MLX300: Differences between MLX300 and YEUs MotoLogix

This article will explain some large differences between the programming structure of MLX300 and YEUs MotoLogix

Quick Summary of the Description of Each MotoLogix Platform

• The Difference Between the MLX300 and MotoLogix.

  • The MLX300 is actually MotoLogix with the addition of a “Plug and Play” HMI package.   We are using the term MotoLogix to identify the YEU solution and MotomanSync to identify the YAI-M Motion and Drives solution.

• MLX300 Description

  • Standard Solution for YAI-R
  • Available only for the Rockwell PLC
  • Includes HMI software and pendant software for an Allen-Bradely and Proface pendant.     There’s also an MLX Teach Screen on the robot pendant, so the optional MLX pendants aren’t required anymore.
  • Includes Robot I/O Breakout boards  (YRC 16 in/out)
  • It’s a Plug & Play solution where the HMI screens allow the customers to immediately teach points, user frames, interference zones and other configurations.

• MotoLogix Description

  • Standard Solution for YEU
  • Available for Rockwell PLC, Siemens PLC, Beckhoff PLC, and B&R PLC.
  • For this solution, all customers need to create their own HMI interface.
  • Typically sold to OEM customers who have the development capacity to create a unique interface using the provided PLC function blocks (AOIs)
  • Option to create motion profile from a table of points with action code for each point (ie: gripper control)
  • Requires the FSU.     Teaching takes place in Remote-Play mode.   The FSU is used for the enabling switch and to limit the speed during teaching.
  • YAI-R can sell this solution, but it’s supported by YEU.

• MotomanSync Description

  • Standard Solution for YAI-M (Drives and Motion)
  • Available for the MPiec PLC and the iCube PLC  (iC9200)
  • Programmed with the Yaskawa MotionWorks IEC Pro 3 software
  • Includes a MotoLogix Teach Screen on the robot pendant for teaching points.

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Jogging Mode Difference

A major difference is the YEU MotoLogix robot jogging mode is REMOTE-PLAY, where as the MLX300 jogs the robot in REMOTE-TEACH mode.     For the YEU solution to meet ANS-RIA codes, the controller must include the FSU if the customer needs to jog the robot inside the cell.    YEU uses the Speed Limiting function for the jogging speed and a dual channel safety input for the enabling switch.    For some orders, YEU sells the controller without the FSU, but the customer needs to remain outside the cell when jogging the robot.   If a person enters the cell, they need to carry an external enabling device.

Parameter Index Differences

• INPUT AND OUTPUT NUMBERS
  • MLX300 inputs and outputs start with 1 to match the corresponding robot controller numbers.
  • YEU MotoLogix input and outputs start with 0, which are always one less than the robot controllers numbers.

• USER FRAMES AND INTERFERENCE ZONE NUMBERS
  • MLX300 user frame and interference zone numbers start with 1 to match the corresponding robot controller numbers
  • YEU MotoLogix user frame and interference zone numbers start with 0, which are always one less than the robot controllers numbers.

• TEACH POINT SETTING FOR WORLD POSITIONS
  • For a World Position, the MLX300 sets the TeachPoint.UserFrameNumber = -1
  • For a World Position, YEU MotoLogix sets the TeachPoint.UserFrameNumber = 0, and UserFrame[0] has all zeros.    Before every motion command, they command a SetUserFrame command.