Plugin installation

1. Edit variables range of your robot

Restart your robot in Maintenance mode and switch to Management mode in the System / Security menu. The password is filling the field with 9: 9999999999999999.

Fig. 1 Change mode to Management Mode

Fig. 2 Password Management mode

Then go to SYSTEM / SETUP / OPTION FUNCTION / VARIABLE ALLOCATION and increase the range of variables to cover all plugin variables and press ENTER.

Note

Refer to section Reserved memory for more details on the range. The selected range must at least cover the range presented in Table 4.

Fig. 3 Increase the range of variables if your starting point is 300

2. Download the plugin

Download the plugin zip file yaskawa-eyeplusplugin-version.zip here. It should contain 16 files with .JBI extension and 1 .txt file:

• EYE_CHECK_LAST_ERROR.JBI

• EYE_CONFIGURE.JBI

• EYE_GET_PART.JBI

• EYE_PREPARE_PART.JBI

• EYE_RAW_COMMAND.JBI

• EYE_START_PRODUCTION.JBI

• EYE_STOP.JBI

• EYE_INTERNAL_CHECK_CONFIG.JBI

• EYE_INTERNAL_CHECK_FLAG.JBI

• EYE_INTERNAL_CMD_1.JBI

• EYE_INTERNAL_CMD_2.JBI

• EYE_INTERNAL_COORDINATES.JBI

• EYE_INTERNAL_EXTRACT_VALUE.JBI

• EYE_INTERNAL_RAISE_ERROR.JBI

• EYE_INTERNAL_START_COMMUNICATION.JBI

• EYE_INTERNAL_STOP_COMMUNICATION.JBI

• LICENSE_1_0.txt

Note

LICENSE_1_0.txt is the license file for this plugin.

3. Install JOB on your robot

Copy all JBI files on an USB key and insert key in the Teach Pendant. Go to EX. MEMORY / LOAD and choose JOB.

Fig. 4 Load jobs

Go to EDIT / SELECT ALL and press ENTER

Fig. 5 Select JOBs

Important

If you have not increased the memory range enough, you will get an error when importing the JOBs.

4. Download and install MotoGSI

Download and unzip the SDK of MotoGSI. Install Moto.GSI.LIB and Moto.GSI.JobAPI as explained in the documentation (MotoGSI manual).

Only the following JOB APIs are required:

• GSI_MAKEBARRAY.JBI

• GSI_CLEARDATA.JBI

• GSI_SENDDATA.JBI

• GSI_READDATA.JBI

• GSI_TCPCONNECT.JBI

• GSI_CLOSEHANDLE.JBI