FDDWIN32, ver. 4.

00

User’s manual, FDD

MOTOMAN ROBOTICS AB
a subsidiary of YASKAWA Electric Corporation
Page left blank, by purpose.
 MOTOMAN
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FDDWIN32 manual
AB Page: 1

1. General ..................................................1
Copyright 2
FDD-kit 2
2. Hardware and software demands.......... 2
Cable 2
3. Hardware setting ...................................3
I/O and IRQ setting 3
4. Installation .............................................3
Software installation 5
After installation 8
Uninstall 8
Communication parameters 9
Hardware connection 10
5. FDD functions ......................................11
File menu 11
Select language 13
Help 14
6. Program structure ................................ 15
Files 15
Commands 16
7. Program running ..................................17
Start 17
Running from the robot 18
How to select item 20
Selecting a item (job) 21
Open a robot job 22
Editing a language file 24
Create a new language file 25
8. Name of saved files ............................. 26
9. Trouble shooting ..................................28
10. Windows NT ........................................29
11. FDD-version ........................................29
Manufacturer 29

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Revision
97-03-25 First edition of this manual

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FDDWIN32 manual
AB General Page: 1

FDD for Windows (32-bit)

Valid for FDD for Windows, version 4.00 (Motoman part No. 441108-99).

Fig.1
Main screen

1. General
FDD is a 32-bit PC-software.
The purpose with FDD is....
- One way communication from up to four MOTOMAN robots to one PC.
- Connection to both ERC and MRC controllers.
- Replaces disk drives type FC1 / FC2.
- Expanded storage area for robot jobs in the PC.
- Editing the robot job is not possible by this program.
- This is a multi language version of FDD which gives you the facility to
switch between 11 languages and even create new language files.

For more basic information about installation and handling of the

software, icons, menu bars, etc. refer to the operator’s manual for
Windows 95 or Windows NT.

This manual shall always be available to operator.

This Operator’s Manual comprises information about:
Installation / Setup / Handling / operation

Text written in BOLD letters means command, icon or button.

Text written in ITALIC means text shown on display.

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1.1 Copyright
The diskettes for FDD-program may not be copied or imparted to a third
party nor be used for an unauthorized purpose. Copies may be done
only for own backup.
This manual may not be copied or imparted to a third party nor be used
for an unauthorized purpose.

1.2 FDD-kit
FDD-kit comprises:
- Two diskettes (for FDD and NT drivers)
- One hardware key
- One manual
- One registration card

FDD-Kit does not comprise:

- Cables Motoman part No 341779-xx (xx =length code)
- Adaptors

Further you may have need for:

- Programming manual for your robot controller.
- Operator’s manual for Windows 95 or Windows NT.

2. Hardware and software demands

- One PC type 386 or better, 4 Mb RAM, 2 Mb disk space.
- 3,5”-diskette station, 1,44 Mb.
- Colour monitor (not necessary).
- Windows 95 or Windows NT.
- If three or four robots are to be connected, the computer must be
equipped with an extra board including two extra Com-ports.
- YASNAC ERC or YASNAC MRC robot controller.
- RS232 adaptor, 9-pole to 25-pole.
- Protective hood, if the PC is installed in the workshop.

2.1 Cable
Communication between PC and robot controller via RS232-serial
Cable length max. 15 m to each robot-controller. It is possible to use
short-distance-modem if the distance is longer.
Com1 and Com3 are 9-pole plugs.
Com2 and Com4 are 25-pole plugs
Cable layout, see figure.

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(Ground / shield)
1 1 1
2 2 2
3 3 3
4 4 4
5 5 5
6 6 6
7 7 7
8 8 8
13 9 9
20 20
25 25
Cabel Adaptor
ERC/MRC PC 25-pole PC 9-pole
Fig.2 Cabel and adaptor

3. Hardware setting
3.1 I/O and IRQ setting
For communication the following settings is recommended in the PC.

port I/O IRQ

Com1 03F8 4
Com2 02F8 3
Com3 03E8 5
Com4 02E8 9

Setting of I/O and IRQ is made by software in Windows under the icon
Control panel / ports.
This is the normal setting forCom1 and Com2. For the extra board
(Com3 and Com4) it could be needed to move jumpers direct on the
board.

4. Installation
Together with this manual two installation diskettes are included.
These diskettes contains the FDD-program in compressed form.
The license is valid for communication with up to four robots from one
PC. The hardware key can only be use on one PC at a time.
It is advisable to create separate directories for the robot jobs, name
them for example; robot-1, robot-2, etc, see figure.

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For more information, see Windows user’s manual.

C:\ Fig.3 Directory layout

Program

Motoman

Fddwin32

robot-1

robot-2

Files loaded into the PC file system will get an extension of.jbr .jbi .dat
.prm .cnd .lst .sys or .hex dependinng on typ of file.
See further information at the end of this manual.

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4.1 Software installation

There are three ways to start installation of this software, all will give
the same result. The most common way is described below.
a) Put the first FDD-diskette named #1/2 in the disk-drive.
b) Click on the Start button on the menu-bar.
c) Choose Run from the menu.
d) Browse to drive A:\
e) Choose the file named SETUP.EXE
f) Click OK.

Fig.4 Choose installation file

g) Choose OK and the installation guide will start.

h) You can quit the installation att any time by clicking theCancel-
button and then confirm by Yes-button.

Fig.5 You can cancel

installation at any time

i) Mark the language you want to use during installation.Note! This

will not influence the language you use in FDDWIN32 later.
j) Click on the OK-button.

Fig.6 Language selection

during installation

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k) Pass this information screen by clicking theNext-button.

Fig.7 Information screen

l) Read through the license agreement and accept by clicking on the

Next-button.

Fig.8 License
agreement. Accept by
clicking Next.

m) Set directory for FDDWIN32. It’s advisable to install the software in

the directory which is set as default by the installation guide.
n) Accept by clicking Next-button.

Fig.9 Choose
directory

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o) Accept installation process by clickingNext-button.

Fig.10 Start installation

p) Installation starts.

Fig.11 Installation
progress counter

q) After some time you are told to enter disk #2/2.

r) Insert disk and click on OK-button.

Fig.12 Insert disk #2

s) The installation is finished and the last screen appears.

t) Accept installation by clicking theFinish-button.

Fig.13 Installation
complete

u) Before it is possible to run the software, the hardware key must be

installed on the parallel port.

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4.2 After installation

After installation, fill in and return the registration card to Motoman
Robotics AB.

During installation the main directory is automatically created and all

necessary files are installed in the specified drive.
In the end of the setup a program group (MOTOMAN) and a icon is cre-
ated. To start FDD for Windows just double-click on theStart Menu.
If you want to create a shortcut to FDDWIN32, see Windows manual for
further information

4.3 Uninstall
As in all WIN95/NT softwares there are an uninstall facility if you want to
remove the software from the hard disk.
a) Start the Control panel from the start menu. SelectAdd/Remove
button from the menu.
b) Mark the line FDDWIN32 from the menu.
c) Click Add/Remove button.

Fig.14 Mark the FDDWIN32

software

d) Activate uninstall guide by Next-button.

Fig.15 Automatic uninstall

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e) End the operation by clicking theFinish-button.

Fig.16 Uninstall

4.4 Communication parameters

The communication protocol is very special, (for more information see
YASNAC ERC or YASNAC MRC computer communication User’s
manual.)
Communication parameters in the PC shall be set as follows:
Baud rate 4800
Data bits 8
Stop bits 1
Parity check 2 (even)

a) Click on File in the menu.

b) Click on Port setup.
A menu is displayed, normally it’s not necessary to make any chan-
ges in this settings.
c) When the settings are ok, click onOK.

Fig.17 Port setting menu

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4.4.A Robot parameters

To establish communication between robot controller and PC some
parameters have to be set in the ERC/MRC.
Contact your MOTOMAN-representative if in doubt.

