Setup information for SRCI on YRC1000micro with EtherCAT fieldbus.

part number #229604
YRC1000micro 
EtherCAT 
INPACT 

YRC1000micro.png
YRC1000micro controller

YEU Parameter Settings PSC file

Software version

This setup requires system software version: YBS4.12 (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)

Mounting the INPACT board

This is a PCIe board.

product
INPACT board

Read more...

  1. Disconnect all connectors from the netfilter box (on top of the YRC1000micro).

  2. Loosen the screws and remove the cover of the netfilter box:

    2
    Cover screws

  3. Disconnect the white connector (1) and remove the mounting screws (2) of the netfilter box:

    3
    White connector (1) and netfilter screws (2)

  4. Loosen the remaining screws (see the figure below) and remove the cover plate:

    4
    Remove the screws and the cover plate

  5. Insert the INPACT board into one of the slots (1 or 2) and tighten the screw:

    6
    Insert the INPACT board

  6. Assemble all parts in reverse order.

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 TYPEETHERCAT
    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

INPACT board settings

Firmware code for EtherCAT: ECT

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

    option-boards
    Option boards

  2. Enter the settings:

    ethercat
    EtherCAT 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

    yrc1000micro-allocation-input
    Input allocation

    yrc1000micro-allocation-output
    Output allocation

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-YRC1000micro.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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