YASKAWA Motoman Series Instructions Manual
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YASKAWA Motoman Series Instructions Manual

Ethercat communication function
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YRC1000 OPTIONS
EtherCAT COMMUNICATION FUNCTION
INSTRUCTIONS
FOR INpact MADE BY HMS, Inc.
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS

MOTOMAN-
INSTRUCTIONS
YRC1000 INSTRUCTIONS
YRC1000 OPERATOR'S MANUAL (GENERAL) (SUBJECT SPECIFIC)
YRC1000 MAINTENANCE MANUAL
YRC1000 ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)
188547-1CD
0
MANUAL NO.
HW1486195
1/40

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Summary of Contents for YASKAWA Motoman Series

  • Page 1 YRC1000 OPTIONS EtherCAT COMMUNICATION FUNCTION INSTRUCTIONS FOR INpact MADE BY HMS, Inc. Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS  MOTOMAN- INSTRUCTIONS YRC1000 INSTRUCTIONS YRC1000 OPERATOR’S MANUAL (GENERAL) (SUBJECT SPECIFIC) YRC1000 MAINTENANCE MANUAL YRC1000 ALARM CODES (MAJOR ALARMS) (MINOR ALARMS) 188547-1CD...
  • Page 2 If such modification is made, the manual number will also be revised. • If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover.
  • Page 3 HW1486195 Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the YRC1000. In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING”, “CAUTION”, or “NOTICE”. Indicates an imminently hazardous DANGER situation which, if not avoided, will result in death or serious injury.
  • Page 4 HW1486195 NOTICE • Do not use or keep the board in the following environmental conditions. – Where exposed to direct sunshine – Where vibration or impact occurs – Where high humidity exists – Where a strong magnetic field exists – Where much dust exists –...
  • Page 5 HW1486195 DANGER • Before operating the manipulator, make sure the servo power is turned OFF by performing the following operations. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF. – Press the emergency stop buttons on the front door of the YRC1000, on the programming pendant, on the external control device, etc.
  • Page 6 HW1486195 WARNING • Do not touch the inside of the controller cabinet for at least 5 minutes after turning the power off. Failure to observe this warning may result in electric shock or personal injury because of the residual voltage of the condenser. •...
  • Page 7 HW1486195 CAUTION • Check to be sure that there is no foreign matter (metal piece, etc.) on the board. Failure to observe this caution may result in personal injury or equipment damage because of malfunction. • Check to be sure that there is no problem (damage, bend, etc.) with the components of the board.
  • Page 8 HW1486195 Definition of Terms Used Often in This Manual The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the YRC1000 controller, the YRC1000 programming pendant, and the manipulator cables. In this manual, the equipment is designated as follows:...
  • Page 9 HW1486195 Descriptions of the programming pendant keys, buttons, and displays are shown as follows: Equipment Manual Designation Programming Character Keys The keys which have characters or symbols Pendant /Symbol Keys printed on them are denoted with [ ]. e.g. [ENTER] Axis Keys [Axis Key] and [Numeric Key] are generic /Numeric Keys...
  • Page 10 HW1486195 Description of the Operation Procedure In the explanation of the operation procedure, the expression “Select • • •” means that the cursor is moved to the object item and [SELECT] is pressed, or that the item is directly selected by touching the screen. Registered Trademark In this manual, names of companies, corporations, or products are trademarks, registered trademarks, or brand names for each company or...

  • Page 11: Table Of Contents

    HW1486195 Contents 1 Outline ............................1-1 1.1 System Configuration ......................1-1 2 Hardware Specifications ......................... 2-1 2.1 Board External View ......................2-1 2.2 Board Specifications ......................2-2 2.3 Communication Specifications................... 2-2 3 Mounting the INpact Board ......................3-1 3.1 Opening the Front Door of the YRC1000 ................3-2 3.2 Mounting the INpact Board on the YRC1000 ..............

  • Page 12: Outline

    HW1486195 Outline System Configuration Outline This manual describes the INpact board for EtherCAT (manufactured by HMS Inc.) to be used in the YRC1000. The application of the INpact board allows the general-purpose I/O data exchange between a EtherCAT device and the YRC1000. System Configuration The following diagram shows an example of the configuration of a system with an INpact board used in EtherCAT slave.

  • Page 13: Hardware Specifications

    HW1486195 Hardware Specifications Board External View Hardware Specifications Board External View HW1486195 13/40...