ERC ERC MRC

Version -> 4.00 4.20 ->
RS000= (*) Std. port #1
RS001= (*) Std. port #2
Data bit RS00=8 RS020=8 RS050=8
Stop bit RS01=0 RS021=0 RS051=0
Parity RS02=2 RS022=2 RS052=2
Speed RS03=32 RS023=32 RS053=6
RS054=0
RS055=0
RS056=0
RS057=0

4.5 Hardware connection

ERC
Connect the 25-pole cable connector to the 25-pole socket underneath
the lid at the front of the CRT-panel.

MRC
Connect the 25-pole cable connector to the 25-pole socket underneath
the lid at the front of the door-panel =Std. port #1.
Connect the 9-pole adaptor to the 9-pole socket inside MRC located at
MCP01-board = Std. port #2.

(*) Settings for parameter RS000 / RS001:

0 = Not used
1 = Printer
2 = Data transmission protocol (PC as host)
3 = FC1 protocol (FDD software)

To run FDDWIN32 you must setRS000 or RS001 to value ”3” according

to which connector you will use (Std. port #1 or Std. port #2).
The ports can not have the same setting!

Hardware key
To be able to run the program it is necessary to apply the hardware key.
Mount the hardware key on the parallel port of the PC.
For Windows NT applications, see separate chapter.

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5. FDD functions

Fig.18 FDD setting

5.1 File menu

5.1.A Select Directory
From this menu you select to which directory you will copy your robot
files.

5.1.B Display File Contents

By first selecting a file in theFile Information window and then use
this command, the choosen file is opened in Windows Notepad.
You can also start Notepad by doubble-click on the file directly.

5.1.C Create directory

A new directory can be created direct from the Select Directory menu.
Just write the new name in the ”Directory:”-box in the right place and
click on the Create-button. The Windows system can handle (max
255 characters).

5.1.D Overwrite
Under this menu it’s possible to set the basic functions for file-copy.
If Overwrite is marked when the files are sent from the robot control-
ler the files in the user directory will be written over without warning!
If Overwrite is not marked an alarm messages will be sent if the file
already exists in the user directory. Erase the file or switch to another
user directory.

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5.1.E Advanced Mode

(Valid only for MRC version 3.9xx or higher)

By this function you can create new or change to another directory in the
PC from the Teachbox.
To get this function to work the checkbox infront of the text ”Advanced
Mode” in the menu must be marked.
When you want to create a new directory from the teachbox the file
name is limited to 8 characters.

Press FUNC to get the right software func-

tions.

Press F1 [FDD] and a number of new soft-

ware functions will appear

FDD PSHIFT PIAM

F1 F2 F3 F4 F5 MORE

Choose F1 [FC1] corresponding to the desi-

red device. The external memory unit display
appears.

FC1 FC2 PC ➤
F1 F2 F3 F4 F5 MORE

Choose MORE and then press F1 [DIR]

DIR QUIT ➤
F1 F2 F3 F4 F5 MORE

Choose F1 [CHG DIR].

CHG DIR Prev DRV Next DRV Root DIR QUIT ➤

F1 F2 F3 F4 F5 MORE

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The following screen is displayed.

J:TEST S:003 LOCK 1CYCLE STOP FCTN
DIRECTORY LIST
TARGET DIR: MOTOMAN DIR. NUM :001
DRIVE :C

ROTSY32 MKEYUP FDDWIN32

!
ROOT UP DOWN MK DIR QUIT
F1 F2 F3 F4 F5 MORE

By using the keys F1 / F2 / F3 you can

move around in the file system.

Always be aware of the file stated in TARGET DIR:, this will be

the directory where the files are stored.

By key F4 [MK DIR] you can create a new directory in the PC.
Note! You are limited to 8 characters in the file name.

5.2 Select language

Every time you start FDD for Windows version 4.00 you will be given
the facility to choose language for menues and commands.

Fig.19 Multi language

Choose language and then click on theOK button.

Note!
Japanees language can’t be displayed in an European computer.

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It is even possible to correct and change each word or to create a totally

new language file, see separate chapter in this document.

