YASKAWA

FC1 Emulator for Windows

USER’S MANUAL

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

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 General Precautions
• Diagrams and photos in this manual are used as examples only and may differ from
the actual delivered product.
• This manual may be modified when necessary because of improvement of the
product, modification, or changes in specifications.
Such modification is made as a revision by renewing the manual No.
• To order a copy of this manual, if your copy has been damaged or lost, contact your
YASKAWA representative listed on the last page stating the manual No. on the front
page.
• YASKAWA is not responsible for any modification of the product made by the user
since that will void our guarantee.

• Software supplied with this manual is intended for use by licensed operators only
and may only be used or copied according to the provisions of the license.

• Reproduction of any part of this manual without the consent of YASKAWA is

forbidden.

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CONTENTS
1. INTRODUCTION 4
1.1 What Is FC1 Emulator for Windows? 4
1.2 Required Environmental Conditions 4
1.3 Hardware Lock Key 4
1.4 Transmission Cables 6
Specifications of Transmission Cables 6
Connections of Transmission Cables 7
1.5 Installation 8

2. DESCRIPTION OF DISPLAYS 10
2.1 “FC1 Emulator for Windows” Display (Main Display) 10
List of tool bars 11
2.2 “Select Language” Display 12
2.3 “Select Folder” Display 13
2.4 “Create Folder” Display 13
2.5 Job Display 14
2.6 File Display 14
2.7 “Port Setup” Display 15
2.8 “Executing Condition” Display (FC1 Setting Display) 15
2.9 “Select Controller” Display 16

3. OPERATION PROCEDURE 17
3.1 Startup and Completion of FC1 Emulator 17
3.2 Language Selection 18
3.3 Setting and Creating of Folder 19
Setting of folder 19
Creating of folder 19
3.4 Save and Load of Robot Data 20
3.5 Storage of Overwritten Robot Data 21
3.6 Display of Job Contents 22
3.7 Display of File Contents 22

4. APPENDIX 24
4.1 Frequently-asked questions 24

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1. INTRODUCTION

1.1 What Is FC1 Emulator for Windows?

FC1 Emulator is the corresponding software to the external memory function of DX100,
NX100, YASNAC XRC/MRC/ERC on personal computer.

1.2 Required Environmental Conditions

OS Microsoft Windows 95/98NT4.0/2000/XP *

Required memory 16Mbytes or more
CPU Pentium 90MHz or more
Hardware disk capacity 6Mbytes or more
Display Supported by MS-Windows (256 colors or more)
Mouse Supported by MS-Windows
Robot Controller DX100, NX100, YASNAC XRC, MRC, MRC2, ERC, ERC2
Hardware lock key Used under single user environment
For details, refer to the following section “Hardware
Lock.”
Transmission cable RS-232C cable or equivalent
*: MS-Windows95, MS-Windows98, MS-WindowsNT4.0, MS-Windows2000,
MS-WindowsXP is a trademark of Microsoft Corporation, U.S.A.

1.3 Hardware Lock Key

For proper operation, install the provided hardware lock key to personal computer before
using this software.

Perform <Checking the computing environment> and <Installing the driver> explained
below before connecting the key to the personal computer. Connect the key to the USB port
after completing those procedures.

<Check the computing environment>

Multi-connection of USB type key is not available for one USB port because of hardware
structure. Therefore, only one key can be connected to one USB port. When installing
multiple software with USB keys into one personal computer, use the personal computer
which provides at least same numbers of USB ports as the number of software to be
installed.

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<Installation of driver>
Be sure to install the driver with key detached from personal computer.

For Windows 2000/XP/Vista environment

･ Execute "¥SentinelDriver¥Sentinel System Driver Installer 7.4.0.EXE" of the
installation CD-ROM.
･Refor to "¥SentinelDriver¥Manual¥us¥ReadMe.pdf" for the installation procedure.

For Windows NT4.0 environment

･Execute "¥SentinelDriver¥SSD5411¥SSD5411-32bit.EXE" of installation
CD-ROM.
･Refer to "¥SentinelDriver¥SSD5411¥Manual¥us¥Readme.pdf" for the installation
procedure.