  • Page 14: Board Specifications

    HW1486195 Hardware Specifications Board Specifications Board Specifications Items Specifications Interface to the external EtherCAT device Board mounting position Option PCI Express slot on the YRC1000 Error indicator LED display Number of transmission I/O Maximum number of I/O points for INpact: points Input: 4032 points;...

  • Page 15: Mounting The Inpact Board

    HW1486195 Mounting the INpact Board Mounting the INpact Board WARNING • Before wiring or installation, make sure to turn the primary power supply off, and put up a warning sign. (e.g. DO NOT TURN THE POWER ON.) Failure to observe this warning may result in electric shock or personal injury.

  • Page 16: Opening The Front Door Of The Yrc1000

    HW1486195 Mounting the INpact Board Opening the Front Door of the YRC1000 Opening the Front Door of the YRC1000 Mount the INpact board in the following manner. 1. Open the front door of YRC1000. (1) Turn the door lock on the front face of the YRC1000 clockwise for 90 °...

  • Page 17: Mounting The Inpact Board On The Yrc1000

    HW1486195 Mounting the INpact Board Mounting the INpact Board on the YRC1000 Mounting the INpact Board on the YRC1000 1. Remove the riser board (JANCD-ABB02-E) from the CPU rack. 2. Mount the INpact board on the riser board, then securely tighten the INpact board with a screw.

  • Page 18: Cable Connection

    HW1486195 Mounting the INpact Board Cable Connection Cable Connection 1. Connect the EtherCAT cable to EtherCAT connector of the INpact board. Fig. 3-4: When the INpact Board is Inserted into Option: Slot1 Connect the EtherCAT cable to EtherCAT connector HW1486195 18/40...

  • Page 19: Closing Front Door Of The Yrc1000

    HW1486195 Mounting the INpact Board Closing Front Door of the YRC1000 Closing Front Door of the YRC1000 1. Close the front door of YRC1000. (1) Close the door gently. (2) Turn the door lock on the front face of the YRC1000 counterclock- wise for 90 °...

  • Page 20: O Signal Allocation

    HW1486195 I/O Signal Allocation Setting of Option Board and I/O Module I/O Signal Allocation Setting of Option Board and I/O Module In order to use the INpact board in the YRC1000, perform the setting of the option board and I/O module in the following manner. Set the option board and I/O module in the management mode.
  • Page 21 HW1486195 I/O Signal Allocation Setting of Option Board and I/O Module 4. Select {SETUP}. – The SETUP display appears. 5. Select “OPTION BOARD”. – The OPTION BOARD display appears. HW1486195 21/40...
  • Page 22 HW1486195 I/O Signal Allocation Setting of Option Board and I/O Module 6. Select “INpact”. – The INpact setup display appears. – Set the following items: • “INPACT”: whether to use the INpact board or not • “IO SIZE”: the I/O size (dword) –...
  • Page 23 HW1486195 I/O Signal Allocation Setting of Option Board and I/O Module 7. Press [ENTER]. – The confirmation dialog box appears. 8. Select {YES}. – The IO MODULE display appears. HW1486195 23/40...
  • Page 24 HW1486195 I/O Signal Allocation Setting of Option Board and I/O Module 9. Press [ENTER]. – The rest of the IO MODULE display appears, and “INpact” is displayed. – The I/O points is displayed under “DI/DO” according to the I/O size in dword that is set on the “OPTION BOARD”...
  • Page 25 HW1486195 I/O Signal Allocation Setting of Option Board and I/O Module 11. Select {YES}. – Select {YES} if the display corresponds to the current mounted status of the I/O modules. The I/O module setting is updated, and the IO MODULE window changes to the EXTERNAL IO SETUP window.
  • Page 26 HW1486195 I/O Signal Allocation Setting of Option Board and I/O Module 14. Select the allocation mode to set up. – Select “AUTO” to allocate I/O signal allocation automatically. Select “MANUAL” to allocate I/O signal allocation manually. – The selected allocation mode is set up. 15.
  • Page 27 HW1486195 I/O Signal Allocation Setting of Option Board and I/O Module 16. Select the external I/O signal number (at the change source) to be changed. (In the setting example, select “#20070”.) – The select menu appears. 17. Select “MODIFY”, and input the external input signal number (at the change destination) to be changed.
  • Page 28 HW1486195 I/O Signal Allocation Setting of Option Board and I/O Module 19. Press [ENTER]. – The allocation window of the external output signal appears. 20. Select/modify the number of the external output signal same as the external input signal. – Repeat select/modify until it becomes the desired allocation to set up. 21.

