Setup robot

Robot maintenance mode setup. This is part of the YRCP-MP4P PROFINET quick start guide.

Settings menu

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:

• PROFINET
  Activated features in the board. For PROFINET this can be IOController and/or IODevice. 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.

Slave settings

Find the slave settings in menu SETUP » OPTION BOARD » TRITON YRCP-MP4P » IO DEVICE

• IO DEVICE
  Enable/disable this feature.
• IO SIZE (IN/OUT)
  Number of bytes to exchange in both directions (e.g. 32b means that there will be 32b input and 32b output).

Master settings

Find the master settings in menu SETUP » OPTION BOARD » TRITON YRCP-MP4P » IO CONTROLLER

• IO CONTROLLER
  Enable/disable this feature.

• IO SIZE (IN/OUT)
  Number of bytes to exchange in both directions (e.g. 32b means that there will be 32b input and 32b output).

• IOPS STATUS MONITOR
  First register where the status bits of the slaves will be written to. In total, 32 registers will be written (one register per slave).

  Important

  Make sure these 32 registers are free (not used by other robot functions/applications).

• PACK IO
  Allows you to “pack” the data of each direction which means that there will be no unused space inbetween the data of the devices.

  • Enabling it reduces the total packet size, at the cost of a less intuitive IO addressing (inputs and outputs of a device start at different byte addresses).

  • Disabling it guarantees a intuitive IO addressing (inputs and outputs of a device start at same byte address), at the cost of a larger total packet size.

  Tip

  Recommended setting: disable

PROFIsafe settings

Find the PROFIsafe settings in menu SETUP » OPTION BOARD» TRITON YRCP-MP4P

• PROFIsafe
  Connects the PROFIsafe functionality to the board. Select the slot where you mounted the board.

• SAFETY IO SIZE
  The usable packet size for PROFIsafe. This is fixed to 8 byte.

• F_CRC_LENGTH
  This is the size of the PROFIsafe CRC header, and depends on the PROFIsafe profile your PLC is using. Older PLCs only support profile v2.4 which uses a 3 byte CRC. However most modern PLCs support the newer profile v2.6.1, which uses a 4 byte CRC.

  Important

  PROFIsafe on YRCP-MP4P only supports 4 byte CRC (profile v2.6.1).

• F_Dest_Address
  This setting is defined by the customer/PLC programmer who integrates the PROFIsafe slave.

• PROFIsafe VIRTUAL COMM.
  By setting this to VIRTUAL, you will be able to jog the robot even if the PROFIsafe master is not available. It is only used for shipping/commisioning and will automatically go back to SAFETY as soon as a PROFINET connection is detected.

Confirm settings

After enabling/disabling the master and/or slave features, 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).

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.

Tips

No items yet.

Troubleshooting

• Alarm 1241 [3901478]
  This might be caused by a wrong setting for the PROFIsafe CRC header size .