Note : 1.The necessary drivers must be install for Windows NT4.0/2000/XP/Vista

environment.
2.When installing the driver under Windows NT4.0/2000/XP/Vista environment,
be sure to login in administrator mode in order to add files to system folder
and input information in registry
3.If a key is connected to the personal computer before installing the driver,
Windows wizard ([Add New Hardware] Wizard) starts up. In this case, press
[cancel], and remove the key from the personal computer and then install the
driver.

Refer to "4.1 Frequently-asked questions" for other countermeasures concerning

hardware lock key.

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1.4 Transmission Cables
This software requires transmission cables for transmission.
! Specifications of Transmission Cables
Connect the transmission cables as shown in Fig. 1.4.1.

[IBM PC/AT version]

DX100, NX100,
YASNAC XRC Personal computer
(D-sub 9-pin female) (D-sub 9-pin female)
RD 2 3 SD
SD 3 2 RD
SG 5 7 RS
RS 7 8 CS
CS 8 5 SG
FG HOOD
CASE

YASNAC MRC/ERC Personal computer

(D-sub 25-pin male) (D-sub 9-pin female)

SD 2 2 RD
RD 3 3 SD
RS 4 5 SG
CS 5 7 RS
SG 7 8 CS
FG 1

Fig. 1.4.1 Transmission Cables

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! Connections of Transmission Cables
[Personal computer]
Insert the transmission cables into the serial port |Ο|Ο| on the personal computer.
[Controller]
The connector RS-232 on the controller is in the following locations.
Insert the transmission cables into the specified connectors.
The cables can be connected even when the power of the controller is on.

DX100 NX100
The Control Circuit Board On the bottom of the Control Circuit
(JANCD-YCP01-E) in the CPU Board (JANCD-NCP01) in the CPU
Unit Unit

XRC MRC ERC

In the programming In the sub-panel of the In the auxiliary panel
pendant playback box of the front on the
operator’s panel

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1.5 Installation
1) Turn ON the power supplies to the computer and the display.
2) Start up Windows.
3) Set the installation CD to the CD-ROM drive.
4) Press the [Start] button in the task bar and select [Setting]. Then select [Add/Remove
Programs] from [Control Panel]. The [Add/Remove Programs Properties] display
appears. (See Fig. 1.6.1.)

Fig. 1.6.1 “Add/Remove Programs Properties” Display

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5) Click the [Install] button and follow the instructions in the display to set
[FC1Emulator setup.exe] of the CD-ROM disk drive. (See Fig. 1.6.2.)

Fig. 1.6.2 “Run Installation Program” Display

6) Click the [Finish] button. The installation program appears. Then, follow the
instructions on the display.
7) When setup is completed, the [FC1 Emulator for Windows] icon appears in the
[Start]-[Program]-[Motoman]-[FC1 Emulator for Windows] group.
8) Connect the hardware lock key to the printer port. For details, refer to “1.3 Hardware
Lock Key.”.

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 2. DESCRIPTION OF DISPLAYS

2.1 “FC1 Emulator for Windows” Display (Main Display)

Displays path of Selects displayed

Tool bars currently opened folder. contents of data under
transmission.

Displays
Displays files in Displays file type of Clears displayed data under
currently opened currently opened folder. contents of transmission.
folder. transmission status.

Fig. 2.1.1 “FC1 Emulator for Windows” Display

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! List of tool bars
[Select Controller] screen appears. Select the controller, FC1 Emulator for Windows
enters the transmission mode so that FC1 can be operated by controller side.
Selecting [Start FC1] command in the [FC1] menu can specify the same function.
FC1 Emulator for Windows completes the transmission mode.
Selecting [Quit FC1] command in the [FC1] menu can specify the same function.
Sets or creates a folder to be operated.
Selecting [Folder] command in the [File] menu can specify the same function.
Displays the selected job contents. If a file other than the job is selected, this
function is disabled.
Selecting [View Job] command in the [View] menu can specify the same function.
Displays the selected file contents. If a CMOS file or JBR file is selected, this
function is disabled.
Selecting [View File] command in the [View] menu can specify the same function.
Updates the file information in the folder displayed in [File Information].
Selecting [Refresh] command in the [View] menu can specify the same function.
Completes FC1 Emulator for Windows.
Selecting [Exit] command in the [File] menu can specify the same function.

