PROGRAM EDITOR

USER MANUAL

1st Edition

■ Before attempting to operate the robot, please read

through this document carefully, and comply with all
the safety-related items and instructions.

■ This document must be given without fail to the

individuals who will be operating the robot using
FlexGui
■ Please direct any inquiries about parts of this
document which may not be completely clear to
PPM.

NACHI-FUJIKOSHI CORP.
PPM AS
CUS-08,PPM-24-07-14, FG v2.0.0
Table of Contents
1 Introduction 2
1.1 What is Program Editor? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2 How do I get Program Editor? . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.3 Accessing Program Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

2 Program Editor 4
2.1 Robot Program List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.2 Action Buttons in Program Selection view . . . . . . . . . . . . . . . . . . . . . 5

3 Editing a program 6
3.1 Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.2 Action Buttons in Program Editor view . . . . . . . . . . . . . . . . . . . . . . . 8
3.3 Function Selection view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.4 Specifying the token values for a function . . . . . . . . . . . . . . . . . . . . . 12

4 References 13

1
 page 2 of 13 1 INTRODUCTION

1 Introduction
Please note: This is a user manual for the Program Editor feature of FlexGui. It is recom-
mended to read the FlexGui User Manual before reading this manual.

1.1 What is Program Editor?

The purpose of the Program Editor is to provide the user intuitive and simplified means of
creating, editing and excecuting programs on the NACHI FD11 robot. Program Editor is
displayed as a button-Fidget on a User Screen, (see the User Manual for more information
about Fidgets and User Screens) and can easily be accessed from any User Screen in
FlexGui.

Each Program Editor-Fidget (see figure 1) is running a separate instance of Program Editor,
which allows the user to easily work with several programs at the same time. The differ-
ent instances shares a clip board, which permits quick paced and uncomplicated copying
between programs.

Figure 1: Program Editor Fidget.

 page 3 of 13 1.2 How do I get Program Editor?

1.2 How do I get Program Editor?

The Program Editor is included in the FlexGui ordinary license. Users without a valid li-
cense can try the demo for free, by following the steps explained in section 1.3. If you or
your company is interested in buying a FlexGui license, contact PPM or NACHI - or visit
www.flexgui.net.

1.3 Accessing Program Editor

There is two prerequesites to run Program Editor. First, FlexGui needs to be running.
Secondly a Program Editor-Fidget is required. If there is no User Screen with a Program
Editor-Fidget available one can be added to a desired User Screen. If there already is a
User Screen with the Program Editor-Fidget available, simply click the button (depicted in
figure 1) to access Program Editor.

If there is no Program Editor-Fidget available, one needs to be added. To do this, open

a User Screen that is a suitable location for the Fidget, and press and hold the enable-
button in order to bring up the Fidget belt. Scroll down by draggnig the belt vertically until
the Program Editor-Fidget is found (the Fidgets are sorted alphabetically). The Fidget can
then be placed in a desired position on the User Screen, by using drag and drop. To access
Program Editor now, all that needs to be done is clicking the Fidget that was just placed
(displayed in figure 1). There is no limit as to how many Program Editor Fidgets that can be
placed on any User Screen.
 page 4 of 13 2 PROGRAM EDITOR

2 Program Editor
Closing the program editor can be done at any time by clicking the -button, found in the
upper right corner of all the views in the Program Editor.

2.1 Robot Program List

Figure 2: Program Selection view.

When Program Editor is opened the first time, a view similar to the one shown in figure 2
(the actual amount of programs, as well as the program numbers, may differ) should be
shown. This view lists all of the programs saved on the robot. The programs will be sorted
numerically, ranging low to high. The user will be able to select any program in the list,
or create a new one by clicking New. When a program is selected the user can Edit the
program, Delete the program or Duplicate the program. If the number of total programs
exceeds the two columns à eight programs, new columns will appear to the right and the
user will be able to reach them by scrolling in the desired direction (to scroll press down
and drag to the opposite direction). There can only be one selected program at a time.
As depicted in figure 2 the program "MC70-01.010" is selected, as indicated by the orange
background color.

Please note that there is a transparent robot icon next to all of the programs, except for one
where the icon is opaque (in figure 2 this would be program MC70-01.001). This opaque
robot icon indicates that the program is currently active on the robot. The program that is
currently active on the robot can not be edited.
 page 5 of 13 2.2 Action Buttons in Program Selection view

2.2 Action Buttons in Program Selection view

Figure 3: The action buttons in the Program Editor view.

