YASKAWA

DX100 OPTIONS
INSTRUCTIONS
FOR PENDANT REMOTE DISPLAY

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

MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR’S MANUAL
DX100 MAINTENANCE MANUAL
The DX100 operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.

Part Number: 158834-1CD

Revision: 0

YASKAWA MANUAL NO.

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Pendant Remote Display

MANDATORY
• This manual explains the pendant remote display for the DX100
system and general operations. Read this manual carefully and be
sure to understand its contents before handling the DX100.
• General items related to safety are listed in Chapter 1: Safety of the
DX100 Instructions. To ensure correct and safe operation, carefully
read the DX100 Instruction before reading this manual.

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

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Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or
inspection of the DX100.
In this manual, the Notes for Safe Operation are classified as
“WARNING”, “CAUTION”, “MANDATORY”, or ”PROHIBITED”.

Indicates a potentially hazardous

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

Indicates a potentially hazardous

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

Always be sure to follow explicitly the

MANDATORY items listed under this heading.

Must never be performed.

PROHIBITED

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

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

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

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

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

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

• Observe the following precautions when performing teaching

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

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

WARNING
• Do not use Pendant Remote Display with the Interface Panel
function.
• YASKAWA is not responsible for incidents arising from unauthorized
use of its products. Unauthorized use voids your product’s warranty.

Definition of Terms Used Often in This Manual

The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and supply cables.
In this manual, the equipment is designated as follows.

Equipment Manual Designation

DX100 Controller DX100
DX100 Programming Pendant Programming Pendant
Cable between the manipulator and the Manipulator cable
controller

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

shown as follows:

Equipment Manual Designation

Programming Character The keys which have characters printed on

Pendant Keys them are denoted with [ ].
ex. [ENTER]

Symbol The keys which have a symbol printed on

Keys them are not denoted with [ ] but depicted
with a small picture.
GO BACK

ex. page key PAGE

The cursor key is an exception, and a picture
is not shown.

Axis Keys “Axis Keys” and “Numeric Keys” are generic

Numeric names for the keys for axis operation and
Keys number input.

Keys When two keys are to be pressed

pressed simultaneously, the keys are shown with a “+”
simultane sign between them, ex. [SHIFT]+[COORD]
ously

Displays The menu displayed in the programming

pendant is denoted with { }.
ex. {JOB}

Description of the Operation Procedure

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

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

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Explanation of Warning Labels

The following warning labels are attached to the manipulator and DX100.
Fully comply with the precautions on the warning labels.

WARNING
• The label described below is attached to the manipulator.
Observe the precautions on the warning labels.
Failure to observe this caution may result in injury or damage to equipment.

WARNING WARNING
Moving parts Do not enter
may cause robot
injury work area.

Refer to the manipulator manual for the warning label location.

• The following warning labels are attached to DX100.

Observe the precautions on the warning labels.

Failure to observe this warning may result in injury or damage to equipment.

WARNING
WARNING WARNING
High Voltage
Do not open the door High Voltage May cause
with power ON. Do not open the cover. electric shock.
Ground the earth
terminal based on
local and national
electric code.

Refer to the DX100 INSTRUCTIONS for the warning label location.

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Pendant Remote Display Contents

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

1.1 Overview............................................................................................................................ 1-1

1.1.1 System Requirements .......................................................................................... 1-1

1.2 About this Document ......................................................................................................... 1-2

1.3 Reference to Other Documentation ................................................................................... 1-2

1.4 Customer Support Information........................................................................................... 1-2

2 Installation and Setup ..................................................................................................................... 2-1

2.1 Hardware Setup................................................................................................................. 2-1

2.2 PC Setup and Configuration .............................................................................................. 2-1

2.2.1 Software ............................................................................................................... 2-1

2.2.2 Configure Network Settings.................................................................................. 2-1

3 Operation ........................................................................................................................................ 3-1

3.1 First-Time Startup .............................................................................................................. 3-1

3.2 Interface............................................................................................................................. 3-2

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1 Introduction
Pendant Remote Display 1.1 Overview

