>.

⇒ Set the global IP address, checked at 15 of “5.5.1 Internet connection of the controller”.
７ If there is a check on <Connected> box then, remote connection has completed for
set connection.
5-22
Appendix
This section will guide you through the steps to create your first FlexProject
using the FlexGui Toolbox.
A Fidget Overview .......................................................................................... 1

B Robot program ............................................................................................ 3
A Fidget Overview
A Fidget Overview
Available in FlexGui
Available in FlexGui Toolbox - All fidgets available
1
A Fidget Overview
Available on FlexGui4.0
2
B Robot program
B Robot program
Robot program used in section 4.2:
ON V1% GOTO *case1,*case2,*case3,0,0,0,0,0,0,0

*case1
LETVS V1$,"Executing Case 1"
MOVEX A=1,AC=0,SM=0,M1W,P,(0,1000,900,0,0,180),R=100,H=1,MS, CONF=1000
GOTO 1
*case2
MOVEX A=1,AC=0,SM=0,M1W,P,(-700,1000,300,0,0,180),R=100,H=1,MS, CONF=0000
GOTO 1
*case3
MOVEX A=1,AC=0,SM=0,M1W,P,(-300,1000,1700,180,0,0),R=100,H=1,MS, CONF=1000
GOTO 1
END
(NOTE)
This is a source code of "Robot language" for NACHI robot controller. To run this program in the robot controller,
it is needed to "compile" this source code in the robot controller or the FD on Desk. Concerning the detailed
procedures, please refer to the instruction manual "ROBOT LANGUAGE".
3
B Robot program
NOTE
4
http://www.nachi-fujikoshi.co.jp/
Shiodome Sumitomo Bldg. 17F,

Phone: Fax:
Japan Main Office 1-9-2 Higashi-Shinbashi
+81-3-5568-5245 +81-3-5568-5236
Minato-ku, TOKYO, 105-0021 JAPAN
Nachi Robotic Systems Inc. (NRS) http://www.nachirobotics.com/
North America Headquarters Phone: 248-305-6545 Fax: 248-305-6542 42775 W. 9 Mile Rd. Novi, Michigan 48375, U.S.A
Indiana Service Center Phone: 248-305-6545 Fax: 248-305-6542 Greenwood, Indiana
Ohio Service Center Phone: 248-305-6545 Fax: 248-305-6542 Cincinnati, Ohio
South Carolina Service Center Phone: 248-305-6545 Fax: 248-305-6542 Greenville, South Carolina
Canada Branch Office Phone: 905-760-9542 Fax: 905-760-9477 89 Courtland Ave., Unit No.2, Concord, Ontario, L4K 3T4, CANADA
Urbina No.54, Parque Industrial Naucalpan, Naucalpan de

Mexico Branch Office Phone :+52-555312-6556 Fax:+52-55-5312-7248
Juarez, Estado de Mexico C.P. 53489, MEXICO
NACHI EUROPE GmbH http://www.nachi.de/

Phone: Fax:
Central Office Germany Bischofstrasse 99, 47809, Krefeld, GERMANY
+49-2151-65046-0 +49-2151-65046-90
Phone: Fax: Unit 3, 92, Kettles Wood Drive, Woodgate Business Park,
U.K. branch
+44-0121-423-5000 +44-0121-421-7520 Birmingham B32 3DB, U.K.
Phone: Fax: Obchodni 132, 251 01 Cestlice, PRAGUE-EAST

Czech branch
+ 420-255-734-000 +420-255-734-001 CZECH REPUBLIC
Phone: Fax: Ataturk Mah. Mustafa Kemal Cad. No:10/1A 34758

Turkey branch
+ 90-(0)216-688-4457 +90-(0)216-688-4458 Atasehir / Istanbul - TURKEY
NACHI AUSTRALIA PTY. LTD. http://www.nachi.com.au/

Robotic Division & Phone: Fax:
38, Melverton Drive, Hallam, Victoria 3803, , AUSTRALIA
Victoria office +61-(0)3-9796-4144 +61-(0)3-9796-3899
Phone: Fax:
Sydney office Unit 1, 23-29 South Street, Rydalmere, N.S.W, 2116, AUSTRALIA
+61-(0)2-9898-1511 +61-(0)2-9898-1678
Phone: Fax:
Brisbane office 7/96 Gardens Dr,Willawong,QLD 4110, , AUSTRALIA
+61-(0)7-3272-4714 +61-(0)7-3272-5324
NACHI SHANGHAI CO., LTD. http://www.nachi.com.cn/