If you don’t want to display this window every time you start the FDD
software, just mark the line ”Ignore language selection at program
start”.

You also have the facility to change the font in the menues. If the
”Default Fonts will be used” is marked MS Sans serif will be used.
If you unmark the funktion a dialogue box from Windows system will
appear and you have the facility to choose font (style).

5.3 Help

Fig.20 Help menu

From the Help menu you get short information about commands, func-
tions, etc. which can be helpful when you run the software.

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6. Program structure
FDD is a Windows based communication program for connection bet-
ween a PC and MOTOMAN industrial robots, controller type ERC or
MRC.

6.1 Files

FC1.ini

Terminal
FDD
MOTOCOM32 Robot
Main file .dll controller

Keyboard
Fig.21 Data flow

FDD consists of one main file communicating with the user and con-
trolling the main functions. The main file is written in Visual Basic
which is a Windows based designer program. Therefore, the functions
and the menus are the same as for Windows.
FDD uses the colours set up for Windows, which can be set under the
Windows Control panel.
FDD also comprises a DII-file which supervise the communication
between the PC and the robot controller. The DII-file is written in
Visual C++ and will be installed in the Win.ini-file.
FDD also comprises a fc1.ini-file in which information about main
directory and user directory is stored.

FDD for Windows is available in 11 languages:

-Swedish
-English
-French
-German
-Italian
-Finnish
-Norweigan
-Danish (excluded)
-Spanish
-Portugese (excluded)
-Japanese

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6.2 Commands

FDD

File
Start FDD
Quit FDD
Select Directory
Display File Contents
Port Setup
Overwrite
Advanced Mode
Exit

View

View Job Contents

View Details of Communication Status
Clear Communication Status
Refresh to Latest Status

Language

Help

Help Topics
Version

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7. Program running
FDD-program is run (load and save files) from the teachbox of the
controller. The command run from the PC is only for handling of the
files in the PC (move files, user directory and open files for printing
etc.).

7.1 Start
The program is activated in the PC and then run from the robot con-
troller.
a) Start the program by double-click on the icon, the start menu is
shown (Fig. 1).
b) Click on Select Directory and choose user directory for file trans-
fer, for more information see Windows manual.

Fig.22 User directory

c) When the right directory is stated, click on theOK.

d) Click on Start FDD. The communication is now established and all
other FDD functions are locked.
e) Proceed from the teachbox of the robot controller.

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7.2 Running from the robot

The following diagram is an operation flow to show file transfer and
management. The operation is performed with the programming pen-
dant.

Select desired
device with soft key

Select data group

LOAD SAVE VERIFY DELETE INITIALIZATION

Select data

[EXECUTE]

Verify

Completion

7.2.A Select unit

Set the MRC in TEACH mode.

Press FUNC to get the right software func-

tions.

Press F1 [FDD] and a number of new soft-

ware functions will appear

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FDD PSHIFT PIAM

▲ F1 F2 F3 F4 F5 MORE

Choose F1 [FC1] corresponding to the

desired device. The external memory unit
display appears.

FC1 FC2 PC ➤
▲ F1 F2 F3 F4 F5 MORE

The following display is theexternal memory unit display. The data is

devided into seven groups as shown below.
The table on the following page shows the data in these groups. The
file names are specified in the table and they are assigned automati-
cally during the save. The saved contents can be reloaded on the
YASNAC MRC memory.
Only the data group marked with■ in the external memory unit dis-
play shows data related to this system. Therefore, the data to be loa-
ded are limited.

2 J:TEST S:003 LOCK 1CYCLE STOP FCTN

DATA ON FLOPPY DISK UN-USED MEM 40 MB
(FC1) MENU NO. OF FILES
o JOB 8
1
3 o CONDITION FILE/UNIVERSAL DATA 3
o BATCH STD USER MEM 0
n PARAMETER 1
n C. I/O PROGRAM / I / O NAME 0
n CUSTOM DATA 0
n BATCH STD CMOS 0
!
LOAD SAVE VERIFY FORMAT DELETE
▲ F1 F2 F3 F4 F5 MORE

1= Usable area
The amount of the usable free area is displayed in the objective
device memory medium (floppy disk, etc.)

