Ethernet Telnet Unit User`s Manual
Contents
1. YAMAHA MOTOR CO LTD SRCD SRCP YAMAHA NETWORK BOARD ERCX SRCX DRCX Ethernet User s Manual YAMAHA MOTOR LTD IM Operations 882 Soude Naka ku Hamamatsu Shizuoka 435 0054 Japan URL http www yamaha motor jp robot index html E74 Ver 3 09 INTRODUCTION Thank you for purchasing the Ethernet unit for the YAMAHA single axis dual axis ro bot controllers SRCP SRCD ERCX SRCX DRCX series This is an optional unit to allow connecting YAMAHA single axis dual axis robot con trollers SRCP SRCD ERCX SRCX DRCX series hereafter called controller to the widely used Ethernet which is a de facto standard for office equipment network This manual describes typical examples for taking safety measures installing wiring making machine settings and operating the machine to ensure that the Ethernet unit is used safely and effectively Be sure to read this manual before use Even after reading this manual keep it in a safe easily accessible location so it can be referred to whenever needed When moving this unit always make sure this manual accompanies it and make sure that the person who will actually use this Ethernet unit reads this manual thor oughly This manual only contains information involving the Ethernet unit Please refer to the controller user s manual for information about basic controller operation and program ming etc The TPB screen displays in this manual are for the DRCX series2. 9 2 3 How to connect to 10 2 4 Making system settings for the controller server 11 2 4 1 Validating the Ethernet 1 11 2 4 2 Setting the IP 00 12 2 4 3 Setting the subnet 14 2 4 4 Setting the gateway 15 2 5 Making the PC settings client 17 2 5 1 Setting the TCP IP protocol be te eos pede ete 17 2 6 Checking the connection with 19 Using oec prete 20 2 7 1 Difference between TELNET and RS 232C communications 20 2 8 TELNET dedicated 2 21 2 8 1 TELNET dedicated parameters Setup method 1 21 2 8 2 TELNET dedicated parameters Setup method 2 22 2 8 3 Description of TELNET dedicated parameters 23 2 9 TELENET communication commands 25 2 9 1 Communication command specifications 2 211 25 2 9 2 Ethernet unit control commands sees 26 2 9 3 Robot control commands ier X RR Pa iat 26 2 10 Making a connection with TELNET EXE 27 2 11 Other operating
3. 29 2 11 1 Displaying the MAC 2 1 29 2 11 2 Displaying the version of the Ethernet unit 30 2 12 Message List 31 2 12 1 Error messages codes d potremo dete bte 31 2 12 2 Telnet message list ni ge 31 2 13 Troubl Shoollf10 de o eoe Gr Lolo debet ue 32 2 14 35 2 14 1 Ethernet unit specifications 4 4422 35 2 14 2 Modular connector ucc pt tios tea ege E tre 36 2 14 3 UTP STP Cables caseo 37 2 15 5 UDDIBIBOUL sto nan E op UD 38 2 15 1 Typical network systems rn eet nd 38 2 15 2 Description of terminology eese 43 CHAPTER Cautions To Ensure I a a a a a a a a a a a aa a a a a aa a a a a aaa a a a a at a a CHAPTER1 Cautions To Ensure Safety 1 1 Basic safety points Besides reading this instruction manual and the controller user s manual also be sure to handle the equipment correctly while paying sufficient attention to safety Points regarding safety in this instruction manual only list items involving this product Please refer to the controller instruction manual for information regarding safety when using this unit with the controller It is not possible to detail all safet
4. You can enter from 1 though 8 characters A check message next appears so press 1 yes to enter new setting To abort any changes you made press the F2 no key The screen returns to the previous display in step 3 22 SYS OPT LIN Select menu 1 205 5 SYS OPT LIN USER login user USER ABCDEFGHIJKLMNOPORST SYS OPT LIN USER login user DRCX1 20123456789 amp SYS OPT LIN USER data set OK lyes 2no SYS OPT LIN USER login user DRCX1 ABCDEFGHIJKLMNOPQRST 2 Ethernet Unit 2 8 3 Description of TELNET dedicated parameters PORT TCP port No Use this parameter to set the TCP port No of the controller The port No set here is specified along the IP address when the client connects to the controller Input range 0 to 65535 Default value 23 TELNET port f any value other than 23 TELNET port is specified then negotiation with the TELNET protocol is impossible Switches to ordinary socket communication Using a port No other than the well known ports 0 to 1023 is advised when changing the port After changing the setting restart the controller to enable the settings you made E ECHO echoback Use this parameter to select whether or not to send back echoback to the client the same characters that the client sent to the controller Input range
5. 34 f operation returns to normal then the Ethernet unit is defective so replace it 2 Ethernet Unit 2 14 Specifications PPP 2 14 1 Ethernet unit specifications Applicable controllers SRCP SRCD ERCX SRCX DRCX series controllers Network specs Conforms to Ethernet 802 3 Baud rate 10Mbps 10 Connector RJ 45 connector octal modular connector 1 port UTP unshielded twisted pair cable for category 3 or higher Cable or STP shielded twisted pair cable Maximum cable length 100 meters between HUB and controller Communication mode Half Duplex Application layer TELNET Transport layer TCP Network protocol Network layer IP ICMP ARP Data link layer CSMA CD Physical layer 1OBASE T Number of simultaneous logins 1 IP address setting From TPB Monitor LED Run Collision Link Transmit Receive 1 The upper lid of the controller must be removed to monitor the LED NOTE The product external appearance and specifications are subject to change without prior notice for purposes of improvements or other factors ACAUTION We use an FL HUB made by Phoenix Contact to check operation Using this HUB is recommended if constructing your own system HUBs generally available on the market are not designed for use in locations such as factories so some HUBs are vulnerable to external noise Please acknowledge beforehand that operati
6. 41 2 Ethernet Unit Example 5 In this example a controller in a remote location is centrally managed over the Internet Factory 2 Internet 1 Internet Router Head office Router Controller Use of a firewall defense mechanism to keep out intruders is recommended to maintain security System setup example IP address Subnet mask Gateway Head office router 133 215 0 1 255 255 255 0 PC 133 215 0 2 255 255 255 0 133 215 0 1 Factory 1 router 133 215 1 1 255 255 255 0 Controller 1 133 215 1 2 255 255 255 0 133 215 1 1 2 133 215 2 1 255 255 255 0 Controller 1 133 215 2 2 255 255 255 0 133 215 2 1 Routers must to match system conditions To make a connection over the Internet a global address must be set in the IP address Use of identical addresses is not allowed so customers must not use the addresses set in the above example Always use the customer s own unique address NIC in Japan JPNIC handles the assigning and management of addresses 42 2 Ethernet Unit 2 15 2 Description of terminology TCP IP Transmission Control Protocol Internet Protocol TCP IP is a general term for a group of standard protocols for carrying out communi cations over the Internet centering around TCP and IP protocols Computers and PCs capable of accessing the Internet all
7. Straight through cable H UB Cascade port UPLINK port MDI port LAS Ael JE HUB with cascade port PC Controller The cascade port also sometimes called an UPLINK port or MDI port is used when connecting multiple HUBs in cascade Straight through cables are used to connect the cascade ports of the HUBs together However crossover cables are used when con necting HUBs not having cascade ports or when making cascade connections without using cascade ports A maximum of 4 HUB units can be connected in cascade The same type network can also be built up by stacking HUBs together using so called stackable HUBs In this case Multiple HUBs connected in a stack are seen as just one large HUB by the network so there is no limit on the number of HUB units that can be stacked System setup example IP address Subnet mask Gateway PC 192 168 0 2 255 255 255 0 192 168 0 1 Controller 1 192 168 0 3 255 255 255 0 192 168 0 1 Controller 2 192 168 0 4 255 255 255 0 192 168 0 1 Controller 9 192 168 0 11 255 255 255 0 192 168 0 1 Controller 10 192 168 0 12 255 255 255 0 192 168 0 1 39 2 Ethernet Unit Example In this example the control PC and the controllers are separated from each other Terminator Terminator 10BASE 5 cable N l Transceiver MAU Transceiver MAU Transceiver cable AUI cable HUB with 10BASE 5 conne
