nx100-remote-control 1.0.1

Motoman NX100 remote control ability research library

Motoman NX100 - Remote Control

Yaskawa Motoman NX100 industrial robot remote control ability research for machine vision control development. See Youtube demo video.

Actual tasks will be here Uenian33 - nx100_robotic_tasks.

Table of contents

• Documents
  • Youtube videos
• Infrastructure
• Install
• Lint, Test, Build
• Programs
• MoveL
• Arduino gripper
  • Ladder changes
  • Python sample
  • Arduino code
  • Sketch

Documents

Documents for development

• Uenian33 - nx100_robotic_tasks
  • End goal. This repository will be control origin for this robot in the future.
• 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.

• Youtube 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.

Infrastructure

This is planned infrastructure for robot project with computing server.

Install

1. 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  
   

2. 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.
WebServer.py => Hosts small web page having control possibilities (repository readme photo)
XboxController.py => As name says, can use controller to control robot, just demo.

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')

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