Yaskawa’s User Messages (DX100,DX200,YRC1000):

Overview:

Have you ever wanted to generate your own messages on a Yaskawa robot controller, studied the Concurrent IO manual, and become intimidated by what appears to be semi-complex system of having set various bit sequences and worry about the timing of the various signals? Maybe your confidence in your Concurrent IO abilities is lacking. The following is intended to demystify message generation on various generations of robot controllers.

Since the DX100 controller, Yaskawa has implemented a seldom advertised feature to easily generate user messages. By simply setting a single IO bit, the existing logic in your robot controller will generate a corresponding message and in doing so, manage the complex binary sequences and timing of various signals.

Traditional way of setting “User Messages”:

Normally, a user would be required to set a binary bit-sequence to bits 40240-40245 to identify which 64 possible User messages are desired. Once the bit-sequence was set, relay 40013 would have to be set in order to trigger the reading of the 40240-40245 bits to determine which message to display.

While this approach would work for the most basic cases, if two or more message requests would occur at once, it becomes far more difficult to manage the logic associated with the 40220-40225 bits to always ensure the proper message was displayed no matter what combination of messages might arise at the same time and determining a prioritization of the various messages.

Yaskawa’s “User Message” feature implementation:

To lighten the burden of the challenges outlined above, Yaskawa has implemented a scheme where if a single bit is set, it will not only ensure the proper display of the desired message (handling the complex setting of bits 40240-40245). This Yaskawa logic also allows you to determine what messages are more important than others and always display the highest priority message in the event multiple message triggers occur at once.

How it works:

1. User specifies a bit from 79810-79887 (octal numbering remember in CIO!) via concurrent IO logic which will display the message while the bit is active. This 79810-79887 IO-range accounts for 64 “User Messages” which are zero-based so essentially Messages 0-63.
   •  79810 is defined as the HIGHEST priority message so this message will always display no matter what other bits are enabled.
   •  79887 is defined as the LOWEST priority message and all other messages will be displayed before it.
   • See example below for a basic implementation!
2. User sets the text for a desired message in the “User Message” table found under “IN/OUT” à “User Message”
   • See example below for a basic implementation!
3. The zero-based value of the currently active highest priority user message is placed in a M-Register: NX&DX=M#151 / YRC=M#149 for JBI or PLC access 

Example of Triggering User Message#44: Trigger low pressure message when external input 20027 is active in Play:

                              STR #20037       (External input where low pressure sensor is connected)

                              AND #50054     (PLAY mode selected)

                              OUT #79863      (Aux Output# Triggering message #44)

                              Message Text: “Pressure Switch Low!”

                              Resulting M-Register (NX&DX=M#151/YRC=M#149) = 43

Implementing Ladder :

Setting Message Text:

Resulting Message:

Detailed Break-down of the various 798** bits setting and triggering various alarm logic:

Full List of Message#’s and Triggering Signal: