This topic applies to several generations of robot controllers: DX200, YRC1000 and YRC1000micro.  Other generations of robot controllers may also support this feature with parameters enabled or various software versions installed.  Contact support for further details.

This feature allows the user to shift the starting point of various IO options within the sequence of Concurrent IO locations.  By default the software will determine the devices and then the addresses follow in the same sequences.  There may be other reasons to adjust the IO Allocation such that a certain IO device or network starts at a specific area,  For example:

• A PLC Mapping may always be requested in a specific location
• The Expanded I/O location was expected to follow the standard 40/40 I/O that is included with each robot, but the Expanded I/O that was added was mapped by EtherNet/IP, so we want to move it "forward" so it can be found easily in the I/O list and robot jobs.
• A robot system was built in an earlier generation of robot controllers and to keep things in the a similar I/O location for operator and support staff familiar, the new devices are requested to be mapped into the same locations in the newer generation robot hardware.

The process that follows will show one example configuration, first as it was allocated by default, then how to change the device order.  This approach could then be applied to any other list of devices and is not limited to just 2 network devices.

Maintenance Mode

1. First boot into Maintenance Mode
2. Change to Management Mode security (all 9's password)
3. Select menu:  SYSTEM > SETUP > IO MODULE
   
4. Press enter several times until this menu is shown:
   
5. Ensure that ALLOCATION MODE: MANUAL is selected.  That is a requirement for the remainder of these processes.

Starting / Default IO Allocation:

1. Following the steps in the previous topic, remain in Maintenance Mode with Management Mode security.
2. Select menu:  SYSTEM > SETUP > IO MODULE
3. Press Enter until you see the IO Modules available.  In this case the configuration has:
   1. The standard IO Board (ASF01) which gives us 40 inputs and 40 outputs
      
   2. Press enter to see the bottom page
   3. This configuration also includes two additional networks:
      1. EtherNet/IP defined with 8 bytes in/out + 1 status byte.  (88 bits total)
      2. INPACT board (Profinet slave interface, but that is not important to this exercise) defined with 10 dwords in/out + 1 status byte --- 1 dword is 4 bytes -- thus 328 bits total.
         
   4. Press enter at this page to get a Modify prompt.  Press Yes to accept it, even if just reviewing this page.
   5. On the next page you see, this page again.  Confirm it is set MANUAL and press Enter key to continue.
      
   6. Now review the default External IO Allocation - INPUT configuration:
      
   7. Now review the default External IO Allocation - OUTPUT configuration:
      
   8. This establishes a baseline that can be reviewed later as needed.

Changing the IO Allocation:

For this example, the change will be to simply exchange the logical locations of the EtherNet/IP start and the INPACT start.

1. Select menu:  SYSTEM > SETUP > IO MODULE
   1. Press Enter and accept prompts until entered the screen with EXTERNAL IO ALLOCATION again.  This is about 5-6 screens away from the start.
2. To make a change select the address itself and press the Select key.  The menu changes as shown.  Select MODIFY and then enter a new value.
   
   1. With our goal stated, we know that the INPACT board now needs to move to #20060 and #20060 to start.  That part is easy.  We move the status btye first, which is indicated by the MAC ID of 254.
   2. The status byte is only 1 byte long.  
      1. The next address available is:  #20060 + 10 = 20070
      2. Why 10?  We always use 10 to represent 1 byte.  If 2 bytes we would use 20 here.  This is how Yaskawa Concurrent IO addresses work.
   3. Pick the other INPACT entry with 40 byte size and change the address to #20070
   4. At this point you have #20060 and #20070 entered twice, if you pressed enter to accept these values the controller will give a message stating an configuration error.  There is an overlap.  We need to make a change to both EtherNet/IP CPU entries next.
   5. This next entry is the biggest challenge.  
      1. Again we need to determine the offset for the next starting address.
      2. #20070 + byte size of INPACT board = starting address
      3. #20070 + 400 = #20470
      4. Enter #20470 as the starting address for the EtherNet/IP CPU with MAC ID of 254
   6. Finally, the last entry for EtherNet/IP CPU has a byte size of 8.  But we only need to shift this 1 byte off of the previous:
      1. #20470 + 10 = #20480
3. The resulting INPUT definition would look like this:
4. For this example and likely 95% of other examples, the INPUT and OUTPUT addresses will be the same size.  We can apply the same logic as above when shifting the OUTPUT definitions, only instead of #2xxxx space as the address we use #3xxxx for output addresses.
5. Press Enter to accept the changes.  Press enter until you are returned to the main screen.
6. NOTE:  If a Functional Safety Unit (FSU) is included in this robot configuration, a Flash Reset is likely required.