8. and then select MS DOS Prompt to open the MS DOS window Run the ping command You will see a cursor at C WINDOWS gt on the screen Enter ping XXX XXX XXX XXX and press the Enter key In the portion enter the controller IP address The address for the controller in the fig ure on the right middle is 192 168 0 2 This example shows normal communica tion status The right bottom figure shows normal communication has not been established If this happens recheck the network de vice and settings and eliminate the trou ble 19 Auto z BeA ajs 2 Ethernet Unit 2 7 Using TELNET Communicating by TELNET remote operation allows loading and editing point or program data and operating the robot just the same if connected through an RS 232C port Commands are easy to understand because they are identical to RS 232C communica tion commands 2 7 1 Difference between TELNET RS 232C communications TELNET and RS 232C both perform the same processing However they use different communication formats This means that one format might not match your own particu lar system needs or objectives so you should get a good understanding of their different features before incorporating them into your system TELNET Easily connects to different types of systems Can handle one versus multiple device communications Allows remote communicati
9. 1 Meaning 0 No echoback 1 Echoback Default value 24 TOUT communication timeout Using this parameter allows cutting the TELNET connection if data is not sent or received from the client or controller within a certain amount of time Set the number of minutes after which the TELNET communication will be cut Setting 0 zero here voids the timeout check and there is no timeout to cut the TELNET connection Input range 0 to 255 minutes Default value 10 E IDLE no reply timeout If no reply at all has come back from the client a packet Keep Alive packet can be sent at fixed intervals to verify if the other party is present This parameter sets the time intervals between transmissions in seconds If the no reply state continues for IDLEx3 a certain period default is 15 seconds then an error has occurred and TELNET communication is cut Setting 0 zero here prevents sending a Keep Alive packet and the connection with the client is not cut even if the no reply state continues Input range 0 to 255 seconds Default value 29 The Keep Alive packet is issued automatically by the controller This packet has no effect on data sent and received by the user 23 2 Ethernet Unit LIN CHEK Login check Use this parameter to set whether or not to check the connection while the client is connected to the controller If making a login check is selected here then always make the user name an
10. 7 When the task or job is complete enter the LOGOUT or BYE command to can cel the connection with the controller and press the Enter key 8 message appears announcing the con nection has been terminated Click the OK button and the screen re turns to that in step 2 29 Telnet 192 168 0 2 Connect Edit Terminal Help login USER Password OK of Telnet 192 168 0 2 c x Connect Edit Terminal Help G R BOT 28 28 0 8 108 08 0 00 Bl P166 161 190 9 09 9 90 181 58 088 508 08 OK ay Telnet E Connection to host lost If you want to simultaneously control several controllers start up TELNET EXE as many times as needed 28 2 11 Other operating tasks CHAPTER2 Ethernet Unit PPP 2 11 1 Displaying the MAC address Use the following procedure to display the MAC address of the Ethernet unit 1 2 3 4 Press F3 SYS on the initial menu Screen Press next to switch the function display and then press F2 Press MAC The MAC address appears on the screen Press to return to the previous screen 29 ES MENU select menu IEDIT2OPRT3SYS 4MON B X SYS select menu 1 3UTL 4next S SYS OPT select menu 2 4next N SYS OPT MAC MAC addre
11. Dial Up Adapter gt gt Currently used network adapter is displayed If missing from this list then Add Remove Properties add Client for Microsoft Networks and Primary Network Logon TCP IP by using step 7 below Client for Mirrnsnft Networks X 4 Double click TCP IP to display the Network AE Properties Configuration Identification Access Control The following network components are installed Client for Microsoft Networks Ethernet_LAN_Card Ethernet_LAN_Card TCP IP gt Dial Up Adapter X Add Remove Properties Primary Network Logon Pliant fae ETUR 5 Onthe IP Address tab screen set the IP ERES Bindings Advanced 805 address and the subnet mask Enter DNS Configuration Gateway WINS Configuration IP Address PC subnet mask and IP address here An IP address can be automatically assigned to this computer IF your network does not automatically assign IP addresses ask your network administrator for an address and then type it in the space below IP Address 192 168 0 3 17 2 Ethernet Unit 6 7 8 9 10 11 Set the gateway under the Gateway tab screen Enter the IP address of the router serving as the gateway and then click the Add button When finished making the settings click the OK button a few times and a message appears
12. LEDIT2ZOPRT3SYS 4MON 2 Press F4 next to switch the function SYS display and then press F2 select menu 15 3UTL 4next 3 Press next again and then press EN 5 SYS OPT IP select menu 1IP 2MASK3GWAY4next 4 The currently set IP address is now dis played To change it enter the new IP SYS OPT IP address with the number pad keys To IP address move the cursor to right and left between Y Y 192 168 0 2 periods use the Or keys When completely finished making new IP address entry press the gt key 2 5 The screen returns to previous display p in step 4 SYS OPT IP IP address 133 210 201 100 S 2 Ethernet Unit A CAUTION When connecting the controller on an already existing network always check with the network supervisor before making IP address subnet mask and gateway set tings The address is separated into network address and host address sections network address section is extracted from the IP address by AND processing with the subnet mask The remaining portion is the host address section Devices belonging to the same network must all be set to have the same network address The host address however shou
13. Stop robot operation Default value 0 Tf the TELNET connection is cutoff due to an error then robot operation stops automatically regardless of the above settings 24 2 9 2 Ethernet Unit TELENET communication commands PPP 2 9 1 Communication command specifications TELNET communication commands are broadly classified into two types One type is commands that instruct the Ethernet unit to process the command task The other type is robot control commands to access the controller and perform sophisticated processing These robot control commands are further subdivided into the following four categories Ethernet unit control commands Robot control commands 1 Robot language 2 Data handling 3 Utilities 4 Special codes Communication command format for robot control commands except special codes is as follows operation code 1 gt lt operand2 gt lt operand 3 c f Basically the Ethernet unit control commands and Robot control commands begin with the start code 40H and run when a statement with the last line ending with the code 20DH 1 f 20AH is sent to the controller The robot control command always begins with a start code but start codes are sometimes not required in some Ethernet unit control commands One exception to this is the special codes in robot control commands These do not require a start code and c r I f com
14. and flood damage etc 11 Breakdown due to causes other than the above that are not the fault or responsi bility of YAMAHA The following cases are not covered under the warranty 1 Products whose serial number or production date month amp year cannot be verified 2 Changes in software or internal data such as programs or points that were cre ated or changed by the customer 3 Products whose trouble cannot be reproduced or identified by YAMAHA 4 Products utilized for example in radiological equipment biological test equip ment applications or for other purposes whose warranty repairs are judged as hazardous by YAMAHA THE WARRANTY STATED HEREIN PROVIDED BY YAMAHA ONLY COVERS DEFECTS IN PRODUCTS AND PARTS SOLD BY YAMAHA TO DISTRIBUTORS UNDER THIS AGREEMENT ANY AND ALL OTHER WARRANTIES OR LIABILI TIES EXPRESS OR IMPLIED INCLUDING BUT NOT LIMITED TO AN Y IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PUR POSE ARE HEREBY EXPRESSLY DISCLAIMED BY YAMAHA MOREOVER YAMAHA SHALL NOT BE HELD RESPONSIBLE FOR CONSEQUENT OR INDI RECT DAMAGES IN ANY MANNER RELATING TO THE PRODUCT 1 00 201205 CHAPTER 22 Ethernet Unit PELL nS 2 Ethernet Unit 2 1 Ethernet unit features Ethernet is the network most commonly used by office equipment today This Ethernet unit is an optional device for connecting to controllers over the Ethernet The communications protocol ut