1 Introduction

1.1 Overview
This manual describes how to start and manage the remote display
function through the normal pendant user interface rather than accessing
it through the Windows CE environment of the pendant.
The DX100 controller has the capability to display the pendant screen and
receive input from a remote PC through the remote display function. The
Pendant Remote Display is used to start and manage the remote display
function (CE-HOST) application from the pendant user interface rather
than the Windows CE environment of the pendant.
Fig. 1-1: Layout
MOTOMAN® ROBOT
CONTROLLER
NX100/
TYPE ERCR-
POWER!SUPPLY

480V 50/60Hz 3PHASE kVA

INTERRUPT!CURRENT kA
SERIAL!No.
DATE

MADE!IN!JAPAN NJ2533-1

NJ1530

WARNING:
DISCONNECT AND LOCKOUT
MAIN POWER BEFORE
SERVICING

YCP01-CN105
PCU

PENDANT
(WINDOWS CE)
IP: 10.0.0.4
SUBNET: 255.255.255.0
ORIGINAL
PENDANT
CONNECTION
Note: Use "Uplink" or "WAN"
IP:10.0.0.2
port if available.
USER SUPPLIED
COMPUTER
IP:10.0.0.3
SUBNET: 255.255.255.0
ETHERNET
SWITCH (Ethernet Cable)

1.1.1 System Requirements

Table 1-1: Pendant Remote Display System Requirements for DX100

Function Details
Robot Controller DX100
Controller Software N/A
DX100 Pendant 64 MB Pendant
Computer Pentium 4, 800 MHz or higher processor
Operating System Microsoft Windows XP, Vista, Windows 7
Ethernet Switch user supplied or P/N 158693

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1 Introduction
Pendant Remote Display 1.2 About this Document

1.2 About this Document

This manual is intended as an introduction and overview for personnel
who are familiar with the operation of their Motoman robot model and
robot programming.
This User’s Manual provides a description of functionality, usage
instructions, as well as application examples for the Pendant Remote
Display system. For detailed information on specific system components
listed in this document, please refer to the documentation package
included with your system.

1.3 Reference to Other Documentation

For additional information refer to the following:
• Motoman Manipulator Manual
• Motoman DX100 Controller Manual (P/N 155494-1CD)
• Motoman DX100 Maintenance Manual (P/N 155492-1CD)
• Motoman DX100 Operator's Manual
• Motoman DX100 Concurrent I/O Manual (P/N 155491-1CD)
• Motoman INFORM User’s Manual DX100 (P/N 155493-1CD)
• Vendor manuals for system components not manufactured by Yas-
kawa

1.4 Customer Support Information

If you need technical assistance with any aspect of your Pendant Remote
Display application, please contact Motoman Customer Support. Please
have the following information ready before you call:

• System Pendant Remote Display

• Robot HP165, HP20, etc.

• Primary Application Select {MAIN MENU} > {SYSTEM

INFO} > {VERSION} - APPLI:

• Controller DX100

• Software Version Select {MAIN MENU} > {SYSTEM

INFO} > {VERSION} - SYSTEM:

• Robot Serial Number Located on a data plate on the rear of

each robot arm

• Robot Sales Order Number Located on a data plate on the front

door of the controller

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2 Installation and Setup

Pendant Remote Display 2.1 Hardware Setup

2 Installation and Setup

2.1 Hardware Setup

Installation of the ethernet switch and software are typically performed by
a Yaskawa technician. The ethernet switch is installed inside the robot
controller and is connected between the programming pendant and the
YCP01 board. The customer-supplied computer is then connected to the
ethernet switch.
Fig. 2-1: Layout
MOTOMAN® ROBOT
CONTROLLER
NX100/
TYPE ERCR-
POWER!SUPPLY

480V 50/60Hz 3PHASE kVA

INTERRUPT!CURRENT kA
SERIAL!No.
DATE

MADE!IN!JAPAN NJ2533-1

NJ1530

WARNING:
DISCONNECT AND LOCKOUT
MAIN POWER BEFORE
SERVICING

YCP01-CN105
PCU

PENDANT
(WINDOWS CE)
IP: 10.0.0.4
SUBNET: 255.255.255.0
ORIGINAL
PENDANT
CONNECTION
Note: Use "Uplink" or "WAN"
IP:10.0.0.2
port if available.
USER SUPPLIED
COMPUTER
IP:10.0.0.3
SUBNET: 255.255.255.0
ETHERNET
SWITCH (Ethernet Cable)

