MotoLogix in MotoSimEG-VRC

Simulation without hardware-in-the-loop using MotoSimEG-VRC and the optional MotoLogix feature.

How it works

The built-in virtual robot controller (VRC) of MotoSimEG-VRC is connected with the MotoLogix program running in the (virtual) PLC. Yaskawa Modbus TCP is used as communication protocol between the two applications.

MotoSimEG-VRC acts as server and the (simulated) PLC as client. The PLC has to take care of setting up the connection and handling the reading/writing of data.

As Yaskawa Modbus TCP cannot be handled by a standard Modbus TCP library, we have created a function block (MceYaskawaModbusTcp) for each of the PLC platforms. It uses regular TCP library functions and is easy to add to your existing MotoLogix projects.

The new MotoLogix Examples projects come with this function already built-in. Switching between real- and simulated robot controller is as easy as flipping a switch in the HMI.

Benefits:

• TCP communication is an industy standard (supported by many PLC’s).
• No additional gateway software (e.g. Siemens SIMIT) required.
• Maximum flexibility for deployment in your company. (e.g. MotoSimEG-VRC installation per user or on a central server).

For setting up the TCP connection an IP address and port number are used.

Software/licenses

The following software and licenses are required:

• MotoSimEG-VRC version 2025SP1 or newer.
• Licenses:
  1. Regular MotoSimEG-VRC license.
  2. Additional license for MotoLogix in MotoSimEG-VRC.

System requirements

There are no additional system requirements for the MotoLogix feature. Please consult the MotoSimEG-VRC documentation for the system hardware requirements.

Installation

The MotoLogix feature is included in the regular installation of MotoSimEG-VRC and does not require any additional steps.

If the system detects the additional license for MotoLogix in MotoSim, a new button for the MotoLogix feature will appear in the Online Function menu:

Firewall settings

Depending on your system security policies, some changes to the firewall settings might be required, like allowing:

• TCP communication over the specified ports.
• Applications/processes in the MotoSimEG-VRC installation folder:
  • common: MotoSimEG-VRC.exe
  • YRC1000: yas.exe, yppmain.exe
  • YRC1000micro: ybs.exe, yppmain.exe

Limitations

• Only supports YRC1000, YRC1000micro and newer controllers.
• Some functions cannot be simulated as they require the feedback data or sensors of a physical robot, for example:
  • Servo float.
  • Collision detection.
  • Search function.
  • Collaborative robot functionality.
• As the communication between the simulated PLC and MotoSimEG-VRC is not real-time and runs on a Windows operation system, the signal timing can vary and the resulting cycle times might not be constant and can differ slightly from the real system.

Usage

Please follow below steps to create your new project and connect it to your MotoLogix PLC.

Pre-requisites

Make sure you have:

• Installed MotoSimEG-VRC and added the license for MotoLogix in MotoSim.
• Prepared your PLC project for using Yaskawa Modbus TCP communication.

Create new project

1. Use menu New » New cell project to create a new cell.

   

2. After setting a name and path, the new empty cell opens.

   

3. Add a new controller using menu Controller » New and select the “no file” option.

   

4. Select the controller (pick the latest) and adjust the name to your needs.

   

5. Adjust the manipulator selection and other settings to your needs and proceed with Standard Setting Execute

   

   Note

   Advanced configurations like multiple robots (R1R2) or a robot on a linear track (base axis, R1B1) can be setup using Maintenance Mode Execute

   Please consult the MotoSimEG-VRC documentation for more details.

6. Proceed with the default settings.

   

7. Save the project.

Setup connection

1. Open the MotoLogix connection settings in menu Online Function » MotoLogix Management

   

2. Click on the empty port entry, set the port number to e.g. 50012 and proceed.

   

3. Now activate the checkboxes MotoLogix valid and Start with REMOTE mode and click Accept

   

4. Confirm the restart.

   

5. The ready status indicates that the Yaskawa Modbus TCP server is running and ready for a connection by a (virtual) PLC.

   

   Note

   The Set Realtime Playback mode is active by default. This is recommended as it results in the most time realistic behavior of the robot controller.

   Note

   This setting interacts with menu Home » Heart Beat » More » » Enable Realtime Playback

Adjust parameters

After creating a project from scratch, some parameter changes might be needed. This is done using the virtual pendant.

Endianness

By default, the controller uses little endian byte order, which fits most PLC platforms. But for example Siemens PLC’s require big endian byte order.

The endianness setting is defined by the following S2C robot parameter:

S2C1147   0 // little endian
          1 // big endian

Read TCP speed

The following S2C robot parameter needs to be set to get the current TCP speed by MotoLogix.

S2C1702   1 // TCP speed in MLX[].HMIFeedbackData.CurrentRobotTCPPosition[7]

Collision detection

S2C1703   1 // allow on-the-fly switching of collision detection levels

S2C1704   1 // allow on-the-fly resetting of measured collision detection torques

Prepare for operation

1. Open the virtual pendant in menu Controller » Show
2. Make sure the REMOTE mode is active.

   

3. Make sure the E-stop button is not pressed.

Now the PLC can connect to MotoSimEG and control the virtual robot using MotoLogix.