YASKAWA YRC1000micro User manual

MANUAL NO.
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1
YRC1000micro OPTIONS
INSTRUCTIONS
User’s Manual For New Language Environment MotoPlus
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
YRC1000micro INSTRUCTIONS
YRC1000micro OPERATOR’S MANUAL
YRC1000micro MAINTENANCE MANUAL
YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)
The YRC1000micro alarm codes above consists of “MAJOR ALARMS” and “MINOR ALARMS”.
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DANGER
• This manual explains MotoPlus of the YRC1000micro system.
Read this manual carefully and be sure to understand its contents
before handling the YRC1000micro. Any matter not described in
this manual must be regarded as "prohibited" or "improper".
• General information related to safety are described in "Chapter 1.
Safety" of the YRC1000micro INSTRUCTIONS. To ensure correct
and safe operation, carefully read "Chapter 1. Safety" of the
YRC1000micro INSTRUCTIONS.
CAUTION
• In some drawings in this manual, protective covers or shields are
removed to show details. Make sure that all the covers or shields
are installed in place before operating this product.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids the
product warranty.
NOTICE
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications. If such modification is made, the manual number will
also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
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Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or
inspection of the YRC1000micro.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, or “NOTICE”.
Even items described as “CAUTION” may result in a serious accident in
some situations.
At any rate, be sure to follow these important items.
DANGER
Indicates an imminently hazardous
situation which, if not avoided, will
result in death or serious injury.
Safety Signs identified by the signal
word DANGER should be used
sparingly and only for those
situations presenting the most
serious hazards.
WARNING
Indicates a potentially hazardous
situation which, if not avoided, will
result in death or serious injury.
Hazards identified by the signal
word WARNING present a lesser
degree of risk of injury or death than
those identified by the signal word
DANGER.
CAUTION
Indicates a hazardous situation,
which if not avoided, could result in
minor or moderate injury. It may
also be used without the safety alert
symbol as an alternative to
“NOTICE”.
NOTICE
NOTICE is the preferred signal word
to address practices not related to
personal injury. The safety alert
symbol should not be used with this
signal word. As an alternative to
“NOTICE”, the word “CAUTION”
without the safety alert symbol may
be used to indicate a message not
related to personal injury.
NOTE
To ensure safe and efficient operation at all times, be sure
to follow all instructions, even if not designated as “DAN-
GER”, “WARNING” and “CAUTION".
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DANGER
• Before operating the manipulator, make sure the servo power is
turned OFF by performing the following operations. When the servo
power is turned OFF, the SERVO ON LED on the programming
pendant is turned OFF.
– Press the emergency stop button on the programming pendant or
on the external control device, etc.
– Disconnect the safety plug of the safety fence.
(when in the play mode or in the remote mode)
If operation of the manipulator cannot be stopped in an emergency,
personal injury and/or equipment damage may result.
Fig. : Emergency Stop Button
• Before releasing the emergency stop, make sure to remove the
obstacle or error caused the emergency stop, if any, and then turn
the servo power ON.
Failure to observe this instruction may cause unintended movement of
the manipulator, which may result in personal injury.
Fig. : Release of Emergency Stop
TURN
• Observe the following precautions when performing a teaching
operation within the manipulator's operating range:
– Be sure to perform lockout by putting a lockout device on the
safety fence when going into the area enclosed by the safety
fence. In addition, the operator of the teaching operation must
display the sign that the operation is being performed so that no
other person closes the safety fence.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Always keep in mind emergency response measures against the
manipulator’s unexpected movement toward a person.
– Ensure a safe place to retreat in case of emergency.
Failure to observe this instruction may cause improper or unintended
movement of the manipulator, which may result in personal injury.
• Confirm that no person is present in the manipulator's operating
range and that the operator is in a safe location before:
– Turning ON the YRC1000micro power
– Moving the manipulator by using the programming pendant
– Running the system in the check mode
– Performing automatic operations
Personal injury may result if a person enters the manipulator's
operating range during operation. Immediately press an emergency
stop button whenever there is a problem. The emergency stop button
is located on the right of the programming pendant.
