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

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

File information

Files supplied by the customer:

Software version

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.

Additional steps

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

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

   

   item	value
   Tool change monitor/Tool number select	USED (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:

   

   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:

      

   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: