In automated production lines, communication between robots and programmable logic controllers (PLCs) is key to achieving equipment linkage and process control. EtherCAT is a real-time Ethernet solution with high speed and high-precision synchronization, making it very suitable for use in industrial automation. Yaskawa Robot YCR1000micro can communicate with third-party EtherCAT by installing the INpact baseboard. This article introduces the installation of the INpact baseboard, the configuration of the robot’s optional baseboard and IO modules, and how to use the HMS EtherCAT ESI Generator software to generate ESI files for use by third-party devices.
The YCR1000micro of Yaskawa robot’s EtherCAT communication configuration involves several steps. Firstly, connect the cables properly. Then, access the robot’s control panel to set up EtherCAT parameters such as baud rate and node address. Make sure to test the connection to ensure stable and efficient communication for the robot’s operations.
1 INpact Baseboard Installation
1.1 Prepare the INpact baseboard and installation tool Phillips screwdriver.
1.2 Turn off the power of the control cabinet, remove the power cord of the control cabinet, unscrew the 10 screws on the cover, and remove the top cover of the control cabinet in the direction of the arrow.
1.3 Unscrew the screws at the blue mark and remove the pre-installed iron sheet.
1.4 Insert the baseboard into the slot marked with a yellow circle in the figure below, and tighten the screws at the mark in the figure below.
1.5 Install the removed top cover back and tighten the mounting screws, then install the power cord and connect the communication cable.
2 Set the optional substrate and IO module on the teach pendant 2.1 Press and hold the [Main Menu] on the teach pendant while turning on the control cabinet power to enter the maintenance mode, and then enter the safe mode.
2.2 Select [System] in the main menu, enter the [Settings] option, and select [Optional Substrate].
2.3 Select the [INPACT] substrate to be set, enter the substrate setting interface, select [Use], and set the IO size.
2.4 If [Setting Completed Bus] does not display EtherCAT, select the second item ABCC_40_ECT_7305_2_03_01.hiff in the [Firmware] option and click Update.
2.5 Press the Enter key to confirm the change of the item. Press the Enter key several times to display the follow-up of the IO unit screen and confirm the change.
2.6 After confirming the modification, the screen enters [External IO Settings], where you can set the IO [Allocation Mode] to automatic or manual. After the setting is completed, you can enter [Details] of [External IO Allocation] to view the allocated location.
2.7 After the IO allocation is completed, press [Enter] to confirm the modification and return to the [Settings] screen. Select [Initialize] in the [File] option and execute [Reset the Safety Substrate FLASH Data].
2.8 After hearing a “beep” prompt, the [Reset the Safety Substrate FLASH Data] prompt message in the lower right corner disappears, and the substrate is set. Then restart the control cabinet and start it in normal mode.
3 HMS EtherCAT ESI Generator software ESI file generation 3.1 Install the software, find the compressed package hms-ethercat-esi-generator in the installation CD, unzip it and double-click the installation program, and then start the installation.
3.2 Connect the INPACT base and PC with a network cable. After the control cabinet is turned on normally, open the installed software HMS EtherCAT ESI Generator, select local connection, enter the Slave number (the Slave number is selected according to the PLC port), and then click Create ESI file to generate the ESI file.
3.3 Name the file and select the save path.
3.4 During the generation process, please confirm that the LED light NS on the base is in the strobe state.
3.5 ESI file generation.
3.6 Open the generated ESI file and confirm that the information displayed in the red box is consistent with the information below.