MotoLogix

Interface for MOTOMAN Robot Programming

and Control via PLC

Supported
platforms:

YASKAWA B&R
PROFINET POWERLINK

Siemens Rockwell
TIA S7-300
PROFINET EtherNet/IP

Siemens Codesys
TIA S7-1500
PROFINET EtherCAT

Siemens Codesys
SIMOTION
PROFINET EtherNet/IP

Beckhoff Codesys
EtherCAT PROFINET

MotoLogix is a software interface for programming and Key benefits

control of YASKAWA robots by PLC. Being available
• Robot programming carried out in PLC language – unified
for all major PLC brands and fieldbuses it is designed
for the whole system
with two primary objectives:
• Connects all peripheral devices (sensor, camera, conveyor)
through PLC
• Enable deep integration of YASKAWA robot systems
• Robot completely integrated in the PLC and HMI environment
in PLC controlled machinery.
• Testing of the complete PLC/HMI robot application using
• Easy programming/commissioning/teaching/operating
virtualization (MotoSim)
of robots in a machine, without need of specialized
• Assurance of a YASKAWA path accuracy (calculation in
knowledge.
MOTOMAN controller)
• All YASKAWA DX200, YRC1000 and YRC1000micro robots
MotoLogix has two components can be controlled. This includes the collaborative types
such as HC10.
1. MotoLogix Runtime
• No Teach pendant nor YASKAWA robotics knowledge is
Enables the MotoLogix interface on the YASKAWA
required for robot programming and operation
robot controller, using the fieldbus for communication
• Data stored in the PLC, not in the robot controller
with the PLC.
• Control up to 4 robots over one MotoLogix interface
2. MotoLogix PLC Library + Examples • MotoLogix on a OPC-UA equipped PLC can act as a
Comprehensive set of function blocks for writing the convenient gateway to PC based systems such as LabView
robot application logic in the PLC (example programs).
MotoLogix

MotoLogix
MotoLogix represents a software and hardware interface tions of motion kinematics. The YASKAWA robot controller
that enables users to control and program the robot through is reduced to the role of a motion controller and the actual
PLC and offers an innovative approach for a control of program execution and the definition of the motion are car-
all-axis coordinated robot motion, similarly to traditional ried out by the PLC. This therefore eliminates the need to
robot controller. learn the robot language and allows the programmer to use
The difference between PLC controlled robot and conven- the PLC language he already knows.
tional robot control is that PLC issues the motion commands
for the robot, while the robot controller performs calcula-

Control Overview – conventional and with MotoLogix

PLC Robot PLC

Programmer Programmer Programmer

Conventional With MotoLogix

two Programmers are necessary Only one programmer is necessary

Supported
platforms:

YASKAWA B&R
Robot PLC PROFINET POWERLINK
Easy
programming Siemens Rockwell
in PLC language TIA S7-300
EtherNet/IP
PROFINET
no skilled staff in
MOtOMAn robotics needed Siemens Codesys
TIA S7-1500
PROFINET EtherCAT
Up to 4 robots
with one MotoLogix Siemens Codesys
SIMOTION
PROFINET EtherNet/IP
Library of function
blocks
Beckhoff Codesys
EtherCAT PROFINET
 MotoLogix

MotoLogix PLC Library

The MotoLogix library offers a
comprehensive set of function blocks
for a wide range of tasks.
Example
Description
Summary: program name

• Motion instructions General program for communication,

General
Error Handling and reading current position
– Different kinds of moves
– Jog Jog Example program for jogging the robot
– Conveyor tracking
Program example for using the conveyor
• System commands ConveyorTracking tracking functionality of the robot
– Enable, Abort, Hold etc (suitable for pick and place applications)
– Error handling Program example to execute an easy Pick
PickPlace
– IO handling and Place task

• Robot configuration Example program where a trajectory is

created by entering data in a table (array)
– Tools, Userframes instead of programming each motion
– Interference zones command. It includes the execution of actions
– Absolute data (home positions) PosTable (e.g. pneumatic gripper) and external axis
control (e.g. for servo gripper).
• Get off to a quick start using the supplied This dynamic approach results in one piece
of code which handles any kind- and size
example programs and documentation of trajectory.

Virtualization PLC + HMi Programming PC yASKAWA

Robot application robot controller
using the
Using the powerful combination of MotoLogix and MotoLogix library PLC + HMi MotoVRC Controller in
DEbUG mode,
programming robot
MotoVRC you can test your entire PLC/HMI robot application functions
environment virtualization no physical robots
connected
without the need of the completely assembled machine.
(A YASKAWA robot controller is needed.)

