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 
CP1616 (V2.6) 

DX200.png
DX200 controller

YEU Parameter Settings PSC file

Software version

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

Setup steps

  1. Install fieldbus board
    Mount the option board in the robot controller.

  2. Setup MotoLogix
    Activate the (paid) option function (by Yaskawa) and setup MotoLogix for the desired fieldbus and PLC architecture.

  3. Setup fieldbus
    Define the fieldbus data packet for MotoLogix.

  4. 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).

Read more...

Activate maintenance mode:

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

Change the authorization level:

  1. system » security » select
  2. select the desired level using ▼ ▲ » select
  3. enter the password and press enter

Install fieldbus board

Yaskawa robot controllers use various fieldbus solutions:

typedescription
PCILarge form factor option board
PCIeCompact form factor option board
cpu boardSoftware option (uses the built-in LAN port)

Mounting the CP1616 board

This is a PCI board.

product
CP1616 board

Read more...
The images below are for reference only and might not reflect this specific board.

  1. Loosen the screws and remove the installation frame from the CPU rack:

    1
    Installation frame

  2. Insert the PCI card into the corresponding slot (1 or 2) and tighten the screw:

    3
    Insert PCI card into the slot

    Only slot 1 supports PROFIsafe (safety fieldbus).

  3. Install the installation frame into the CPU rack and fasten it again with the screws:

    4
    Installed installation frame

Setup MotoLogix

  1. Open the MotoLogix option function settings: system » setup » option function » motologix

    motologix-option-function
    MotoLogix option function

    Customers: Please contact Yaskawa if the MotoLogix option function is not available in the list.

  2. Activate the MotoLogix option function:

    This requires Yaskawa authorization level and cannot be changed by the customer.

    motologix-settings
    MotoLogix settings

  3. Enter the settings:

    itemvalue
    FUNCTIONENABLED
    CONNECTION TYPEPROFINET
    ENDIANNESSVIPA/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.

  4. Use enter to confirm and leave the settings screen.

Setup fieldbus

CP1616 board settings

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.

  1. Open the board settings: system » setup » option board » CP1616

    option-boards
    Option boards

  2. Enter the settings:

    profinet
    PROFINET settings

    itemvalue
    CP1616USED (MotoLogix)

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

Standard

These settings apply to systems without safety fieldbus.

  1. Open the MotoLogix details:

    motologix-detail
    First slot of the MotoLogix packet

    itemvalue
    Slot TOP2

  2. Open the io device screen and enter the settings:

    profinet-io-device
    IO Device settings

    itemvalue
    Slot 1CP1616 ENABLE(Migration)
    Slot 2254 byte / 254 byte
    Slot 3128 byte / 128 byte
    Slot 432 byte / 32 byte
    Slot 520 byte / 20 byte
    Slot 62 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.

  3. 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.

    io-setup
    Allocation mode AUTO

    dx200-allocation-input
    Input allocation

    dx200-allocation-output
    Output allocation

PROFIsafe

These settings apply to systems with safety fieldbus.

  1. Enter the settings:

    profinet-safety
    PROFIsafe settings

    itemvalue
    F_Dest_Address150
    Customers can adjust the F_Dest_Address setting to their needs.

  2. Open the MotoLogix details:

    motologix-detail
    First slot of the MotoLogix packet

    itemvalue
    Slot TOP3

  3. Open the io device screen and enter the settings:

    profinet-io-device
    IO Device settings

    itemvalue
    Slot 1CP1616 ENABLE(Migration)
    Slot 2PS 8 byte / PS8 byte
    Slot 3254 byte / 254 byte
    Slot 4128 byte / 128 byte
    Slot 532 byte / 32 byte
    Slot 620 byte / 20 byte
    Slot 72 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.

  4. 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.

    io-setup
    Allocation mode AUTO

    dx200-allocation-input
    Input allocation

    dx200-allocation-output
    Output allocation

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