YRC1000 Sending Controller Alarm to AB PLC

    I'm currently integrating a Yaskawa cell (YRC1000 controllers) with an AB controller with HMI for fixture control. I am looking to send robot alarm information to the PLC/HMI for an operator to easily identify what the issue is without having to look/touch the pendant. I've found some information from Yaskawa regarding discrete messaging but appears that this is not possible to use if FSU Ethernet Safety is being used, and it appears our cell is using this. PLC and YRC are connected via Ethernet/IP. I am hoping to send full alarm messages to the HMI/PLC.

    Any advice or resources is appreciated!

    There is an output that comes on when there is a error or alarm. Use this output from the robot to make a message come up on the HMI saying "go look at the pendant".


    There are over 9000 alarms that come out of the box from Japan, plus any alarms you or the integrator have put in. There is no easy way to move this data to a PLC. You would need to map each of the alarms to outputs to the PLC then write the alarm data in each of the messages. Then there is the problem of identifying the axis that has a problem (IE Collision detect SLURBT) there is no data out that identify the axis when there is this kind of alarm, so you have to go look at the pendant anyway. Many have tried to this, all have failed.

    Robodoc

    Thank you both for your replies!

    Robodoc, I was worried that this might be the case. I suppose I'll just map out and populate the common alarms an operator might see (no gas flow, wire stick, etc.) For everything else it will be a "go look at the pendant" situation, which isn't ideal but is better than nothing.

    95devils, you're correct! M640 is the for the 16 bit alarm register that will show the current alarm code, however, to tie in with what Robodoc said, it doesn't look like I'll be able to send the alarm code along with the alarm message (not the description, just the title of the alarm) to the PLC without populating a bunch of messages on the PLC for all the possible alarm codes from the controller.

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