15. cannot select the network address on their own An application to acquire a network address must be made to the NIC in Japan JPNIC If connecting one s network to the Internet is not necessary then any company can freely select a network address as well as a host address If there is no need to connect to the Internet then use of the following addresses is allowed 10 0 0 0 through 10 255 255 255 1 unit of class A 172 16 0 0 through 172 31 255 255 16 units of class B 192 168 0 0 through 192 168 255 255 256 units of class C An address acquired by making application to NIC on the other hand is referred to as a global address 44 2 Ethernet Unit Subnet mask The subnet mask is used to separate the IP address into a network address section and a host address section The network address bit is set to 1 and the host address bit is set to 0 The subnet mask just like the IP address is expressed as a decimal number of 32 bits 4 bytes with each byte separated by a period or four sets of numbers separated by periods So if the subnet mask is 255 255 255 0 then the network address section is 24 bits A company organization is generally assigned only one network address when ap plying to the NIC for an IP address The company making the application falls within one of classes A B or C depending on the scale of the company Class B for example has a network length of 16 bits and can be assigned a network all
16. menu A menu screen for choosing the connec tion destination now appears Enter the controller IP address in the Host Name box and enter the controller port No in the Port box When finished click the Connect button In this example 192 168 0 2 is entered in the Host Name box There is no need to enter anything in the Port box Here telnet signifies Port No 23 The PC now connects to the controller and the login check is made Enter the user name here In the example shown here type in USER and press the Enter key If set to login check no password mes sage appears following this message Next enter the password The characters you enter appear as asterisks on the screen In the example shown here type in PASSWORD and press the Enter key 27 Run 2 xj Type the name of a program folder document or Internet resource and Windows will open it for you Open telnet Connect Edit Terminal Help em Alt F4 Host Name fi 92 168 0 2 Port TermType 00 Cancel off Telnet 192 168 0 2 Connect Edit Terminal Help login USER Telnet 192 168 0 2 Connect Edit Terminal Help login USER Password sexes 2 Ethernet Unit 6 An OK message appears on the screen when the login check ends normally From now on commands and messages can be exchanged with the robot
17. nents except DIP switches or parts conducting electrical current CAUTION Make sure that foreign matter such as wiring debris or dust does not penetrate into the controller CAUTION Always store network cable inside cable ducts or clamp them securely in place Otherwise excessive play or movement or mistakenly pulling on the cable may damage the unit or cables or poor cable contact may lead to faulty operation CAUTION When detaching the cable remove by holding the connector itself and not by tug ging on the cable Otherwise removing by pulling on the cable itself may damage the unit or cables or poor cable contact may lead to faulty operation CHAPTER1 Cautions To Ensure Safety 1 4 Start up and maintenance safety points CAUTION Never attempt to disassemble the robot or controller When a robot or controller component must be repaired or replaced contact us for details on how to perform the servicing CAUTION Always cut off all power to the controller and the overall system before attempting maintenance or servicing This will prevent possible electrical shocks After the controller has been on for a while some points in the controller may be extremely hot or remain at high voltages After cutting off the power when install ing or removing the unit wait at least 5 minutes before starting work CAUTION Do not touch the termina
18. dual axis robot control ler screens and so may differ somewhat from the SRCP SRCD ERCX SRCX series sin gle axis robot controller screens Please note that this will cause no problem with con troller or Ethernet unit functions CAUTION The contents of this manual may be changed in advance without prior notice Every effort was made to ensure the contents of this manual are complete how ever please contact us if errors ambiguities or possible trouble points are found This manual does not constitute a warranty of industrial rights or other rights nor a concession of utility rights Further no responsibility whatsoever is ac cepted for problems arising from use of the information contents listed in this manual CO eS TES Cautions To Ensure Safety cccccceeseeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 1 1 1 Basic safety points 2 1 2 System design safety points 2 1 3 Installation and wiring safety points 3 1 4 Start up and maintenance safety 4 1 5 Precautions when disposing of the 4 156 Warranty coo aA ee Ao Acto 5 Ethernet UNIE ione v eai 7 2 1 Ethernet unit features sieh pr ph i D dci bon vedo Qoa dd pa 8 2 2 How data is exchanged