2= Objective device
Objective external memory unit is displayed.

3= Menu and number of files

Data to be saved in the external memory unit are classified into these
seven groups. The number of files which are currently saved in the
objective memory device is displayed.

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BATCH STD USER MEM

When this item is choosen, all data belonging to item JOB and CONDI-
TION FILE / UNIVERSAL DATA are automatically treated as one batch.

BATCH STD CMOS

When this item is choosen, all items are automatically included.

Single or Batch selection

SINGLE Selection mode RELATED Selection mode
EACH JOBS marked with ✩ JOBS marked with ★ and its
Selection related jobs and data

BATCH All JOBS All JOBS and their related jobs

Selection and data.

7.3 How to select item

To select a job to SAVE, LOAD, VERIFY or DELETE, the following selec-
ting methods are available.
The principal is the same for every type of item and forLOAD and
SAVE, therefore, only one of the items (JOB) is described here.

J:TEST S:003 LOCK 1CYCLE STOP FCTN

DATA ON FLOPPY DISK UN-USED MEM 1,4 MB
(FC2) MENU NO. OF FILES
o JOB 8
o CONDITION FILE/UNIVERSAL DATA 3
o BATCH STD USER MEM 0
n PARAMETER 1
n C. I/O PROGRAM / I / O NAME 0
n CUSTOM DATA 0
n BATCH STD CMOS 0
!
LOAD SAVE VERIFY FORMAT DELETE
▲ F1 F2 F3 F4 F5 MORE

LOAD: Copies data from external memory unit to YASNAC MRC.

SAVE: Copies data from YASNAC MRC to external memory unit.
VERIFY: Verifies the data of YASNAC MRC and the external memory
unit, and informs if some parts are not matched.
DELETE: Deletes an external memory unit file.

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To leave this menu, press MORE and F5 [QUIT].

Move the cursor using the arrow keys to

the wanted item.

7.4 Selecting a item (job)

Move the cursor to the first row (JOB).

Press F2 [SAVE] to copy data to FC1.

LOAD SAVE VERIFY FORMAT DELETE

▲ F1 F2 F3 F4 F5 MORE

A new screen is shown with the available jobs in the MRC controller.
Press F3 [MODE] to select single job or job together with related jobs.
Move the cursor to the wanted job and pressF1 [EACH] to select job
by job.
Selected job is marked with a✩ for single job, and a ★ for job inclu-
ding related job.
Press F1 once more to deselect the job.
J:TEST S:003 LOCK 1CYCLE STOP FCTN
DATA ON FLOPPY DISK FC1 ← MEMORY
JOB LIST SINGLE RELATED NO.7
TEST ✩ TEST-2 WELD-1
✩ WELD-2 TOOL-1 ✩ TOOL-2

EACH BATCH MODE CANCEL EXECUTE

▲ F1 F2 F3 F4 F5 MORE

Or press F2 [BATCH] to select all jobs.

Selected job is marked with a✩ for single
job, and a ★ for job including related job.
Continue by pressing F5 [EXECUTE].

EACH BATCH MODE CANCEL EXECUTE

▲ F1 F2 F3 F4 F5 MORE

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To stop the process after EXECUTE has

been pressed, press F5 [STOP].

STOP
▲ F1 F2 F3 F4 F5 MORE

NOTE!
At LOAD / VERIFY / DELETE the list of jobs in the floppy diskett differs
depending on which state is set inF3 [MODE] (SINGLE or RELATED).
Job saved in Single-mode can only be loaded in Single-mode.
Job saved in Related-mode can only be loaded in Related-mode.

J:TEST S:003 LOCK 1CYCLE STOP FCTN

DATA ON FLOPPY DISK FC1 → MEMORY
JOB LIST SINGLE RELATED NO.7
TEST ✩ TEST-2 WELD-1
✩ WELD-2 TOOL-1 ✩ TOOL-2

7.5 Open a robot job

Files in the PC can be opened (contents).

Fig.23 Main menu

a) Click on Stop FDD.

b) Mark the wanted file in File information. If where are a lot of files a
special type of files can be selected. Under the menuFile type it can
be set e.g. [*.jbi] which results in that only files ending with (jbi) is
shown in the window.
c) Then click on the Job-button. A new menu is shown there different
sorts of information can be displayed.

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Fig.24 Job contents

View Header
Gives information about title, tool and other main data.

View Position
Gives information about the axis position in each joint of the job
Information is given in pulses not millimetre.
(The axis are displayed in the order S,L,U,R,B,T).

View Instruction
Display all instructions in the job such as MOVJ, JUMP, ARCON etc.

Line Sum
Display the number of lines in the job.

Step Sum
Display the number of MOV-instructions in the job.

If the function File is used in the main menu all file information is
shown in one piece.

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7.5.A Cut and paste

a) It is possible to make a printout of the file or use it in documentation
etc. by using the Cut & Paste-method.
b) Mark the wanted text by holding the left mouse button and drag
across the text. The marked text shall now be marked with ”inverted
text”.
c) Press and hold the Ctrl-button and C-button simultaneous Ctrl+C).
(
d) Start another text-editor e.g. MS-WORD, Write or Windows/Notepad.
e) Paste the text in this new program by pressing Ctrl-button and V-but-
ton simultaneous (Ctrl+V).
f) It’s also possible to cut out the text from the FDD window by pressing
Ctrl-button and X-button simultaneous C ( trl+X).

NOTE!
The Text is only cut out from the local window, the file will not be
change at all!

7.6 Editing a language file

In the dialogue box of the Language selection function there is a button
named ”EDIT”. Normally this button is not active but by a simple editing
of the FC1.INI - file it becomes active. This .ini-file can be edited from the
Windows Notepad.
When the EDIT-button is active it is possible to edit the language file
directly from the Language selection menu.

NOTE!
If you are not a very skilled PC operator you should not edit this
files, because it is easy to destroy the syntax!

(Part of the FC1.INI - file, found in the FDDWIN-directory)

ReWrite=False
StartDsp=False
StartLang=System
LangSelect=Yes
LangEdit=No ← Change this one to =Yes
FontName=MS Sans Serif
FontSize=8

Then you have to restart FDD to use the new conditions.

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 MOTOMAN
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FDDWIN32 manual
AB Program running Page: 25

7.7 Create a new language file

When you want to add another language.
Modification can be carried out from the Windows Notepad.
If you want to add other language which is not already available, pro-
ceed as follows:
("Korean" as an example)
a) Copy "English.lng" to "User13.lng" (Don't rename it to "Kor-
ean.lng".)
b) In the file "User13.lng" you modify row "User13" to Korean"
" and to
"Local Language Item". This has to be done in all of the language
files.
c) Make "User13.ico" for a country flag if you need. (Created by Visu-
alBasic software.)
d) If you add more, continue with "User14.lng"

Note!
The new languages are not displayed under "System" language. But
if you select "User13", you will see Korean language again.

(Example of the first part of an language file)