• Read and understand the Explanation of the Warning Labels before
operating the manipulator.
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DANGER
• In the case of not using the programming pendant, be sure to
supply the emergency stop button on the equipment. Then before
operating the manipulator, check to be sure that the servo power is
turned OFF by pressing the emergency stop button.
Connect the external emergency stop button to the 4-14 pin and
5-15 pin of the Safety connector (Safety).
• Upon shipment of the YRC1000micro, this signal is connected by a
jumper cable in the dummy connector. To use the signal, make sure
to supply a new connector, and then input it.
If the signal is input with the jumper cable connected, it does not
function, which may result in personal injury or equipment damage.
WARNING
• Perform the following inspection procedures prior to conducting
manipulator teaching. If there is any problem, immediately take
necessary steps to solve it, such as maintenance and repair.
– Check for a problem in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Return the programming pendant to a safe place after use.
If the programming pendant is left unattended on the manipulator, on a
fixture, or on the floor, etc., the Enable Switch may be activated due to
surface irregularities of where it is left, and the servo power may be
turned ON. In addition, in case the operation of the manipulator starts,
the manipulator or the tool may hit the programming pendant left
unattended, which may result in personal injury and/or equipment
damage.
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Definition of Terms Used Often in This Manual
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the YRC1000micro
controller, manipulator cables, the YRC1000micro programming pendant
(optional), and the YRC1000micro programming pendant dummy
connector (optional).
In this manual, the equipment is designated as follows:
Descriptions of the programming pendant keys, buttons, and displays are
shown as follows:
Equipment Manual Designation
YRC1000micro controller YRC1000micro
YRC1000micro programming pendant Programming pendant (optional)
Cable between the manipulator
and the controller
Manipulator cable
YRC1000micro programming pendant
dummy connector
Programming pendant
dummy connector (optional)
Equipment Manual Designation
Programming
Pendant
Character Keys
/Symbol Keys
The keys which have characters or symbols
printed on them are denoted with [ ].
ex. [ENTER]
Axis Keys
/Number Keys
[Axis Key] and [Numeric Key] are generic
names for the keys for axis operation and
number input.
Keys pressed
simultaneously
When two keys are to be pressed
simultaneously, the keys are shown with a “+”
sign between them, ex. [SHIFT]+[COORD]
Mode Key Three kinds of modes that can be selected by
the mode key are denoted as follows:
REMOTE, PLAY, or TEACH
Button Three buttons on the upper side of the
programming pendant are denoted as follows:
HOLD button
START button
EMERGENCY STOP button
Displays The menu displayed in the programming
pendant is denoted with { }.
e.g. {JOB}
PC Keyboard The name of the key is denoted.
e.g. Ctrl key on the keyboard
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Description of the Operation Procedure
In the explanation of the operation procedure, the expression "Select • • • "
means that the cursor is moved to the object item and [SELECT] is
pressed, or that the item is directly selected by touching the screen.
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and
TM
are omitted.
