VIPA IO Smart Series Operation instructions

VIPA CONTROLS
VIPA SLIO Remote I/O
The remote I/O system, Yaskawa Smart Pendant & Yaskawa
Robot Controller Tutorial

VIPA IO Smart Series Table of contents
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Table of contents
VIPA I/O Expansion Kit for Smart Series ...................................................................................... 2
Kit Contents .................................................................................................................................. 3
What’s Not Included in the Kit ................................................................................................... 3
Setup for VIPA I/O Expansion Kit & Robot Controller .................................................................. 4
Mount VIPA Kit .......................................................................................................................... 4
Power VIPA Kit ......................................................................................................................... 5
Network Configuration .............................................................................................................. 6
Configure VIPA IP Address ....................................................................................................... 6
Configure Yaskawa Robot Controller ........................................................................................ 9
VIPA I/O Expansion Kit Details ................................................................................................... 16
Data Layout ............................................................................................................................. 16
Using Digital I/O Modules ........................................................................................................... 18
Wiring Detail for PNP Digital Inputs (021-1BF00) ................................................................... 18
Wiring Detail for PNP Digital Outputs (022-1BF00) ................................................................ 19
Digital I/O on Smart Pendant .................................................................................................. 20
Using Analog I/O Modules .......................................................................................................... 21
Wiring Detail for Analog Inputs (Current: 031-1BF60, Voltage: 031-1BF74) .......................... 21
Wiring Detail for Analog Outputs (Current: 032-1BD40, Voltage: 032-1BD70) ....................... 22
Analog I/O on Smart Pendant ................................................................................................. 23
Replacement of EtherNet/IP 053-1IP00 by 053-1IP01 ........................................................... 25
VIPA SLIO Product Line ............................................................................................................. 26
General Comments:
• Read the tutorial carefully before installation, operation maintenance, inspection, or
troubleshooting.
• This tutorial does not replace the proper use of the manuals for each module and software.
• Please find SLIO manuals here: https://vipausa.com/pages/downloads/manuals.html.
• This tutorial is subject to change and recommendations for improvement are always
appreciated – please contact [email protected] with feedback.
• Any safety and legal comments of Yaskawa Europe GmbH can be found in each manual.

VIPA IO Smart Series VIPA I/O Expansion Kit for Smart Series
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VIPA I/O Expansion Kit for Smart Series
This document describes how to configure and test a VIPA EtherNet/IP Coupler + Configurable
SLIO Modules with the YRC1000 and YRC1000micro Controllers (collectively referred to as
YRC Controller in this document). These instructions are valid for all types of SLIO modules;
however, the exact configuration(s) covered in this document are outlined below:

Kit Contents
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Kit Contents
Three VIPA I/O expansion kits are available for Yaskawa robot controllers:
16 IN, 16 OUT Digital I/O: Part # 099-1IP20
Includes:
- 1x SLIO 053-1IP01 / EtherNet/IP Interface Module
- SLIO 007-0AA00 / Power Module (embedded with Interface Module)
- 2x SLIO 021-1BF00 / 8 Digital Inputs PNP
- 2x SLIO 022-1BF00 / 8 Digital Outputs PNP, 0.5A
8 DI, 8 DO, 8 AI, 4 AO Current I/O: Part # 099-1IP50
Includes:
- 1x SLIO 053-1IP01 / EtherNet/IP Interface Module
- SLIO 007-0AA00 / Power Module (embedded with Interface Module)
- 1x SLIO 021-1BF00 / 8 Digital Inputs PNP
- 1x SLIO 022-1BF00 / 8 Digital Outputs PNP, 0.5A
- 1x SLIO 031-1BF60 / 8 Analog Inputs, 12Bits. 0/4...20mA
- 1x SLIO 032-1BD40 / 4 Analog Outputs 12Bits. 0/4...20mA
8 DI, 8 DO, 8 AI, 4 AO Voltage I/O: Part # 099-1IP90
Includes:
- 1x SLIO 053-1IP01 / EtherNet/IP Interface Module
- SLIO 007-0AA00 / Power Module (embedded with Interface Module)
- 1x SLIO 021-1BF00 / 8 Digital Inputs PNP
- 1x SLIO 022-1BF00 / 8 Digital Outputs PNP, 0.5A
- 1x SLIO 031-1BF74 / 8 Analog Inputs, 12 Bits. +-10V
- 1x SLIO 032-1BD70 / 4 Analog Outputs, 12 Bits. +-10V
Custom Kit: Part number 099-1IP99
- Other variations are available upon request. Examples include NPN I/O, Analog I/O with
current output, power distribution module for external devices, etc. Please contact
[email protected].
What’s Not Included in the Kit
Customer must provide the following:
- 24VDC power supply (10A recommended)
- Mount hardware (e.g. DIN rail)
- Wiring hardware for power distribution and I/O
o Terminated jumper wires
o Screwdriver
- Cat5 (or higher) Ethernet cable of desired length

VIPA IO Smart Series Setup for VIPA I/O Expansion Kit & Robot
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Setup for VIPA I/O Expansion Kit & Robot Controller
These instructions will be used to configure a VIPA I/O Expansion Kit on a Smart Series system.
Mount VIPA Kit
1. To mount/demount the EtherNet/IP coupler, use the locking levers on top of the bus
coupler. Turn the levers upwards until they engage. Next, mount the coupler on the DIN
rail. Finally, secure the coupler to the DIN rail by pushing the locking levers downward.
2. Next, mount the periphery modules included in your kit. First, remove the cover on the
right side of the bus coupler by pulling it forward.
Open the locking levers and slide each module in the slotted grooves as shown below.
Once the module is in place (check grooves and DIN rail), use the locking lever to
complete its mounting. Repeat for this process for all periphery modules.
3. Once the entire kit is mounted, re-mount the cover removed in Step 1 to the end of the
configuration to protect the backplane bus connectors.

Setup for VIPA I/O Expansion Kit & Robot Controller
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Power VIPA Kit
Terminals with spring clamp technology are used for wiring SLIO modules. This vibration proof
technology allows for quick and easy connection of your signal and supply lines.
1. Insert a screwdriver at an angle into the square opening as shown above.
Press and hold the screwdriver in the opposite direction to open the
contact spring.
2. Insert the stripped end of wire into the round opening. Use wires with
cross section 0.08 to 1.5mm2
3. By removing the screwdriver, the wire is securely fixed via the spring
contact to the terminal.
Use the following diagram to connect power to the EtherNet/IP bus coupler.
Note: For most applications, terminals 2 & 4 above will be connected to the same terminals from
the external power supply. The same applies for terminals 3 & 8.

VIPA IO Smart Series Setup for VIPA I/O Expansion Kit & Robot
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Network Configuration
The VIPA expansion kit should be connected to the YRC controller through one of the Ethernet
ports on 053-1IP01. A PC can also be connected to configure the VIPA kit using its web server.
See network configurations for both the YRC1000micro and YRC1000 controllers below:
Configure VIPA IP Address
The IP address of the EtherNet/IP bus coupler is determined by physical “address switches”.
On delivery, all switches are in the “0” position and the factory default settings are:
• IP address: 192.168.1.2
• Subnet mask: 255.255.255.0

Setup for VIPA I/O Expansion Kit & Robot Controller
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If the default address “192.168.1.2” is not available (i.e. conflicting with another device with this
address), the fourth octet of the IP Address can be changed using the address switches on the
Interface Module. For example, turning switches 2, 4, & 6 to ON would change the address to
“192.168.1.21” (i.e. 1+4+16). See the switch positions in the figure below:
VIPA Web Server
To access the VIPA web server, address switch 8 labeled “WEB”
must be switched to the “1” position to enable its functionality.
Also, a PC must be connected via a networking cable (see
previous section).
The web server can be opened from any browser. The server is
built dynamically and will display the number of modules connected
to the EtherNet/IP coupler.
The web server can be broken into the following 3 categories:
1. Module list: EtherNet/IP coupler and system SLIO modules
listed in order of installation
2. Tab bar with available functions for the module selected in 1)
3. Information corresponding to the tab selected in 2)
If the VIPA kit needs to be configured on a network outside of 192.168.1.x, this can be changed
from the IP tab of the web server. For example, the following figure shows changing the IP
Address to “10.7.3.56”.

VIPA IO Smart Series Setup for VIPA I/O Expansion Kit & Robot
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Note: after editing the IP address, physical address switches 1 to 7 must be reset to “0”
to avoid overwriting the IP address entered in the web server.
Ping both the VIPA kit and the YRC Controller from a PC to verify communication has been
established using the custom IP configuration.
Additional information about other functions supported by the web server is available in
the manual 053-1IP01 (Chapter 4.5 Web server).

Setup for VIPA I/O Expansion Kit & Robot Controller
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Configure Yaskawa Robot Controller
This section provides the steps require to configure the YRC Controller for successful
communication with a VIPA Smart Series I/O kit. VIPA 099-1IP20 is used as an example in this
guide - similar steps should be followed for other VIPA kits.
1. Determine configuration of VIPA kit using web server
Use the VIPA web server to determine EtherNet/IP information required by the YRC
controller.
Connect to the web server by entering its IP Address into a web browser on the same
network as the device (e.g. “http://192.168.1.2”). Verify “Total Width” for Input and
Output data by selecting the Interface Module “Device” at the top of the tree on the left
and navigating to the “Data” tab shown below.
For VIPA 099-1IP20, both the Input Size and Output Size read 2 bytes. These values
will be used to populate EtherNet/IP settings in the YRC Controller.
Note: 1 byte must be added to the “Input Total Width” reported by the web server for
communication between the VIPA kit and YRC controller to work properly.

