YASKAWA MOTOMAN YRC1000micro Instructions Manual
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YASKAWA MOTOMAN YRC1000micro Instructions Manual

YASKAWA MOTOMAN YRC1000micro Instructions Manual

Options profinet communication function
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YRC1000micro OPTIONS
PROFINET 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
YRC1000micro INSTRUCTIONS
YRC1000micro OPERATOR'S MANUAL
YRC1000micro MAINTENANCE MANUAL
YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)
185489-1CD
3
MANUAL NO.
HW1485630
2
1/36

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Summary of Contents for YASKAWA MOTOMAN YRC1000micro

  • Page 1 YRC1000micro OPTIONS PROFINET 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 YRC1000micro INSTRUCTIONS YRC1000micro OPERATOR’S MANUAL YRC1000micro MAINTENANCE MANUAL YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS) 185489-1CD...
  • 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: Notes For Safe Operation

    HW1485630 Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the YRC1000micro. 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 HW1485630 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 HW1485630 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 button on the programming pendant or on the external control device, etc.
  • Page 6 HW1485630 DANGER • In the case of not using the programming pendant, be sure to supply the emergency stop button on the equipment. Then before operating the manipulator, check to be sure that the servo power is turned OFF by pressing the emergency stop button. Connect the external emergency stop button to the 2-12 pin and 3- 13 pin of the Safety connector (Safety).
  • Page 7 HW1485630 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 HW1485630 Definition of Terms Used Often in This Manual The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the YRC1000micro controller, manipulator cables, the YRC1000micro programming pendant (optional), and the YRC1000micro programming pendant safety signal short circuit connector (optional).
  • Page 9 HW1485630 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: Registered Trademark

    HW1485630 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 HW1485630 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 4 I/O Signal Allocation........................4-1 4.1 Setting of Option Board and I/O Module................

  • Page 12: System Configuration

    HW1485630 Outline System Configuration Outline This manual describes the INpact board for PROFINET (manufactured by HMS Inc.) to be used in the YRC1000micro. The application of the INpact board allows the general-purpose I/O data exchange between a PROFINET device and the YRC1000micro. The INpact board is designed only as a slave for PROFINET (IO Device) and cannot be used as a master (IO Controller).

  • Page 13: Hardware Specifications

    HW1485630 Hardware Specifications Board External View Hardware Specifications Board External View HW1485630 13/36...

  • Page 14: Board Specifications

    HW1485630 Hardware Specifications Board Specifications Board Specifications Items Specifications Interface to the external PROFINET device Board mounting position Option PCI Express slot on the YRC1000micro Error indicator LED display Number of transmission I/O Maximum number of I/O points for INpact: points Input: 992 points;...
  • Page 15 HW1485630 Mounting the INpact Board Mounting the INpact Board Request a YASKAWA sales representative to mount the board inside the YRC1000micro. NOTE The product warranty will be void if the customer mounts the board. HW1485630 15/36...

  • Page 16: O Signal Allocation

    HW1485630 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 YRC1000micro, 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 17 HW1485630 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. HW1485630 17/36...
  • Page 18 HW1485630 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 19 HW1485630 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. The message, “Select 'Safety Board FLASH Reset'.” appears, however, do not perform 'Safety Board FLASH Reset' this time, but perform the settings continuously.
  • Page 20 HW1485630 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 21 HW1485630 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 22 HW1485630 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 23 HW1485630 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 “#20030”.) – The select menu appears. 17. Select “MODIFY”, and input the external input signal number (at the change destination) to be changed.
  • Page 24 HW1485630 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 25 HW1485630 I/O Signal Allocation Setting of Option Board and I/O Module 23. Set the security mode to the “SAFETY MODE”. 24. Select {FILE}- {INITIALIZE}. – The INITIALIZE window appears. 25. Select “Safety Board FLASH Reset”. – The confirmation dialog box appears. 26.

  • Page 26: Transmission Data

    HW1485630 I/O Signal Allocation Transmission Data Transmission Data The data to be transferred from the INpact board to the inside of the YRC1000micro is not only the I/O data from the external device connected to the PROFINET, but also the status of the INpact board. Therefore, inside the YRC1000micro, 8 points (1 byte) each for input and output are reserved for the INpact board status, beside the area for the digital data.
  • Page 27 HW1485630 I/O Signal Allocation Transmission Data 4.2.1 YRC1000micro I/O Allocation example Note1) The following example is for the standard setting. When change the allocation of the external output signal or the concurrent ladder program, the allocation changes in accordance with the changes. Note2) As for the input data/output data of ASF30 (standard I/O), refer to “YRC1000micro INSTRUCTIONS (RE-CTO-A222)”...
  • Page 28 HW1485630 I/O Signal Allocation Transmission Data INpact I/O Output 30100 to 30107 10100 to 10107(OT0073 to OT0080) Output data (8) (PROFINET) 30110 to 30117 10110 to 10117(OT0081 to OT0088) Output data (9) 30120 to 30127 10120 to 10127(OT0089 to OT0096) Output data (10) 30130 to 30137 10130 to 10137(OT0097 to OT0104)
  • Page 29 HW1485630 I/O Signal Allocation Transmission Data 4.2.2 The Alarm when Communication Error Occurs Using the Board Status When the INpact board detects an error of the PROFINET 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 30 HW1485630 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. HW1485630 30/36 4-15...
  • Page 31 HW1485630 I/O Signal Allocation Transmission Data  IO Allocation and the Ladder Program External input signal Signal Description 20026 PROFINET communication error 20027 INpact board operation error System input signal Signal Description 40012 User alarm request 40220 User alarm code 40221 User alarm code 40222...
  • Page 32 HW1485630 I/O Signal Allocation Transmission Data The figure of the ladder #20027 #40220 #20026 #20027 #40221 #70017 #40222 #70017 #40223 #70017 #40224 #70017 #40225 #20027 #40012 #20026 HW1485630 32/36 4-17...

  • Page 33: Gsdml File

    GSDML File GSDML File Please ask your Yaskawa representative for the GSDML file needed in the PROFINET master for configuration of the INpact PROFINET slave. This file is not a general HMS file, it is a file specific for the robot controller.

  • Page 34: Error Indication

    HW1485630 Error Indication Error Indication INpact board is provided with 4 LEDs and Port LEDs for circuit board status indication. The status can be identified by the following LEDs 1-3. 1. LED NS 2. LED MS 3. Link/Activity LED LED NS Status Contents Offline...
  • Page 35 HW1485630 Error Indication LED MS Status Contents Not initialized Interface in setup or NW_INIT state Green Operational Interface in OPERATIONAL state Green Diagnostic events Diagnostic events present flashing (one time) EXCEPTION error Interface in EXCEPTION state •Turn OFF and ON the YRC1000micro main power to start the system again.
  • Page 36 YRC1000micro OPTIONS PROFINET COMMUNICATION FUNCTION INSTRUCTIONS FOR INpact MADE BY HMS, Inc. C 2018 YASKAWA ELECTRIC CORPORATION Published by YASKAWA October 2019 18-08 MANUAL NO. HW1485630 36/36...

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