Setup information for SRCI on YRC1000 with PROFINET fieldbus.

part number #220715
YRC1000 
PROFINET 
INPACT  CIFX  CP1616 (v2.8) 

YRC1000.png
YRC1000 controller

YEU Parameter Settings PSC file

Software version

This setup requires system software version: YAS4.90 (or newer).

Setup steps

  1. Install fieldbus board
    Mount the option board in the robot controller.

  2. Setup SRCI
    Activate the (paid) option function (by Yaskawa) and setup MotoLogix + SRCI for the desired fieldbus and PLC architecture.

  3. Setup fieldbus
    Define the fieldbus data packet for SRCI.

  4. Install SRCI app
    Load the MotoPlus application with the SRCI interpreter.

  5. 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:

  1. Power off
  2. Press (and hold) main menu
  3. Power on
  4. Release main menu when the beeping sound is heard (usually within a few seconds)

Change the authorization level:

  1. system » security » select
  2. select the desired level using ▼ ▲ » select
  3. enter the password and press enter

Install fieldbus board

Yaskawa robot controllers use various fieldbus solutions:

typedescription
PCILarge form factor option board
PCIeCompact form factor option board
cpu boardSoftware option (uses the built-in LAN port)
There are multiple fieldbus solutions available for this part number. Make sure you understand which type you have.

Mounting the CP1616 board

This is a PCI board.

product
CP1616 board

Read more...

This board can be mounted in the following installation frames (riser boards):

typedescription
JANCD-ABB03-E2xPCI
JANCD-ABB04-E1xPCI, 1xPCIe

  1. Loosen the screws and remove the installation frame from the CPU rack:

    1
    Installation frame

  2. Insert the PCI card into the corresponding slot (1 or 2) and tighten the screw:

    3
    Insert PCI card into the slot

    Only slot 1 supports PROFIsafe (safety fieldbus).

  3. Install the installation frame into the CPU rack and fasten it again with the screws:

    4
    Installed installation frame

Mounting the CIFX board

This is a PCIe board.

product
CIFX board

Read more...
The images below are for reference only and might not reflect this specific board.

This board can be mounted in the following installation frames (riser boards):

typedescription
JANCD-ABB02-E2xPCIe
JANCD-ABB04-E1xPCI, 1xPCIe

  1. Loosen the screws and remove the installation frame from the CPU rack:

    1
    Installation frame

  2. Insert the PCIe card into the corresponding slot (1 or 2) and tighten the screw:

    3
    Insert PCIe card into the slot

  3. Install the installation frame into the CPU rack and fasten it again with the screws:

    4
    Installed installation frame

Mounting the INPACT board

This is a PCIe board.

product
INPACT board

Read more...

This board can be mounted in the following installation frames (riser boards):

typedescription
JANCD-ABB02-E2xPCIe
JANCD-ABB04-E1xPCI, 1xPCIe

  1. Loosen the screws and remove the installation frame from the CPU rack:

    1
    Installation frame

  2. Insert the PCIe card into the corresponding slot (1 or 2) and tighten the screw:

    3
    Insert PCIe card into the slot

  3. Install the installation frame into the CPU rack and fasten it again with the screws:

    4
    Installed installation frame

Setup SRCI

Yaskawa SRCI uses MotoLogix technology.

  1. Open the MotoLogix option function settings: system » setup » option function » motologix

    motologix-option-function
    MotoLogix option function

    Customers: Please contact Yaskawa if the MotoLogix option function is not available in the list.

  2. Activate the MotoLogix option function:

    This requires Yaskawa authorization level and cannot be changed by the customer.

    motologix-settings
    MotoLogix settings

  3. Enter the MotoLogix settings:

    itemvalue
    FUNCTIONENABLED
    CONNECTION TYPEPROFINET
    ENDIANNESSLITTLE
    SRCI always uses little endian (regardless the fieldbus type).

  4. Activate the SRCI option function:

    This requires Yaskawa authorization level and cannot be changed by the customer.

    srci-settings
    SRCI settings

  5. Enter the SRCI settings:

    itemvalue
    SRCI FUNCTIONENABLED

  6. Use enter to confirm and leave the settings screen.

Setup fieldbus

CP1616 board settings

Read more...
This setup requires CP1616 firmware version v2.8.
The installed version can be inspected using the engineering tool (e.g. TIA Portal).
The corresponding firmware file (fw16xx-2.8.1.0.0.fwl) can be downloaded from the Siemens Industry Support website.

