YRC1000 EtherNet/IP and CODESYS

The document attached shows how to configure a CODESYS Windows Soft PLC to communicate over EtherNet/IP using both implicit and explicit messaging to a Yaskawa YRC1000 Robot Controller. In this example 8 bytes of input and output data was allocated and a position variable was transferred over the explicit connection.

Note:  If attempting to use a Weintek HMI with built in Codesys and a YRC1000micro, this documentation will work except for the scanner connection type. It must be changed to point to point from multicast. This seems to be an issue with the driver of the version of Codesys that the Weintek HMI uses.