YAI Advanced 7 Color Beacon (with Voice)

  • Updated

Part#(s):

  • 188757-1 : Light Assembly, Beacon, with Audible Voice/ Alarm, English
  • 188757-2 : Light Assembly, Beacon, with Audible Voice/ Alarm, English/Spanish
  • 188757-3 : Light Assembly, Beacon, with Audible Voice/ Alarm, English/French
  • 188757-4 : Light Assembly, Beacon, with Audible Voice/ Alarm, English/Portuguese
  • 188757-5 : Light Assembly, Beacon, with Audible Voice/ Alarm, English/Japanese

 

Image(s):

 

 

 

 

Overview:

The YAI Advanced 7 Color Beacon is a complete solution that mounts to Yaskawa manufactured ArcWorld and other customized systems.  The Beacon provides an EtherNet/IP connection from this device back to the YRC1000 robot controller and daisy chain connections to other Simple Connect devices in the complete system.  This allows for a modular build, testing of components, and reduced wiring between the subsystems and accessories.  An optional bracket (not shown above) allows mounting to fencing or posts.

 

Components:

The optional accessory consists of several major hardware components:

  1. LED Light Module and Audible Horn: these components provide visual and audible feedback on the status of the system.  They are controlled by the other electrical interfaces in the same enclosure.  Two LED modules are included in this configuration; they both show the same status.
  2. Main Housing: This sheet metal housing provides mounting, enclosure, and protection for the wiring of components in this solution.  For the view that follows, the curved front is removed so the inner components can be shown.
  3. EtherNet/IP-to-Discrete IO-Module: This commercially available device is assigned to 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 controller. 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 relaying the same power and EtherNet/IP signals to the next device. This board also enables 24VDC to be supplied to the enclosure.
  5. Optional mounting bracket: Allows convenient mounting to a fence (solid or mesh) or direct mounting to a fence post.  This allows the cables to drop down and pass to the next device easily.
  6. Voice Module: This module plays several recorded sound files.  These sound clips are available in various languages matching the part #s at the top of this article.

 

 

Cable Connections:

 

EtherNet/IP to Discrete IO Module:

This interface includes a discrete IO converter to convert from EtherNet/IP to discrete I/O. This module has PNP inputs and outputs. There are 4 input and 4 output points on the module to control or interface with the beacon. All points are PNP transistors (either for input or output purposes).

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 set up via the SimpleConnect application. Further details on the contents of that program can be found in the linked article listed under “Software Details” listed at the bottom of this page.

 

Connection Terminal: Description: Input/Output: I/O Type: Max Current:
V1+ 24VDC from Pwr/Net Cable Input power    
V1- 0VDC from Pwr/Net Cable Input common    
Earth Earth Ground from Pwr/Net Cable Input earth ground    
V1- Unused 0VDC Unused    
I/O0 Red LED Color Output PNP 1A
I/O1 Green LED Color Output PNP 1A
I/O2 Blue LED Color Output PNP 1A
I/O3 Buzzer Output PNP 1A
I4 <Unused> Input PNP 6mA
I5 <Unused> Input PNP 6mA
I6 <Unused> Input PNP 6mA
I7 <Unused> Input PNP 6mA

 

 

IO-Mapping:

Robot Inputs (Beacon EtherNet/IP module outputs):

The following table details the robot inputs generated at the beacon interface’s and sent to the robot controller. The table shows two possible beacon that can be connected and the associated Universal and External Input addresses. Some inputs are a mirror of the commanded robot outputs & can be used in INFORM logic to ensure commands are being honored at the device.

 

Robot Inputs
Beacon#1: Beacon#2:  
(STA1) (STA2)
Universal Input#: External Input#: Universal Input#: External Input#: Robot Input Description:
2929 03670 2961 03710 Heartbeat Bit#0
2930 03671 2962 03711 Heartbeat Bit#1
2931 03672 2963 03712 Heartbeat Bit#2
2932 03673 2964 03713 Heartbeat Bit#3
2933 03674 2965 03714 Device ID Bit#0
2934 03675 2966 03715 Device ID Bit#1
2935 03676 2967 03716 Device ID Bit#2
2936 03677 2968 03717 Device ID Bit#3
2937 03680 2969 03720 Unused/Spare#1
2938 03681 2970 03721 Unused/Spare#2
2939 03682 2971 03722 Unused/Spare#3
2940 03683 2972 03723 Unused/Spare#4
2941 03684 2973 03724 Unused/Spare#5
2942 03685 2974 03725 Unused/Spare#6
2943 03686 2975 03726 Alarm/Message Transmission Request
2944 03687 2976 03727 New Diagnostic Awaiting Servicing
2945 03690 2977 03730 Indicator = Purple (1st Priority!)
2946 03691 2978 03731 Indicator = Blue (2nd Priority!)
2947 03692 2979 03732 Indicator = White (3rd Priority!)
2948 03693 2980 03733 Indicator = Red (4th Priority!)
2949 03694 2981 03734 Indicator = Cyan (5th Priority!)
2950 03695 2982 03735 Indicator = Green (6th Priority!)
2951 03696 2983 03736 Indicator = Yellow/Amber (7th Priority!)
2952 03697 2984 03737 (With AUDIBLE) - Message#1 = Horn
2953 03700 2985 03740 (With AUDIBLE) - Message#2
2954 03701 2986 03741 (With AUDIBLE) - Message#3
2955 03702 2987 03742 (With AUDIBLE) - Message#4
2956 03703 2988 03743 (With AUDIBLE) - Message#5
2957 03704 2989 03744 (With AUDIBLE) - Message#6
2958 03705 2990 03745 (With AUDIBLE) - Message#7
2959 03706 2991 03746 Spare
2960 03707 2992 03747 Spare

