Setup information for MotoLogix on Yaskawa YRC1000: Codesys PLC + EtherCAT fieldbus.

part number #215317

YRC1000

CODESYS

EtherCAT

INPACT AB3617

Software version

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

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:

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.

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

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

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 ETHERCAT
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 » AB3617
Option boards
Enter the settings:
EtherCAT settings
item value
AB3617 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
AB3617	`USED (MotoLogix)`
IO SIZE + MotoLogix	`0 dword + 109 dword`

Firmware code for EtherCAT: ECT

Open the board settings: system » setup » option board » inpact
Option boards
Enter the settings:
EtherCAT 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`