FORMAT DESCRIPTION FOR LANGUAGE TRANSLATION
Length IndexNo. "English Name", "Local Language Name", Comment
Start:
30 000 "FDDWIN","FDDWIN", Title of Main Dialogue Box
30 001 "&File","&Tiedosto", Menu Command in Main Dialogue Box
30 002 "&Ports Setup","&Sarjaliikenneasetukset", Menu Command in Main Dialogue Box
30 003 "&FDD Setup","&FDD Asetukset...", Menu Command in Main Dialogue Box
30 004 "&Exit","&Lopeta", Menu Command in Main Dialogue Box
30 005 "&Language","&Kieli", Menu Command in Main Dialogue Box
30 006 "&Help","&Ohje", Menu Command in Main Dialogue Box
30 007 "&Version","&Versio", Menu Command in Main Dialogue Box
10 008 "Start FDD","Käynnistä FDD", Command Button in Main Dialogue Box
10 009 "Directory","Hakemisto", Command Button in Main Dialogue Box
10 010 "Job","Työ", Command Button in Main Dialogue Box
10 011 "File","Tiedosto", Command Button in Main Dialogue Box
10 012 "Exit","Lopeta", Command Button in Main Dialogue Box
10 013 "Clear","Tyhjennä", Command Button in Main Dialogue Box
10 014 "Review","Päivitä", Command Button in Main Dialogue Box
30 015 "File Information","Tiedostoinformaatio", Frame Box in Main Dialogue Box
30 016 "Communication Status","Tiedonsiirron tila", Frame Box in Main Dialogue Box
10 017 "Directory","Hakemisto", Lable in Main Dialogue Box
10 018 "File Type","Tyyppi", Lable in Main Dialogue Box
20 019 "View Detail","Näytä yksityiskohdat", Option Button in Main Dialogue Box
20 020 "View Simple","Näytä yksinkertaist.", Option Button in Main Dialogue Box
10 021 "Quit FDD","Lopeta FDD", Command Button in Main Dialogue Box

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 FDDWIN32 manual MOTOMAN
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Page: 26 Name of saved files AB

8. Name of saved files

No Group Contents File name FC1 A B C D
1 Job Single job job name.JBI X X X X
Related job (job + conditions) job name.JBR X X X
2 Condition Weaving condition data WEAV.CND X X X X
files Tool data TOOL.CND X X X X
User coordinate data UFRAME.CND X X X X
Welding start condition data ARCSRT.CND X X X X
Welding end condition data ARCEND.CND X X X X
COMARC condition data COMSRT.CND X X X X
COMARC data COMARC.CND X X X X
Path correction condition data SENSCOR.CND X X X X
Universal Variable data VAR.DAT X X X X
data Welding condition auxiliary data ARCSUP.DAT X X X X
Phase offset value data PC1PC2.DAT X X X X
3 Parame- Robot matching parameter RC.PRM X X X
ters System definition parameter SD.PRM X X X
Coordinate origin (A) parameter RO.PRM X X X
System matching parameter SC.PRM X X X
Parameter for CIO CIO.PRM X X X
Function definition parameter FD.PRM X X X
Parameter for each application AP.PRM X X X
Communication (universal) para. RS.PRM X X X
Communication (data link) para. CM.PRM X X X
Parameter for printer SP.PRM X X X
Parameter for sensor SE.PRM X X X
Parameter for vision VC.PRM X X X
Servo parameter SV.PRM X X X
Servo motor parameter SVM.PRM X X X
4 PLC-prg Concurrent I/O program CIOPRG.LST X X X
I/O name data IONAME.DAT X X X
5 Applica- Reserved job name RJNAME.DAT X X X
tion data SV monitor signal SVMON.DAT X X X X
Names of variables VARNAME.DAT X X X
Data of calibration between RBCALIB.DAT X X X
manipulators
Rectifier characteristic data WELDER.DAT X X X
Rectifier characteristic user defi- WELDUDEF.DAT X X X
nition data
Second home point positon HOME2.DAT X X X X
Alarm list data ALMHIST.DAT X X
Absolute data ABSO.DAT X X X
Welding condition guide data ARCGUIDE.DAT X X X
System information SYSTEM.SYS X X
6 All parameter ALL.PRM X X X
7 Whole users memory JOB.HEX X X X
8 Whole standard CMOS CMOS.HEX X X X

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FDDWIN32 manual
AB Name of saved files Page: 27

Allowed functions:

Without code:
A= Function-mode SAVE (backup)
B= Function-mode LOAD (reload)

Loading of system parameters are by safety reason only permit-

ted when using the system code.

With code (8 characters):

C= Customer-mode SAVE (backup)
D= Customer-mode LOAD (reload)

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 FDDWIN32 manual MOTOMAN
ROBOTICS
Page: 28 Trouble shooting AB

9. Trouble shooting
9.0.A Can not open communication port
-Port setting not correct / not done!
Correct the setting

-Hardware key missing!