  1. Open the board settings: system » setup » option board » CP1616

    option-boards
    Option boards

  2. Enter the settings:

    profinet
    PROFINET settings

    itemvalue
    CP1616USED (MotoLogix)
    Below settings only apply to systems with PROFIsafe (FD288):
    YRC1000 PROFIsafe is certified for PROFIsafe profile 2.6.1 (default) and 2.4.

    profinet-safety
    PROFIsafe settings

    itemvalue
    F_CRC_Length4 byte (profile 2.6.1 – default)
    3 byte (profile 2.4)
    F_Dest_Address250
    Some PROFINET masters (e.g. S7-300) do not support the latest profile. In that case you can fall back to 2.4. Don’t forget to change the profile in the iDevice configuration too.
    Customers can adjust the F_Dest_Address setting to their needs.

  3. Open the io device screen and enter the settings:

    profinet-io-device
    IO Device settings

    itemvalue
    IO DEVICEENABLE
    IO SIZE(IN/OUT) + MotoLogix0 byte + 254 byte

  4. Use enter (multiple times) to confirm this- and the following screens. Make sure the IO allocation is set to AUTO and check if the IO entries match below screenshots.

    io-setup
    Allocation mode AUTO

    yrc1000-allocation-input
    Input allocation

    yrc1000-allocation-output
    Output allocation

Load iDevice configuration

The CP1616 also needs to get a configuration loaded. This is called the iDevice configuration.

Yaskawa does not load an iDevice configuration into the CP1616.

Loading the CP1616 configuration is part of the customer’s commissioning process. It requires TIA Portal and takes about 10 minutes.

Read more...
A TIA project with predefined CP1616 configurations can be downloaded from Yaskawa’s download portal .

The project contains two configurations for SRCI systems (standard and PROFIsafe), two for MotoLogix systems and two for conventional systems.

  1. Choose the SRCI configuration which fits your setup:

    load-idevice-config1
    Available configurations

  2. Compile the hardware:

    load-idevice-config1
    Compile hardware

  3. Download it into the CP1616:

    This requires the robot controller to be in maintenance mode.

    load-idevice-config3
    Download hardware configuration

Change PROFIsafe profile

If you want to use the older profile 2.4:

  1. Change the profile:

    idevice-profisafe-norm
    PROFIsafe profile setting

  2. Compile and download into the CP1616.

  3. Export the new GSD file:

    idevice-export-gsd
    Export GSD

  4. Import the new GSD into your PLC project.

CIFX board settings

Read more...

  1. Open the board settings: system » setup » option board » CIFX 50E-RE

    option-boards
    Option boards

  2. Enter the settings:

    profinet
    PROFINET settings

    itemvalue
    CIFX 50E-REUSED (MotoLogix)
    IO SIZE + MotoLogix0 byte + 436 byte
    FIELDBUSPROFINET
    ADDITIONAL SERVICESDISABLE

  3. Use enter (multiple times) to confirm this- and the following screens. Make sure the IO allocation is set to AUTO and check if the IO entries match below screenshots.

    io-setup
    Allocation mode AUTO

    yrc1000-allocation-input
    Input allocation

    yrc1000-allocation-output
    Output allocation

INPACT board settings

Read more...
Firmware code for PROFINET: PIR

  1. Open the board settings: system » setup » option board » inpact

    option-boards
    Option boards

  2. Enter the settings:

    profinet
    PROFINET settings

    itemvalue
    INPACTUSED (MotoLogix)
    IO SIZE + MotoLogix0 dword + 109 dword

  3. Use enter (multiple times) to confirm this- and the following screens. Make sure the IO allocation is set to AUTO and check if the IO entries match below screenshots.

    io-setup
    Allocation mode AUTO

    yrc1000-allocation-input
    Input allocation

    yrc1000-allocation-output
    Output allocation

Install SRCI app

Visit the download portal to download the latest SRCI app package.
For this setup, the package depends on the type of fieldbus board, see below table.
fieldbus boardapp file name
CP1616SRCI-254b-YRC1000.zip
othersSRCI-436b-YRC1000.zip
Naming syntax: 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
Starting from release 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:

  1. Unzip the package and copy the app (.out file) to a FAT-formatted USB-stick.

  2. Mount the USB-stick into the pendant (rear side).

  3. Set the target device: MotoPlus APL. » DEVICE » USB:Pendant

    set-target-device
    Set target device

  4. View the file(s) on the USB-stick: MotoPlus APL. » LOAD(USER APPLICATION)

    file-load1
    List of files on the USB-stick

  5. Use ▼ ▲ » select to select the desired file. The ⭐ (star symbol) now indicates the file is selected.

  6. Use enter to load the selected file.

  7. Verify the installed file on the robot controller: MotoPlus APL. » FILE LIST

    file-view
    List of files on the robot controller

    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

MotoPlus license

The SRCI app does not require a MotoPlus license.
The SRCI app only works when the (paid) SRCI option function is activated and enabled.

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