Setup information for MotoLogix on Yaskawa YRC1000: S7-1500 PLC + PROFINET fieldbus.

part number #215313

YRC1000

Siemens S7-1500

PROFINET

INPACT CIFX CP1616 (v2.8)

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)

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

Mounting the CP1616 board

This is a PCI board.

This board can be mounted in the following installation frames (riser boards):

type	description
`JANCD-ABB03-E`	2xPCI
`JANCD-ABB04-E`	1xPCI, 1xPCIe

Loosen the screws and remove the installation frame from the CPU rack:
Installation frame
Insert the PCI card into the corresponding slot (1 or 2) and tighten the screw:
Insert PCI card into the slot
Only slot 1 supports PROFIsafe (safety fieldbus).
Install the installation frame into the CPU rack and fasten it again with the screws:
Installed installation frame

Mounting the CIFX board

This is a PCIe board.

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

This board can be mounted in the following installation frames (riser boards):

type	description
`JANCD-ABB02-E`	2xPCIe
`JANCD-ABB04-E`	1xPCI, 1xPCIe

Loosen the screws and remove the installation frame from the CPU rack:
Installation frame
Insert the PCIe card into the corresponding slot (1 or 2) and tighten the screw:
Insert PCIe card into the slot
Install the installation frame into the CPU rack and fasten it again with the screws:
Installed installation frame

Mounting the INPACT board

This is a PCIe board.

This board can be mounted in the following installation frames (riser boards):

type	description
`JANCD-ABB02-E`	2xPCIe
`JANCD-ABB04-E`	1xPCI, 1xPCIe

Loosen the screws and remove the installation frame from the CPU rack:
Installation frame
Insert the PCIe card into the corresponding slot (1 or 2) and tighten the screw:
Insert PCIe card into the slot
Install the installation frame into the CPU rack and fasten it again with the screws:
Installed installation frame

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
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.

item	value
FUNCTION	`ENABLED`
CONNECTION TYPE	`PROFINET`
ENDIANNESS	VIPA/S7-300/1500: `BIG` others: `LITTLE`

Setup fieldbus

CP1616 board settings

This setup requires CP1616 firmware version v2.8.

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

The corresponding firmware file (fw16xx-2.8.1.0.0.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)
Below settings only apply to systems with PROFIsafe (FD288):
YRC1000 PROFIsafe is certified for PROFIsafe profile 2.6.1 (default) and 2.4.
PROFIsafe settings
item value
F_CRC_Length 4 byte (profile 2.6.1 – default)
3 byte (profile 2.4)
F_Dest_Address 250
Some PROFINET masters (e.g. S7-300) do not support the latest profile. In that case you can fall back to 2.4. Don’t forget to change the profile in the iDevice configuration too.
Customers can adjust the F_Dest_Address setting to their needs.
Open the io device screen and enter the settings:
IO Device settings
item value
IO DEVICE ENABLE
IO SIZE(IN/OUT) + MotoLogix 0 byte + 436 byte
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).

item	value
CP1616	`USED (MotoLogix)`

item	value
F_CRC_Length	`4 byte` (profile `2.6.1` – default) `3 byte` (profile `2.4`)
F_Dest_Address	`250`

item	value
IO DEVICE	`ENABLE`
IO SIZE(IN/OUT) + MotoLogix	`0 byte + 436 byte`

Load iDevice configuration

The CP1616 also needs to get a configuration loaded. This is called the iDevice configuration.

Yaskawa does not load an iDevice configuration into the CP1616.

Loading the CP1616 configuration is part of the customer’s commissioning process. It requires TIA Portal and takes about 10 minutes.

A TIA project with predefined CP1616 configurations can be downloaded from Yaskawa’s download portal .

The project contains two configurations for MotoLogix systems (standard and PROFIsafe) and two for non-MotoLogix systems.

Choose the MotoLogix configuration which fits your setup:
Available configurations
Compile the hardware:
Compile hardware
Download it into the CP1616:
This requires the robot controller to be in maintenance mode.
Download hardware configuration

Change PROFIsafe profile

If you want to use the older profile 2.4:

Change the profile:
PROFIsafe profile setting
Compile and download into the CP1616.
Export the new GSD file:
Export GSD
Import the new GSD into your PLC project.

CIFX board settings

This setup is only available on system software version YAS4.37 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).

item	value
CIFX 50E-RE	`USED (MotoLogix)`
IO SIZE + MotoLogix	`0 byte + 436 byte`
FIELDBUS	`PROFINET`
ADDITIONAL SERVICES	`DISABLE`

INPACT board settings

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`

Parameter settings

parameter	value
FD 6	`7`
FD 7	`1`
FD 164	`1`
FD 256	`2`
MF1G 4	`55`
RS 475	`3`
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	`3`
S2C 1147	`1`
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	`1`