VIPA Expanded IO Options (hardware)

Part#(s):

• 186505-*: Expanded IO-Options for Tophat cabinet

Used within the following reamer assemblies:

Associated Software Details:

• SimpleConnect Implementation of VIPA Expanded IO options

Image(s):

Overview:

The YRC1000 comes standard typically with 24 user available IO points. These 24 user IO are typically NPN and mainly transistor outputs. When needing more IO or a different configuration of IO, the VIPA expanded IO options allow 40 additional IO to be added to the Tophat enclosure mounted to the top of the YRC1000 controller. These VIPA options allow selection of NPN or PNP IO and either transistor outputs or 5A DC relay outputs.

These expanded IO interfaces communicate to the YRC1000 via Ethernet/IP and are part of the SimpleConnect software tool for easy installation and monitoring. The inputs and outputs drop-in sequentially after the 24 user IO so it appears like one continuous grouping of IO.

Users are then responsible for landing wires on the input and output modules then routing cables from the Tophat enclosure to the targeted device. Keeping wire guauges as small as possible and wire insulation as thin as possible will assist with keeping the wiring compact and tidy.

(see _____ for other key advantages to SimpleConnect).

Components:

The interface consists of four main hardware components:

1. Main Support Bracket: This sheet metal bracket acts as a raiser for the hardware allowing easier access within the tophat enclosure. It’s designed with a captive lip which catches under an existing lip in the tophat and mounts in place with the three M4 screws on the backside.
2. Mounting Din-rail: The VIPA modules are all din-rail mount and snap to the provided din-rail
3. Ethernet/IP CPU Module: Communication & IO-updates occur across this Ethernet/IP CPU module. It’s responsible for collecting and setting IO statuses & communicating with the robot controller. The CPU module has two RJ45 ports, the top-most port is intended to communicate with the robot controller. It can communicate directly to the LAN2 port on the YRC1000 or through an ethernet switch often-times provided in the Tophat. The second RJ45 port can used to connect a laptop or left unconnected.
4. Power Entry & Distribution Module: Power to the CPU and associated IO modules is provided via this module. There are two separate potential voltages provided, one to operate the CPU via pins 2&3 while pins 4&8 provide a separate 24VDC to downstream IO modules. Yaskawa connects both power connections to the same distribution block typically. Consult your system prints provided with your hardware to confirm individual wiring & power distribution.
5. Input Modules w/ 8 Inputs: The input modules used typically support eight individual inputs each and can be added until the desired number of total inputs is achieved. Standard Yaskawa configurations provide 40 total inputs via 5 individual modules and those modules can be chosen as either NPN or PNP. Additional modules can be added or a variety of NPN & PNP modules can be added if needed but is not captured in this article.
6. Output Modules: The VIPA IO modules can support a number of various output modules including NPN, PNP, Dry-Contact Relays, or even analog. Yaskawa offers and SimpleConnects supports selection of NPN, PNP, or dry-contact relay outputs. Like inputs, additional or combinations of outputs can be achieved by making a custom configuration but isn’t captured in this article.
7. Mounting Features: The mounting bracket is designed to slip under a lip of the Tophat enclosure on the front-edge and three M4 mounting screws are then used to secure the backside of the bracket to the mating holes in the Tophat enclosure.

Connections:

Schematic & Fuse(s):

The following schematic is a snapshot in-time and is not intended to replace the actual diagrams that were provided with the system at the time of sale. Those diagrams should be treated as the most accurate. The following are to serve as a reference diagram mainly detailing general wiring between components within the assembly. Minor differences may be present in comparison to your actual hardware.

NEW IMAGE FROM FLOOR SYSTEM!

Ethernet/IP to Discrete IO Module:

The CPU module on the VIPA expanded IO interface converts IO Ethernet/IP to discrete (External Outputs) and discrete to Ethernet/IP (External Inputs).

Dip-switches and IP-address:

The IP-address of this module typically is set via a web interface detailed in the software-based article however can be set via dip-switches shown below. To the right is the default setting provided typically by Yasakawa however custom setting may have been provided with your unit and should be confirmed with system electrical diagrams provided at the time of purchase.

IO-Mapping:

Robot Inputs:

The following table details the robot inputs generated by the expanded IO module and passed to the robot controller across the Ethernet/IP connection. The following chart applies to all inputs used on the 186505-* assemblies utilizing the 021-1BF00 (181519-1) and 021-1BF50 (181519-2) modules.

Robot Outputs (Transistor outputs):

The following table details the robot outputs generated at the robot and sent to the expanded IO module. The following chart is specific to the 022-1BF00 (181521-1) and 022-1BF50 (181521-2) modules used on the 186505-1 & 186505-2 assemblies. The output mapping is specific on these models versus the relay output modules because of the fact there are 8 outputs on these transistor modules and only four outputs per module on the relay modules.

Robot Outputs (Relay outputs):

The following chart is specific to the 022-1HD10 (181521-3) modules used on the 186505-3 & 186505-4 assemblies. The output mapping is specific on these modules because of the fact there are 4 outputs on them but they each require one full byte of output. The ladder has been modified so that the outputs are sequential but that leads to the following mis-alignment of outputs when these modules are used.

LED Indicators:

021-1BF50 (181519-2): DI 8xDC 24V NPN

021-1BF00 (181519-1): DI 8xDC 24V PNP

022-1BF00 (181521-1): DO 8xDC 24V 0.5A PNP

022-1BF50 (181521-2): DO 8xDC 24V 0.5A NPN

022-1HD10 (181521-3): DO 4xRelay

Additional Info Links:

• https://knowledge.motoman.com/hc/en-us/articles/21007991693079-Remote-Mode-Issues-with-Tip-Change-Box