Setup information for MotoLogix on Yaskawa YRC1000: MPiec PLC + EtherNet/IP fieldbus.

part number #215311

YRC1000

Yaskawa MPiec

EtherNetIP

cpu board (EtherNetIP)

YEU Parameter Settings PSC file

Software version

This setup requires system software version: YAS4.26 (or newer).

Setup steps

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:

system » security » select
select the desired level using ▼ ▲ » select
enter the password and press enter

Install fieldbus board

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)

EtherNet/IP CPU Board option function

This is a cpu board, using the built-in LAN port.

The function works exclusively with LAN2 (connector CN106).

The activation of the EtherNet/IP CPU Board option function is not covered by this document. It is a separate setup process which includes licensing of the software stack.

Setup MotoLogix

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
If the system is setup for using safety fieldbus (FD288), the following error might occur when trying to activate MotoLogix:
Error 8113
Remedy:
1. Disable FD288
2. Activate MotoLogix
3. Enable FD288
Enter the settings:
item value
FUNCTION ENABLED
CONNECTION TYPE Ethernet/IP(CPU Board)
ENDIANNESS Rockwell: LITTLE
Yaskawa MPiec: BIG
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.

item	value
FUNCTION	`ENABLED`
CONNECTION TYPE	`Ethernet/IP(CPU Board)`
ENDIANNESS	Rockwell: `LITTLE` Yaskawa MPiec: `BIG`

Setup fieldbus

Open the EtherNet/IP option function settings: system » setup » option function » EtherNet/IP(CPU Board)
EtherNet/IP option function
Customers: Please contact Yaskawa if the EtherNet/IP option function is not available in the list.
Open the board settings:
Open board settings
Enter the settings:
Board used for MotoLogix
item value
EtherNet/IP(CPU Board) USED (MotoLogix)
The (optional) safety fieldbus setup is not covered by this document.
Safety fieldbus does not require any additional settings for MotoLogix.

item	value
EtherNet/IP(CPU Board)	`USED (MotoLogix)`

Open the adapter screen and enter the settings:

ethernetip-settings2 — EtherNet/IP adapter settings

item	value
ADAPTER	`ENABLE`
INPUT SIZE + MotoLogix	others: `0 byte + 400 byte` MPiec: `0 byte + 404 byte`
OUTPUT SIZE + MotoLogix	others: `0 byte + 436 byte` MPiec: `0 byte + 440 byte`
CONFIGURATION SIZE	`10 word`
INPUT INSTANCE	`201`
OUTPUT INSTANCE	`200`
CONFIGURATION INSTANCE	`202`

Use enter (multiple times) to confirm this- and the following screens. Don’t make any changes in these following screens (keep default IO allocation).

IP address setting

The system ships with the following default address settings:

item	default setting
IP ADDRESS	`192.168.255.1`
SUBNET MASK	`255.255.255.0`
DEFAULT GATEWAY SETTING	`NOT USED`

Customers can adjust these settings to their needs.

Open the LAN option function settings: system » setup » option function » LAN interface setting
LAN option function
Adjust settings to your needs:
LAN settings
item value
IP ADDRESS SETTING(LAN2) MANUAL SETTING
IP ADDRESS <IPv4 address>
SUBNET MASK <subnet mask>
DEFAULT GATEWAY SETTING NOT USED / USED
DEFAULT GATEWAY <gateway address>
Use enter to confirm and leave the settings screen.

item	value
IP ADDRESS SETTING(LAN2)	`MANUAL SETTING`
IP ADDRESS	<IPv4 address>
SUBNET MASK	<subnet mask>
DEFAULT GATEWAY SETTING	`NOT USED` / `USED`
DEFAULT GATEWAY	<gateway address>

Parameter settings

parameter	value
FD 6	`7`
FD 7	`1`
FD 164	`1`
FD 256	`2`
MF1G 4	`55`
RS 475	`1`
S1C1G 57	`0`
S1D 199	`1`
S1D 229	`0`
S1D 233	`0`
S1D 256	`2`
S2C 221	`0`
S2C 244	`2`
S2C 316	`1`
S2C 541	`0`
S2C 542	`0`
S2C 869	`1`
S2C 1015	`2`
S2C 1139	`0`
S2C 1142	`4`
S2C 1147	`0`
S2C 1205	`1`
S2C 1419	`1`
S2C 1586	`1`
S2C 1702	`1`
S2C 1703	`1`
S2C 1704	`1`
S3C 1380	`50`
S3C 1385	`100`
S3C 1387	`2`