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YASKAWA Motoman YRC1000micro Instructions Manual

Options profinet communication function
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YRC1000micro OPTIONS
PROFINET COMMUNICATION FUNCTION
INSTRUCTIONS
FOR SST-PN-2-PE MADE BY Molex, Inc.
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
YRC1000micro INSTRUCTIONS
YRC1000micro OPERATOR'S MANUAL
YRC1000micro MAINTENANCE MANUAL
YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)
186580-1CD
2
MANUAL NO.
HW1485152
2
1/47
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  • Page 1 YRC1000micro OPTIONS PROFINET COMMUNICATION FUNCTION INSTRUCTIONS FOR SST-PN-2-PE MADE BY Molex, Inc. Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS YRC1000micro INSTRUCTIONS YRC1000micro OPERATOR’S MANUAL YRC1000micro MAINTENANCE MANUAL YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS) 186580-1CD...
  • Page 2 If such modification is made, the manual number will also be revised. • If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover.
  • Page 3 HW1485152 Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the YRC1000micro. In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING”, “CAUTION”, or “NOTICE”. Indicates an imminently hazardous DANGER situation which, if not avoided, will result in death or serious injury.
  • Page 4 HW1485152 NOTICE • Do not use or keep the board in the following environmental conditions. – Where exposed to direct sunshine – Where vibration or impact occurs – Where high humidity exists – Where a strong magnetic field exists – Where much dust exists –...
  • Page 5 HW1485152 DANGER • Before operating the manipulator, make sure the servo power is turned OFF by performing the following operations. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF. – Press the emergency stop button on the programming pendant or on the external control device, etc.
  • Page 6 HW1485152 DANGER • In the case of not using the programming pendant, be sure to supply the emergency stop button on the equipment. Then before operating the manipulator, check to be sure that the servo power is turned OFF by pressing the emergency stop button. Connect the external emergency stop button to the 2-12 pin and 3- 13 pin of the Safety connector (Safety).
  • Page 7 HW1485152 CAUTION • Check to be sure that there is no foreign matter (metal piece, etc.) on the board. Failure to observe this caution may result in personal injury or equipment damage because of malfunction. • Check to be sure that there is no problem (damage, bend, etc.) with the components of the board.
  • Page 8 HW1485152 Definition of Terms Used Often in This Manual The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the YRC1000micro controller, manipulator cables, the YRC1000micro programming pendant (optional), and the YRC1000micro programming pendant safety signal short circuit connector (optional).
  • Page 9 HW1485152 Descriptions of the programming pendant keys, buttons, and displays are shown as follows: Equipment Manual Designation Programming Character Keys The keys which have characters or symbols Pendant /Symbol Keys printed on them are denoted with [ ]. e.g. [ENTER] Axis Keys [Axis Key] and [Numeric Key] are generic /Numeric Keys...
  • Page 10 HW1485152 Description of the Operation Procedure In the explanation of the operation procedure, the expression “Select • • •” means that the cursor is moved to the object item and [SELECT] is pressed, or that the item is directly selected by touching the screen. Registered Trademark In this manual, names of companies, corporations, or products are trademarks, registered trademarks, or brand names for each company or...

  • Page 11: Table Of Contents

    HW1485152 Contents 1 Outline ............................1-1 1.1 System Configuration ......................1-1 2 Hardware Specifications ......................... 2-1 2.1 Board External View ......................2-1 2.2 Board Specifications ......................2-2 2.3 Communication Specifications................... 2-2 3 Mounting the SST-PN-2-PE Board ....................3-1 4 I/O Signal Allocation........................4-1 4.1 Setting of the SST-PN-2-PE Board..................

  • Page 12: Outline

    HW1485152 Outline System Configuration Outline This manual describes the PROFINET board SST-PN-2-PE (manufactured by Molex Inc.) to be used in the YRC1000micro. The application of the SST-PN-2-PE board allows the general-purpose I/O data exchange between a PROFINET device and the YRC1000micro. To configure the SST-PN-2-PE board, the setting tool made by Molex is required.
  • Page 13 HW1485152 Outline System Configuration The following diagram shows an example of the configuration of a system with an SST-PN-2-PE board used in PROFINET master and PROFINET slave simultaneously. PROFINET IO Controller YRC1000micro Controller External PLC (MADE BY Siemens) PROFINET Cable PROFINET IO Controller/ IO Device...

  • Page 14: Hardware Specifications

    HW1485152 Hardware Specifications Board External View Hardware Specifications Board External View System LEDs PROFINET CONNECTOR HW1485152 14/47...

  • Page 15: Board Specifications

    HW1485152 Hardware Specifications Board Specifications Board Specifications Items Specifications Interface to the external PROFINET device Board mounting position Option PCI Express slot on the YRC1000micro Error indicator LED display Number of transmission I/O Maximum number of I/O points for SST-PN-2-PE: points Input: 1008 points;...

  • Page 16: Mounting The Sst-Pn-2-Pe Board

    HW1485152 Mounting the SST-PN-2-PE Board Mounting the SST-PN-2-PE Board Request a YASKAWA sales representative to mount the board inside the YRC1000micro. NOTE The product warranty will be void if the customer mounts the board. HW1485152 16/47...

  • Page 17: O Signal Allocation

    HW1485152 I/O Signal Allocation Setting of the SST-PN-2-PE Board I/O Signal Allocation Setting of the SST-PN-2-PE Board To perform the SST-PN-2-PE board communication settings, it requires the setting tool made by Molex. This section explains the setting method using "Product Configuration Tool". Refer to the instruction manual of Product Configuration Tool for more information on the setting method.
  • Page 18 HW1485152 I/O Signal Allocation Setting of the SST-PN-2-PE Board 6. Select the {Identification}. In the Communication Provider Settings field, select the network interface used for connecting the PC and the SST-PN-2-PE board. In the target IP Address, set the IP Address of SST-PN-2-PE board. 7.
  • Page 19 HW1485152 I/O Signal Allocation Setting of the SST-PN-2-PE Board 10. Add the IO device as follows. From the Device Library, select IO- Device to be used, and then drag and drop it to the Configuration window. When the target module cannot be found in the Device Library, press {Add GSDML} to add the module.
  • Page 20 HW1485152 I/O Signal Allocation Setting of the SST-PN-2-PE Board 11. Click the added IO device icon to open the Identification window, and then enter the device name and the IP address assigned to the IO device. HW1485152 20/47...
  • Page 21 HW1485152 I/O Signal Allocation Setting of the SST-PN-2-PE Board 12. Set the Sub-Modules to IO Device. When you select Input Slot or Output Slot in the Configuration window, the available Sub-Modules are displayed. Make sure to set the Sub- Module to the IO Device according to the actual IO Device configuration.
  • Page 22 HW1485152 I/O Signal Allocation Setting of the SST-PN-2-PE Board 13. Select the Sub-Module and press {Add sub-module}. A sub module is added to the slot. 14. Download the configuration project to the SST-PN-2-PE board. Push {Download}. 15. Select "Binary only" for the download type and press {Start}. HW1485152 22/47...
  • Page 23 HW1485152 I/O Signal Allocation Setting of the SST-PN-2-PE Board 16. Download is executed. 17. Download is finished. Push {OK}. 18. Continuously, refer to chapter 4.2 “Setting of Option Board and I/O Module” , and perform the settings of the SST-PN-2-PE. HW1485152 23/47...