Key benefits
• Unified programming approach
by IEC 61131 standard
– Possibility to program a robot in an environment
known by the PLC programmer (Ladder Diagram,
Structured Text, Function Block Diagram,
– No YASKAWA specific knowledge needed
• Robot program and configuration data created
and stored in the PLC MotoLogix specifications
– Easy system back-up All DX200, YRC1000 and
Supported robots
– Easy robot integration and exchange in the YRC1000micro types
complete system Up to 4 robots (or 16 external axes)
Number of robots
for each MotoLogix system
• Path quality stays the same
– Robot kinematics calculation in MOTOMAN robot Number of MotoLogix systems Only limited by PLC and fieldbus
per PLC capacity
controller
– Path interpolation in MOTOMAN robot controller Number of motions,
Only limited by PLC memory*
userframes, tools
• Periphery wiring and control via PLC
– Gripper, conveyor, sensors Number of interference zones 32

Number of conveyors Only limited by PLC hardware and

for Conveyor tracking memory

Robot controller cycle time 4 ms

Applications
436 byte consistent data is cyclically
Data exchange for one
• Palletizing MotoLogix system
exchanged between PLC and each
MotoLogix system
• Handling
• Pick and Place Required available > 512 kb (depends on complexity
PLC memory of application)
• Packaging
• Machine tending * If the robot controller is equipped with a Functional Safety Unit (FSU) the amount
• Plastic molding of tools is limited to 16.
YASKAWA GROUP dISTRIBUTORS
AT YASKAWA Austria BG ARAMET ROBOTICS Ltd.
Schwechat/Wien Yambol +359-885 317 294
+43(0)1-707-9324-15
Kammarton Bulgaria Ltd.
CZ YASKAWA Czech s.r.o. Sofia +359-02-926-6060
Rudná u Prahy
DK Robotcenter Danmark
+420-257-941-718
Løsning +45 7022 2477
ES YASKAWA Ibérica, S.L.
EE RKR Seadmed OÜ
Gavà/Barcelona
Tallinn/Estonia +372-68-35-235
+34-93-6303478
GR Gizelis Robotics
FR YASKAWA France SARL
Nea Kifissia +30-2106251455
Saint-Aignan-de-Grand-Lieu
+33-2-40131919 HU Flexman Robotics Kft
Budapest +36-30-9510065
FI YASKAWA Finland Oy
Turku +358-(0)-403000600 LT Profibus UAB
Panevezys +370-45-518575
GB YASKAWA UK Ltd.
Banbury +44-1295-272755 NO Skala Robotech AS
Lierstranda +47-32240600
IT YASKAWA Italia s.r.l.
Torino +39-011-9005833 PT ROBOPLAN Lda
Aveiro +351-234 943 900
IL YASKAWA Europe Technology Ltd.
Rosh Ha’ayin +972-3-9004114 RO Sam Robotics srl
Timisoara +40-720-279-866
NL YASKAWA Benelux B.V.
Eindhoven +31-40-2895500 MPL Automation S.R.L.
Satu Mare +40 (0) 261 750 741
PL YASKAWA Polska Sp. z o.o.
Wrocław +48-71-7928670
RU YASKAWA Nordic AB
Moskva +46-480-417-800
SE YASKAWA Nordic AB
Torsås +46-480-417-800
SI YASKAWA Slovenia
Ribnica +386-1-8372-410
TR YASKAWA Turkey Elektrik
Ticaret Ltd. Sti.
İstanbul +90-216-5273450
ZA YASKAWA Southern Africa (PTY) Ltd
Johannesburg +27-11-6083182

YASKAWA Headquarters YASKAWA ACAdEmY All dimensions in mm.

Technical data may be subject to change without previous notice.
and sales office Frankfurt
YASKAWA Europe GmbH Please request detailed drawings at robotics@yaskawa.eu.com.
Robotics Division YASKAWA Europe GmbH MotoLogix
Yaskawastraße 1 Robotics Division C-02-2019, A-No. 175674
85391 Allershausen, Germany Hauptstraße 185
Tel. +49 (0) 8166/90-0 65760 Eschborn, Germany
Fax +49 (0) 8166/90-103 Tel. +49 (0) 6196/77725-0
Fax +49 (0) 6196/77725-39

robotics@yaskawa.eu.com
www.yaskawa.eu.com