README.md

Motoman NX100 - Remote Control

Yaskawa Motoman NX100 industrial robot remote control Python library. This library was originally developed for machine vision control development project. See more at Youtube demo video.

Table of contents

• Documents
  • Youtube videos
• NX100 Configs
• Install
• Lint, Test, Build
• Programs
• MoveL
• MoveJ
• Arduino gripper
  • Ladder changes
  • Python sample
  • Arduino code
  • Sketch
• Releasing

Documents

Documents for development

• Ethernet Server Function Manual
  • This document has information about http socket working.
• Concurrent I/O Manual
  • Remote IO signal outputs, inputs, all other IO signals and ladder programming information.

Youtube videos

These videos are part of documentation.

• First demo promo related to remote control software side.
• Custom hardware gripper related to first test of working gripper.
• Calibrating and testing ML pipeline related to first tests with machine learning based control.
• Grasping demo Grasping demo. Using MOVL and MOVJ commands.

NX100 Configs

- Do changes with your own risk! in case you brick your robot or your setup is different and it doesn't work. I cannot help.

1. Log into NX100 with Yaskawa emperor password from security menu. Same menu as you use to login to maintenance mode.

   System info -> Security -> Select Management Mode ->
   But do not enter Management Mode password but instead Yaskawa emperor password.
   

   Do your own research to find required password.
2. Enable following FD parameters
   All supported parameters list: NX100 / NXC100 PARAMETER LIST

   FD078 => bit set to 1 (Ethernet WWW)
   

3. Connect ethernet cable.

   LAN0 (next to serial COM port) 
   

   LAN1 should be occupied by default, that wire goes to pendant.
4. Specify ethernet configuration ip, mask, default gateway.

   1. Power off NX100 -> press down pendant "MAIN MENU" button while powering on NX100
   2. Release "MAIN MENU" after seeing Motoman screen on pendant.
   3. Login with Yaskawa emperor password from System -> Security.
   4. SYSTEM -> SETUP -> OPTION FUNCTION -> TCP -> "USED"
   5. SYSTEM -> SETUP -> OPTION FUNCTION -> NETWORK -> Give details.
   6. Under network also find HOST SETUP -> Provide address details.
   7. See that your changes have been saved.
   8. Reboot NX100 and ping your NX100 ip address.
   9. Test out this library.
   

Install

1. Install or upgrade existing package

   pip install nx100-remote-control
   pip install --upgrade nx100-remote-control

2. You can change robot parameters via importing nx100_remote_control.

   import nx100_remote_control
   
   nx100_remote_control.NX100_IP_ADDRESS = '192.168.2.28'
   nx100_remote_control.NX100_TCP_PORT = 80
   
   nx100_remote_control.MOCK_RESPONSE = False  

3. Import available contents like below examples or run web server.
   • Web interface opens from http://localhost:8080/ which looks something like this in below image.

   import nx100_remote_control
   from nx100_remote_control.module import WebServer
   
   nx100_remote_control.MOCK_RESPONSE = True 
   
   WebServer.run(addr="localhost", port=8080)

   • Use MOCK_RESPONSE = True to run without attached robot.
   • Replace "localhost" with "0.0.0.0" to make web server available to local network devices.

Lint, Test, Build

Must have installed: pip install flake8 pytest
Lint: flake8 ./nx100_remote_control --count --select=E9,F63,F7,F82 --show-source --statistics
Test: pytest
Build: python -m build

Programs

Testing.py => Used for development and testing individual commands.
XboxController.py => As name says, can use controller to control robot, just demo. Note that movements are clunky because NX100 does not support real time controlling.