VIPA IO Smart Series Setup for VIPA I/O Expansion Kit & Robot
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2. Open I/O Configuration screen on Smart Pendant
On Smart Pendant, use the List Tab on the {Menu} > {System Settings} > {I/O
Configuration} screen to view a list of configured devices on the robot controller and/or
add a new device. Selecting a device will display its details on the bottom panel.
3. Create a “New Allocation” for VIPA with data from web server
1) Press {+ New Allocation} at the top of the I/O Configuration Screen. Select
“EtherNet/IP Scanner” from the drop-down menu. Manual (Teach) mode and
Management Security Level are required.

Setup for VIPA I/O Expansion Kit & Robot Controller
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2) Data entry for VIPA kit on the lower detail panel.
i. Enter the IP Address of the VIPA kit defined previously and enter a name
(i.e. VIPA 099-1IP20)
ii. Enter Input Size and Output Size determined in Step #1
• Input Size = 3 bytes
• Output Size = 2 bytes
iii. Enter Instance IDs for the VIPA kit
• Input ID = 124
• Output ID = 104
• Configuration ID = 140
3) After entering all data above, carefully review and press {Save}
Note: Default Instance IDs in the official VIPA documentation use Input = 120 and
Output = 100. However, these values only work if the Input and Output sizes are set
to 496 bytes – much too large for the YRC1000micro controller. Using Input=124 /
Output=104 allows for dynamic sizing, correlating to the sizes shown on the web
server found in Step #1.
4. Review (and edit) location of VIPA allocation
In Step #3, the Starting Group #’s were automatically set to the first available range of
bytes in each respective table. If a custom location is desired, the Input Table and
Output Table tabs can be used to edit where I/O dedicated for the VIPA kit lands on the
controller.
These tables provide a visual representation of allocated Inputs and Outputs on the
robot controller. Find the orange (i.e. “Used) range of bytes allocated for the VIPA kit to
view their Input and/or Output allocations. If desired, the user can edit the Starting
Group # directly or use the {Select Inputs} button to change its location (light blue
squares represent areas of available space, see the legend for more details).

VIPA IO Smart Series Setup for VIPA I/O Expansion Kit & Robot
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Yaskawa recommends placing the allocation for the VIPA kit near the EtherNet/IP Status
byte. In the example shown above, the EtherNet Status byte is located at Group 10 and
the VIPA allocation begins in Group 11. Additionally, “Starting Group #” for Inputs and
Outputs should match (both set to 11 above).

Setup for VIPA I/O Expansion Kit & Robot Controller
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If “Size (bytes)” or “Starting Group #” are modified, Smart Pendant will check whether
the edit(s) conflict with any other devices. As shown below, a message will appear if
conflict(s) exist, preventing the user from pressing {Save} until they are resolved.

VIPA IO Smart Series Setup for VIPA I/O Expansion Kit & Robot
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5. Reboot robot controller to activate new configuration
In Steps #3 and #4, new data was entered/edited for the VIPA I/O kit and saved by the
user. When the edited data is saved, a message will appear alerting the user to reboot
the controller to activate the new devices configuration. Modified device(s) will also have
an icon next to it in the list:
6. Confirm communication between YRC controller and VIPA kit
The “MS” LED on the VIPA EtherNet/IP Interface Module should be solid green if
communication has successfully been established. The following table shows the
meanings of the various status bits:

Setup for VIPA I/O Expansion Kit & Robot Controller
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Additionally, the EtherNet/IP Status byte on Smart Pendant can be used to diagnose
communication. Navigate to {Menu} > {I/O & Variables} > {I/O} screen.
Use the {Settings} button on the I/O screen to ensure the EtherNet/IP Status byte is
visible. Next, find the Input Group in the I/O list that reads “TYPE: EtherNet/IP Status”
in the right panel.
This byte should read “0” if communication has been established and is operating
without error. Otherwise, this byte will be highlighted in yellow with a {Help} button as
shown below.

VIPA IO Smart Series VIPA I/O Expansion Kit Details
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VIPA I/O Expansion Kit Details
Data Layout
The data in the EtherNet/IP communications packet will automatically populate according to the
physical configuration of the devices in the rack. For example, see the example shown below:
First, a 3-byte buffer is present before the start of Input data (green). Next, Slot 1 contains 1
byte of Input Data and thus will be the first byte of Input data following the 3-byte header. The
next device with Input Data is in Slot 3 and accounts for the next 4 bytes of Input Data, etc.

VIPA I/O Expansion Kit Details
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The web server can also be used to easily identify where the data for a specific device is
located. For example, below shows the data for an Input Module. The “Offset” value is the
location from the start of the Input Data. For example, if the data is mapped to Input Group #5
as shown in this example, then this data will be located at Input Group #8 (3+5) and will take 1
byte of data.

VIPA IO Smart Series Using Digital I/O Modules
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Using Digital I/O Modules
The following sections provide detail on the wiring, Smart Pendant setup, and Smart Pendant
programming methods for VIPA Digital I/O modules.
Wiring Detail for PNP Digital Inputs (021-1BF00)

Using Digital I/O Modules
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Wiring Detail for PNP Digital Outputs (022-1BF00)