Customer specific setup information for MotoLogix on Yaskawa YRC1000: Beckhoff PLC + PROFINET fieldbus (PROFIsafe 2.4).

part number #220667
YRC1000 
Beckhoff 
PROFINET 
CP1616 (V2.8) (3 Byte CRC) 

YRC1000.png
YRC1000 controller

YEU Parameter Settings PSC file

About

This is a customer specific MotoLogix setup with:

  • Beckhoff PLC with PROFINET.
  • PROFIsafe – using the older 2.4 profile (3 byte CRC).
  • Various customer files pre-loaded by Yaskawa.
  • and more
The setup requires a few additional steps compared to a regular MotoLogix system. Please carefully follow them.

File information

Files supplied by the customer:

FileCRC
YSFLOGIC.DAT0438869801 (system)
2737066245 (user)
TLCHGMON.DAT2949782872
IPNETCFG.DAT-

Software version

This setup requires system software version: YAS5.72 (exact match).

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.

    endianness: little

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

    PROFIsafe profile: 2.4

  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

Additional steps

This setup requires a few additional (customer specific) steps.

Make sure all other settings have been completed (including FSU and robot home position) before executing these additional steps.

  1. FSU setting: Tool Number Select
    setup » option function » functional safety

    tool-number-select
    Functional safety setting

    itemvalue
    Tool change monitor/Tool number selectUSED (NUMBER SELECT)

    The following step(s) of the setup process requires the robot controller to be in normal mode and a sufficient authorization level (safety or higher).

    Read more...

    Activate normal mode:

    1. Power off
    2. Power on

    Change the authorization level:

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

  2. Load customer file: Safety Logic Circuit
    Load the supplied YSFLOGIC.DAT into the controller:
    ex. memory » load » I/O data » YSFLOGIC.DAT

  3. Load customer file: Tool Number Select
    Load the supplied TLCHGMON.DAT into the controller:
    ex. memory » load » file/general data » TLCHGMON.DAT

  4. Load customer file: LAN configuration
    Load the supplied IPNETCFG.DAT into the controller:
    ex. memory » load » system data » IPNETCFG.DAT

  5. Verify Safety Logic Circuit
    Make sure the file was loaded properly by checking some content is available:
    safety func. » safety logic circuit

    In case there is no content: Reload the file.

  6. Confirm Safety Logic Circuit
    Save and confirm: write » confirm

  7. Confirm Tool Number Select
    Open the settings:
    safety func. » tool number select

    After loading the TLCHGMON.DAT file, the settings are not complete yet:

    files-not-set
    Settings incomplete

    We still have to finalize and confirm each file of Tool Number Select.

    To do this the following steps apply:

    1. Select the file: ▼ ▲ » select

    2. Set file valid cond to SIGNAL.

      Now the imported input signal mapping becomes visible. It is marked red:

      file-cond-signal
      Set the condition

    3. Proceed with readback

    4. Save and confirm: write » confirm

    Repeat above steps for file 1 to file 16

    Now the settings for the Tool Number Select are complete:

    files-ready
    Settings complete

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)

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. Disable the SRCI option function (if applicable):

    itemvalue
    SRCI OPTIONNOT USED
    SRCI FUNCTIONDISABLE

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

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.

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

    option-boards
    Option boards

  2. Enter the settings:

    profinet
    PROFINET settings

    itemvalue
    CP1616USED (MotoLogix)
    Below settings only apply to systems with PROFIsafe (FD288):

    profinet-safety
    PROFIsafe settings

    itemvalue
    F_CRC_Length3 byte
    F_Dest_Address250
    This setup uses the PROFIsafe profile v2.4 which uses a 3 byte CRC. Don’t forget to change the profile in the iDevice configuration too.
    Customers can adjust the F_Dest_Address setting to their needs.

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

    profinet-io-device
    IO Device settings

    itemvalue
    IO DEVICEENABLE
    IO SIZE(IN/OUT) + MotoLogix0 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.

  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

    yrc1000-allocation-input
    Input allocation

    yrc1000-allocation-output
    Output allocation

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.

Read more...
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.

  1. Choose the MotoLogix configuration which fits your setup:

    load-idevice-config1
    Available configurations

  2. Compile the hardware:

    load-idevice-config1
    Compile hardware

  3. Download it into the CP1616:

    This requires the robot controller to be in maintenance mode.

    load-idevice-config3
    Download hardware configuration

Change PROFIsafe profile

If you want to use the older profile 2.4:

  1. Change the profile:

    idevice-profisafe-norm
    PROFIsafe profile setting

  2. Compile and download into the CP1616.

  3. Export the new GSD file:

    idevice-export-gsd
    Export GSD

  4. Import the new GSD into your PLC project.

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