Phone: Fax: 11F Royal Wealth Centre, No.7
Shanghai office
+86-(0)21-6915-2200 +86-(0)21-6915-2200 Lane 98 Danba Road Putuo District, Shanghai 200062, China
NACHI KOREA http://www.nachi-korea.co.kr/

2F Dongsan Bldg.
Phone: Fax:
Seoul office 276-4, Sungsu 2GA-3DONG, Sungdong-ku,
+82-(0)2-469-2254 +82-(0)2-469-2264
Seoul 133-123, KOREA
Copyright NACHI-FUJIKOSHI CORP.

Robot Division
1-1-1, FUJIKOSHIHONMACHI, TOYAMA CITY, JAPAN 930-8511
Phone +81-76-423-5137
Fax +81-76-493-5252
NACHI-FUJIKOSHI CORP. holds all rights of this document. No part of this manual may be photocopied or
reproduced in any from without prior written consent from NACHI-FUJIKOSHI CORP. Contents of this document
may be modified without notice. Any missing page or erratic pagination in this document will be replaced.
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Original manual is written in Japanese.

Tfden 161 003 Flexgui

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1.2 About the software version.................................................................................................. 1-2

1.3 About the license................................................................................................................. 1-3

Chapter 2 How to start FlexGui

2.2 User Application .................................................................................................................. 2-3

Chapter 4 Getting started with FlexGui Toolbox

4.3 Executing the Screen .......................................................................................................... 4-7

4.4 Interacting with robot programs........................................................................................... 4-8

4.5 Uploading your FlexProject to a robot............................................................................... 4-16

4.6 Aiming the better development ......................................................................................... 4-18

This section will introduce FlexGUI.

1.1 Introduction ..............................................................................................1-1

When you’ve read through this document it is recommended to continue

1.2 About the software version

System configuration of FlexGui2.4 and FlexGui4.0 are as below.

1.3 About the license

Table 1.3-1 FlexGui license

The created screen can be saved

The communication between the PC in which the FlexGui

(Reference) How to display the "FlexGui ID"

2 Press [Enable]+[I/F] key to start the FlexGui.

3 Touch the [Tap to begin]

If this screen is not displayed, touch [Connect].

4 The "FlexGui ID" displayed.

5 At this time, a temporary "license.dat" is generated in the "WORK¥FlexGUI"

(Reference) How to install the license file

2 Turn ON the robot controller power.

3 Open <Service Utilities> - [36 User Application entry]

5 Make the following settings.

(1) Device(src) : RC External memory (USB memory)

Area selection : Left/right cursor keys

Item selection : Up/down cursor keys

Determine the selected item : [Enter] key

6 Press <f12 Execute>.

7 Turn OFF and ON the robot controller's power.

2.1 Configuration ............................................................................................2-1

FlexGui Toolbox FlexGui

At least, check the following setting.

After modifying the value of "FlexServerAddres" in the "¥WORK¥FlexGUI¥config.ini" on your PC,

POINT If the "config.ini" is changed, the FlexGui must be re-started.

2.2 User Application

3 Set the cursor to the "Application 1" and press [Enter].

5 After the selection, press <Complete>.

Table 2.2.1 User Application setting items

Disabled : The application will not start when turning ON the

2.3 How to start the FlexGui

(1) Automatic start (when the FD/CFD controller is turned ON)

3 Change the "Automatic" to "Enabled" and then press <Complete>.

Software key start

3 Assign "2501 User Application" for the ENABLE side.

4 Press [Enable] key.

5 Press [Enable] +"User Application" key.

7 Select [YES] to start the User Application.

Input signal start

2 After assigning the signal numbers, press <Complete> to save.

Parameter Description Default

3.1 How to operate the FlexGui......................................................................3-1

3.1 How to operate the FlexGui

3.1.1 Starting the FlexGui

1 Turn On the power of the robot controller.

2 Press [Enable]+[I/F] to start the FlexGui.

In case of FlexGui 2.0

In case of FlexGui 2.4

3 Tap the [Tap to begin]