19. eliant anshlae ta aannant ta aar Select Network Client x Click the Network Client that you want to install then click If you an installation disk for this device click Have Disk Manufacturers Network Clients Client for NetWare Networks Microsoft Family Logon Have Disk ca Select Network Component Type Click the type of network component you want to install Cancel Select Network Protocol Click the Network Protocol that you want to install then click If you Rg an installation disk for this device click Have Disk Manufacturers Network Protocols Fast Infrared Protocol IPX SPX compatible Protocol Microsoft 32 bit DLC Microsoft DLC hy NetBEUI Have Disk Cesl 2 Ethernet Unit Checking the connection with ping Once you are finished with the network settings make a check with ping to confirm that you can send and receive data normally Here ping is a network diagnostic tool incorporated into the OS as a standard feature A simple description of how to use ping incorporated into Windows 98 is described below so refer to it when needed If using ping while incorporated into another OS or TCP IP protocol then consult the instruc tion manual for that particular device 1 2 3 Click the Start button point to Pro grams
20. port When setting the HUB communication mode manually then set it to 10Mbps Half Duplex If operation returns to normal then the HUB is defective so replace the HUB Router is defective or wrong settings Check the router settings Try substituting with another router Redo the router settings If operation returns to normal then the router is defective so replace the router Network adapter used by the client is defective or the settings on the client side are wrong Check the network settings on the client side Try substituting with another network adapter on the client side Redo the network settings on the client side f operation returns to normal then the network adapter is defective so replace the adapter Network traffic communication data load is too heavy Check if the traffic load is appropriate Change the network structure to get a smaller traffic load Ethernet cable is too close to a noise source such as motor cables Check how and where the Ethernet cables are installed 32 Separate the Ethernet cable from potential noise sources Probable causes 7 Wrong IP address subnet mask or gateway settings on controller Checkpoints Check the settings after referring to 2 4 2 Setting the IP address 10 2 4 3 Setting the subnet mask p 12 and 2 4 4 Setting the gateway p 13 CHAPTER2 E
21. specified actions D Specify the IP address of controller to exchange data with and make the connec tion Above example shows the client 192 168 0 10 has specified the controller 192 168 0 5 and made a connection 2 After making the connection the controller runs a specific series of actions accord ing to instructions from the client During multitasking by the client several robots can be simultaneously connected to one client unit Only one client can make a simultaneous connection to one controller unit Settings such as of the IP address and subnet are made from the TPB 2 Ethernet Unit 2 3 How to connect to Ethernet The Ethernet unit employs 1OBASE T specifications so the controller connects by a cable to the HUB Use UTP cables unshielded twisted pair cables or STP cables shielded twisted pair cables for category 3 or higher with straight through wiring specifications To connect to the Ethernet insert the cable with modular jack into the modular connector on the controller until you hear a click Insert the other end of the cable into the modular connector on the HUB HUB UTP STP straight through cable Controller Fig 2 1 Connecting to Ethernet CAUTION We use an FL HUB made by Ph
22. to set appears and then press that function key select menu LPORT2ZECHO3TOUT4next V 4 currently set data now appears To E SYS OPT PORT change this setting enter the figure you want with the number pad keys When fin port No ished press the gt key 23 range 0765535 V j a N 5 The screen returns to the previous display SYS OPT PORT in step 4 port No 3000 range 0 565535 21 2 Ethernet Unit 2 8 2 TELNET dedicated parameters Setup method 2 To set the user name and password for login use the procedure below 1 2 3 4 5 6 Perform step 1 through step 3 in 2 8 1 TELNET dedicated parameters Setup method 1 Select F1 LIN to display the submenu Press CHEK to set whether or not to make the LOGIN check Press 2 USER to set the user name Press PASS to set the password If you selected 2 USER PASS in step 2 then a screen appears showing the currently set user name and password on the 3rd line To change the current user name and pass word select and enter one character at a time from the letters in the 4th line To enter those characters use the or keys to move the cursor to the char acter you want and then press the If you enter the wrong character you erase it by pressing the key When finished entering the characters press key
