READY Yaskawa YRC1000micro Startup Manual

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Yaskawa YRC1000micro Startup Guide

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Page 1 Yaskawa YRC1000micro Startup Guide...
Page 2 The documentation, best practices, and recommendations provided by READY Robotics do NOT constitute safety advice. Products sold through READY Robotics are not by themselves a fully integrated workcell. As required in ISO 10218-2, READY Robotics strongly recommends performing a complete risk assessment of the integrated workcell per ISO 12100.
Page 3: Table Of Contents
Connecting the READY pendant ........
Page 4: Overview
For specific software and hardware requirements, go to support.ready-robotics.com. You will follow these steps: 1. Backup and update the Yaskawa controller. 2. Connect the READY pendant to your IPC and Yaskawa controller. 3. Power on your system. 4. Start up Forge/OS.
Page 5: Hardware Requirements
Robotics only) 12-Pin M12 to Connects to the READY pendant READY Flying Leads Junction Box or Forge/Hub to Robotics Cable terminals. YRC1000micro Controls the robot in its native Robot Yaskawa software. Controller © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 6 Required to transfer robot files from Forge/OS to the robot. READY USB flash drive, Tip: Use a different USB flash drive Robotics R-400030 8GB or larger (2GB or larger) for backing up the (or other) Yaskawa controller. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 7: Software Requirements
YRC1000micro YBS2.43 YRC1000micro + PFL (collaborative) REQUIRED OPTIONS Part Requirement Description Number FSU Software Option (non- 179908-1 collaborative) Required to jog the robot with the READY pendant. FSU Software Option (collaborative) 179502-2 © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 8: Confirming Software Requirements
Plug the Yaskawa controller into a power source. Power the controller on and wait for it to boot up. On the Yaskawa teach pendant, press the MAIN MENU button. Then press the black right arrow key until you have a gray menu on the left side of the screen. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 9 The system version information appears on the screen. Look for the version number at the top by SYSTEM:. If your system version is older than the requirement, contact your Yaskawa Motoman distributor to upgrade. Important: Before upgrading, take a backup of your controller. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 10 ▪ For the YRC1000micro, look for the ASF30 board. If you don't see the FSU IO Module for your controller, contact your Yaskawa Motoman distributor to upgrade. Tip: Hold SHIFT and press the up/down arrows to scroll quicker. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 11 Use the down arrow on the keypad to scroll down until you find OPTION FUNCTION. Keep scrolling to look for 046 MotoPlus FUNC. and 049 Functional Safety in the list of options. If you don't see these options in the list, contact your Yaskawa Motoman distributor to upgrade. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 12: Back Up And Upgrade The Robot Controller
Insert a USB drive into the back of the Yaskawa pendant. Note: Use an empty USB drive (FAT-32 file format) with at least 2 GB of storage. Turn the pendant key to TEACH mode. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 14 Power off the robot controller. Remove the USB flash drive from the pendant. Tip: Keep your USB backup drive in a secure location. You can save the backup files from the USB onto a workstation. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 15: Connecting The Ready Pendant
The READY pendant includes these safety outputs: 1. Key Switch (Robot Operation Mode) 2. Three-Position Enabling Switch 3. Emergency Stop Button Electric Shock Warning: Disconnect all components from power sources before attempting this installation. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 16 VERSION 5.3.0 If you are using a Forge/Ctrl, prepare the READY pendant Junction Box: Connect a Cat5e STP Ethernet cable from the junction box Ethernet port (1) into a LAN port (5) on the Forge/Ctrl. Connect the 8-Pin power cable (4) from the junction box into one of the Module ports (6) on the Forge/ Ctrl.
Page 17 Connect fence channel 2 to connector pins 65 and 67. If you are not using external safety fencing: Bridge pins 61 and 63 with a jumper wire. Bridge pins 65 and 67 with a jumper wire. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 18 Connect the FSU Breakout cable to the expansion safety I/O connector on the YRC1000micro. See Yaskawa instructions if needed. Tip: On collaborative models (with PFL), it's the -X77 port. On non-collaborative models, it's the FSU expansion board port beside the standard Safety port. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 19: Connecting To The Ipc
Connect one end of the Ethernet cable to the LAN port on the back of the YRC1000micro. Plug the other end of the Ethernet cable into a LAN port on the IPC or on a network switch you connect to the IPC. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 20: Signing In To Forge/Os
Tip: Forge/OS 5 is installed on all Forge/Ctrls and Forge/Hubs shipped after June 1, 2021. The READY pendant automatically finds and pairs with the IPC. The three LEDs on the screen help you track the status: ▪ Pendant Network Connection: This condition is satisfied when the READY pendant has a valid network connection (i.e., the Ethernet cable is plugged in).
