YAI Reamer

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

Used within the following reamer assemblies:

Associated Hardware Articles:

• Reamer Hardware

General SimpleConnect Operational Articles:

• Reamer Hardware        

Overview:

One of the devices available within the SimpleConnect library is a general purpose “YAI Reamer” which allows various brands of reamers to be paired with the Ethernet/IP enabled interface shown below. This interface bridges between a discrete IO reamer and an Ethernet/IP enabled robot/network. In doing so, SimpleConnect eliminates the need for discrete wiring within the robot cabinet and allows multiple devices to be connected in series without having to wire any of them. Instead, a software interface has been developed to simplify the addition of these type of devices to the robot’s network, assign consistent IP-addresses to each device, and place the device’s inputs and outputs at an expected location so standard ladder programs and jobs can utilized without modifications.

Installation of “YAI-Reamer” to your SimpleConnect Network:

Details of device program placed in “YAI-Reamer” interface:

The program placed within the “YAI-Reamer” interface is built upon the “YAI SimpleConnect template” that’s utilized in all Ethernet/IP devices that utilize the Ethernet/IP IO-modules. The details of what’s commonly implemented as part of the standard template is captured in the following article Link:********************.

Main take-aways from the “YAI SimpleConnect template” include:

• Each IO-Module generates a 4-bit “Heartbeat” which is always incrementing & monitored by the robot to ensure that it’s constantly communicating with the robot
• Each IO-Module reports a “Product_ID” value unique to what program loaded into the module
• Each IO-Module generates two bits indicating if the IO-module is in a new or active alarm state
• The robot reports a 3-bit “Identity” value which allows the device to know which instance it is in the event multiple instances of the same device exist.
• The robot also reports 5-bits of current “operational status” (PLAY,TEACH,REMOTE,OPERATING,ALARM)
• If an error is present at the IO-Module it will be reported to the robot and displayed on the teach pendant as an alarm or message based on its pre-determined severity.
• If an output is commanded on from the robot but communication with the robot is lost while the output is on, the IO-module will automatically shut-off the output until communication with the robot is resumed.

“YAI-Reamer” specific additions to the template:

• This device has NO customizations or non-direct signal IO routings. All IO is mapped 1:1.
• Inputs from the reamer (Ready, Error, X-Beam, Y-Beam,) are all directly routed back to the robot on their associated inputs
• Robot generated outputs intended for the reamer (Start, Clamp, Spray, Cut) are passed to the reamer with no additional logic other than the robot must be connected via Ethernet/IP in order for the output to be issued to the reamer.

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:**********************************