YASKAWA NX100 Installation Manual
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YASKAWA NX100 Installation Manual

Rcs-module for igrip
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NX100 RCS-Module for IGRIP
Upon receipt of the product and prior to initial operation, read this instruction thoroughly,
and retain for future reference.
Installation Manual
YASKAWA
ＹＡＳＫＡＷＡ
Part Number: 152001-1CD
Revision: 0
HW0482335
1
1/31

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  • Page 1 YASKAWA ＹＡＳＫＡＷＡ NX100 RCS-Module for IGRIP Installation Manual Upon receipt of the product and prior to initial operation, read this instruction thoroughly, and retain for future reference. Part Number: 152001-1CD Revision: 0 HW0482335 1/31...
  • Page 2 ・ To order a copy of this manual, if your copy has been damaged or lost, contact your YASKAWA representative 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 guarantee.

  • Page 3: Table Of Contents

    Connecting USB type key ....................6 1.2.2 Connecting D-sub type key ..................6 1.3 Software ..........................7 2 IGRIP D5...........................8 2.1 Installation of the NX100 RCS Module................8 2.1.1 Execution of Setup Program ..................8 2.1.2 Installation Directory....................11 2.2 IGRIP D5-RRS/RCS-Module Connection Operation ............12 2.2.1...
  • Page 4 computer ..........................31 4.1.2 When the previous version driver (Ver.PD-5.39.2) has been installed after installing the driver Ver.PD-5.41.1......................31 4.1.3 When the software program does not start properly with D-SUB type .......31 HW0482335 4/31...

  • Page 5: Introduction

    1 Introduction The RCS-Module (hereinafter called the NX100 RCS-Module) is a software which runs a simulation of a manipulator controlled by the NX100 using a function called the Realistic Robot Simulation (RRS) of IGRIP. This manual describes how to install and start up the NX100 RCS-Module.

  • Page 6: Connecting Usb Type Key

    Therefore, only one key should be connected to one USB port. When installing multiple Yaskawa offline software into one personal computer and multi-connecting USB keys, use the personal computer which is provided same numbers of USB ports as the number of software to be installed.

  • Page 7: Software

    1.3 Software The copyright and authority of this product belong to Yaskawa, and are protected by the regulations of the copyright laws and international treaties. This product is protected by copyright and distributed under licenses restricting its use, copying, distribution and decompilation. No part of this product may be reproduced in any form by any means without prior written authorization by Yaskawa.

  • Page 8: Igrip D5

    2.1 Installation of the NX100 RCS Module 2.1.1 Execution of Setup Program Install the NX100 RCS-Module according the following procedure: 1. Turn ON the personal computer and the monitor power supply to start up Windows. 2. Exit all the Windows programs.
  • Page 9 Fig. 2-2 Dialog Box for Setup Program Setting 7. Click the [Finish] button to execute the setup program. Follow the on-screen instructions. 8. During the installation, a selection dialog box appears to select the IGRIP module version to install. Please select the IGRIP D5 module. Fig.
  • Page 10 Fig. 2-4 [Choose Destination Location] Dialog Box Note: If for some reason, the NX100 RCS-Module needs to be reinstalled, perform the reinstallation operation after deleting all the NX100 RCS-Module files by selecting [RCS-Module for NX100] in the [Add/Remove Programs] dialog box (Fig. 2-1) or by clicking the [Start] button in the task bar and selecting [Program]- [YASKAWA RRS]- [Uninstall].

  • Page 11: Installation Directory

    2.1.2 Installation Directory The programs and robot parameters of the NX100 RCS-Module are located under the directory where IGRIP has been installed as follows: <INSTALLATION FOLDER>\VMAP\RRS\YASKAWA_NX100__1.XX\bin Fig. 2-5 Folder Structure after Installation Note 1) After the installation, the directory \VMAP\RRS\YASKAWA_NX100__1.XX\data is created.