Page 21 If the READY pendant spends more than 60 seconds on any step, troubleshooting text displays. Common things to check are if the READY pendant network cable is plugged in, if the IPC is powered on, if the READY pendant and IPC are connected to the same network, and if there's only one READY pendant and one IPC on that network.
Page 22: Powering On
Note: If you are using a Forge/Ctrl, turn the Power Disconnect Switch to ON. Then press the green power button on the opposite side of the Forge/Ctrl. If there are issues, power off each device, disconnect from power supplies, and check your wiring. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 23: Getting Robot Files From Forge/Os
In this section, you add the robot in Forge/OS and copy configuration files to the robot controller. In the Admin role, open the Device Configuration app. Tap New + to open the Device Library. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 25 Insert a USB flash drive into the IPC as instructed on the screen. Use an empty flash drive with at least 2GB of storage. Tip: Do not connect the USB flash drive to the READY pendant. Tap Start Transfer and wait for it to finish.
Page 27: Changing Robot Settings To Prepare For Forge/Os
Note: You may ignore minor alarms if they can't be cleared right away. If there is a major alarm, you need to resolve it before moving on. When you press RESET, the Yaskawa pendant warns you if there is a major alarm. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 28 Yaskawa controller and they can provide the password. If successful, the visible mode changes to SAFETY MODE. If you enter the wrong password, you get an Error 1030 message. Try again. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 29 From the Main Menu, find and select PARAMETER. Select the S2C option. To "Jump to" parameter S2C0701, you can highlight a parameter name in the first column and press the SELECT button on the keypad. Then enter the number 0701 and press ENTER. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 30 Repeat the process above to set the parameter S2C0430 to 4. Repeat the process above to set the parameter S2C1419 to 1. Repeat the process above to set the parameter S2C1586 to 1. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 31 If you are using a non-collaborative robot (no PFL), set parameter S4C0287 to 511. If you are using a collaborative robot (with PFL), set that parameter to 509. Set parameters S4C0288 - S4C0295 to 0. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 32 Verify that GP. Input = 511 (if using no PFL) or 509 (if using PFL). Verify that all Speed Ratio parameters = 0%. Follow these steps to disable the CRC check function. From the MAIN MENU, select SETUP, then choose FUNCTION ENABLE. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 33 Scroll to SAFETY MODE from the dropdown list and press the SELECT button on the pendant keypad. Enter the Safety Mode password and press ENTER. If successful, the visible mode changes to SAFETY MODE. If you enter the wrong password, you get an Error 1030 message. Try again. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 35 Highlight DETAIL next to LAN INTERFACE SETTING and press the SELECT button. Set the IP ADDRESS SETTING to MANUAL SETTING. Set the IP Address and Subnet Mask according to the READY IPC you have: ▪ Forge/Ctrl: set the IP Address to 172.16.255.251 and set the Subnet Mask to 255.255.255.0.
Page 36 Back in the OPTION FUNCTION menu, highlight the field next to MotoPlus FUNC and set it to USED. At the Modify? prompt tap YES. At the Initialize related files? SRAMDRV.DTA prompt tap YES. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 37 VERSION 5.3.0 Save settings to the Safety I/O board. From the Main Menu, tap FILE, then tap INITIALIZE. Highlight Safety Board FLASH Reset and press the SELECT button. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 38 At the Reset? prompt, tap YES. Wait for the flash reset to complete and the pendant to beep. This process takes up to two minutes to complete. The arrow buttons are disabled until the reset completes. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 39: Transferring Configuration Files
Tap the forge-os folder to open it, then tap to open the yaskawa folder. At the top of the screen, the TARGET FOLDER should be yaskawa. From the Main Menu, tap MotoPlus APL, then tap LOAD (USER APPLICATION). © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 40 If successful, the visible mode changes to SAFETY MODE. If you enter the wrong password, you get an Error 1030 message. Try again. If you have loaded Forge/OS files onto this robot controller before, make sure the correct MotoPlus application © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 41 Press Set Flow, then tap Close until you are out of the Monitor. If you made any changes, restart the robot controller. Once the robot controller restarts, enable Safety Mode and check again to make sure the correct application is running.. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 42 From the Main Menu tap EX. MEMORY and then tap LOAD. Highlight JOB and press the SELECT button. Highlight each file and press the SELECT button on the keypad so that it is marked with a star. Press ENTER on the keypad. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 43 Delete each job that starts with "RR" then try step 8 again. From the Main Menu, tap EX. MEMORY, then tap LOAD. Highlight FILE/GENERAL DATA and press the SELECT button. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 44 VERSION 5.3.0 Select TOOL DATA and press the SELECT button on the pendant keypad. Verify that the file is marked with a star. Press the ENTER button on the pendant keypad. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 45 The screen changes to the EXTERNAL MEMORY DEVICE screen, then to the EX. MEMORY screen. From the Main Menu, tap EX. MEMORY, then tap LOAD. Highlight FILE/GENERAL DATA and press the SELECT button. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 46 VERSION 5.3.0 Highlight the SPEED LIMIT DATA file and press SELECT. Make sure the file is marked with a star. Press ENTER. At the Load? prompt tap YES. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 48 VERSION 5.3.0 Select the field next to FILE VALID COND and select SIGNAL (2) and press the SELECT button. Tap the READBACK button on the screen. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 49 At the Update the file? prompt tap YES. Repeat all sub-steps in the previous step for 3 in the File column (READYP-OFF). The limit and input signal are different for READYP-OFF. This is normal. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 50 Highlight and press the SELECT button on C.IO PRGM (CIOPRG.LST) and YSF LOGIC FILE (YSFLOGIC.DAT). Note: For YRC1000micro with PFL option (collaborative robot): also highlight and select PSEUDO INPUT SIGNAL (PSEUDOIN.DAT) Press the ENTER button on the pendant keypad. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 51 Tap the WRITE button on the bottom of screen. Tap the CONFIRM button on the bottom of screen. At the Update the file? prompt tap YES. Power off the Yaskawa controller and wait 10 seconds. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 52 Scroll to SAFETY MODE from the dropdown list and press the SELECT button on the pendant keypad. Enter the Safety Mode password and press ENTER. If successful, the visible mode changes to SAFETY MODE. If you enter the wrong password, you get an Error 1030 message. Try again. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 53 Highlight Safety Board FLASH Reset and press SELECT. At the Reset? prompt tap YES. Wait for the flash reset to complete and the pendant to beep. This process takes up to one minute to complete. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 54 Wait for the flash reset to complete and the pendant to beep. This process takes up to two minutes to complete. Power off the Yaskawa robot controller and wait 10 seconds Turn the Yaskawa pendant key to REMOTE. Power on the Yaskawa robot controller. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 55: Adding Your Robot In Device Configuration
In Forge/OS, finish entering your device information: Give your device a name. If you are using the READY-made Forge/Ctrl, enter the IP Address 172.16.255.251. If you are using the READY-made Forge/Hub, enter the IP Address 192.168.1.20. If the IP address you assigned to the robot is different, enter that.
Page 56 Note: When you first connect to a robot, it's normal to see some robot errors and/or warnings on the READY pendant. Ignore these for now. You will clear them after you finish adding the robot to Forge/OS. If the robot controller fails to connect, you see this pop-up.
Page 57 Note: To use these I/O signals, integrate your I/O devices with the robot controller. Tap SAVE. Forge/OS returns to the Configured Devices list, which shows the new robot as enabled. Note: A device is enabled when its switch is green and toggled to the right. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 58 Tool Center Points or Payloads. To save time, decide all the TCPs and Payloads you need for your application/workcell ahead of time and add them at one time. Congratulations! You are ready to control your robot in the Device Control Panel and Task Canvas apps. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 59: Appendix A: Setting Up Forge/Os
Note: If you're installing Forge/OS on a Forge/Ctrl, press F11. You may need to enter the BIOS Admin password. Contact READY Support if you run into this issue. From the boot options, select Install Forge/OS to boot from the installation USB flash drive.
Page 60 VERSION 5.3.0 The installer may take several minutes to load. Wait until the installation wizard opens. Select your language. Then click Install Forge. Choose a keyboard layout. Then click Continue. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 61 Select Erase disk and install forgeos. Then click Continue. Note: If Forge/OS is already installed, the installation wizard will show additional options. The goal is to erase the entire disk for a brand new installation. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 62 Confirm that you want to erase the entire disk by clicking Continue. Make a note of the pendant instructions. If you're using a Forge/Ctrl, select the checkbox next to This hardware is a Forge CTRL. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 63 Choose your IPC's host name. The host name identifies the IPC on the network. Pick a username and password. Then click Continue. Note: The username and password that you create here are for accessing the IPC desktop. They are NOT for signing into Forge/OS on the READY pendant. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 64 VERSION 5.3.0 Wait for the installer to copy and install Forge/OS. Once the installation completes, click Restart Now. When prompted, remove the installation flash drive. Then reboot. Wait for Forge/OS to finish booting. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 65 VERSION 5.3.0 When you see the login screen with the Forge/OS 5 logo, Forge/OS is ready to run on the READY pendant! You don't need to sign in to the desktop. Disconnect the monitor, keyboard, and mouse that you used to install Forge/OS.