MoveL

Quick sample for MovL command to do linear movement with robot. See MoveL object for more details or read Ethernet Server Function Manual.

from nx100_remote_control.module import Commands, Utils
from nx100_remote_control.objects import MoveL

Commands.write_linear_move(MoveL.MoveL(
    MoveL.MoveL.motion_speed_selection_posture_speed,
    5,
    MoveL.MoveL.coordinate_specification_base_coordinate,
    353.769, 202.779, 120.658,
    -1.34, 35.78, 27.84,
    Utils.binary_to_decimal(0x00000001),
    0, 0, 0, 0, 0, 0, 0
))

Use MoveL.MoveL object to see options for motion_speed_selection_ and for coordinate_specification_

Then to wait for move to be completed you can use callback function as example:

from nx100_remote_control.module import Commands, Utils
from nx100_remote_control.objects import MoveL


def callback_success():
    print('MoveL position has been reached')


def callback_failed():
    print('MoveL error or position not reached on given timeout')


move_l = MoveL.MoveL(
    MoveL.MoveL.motion_speed_selection_posture_speed,
    5,
    MoveL.MoveL.coordinate_specification_base_coordinate,
    353.769, 202.779, 120.658,
    -1.34, 35.78, 27.84,
    Utils.binary_to_decimal(0x00000001),
    0, 0, 0, 0, 0, 0, 0
)

Commands.robot_in_target_point_callback(
    move_l=move_l, timeout=10, _callback_success=callback_success, _callback_failed=callback_failed
)

So this will exec _callback_success if position reached in given timeout or run _callback_failed if not.

Another commander class way

from nx100_remote_control.module import LinearMove, Utils
from nx100_remote_control.objects import MoveL

move_l = MoveL.MoveL(
    MoveL.MoveL.motion_speed_selection_posture_speed,
    5,
    MoveL.MoveL.coordinate_specification_base_coordinate,
    352.769, 202.779, 120.658,
    -1.34, 35.78, 27.84,
    Utils.binary_to_decimal(0x00000001),
    0, 0, 0, 0, 0, 0, 0
)

linear_move = LinearMove.LinearMove()
linear_move.go(move_l=move_l, wait=True, poll_limit_seconds=10)
print('finished')

MoveJ

Quick sample for MovJ command to do joint motion movement with robot. Read Ethernet Server Function Manual for more details about MOVJ

- !!! BE CAREFUL WITH MOVJ COMMAND AND IT'S SPEED SETTING !!!

• Speed is given as percentage from 1 to 100.
• Start running it with lower speed.

from nx100_remote_control.module import JointMove, Utils
from nx100_remote_control.objects import MoveJ

move_j = MoveJ.MoveJ(
    25,  # speed %
    MoveJ.MoveJ.coordinate_specification_base_coordinate,
    352.769, 202.779, 120.658,
    -1.34, 35.78, 27.84,
    Utils.binary_to_decimal(0x00000001),
    0, 0, 0, 0, 0, 0, 0
)
linear_move = JointMove.JointMove()
linear_move.go(move_j=move_j, wait=True, poll_limit_seconds=10)
print('finished')

Arduino gripper

Arduino folder contains code and sketch for custom Gripper integrated for NX100 Motoman.

Ladder changes

NX100 ladder config had by default GRP meaning grouped signals so had to ungroup them to gain access to output relay #30052

Idea here was that I needed to be able to control relay #30052 with stock #10022 universal output signal but also with network input #22012 signal and this needed STR + NOT handling for both cases (see image ladder line 0359)

Python sample

Work in progress with gripper.

from nx100_remote_control.module import Gripper

Gripper.write_gripper_close()
Gripper.write_gripper_open()
Gripper.read_gripper_closed_command_register()
Gripper.read_gripper_acknowledge()
Gripper.read_gripper_hit()

Arduino code

Obvious bits are one input and two outputs. Hardware decisions don't matter, code can be changed accordingly.

• PC817 is used to bring NX100 IO card UNIVERSAL OUTPUT signal as input for Arduino.
• Two relays are used to short circuit NX100 input signal line's to switch on/off UNIVERSAL INPUT signal.

Sketch

Custom part sources

• L298 Stepper Driver
• LM2596 Step Down Module
• PC817 Opto-isolator
• HC-SR04 Sonar

Releasing

- Remember to increment setup.cfg version before release tag!