Yaskawa XRC RRS Servers

The Yaskawa XRC 1.XX RRS interface supports all versions of the Yaskawa XRC RCS.

This task describes the steps required to install and connect to the Yaskawa XRC 1.XX RRS Server. Unless otherwise indicated, the data on this page applies to all Yaskawa XRC RRS server versions.

This task shows you how to:

Installing the Yaskawa XRC RRS server
Connecting to the Yaskawa XRC RRS server

Installing the Yaskawa XRC RRS server

This task describes the steps required to install the Yaskawa XRC RRS Server.

On the RRS server machine, copy all Yaskawa RCS binaries and default machine data, including the DELMIA Yaskawa RRS server components -- rcssrv_YASKAWA_XRC__1.XX.exe (the win32 version) and/or rcssrv_YASKAWA_XRC__1.XX and rcsw32_YASKAWA_XRC__1.XX.exe (the SFU/Interix version), into the <DELMIA_RCS_Top>\YASKAWA_XRC__1.XX\bin folder.
Ensure that a <DELMIA_RCS_Top>\YASKAWA_XRC__1.XX\data folder exists.
Contact Motoman/Yaskawa for RCS licensing instructions.

Connecting to the Yaskawa XRC RRS server

There are three methods that can be used to RRS-connect a robot to a Yaskawa RRS server. These involve:

Using the default RCS data files,
Using custom RCS data files, or
Using a controller backup

Each method is described in the sections that follow.

Connecting RRS using default RCS data files

In this approach, the RCS module instance is initialized using default RCS data files (located in the RRS server's bin folder) associated with the selected Manipulator type. This is accomplished by making the following selections in the robot's RRS Properties dialog box during RRS connection.

Select the appropriate manipulator type in the Manipulator list.
Specify an RRS Robot Path (formed by concatenating Relative Robot Path to RCS Data Home Directory) that either does not exist or contains no RCS data files.
For example, specifying a RCS Data Home Directory of ../../ and a Relative Robot Path of YASKAWA_XRC__1.XX/data/RB1 results in a new RCS module instance initialized using the default UP130_A00.* RCS data files located in the selected RRS server's YASKAWA_XRC__1.XX\bin folder.

Connecting RRS Using Custom RCS Data Files

In this approach, the RCS module instance is initialized using custom RCS data files located in the RRS server's Robot Path folder whose names matches the Manipulator and Robot Number selections made in robot's RRS Properties dialog box during RRS connection (see table below). This can be accomplished through the following steps.

Name the controller files as follows, where Manipulator and Robot Number correspond to the parameters selected in the RRS connect command's RRS Properties dialog box.


Controller File Name	Renamed RCS Data File Name
ALL.PRM or ALL.PRE	<Manipulator>_<2 digit “Robot Number”>.PRM
TOOL.CND	<Manipulator>_<2 digit “Robot Number”>.TOL
UFRAME.CND	<Manipulator>_<2 digit “Robot Number”>.UF
SPRESS.CND	<Manipulator>_<2 digit “Robot Number”>.SPR
SGUN.DAT	<Manipulator>_<2 digit “Robot Number”>.SVG

Copy the renamed files into a new RCS data folder (that can be more than a single level deep) under the RRS Server's data folder.
Select the following in the robot's RRS Properties dialog box during RRS connection.
1. A Manipulator and Robot Number that matches those used in the RCS data file names.
2. An RRS "Robot Path" (formed by appending Relative Robot Path to RCS Data Home Directory) that points to this new RCS data folder.
  For example, specifying a RCS Data Home Directory of ../../ and a Relative Robot Path of YASKAWA_XRC__1.XX/data/dataset_1 results in a new RCS module instance initialized using the custom UP130_A00_01.* RCS data files located in the selected RRS server's YASKAWA_XRC__1.XX\data\dataset_1 folder.

Connecting RRS Using a Controller Backup

In this approach, the RCS module instance is initialized using a controller backup copied from the real robot controller. This is accomplished through the following steps.

On the RRS server machine:
1. Create a <Temp RCS Data Root> folder, under which temporary RCS data will be created.
2. If the RRS server is running remotely, create a new share that points to the <Temp RCS Data Root> folder that allows access from the 3DEXPERIENCE machine.
Edit the rrs.servers file by adding a new RRS server line for this RRS server, and set its third field to the full path (including the new share name) of the <Temp RCS Data Root> folder (instead of "SOCKET").
Copy the controller backup files below into a <Controller Backup> folder on the 3DEXPERIENCE machine.
Controller File Name
ALL.PRM or ALL.PRE
TOOL.CND
UFRAME.CND
SPRESS.CND
SGUN.DAT
During RRS connection,
1. Select the new RRS server line in the robot's RRS Server Selection dialog box.
2. In the RRS Properties dialog box, set Manipulator to match the robot/ALL.PRM file, and Controller Backup Directory to the <Controller Backup> folder.