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Contents
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1 Outline............................................................................................................................................. 1-1
1.1 Introduction ........................................................................................................................ 1-1
1.2 Features.............................................................................................................................1-1
1.3 What MotoPlus Can Do .....................................................................................................1-2
1.4 Supported Services............................................................................................................1-3
1.5 Application Program Development Environment ............................................................... 1-5
1.5.1 Development Environment Configuration ............................................................. 1-5
1.5.2 Development Environment Component................................................................ 1-6
1.5.3 Application Program Execution Environment ....................................................... 1-7
1.5.4 Development Flow................................................................................................ 1-8
1.6 Notes ................................................................................................................................. 1-9
2 Development Environment Setup ................................................................................................... 2-1
2.1 DVD Contents .................................................................................................................... 2-1
2.2 Installation of Development Environment Software ........................................................... 2-2
2.3 Installation of TELNET Connection Utility .......................................................................... 2-4
3 Creating Application Software......................................................................................................... 3-1
3.1 Rules for Creating Program Source Code ......................................................................... 3-1
3.2 Creating MotoPlus Project .................................................................................................3-3
3.3 Outline of MotoPlus IDE..................................................................................................... 3-4
3.4 Text Search........................................................................................................................ 3-5
3.5 MotoPlus Library Files ....................................................................................................... 3-5
3.6 Program Build (Compile/Link) ............................................................................................ 3-5
3.7 Changing Build Settings..................................................................................................... 3-6
3.8 How to Use the DX200 Projects on YRC1000micro .......................................................... 3-7
3.8.1 Difference Points of the API.................................................................................. 3-7
4 Valid/Invalid Setting of MotoPlus Function...................................................................................... 4-1
5 Installation and Start-up of Application Program.............................................................................5-1
5.1 Installation of Application Program in Maintenance Mode ................................................. 5-1
5.2 Start-up of Application Program.........................................................................................5-6
5.3 To Temporarily Prevent MotoPlus Application from Starting ............................................. 5-6
6 User Defined File ............................................................................................................................ 6-1
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6.1 Saving in and Reading from External Memory .................................................................. 6-1
6.1.1 Procedure to Save or Read User Defined File ..................................................... 6-1
6.2 Initialization of User Defined File .......................................................................................6-3
6.3 Setting of File Control Task Priority Limit........................................................................... 6-5
6.3.1 Changing File Control Task Priority Limit ............................................................. 6-5
7 Debugging ...................................................................................................................................... 7-1
7.1 Debugging Environment .................................................................................................... 7-1
7.2 Connecting YRC1000micro with PC.................................................................................. 7-2
7.3 Debugging via Telnet Communication............................................................................... 7-4
7.3.1 Operation Procedure ............................................................................................ 7-4
7.3.2 Example Usage of Printf() .................................................................................... 7-7
7.4 Debugging by User Variables of YRC1000micro............................................................... 7-8
8 Development Support Tool ............................................................................................................. 8-1
8.1 Outline ............................................................................................................................... 8-1
8.1.1 Introduction........................................................................................................... 8-1
8.1.2 Overview of Functions.......................................................................................... 8-1
8.2 Using the Support Tool...................................................................................................... 8-2
8.2.1 Support for the Functions ..................................................................................... 8-3
8.3 Basic Settings.................................................................................................................... 8-4
8.3.1 Connecting a PC with the YRC1000micro............................................................ 8-4
8.3.2 Communication Settings....................................................................................... 8-4
8.3.3 Setting Procedure................................................................................................. 8-4
8.4 Online Download ............................................................................................................... 8-5
8.4.1 System Settings ................................................................................................... 8-5
8.4.2 Inserting the USB Memory in the Controller ......................................................... 8-5
8.4.3 Operating Procedure ............................................................................................ 8-6
8.5 Application Property List .................................................................................................... 8-7
8.5.1 Operating Procedure ............................................................................................ 8-7
8.5.2 How to Set Application Information ...................................................................... 8-8
8.5.3 Setting Procedures............................................................................................... 8-9
8.6 Port Debug ...................................................................................................................... 8-10
8.6.1 Measuring Procedures ....................................................................................... 8-11
8.6.2 Optional for Measuring ....................................................................................... 8-12
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8.6.3 How to Mount the Application ............................................................................. 8-13
8.6.4 Debug Port APIs ................................................................................................. 8-14
8.7 Copy Protection ............................................................................................................... 8-18
8.7.1 Protection Activation (MotoPlusIDE)................................................................... 8-18
8.7.2 Acquiring the Serial File (MotoPlus Monitor) ...................................................... 8-19
8.7.3 Generating the Protection Key (MotoPlusIDE) ................................................... 8-19
8.7.4 Loading the Protection Key (MotoPlus Monitor) ................................................. 8-20
8.7.5 Useful Functions (MotoPlusIDE)......................................................................... 8-21
8.7.5.1 Generate and Download the Protection Key ......................................... 8-21
8.7.5.2 Download the Application and the Protection Key Simultaneously .......8-21
9 Alarm List ........................................................................................................................................ 9-1
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1 Outline
1.1 Introduction
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1 Outline
1.1 Introduction
This function is used to develop customer specific applications that
operate on the main CPU board (ACP30 circuit board) of the
YRC1000micro. The function name MotoPlus is an abbreviation of
Motoman Professional Programming Language for Superior Use.
