Good morning, I am working with a Yaskawa Motoman YRC 1000 controller currently. When it comes to turning servo power on and starting the process by a push button, am I able to have the external servo on and the external start wired directly to the controller or is all of that something that has to be done through concurrent I/O? As of right now, when we are ready to start the program, I have to turn servo on and press the green start button before the PLC can send the robot into a job, but my concern is that when the light screens are broken, we lose servo power (which we should) but then the operator will have to go restart servo power through the pendant. So we want to eliminate or at least limit the interaction between the operator and the pendant. Everything should be controlled through the HMI.
External Start/ Servo On
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DG -
April 10, 2019 at 3:47 PM -
Thread is marked as Resolved.
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Hi,
I don't know the YRC1000 but I think that it will be the same of DX100 and DX200.So inside the controller you will find the board JANCD-YFC22-E with the X-18. ALL the signal of this board is related to security connection.
In the DX200, for example, the pin 21 and 22 are for an EXT servo ON. You have to connect your button to these pins to activate the servo.For the external start you have the B1 pin of the CN308 in the Universal I/O Circuit board (always DX200 example). This is the standard unless you or yaskawa has changed the CIO mapping.
So first find the manual of the cabinet YRC1000 (https://www.motoman.com/en-us/service-…t-documentation) and then asks to yaskawa about the mapping.
P.S.
There is also a way to turn ON the servo through a pin(b3 OR b4 don't remember) on CN308(I use it sometimes) but it's not recommended. -
Is there any other way to do it? Apparently they didnt purchase the IO card kit so it is just an empty area where the JANCD-ABB02-E label is?
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Hello
Servo ON signal in YRC controllers are different from DX controllers. in the YRC controller use I/O terminal. it is one of external inputs.
input number (#20014) is for servo ON. it is B3 in CN308 connector. -
Is there any other way to do it? Apparently they didnt purchase the IO card kit so it is just an empty area where the JANCD-ABB02-E label is?Depends:
Are you using a filedbus to communicate from PLC to robot?if yes you can simply modify the robot ladder to do the ext servo on and the ext start.
EXAMPLE (DX200) in general purpose settings:
Factory Ext Start(CN308 - B1)
STR #20010
OUT #70010Modify
STR #20010
OR #xxxxx (your ext signal coming from plc through fieldbus)
OUT #70010The same for ext servo on(CN308 - B3, signal 20014)
if you are using direct connection (and not fieldbus) you must purchase an I/O card.
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Perfect. Thank you to everyone who responded, I appreciate all of your info. I was able to modify the ladder and have the servo on and the external start configured from there. Thanks again everyone!