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2.2 “Select Language” Display

Selects language.

Completes this
display after
storing modified
contents.

Completes this
display without
storing modified
contents.

Sets font.

Edits
language file.

Sets whether this display will

appear at startup of program.

Fig. 2.2.1 “Select Language” Display

Note: Only Japanese and English are supported. To display the data in other language,
the language file must be translated.

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 2.3 “Select Folder” Display

Completes this
Displays currently Displays files of display after
opened folder path. currently opened folder. storing modified
contents.

Completes this
display without
storing modified
contents.

Selects folder. Selects drive. Creates folder.

Fig. 2.3.1 “Select Folder” Display

2.4 “Create Folder” Display

Pressing the [Create] button in the [Select Folder] display (Fig. 2.3.1) displays the
following [Create Folder] display. In this display, a folder can be created.

Creates folder of input

name.

Input folder name to be

created. Completes this display
without storing input
contents.

Fig. 2.4.1 “Create Folder” Display

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 2.5 Job Display
Number of
Selected job name lines/steps of job

Selects display
information.

Displays selected
job information. Completes this
display.

Fig. 2.5.1 Job Display

2.6 File Display

Selected file name

Displays selected
file contents.

Completes this
display.

Fig. 2.6.1 File Display

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 2.7 “Port Setup” Display

Completes this
display after
storing
modified
Setting of
communication
speed

Completes this
display without
Setting of storing
stop bit modified

Setting of Displays controller

parity parameter
information.

Setting of serial port Setting of data length

Fig. 2.7.1 “Port Setup” Display

Note: To change the setting of the above display, the corresponding parameters at the
controller side must be also changed.

2.8 “Executing Condition” Display (FC1 Setting Display)

Completes this
display after storing
Sets whether overwrite is modified contents.
permitted.

Sets whether this display

is displayed at startup of
Completes this display
program.
without storing modified
contents.

Fig. 2.8.1 “Executing Condition” Display

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2.9 “Select Controller” Display
Push button or select [Start FC1] command of the [FC1] menu, controller selcet
screen (Fig 2.9.1) appears.
IF the selected controller is
the case of other than DX100, select [FC1(NX100 etc)],
the case of DX100 , select [FC1DX(DX100)].

Fig. 2.9.1 “Select Controller” Display

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3. OPERATION PROCEDURE

3.1 Startup and Completion of FC1 Emulator

1) Press the [Start] button in the task bar menu, and select [FC1 Emulator for Windows]
of [MOTOMAN] from [Program]. “FC1 Emulator for Windows” starts up to display
the main display (Fig. 3.1.1).

Fig. 3.1.1 “FC1 Emulator for Windows” Display (Main Display)

2) To complete the FC1 Emulator for Windows, click the button of the tool bars or
select [Exit] command in the [File] menu.

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3.2 Language Selection
1) Select [Select Language] command of the [View] menu in the main display (Fig. 3.1.1).
“Select Language” display (Fig. 3.2.1) appears.

Fig. 3.2.1 “Select Language” Display

2) Select the language to be displayed in the “Select Language” display, and click the [OK]
button. Clicking the [Cancel] button returns to the main display without changing the
language.
3) By clicking the [Ignore language selection at program start] check box to input the
check mark, this display does not appear at startup of the FC1 from the next time. By
clicking the check mark of [Ignore language selection at program start] check box again
to eliminate it, this display appears at startup of the FC1 from the next time.

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3.3 Selecting and Creating of Folder
! Selecting of folder
1) Click the button of the tool bars in the main display (Fig. 3.1.1) or select [Folder]
command of the [File] menu. “Select Folder” Display (Fig. 3.3.1) appears.

Fig. 3.3.1 “Select Folder” Display

2) Select a folder where the robot data are to be saved and click the [OK] button in the
“Select Folder” display. Clicking the [Cancel] button returns to the main display
without changing folder.

Note: The operation of this paragraph is not enabled during transmission.

! Creating of folder
1) Select a certain folder in the “Select Folder” display (Fig. 3.3.1) and click the [Create]
button. The [Create Folder] display (Fig. 3.3.2) appears.