  • Page 29: Transmission Data

    HW1486195 I/O Signal Allocation Transmission Data Transmission Data The data to be transferred from the INpact board to the inside of the YRC1000 is not only the I/O data from the external device connected to the EtherCAT, but also the status of the INpact board. Therefore, inside the YRC1000, 8 points (1 byte) each for input and output are reserved for the INpact board status, beside the area for the digital data.

  • Page 30: I/O Allocation Examples For Yrc1000 (For Handling)

    HW1486195 I/O Signal Allocation Transmission Data 4.2.1 I/O Allocation Examples for YRC1000 (For Handling) Note1) The following allocation examples are in case of the standard setting. If the external input/output signal allocation or concurrent ladder program is changed, the allocation will be changed according to the content changed.
  • Page 31 HW1486195 I/O Signal Allocation Transmission Data INpact External Output General Output Signal Description (EtherCAT) Output Signal 30060 30067 10030 10037 (OT0017 - OT0024) System Reservation 30070 30077 10040 10047 (OT0025 - OT0032) Output Data (1) 30080 30087 10050 10057 (OT0033 - OT0040) Output Data (2) 30090 30097 10060...

  • Page 32: I/O Allocation Examples For Yrc1000 (Except For Handling)

    HW1486195 I/O Signal Allocation Transmission Data 4.2.2 I/O Allocation Examples for YRC1000 (Except for Handling) Note1) The following allocation examples are in case of the standard setting. If the external input/output signal allocation or concurrent ladder program is changed, the allocation will be changed according to the content changed.
  • Page 33 HW1486195 I/O Signal Allocation Transmission Data INpact External Output General Output Signal Description (EtherCAT) Output Signal 30060 30067 10040 10047 (OT0025 OT0032) System Reservation 30070 30077 10050 10057 (OT0033 OT0040) Output Data (1) 30080 30087 10060 10067 (OT0041 OT0048) Output Data (2) 30090 30097 10070 10077 (OT0049...

  • Page 34: 4.2.3 The Alarm When Communication Error Occurs Using The Board Status

    HW1486195 I/O Signal Allocation Transmission Data 4.2.3 The Alarm when Communication Error Occurs Using the Board Status When the INpact board detects an error of the EtherCAT communication, by using the CIO ladder program allows to occur the alarm. The examples of the method are described below. There are two alarms of the occurrence alarms.
  • Page 35 HW1486195 I/O Signal Allocation Transmission Data 5. Enter the I/O alarm name. 6. Press [ENTER]. – The entered alarm is registered. 7. Register the other alarms. – Repeat the same procedures to register the alarm to use. HW1486195 35/40 4-16...
  • Page 36 HW1486195 I/O Signal Allocation Transmission Data  IO Allocation and the Ladder Program External input signal Signal Description 20066 EtherCAT communication error 20067 INpact board operation error System input signal Signal Description 40012 User alarm request 40220 User alarm code 40221 User alarm code 40222...
  • Page 37 HW1486195 I/O Signal Allocation Transmission Data The figure of the ladder #20067 #40220 #20066 #20067 #40221 #70017 #40222 #70017 #40223 #70017 #40224 #70017 #40225 #20067 #40012 #20066 HW1486195 37/40 4-18...

  • Page 38: Error Indication

    HW1486195 Error Indication Error Indication INpact board is provided with 4 LEDs for circuit board status indication. These LEDs indicate the following conditions. 1. STAT LED (Status) 2. ERR LED (Error) 3. U1 LED 4. U2 LED STAT LED Status Comments Init Interface in INIT state...
  • Page 39 HW1486195 Error Indication ERR LED Status Comments Not initialized Interface in setup or NW_INIT state Invalid configuration State change received from master not blinking possible due to invalid register of object settings Unsolicited state Slave device application has changed the single change state autonomously...
  • Page 40 FOR INpact MADE BY HMS, Inc. YASKAWA ELECTRIC CORPORATION 2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu, 806-0004, Japan Phone: +81-93-645-7703 Fax: +81-93-645-7802 http://www.yaskawa.co.jp YASKAWA AMERICA, INC. (MOTOMAN ROBOTICS DIVISION) 100 Automation Way, Miamisburg, OH 45342, U.S.A. Phone: +1-937-847-6200 Fax: +1-937-847-6277 http://www.motoman.com YASKAWA EUROPE GmbH (ROBOTICS DIVISION)

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