  • Page 12: Igrip D5-Rrs/Rcs-Module Connection Operation

    2.2 IGRIP D5-RRS/RCS-Module Connection Operation To connect the NX100 RCS-Module with the RRS function of IGRIP and run a simulation, it is required to perform the "Start-up of the RCS Server Program" and the "IGRIP-RRS Connection Operation". 2.2.1 Preparation RRS server definition is in the file "rrs.servers" located under "\vmap\rrs" which is located under the folder where IGRIP was installed.

  • Page 13: Igrip-Rrs Connection Operation

    3) Start the server program. Start the RCS server program (rcssrv_Yaskawa_NX100__1.XX.exe). The argument "-tcp" and the port no. "4500" are required for the program. The following example is for the DOS command input and assumes that IGRIP was installed in C:\deneb: >rcssrv_Yaskawa_NX100__1.XX.exe -tcp 4500 Fig.
  • Page 14 Operation procedure: [Device]-[Attrib]-[RRS Connect] Fig. 2-8 IGRIP RRS Connection Operation 3) Select "YASKAWA_NX100__1/XX_Server1(SOCKET/IGRIP:4500)" from the pull-down menu for [RCS Module] in the [RRS Status] dialog box. Select "Yes" for [RRS Enabled], and press the [OK] button. Fig. 2-9 IGRIP [RRS Status] Dialog Box 4) Select the MOTOMAN of the same type as the manipulator model from the pull-down menu for [Manipulator] in the [RRS Properties] dialog box.
  • Page 15 RCS-Module has been started by the default parameters. To start the RCS-Module properly with the right parameters downloaded from the actual manipulators or provided by Yaskawa, it is necessary to prepare those files under "\VMAP\RRS\YASKAWA_NX100__1. XX\data" using proper names. (Refer to Chapter 2.2.5.)

  • Page 16: Igrip-Rrs Disconnection Operation

    2.2.4 IGRIP-RRS Disconnection Operation To perform RRS disconnection operation with IGRIP, follow the procedure below: 1) The [RRS Status] dialog box appears by the following operation procedure: Operation procedure: [Device]-[Attrib]-[RRS Connect] Fig. 2-12 IGRIP [RRS Status] Dialog Box 2) Select "No" for [RRS Enabled] in the [RRS Status] dialog box, and press the [OK] button. The connection with the RCS-Module can be disconnected with this operation.

  • Page 17: Igrip-Rrs Connection Using Parameters Of Actual Manipulator

    IGRIP-RRS Connection Using Parameters of Actual Manipulator To start the RCS-Module properly using the parameters downloaded from actual manipulator or right parameter provided by Yaskawa, prepare the parameters in the following procedure and perform IGRIP-RRS connection: 1) Change the name of the parameter file. The new file name should be conformed to the following rule: [Robot type]_[Two-digit Robot number].[Extension of each parameter]...

  • Page 18: When The Motoman Model Required For Manipulator Selection Is Not Displayed

    2.2.6 When the MOTOMAN Model Required for Manipulator Selection is not Displayed The robot models produced after the release of the IGRIP version are not listed in the pull- down menu for [Manipulator] in the [RRS Properties] dialog box. The subject model of the MOTOMAN can be listed on the pull-down menu by adding the model to the "manipulator list".

  • Page 19: Igrip V5

    3.1 Installation of the NX100 RCS Module 3.1.1 Execution of Setup Program Install the NX100 RCS-Module according the following procedure: Turn ON the personal computer and the monitor power supply to start up Windows. Exit all the Windows programs. Insert the installation CD-ROM into the CD-ROM drive.
  • Page 20 Fig. 3-2 Dialog Box for Setup Program Setting Click the [Finish] button to execute the setup program. Follow the on-screen instructions. During the installation, a selection dialog box appears to select the IGRIP module version to install. Please select the IGRIP V5 module. Fig.

  • Page 21: Installation Directory

    Fig. 3-4 [Choose Destination Location] Dialog Box Note: If for some reason, the NX100 RCS-Module needs to be reinstalled, perform the reinstallation operation after deleting all the NX100 RCS-Module files by selecting [RCS-Module for NX100] in the [Add/Remove Programs] dialog box (Fig. 3-1) or by clicking the [Start] button in the task bar and selecting [Program]- [YASKAWA RRS]- [Uninstall].
  • Page 22 Note 2) Do not change the names of bin or data folder. Since the names are case-sensitive, changing the name of the folder or using upper-case characters may cause the NX100 RCS-Module to malfunction.

  • Page 23: Igrip V5-Rrs/Rcs-Module Connection Operation

    3.2 IGRIP V5-RRS/RCS-Module Connection Operation To connect the NX100 RCS-Module with the RRS function of IGRIP and run a simulation, it is required to perform the "Start-up of the RCS Server Program" and the "IGRIP-RRS Connection Operation". 3.2.1 Preparation RRS server definition is in the file "rrs.servers" located under "\intel_a\startup\rrs" which is located under the folder where IGRIP was installed.

  • Page 24: Start-Up Of The Rcs Server Program

    Fig. 3-7 IGRIP V5 [Options] Dialog Box In the main section, set the directories for the [RRS$LIB directory], [RRS Servers File] and [RCSDATA$LIB directory]. Set the values as follows: RRS$LIB directory: <IGRIP installation folder>\intel_a\code\bin RRS Servers File < IGRIP installation folder >\intel_a\startup\rrs\rrs.servers RCSDATA$LIB directory: <RCS module installation folder>\Yaskawa_nx100__1.xx\bin 3.2.3...
  • Page 25 RCS serve program has been installed in C:\YASKAWA RRS: >c: >cd c:\YASKAWA RRS\yaskawa_nx100__1.xx\bin 3) Start the server program. Start the RCS server program (rcssrv_Yaskawa_NX100__1.XX.exe). The argument "-tcp" and the port no. "4500" are required for the program. The following example is for...

  • Page 26: Igrip-Rrs Connection Operation

    RRS Connect button Fig. 3-9 RRS Connect toolbar Fig. 3-10 RRS Server Selection dialog box (Dialog initial display) 4) In the RRS Server Selection dialog box, select the Yaskawa RRS server (YASKAWA NX100__1.XX_Server...) as the RRS Server and press [OK]. HW0482335...
  • Page 27 Fig. 3-11 RRS Server Selection dialog box (with Yaskawa NX100 server selection) Note) Depending on the settings of the rrs.server, the value [2] and the [localhost] may differ from the ones in the figure above. 5) In the [Manipulator] field of the [RRS Properties] dialog box, select the same robot model as the Motoman robot registered in the workcell, then press the [OK] button.

  • Page 28: Igrip V5-Rrs Disconnection Operation

    3.2.6 IGRIP V5-RRS Connection Using Parameters of Actual Manipulator To start the RCS-Module properly using the parameters downloaded from actual manipulator or right parameter provided by Yaskawa, prepare the parameters in the following procedure and perform IGRIP-RRS connection: HW0482335 28/31...

  • Page 29: When The Motoman Model Required For Manipulator Selection Is Not Displayed

    1) Change the name of the parameter file. The new file name should be conformed to the following rule: [Robot type]_[Two-digit Robot number].[Extension of each parameter] Parameter Name File Name before New File Name in case of EA1400-A00 Change (Robot number in cell: No.1) All parameters all.prm EA1400N_A00_01.prm...
  • Page 30 1) Open the "manipulator list" in a text editor. The "manipulator list" is stored in the file "YASKAWA_NX100.manip" in the folder "\lib" under the RCS module installation directory. (If there is no such file, create a new file with this name.) 2) Add the model name in the list.

  • Page 31: Appendix

    4 APPENDIX 4.1 Frequently-asked Questions 4.1.1 When the driver has been installed with USB type key connected to a personal computer 3) Under the state that the USB type key is attached to the personal computer, delete the item registered as “USB Token” in Device Manager. 4) Uninstall the driver (Sentinel System Driver 5.41.1(32-bit)) with [Add/Remove Programs].

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