 

 

Robot Outputs (Beacon/EtherNet/IP module inputs):

The following table details the robot outputs generated at the robot controller and sent to the beacon interface’s EtherNet/IP module. The table shows that up to two different Beacons can be connected and in a system; the associated Universal and External Output addresses are also listed.

 

Robot Outputs
Beacon#1: Beacon#2:  
(STA1) (STA2)
Universal Output#: External Output#: Universal Output#: External Output#: Robot Output Description:
2929 33690 2961 33730 Identity Index Bit#0
2930 33691 2962 33731 Identity Index Bit#1
2931 33692 2963 33732 Identity Index Bit#2
2932 33693 2964 33733 System = Teach
2933 33694 2965 33734 System = Play Mode
2934 33695 2966 33735 System = Remote
2935 33696 2967 33736 System = Operating
2936 33697 2968 33737 System = Err/Alarm
2937 33700 2969 33740 EIO Module Unused
2938 33701 2970 33741 EIO Module Unused
2939 33702 2971 33742 EIO Module Unused
2940 33703 2972 33743 EIO Module Unused
2941 33704 2973 33744 EIO Module Unused
2942 33705 2974 33745 EIO Module Unused
2943 33706 2975 33746 EIO Module Unused
2944 33707 2976 33747 EIO Module Unused
2945 33710 2977 33750 Indicator = Purple (1st Priority!)
2946 33711 2978 33751 Indicator = Blue (2nd Priority!)
2947 33712 2979 33752 Indicator = White (3rd Priority!)
2948 33713 2980 33753 Indicator = Red (4th Priority!)
2949 33714 2981 33754 Indicator = Cyan (5th Priority!)
2950 33715 2982 33755 Indicator = Green (6th Priority!)
2951 33716 2983 33756 Indicator = Yellow/Amber (7th Priority!)
2952 33717 2984 33757 (With AUDIBLE) - Message#1 = Horn
2953 33720 2985 33760 (With AUDIBLE) - Message#2
2954 33721 2986 33761 (With AUDIBLE) - Message#3
2955 33722 2987 33762 (With AUDIBLE) - Message#4
2956 33723 2988 33763 (With AUDIBLE) - Message#5
2957 33724 2989 33764 (With AUDIBLE) - Message#6
2958 33725 2990 33765 (With AUDIBLE) - Message#7
2959 33726 2991 33766 Spare
2960 33727 2992 33767 Spare

 

 

LED Indicators:

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

• BUS:

Solid Green Active connection to robot controller
Flashing Green Ready & awaiting connection to robot controller
Flashing Green (3x/sec) ARGEE program installed and running
Solid Red ACD or bit set in Status word
Flashing Red Blink/Wink command active
Off No power supplied

• P1 / P2:

Solid Green Ethernet Link (100 Mbps)
Flashing Green Ethernet communication (100 Mbps)
Solid Yellow Ethernet Link (10Mbps)
Flashing Yellow Ethernet communication (10 Mbps)
Off No Ethernet Link
  • ERR:
Green No Active Alarm/Fault
Flashing Green Alarm Active (See webserver)

 

 

 

Software Details - Details of the device program placed in the Beacon interface:

 

The program placed within the Beacon interface is built upon the “YAI SimpleConnect template” that’s utilized in all EtherNet/IP devices that utilize the EtherNet/IP IO-modules. 

  • 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 predetermined severity.
    • If an output is commanded 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.
  • Reamer specific additions to the template:
    • This device has NO customization or non-direct signal I/O routing. All I/O is mapped 1:1.
    • Concurrent I/O logic in the robot controller manages the generation of signals and requests to the Beacon to generate the color patterns.

 

 

Extra Image(s):

 

 

 

 

Appendix:

Each beacon includes a legend plate that explains some features of the device.  This will typically be mounted on the fence near the accessory.  This is Yaskawa part #190983-1.  This is a model / image of this legend plate:

 

 

Overview:

Additional Info Links: