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
17/31
HW0482335
