Warning

You are reading the documentation for an older Pickit release (2.2). Documentation for the latest release (3.4) can be found here.

Yaskawa installation and setup

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

Check controller and software compatibility

Pickit is compatible with controllers DX200, YRC1000 and YRC1000 micro. Also Pickit can be used with the HC10 human-collaborative robot.

Note

Pickit is not yet compatible with the Smart Pendant.

The parameters listed below must be declared on the controller to allow the correct operation of the application. Ask your local Yaskawa affiliate to check this.

  • LAN INTERFACE SETTING function set to MANUAL SETTING

  • MotoPlus function set to USED

  • MACRO INST. function set to USED

  • MotoPlus - Number of files set to 1 (Default setting)

  • MotoPlus - Number of tasks set to 5 (Default setting)

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-ethernet-ports.png

  • For DX200 controllers you need to connect the Pickit processor to the CN104 port.

  • For YRC1000 (Micro) controllers you need to connect the Pickit processor to the CN106 or CN107 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 SYSTEM → SETUP → OPTION FUNCTION → LAN interface setting (or Network for the DX200) 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.

Load the program files

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

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

  1. Insert the USB pen drive in the robot pendant.

  2. Load the correct USB device under MotoPlus APL → DEVICE.

  3. Select the folder Pickit > MotoPlus on the USB device under MotoPlus APL → FOLDER.

  4. Load the MotoPlus application under MotoPlus APL → LOAD(USER APPLICATION).

Press Select, Enter and confirm. Now reboot the controller in normal mode with the USB device still attached. After rebooting, set security to management mode.

First check if the MotoPlus application is running by looking for robot output #1024 under IN/OUT → UNIVERSAL OUTPUT, this output should be blinking. If the MotoPlus application is running you can continue with uploading the Pickit files.

Warning

In the next step, uploading the system data file MACRO INST DEF DATA, MACRO.DAT will remove all existing macro files on your controller, before pushing in the Pickit macros. If this is unwanted, do not upload the file. In that case, you should upload all other files as described below, and then manually define the macros.

  1. Load the correct USB device under EX. MEMORY → DEVICE.

  2. Select the folder Pickit > Program on the USB device under EX. MEMORY → FOLDER.

  3. Load the I/O DATA, SYSTEM DATA and JOB files under EX. MEMORY → LOAD (the order of loading the files is important).

Load the Pickit example jobs

In the Pickit folder there are two example jobs available. These can be uploaded to the controller so you can easily get started with picking.

  1. Select the folder Pickit > Program > Examples on the USB device under EX. MEMORY → FOLDER.

  2. Load the JOB files under EX. MEMORY → LOAD.

Setting the Pickit IP address on the robot controller

Still in normal mode, the IP address of Pickit needs to be entered in a String. To do this:

  1. Go to Main menu → VARIABLE → STRING → S049.

  2. Set S049 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 in: Testing the Robot to Pickit connection.

Test the robot connection

To start the communication, you can run PIT_RUN on the robot. This job can be found in JOB → SELECT MACRO JOB.

While the program is running, an indicator in the Pickit web interface Top bar should confirm that the robot is connected.

Run the example jobs

The example jobs are a great way to get familiar with Pickit, and can serve as a template to build your own applications. The following articles provide detailed descriptions of the example programs:

Yaskawa Pickit interface

See following article for a detailed explanation of the macros and registers used by Pickit: Yaskawa Pickit interface.