Master-Control Communication Setup

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This guide shows you how to set up Master-Control communication with a YASKAWA robot.

The following instructions are based on the YRC1000 controller. Details may differ for other teach pendants of the YASKAWA robot.

Check Controller and Software Compatibility

  • Confirm that the robot controller model is YRC1000 and the robot system version is YAS2.94.00-00.

  • Requirements: To load the master-control program files, the Robot must have the MotoPlus and Ethernet functions enabled.

Set up the Network Connection

Connect the Hardware

If you are using the YRC1000 controller, plug the Ethernet cable of the IPC into the LAN2 (CN106) port on the CPU board of the robot controller.

For the 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 enters the normal startup mode if you do not press the MAIN MENU key.

  2. Select SYSTEM  SECURITY  MANAGEMENT MODE.

    set ip 2
    set ip 3

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

    set ip 4
    set ip 5

  4. Select SYSTEM  SETUP  OPTION FUNCTION. At the OPTION FUNCTION interface, select 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 then select YES in the pop-up message.

    set ip address 3

Load the Program Files to the Robot

Prepare the Files

  1. Navigate to Mech-Center/Robot_Server/Robot_FullControl/yaskawa from the installation directory where Mech-Vision and Mech-Viz are installed. Copy the program file (yrc1000.out) and paste it to the root directory of your flash drive.

  2. Plug the USB flash drive with the program file into the USB port on the back of the teach pendant.

    Copy the program file suitable for the used controller.

Load the Files

  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 the OUT file, press the ENTER key, and select 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

  4. Restart the controller (without pressing the MAIN MENU key) to enter the normal mode so that the YRC1000.out file can automatically run in the background. Turn the mode switch key to PLAY, and Mech-Viz will be connected to the robot.

    begin to load 8

When started, the robot will run at the default speed (100%), a relatively high speed. To ensure safety, please modify the speed before triggering the Mech-Viz project.

Adjusting speed should be performed in the normal mode.

  1. Select JOB  SELECT JOB.

    change speed 1
    change speed 2

  2. Select any job in the JOB LIST, and then press the SELECT key on the teach pendant and enter the following interface.

    change speed 3

  3. Select UTILITY  SPEED OVERRIDE, and then select the SPEED ADJUSTMENT bar.

    change speed 4
    change speed 5
    You cannot modify the parameters if the SPEED ADJUSTMENT bar is not selected.

  4. Press SPEED ADJUSTMENT and then OFF, press the SELECT key to switch MODIFY to ON.

    change speed 6
    You cannot adjust the speed if MODIFY is not switched to ON.

  5. Similarly, press the number after RATIO, and press the SELECT key to change the speed ratio. Press the Enter key to save the change.

    change speed 8

  6. The interface after the speed is adjusted is as follows.

    change speed 9

Test Master-Control Communication

Create a Mech-Viz Project

  1. Open Mech-Viz, press Ctrl+N on the keyboard to create a new project. Select the robot model corresponding to your real robot brand and model on the interface as shown below.

    Unnamed image

  2. Press Ctrl+S and create or select a folder to save the project.

  3. Right-click the project name in the left panel in Mech-Viz and select Autoload Project.

    Unnamed image

Connect to the Robot

  1. Click Master-Control Robot on the toolbar of Mech-Viz.

  2. Input the IP address of the real robot in Robot IP address (the IP address in the picture is only an example). Click Connect the robot.

    Unnamed image

    If Mech-Viz successfully connects the real robot, the current status will change to Connected. Meanwhile, the icon in the toolbar will turn from blue to green.

    Unnamed image

    If the connection fails, please double-check the robot IP address.

Move the Robot

  1. In the toolbar of Mech-Viz, change the Vel. (velocity) and Acc. (acceleration) parameters to 5%.

    Unnamed image

  2. Click Sync Robot in the toolbar, and you can synchronize the poses of the simulated robot in the 3D simulation space with the poses of the real robot. Then click Sync Robot again to unselect it.

    Unnamed image

  3. In the Robot tab, slightly adjust the value of J1, for example, from 0˚ to 3˚. This operation will move the simulated robot.

    Unnamed image

  4. Click Move real robot and check if the real robot has moved. If the real robot has reached the joint positions set for the simulated robot, the master-control communication is working.

    When moving the robot, please ensure the safety of personnel. In the case of an emergency, press the emergency stop button on the teach pendant!
    Unnamed image

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