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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.
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HW0482335
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Part Number: 152001-1CD Revision: 0
Page 1: ...100 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 1 31 HW0482335 1 Part Number 152001 1CD Revision 0 ...
Page 2: ...ting the manual No on the front page YASKAWAis 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 may only be used or copied according to the provisions of the license Reproduction of any part of this manual without the consent of YASKAWAis forbidden C 2006 YASKAWA...
Page 3: ...nipulator 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 ...
Page 4: ... 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 4 31 HW0482335 ...
Page 5: ...nal 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 r...
Page 6: ... 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 Con...
Page 7: ...ons 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 7 31 HW0482335 ...
Page 8: ... 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 8 31 ...
Page 9: ...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 9 31 HW0482335 ...
Page 10: ...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 10 31 HW0482335 ...
Page 11: ...ructure 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 Modul...
Page 12: ...__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 Star...
Page 13: ...s 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 be...
Page 14: ...IP 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 14 31 HW0482335 ...
Page 15: ...ameters 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 cle...
Page 16: ... 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 16 31 HW0482335 ...
Page 17: ...e 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 wit...
Page 18: ... 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 ...
Page 19: ... 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 19 31...
Page 20: ...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 20 31 HW0482335 ...
Page 21: ...les 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 3 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 YASKAWA_NX100__1 XX bin 21 31 HW0482335 ...
Page 22: ...ata 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 22 31 HW0482335 ...
Page 23: ..._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 3 6 Example of the RRS server settings Note The modification on rrs servers file after launching the IGRIP will not be reflected 3 2 2 Setup of the IGRIP V5 RRS property After the installation it is ne...
Page 24: ...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 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...
Page 25: ..._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 RCS serve program has been installed in C YASKAWA RRS rcssrv_Yaskawa_NX100__1 XX exe tcp 4500 Fig 3 8 Example of the RRS server program start up Note If the RCS server has been started in the past the files Rcssrv_YASKAWA_ NX100__1 XX log and Rcssrv_YASKA...
Page 26: ... button of the RRS Connect Toolbar then click in the workcell on the robot to be connected The RRS Server Selection dialog box will display If the RRS Connect toolbar is not currently displayed use the following procedure Select View Toolbars RRS Connect 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 dial...
Page 27: ...dialog box select the same robot model as the Motoman robot registered in the workcell then press the OK button Fig 3 12 RRS Connection Properties setup dialog box 6 The messages in following figure are displayed in the RRS Message Window on the robot with establish RRS connection These messages confirm that the connection to the IGRIP RRS RCS Module is established Fig 3 13 RRS Message Window dial...
Page 28: ...ion 3 2 5 IGRIP V5 RRS Disconnection Operation To perform RRS disconnection operation with IGRIP V5 follow the procedure below 1 The RRS Disconnect Confirmation dialog box can be displayed with the following operation procedure Operation procedure View Toolbars RRS Connect 2 Press the OK button on the RRS Disconnect Confirmation dialog box and the connection with the RCS Module will disconnect Fig...
Page 29: ...Copy to Yaskawa_nx100__1 xx data located under the folder where the IGRIP RCS module was installed 3 Perform the IGRIP V5 RRS connection operation 4 Confirm that there is no warning in the RRS Message Window of the subject robot as follows Fig 3 15 RRS Message Window dialog box 3 2 7 When the MOTOMAN Model Required for Manipulator Selection is not Displayed The robot models produced after the rele...
Page 30: ...e 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 3 16 Text Editor Example for Adding Manipulator 3 Save and close...
Page 31: ...ter installing the driver Ver PD 5 41 1 In this case problems may occur infrequently To avoid problems uninstall the driver Ver PD 5 39 2 Sentinel System Driver by Add Remove Programs 4 1 3 When the software program does not start properly with D SUB type There is a possibility that the driver of the hardware lock key is old type or does not exist Execute SentinelDriver SSD5411 32bit EXE of instal...
