Customer specific setup information for MotoLogix on Yaskawa YRC1000: custom PLC + VARAN fieldbus.

part number #227877
YRC1000 
Customer Specific 
VARAN 
CIFX 

YRC1000.png
YRC1000 controller

YEU Parameter Settings PSC file

About

This is a customer specific MotoLogix setup with:

  • Custom PLC with VARAN.
  • 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)
3758204266 (user)
IPNETCFG.DAT-

Software version

This setup requires system software version: YAS5.22 (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. 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.

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

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

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

    As this step sets the desired customer specific IP address, this step has to be done after setting up OPC-UA.

  3. 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.

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

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)

Mounting the CIFX board

This is a PCIe board.

product
CIFX board

Read more...
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):

typedescription
JANCD-ABB02-E2xPCIe
JANCD-ABB04-E1xPCI, 1xPCIe

  1. Loosen the screws and remove the installation frame from the CPU rack:

    1
    Installation frame

  2. Insert the PCIe card into the corresponding slot (1 or 2) and tighten the screw:

    3
    Insert PCIe card into the slot

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

    4
    Installed installation frame

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 TYPEVARAN
    ENDIANNESSLITTLE
    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

CIFX board settings

Read more...

  1. Open the board settings: system » setup » option board » CIFX 50E-RE

    option-boards
    Option boards

  2. Enter the settings:

    varan
    VARAN settings

    itemvalue
    CIFX 50E-REUSED (MotoLogix)
    IO SIZE + MotoLogix0 byte + 436 byte
    FIELDBUSVARAN

    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.

  3. 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

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