Are you looking for help on configuring the ProfiNet to talk to the plc or rewriting the concurrent i/o ladder in the YRC controller? These are two different topics.
Configuration manual is this (DX200, YRC should be the same.)
https://www.motoman.com/getmed…837-1CD.pdf.aspx?ext=.pdf
Rewriting the ladder for something other than pass through mapping is this manual.
If you look in the ladder program in the controller you should see on the System Side a rung with 40044 as the output. An Auxiliary relay 70010 is driving part of that rung. On the User Side there is a rung with a set of contacts 20010 and an output of 70010. You can parallel around the 20010 with the external input from the plc.
As far as 40045. You would have to search the ladder to see if it is even in there. If so you can parallel around it with your external input address from the plc. If it is not you could write a new rung with your contacts and output to 40045.
I don't see 75000 or 75610 in the manuals. I do not see them either in my ladders for Material Handling application. Can you save out the ladder and post it as a txt file?
GRP is a group of 8. It is passing the status (on or off) from something to something else for a total of 8 consectutive addresses.
Instead of having 8 rungs that look like this:
STR #20030
OUT #00010
STR #20031
OUT #00011
STR #20032
OUT #00012
STR #20033
OUT #00013
STR #20034
OUT #00014
STR #20035
OUT #00015
STR #20036
OUT #00016
STR #20037
OUT #00017
Yaskawa can replace this this with:
#20020
GRP
#00010
This would be pass through mapping and allows faster processing. If we want a more complex circuit or want to re-assign, then we break out the groups.
I can't save it as txt file in the USB stick 
in the ladder i have no options and when i go to the external memory device i don't find any ladder, only 6 folders (job, file, parameter, i/o data, system data and system backup).
Go to EX Memory, SAVE. I/O DATA. Inside I/O DATA is C.IO PRGM. This is the ladder. Save that file. The name will be CIOPRG.LST. Open the file with a text editor like Notepad. Save as a .txt file.
The website will only allow certain extensions to be uploaded.
Ok, what I see in the ladder is someone has mapped the first and second groups of 8 of the external inputs to Auxiliary Relays. So where I originally said you should see on the User Side a rung with a set of contacts 20010 and an output of 70010 someone has used 75000 instead. 75000 is same as 20010.
Now the 75610 auxiliary relay is really external input address 21920. This is group 192, first bit. That is way up there, that would not be hardwired I/O and would be in the realm of a communication board I/O. Not too low, not too high. Looking at what someone did with this, I would either look for support documentation that came with the controller or get a hold of the Yaskawa office that sold it. I could go through with some time to figure it out. But someone should have a document to explain what signal turns on what. I'm guessing that they had the Profi board on the order and loaded a custom ladder into the controller. This custom ladder could have items that you want such as starting the robot externally, calling the Master Job, etc...
I'm seeing things like this also done for the outputs.
Attached is a quick spreadsheet I used to decipher this.
So for example, if i want to do a external start, i need to activate the external input 20010 in the PLC? if i activate the external input 20010 i wil turn on the 75000 m-register (is the same as auxiliary relay?) and in the ladder i need to add a rung with STR 75000 and 40044 output? Where did you see that the external input 20010 is the external start? thanks
My apologies, an Auxiliary relays and an M-registers are not the same. When I was working on the spreadsheet I was thinking about the conversation with M-registers. Aux relays are an address to store true or false of a rung in the ladder. The results can be used as contacts in the ladder. A M-register is a place to store a number between 0 - 65535 in the address in the ladder. It can be used for arithmetic, timer, or counter.
I have revised and added to the spreadsheet.
Address 20010 is dedicated to external start. Know it by memory. It is hardwired on a terminal strip. Someone has mapped 20010 through 20017 to 75000 through 75007. Address 21920 through 21927 has been mapped to 75610 through 75617. When 20010/75000 or 21920/75610 comes on 70010 will turn on. This then turns on 40044 which is external start.
Long story short: The plc outputs a signal to the robot controller address 21920 and the job will start running.
If the documentation I provided is correct 32060 is an output controlled by aux relay 76740. This is controlled by 50400, sequence continuing R1. 50400 is a specific output. Its state (on or off) is determined by the controller.
Hi Henrique,
Were you able to achieve your goal? I am also searching for document to do the same. I need to connect our GP12 robot with S7-1500 PLC via Profinet. If you succeeded could you please share your experience? We have a Anydata Profinet card in the robot controller.
Regards,
Jamal