Page 66 If the READY pendant spends more than 60 seconds on any step, troubleshooting text displays. Common things to check are if the READY pendant network cable is plugged in, if the IPC is powered on, if the READY pendant and IPC are connected to the same network, and if there’s only one READY pendant and one IPC on that network.
Page 67 Tap Admin and sign in. The default Admin password is "forgeadmin". Note: After installation, you have limited access to Forge/OS until you activate it with a license code. See Activating Forge/OS with a License Code. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 68: Activating Forge/Os With A License Code
▪ A valid Forge/OS license code ▪ A valid Forge/OS license code Tip: Connect a USB keyboard to the port on the bottom of the READY pendant to type in any text field in Forge/ On the Settings app main screen, tap License.
Page 69 If you chose online license activation, you're done! If you chose offline license activation, follow these substeps: Insert the USB flash drive into your IPC. Tap START WRITING CERTIFICATE TO USB DRIVE. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 70 Wait for the file to finish transferring. When the file transfer is complete, remove the USB flash drive and tap SAVE. Forge/OS returns to the licensing home screen and shows an active license. If the license status isn't active, restart these license activation steps. Double-check your license code. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 71: Choosing Preferences
On the Settings app main screen, tap General Settings. Change the Units of Measure, Time and Date settings, or the Admin login password. Note: If you later forget your password, contact READY Robotics to reset it. Tap SAVE to save changes and exit the General Settings menu.
Page 72: Appendix B: Tool Loading Steps
In Forge/OS, go to the Device Configuration app and find the Yaskawa robot under Configured Devices. Select the device and tap Edit to open the robot configuration. Tap TCP AND PAYLOAD CONFIGURATION. Add all the TCPs and Payloads you need for your workcell and tap SAVE. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 73 Turn the key to TEACH. From the Main Menu, navigate to SYSTEM INFO, then SECURITY. Select SAFETY MODE from the dropdown list. Enter the SAFETY MODE password and press the ENTER button on the pendant keypad. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 75 Make sure the key is still in the "TEACH" position (counterclockwise). From the Main Menu, tap SYSTEM, then tap SECURITY. Select SAFETY MODE from the dropdown list. Enter the SAFETY MODE password and press ENTER. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 76 Save changes to the Safety I/O board. From the Main Menu, tap FILE, then INITIALIZE. Select Safety Board FLASH Reset. When prompted select YES. Wait for the flash reset to complete and the pendant to beep. This process takes up to one minute to complete. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 77 Turn the key to the REMOTE. Power off the robot controller and wait 10 seconds. Power on the robot controller. When Forge/OS reconnects to the robot controller after the final power cycle, you © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 79: Appendix C: Troubleshooting
Issue #2: “Alarm 4751 unmatch of general safety input signal functionality is detected by ASF02 board". This alarm occurs when there is a mismatch of safety I/O signals. Check the Functional Safety Breakout wiring against the wiring diagram in the READY pendant wiring section.
Page 80 For collaborative robots: If the Device Configuration and active payload are accurate, check the maximum collaborative force permitted. The Yaskawa “Collaborative Robot Password Agreement” indicates that the default maximum force threshold is set to 50N. Update the maximum force permitted setting in accordance with safety assessment. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 81 Scroll down to the bottom of the list of signals. Highlight the last entry. On the right side of the screen, select EDIT > INSERT NEW RUNG. With the new rung highlighted, open the Ladder Editing Window (either by double tapping on the new rung or pressing the SELECT button). © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 82 05117 or 05097 for the write signal. There are to be 8 new entries total. Select EDIT > COMPILE. Tip: If compiling fails, check that the pendant is in TEACH mode and that all the signals are correct. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 83: Resources
RESOURCES Want to learn more about how Forge/OS can empower you? Visit READY.academy (ready.academy) for FREE hands-on courses to help you deploy a robotic system. Visit READY.market (market.ready-robotics.com) for products and services offered by READY and our partners. Visit our Support site (support.ready-robotics.com) for robot startup guides, FAQs, and more.

READY Yaskawa YRC1000micro Startup Manual

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