Fig. 3.3.2 “Create Folder” Display

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 2) Input the name of a folder to be created in the “Create Folder” display, and click the
[OK] button. A folder with the input name is created under the selected folder in
the “Select Folder” display. Clicking the [Cancel] button does not create a folder.

Notes: 1. The folder created at the first startup of the FC1 Emulator for Windows is
the current folder. At the second startup and after, the folder is the
current folder that was opened at completion of the previous time.
2. The operation of the above is disabled during transmission.

3.4 Save and Load of Robot Data

1) Select the button of the tool bars in the main display (Fig. 3.1.1) or select the [Start
FC1] command of the [FC1] menu. The FC1 Emulator for Windows enters the
transmission mode so that the FC1 can be operated at the controller side. (See Fig.
3.4.1).
During FC1 startup

Fig. 3.4.1 “FC1 Emulator for Windows (Now Executing)” Display

(Main Display During FC1 Startup)

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 2) Perform FC1 operation at the controller side. (The folder to be transmitted is the
folder selected in the “Select Folder” display.) For the operation method, refer to each
controller “Operatior Manual”.
3) At completion of FC1 operation at the controller side, select the button of the tool
bars or select [FC1 Interrupt] command of the [FC1] menu.

3.5 Storage of Overwritten Robot Data

1) Select [Executing Condition] command of the [FC1] menu in the main display (Fig.
3.1.1). Then [Executing Condition] display (Fig. 3.5.1) appears to set overwritten data
storage of the robot data.

Fig. 3.5.1 “Executing Condition” Display (Setting at FC1 Execution)

2) By clicking the [Overwrite] check box to input the check mark, overwritten data can be
stored when the robot data are stored. By clicking the check mark of [Overwrite]
check box again to eliminate it, storage of the overwritten robot data becomes disabled.
3) By clicking the [Display this dialog when FC1 starts] check box to input the check mark,
this display appears from the next time at startup of FC1. By clicking the check mark
of [Display this dialog when FC1 starts] check box again to eliminate it, this display
does not appear at startup of FC1 from the next time.

Note: 1. At the first startup of the FC1 Emulator for Windows, the settings of the
[Executing Condition] display are made invalid. The settings after the first
startup are the same as the settings made at completion of the previous time.
2. The operation above is disabled during transmission.

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3.6 Display of Job Contents
1) Select the job name to be displayed in the main display (Fig. 3.1.1).
2) Select the button of the tool bars in the main display or select the [Job Contents]
command in the [View] menu. Then the job display (Fig. 3.6.1) appears to display the
selected job contents.

Fig. 3.6.1 Job Display

3) Select the information to be displayed among [Header], [Position] or [Instruction].

Click one to change the displayed contents.
4) After the job data are referenced, click the [Close] button to return to the main display.

Note: The operation of the above is disabled during transmission.

3.7 Display of File Contents

1) Select the file to be displayed in the main display (Fig. 3.1.1).
2) Select the button of the tool bars in the main display or select the [View File]
command of the [View] menu.

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3) File display (Fig. 3.7.1) appears to display the selected file.

Fig. 3.7.1 File Display

4) After the file data are referenced, click the [Close] button to return to the main display.

Note The operation of the above is disabled during transmission.

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4. APPENDIX

4.1 Frequently-asked questions

1When the messages listed below appear, take the following corrective actions.
『Can not open communication port. 』
The hardware lock key is not correctly connected.
Verify that the hardware lock key is correctly connected to the printer board.

2When the messages listed below appear, take the following corrective actions.
『Can not connect communication port. 』
The settings for the communication ports are not correct.
Select [Port Setup] in the [FC1] menu, and correct the settings for the “COM Port.”

3When the driver has been installed with USB type key connected to personal computer
1.Under the state that the USB type key is attached to personal computer, delete the
item registered as “USB Token” in Device Manager.
2. Uninstalled the driver (Sentinel System Driver 5.41.1(32-bit)) with [Add/Remove
Programs].
3. Install the driver with key detached from personal computer.
With the procedure above, the driver can be performed normally.

4 When a older version key driver has been installed over a newer key driver version.
In such case, the key driver may not operate properly.
Uninstall the Sentinel System Driver with Windows "Add / Remove Programs" function.
Then reinstall the Sentinel key driver. For details, please refer to section " 1.3
Hardware Lock Key " of the manual.

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