Yaskawa Robots

The following chapter describes the installation of the voraus.core with Yaskawa robots.

Warning

When using, operating and interacting with a Yaskawa robot, always obey the instructions of the original Yaskawa manual.

The following sections assume that the Yaskawa robot is set up and can be moved with the teach pendant and the default Yaskawa controller software. If the robot is not set up yet, please follow the official Yaskawa documentation.

Enabling the MotoPlus Function

Before installing the MotoPlus app, the MotoPlus function must be enabled (set to valid) on the Yaskawa controller. If the function is disabled, the app cannot be loaded or executed. For details on the exact procedure, please refer to the official Yaskawa documentation.

Note

The MotoPlus function must remain enabled during operation, otherwise the voraus-motoplus-app will not run.

MotoPlus App Installation

As stated before, see Robot Requirements, the voraus.core requires a MotoPlus app to be installed on the Yaskawa controller. The app is provided as a binary file (voraus-motoplus-app.out), please contact voraus support. The following steps describe the installation process:

  1. Copy the provided app voraus-motoplus-app.out to a USB drive.

  2. Insert the USB drive into the teach pendant.

  3. Boot the controller in Maintenance mode (hold Main Menu during power-on).

  4. Set the security level to MANAGEMENT.

  5. Open the MotoPlus App menu and load the .out file from the USB drive.

  6. Reboot the controller.

After the reboot, voraus-motoplus-app should run in the background.

Motion Streaming Job

The voraus.core requires a dedicated job on the Yaskawa teach pendant that is used for motion streaming. Please follow the steps below to create a new job:

  1. Switch the teach pendant to TEACH mode (turn the key to the rightmost position).

  2. Enter Management Mode (System Info -> Security).

  3. Open JOB and click CREATE NEW JOB.

  4. Set the job name to VORAUS-MOTOPLUS-JOB, keep the other defaults, and press Execute.

  5. Add the following instructions to the job:

    0000 NOP
0001 SET B000 1
0002 WAIT IN#(1)=ON //"TEACH"_button
0003 END

Please create the instructions as follows:

  1. Place the cursor on 0000, press INFORM LIST. Go to ARITH, and select SET. Press ENTER to create instruction 0001.

  2. While still in INFORM LIST, go to IN/OUT and select WAIT. Press ENTER to create instruction 0002.

Emergency Stop Monitoring

Warning

Before using the app, ensure the right I/O addresses are set for the respective emergency stop signals.

While operating, the app continuously monitors the controller’s emergency stop signals. Two I/O signals are monitored every cycle:

  1. External emergency stop: I/O address 80025

  2. Teach pendant emergency stop: I/O address 80026

Next Steps

The installation of the voraus.core is now complete. Continue with the configuration of the software stack for your setup as described in Configuration for the voraus.core.

After the configuration, the voraus.core can be started and activated as described in Starting, Stopping, and Activating the voraus.core.