25.2
Connect physical robot
Yaskawa

Connect Yaskawa to Wandelbots NOVA

⚠️ caution

Danger in case of insufficient qualification of users
People can be injured if unqualified user groups set up the physical robot environment.

  • Only qualified user groups designated by the operating company may set up the physical robot environment.
  • Keep unqualified user groups away from the area of risk.

Remember to read through the provided safety instructions. If you have remaining questions, contact Wandelbots GmbH Customer Support.

Supported models

The setup instructions are valid only for the following controllers:

YRC1000 controller

Industrial

  • AR700
  • AR900
  • AR1440
  • AR1730
  • AR2010
  • AR3210
  • GP7
  • GP12
  • GP20HL
  • GP 25
  • GP25-12
  • GP50
  • GP88

Cobots

  • HC10DTP

Setup instructions

Wandelbots NOVA only supports Yaskawa controllers with at least software version 4.20 or higher.

Prepare USB stick

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.

Download wandelbots-server.outDownload wandelbots-usb-loader.out

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. Create a folder on the USB flash drive next to the previously added file.
  6. Rename the folder wandelbots
  7. Ensure correct spelling: wandelbots
  8. Open the "wandelbots" folder.
  9. Copy the wandelbots-server.out file into the "wandelbots" folder.
  10. Properly eject the USB flash drive.
  11. Unplug the USB flash drive.
  12. Plug the USB flash drive into the robot controller's CN102 plug.
    Leave the USB flash drive plugged in for the cell's life time.

Connect IPC to the robot controller
Admin

  1. Connect an ethernet cable to the IPC's LAN-1 port.
  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.

Prepare the Yaskawa
Admin

Using the original robot control panel

Activate maintenance mode

  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

  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 Yaskawa network settings

  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.

    ObjectValue
    IP ADDRESS SETTING(LAN3)MANUAL SETTING
    IP ADDRESSe.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 MASK255.255.255.0

    The "MODIFY?“ screen is displayed.

  6. Confirm modification.

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

Activate motoPlus

  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.

No request is displayed.
MotoPlus was successfully activated.

Activate FTP function in standard mode

  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.

No request is displayed.
FTP function in standard mode was successfully activated.

Delete old motoPlus files

  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

  1. In the main menu, tap the "MotoPlus APL." button.
    The sub menu is displayed.
  2. 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.
  3. Select "USB-1:Controller".
    The sub menu is displayed.
  4. In the sub menu, tap the "LOAD (USER APPLICATION)" button.
    Available files on detected target devices are displayed.
  5. Select the wandelbots-usb-loader.out file and confirm with Enter.
    The "LOAD?" screen is displayed.
  6. Confirm loading.
    The motoPlus application was successfully uploaded to the robot controller.

Activate automatic motoPlus start

  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.

Automatic motoPlus start upon the start of the robot controller is successfully activated.

Activate online mode

  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.

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 general purpose outputs are displayed.
  3. Select OUT#100.
    If the OUT#100 output is already used, select an unused output within the group and write down the output's number.

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.

    ParameterValue
    RS0051
    RS0072

  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 parameterValue
    S1C1G003312500
    S1C1G003425000
    S1C1G003550000
    S1C1G0036100000
    S1C1G0037200000
    S1C1G0038300000
    S1C1G0039400000
    S1C1G0040500000

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

    ParameterValue
    0001DOUT OT#(100) OFF
    0002WAIT 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:

S1D30x parameterValue
S1D30515
S1D30610
S1D30730

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.

Configure IPC's network settings

  1. Open https://<ipc-ip-address>:9090, e.g. https://172.345.538.2:9090, in a browser on your personal computer.
    If the IPC is not connected to the same network as your personal computer, you can connect a keyboard, a mouse and a display to the IPC. Then open localhost:9090 in a web browser.

    ⚠️

    Only one personal computer is allowed to connect to the instance's IP address. In case multiple personal computers control a physical robot, e.g. via API and the RobotPad, simultaneously, the robot will not move.

    • Close all applications on other personal computers and try again.
    • Unplug the robot's ethernet cable from the physical instance and wait a couple of minutes to restart Wandelbots NOVA foundation services. Plug it into the LAN port again and try again.

  2. Log in with the user credentials created during the Wandelbots NOVA installation.
    The IPC's settings are displayed.
    A popup prompts you to enable administrative access.

  3. Enable administrative access and enter the admin password.

  4. Select the Network tab in the sidebar.
    The IPC's network settings are displayed.

  5. Toggle the button next to the enp3s0 port (corresponding to the IPC's LAN-1 port) to enable network activity.

  6. Click "edit" next to the IPv4.
    The IPv4 menu opens.

  7. Set the address dropdown to "Manual".

  8. Create an IP address that is in the same subnet as the robot's IP address (255.255.255.0), e.g. 172.345.255.2.

  9. Set the prefix to 255.255.255.0 (will automatically change to 24).

  10. Delete the prefilled gateway value.

  11. Save the settings.

Wandelbots NOVA is successfully connected to the robot.

Congrats! Continue the setup by adding the Yaskawa robot in the Wandelbots NOVA settings!

Add robot in settings

Troubleshooting

Find the Yaskawa's IP address

  1. In the main menu, tap the "SYSTEM INFO" button.
    The sub menu is displayed.
  2. Select "NETWORK SERVICE" and scroll down to ADDRESS SETTING (LAN3).
    The robot controller's IP address is displayed.
URAdd robot in settings