MotoPlus is a programming IDE (integrated development environment) for
professionals, with which the application program developed on the PC
using C language runs as a task of the robot controller. Users can
develop a variety of application programs on their own without modifying
the source codes of the robot controller.
1.2 Features
1. With C language as the system development language and a wealth of
standard libraries, users can create customer specific application
programs.
2. With the text editor of MotoPlus IDE, users can program off-line.
3. The created application program runs as a task on the main CPU of
the robot controller. Thus, no additional hardware is required.
4. The created application program runs as the native code of the CPU.
Thus, the execution speed becomes faster.
5. With a variety of included APIs (application program interface) to
transmit data from/to the job and the Ethernet communication port,
users can easily correct the manipulator position and connect the
robot to the external PC or sensors.
NOTE
To use the MotoPlus function, set the MotoPlus FUNC. to
“USED” in the OPTION FUNCTION of the maintenance
mode.
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1 Outline
1.3 What MotoPlus Can Do
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1.3 What MotoPlus Can Do
Users can use the C language, a general programming language, and the
C language and MotoPlus libraries to develop a customer specific
application program in which various types of resources are used, e.g.,
the Ethernet communication port and the programming pendant of the
robot controller. Refer to fig. 1-1 “Available Resources for MotoPlus” .
Fig. 1-1: Available Resources for MotoPlus
Application program examples:
1. Operation to correct the manipulator position by a communication
program with a vision sensor or other sensors, and by data from the
sensor
2. Data transmission with an external PC via the Ethernet (TCP/IP)
communication
3. JOB execution sequence control
PP
(Socket
communication
Ethernet)
JOB task Application task ＣＩＯ
SD
card
Ethernet
(ACP31 SD file）
(RJ45)
Vision
Data transmission
(File input)
Data transmission
(Winsock)
Data transmission Data transmission
PC
Power
ON
Panel computer
Load from the SD / start
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1 Outline
1.4 Supported Services
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1.4 Supported Services
MotoPlus provides users with a variety of services as follows:
1. Application task control
Application task start/stop, data transmission between application
programs by the mailbox and semaphore, exclusive control and
execution synchronization
2. Robot control
Robot control from the application program
3. JOB control
Start-stop control of the JOB by the application, data transmission
between Jobs by variables (byte, integer, double-precision, floating-
point, character string, and position variable), and execution
synchronization
4. CIO control
I/O between the application program and the CIO, and read/ write of
the register
5. Ethernet communication control
The Ethernet (TCP/IP) communication from the application, especially
using the socket function library included as an API
6. Programming pendant communication
Data transmission between the application and the programming
pendant application
7. EVENT
Event notification to the application at every I/O control cycle and
interpolation control cycle of the system
8. Sensor control
The APIs which transfer data to and from a job and change operating
conditions such as path correction and speed change, and the
instructions which transfer data between a job and MotoPlus
application
9. Memory management
The protected memory management
Specific instructions, malloc and mfree, support the data area which
the system manages for MotoPlus.
10. General-purpose file control
The function to access multiple general-purpose files by using the
fixed area on CMOS as a drive
11. Existing file control
The function to access existing files (jobs and condition files, etc.
which can be loaded and saved by external memory)
12. Servo control
Servo control from the application program
13. User watchdog
Watchdog to monitor whether the application operates normally
14. Coordinate conversion
Calculation of the manipulator order or inverse kinematics, coordinate
conversion, pulse conversion from the feedback pulse to the arithmetic
pulse, or linear algebra calculation.
15. Development environment
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1.4 Supported Services
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(1) Integrated development environment (MotoPlus IDE) for source
file project management, program editor, and compiler and linker
(2) Installation of the MotoPlus application from the SD/USB memory
in the programming pendant
(3) Debugging by printf() via Telnet
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1 Outline
1.5 Application Program Development Environment
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1.5 Application Program Development Environment
A MotoPlus application program is written in C language on a PC and
debugged on the YRC1000micro controller. Use the text editor of
MotoPlus IDE to write the application program, then compile and link it to
create the execution object. This is installed and executed on the
YRC1000micro to debug.
1.5.1 Development Environment Configuration
Use a PC to develop an application program. The system is configured as
shown in fig. 1-2 “Development Environment Configuration” to debug
using Telnet. Install the developed application by loading it to the SD of
the main CPU (ACP31) using the SD/USB memory in the programming
pendant.
Fig. 1-2: Development Environment Configuration
PC (Windows 7 (32bit) /
Windows 10)
Ethernet
Main CPU
(SD)
S-
高
選 択
X- S+ X+
L-
Y- L+ Y+
U-
Z- U+ Z+
7- 7+
R-
X-
R+
X+
B-
Y- B+ Y+
T-
Z-
T+
Z+
低
高 速
9
6
3
-
.
2
5
8
7
4
1
0
Program development environment Program execution environment
Robot controller
SD/USB memory
(Load)
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1 Outline
1.5 Application Program Development Environment
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1.5.2 Development Environment Component
No. Device Details Remarks
1 Windows PC CPU: 1GHz or more
Memory: 1 Gbyte or more
Hard disk space: 40 Gbyte or more
OS: Windows 7 (32bit)
Windows 10
Prepared by the
user
2 Text editor Creates the application source program in C language.
MotoPlus IDE editor is recommended. (A commercially-
available text editor and Windows Notepad can also be used.)
Prepared by the
user
3 Compiler Converts the source program into the machine language of the
target CPU.
Integrated in MotoPlus IDE, and can be executed from the
menu.
Provided by
YASKAWA
4 Linker/library Links the C language library provided by GNU with the
developed application program to create an executable load
module.
Integrated in MotoPlus IDE, and can be executed from the
menu.
Provided by
YASKAWA
5 MotoPlus library API library which provides application program services of the
robot controller such as data communication with JOB.
Integrated in MotoPlus IDE.
Provided by
YASKAWA
6 SD/USB memory SD memory or USB memory to load the developed load
module into the controller.
Prepared by the
user
7 Ethernet cable Connects the PC with the controller via Ethernet to debug the
developed program.
CAT5 or greater (cross/straight) cable
Prepared by the
user
8 Ethernet hub Connects the PC with the controller. Prepared by the
user
9 Installation DVD Installs the above-mentioned software on the Windows PC. Provided by
YASKAWA
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1 Outline
1.5 Application Program Development Environment
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1.5.3 Application Program Execution Environment
The application program developed in the above-mentioned program
development environment is stored in the SD on the main CPU (ACP31)
of the robot controller, as shown in fig. 1-3 “Program Execution
Environment” .
Fig. 1-3: Program Execution Environment
When the controller power is turned ON, the application program
MotoPlusApl stored in the SD on the main CPU (ACP31), is loaded into
the memory of the ACP30 circuit board. Then, the application program is
started as a task on the real-time operating system controller OS, and
executed synchronously with the system program. The application task
can start multiple tasks, and can perform data transmission with JOB or
I/O, synchronous execution control, and exclusive control, by using the
mailbox or semaphore.
(MotoPlusApl.out)
Controller OS
ACP30 circuit board
Application
program
System
JOB
startup
obtain data
Load, startup
Application
program
ACP31 built-in SD memory
MotoPlusApl.
out
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1 Outline
1.5 Application Program Development Environment
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1.5.4 Development Flow
Fig. 1-4: Program Development Flow
Modify the program
No compile error?
No compile error?
Start the application program.
Debug.
OK?
Development completed.
Load the application program into the robot controller.
Write the source program in
C language by using the editor
of MotoPlus IDE.
<3.2 Creating MotoPlus Project>
Use GNU C compiler provided
by YASKAWA (included in
MotoPlus IDE).
