Connect Yaskawa to Wandelbots NOVA

Prerequisites

Download motoPlus files

The motoPlus files are required to successfully connect and configure the Yaskawa robot controller for Wandelbots NOVA. Download them to your workstation and copy them onto a USB stick pendrive 8 GB USB 2.0 (FAT32 or NFTS USB sticks with max. 8 GB capacity). You'll need this stick to upload the motoPlus files onto the robot controller at a later point.

Copy the files onto the USB-stick

1. Plug the Pendrive 8 GB USB 2.0 flash drive into the workstation.
2. Open the USB flash drive's file path.
3. If applicable, remove the USB flash drive's read-only mode.
4. Copy the wandelbots-usb-loader.out file onto the USB flash drive.
5. Copy the wandelbots-server.out file onto the USB flash drive.
6. Create a folder on the USB flash drive next to the previously added file.
7. Rename the folder wandelbots
8. Ensure correct spelling: wandelbots
9. Open the "wandelbots" folder.
10. Copy the wandelbots-server.out file into the "wandelbots" folder.
11. Properly eject the USB flash drive.
12. Unplug the USB flash drive and have it on hand.

Connect physical instance/IPC

1. Connect an ethernet cable to the IPC's LAN-1 port. Per default, the configured IPC network port is usually enp3s0, matching LAN-1, unless configured otherwise during the Wandelbots NOVA installation process.
2. Connect the IPC to the robot controller's LAN-3 port.\
3. Turn on the IPC.
4. Only then turn on the robot controller.

Activate maintenance mode

Using the original robot control panel

1. In the main menu, tap the "SYSTEM INFO" button.
   The sub menu is displayed.
2. In the sub menu, tap the "CPU RESET" button.
   The "CPU RESET" screen is displayed.
3. Select the maintenance mode from the "START MODE"'s selection bar and confirm with Enter.
   The "EXECUTE CPU RESET?" screen is displayed.
4. Ensure that the servo power is turned off.
5. Confirm CPU RESET.
   Maintenance mode is now activated.

Activate management mode

Using the original robot control panel

1. In the main menu, tap the "SYSTEM INFO" button.
   The sub menu is displayed.
2. In the sub menu, tap the "SECURITY" button.
   The "SECURITY" screen is displayed.
3. In the selection bar, tap "MANAGEMENT MODE" and confirm with Enter. A request to "Enter the management mode's password" is displayed.
4. Enter the management mode's password and confirm with Enter. The maintenance mode's management mode is now activated.

Configure network settings

Using the original robot control panel

1. In the main menu, tap the "SYSTEM" button.
   The sub menu is displayed.

2. In the sub menu, tap the "SETUP" button.
   The "SETUP" screen is displayed.

3. Select the "OPTION FUNCTION" checkbox.
   Optional functions are displayed.

4. Select „DETAIL“ of the "LAN INTERFACE SETTING" checkbox.
   The „LAN INTERFACE SETTING“ screen is displayed.

5. Enter the "IP ADDRESS SETTING(LAN3)"'s object values from the following table.

   Object	Value
   IP ADDRESS SETTING(LAN3)	MANUAL SETTING
   IP ADDRESS	e.g. 192.168.255.1 This IP address can be a custom IP address, but must be within the IPC's IP address's subnet.
   SUBNET MASK	255.255.255.0

   The „MODIFY?“ screen is displayed.

6. Confirm modification.

7. Restart the robot controller.
   The LAN connection and the robot controller's IP address were successfully set up.

Configure motoPlus

Activate motoPlus

Using the original robot control panel

1. In the main menu, tap the "SYSTEM" button.
   The sub menu is displayed.
2. In the sub menu, tap the "SETUP" button.
   The "SETUP" screen is displayed.
3. Select the "OPTION FUNCTION" checkbox.
   Optional functions are displayed.
4. Select the "MotoPlus FUNC." checkbox and set it to "USED".
   The "MODIFY?" screen is displayed.
5. Confirm modification./ The "INITIALIZE RELATED FILES? SRAMDRV.DAT" screen is displayed.
6. Confirm initilization of related files.

Activate FTP function in standard mode

Using the original robot control panel

1. In the main menu, tap the "SYSTEM" button.
   The sub menu is displayed.
2. In the sub menu, tap the "SETUP" button.
   The "SETUP" screen is displayed.
3. Select the "OPTION FUNCTION" checkbox.
   Optional functions are displayed.
4. Select "DETAIL" of the "NETWORK FUNCTION SETTING"'s checkbox.
   Details of the network function settings are displayed.
5. Select FTP function's mode "STANDARD" and confirm with Enter.
   The "MODIFY?" screen is displayed.
6. Confirm modification.

Delete old motoPlus files

Using the original robot control panel

1. In the main menu, tap the "MotoPlus APL." button./ The sub menu is displayed.
2. Tap the "DELETE" button.
3. Select the existing files./ The "DELETE?" screen is displayed.
4. Confirm deleting.

Upload motoPlus files

Using the original robot control panel

1. Plug the USB flash drive into the robot controller's CN102 plug.
2. In the main menu, tap the "MotoPlus APL." button.
   The sub menu is displayed.
3. In the sub menu, tap the "DEVICE" button.
   All detected target devices are displayed. If the USB flash drive is not detected as target device, remove the read-only mode or replace the malfunctioning USB flash drive.
4. In the main menu, tap the "MotoPlus APL." button.
   The sub menu is displayed.
5. In the sub menu, tap the "LOAD (USER APPLICATION)" button.
   Available files on detected target devices are displayed.
6. Select the wandelbots-usb-loader.out file and confirm with Enter.
   The "LOAD?" screen is displayed.
7. Confirm loading.
   The motoPlus application was successfully uploaded to the robot controller.
8. Unplug the USB flash drive and store it in a safe place to which only qualified personnel has access.

Activate automatic motoPlus updates

Using the original robot control panel

1. In the main menu, tap the "MotoPlus APL." button.
   The sub menu is displayed.
2. In the sub menu, tap the "MotoPlus FUNC. SETTING" button.
   The "MotoPlus FUNC. SETTING" screen is displayed.
3. Select the button next to "APPLI. AUTOSTART AT POWER ON".
4. Set to "ENABLED".
5. Confirm the activation.
6. Restart the robot controller.
   Automatic motoPlus updates were successfully activated.

Activate online mode

Using the original robot control panel

1. In the main menu, tap the "SYSTEM INFO" button.
   The sub menu is displayed.
2. In the sub menu, tap the "CPU RESET" button.
   The "CPU RESET" screen is displayed.
3. Select the online mode from the "START MODE"'s selection bar and confirm with Enter.
   The "EXECUTE CPU RESET?" screen is displayed.
4. Ensure that the servo power is turned off.
5. Confirm CPU RESET.
   Online mode is now activated.
6. Set the robot controller's key switch to "manual mode".

Activate management mode

1. In the main menu, tap the "SYSTEM INFO" button.
   The sub menu is displayed.
2. In the sub menu, tap the "SECURITY" button.
   The "SECURITY" screen is displayed.
3. In the selection bar, tap "MANAGEMENT MODE" and confirm with Enter.
   A request to "Enter the management mode's password" is displayed.
4. Enter the management mode's password and confirm with Enter.
   The online mode's management mode is now activated.

Set up communication with Wandelbots NOVA

Using the original robot control panel

Select output

1. In the main menu, tap the "IN/OUT" button.
   The sub menu is displayed.
2. In the sub menu, tap the "GENERAL PURPOSE OUTPUT“ button.
   All available verfügbaren general purpose outputs are displayed.
3. Select OUT#100.
   If the OUT#100 output is already used, select an unused output within the group.

Enable overwriting jobs

1. In the main menu, tap the "PARAMETER" button.
   The sub menu is displayed.
2. In the sub menu, tap the "RS" button.
   The "PARAMETER" screen is displayed.
3. Set the parameter RS214's value to 1.
   Jobs can now be overwritten.

Activate FTP in online mode

1. In the main menu, tap the "PARAMETER" button.
   The sub menu is displayed.

2. In the sub menu, tap the "RS" button.
   The "PARAMETER" screen is displayed.

3. Enter the parameter's values according to the following table.

   Parameter	Value
   RS005	1
   RS007	2

4. In the main menu, tap the "IN/OUT" button.
   The sub menu is displayed.

5. In the sub menu, tap the "PSEUDO INPUT SIGNAL" button.
   The "PSEUDO INPUT SIGNAL" screen is displayed.

6. Select "87015 CMD REMOTE SEL" and press INTERLOCK and SELECT simultaneously to activate it.
   The colored circle next to the input signal signals that the FTP was activated in online mode.

Set the robot's default position levels

1. In the main menu, tap the "PARAMETER" button.
   The sub menu is displayed.

2. In the sub menu, tap the "S1CxG" button.
   The "PARAMETER" screen is displayed.

3. Enter the S1CxG parameter values as displayed in the following table.

   S1CxG parameter	Value
   S1C1G0033	12500
   S1C1G0034	25000
   S1C1G0035	50000
   S1C1G0036	100000
   S1C1G0037	200000
   S1C1G0038	300000
   S1C1G0039	400000
   S1C1G0040	500000

   The robot's default position levels have been set successfully.

Set Wandelbots job on the robot controller

1. In the main menu, tap the "JOB" button.
   The sub menu is displayed.

2. In the sub menu, tap the "SELECT JOB" button.
   The "JOB LIST" is displayed.

3. Open WB-CTRL-GROUP-XXXX.
   If WB-CTRL-GROUP-XXXX is not available, repeat the following steps: Connect the IPC to the robot controller following the Wandelbots NOVA original operating instructions. Set up the robot controller's LAN connection and IP address Activate motoPlus Set the key switch to manual mode The job content is displayed.

4. Enter the previoulsy selected output as values for the 0001 and 0002 parameters, e.g. with default output OUT #100:

   Parameter	Value
   0001	DOUT OT#(100) OFF
   0002	WAIT OT#(100)=ON

   The Wandelbots job was successfully set on the robot controller.

The robot controller was successfully set up for Wandelbots NOVA.

Verify job limits on controller

To run Wandelbots NOVA, controller job limits need to be set at the following values:

These limits are set differently based on the country of operation and can only be set by Yaskawa service staff. Please contact the designated Yaskawa customer support to increase the values.