Robot maintenance mode setup. This is part of the YRCP-MP4P EtherCAT quick start guide.
Settings menu
The setup process requires the robot controller to be in maintenance mode
and a sufficient authorization level (management or higher).
Read more...
Activate maintenance mode:
- Power off
- Press (and hold) main menu
- Power on
- Release main menu when the beeping sound is heard (usually within a few seconds)
Change the authorization level:
- system » security » select
- select the desired level using ▼ ▲ » select
- enter the password and press enter
The YRCP-MP4P settings are located in menu SYSTEM » SETUP » OPTION BOARD » TRITON YRCP-MP4P
Information header
The blue header shows important information. Below an example for illustrative purposes:
- EtherCAT Slave
Activated features in the board. For EtherCAT this is currently limited toSlave. The required features will activated by the system software (see next steps). - DRV
Driver version. It is part of the system software but can be updated by overwriting the file on the SD card (/CP01/TRITON.DRV). - BOARD
Board firmware version. It is part of the board and can be updated using its webserver.
After finishing the setup in the next paragraphs, restart the robot controller and verify if the information header reflects the new setup.
Board settings
The board is used as EtherCAT slave.
- TRITON YRCP-MP4P
Activation of the fieldbus board. Must be set toUSEDfor conventional systems, or toUSED (MotoLogix)for MotoLogix and SRCI systems. - FIELDBUS
Selected fieldbus protocol. Must be set toEtherCAT. Changing this setting might require a restart to become effective. - IO SIZE
Number of bytes to exchange in both directions (e.g.32bmeans that there will be32binput and32boutput).
Confirm settings
After changing the fieldbus protocol, some settings inside the board will
be adjusted.
This process starts as soon as you press ENTER to confirm the
settings and shows Transferring data to option /board ... at the bottom of
the screen while busy. It should take less than a minute.
The next screens will show the IO settings as you know from other fieldbus boards. Make sure to adjust the settings to your needs (images are for illustrative purposes only).
264 bits IO size in this example comes from: 1 byte status + 32 byte slave.
If being asked for (at the bottom of the screen), perform a flash memory reset. Then restart the robot controller (maintenance mode) and verify if the information header reflects the new setup.
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