YASKAWA motoman NX100 User manual

ＹＡＳＫＡＷＡ
YASKAWA
NX100 RCS-Module for IGRIP
InstallationManual
Upon receipt of the product and prior to initial operation, read this instruction thoroughly,
and retain for future reference.
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Part Number: 152001-1CD
Revision: 0

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 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.
・
Software supplied with this manual is intended for use by licensed operators only and ma
y
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.
(C) 2006 - YASKAWA ELECTRIC CORPORATION
Trade Mark
・ MS Windows 2000/XP is a registered trademark of Microsoft Corporation,
U.S.A.
・ Names of the products described in this manual are registered trademarks or
trademarks of the companies.
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Contents
1 Introduction ...............................................................................................................................5
1.1 System Requirements.........................................................................................................5
1.1.1 Hardware......................................................................................................................5
1.1.2 Software.......................................................................................................................5
1.2 Hardware Lock Key.............................................................................................................5
1.2.1 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 Preparation.................................................................................................................12
2.2.2 Start-up of the RCS Server Program..........................................................................12
2.2.3 IGRIP-RRS Connection Operation.............................................................................13
2.2.4 IGRIP-RRS Disconnection Operation ........................................................................16
2.2.5 IGRIP-RRS Connection Using Parameters of Actual Manipulator..............................17
2.2.6 When the MOTOMAN Model Required for Manipulator Selection is not Displayed ...18
3 IGRIP V5.................................................................................................................................19
3.1 Installation of the NX100 RCS Module..............................................................................19
3.1.1 Execution of Setup Program ......................................................................................19
3.1.2 Installation Directory...................................................................................................21
3.2 IGRIP V5-RRS/RCS-Module Connection Operation.........................................................23
3.2.1 Preparation.................................................................................................................23
3.2.2 Setup of the IGRIP V5 RRS property.........................................................................23
3.2.3 Start-up of the RCS Server Program..........................................................................24
3.2.4 IGRIP-RRS Connection Operation.............................................................................26
3.2.5 IGRIP V5-RRS Disconnection Operation...................................................................28
3.2.6 IGRIP V5-RRS Connection Using Parameters of Actual Manipulator ........................28
3.2.7 When the MOTOMAN Model Required for Manipulator Selection is not Displayed ...29
4 APPENDIX..............................................................................................................................31
4.1 Frequently-asked Questions .............................................................................................31
4.1.1 When the driver has been installed with USB type key connected to a personal
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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
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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.
Note: For details of the RRS function of IGRIP, contact DELMIA Japan, Ltd., the developer
and distributor of the IGRIP.
1.1 System Requirements
The NX100 RCS-Module requires the following hardware and software:
1.1.1 Hardware
・ PC/AT compatible personal computer and monitor to run IGRIP D5 or IGRIP V5 version
for PC.
・ 10 MB or more of free hard disk space.
・ CD-ROM drive.
・ Hardware Lock Key . (Refer to “1.2 Hardware Lock Key”.)
1.1.2 Software
・ For IGRIP D5:
1) OS (Windows 2000) on which IGRIP D5 version for PC runs
2) IGRIP version for PC: ver. D5R13 or a newer version, with RRS option of IGRIP D5.
・ For IGRIP V5:
1) OS (Windows 2000/XP) on which IGRIP V5 version for PC runs
2) IGRIP V5: ver. R15 or a newer version, with RRS option of IGRIP V5.
1.2 Hardware Lock Key
For proper operation, connect provided hardware lock key to personal computer before using
this software. Two types of hardware lock keys are available;
- USB type
- D-sub type
Followings are the connecting methods of each key type.
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1.2.1 Connecting USB type key
Check and execute the following items before connecting the key to USB port.
<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 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.
<Installation of driver>
Be sure to install the driver with key detached from personal computer.
Execute "\SentinelDriver\SSD5411-32bit.EXE" of installation CD-ROM. Refer to
"\SentinelDriver\Manual\us\Readme.pdf" for the installation procedure.
Note: 1. When installing the driver under Windows 2000/XP environment, be sure to
login on administrator mode in order to add files to system folder and input
information in registry.
2. If a key is connected to personal computer before installing the driver, Windows
wizard ([Add New Hardware] Wizard) starts up. In this case, push [cancel], and
detach the key from personal computer and then install the driver.
1.2.2 Connecting D-sub type key
Connecting the key to the printer port( ).
<Installation of driver>
Execute "\SentinelDriver\SSD5411-32bit.EXE" of installation CD-ROM. Refer to
"\SentinelDriver\Manual\us\Readme.pdf" for the installation procedure.
Note: 1. Be sure to install the driver in case of operation under Windows 2000/XP environment.
2. When installing the driver under Windows 2000/XP environment, be sure to login on
the administrator mode in order to add files to system folder and input information in
registry.
3. Refer to "4.1 Frequently-asked questions" for other countermeasures concerning
hardware lock key.
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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.
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2 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.
3. Insert the installation CD-ROM into the CD-ROM drive.
4. Click the [Start] button and point to [Settings]. Click [Control Panel], and select the
[Add/Remove Programs].
Fig. 2-1 [Add/Remove Programs] Dialog Box
5. Click the [Add New Programs] button, then click the [CD or Floppy] button.
6. Follow the on-screen instructions to run “Setup.exe” from the CD-ROM drive.
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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. 2-3 [IGRIP Selection] Dialog Box
9. During the installation, a selection dialog box appears to specify the destination folder
name: select the folder name where IGRIP has been installed.
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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].
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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. It is a directory to save the robot parameters from the actual manipulator, and
is empty at installation.
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.
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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. Add the host name of your server machine in this
file. The format description is as follows:
Server definition: <RRS_Server><RRS_Cntr_Type>SOCKET<Host><Port>
If the host name is "IGRIP", the definition is written as follows:
# YASKAWA NX100 1.XX Servers
#
YASKAWA_NX100
__
1.XX_Server1 YASKAWA_NX100
__
1.XX SOCKET Lynxdeu 4500
YASKAWA_NX100
__
1.XX_Server2 YASKAWA_NX100
__
1.XX SOCKET rcssrvr 4500
YASKAWA_NX100
__
1.XX_Server3 YASKAWA_NX100
__
1.XX SOCKET IGRIP 4500
Fig. 2-6 Example of the rrs.server settings
Note) The modification on "rrs.servers" file after launching the IGRIP will not be reflected.
2.2.2 Start-up of the RCS Server Program
To start the RCS server program, follow the procedure below:
1) Start a MS-DOS Window.
Click the [Start] button and point to [Program], then select [Accessory] - [Command
Prompt] to display a MS-DOS Window.
2) Change to the folder in which the RCS server program was installed.
Change the current folder to the folder where the RCS server program
(rcssrv_Yaskawa_NX100__1.xx.exe) is located. The following example is for the DOS
command input and assumes that IGRIP has been installed in C:\deneb:
>c:
>cd c:\deneb\vmap\rrs\yaskawa_nx100__1.xx\bin
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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. 2-7 DOS Prompt command example
Note) If the RCS server has been started in the past, the files "Rcssrv_YASKAWA_
NX100__1.XX.log" and "Rcssrv_YASKAWA_NX100__1.XX.pid" are created
under the “c:\tmp" folder. Delete those files before starting the RCS server program
(rcssrv_Yaskawa_NX100__1.XX.exe); if those files exist, the server program
would not start properly.
2.2.3 IGRIP-RRS Connection Operation
To perform RRS connection operation with IGRIP, follow the procedure below:
1) Start the IGRIP, and register the MOTOMAN robot in a workcell.
2) The [RRS Status] dialog box appears by the following operation procedure:
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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. Press the [OK] button.
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Fig. 2-10 IGRIP [RRS Properties] Dialog Box
5) The following message appears on [RRS Message Window] of the subject MOTOMAN.
With this window, the user can confirm the connection of IGRIP-RRS/RCS-Module.
Fig. 2-11 IGRIP [RRS Message Window] Dialog Box
Note 1) The above message window shows "Initialized as default robot. Machine
parameter file(s) not found". It means that since there had been no parameters
for the subject manipulator, the 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.)
Note 2) When connecting the RRS, a WARNING dialog box appears, clearly indicating
the upper limit of the positioning level (PL) for the subject RCS-Module. It is
an indication to prompt the user's attention, and is not a failure indication.
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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.
Fig. 2-13 IGRIP [RRS Status] Dialog Box
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Note) When closing the IGRIP, it is also required to terminate the RCS server program
(rcssrv_Yaskawa_NX100__1.XX.exe). To terminate the RCS server program,
close the MS-DOS window opened in Chapter 3.2.
2.2.5 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]
Parameter Name File Name before
Change
New File Name in case of ES200N-A00
(Robot number in cell: No.1)
1 All parameters all.prm ES200N_A00_01.prm
2 Tool data tool.cnd ES200N_A00_01.tol
3 User frame data uframe.dat ES200N_A00_01.uf
Replace all the symbols "-" used in the robot type with "_".
2) Copy the file with a new name in the following folder.
Copy to: "\VMAP\RRS\Yaskawa_nx100__1.xx\data" located under the folder where the
IGRIP was installed.
3) Perform the IGRIP-RRS connection operation.
4) Confirm that there is no warning indicated in the [RRS Message Window] of the subject
robot as follows:
Fig. 2-14 IGRIP [RRS Message Window] Dialog Box
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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". Follow the editing procedure of the “manipulator list” shown below:
1) Open the "manipulator list" in a text editor. The "manipulator list" is stored in the file
"YASKAWA_NX100.manip" in the folder "\vmap\rrs\lib" under the IGRIP installation
directory. (If there is no such file, create a new file in this name.)
2) Add the model name in the list. The "manipulator list" contains the text data as shown in
the figure below. Add the model name of desired MOTOMAN to the list. When entering
the manipulator name, be sure to enter one model per a line with no blank or symbol. Also,
the list can be replaced as the standard by designating "*REPLACE*" on the first line
Fig. 2-15 Text Editor Example for Adding Manipulator
3) Save and close the "manipulator list".
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3 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:
1. Turn ON the personal computer and the monitor power supply to start up Windows.
2. Exit all the Windows programs.
3. Insert the installation CD-ROM into the CD-ROM drive.
4. Click the [Start] button and point to [Settings]. Click [Control Panel], and select the
[Add/Remove Programs].
5. Click the [Add New Programs] button, then click the [CD or Floppy] button.
Fig. 3-1 [Add/Remove Programs] Dialog Box
6. Follow the on-screen instructions to run “Setup.exe” from the CD-ROM drive.
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Fig. 3-2 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 V5 module.
Fig. 3-3 [IGRIP Selection] Dialog Box
9. During the installation, a selection dialog box appears to specify the destination folder
name: select the folder name where IGRIP V5 has been installed.
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