Set up Standard Interface Communication with YASKAWA

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This section introduces the process of setting up the Standard Interface communication with a YASKAWA robot.

Check Controller and Software Compatibility

  • Ensure that a 6-axis YASKAWA robot is used.

  • Ensure that the robot controller and the controller system software version comply with the following requirements.

    Controller Controller system software version

    YRC1000

    YAS2.94.00-00

    YRC1000micro

    YBS2.31.00-00
    The following instructions are based on YRC1000 (YAS2.94.00-00) controller. Details may differ for other teach pendants of the YASKAWA robot.

  • Option function requirements: The MotoPlus and Ethernet functions must be enabled.

Set up the Network Connection

Connect the Hardware

For YRC1000 controller, plug the Ethernet cable into the LAN2 (CN106) port.

For YRC1000 controller:

  • The LAN1 port is used to connect the teach pendant only and cannot be used to connect the IPC Ethernet cable.

  • If the LAN2 port is occupied, use LAN3 instead, to connect the IPC Ethernet cable.

Set the IP Address

  1. Press and hold the MAIN MENU key and power the robot to enter the maintenance mode.

    set ip 1

    • The system will enter the normal startup mode if you do not press the MAIN MENU key.

    • If the robot is already started, please restart the robot while pressing the MAIN MENU key.

  2. Select SYSTEM  SECURITY. Then select MANAGEMENT MODE.

    set ip 2
    set ip 3

  3. Enter the password (the default password is sixteen 9s), and then click Enter to enter MANAGEMENT MODE.

    set ip 4
    set ip 5

  4. Select SYSTEM  SETUP  OPTION FUNCTION. At the OPTION FUNCTION interface, click LAN INTERFACE SETTING.

    set ip 6
    set ip 7
    set ip 8

  5. In the drop-down menu of IP ADDRESS SETTING(LAN2), select MANUAL SETTING, and set a proper IP ADDRESS and SUBNET MASK.

    set ip address 1
    set ip address 2

    • The IP address of LAN2 should belong to the same subnet as the IPC.

    • The subnet mask should be 255.255.255.0.

  6. Press the ENTER key on the teach pendant, and a message saying *Modify? * will pop up. Click YES.

    set ip address 3

Set up “Robot and Interface Configuration” in Mech-Vision

  1. Click Robot and Interface Configuration in the toolbar of Mech-Vision.

  2. Select Listed robot from the Select robot drop-down menu, and then click Select robot model. Select the robot model that you use. Then click Next.

  3. Select Standard Interface for Interface Type, and TCP Server and ASCII for Protocol. Then click Apply.

    configure communication 1

  4. At the main interface of Mech-Vision, make sure the Interface Service in the toolbar is started.

    configure communication 2

Load the Program Files

Before you start loading the program file to the robot, please perform file backup as needed. For detailed instructions, please refer to the operator’s manual of the YASKAWA controller.

Prepare the Files

This section takes the YRC1000 robot as an example. Navigate to Mech-Center\Robot_Interface\YASKAWA from the installation directory of Mech-Mind Software Suite, and copy and paste the JBI folder and the mm_module_yrc1000.out file to the root directory of an empty formatted flash drive. The JBI folder is the foreground program, and the mm_module_yrc1000.out file is the background program.

  • Please format your flash drive in advance.

Load the MotoPlus Application File to the Robot

  1. Under the Maintenance mode, select MotoPlus APL  DEVICE  USB:Pendant.

    begin to load 1
    begin to load 2

  2. Select MotoPlus APL  LOAD(USER APPLICATION). Select mm_module_yrc1000.out, press the ENTER key, and click YES in the pop-up window to start loading the program.

    begin to load 3
    begin to load 4
    begin to load 5

  3. After the installation, select MotoPlus APL  FILE LIST. You can see the installed file here.

    begin to load 6
    begin to load 7

Load the Job Files to the Robot

  1. Restart the controller without pressing the MAIN MENU key, select SYSTEM INFO  SECURITY, select MANAGEMENT MODE in the drop-down menu, and input the default password (sixteen 9s).

    change language level 1
    change language level 2
    change language level 3

    Press Enter to enter the Maintenance mode.

    change language level 4

  2. Press the right-arrow button icon 2 in the lower-left. Then press SETUP  TEACHING COND, and select EXPANDED in the drop-down menu of LANGUAGE LEVEL.

    change language level 5
    change language level 6

  3. Select EX. MEMORY  DEVICE, and then select USB:Pendant for DEVICE.

    loading foreground program 1
    loading foreground program 2

  4. Click EX. MEMORY  FOLDER. In the FOLDER list, select and enter the JBI folder.

    loading foreground program 3
    loading foreground program 4
    loading foreground program 5

  5. Select EX. MEMORY  LOAD. Select JOB, and the programs to be loaded will be displayed.

    loading foreground program 6
    loading foreground program 7
    loading foreground program 8

  6. Select EDIT  SELECT ALL.

    loading foreground program 9
    loading foreground program 10

  7. Press the ENTER key. Select YES in the pop-up message to start loading the programs.

    loading foreground program 11

  8. After loading completes, go to JOB  SELECT JOB. You can see all the job files displayed.

    loading foreground program 12
    loading foreground program 13

Test Robot Connection

Test Connection

  1. Select JOB  SELECT JOB to enter the JOB LIST.

    loading foreground program 12
    loading foreground program 13

  2. Select MM_AUTO_CALIB in the JOB LIST, and press the SELECT key to open the job. Move the cursor to the instruction side of line 0001, press the SELECT key. In the text box at the bottom, move the cursor to the IP address and port number, and press the ENTER key. Change the IP address and port number to the actual ones of the IPC, and press Enter.

    test connection 1
    test connection 2
    test connection 3

  3. Keep the cursor on line 0001, and press the INFORM LIST key. Select CONTROL  PAUSE in the pop-up menu on the right, and press INSERT  ENTER on the teach pendant to insert a PAUSE command after line 0001.

    test connection 4
    test connection 5
    test connection 6
    test connection 7
    test connection 8

  4. Turn to the TEACH mode, press the SERVO ON READY key, and then hold down the enable switch on the back while moving the cursor back to line 0000.

    test connection 9
    test connection 10
    test connection 11

    This step is to ensure that the job runs from the first line.

  5. Press the INTERLOCK key and TEST START key at the same time; the job will start running and should pause at line 0002 where the PAUSE command is.

    test connection 12
    test connection 13

    This step is a communication test. If the two sides can communicate, the program will automatically pause at the PAUSE command.

  6. If the robot is connected successfully, the Console tab of Mech-Vision Log panel will display the corresponding log. Delete the PAUSE command after testing the communication to avoid mistaken pause during calibration.

    vision center log

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