As depicted in figure 3, the buttons have two states. A button is either enabled (black color,
see "New" in figure 3), or disabled (gray color, see Edit, Delete and Duplicate in figure 3).

Table 1 lists the functionality for each button in the Program Selection view.
Button Function Enabled condition
New By pressing this button the user will be required to input a None.
desired program number. By default, the first free (rang-
ing low to high) program number will be entered. After
confirming the entered number, an empty program with
the given number will be added to the list. Please note
each program needs to have a unique program number.
Edit Whenever a program is selected, it can be edited by click- A program is selected
ing the edit button. This will open the Edit Program view, (highlighted) in the list.
which will be explained in detail later. Note that clicking a
selected program again will open the editor.
Delete Pressing delete while a program is selected will delete A program is selected
the program. and the enable-button
on the Teach-Pendant
is held down.
Duplicate Will copy the selected program to a desired program A program is selected
number. in the list.
Table 1: Action Buttons in the Program Selection screen
 page 6 of 13 3 EDITING A PROGRAM

3 Editing a program
Whenever a new program is created, or an existing program is edited, the user will be taken
to the Edit Program view, depicted in figure 5. Users will be able to create a program in its
entirety by using this view and its features.

Editing programs in Program Editor is mainly going to consist of three steps: selecting a
program, inserting a new step and editing the inserted step. This cycle is depicted in figure
4

Figure 4: Program Editor Structure

The Program Management Screen is described in chapter 2. When a program is selected

the Program Editor Screen will be shown, where the user can insert a new step, or edit an
existing step. The step selection screen will be explained in section 3.1, and the Step Editor
Screen in section 3.3.
 page 7 of 13 3.1 Steps

3.1 Steps

Figure 5: Program Editor view.

Each line in figure 5 represents a step in the robot program. To select a certain step, simply
click the step where there is a token. As depicted in figure 5 step four is selected. The step
background will be orange for the selected step.
 page 8 of 13 3 EDITING A PROGRAM

Figure 6: Detailed step description.

• Step number: each step has its own unique number that can be refered to.
• Instruction name: the function of each step is determined by its instruction name.
• Instruction tokens: the amount of tokens is related to the instruction name, and can
range from zero to double digits. Each token can be edited, copied and overwritten
individually. To select a token, the specific step needs to be selected. The selected
token will have a different background color than the other tokens in the same step.

3.2 Action Buttons in Program Editor view

Figure 7: Buttons available in the Program Editor view

Note how the buttons are split in two groups. The group to the left interacts with existing
lines or tokens, while the group to the right is for inserting new lines. In order to interact with
a line or token, the specific line or token needs to be selected. A line can be selected by
clicking it, and a token by clicking it while the line is selected. Lines can be inserted using
one of two methods:
1 Select the line above the desired insert spot, then click the Insert-button. The new
line should appear below the selected line.
2 Lines can be inserted using the drag and drop method, dragging the Insert-button
over the desired spot. The new line will be inserted above the drop location.
page 9 of 13 3.2 Action Buttons in Program Editor view

Button Function Enabled condi-

tion
Copy Copies the selected line (s) or token to the clipboard. A line or step is
Note that the clipboard may only contain the most recent selected.
copy or cut action.
Cut Same function as copy, but also removes the line. A line is selected
and the enable-
button on the
Teach Pendant
is held down.
Delete Deletes the selected lines. A line is selected
and the enable-
button on the
Teach Pendant
is held down.
Edit Opens the step editor for the selected line at the first to- A line is se-
ken. If a token is selected, the selected editor will show lected.
the selected token.
FN (Function) Allows the user to insert a new function into the program. None.
Inserting a line is done either by dragging, or by selecting
the line above the designated position for the new line,
then clicking the paste button. Will open the New Step
Function dipslay, which will be explained later.
Paste Allows the user to paste whatever is currently on the clip- Something is on
board into the program at a designated line or token slot. the clip board
Tokens can only be pasted where their value is valid, and (achieved with
will overwrite the current token value. Pasting a line is copy or cut).
done either by dragging, or by selecting the line above
the designated position for the new line, then clicking the
paste button.
REC Allows the user to record the current position of the robot, Always.
creating a MOVEX-E command with the current robot co-
ordinates. Inserting a recorded position is done either by
dragging, or by selecting the line above the designated
position for the new line, then clicking the paste button.

