Setup information for SRCI on YRC1000 with EtherCAT fieldbus.

part number #220717

YRC1000

EtherCAT

INPACT AB3617

YEU Parameter Settings PSC file

Software version

This setup requires system 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).

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)

There are multiple fieldbus solutions available for this part number. Make sure you understand which type you have.

Mounting the AB3617 board

This is a PCIe board.

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):

type	description
`JANCD-ABB03-E`	2xPCI
`JANCD-ABB04-E`	1xPCI, 1xPCIe

Loosen the screws and remove the installation frame from the CPU rack:
Installation frame
Insert the PCI card into the corresponding slot (1 or 2) and tighten the screw:
Insert PCIe card into the slot
Install the installation frame into the CPU rack and fasten it again with the screws:
Installed installation frame

Mounting the INPACT board

This is a PCIe board.

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:
Installation frame
Insert the PCIe card into the corresponding slot (1 or 2) and tighten the screw:
Insert PCIe card into the slot
Install the installation frame into the CPU rack and fasten it again with the screws:
Installed installation frame

Setup SRCI

Yaskawa SRCI uses MotoLogix technology.

Open the MotoLogix option function settings: system » setup » option function » motologix
MotoLogix option function
Customers: Please contact Yaskawa if the MotoLogix option function is not available in the list.
Activate the MotoLogix option function:
This requires Yaskawa authorization level and cannot be changed by the customer.
MotoLogix settings
Enter the MotoLogix settings:
item value
FUNCTION ENABLED
CONNECTION TYPE ETHERCAT
ENDIANNESS LITTLE
SRCI always uses little endian (regardless the fieldbus type).
Activate the SRCI option function:
This requires Yaskawa authorization level and cannot be changed by the customer.
SRCI settings
Enter the SRCI settings:
item value
SRCI FUNCTION ENABLED
Use enter to confirm and leave the settings screen.

item	value
FUNCTION	`ENABLED`
CONNECTION TYPE	`ETHERCAT`
ENDIANNESS	`LITTLE`

item	value
SRCI FUNCTION	`ENABLED`

Setup fieldbus

AB3617 board settings

Open the board settings: system » setup » option board » AB3617
Option boards
Enter the settings:
EtherCAT settings
item value
AB3617 USED (MotoLogix)
IO SIZE + MotoLogix 0 dword + 109 dword
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.
Allocation mode AUTO
Input allocation
Output allocation

item	value
AB3617	`USED (MotoLogix)`
IO SIZE + MotoLogix	`0 dword + 109 dword`

INPACT board settings

Firmware code for EtherCAT: ECT

Open the board settings: system » setup » option board » inpact
Option boards
Enter the settings:
EtherCAT settings
item value
INPACT USED (MotoLogix)
IO SIZE + MotoLogix 0 dword + 109 dword
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.
Allocation mode AUTO
Input allocation
Output allocation

item	value
INPACT	`USED (MotoLogix)`
IO SIZE + MotoLogix	`0 dword + 109 dword`

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 board	app file name
all boards	`SRCI-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:

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
Set target device
View the file(s) on the USB-stick: MotoPlus APL. » LOAD(USER APPLICATION)
List of files on the USB-stick
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
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.