Setup information for SRCI on YRC1000 with EtherNet/IP fieldbus.

part number #220716
YRC1000 
EtherNetIP 
cpu board (EtherNetIP) 

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)

EtherNet/IP CPU Board option function

This is a cpu board, using the built-in LAN port.
The function works exclusively with LAN2 (connector CN106).

product
CPU board

The activation of the EtherNet/IP CPU Board option function is not covered by this document. It is a separate setup process which includes licensing of the software stack.

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

    If the system is setup for using safety fieldbus (FD288), the following error might occur when trying to activate MotoLogix:

    error-8113
    Error 8113

    Remedy:

    1. Disable FD288
    2. Activate MotoLogix
    3. Enable FD288

  3. Enter the MotoLogix settings:

    itemvalue
    FUNCTIONENABLED
    CONNECTION TYPEEthernet/IP(CPU Board)
    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

  1. Open the EtherNet/IP option function settings: system » setup » option function » EtherNet/IP(CPU Board)

    ethernetip-option-function1
    EtherNet/IP option function

    Customers: Please contact Yaskawa if the EtherNet/IP option function is not available in the list.

  2. Open the board settings:

    ethernetip-option-function2
    Open board settings

  3. Enter the settings:

    ethernetip-settings1
    Board used for MotoLogix

    itemvalue
    EtherNet/IP(CPU Board)USED (MotoLogix)
    The (optional) safety fieldbus setup is not covered by this document.
    Safety fieldbus does not require any additional settings for MotoLogix.

  4. Open the adapter screen and enter the settings:

    ethernetip-settings2
    EtherNet/IP adapter settings

    itemvalue
    ADAPTERENABLE
    INPUT SIZE + MotoLogix0 byte + 400 byte
    OUTPUT SIZE + MotoLogix0 byte + 436 byte
    CONFIGURATION SIZE10 word
    INPUT INSTANCE201
    OUTPUT INSTANCE200
    CONFIGURATION INSTANCE202

  5. 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

IP address setting

The system ships with the following default address settings:

itemdefault setting
IP ADDRESS192.168.255.1
SUBNET MASK255.255.255.0
DEFAULT GATEWAY SETTINGNOT USED
Customers can adjust these settings to their needs.
Read more...

  1. Open the LAN option function settings: system » setup » option function » LAN interface setting

    lan-option-function
    LAN option function

  2. Adjust settings to your needs:

    LAN-settings
    LAN settings

    itemvalue
    IP ADDRESS SETTING(LAN2)MANUAL SETTING
    IP ADDRESS<IPv4 address>
    SUBNET MASK<subnet mask>
    DEFAULT GATEWAY SETTINGNOT USED / USED
    DEFAULT GATEWAY<gateway address>

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

Install SRCI app

Visit the download portal to download the latest SRCI app package.
For this setup, there is only one package, see below table.
fieldbus boardapp file name
all boardsSRCI-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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