Setup information for MotoLogix on Yaskawa DX200: S7-300/S7-1500/Simotion/VIPA PLC + PROFINET fieldbus.

part number #176049 (PROFINET)

DX200

Siemens S7-300 Siemens S7-1500 Siemens Simotion VIPA

PROFINET

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 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 requires CP1616 firmware version v2.6.

The installed version can be inspected using the engineering tool (e.g. TIA Portal).

The corresponding firmware file (fw16xx-2.6.1.6.1.fwl) can be downloaded from the Siemens Industry Support website.

Open the board settings: system » setup » option board » CP1616
Option boards
Enter the settings:
PROFINET settings
item value
CP1616 USED (MotoLogix)

item	value
CP1616	`USED (MotoLogix)`

The remaining settings depend on wether the system is setup for using safety fieldbus (FD288):

These settings apply to systems without safety fieldbus.

Open the MotoLogix details:
First slot of the MotoLogix packet
item value
Slot TOP 2
Open the io device screen and enter the settings:
IO Device settings
item value
Slot 1 CP1616 ENABLE(Migration)
Slot 2 254 byte / 254 byte
Slot 3 128 byte / 128 byte
Slot 4 32 byte / 32 byte
Slot 5 20 byte / 20 byte
Slot 6 2 byte / 2 byte
Customers can adjust these default settings to their needs.
Example: To add an optional non-MotoLogix data packet of e.g. 32 byte create another entry of 32 byte / 32 byte in the first empty slot after the MotoLogix packet.
The size of the MotoLogix data packet is fixed and shall not be changed.
Make sure there are no gaps between the slots.
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
Slot TOP	`2`

These settings apply to systems with safety fieldbus.

Enter the settings:
PROFIsafe settings
item value
F_Dest_Address 150
Customers can adjust the F_Dest_Address setting to their needs.
Open the MotoLogix details:
First slot of the MotoLogix packet
item value
Slot TOP 3
Open the io device screen and enter the settings:
IO Device settings
item value
Slot 1 CP1616 ENABLE(Migration)
Slot 2 PS 8 byte / PS8 byte
Slot 3 254 byte / 254 byte
Slot 4 128 byte / 128 byte
Slot 5 32 byte / 32 byte
Slot 6 20 byte / 20 byte
Slot 7 2 byte / 2 byte
Customers can adjust these default settings to their needs.
Example: To add an optional non-MotoLogix data packet of e.g. 32 byte create another entry of 32 byte / 32 byte in the first empty slot after the MotoLogix packet.
The size of the MotoLogix data packet is fixed and shall not be changed.
Make sure there are no gaps between the slots.
Use enter (multiple times) to confirm this- and the following screens. Don’t make any changes in these following screens (keep default IO allocation).