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

DX200

DN3.16.00A-00

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.

Controller	Controller system software version
DX200	DN3.16.00A-00
YRC1000	YAS2.94.00-00
YRC1000micro	YBS2.31.00-00

If the preceding requirements cannot be met, the standard interface communication cannot be established between the robot and the vision system. Please contact the robot manufacturer to resolve the issue.

Set up the Network Connection

Connect the Hardware

For YRC1000 controllers, plug the Ethernet cable into the LAN2 (CN106) port. For DX200 controllers, plug the Ethernet cable into the CN104 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

Press and hold the MAIN MENU key and power the robot to enter the maintenance mode.
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.
Select SYSTEM SECURITY. Then select MANAGEMENT MODE.
Enter the password (the default password is sixteen 9s), and then click Enter to enter MANAGEMENT MODE.
Select SYSTEM SETUP OPTION FUNCTION. At the OPTION FUNCTION interface, click LAN INTERFACE SETTING.
In the drop-down menu of IP ADDRESS SETTING(LAN2), select MANUAL SETTING, and set a proper IP ADDRESS and SUBNET MASK.
The IP address of LAN2 should belong to the same subnet as the IPC.

The subnet mask should be 255.255.255.0.
Press the ENTER key on the teach pendant, and a message saying *Modify? * will pop up. Click YES.

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

Click Robot and Interface Configuration in the toolbar of Mech-Vision.
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.
Select Standard Interface for Interface Type, and TCP Server and ASCII for Protocol. Then click Apply.
At the main interface of Mech-Vision, make sure the Interface Service in the toolbar is started.

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.
If the robot controller is DX200, the background program is the mm_module_dx200.out file in the YASKAWA folder.

Load the MotoPlus Application File to the Robot

Under the Maintenance mode, select MotoPlus APL DEVICE USB:Pendant.
Select MotoPlus APL LOAD(USER APPLICATION). Select mm_module_yrc1000.out, press the ENTER key, and select YES in the pop-up window to start loading the program.

If the robot controller is DX200, select mm_module_dx200.out.
After the installation, select MotoPlus APL FILE LIST. You can see the installed file here.

Load the Job Files to the Robot

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).

Press Enter to enter the Maintenance mode.
Press the right-arrow button in the lower-left. Then press SETUP TEACHING COND, and select EXPANDED in the drop-down menu of LANGUAGE LEVEL.
Select EX. MEMORY DEVICE, and then select USB:Pendant for DEVICE.
Click EX. MEMORY FOLDER. In the FOLDER list, select and enter the JBI folder.
Select EX. MEMORY LOAD. Select JOB, and the programs to be loaded will be displayed.
Select EDIT SELECT ALL.
Press the ENTER key. Select YES in the pop-up message to start loading the programs.
After loading completes, go to JOB SELECT JOB. You can see all the job files displayed.