Table 2: Action Buttons in the Program Editor.

 page 10 of 13 3 EDITING A PROGRAM

3.2.1 Pasting a token

Because tokens can not be pasted where they do not belong, a special color code is used
when pasting tokens.

Figure 8: Pasting a token.

In figure 8, the token being pasted is a token with an accuracy-value, which means it can
only be pasted where this is an acceptable input type. All tokens that does not match with
the type of the one being pasted, will turn orange and the ones matching will turn blue - as
depicted in figure 8. Finally, hovering a valid token slot with a pasted token value will turn
the token that is about to be replaced white. The pasted token value will have no interaction
with invalid token slots.
 page 11 of 13 3.3 Function Selection view

3.3 Function Selection view

This view is accessed whenever a new function is inserted into the program. The view
provides four different ways of showing relevant functions to insert into the program:
• Recent: Shows the 18 most recently used functions.
• Favourite: Lists whatever functions currently marked as favourites.
• Alphabetic: Lists all the functions alphabetically (A-Z). To add a function to favourites:
Select the function and hold Enable down on the teach pendant while clicking the
function again. The color of the star next to the function determines whether it is a
favourited function or not - an orange star indicates a favourited function (Figure 9
shows that the *(Label)-function is marked as favourite).
• Code: The last way to insert a function is by using the instructions code number as
in the original interface. This method is only recommended for users with experience
from the normal interface.

Figure 9: Alphabetic view of the Function Selector.

Figure 9 shows the Alphabetic view in the Function Selector. This view can be split into
three main sections:
Top The first section is the one at the very top, where the user can choose between four
different ways of displaying the functions.
Middle The second section is in the middle. At the top of this section the user can scroll
horizontally between the letters of the alphabet, then click any letter to jump straight
to functions starting with that letter. The user can also scroll the user list vertically to
manually search the functions.
Bottom The last section of the page is found on the very bottom, where a brief instruction
description will be provided.
 page 12 of 13 3 EDITING A PROGRAM

3.4 Specifying the token values for a function

When a function is inserted or edited each token value needs to be specified.

Figure 10: Token editor.

Figure 10 depicts a typical token editor view. In this particular case, the condition of an IF
function is edited. The bar on the top of the view, right under the buttons, allows the user to
jump to a desired step simply by clicking the step (If there is more than one step, in the view
depicted on figure 10 there is only one step). Steps not shown can be reached by scrolling,
or by navigating with the arrow keys on the teach pendant.

Under the scroll bar there is a preview of how the token will appear. Beneath this preview, a
certain amount of buttons will be shown. These buttons will help the user specify the value
and value type of the function. Each button will represent one of three things:
• A button may specify the value of a token, in this case the buttons reading 2 and 0
are such buttons.
• A button may specify the value type of a token, in this case the buttons reading Lo-
calInt and Number are such buttons.
• A button may specify a condition, e.g. =, > or =<.
Complex expression... will be available when the user is editing a condition, and allows
for manual input instead of using the predefined values the buttons mentioned above pro-
vides. This feature is ment for experienced users and is not required to use to generate a
functioning program.

The last two buttons on this view are the Previous and Next buttons. These are used to
navigate through the token steps.

The Token hint will provide the user with a brief description of the token, if there is one
available.
4 References
Following is a table listing all the different tables and views in the Program Editor. The user
may use these tables if questions ever arises to the functionality of a button or a view, to
quickly find the button or view in question.

List of Tables
1 Action Buttons in the Program Selection screen . . . . . . . . . . . . . . . . . 5
2 Action Buttons in the Program Editor. . . . . . . . . . . . . . . . . . . . . . . . 9

List of Figures
1 Program Editor Fidget. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2 Program Selection view. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
3 The action buttons in the Program Editor view. . . . . . . . . . . . . . . . . . . 5
4 Program Editor Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
5 Program Editor view. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
6 Detailed step description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
7 Buttons available in the Program Editor view . . . . . . . . . . . . . . . . . . . 8
8 Pasting a token. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
9 Alphabetic view of the Function Selector. . . . . . . . . . . . . . . . . . . . . . 11
10 Token editor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

13