Check if the hardware key is mounted in right place, if there are several
parallel ports try another one.
Mount a printer cable in the hardware key socket (does not need to be
connected to a printer).

-Communication disabled
This occurs if you try to start FDD without beeing connected to the robot
controller. Close FDD-software, connect to controller restart FDD-soft-
ware.

Fig.25 Error
message

9.0.B Select Job file.

-No file was marked!
Mark file and repeat command.

Fig.26 Select file first

9.0.C Remove Shared Component

-Warning at uninstall sequence
A warning may occure when you are removing a software in the Moto-
man group. A file in Windows system is no longer used by any software.
Accept to remove this file by clickingYes.

Fig.27 Warning message

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 MOTOMAN
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FDDWIN32 manual
AB Windows NT Page: 29

10. Windows NT
As the Windows NT do not use Parallel ports such as LPT1. A parallel
port must be set up for the hardware key.

Rainbow Port Driver Microsoft Windows NT.

This version runs only on Intel based machines.
The following files needed to be able to run FDDWIN32 in NT environ-
ment. Necessary files are included in one of the disks.

• RAINPORT.DLL - Rainbow port driver setup.

• RAINPORT.HLP - Help file for RAINPORT.DLL.
• OEMSETUP.INF - Installation file for Rainbow port driver.
• RAINVDD.DLL - Rainbow virtual device driver.
• RAINPORT.SYS - Rainbow port driver.

For installation procedure, see Windows NT manual.

More information is found in the file ”sentinel.hlp” included in
the diskette.

11. FDD-version
By clicking on Help-button in the main menu the version No. is dis-
played.
Quit by clicking on Close.

11.1 Manufacturer
Address: Motoman Robotics AB
Box 504
S-385 25 Torsås
Sweden
Telephone: +46 486 488 00
Telefax: +46 486 414 10

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Headquarters:
MOTOMAN ROBOTICS AB
Box 504 l 385 25 Torsås l Sweden
Tel: +46-486-48800l Fax: +46-486-41410

Subsidiary:
MOTOMAN ROBOTICS UK LTD
1 Swan Industrial Estate l Banbury l OXON OX16 8DJ l England
Tel: +44-1295-272755 l Fax: +44-1295-267127

MOTOMAN ROBOTICS ITALIA SRL

Via Emilia 1420/16 l I-41100 Modena l ITALY
Tel: +39-59280496 l Fax: +39-59280602

MOTOMAN ROBOTICS FRANCE S.A.

Rue Nungesser et Coli l D2A Nantes-Atlantique l F-44860 Saint-Aignan-de-Grand-Lieul France
Tel: +33-2-40131919 l Fax: +33-40754147

MOTOMAN ROBOTICS ESPAÑA S.L.

Avenida Marina 56 l Parcela 90 l ES-08830 ST. Boi de Llobregatl Spain
Tel: +34-36303478 l Fax: +34-36543459

Distributors:
ELECTRO-ARCO S.A.
Rua Vice Almirante Azevedo Coutinho, 4l Venda Nova l PT-2700 Amadora l Portugal
Tel: +351-14968160 l Fax: +351-14990696

HN AUTOMATIC A/S
Hjulmagervej 4 l DK-7100 Vejle l Denmark
Tel: +45-79428000 l Fax: +45-79428001

LINCOLN-KD S.A.
Ctra, Laureà Miró 396-398 l E-08980 Sant Feliu de Llobregatl Spain
Tel: +34-36859600 l Fax: +34-36859633

MOTOMAN ROBOTIT OY
Kärsämäentie 8 l SF-20300 Turku l Finland
Tel: +358-22145600 l Fax: +358-22145660

ROBOT-TEKNIKK AS
Øvre Eikervei 177 l N-3048 Drammen l Norway
Tel: +47-32824890 l Fax: +47-32825155

SIAD S.p.a.
Via S. Bernardino, 92 l I-24126 Bergamo l Italy
Tel: +39-35-328111 l Fax: +39-35-320183

MOTOMAN ROBOTICS AB
a subsidiary of YASKAWA Electric Corporation