Setup information for MotoLogix on Yaskawa DX200: B&R PLC + POWERLINK fieldbus.

part number #176049 (POWERLINK)

DX200

B&R

POWERLINK

PL-IB300

Software version

This setup requires system software version: DN3.11 (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).

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)

This is a PCI board.

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 POWERLINK
ENDIANNESS 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.

Open the board settings: system » setup » option board » powerlink pl-ib300
Option boards
Enter the settings:
Powerlink settings
item value
POWERLINK PL-IB300 USED (MotoLogix)
IO SIZE + MotoLogix 0 dword + 109 dword
NODE ADDRESS 1
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. Make sure the IO allocation is set to AUTO and check if the IO entries match below screenshots.
Allocation mode AUTO
Input allocation
Output allocation