4. Yaskawa Robot Setup - ati-ia/yaskawa-ft-ethernet GitHub Wiki

Required Robot Components

Contact your Yaskawa sales or applications representative to ensure you have the correct components for your robot and controller.

Compatible Robot Controllers

  • Compatible controller models:
    • YRC1000
    • YRC1000 micro (YRC1000µ)
    • DX200
  • Controller must be compatible with MotoPlus Applications
  • Controller must have an Ethernet adapter (Ethernet port)
  • Minimum Controller Software Version
    • YRC1000: YAS4.28 or higher
    • YRC1000 micro: YBS2.47 or higher

Compatible Robot Pendants

  • Smart Pendant
    • Required for using the YIP and Smart Pendant Extension
    • Minimum Smart Pendant software version: v2.1.2 or higher
  • Standard Pendant
    • The MotoPlus Application can be installed as a stand-alone application on Standard Pendants

Yaskawa Robot Setup

Robot IP Address

The robot communicates with the ATI F/T sensor via Ethernet. The network settings will need to be configured. in most setups, the IP address of either the F/T sensor or the robot will need to be changed.

  1. Check the robot IP address.
  2. If needed, change the robot IP address to be on the same local network as the F/T sensor.
    • Refer to [Ethernet FT Sensor Setup] section of this Wiki for more info on Ethernet network requirements.

Enable MotoPlus Applications on the Controller

  • MotoPlus Applications must be Valid on the robot controller
  • Refer to the Yaskawa User's Manual for New Language Environment MotoPlus
  • Follow the steps outlined in Valid/Invalid Setting of MotoPlus Function to set the MotoPlus function to Valid. If MotoPlus function is not valid on the controller, no MotoPlus Applications can be installed!
  • Contact Yaskawa for assistance if needed.

Tool Frame Setup

  • Refer to the Mechanical Installation section of this wiki.
  • Refer to Yaskawa documentation for how to view, configure, and use Tool Frames.
  • The robot's Tool Frame (TF) must be aligned with the sensor axes. A sensor-aligned TF must be used for all F/T sensor-related programs and motion.

General robot operation

  • The user is expected to be familiar with most functions of the robot. Introductory information on certain concepts such as Robot Global Variables can be found in the Extension Operation area of this Wiki.
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