Setup information for MotoLogix on Yaskawa YRC1000micro: Simotion PLC + PROFINET fieldbus.

part number #217428

YRC1000micro

PROFINET

INPACT CIFX

Software version

This setup requires system software version: YBS2.48 (or newer).

Install fieldbus board
Mount the option board in the robot controller.
Setup MotoLogix
Activate the (paid) option function (by Yaskawa) and setup MotoLogix for the desired fieldbus and PLC architecture.
Setup fieldbus
Define the fieldbus data packet for MotoLogix.
Set parameters
Set the internal parameters required for MotoLogix usage.

The setup process requires the robot controller to be in maintenance mode and a sufficient authorization level (management or higher).

Activate maintenance mode:

Power off
Press (and hold) main menu
Power on
Release main menu when the beeping sound is heard (usually within a few seconds)

Change the authorization level:

Yaskawa robot controllers use various fieldbus solutions:

type	description
`PCI`	Large form factor option board
`PCIe`	Compact form factor option board
`cpu board`	Software option (uses the built-in LAN port)

There are multiple fieldbus solutions available for this part number. Make sure you understand which type you have.

This is a PCIe board.

Disconnect all connectors from the netfilter box (on top of the YRC1000micro).
Loosen the screws and remove the cover of the netfilter box:
Cover screws
Disconnect the white connector (1) and remove the mounting screws (2) of the netfilter box:
White connector (1) and netfilter screws (2)
Loosen the remaining screws (see the figure below) and remove the cover plate:
Remove the screws and the cover plate
Insert the CIFX board into one of the slots (1 or 2) and tighten the screw:
Insert the CIFX board
Assemble all parts in reverse order.

This is a PCIe board.

Disconnect all connectors from the netfilter box (on top of the YRC1000micro).
Loosen the screws and remove the cover of the netfilter box:
Cover screws
Disconnect the white connector (1) and remove the mounting screws (2) of the netfilter box:
White connector (1) and netfilter screws (2)
Loosen the remaining screws (see the figure below) and remove the cover plate:
Remove the screws and the cover plate
Insert the INPACT board into one of the slots (1 or 2) and tighten the screw:
Insert the INPACT board
Assemble all parts in reverse order.

Open the MotoLogix option function settings: system » setup » option function » motologix
MotoLogix option function
Customers: Please contact Yaskawa if the MotoLogix option function is not available in the list.
Activate the MotoLogix option function:
This requires Yaskawa authorization level and cannot be changed by the customer.
MotoLogix settings
Enter the settings:
item value
FUNCTION ENABLED
CONNECTION TYPE PROFINET
ENDIANNESS VIPA/S7-300/1500: BIG
others: LITTLE
Customers can disable MotoLogix afterwards by setting FUNCTION to DISABLED.
The ENDIANNESS (byte order) depends on the PLC cpu architecture.
Use enter to confirm and leave the settings screen.

This setup is only available on system software version YBS2.54 or newer.

Open the board settings: system » setup » option board » CIFX 50E-RE
Option boards
Enter the settings:
PROFINET settings
item value
CIFX 50E-RE USED (MotoLogix)
IO SIZE + MotoLogix 0 byte + 436 byte
FIELDBUS PROFINET
ADDITIONAL SERVICES DISABLE
Customers can adjust these default settings to their needs.
Example: To add an optional non-MotoLogix data packet of e.g. 32 byte set the value to 32 byte + 436 byte.
The size of the MotoLogix data packet is fixed and shall not be changed.
Adding a non-MotoLogix data packet might require to change/shift the address mapping of the MotoLogix data packet in the PLC.
Use enter (multiple times) to confirm this- and the following screens. Don’t make any changes in these following screens (keep default IO allocation).

Firmware code for PROFINET: PIR

Open the board settings: system » setup » option board » inpact
Option boards
Enter the settings:
PROFINET settings
item value
INPACT USED (MotoLogix)
IO SIZE + MotoLogix 0 dword + 109 dword
Customers can adjust these default settings to their needs.
Example: To add an optional non-MotoLogix data packet of e.g. 32 byte set the value to 8 dword + 109 dword.
The size of the MotoLogix data packet is fixed and shall not be changed.
Adding a non-MotoLogix data packet might require to change/shift the address mapping of the MotoLogix data packet in the PLC.
Use enter (multiple times) to confirm this- and the following screens. Don’t make any changes in these following screens (keep default IO allocation).

item	value
INPACT	`USED (MotoLogix)`
IO SIZE + MotoLogix	`0 dword + 109 dword`