Link the above-mentioned object
modules with the C language library
and the robot library to create the
execution module (e.g. MotoPlusApl.out).
<3.2 Creating MotoPlus Project>
Use GNU linker and library.
Only static links are supported.
ELF (Executable and Linkable
Format) is used as the module.
Compiling and linking are done
simultaneously by MotoPlus IDE.
<4.1 Installation of Application
Program in Maintenance Mode>
Relocatable module with
ELF object format.
<4.2 Start-up of Application
Program>
1. Starts with turning ON the power.
<5. Debugging>
Debug by connecting to SHELL,
system software, via TELNET.
Use printf() and puts().
By using MotoPlus IDE, compile
the source program (e.g. abc.c) and
create an application program
(e.g. abc.o).
<3.1 Rules for Creating Program Source Code>
Use the editor of MotoPlus IDE.
Notepad, WordPad, or another
text editor can also be used.
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1 Outline
1.6 Notes
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1.6 Notes
NOTE
• C language memory operation
When programming in C language, the pointer variable
which stores the memory address can be used. If the
pointer variable is set incorrectly, the system memory area
may be rewritten.
If the system memory area is rewritten, critical problems
occur, e.g., the software hangs up (the hang-up status is
detected by a CPU exception or the watchdog check func-
tion, then the servo power turns OFF and the system
shuts down), the robot stops its operation due to an alarm,
or the programming pendant becomes inoperable.
If the system memory operation is incorrect, the applica-
tion itself may not operate as it is designed. Thus, by test-
ing adequately, the error location can be found. Check the
functions of the application software well enough, and
make sure that all functions operate as designed.
•
Task “mpUsrRoot” which starts when the power is turned ON
The task “mpUsrRoot” has a high priority to start other applica-
tion tasks and initialize the entire application quickly. Due to its
high task priority, if a time-consuming process (100 microsec-
onds or longer) is done in this task, the processing time for the
robot control becomes insufficient. Then the system alarm
may occur or the programming pendant or the HOLD button
may freeze. Thus, as the sample program (refer to
“Chap.17.3 Task Control Sample Program” in “YRC1000micro
OPTIONS INSTRUCTIONS Programmer’s Manual For New
Language Environment MotoPlus (HW1484526)”, make sure
to complete the task “mpUsrRoot” after starting up another
application or creating a semaphore.
• Debugging via Telnet
1. After completing debugging, set the Telnet function to
INVALID (S2C1119 = 0). This is because the Telnet
function consumes the system processing time, and an
alarm may occur due to insufficient processing time for
robot operation.
2. With the Telnet function, debug only the tasks with
normal priority. For debugging the tasks with high
priority (the tasks started with the task priority:
MP_PRI_IO_CLK_TAKE, MP_PRI_IP_CLK_TAKE, or
MP_TIME_CRITICAL, or the task “mpUsrRoot”), use the
variables of the YRC1000micro. This is because, if
printf() or puts() is done with a high priority task, the
processing time for the robot operation control is
consumed, and a system alarm may occur due to
insufficient processing time.
3. After completing debugging, make sure to clear the
debugging code using printf() or puts() which is
described in the source code. This is because the
processing time of printf() and puts() influences the
system, and an error may occur such as insufficient
processing time during robot operation.
4. When using the SHELL debugging function of the
controller OS which becomes available by connecting
with the YRC1000micro via Telnet, a system alarm may
occur due to insufficient processing time for robot
operation. Do NOT use the SHELL debugging function.
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2 Development Environment Setup
2.1 DVD Contents
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2 Development Environment Setup
2.1 DVD Contents
The DVD contains the following items.
Folder Contents Remarks
Root MotoPlus IDE installer
Manual
(Japanese/
English)
MotoPlus user’s manual MotoPlus outline,
installation procedure
of the development
environment, and
development
procedure
MotoPlus programmer’s manual Programming
procedure
MotoPlus reference manual API specifications
GCC manual
Sample Sample source code
VisualStudio
2015
Installer of VisualStudio2015 Service
Pack
Sentinel
Driver
Installer of the system driver for the
hardware key
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