Software version
YAS4.90
(or newer).Setup steps
Install fieldbus board
Mount the option board in the robot controller.Setup SRCI
Activate the (paid) option function (by Yaskawa) and setup MotoLogix + SRCI for the desired fieldbus and PLC architecture.Setup fieldbus
Define the fieldbus data packet for SRCI.Install SRCI app
Load the MotoPlus application with the SRCI interpreter.Set parameters
Set the internal parameters required for SRCI usage.
The setup process requires the robot controller to be in maintenance mode
and a sufficient authorization level (management
or higher).
Read more...
Activate maintenance mode:
- Power off
- Press (and hold) main menu
- Power on
- Release main menu when the beeping sound is heard (usually within a few seconds)
Change the authorization level:
- system » security » select
- select the desired level using ▼ ▲ » select
- enter the password and press enter
Install fieldbus board
Yaskawa robot controllers use various fieldbus solutions:
type | description |
---|---|
PCI | Large form factor option board |
PCIe | Compact form factor option board |
cpu board | Software option (uses the built-in LAN port) |
Mounting the CP1616 board
PCI
board.Read more...
This board can be mounted in the following installation frames (riser boards):
type | description |
---|---|
JANCD-ABB03-E | 2xPCI |
JANCD-ABB04-E | 1xPCI, 1xPCIe |
Loosen the screws and remove the installation frame from the CPU rack:
Insert the PCI card into the corresponding slot (1 or 2) and tighten the screw:
Only slot 1 supportsPROFIsafe
(safety fieldbus).Install the installation frame into the CPU rack and fasten it again with the screws:
Mounting the CIFX board
PCIe
board.Read more...
This board can be mounted in the following installation frames (riser boards):
type | description |
---|---|
JANCD-ABB02-E | 2xPCIe |
JANCD-ABB04-E | 1xPCI, 1xPCIe |
Loosen the screws and remove the installation frame from the CPU rack:
Insert the PCIe card into the corresponding slot (1 or 2) and tighten the screw:
Install the installation frame into the CPU rack and fasten it again with the screws:
Mounting the INPACT board
PCIe
board.Read more...
This board can be mounted in the following installation frames (riser boards):
type | description |
---|---|
JANCD-ABB02-E | 2xPCIe |
JANCD-ABB04-E | 1xPCI, 1xPCIe |
Loosen the screws and remove the installation frame from the CPU rack:
Insert the PCIe card into the corresponding slot (1 or 2) and tighten the screw:
Install the installation frame into the CPU rack and fasten it again with the screws:
Setup SRCI
Open the MotoLogix option function settings: system » setup » option function » motologix
Customers: Please contact Yaskawa if the MotoLogix option function is not available in the list.Activate the MotoLogix option function:
This requiresYaskawa
authorization level and cannot be changed by the customer.Enter the MotoLogix settings:
item value FUNCTION ENABLED
CONNECTION TYPE PROFINET
ENDIANNESS LITTLE
SRCI always useslittle
endian (regardless the fieldbus type).Activate the SRCI option function:
This requiresYaskawa
authorization level and cannot be changed by the customer.Enter the SRCI settings:
item value SRCI FUNCTION ENABLED
Use enter to confirm and leave the settings screen.
Setup fieldbus
CP1616 board settings
Read more...
v2.8
.fw16xx-2.8.1.0.0.fwl
) can be downloaded from
the
Siemens Industry Support
website.Open the board settings: system » setup » option board » CP1616
Enter the settings:
item value CP1616 USED (MotoLogix)
Below settings only apply to systems with PROFIsafe (FD288
):YRC1000 PROFIsafe is certified for PROFIsafe profile2.6.1
(default) and2.4
.item value F_CRC_Length 4 byte
(profile2.6.1
– default)3 byte
(profile2.4
)F_Dest_Address 250
Some PROFINET masters (e.g. S7-300) do not support the latest profile. In that case you can fall back to2.4
. Don’t forget to change the profile in the iDevice configuration too.Customers can adjust theF_Dest_Address
setting to their needs.Open the io device screen and enter the settings:
item value IO DEVICE ENABLE
IO SIZE(IN/OUT) + MotoLogix 0 byte + 254 byte
Use enter (multiple times) to confirm this- and the following screens. Don’t make any changes in these following screens (keep default IO allocation).
Load iDevice configuration
The CP1616 also needs to get a configuration loaded.
This is called the iDevice configuration
.
Loading the CP1616 configuration is part of the customer’s commissioning process. It requires TIA Portal and takes about 10 minutes.
Read more...
The project contains two configurations for SRCI systems
(standard
and PROFIsafe
), two for MotoLogix systems and two for
conventional systems.
Choose the SRCI configuration which fits your setup:
Compile the hardware:
Download it into the CP1616:
This requires the robot controller to be inmaintenance mode
.
Change PROFIsafe profile
If you want to use the older profile 2.4
:
Change the profile:
Compile and download into the CP1616.
Export the new GSD file:
Import the new GSD into your PLC project.
CIFX board settings
Read more...
Open the board settings: system » setup » option board » CIFX 50E-RE
Enter the settings:
item value CIFX 50E-RE USED (MotoLogix)
IO SIZE + MotoLogix 0 byte + 436 byte
FIELDBUS PROFINET
ADDITIONAL SERVICES DISABLE
Use enter (multiple times) to confirm this- and the following screens. Don’t make any changes in these following screens (keep default IO allocation).
INPACT board settings
Read more...
PIR
Open the board settings: system » setup » option board » inpact
Enter the settings:
item value INPACT USED (MotoLogix)
IO SIZE + MotoLogix 0 dword + 109 dword
Use enter (multiple times) to confirm this- and the following screens. Don’t make any changes in these following screens (keep default IO allocation).
Install SRCI app
fieldbus board | app file name |
---|---|
CP1616 | SRCI-254b-YRC1000.zip |
others | SRCI-436b-YRC1000.zip |
SRCI-<data-packet-size>-<controller-type>.zip
The package contains the SRCI app and a build info file. Below is an example for the 436 byte package for a YRC1000 controller:
# example of a package
└── SRCI-436b-YRC1000.zip
├── SRCI-436b-YRC1000.out # SRCI app
└── build-info.yaml # build information
v0.4.1
, we included the controller type in the
SRCI app (.out
) file name.
This reduces the risk of loading an app of a different controller
platform.
Before this change, it was not recognizable for which controller the app was built.Installation steps:
Unzip the package and copy the app (
.out
file) to a FAT-formatted USB-stick.Mount the USB-stick into the pendant (rear side).
Set the target device: MotoPlus APL. » DEVICE » USB:Pendant
View the file(s) on the USB-stick: MotoPlus APL. » LOAD(USER APPLICATION)
Use ▼ ▲ » select to select the desired file. The ⭐ (star symbol) now indicates the file is selected.
Use enter to load the selected file.
Verify the installed file on the robot controller: MotoPlus APL. » FILE LIST
Make sure only one app is shown here. This should be the desired SRCI app.Apps can be removed using MotoPlus APL. » DELETE » ▼ ▲ » select » enter