Software version
YBS2.48 (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).
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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) |
Mounting the INPACT board
PCIe board.
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Disconnect all connectors from the netfilter box (on top of the YRC1000micro).
Loosen the screws and remove the cover of the netfilter box:
Cover screws Disconnect the white connector (1) and remove the mounting screws (2) of the netfilter box:
White connector (1) and netfilter screws (2) Loosen the remaining screws (see the figure below) and remove the cover plate:
Remove the screws and the cover plate Insert the INPACT board into one of the slots (1 or 2) and tighten the screw:
Insert the INPACT board Assemble all parts in reverse order.
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 requiresYaskawaauthorization level and cannot be changed by the customer.
MotoLogix settings Enter the settings:
item value FUNCTION ENABLEDCONNECTION TYPE ETHERCATENDIANNESS LITTLECustomers can disable MotoLogix afterwards by settingFUNCTIONtoDISABLED.TheENDIANNESS(byte order) depends on the PLC cpu architecture.Disable the SRCI option function (if applicable):
item value SRCI OPTION NOT USEDSRCI FUNCTION DISABLEUse enter to confirm and leave the settings screen.
Setup fieldbus
INPACT board settings
ECTOpen 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 dwordCustomers can adjust these default settings to their needs.
Example: To add an optional non-MotoLogix data packet of e.g.
32 byteset the value to8 dword + 109 dword.The size of theMotoLogixdata 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. Make sure the IO allocation is set to
AUTOand check if the IO entries match below screenshots.
Allocation mode AUTO 
Input allocation 
Output allocation