2.2 PC Setup and Configuration

2.2.1 Software
All robot controller software is installed at the factory or by a Yaskawa
technician. A copy of the “cehost.exe” application must reside on the
customer supplied computer. The “cehost.exe” application is provided on
a single DVD-ROM with a browser/installer utility. (Motoman DVD-ROM
Browser, P/N 141720-1). You must copy the “cehost.exe” application from
the Motoman DVD Browser onto your hard drive; you cannot run the
program from the DVD. Please refer to the CD Browser for detailed
installation instructions.
1. Insert the DVD-ROM browser into your DVDROM drive.
2. The setup program executes automatically.

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2 Installation and Setup
Pendant Remote Display 2.2 PC Setup and Configuration

Setup executes automatically when the DVD is inserted into

the DVD-ROM drive unless auto execute has been disabled
NOTE on your computer. If the setup program fails to auto
execute, refer to the directions on the DVD label for more
information. You may be required to reboot your PC before
continuing with the installation.

3. Click the [Utilities] button.

4. Click the [Remote Pendant Display Host] button.
5. Select [Software] (for software download) or [Manual] (for manual
download).

2.2.2 Configure Network Settings

1. Open Network Connections in Control Panel. {Start} > {Control Panel}
> {Network Connections}.
2. In Network Connections, right-click the desired connection (typically
Local Area Connection) and select Properties. The Local Area
Connection Properties window appears.
Fig. 2-2: Local Area Connection Properties window

3. From the General tab, highlight Internet Protocol (TCP/IP) from the
“This connection uses the following items:” list and click on the
Properties button. The Internet Protocol (TCP/IP) Properties window
appears.

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2 Installation and Setup

Pendant Remote Display 2.2 PC Setup and Configuration

Fig. 2-3: IP Address Setting

4. From the General tab, select the “Use the following IP address” radio
button. The recommended IP address is the remote display default
value of 10.0.0.3 but the last bit of the IP address is arbitrary and can
be set to any value greater then 4. Set the Subnet mask as follows:
IP address: 10.0.0.3
Subnet mask: 255.255.255.0
Default gateway: Leave blank

The IP addresses for the computer, robot controller and pro-

NOTE gramming pendant are all set on the same network.
The IP address must be set to 10.0.0.xxx. xxx: > 4

5. Select the [Use the following DNS server addresses:] radio button.
Preferred DNS server: Leave blank
Alternate DNS server: Leave blank
6. Click [OK] and close all open windows.

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3 Operation
Pendant Remote Display 3.1 First-Time Startup

3 Operation

CAUTION
The customer is responsible for providing trained operators to run the
equipment. The customer is also responsible for making sure that all
equipment is operated in accordance with the ANSI/RIA R15.06-1999
Robot Safety standard, as well as any other local or state standards.

WARNING
• Do not use Pendant Remote Display with the Interface Panel
function.
• YASKAWA is not responsible for incidents arising from unauthorized
use of its products. Unauthorized use voids your product’s warranty.

3.1 First-Time Startup

The “cehost.exe” program must be running on the computer before
starting the remote display pendant application. Any computer firewalls
must be configured to permit “cehost.exe” program communications.
1. Run the “cehost.exe” application on the computer.
Fig. 3-1: “cehost.exe” Application

2. Start the Pendant Remote Display application on the robot controller

by selecting [APPLICATION] button from the main menu and selecting
[Remote Display] from the sub menu.

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3 Operation
Pendant Remote Display 3.1 First-Time Startup

Fig. 3-2: Pendant Application

Fig. 3-3: Pendant Remote Display

3. In the Settings window, enter the Host IP Address of the computer.

The IP addresses for the computer, robot controller and pro-

NOTE gramming pendant must all be set to the same network IP
Address (10.0.0.xxx).

4. You must read and accept the user agreement before proceeding.
5. Click the [Connect] button. The pendant screen is displayed in the
“cehost.exe” application.

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3 Operation
Pendant Remote Display 3.2 Interface

3.2 Interface
Fig. 3-4: Pendant Remote Display Interface

 Connect/Disconnect
The [Connect/Disconnect] button allows you to connect or disconnect to
the "cehost" application running on a PC.

When the application is running, the button text displays

NOTE that action taken [Connect] or [Disconnect] if the button is
pressed, not [Connect/Disconnect].

 Host IP Address
The "Host IP Address" textbox allows you to enter the PC IP address.
Normally that value is set to 10.0.0.3 but can be changed to any address
within the 10.0.0.5 and 10.0.0.255 range. The "Host IP Address" can only
be set when disconnected from a host PC.

 Connect on Startup
The "Connect on Startup" checkbox causes the application to attempt to
connect to the Host PC when the "Pendant Remote Display" application is
first started. A "Delay" value can be entered to delay the connection for
the indicated amount of seconds. This allows the "cehost" application on
the PC to start before the pendant attempts to connect to it.

 Hide on Startup
The "Hide on Startup" checkbox cause the application to hide when
initially started. Note that the screen may quickly flash on the pendant
before disappearing.

 Close
The "Close" button hides the "Pendant Remote display" application. It can
be shown again by selecting [PP APP] ' [Remote Display] from the
pendant menu.

 Mouse Interaction
Mouse clicks are transmitted to the pendant and act as the equivalent of
the pendant touch screen interaction. Any action available through the
pendant touch screen can be duplicated using the PC mouse.

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3 Operation
Pendant Remote Display 3.2 Interface

Manipulations using the PC mouse are actually more precise than using of
the pendant touch screen.

 Keyboard Interaction
Keyboard key strokes are also relayed to the pendant. The following lists
the keyboard keys and their equivalent pendant keys:
• F1 = Main menu
• Esc = Cancel
• Tab = Area key
• Arrow keys = Pendant arrows
• Enter = Enter
• Space = Select
• Ctrl = Interlock

NOTE Keyboard interaction is not available on all pendant

screens.

Other pendant keys are not available through the computer keyboard.

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DX100 OPTIONS
INSTRUCTIONS
FOR PENDANT REMOTE DISPLAY

HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, Japan
Phone +81-93-645-7745 Fax +81-93-645-7746
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone +1-937-847-6200 Fax +1-937-847-6277
MOTOMAN ROBOTICS EUROPE AB
Franska Vagen 10, Box 4004, SE-390 04 Kalmar, Sweden
Phone +46-480-417800 Fax +46-480-417999
MOTOMAN ROBOTEC GmbH
Kammerfeld strasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100 Fax +49-8166-90-103
YASKAWA ELECTRIC KOREA CORPORATION
1F, Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea
Phone +82-53-382-7844 Fax +82-53-382-7845
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741
Phone +65-6282-3003 Fax +65-6289-3003
YASKAWA ELECTRIC (MALAYSIA) SDN. BHD.
Unit 47-1 and 2. Jalan PJU 5/9, Dataran Sunway, Kota Damansara, 47810, Petailng Jaya Selangor, Malaysia
Phone +60-3614-08919 Fax +60-3614-08929
YASKAWA ELECTRIC (THAILAND) CO., LTD.
252/246, 4th Floor. Muang Thai-Phatra office Tower II Rechadapisek Road, Huaykwang Bangkok 10320, Thailand
Phone +66-2-693-2200 Fax +66-2-693-4200
SHOUGANG MOTOMAN ROBOT CO., LTD.
No.7,Yongchang-North Road, Beijing Economic and Technological and Development Area, Beijing 100076, China
Phone +86-10-6788-0541 Fax +86-10-6788-0542
MOTOMAN MOTHERSON ROBOTICS LTD.
Plot Number 195-196, First Floor, Imt Manesar -Sector 4, Gurgaon (Haryana),Pin-122050, India
Phone +91-124-475-8500 Fax +91-124-475-8542

YASKAWA ELECTRIC CORPORATION

YASKAWA

Specifications are subject to change without notice

for ongoing product modifications and improvements.

MANUAL NO.

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