YASKAWA NX100 Robot Communication Driver

YASKAWA NX100 Robot is driver to communicate with NX100 Robot device of Yaskawa Co. in Japan.

1. Read settings

<Figure 1> is read setting example of YASKAWA NX100 Robot communication driver.

<Figure 1> Read setting example of YASKAWA NX100 Robot driver

Device part of <Figure 1> input Device type(TCP/IP), IP address of NX100 device(192.168.1.65), Service port(fixed to 80).

YASKAWA NX100 Robot driver read schedule

Read schedule setting parameters are as follows:

1) STATION – Don't care.

2) Read Command – Set among the RALARM, RPOSJ, RPOSC, RSTATS, RJSEQ, RGROUP, RJDIR, RUFRAME, SAVEV and IOREAD. (Refer to <Table 1>)

3) Read Start Address – Don't care.

4) Save Start Address for Communication Server - Saving start address of Communication Server.

5) Read Size – Always fixed to 1. Fixed to according to read command. (Refer to <Table 1>)

6) Command Data1 – Set the command data 1 value of read command such as RPOSC, RUFRAME, SAVEV, IOREAD. (Refer to <Table 1>)

7) Command Data2 – Set the command data 2 value of read command such as RPOSC, SAVEV, IOREAD. (Refer to <Table 1>)

Read schedule example)

READ,     0,  RSTATS,     0,    0,   1,

READ,     0,   RPOSJ,      0,   10,   1,

READ,     0,  RGROUP,     0,   20,   1,

<Table 1> is command type and save address of read data for YASKAWA NX100 Robot communication driver.

Notice) YASKAWA NX100 Robot communication driver store the same data in WORD, DWORD, FLOAT, DOUBLE, INT64 memory, but the data format are different.

If you click the icon  in protocol option part, you can see the dialog box such as <Figure 2>. you can also set read schedule by using this part.

<Figure 2> Example of YASKAWA NX100 Robot communication driver's Option dialog box

You can set read schedule by using , , button and listbox of <Figure 2>.

<Figure 3> Example of YASKAWA NX100 Robot communication driver's read schedule Add/Edit dialog box

When you click Add button or Edit button in dialog box of <Figure 2>, dialog box of <Figure 3> is shown.

2. Write settings

You can change the setting value by using the write setting of YASKAWA NX100 Robot communication driver.

Digital Write

Digital write and analog write have the same setting parameters except output value(0, 1).

Analog Write

Analog write setting parameters are as follows :

1) Port : Connected Port number. (It is not COM no.)

2) Station : Don't care. (Fixed to 0)

3) Address : Memory start address to save, in case of read command. (Decimal number 0 ~ 9999).

             Not use write command.

4) Extra1 : Input among the read command of <Table 1> or HOLD, RESET, CANCEL, MODE, CYCLE, SVON, HLOCK, MDSP, CGROUP, CTASK, START, DELETE, SETMJ and JSEQ.

5) Extra2 : When read command : Use as Command data 1

            When write command : Set the Robot control group(Designate the Robot 1 ~ 4 as no.0 ~ no.3 bit) of CGROUP command. Other commands not used.

6) Output value : When read command : Use as Command data 2

  When write command : Setting value of HOLD, MODE, CYCLE, SVON, HLOCK, MDSP, CGROUP, CTASK, START, DELETE, SETMJ and JSEQ command. Other commands not used.

<Table 2> is write command type and setting value of YASKAWA NX100 Robot communication driver.