YAI Reamer

Part#(s):

177357-1: General Ethernet/IP Reamer Post-Mounted Interface

Used within the following reamer assemblies:

Associated Software Details:

• SimpleConnect Implementation of YAI-Reamer Interface

Image(s):

Overview:

The YAI-Reamer Interface (PN#177357) is a modular interface that mounts within a Yaskawa manufactured reamer post and provides an Ethernet/IP connection to traditionally discrete wired reamers manufactured by mainstream reamer manufacturers. This allows customers to utilize reamers from earlier generation robots and systems on the YRC1000 system and do so without having to hardwire the reamer into the robot controller. Custom cables patch between the post-mounted Ethernet/IP reamer interface and the reamer itself. Yaskawa has developed these custom cables allowing direct connections between the reamer and the interface. Standard Yaskawa provided INFOM jobs perform the needed sequencing between various reamers and are often the same JBI structure no matter what reamer is connected.

(see _____ for other key advantages to SimpleConnect).

Components:

The interface consists of four main hardware components:

1. Main Housing: This sheet metal housing provided mounting, a housing, and protection for the componenty mounted to and is designed to be inserted into the Yasakwa’s 176672-* series of reamer accessory stands.
2. M12 Accessory Board (3-Port): This printed circuit board contains several internal and external connection points for cabling, on-board fusing, & fuse status indicators.
3. EtherNet/IP-to-Discrete IO-Module: This commercially available device is assigned a specific IP-address and loaded with a unique program determined as part of the SimpleConnect setup process. The program loaded into the device utilizes a SimpleConnect standard communication protocol and bit arraignment to establish and maintain communication to the robot. The program also defines how the available inputs and outputs are to be utilized for the application selected. More details surrounding this device can be found under the “Ethernet/IP to Discrete IO Module” topic below.
4. M23 Pwr/Net Module: This connectorized printed circuit board and connectors allows the Yaskawa custom cables to be connected quickly and provides a rugged connection point bringing power and EtherNet/IP to the device before sending the same power & ethernet/IP down stream to the next device. This board also has two  “pick-off”points for 24VDC supplied to the device by the robot controller or the neighboring device.

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.

Ethernet/IP to Discrete IO Module:

The reamer interface uses a discrete IO converter to convert from Ethernet/IP to discrete (reamer outputs) and discrete to Ethernet/IP (reamer inputs). This module has PNP inputs and outputs. There are four IO points that can be configured for either inputs or outputs and are designated by the labels “IO*”. In this reamer application, these IO points are all configured as outputs for the purposes listed below in the chart. The “I4-I7” terminals are dedicated for 24VDC inputs and are all utilized according to the chart below.

The IP-address and configuration of the various IO-points is accomplished via a program that is pushed into the module when initially deployed and setup via the SimpleConnect application. Further details on the contents of that program can be found in the linked article listed under “Associated Software Details” listed at the top of this page.

IO-Mapping:

Robot Inputs (Reamer/Ethernet/IP module outputs):

The following table details the robot inputs generated at the reamer and set to the robot controller. The table shows all four possible reamers that can be connected and the associated Universal and External Input addresses. Some of the inputs are generated by the Ethernet/IP module itself (labeled “EIP Modl), others are a direct representation of the input status at the reamer (labeled “Reamer”, some are a direct representation of the ToolSight sensor (labeled “Sensor”) and lastly, some inputs are a mirror of the commanded robot outputs & can be used in JBI logic to ensure commands are being honored at the device (labeled “Out Stat”).

Additional details regarding the “EIP Modl” generated inputs can be found in the following separate article: LINK:**********************************

Robot Outputs (Reamer/Ethernet/IP module inputs):

The following table details the robot outputs generated at the robot and sent to the reamer or Ethernet/IP module. The table shows all four possible reamers that can be connected and the associated Universal and External Output addresses. Some of the outputs are routed by the Ethernet/IP module itself (labeled “EIP Modl), others are passed through the EIP module and routed to the reamer itself where the output drives valves on the reamer (labeled “Reamer).

Additional details regarding the “EIP Modl” generated inputs can be found in the following separate article: LINK:**********************************

LED Indicators:

The module has three LEDs that annunciate status of the device’s operation and network status. The LED and their statuses are listed below:

• BUS:

• P1 / P2:

• ERR:

LED status during various states of deployment:

            Initial power-up with connection to YRC but NOT configured within SimpleConnect:

The following LED statuses should be noted on the module when first power-up the device. Depending on system configuration & cable connections, at least one of the P1 / P2 ports need to light-up as indicated below.

Normally operating and configured SimpleConnect system:

The following LED statuses should be noted on the module when the device is fully configured successfully from the SimpleConnect application. Depending on system configuration & cable connections, at least one of the P1 / P2 ports need to light-up as indicated below.

Additional Info Links:

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