Setting up Pickit with a Yaskawa robot

This setup manual helps you setup Pickit with a Yaskawa robot. The setup of Pickit with a Yaskawa robot consists of 4 steps:

Check controller and software compatibility

Pickit is compatible with controllers FS100, DX200 and YRC1000.

The following parameters must be declared on the controller to allow the correct operation of the application. These settings must be enabled by Yaskawa:

  • Ethernet function set to 1
  • MotoPlus function set to 1
  • Macro function set to 1
  • MotoPlus - Number of files set to 1
  • MotoPlus - Number of tasks set to 5

Please contact your local Yaskawa affiliate if you need to connect multiple devices to the Ethernet port to check compatibility of all this equipment.

Setup the network connection

Hardware connection

The connection between the Yaskawa controller and Pickit is done over ethernet. You connect your robot controller to the ROBOT port on the Pickit processor as shown in the diagram below:

../../_images/yaskawa.png
  • For DX200 controllers you need to connect the Pickit processor to the CN104 port.
  • For FS100 controllers you need to connect the Pickit processor to the CN2 port.

IP configuration

Warning

Before making these changes, the robot controller should be in maintenance mode, and the security mode should be management mode.

Setting the IP address of the robot controller should be done in maintenance mode. Go to SYSTEMSETUPOPTION FUNCTIONLAN interface setting and set the following values:

  • IP ADDRESS SETTING: MANUAL SETTING
  • IP ADDRESS: 169.254.5.182
  • SUBNET MASK: 255.255.0.0
  • DEFAULT GATEWAY: 0.0.0.0

Press ENTER and CONFIRM to modify the values before rebooting the controller.

Setting the Pickit IP address on the robot controller

After rebooting, the address of Pickit needs to be entered in a String. To do this:

  1. Start the robot controller in normal mode.
  2. Go to Main menuVARIABLESTRINGS099.
  3. Set S099 to value 169.254.5.180.

Note

There is no communication yet between the Pickit and the robot. So don’t worry if the connection is not shown in the Pickit web interface Top bar. The robot can be pinged from the Pickit web interface to check the IP settings. Details on testing this connection can be found on: Testing the Robot to Pickit connection.

Load the program files

The robot controller should be in maintenance mode and the security mode set to management mode before making these changes.

Before starting, the Pickit folder should be copied to a USB pen drive. Download the Pickit Yaskawa files here.

  1. Load the JOB, I/O DATA and SYSTEM DATA files under EX. MEMORY → LOAD.
  2. Load the correct USB device under MotoPlus APL → DEVICE.
  3. Open the folder where the MotoPlus application is stored under MotoPlus APL → FOLDER.
  4. Load the MotoPlus application under MotoPlus APL → LOAD(USER APPLICATION).

Test robot connection

To start the communication, you can run the PIT_RUN JOB on the robot. When running the program, there should be an indication that the robot is connected in the Pickit web interface Top bar.

Example program: TEST_PICKING

Before running the program:

  • Create a user frame with the following coordinates: 0.0.0.0.0.0. This user frame corresponds to the robot frame.
  • Create a tool frame with the actual TCP values.

Use both these frames on line 3 of the Test_picking example file, i.e. change the values 5 and 1 to the numbers of the user frame and tool that you defined.

Note

If something is wrong here, you can expect the following message: Undefined user frame. The example program by default uses frame 5 and tool 1, but these might not exist.

Variables used by the Pickit system

Variable Field name Comment
I099 command A single command from robot to Pickit.
I098 setup A number matching to a setup file known by the Pickit system.
I097 product A number matching to a product file known by the Pickit system.
S099 IP Pickit IP address of Pickit, by default 169.254.5.180.
P099 object_pose An object pose expressed relatively to the robot base frame.
D090 object_age The amount of time that has passed between the capturing of the camera data and the moment the object information is sent to the robot.
I091 object_type The type of detected object.
P098 object_dimension [0]: length or diameter (m) [1]: width or diameter (m) [2]: height (m)
D091 object_remaining If this field is non-zero, it contains the number of remaining objects that can be sent in next messages to the robot.
I090 status Contains the Pickit status or a response to previously received robot commands.