  • Page 24: Io Device Settings

    HW1485152 I/O Signal Allocation Setting of the SST-PN-2-PE Board 4.1.2 IO Device Settings When using the SST-PN-2-PE as the IO Device, set the device name and the IP address for the SST-PN-2-PE. 1. Connect the PC with Product Configuration Tool installed to the SST- PN-2-PE with the PROFINET cable, and then turn ON the YRC1000micro.
  • Page 25 HW1485152 I/O Signal Allocation Setting of the SST-PN-2-PE Board 7. In the IP Configuration field, input the IP address, subnet mask, and gateway IP address to be set on the SST-PN-2-PE board. 8. In the Name Configuration field, set the device name of the SST-PN-2-PE board.
  • Page 26 HW1485152 I/O Signal Allocation Setting of the SST-PN-2-PE Board 10. Set the Sub-Modules. When you select Input Slot or Output Slot in the Configuration window, the available Sub-Modules are displayed. Make sure to set the Sub- Module to the IO Device according to the actual IO Device configuration.
  • Page 27 HW1485152 I/O Signal Allocation Setting of the SST-PN-2-PE Board 11. Select the Sub-Module and press {Add sub-module}. A sub module is added to the slot. 12. Download the configuration project to the SST-PN-2-PE board. Push {Download}. 13. Select "Binary only" for the download type and press {Start}. HW1485152 27/47 4-11...
  • Page 28 HW1485152 I/O Signal Allocation Setting of the SST-PN-2-PE Board 14. Download is executed. 15. Download is finished. Push {OK}. 16. Continuously, refer to chapter 4.2 “Setting of Option Board and I/O Module” , and perform the settings of the SST-PN-2-PE. HW1485152 28/47 4-12...

  • Page 29: Setting Of Option Board And I/O Module

    HW1485152 I/O Signal Allocation Setting of Option Board and I/O Module Setting of Option Board and I/O Module In order to use the SST-PN-2-PE board in the YRC1000micro, perform the setting of the option board and I/O module in the following manner. Set the option board and I/O module in the management mode.
  • Page 30 HW1485152 I/O Signal Allocation Setting of Option Board and I/O Module 4. Select {SETUP}. – The SETUP display appears. 5. Select “OPTION BOARD”. – The OPTION BOARD display appears. HW1485152 30/47 4-14...
  • Page 31 HW1485152 I/O Signal Allocation Setting of Option Board and I/O Module 6. Select “PN-2-PE”. – The PN-2-PE setup display appears. – Set the following items: • “PN-2-PE”: whether to use the PN-2-PE board or not • “IO SIZE”: the I/O size (byte) –...
  • Page 32 HW1485152 I/O Signal Allocation Setting of Option Board and I/O Module 8. Select {YES}. – The IO MODULE display appears. The message, “Select 'Safety Board FLASH Reset'.” appears, however, do not perform 'Safety Board FLASH Reset' this time, but perform the settings continuously. 9.
  • Page 33 HW1485152 I/O Signal Allocation Setting of Option Board and I/O Module 10. Press [ENTER]. – The confirmation dialog box appears. 11. Select {YES}. – Select {YES} if the display corresponds to the current mounted status of the I/O modules. The I/O module setting is updated, and the IO MODULE window changes to the EXTERNAL IO SETUP window.
  • Page 34 HW1485152 I/O Signal Allocation Setting of Option Board and I/O Module 13. Select “AUTO” or “MANUAL” in the ALLOCATION MODE. – The selection menu appears after selecting “AUTO” or “MANUAL”. If the allocation mode is changed from “MANUAL” to NOTE “AUTO”, the set allocation data is discarded.
  • Page 35 HW1485152 I/O Signal Allocation Setting of Option Board and I/O Module 15. Select “DETAIL” of “EXTERNAL IO ALLOCATION”. – When select “AUTO”, the following procedures No.16 to 18 are not necessary. Operate the procedure from No.19. – When select “MANUAL”, operate the following procedures No.16 to 18 accordant with the setting manually.
  • Page 36 HW1485152 I/O Signal Allocation Setting of Option Board and I/O Module 17. Select “MODIFY”, and input the external input signal number (at the change destination) to be changed. (In the setting example, enter “#20190”.) – The external input signal number is changed. 18.
  • Page 37 HW1485152 I/O Signal Allocation Setting of Option Board and I/O Module 21. Press [ENTER]. – Confirmation dialog appears. 22. Select {YES}. – The settings are confirmed, and returns to the SETUP window. 23. Set the security mode to the “SAFETY MODE”. 24.
  • Page 38 HW1485152 I/O Signal Allocation Setting of Option Board and I/O Module 25. Select “Safety Board FLASH Reset”. – The confirmation dialog box appears. 26. Select {YES}. – The setting is completed after beep sound. HW1485152 38/47 4-22...

  • Page 39: Transmission Data

    HW1485152 I/O Signal Allocation Transmission Data Transmission Data The data to be transferred from the SST-PN-2-PE board to the inside of the YRC1000micro is not only the I/O data from the external device connected to the PROFINET, but also the status of the SST-PN-2-PE board.

  • Page 40: Yrc1000Micro I/O Allocation Example

    HW1485152 I/O Signal Allocation Transmission Data 4.3.1 YRC1000micro I/O Allocation example Note1) The following example is for the standard setting. When change the allocation of the external output signal or the concurrent ladder program, the allocation changes in accordance with the changes. Note2) As for the input data/output data of ASF30 (standard I/O ), refer to “YRC1000micro INSTRUCTIONS (RE-CTO-A222)”...
  • Page 41 HW1485152 I/O Signal Allocation Transmission Data SST-PN-2-PE I/O Output 30090 to 30097 10090 to 10097 (OT0065 to OT0072) Output data (7) (PROFINET) 30100 to 30107 10100 to 10107 (OT0073 to OT0080) Output data (8) 30110 to 30117 10110 to 10117 (OT0081 to OT0088) Output data (9) 30120 to 30127 10120 to 10127 (OT0089 to OT0096)

  • Page 42: The Alarm When Communication Error Occurs Using The Board Status

    HW1485152 I/O Signal Allocation Transmission Data 4.3.2 The Alarm when Communication Error Occurs Using the Board Status When the SST-PN-2-PE board detects an error of the PROFINET communication, by using the CIO ladder program allows to occur the alarm. The examples of the method are described below. There are two alarms of the occurrence alarms.
  • Page 43 HW1485152 I/O Signal Allocation Transmission Data 5. Enter the I/O alarm name. 6. Press [ENTER]. – The entered alarm is registered. 7. Register the other alarms. – Repeat the same procedures to register the alarm to use. HW1485152 43/47 4-27...
  • Page 44 HW1485152 I/O Signal Allocation Transmission Data  IO Allocation and the Ladder Program External input signal Signal Description 20026 PROFINET communication error 20027 SST-PN-2-PE board operation error System input signal Signal Description 40012 User alarm request 40220 User alarm code 40221 User alarm code 40222...
  • Page 45 HW1485152 I/O Signal Allocation Transmission Data The figure of the ladder #20027 #40220 #20026 #20027 #40221 #70017 #40222 #70017 #40223 #70017 #40224 #70017 #40225 #20027 #40012 #20026 HW1485152 45/47 4-29...

  • Page 46: Error Indication

    HW1485152 Error Indication Error Indication SST-PN-2-PE board is provided with LEDs for circuit board status indication. These LEDs indicate the following conditions. 1. SYS LED 2. NET LED 3. IRT LED (reserved) 4. SYNC LED (reserved) Comments Card not running. Green PROFINET protocol stack is stopped.
  • Page 47 YRC1000micro OPTIONS PROFINET COMMUNICATION FUNCTION INSTRUCTIONS FOR SST-PN-2-PE MADE BY Molex, Inc. C 2018 YASKAWA ELECTRIC CORPORATION Published by YASKAWA October 2019 18-12 MANUAL NO. HW1485152 47/47...

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