23. use TCP IP protocols The Ethernet unit contains TCP IP ICMP ARP and TELNET protocols The protocols making up TCP IP are also comprised of many protocols other than those shown in the figure on the left Protocols are a set of conventions or rules that must be mutually complied with HTTP FTP so that controllers and TCP IP protocols PCs can communicate Ethernet with the other party The Ethernet is basically one type of standard for network system hardware Ethernet is a network invented by the Xerox Corporation USA in the early 1970 s and cur rently forms an international standard known as IEE802 3 The Ethernet physically consists of cable types such as IOBASE 2 IOBASE 5 and 10BASE T that differ from each other in terms of maximum cable length and the maximum number of connections The Ethernet unit uses cables conforming to 10 5 specifications Besides TCP IP the protocols most commonly used on the Internet are NetBEUI and IPX SPX etc Another feature of the Ethernet is the use of CSMA CD as a data transmission method see below UDP TELNET CSMA CD Carrier Sense Multiple Access with Collision Detection CSMA CD is a method of sending signals developed by combining CSMA data transmission method with a transmission error handling method called CD CSMA refers to joint use of one transmission cable by many devices connected over a network CSMA is therefore a method for checking network s
24. asking if it is okay to restart the PC Click the OK button to restart The settings you made are ena bled once the PC restarts If Client for Microsoft Networks and TCP IP were missing in step 3 above click the button to add them to The following network components are in stalled list Double click Client to add Client for Microsoft Networks In the Manufacturers box select Microsoft and in the Network Clients box select Client for Microsoft Net works and click the button Double click Protocol to add TCP IP In the Manufacturers box select Microsoft and in the Network Protocols box select TCP IP and click the button 18 Bindings Advanced 808 DNS Configuration Gateway WINS Configuration IP Address TCP IP Properties The first gateway in the Installed Gateway list will be the default The address order in the list will be the order in which these machines are used New gateway 192 168 0 1 Installed gateways 192 168 0 1 kil Fast Infrared Protocol gt ThinkPad Fast Infrared Port E File and printer sharing for Microsoft Networks Properties Primary Network Logon for Microsoft Networks 7 File and Print Sharing Description Select Network Component Service
25. ction is the host address section The host address is an address for identifying each device on that network The IP address as shown below uses the first through the Nth bits as the network address and N 1 bit through 32nd bit as the host address The value of N is determined by the subnet mask 1 N 1 32 IP address Network address section Host address section In an IP address of 192 168 0 2 for example if the N value network length is 24 bits then the network address section is 192 168 0 and the host address section 1s 2 Generally in a network address the host address section is 0 and the network length is listed behind the address In the above example this would be shown as 192 168 0 0 24 One network can be connected with as many devices as there are addresses to identify them However host address bits having all zeroes 0 or all ones 1 are reserved and so cannot be used In the above example though the host address can identify 256 devices the numbers 0 and 255 cannot be used so the maximum number of devices that can actually be connected is 254 192 168 0 0 24 192 168 1 0 24 192 168 0 1 192 168 1 1 Maximum of Maxi f 192 168 0 100 254 devices tmm 192 168 1100 254 devices connected by 192 168 0 254 192 168 1 254 Network Network Any company organization can freely select a host address but when attempting to connect their network to the Internet that company organization
26. ctor Transceiver cable AUI cable HUB with 10BASE 5 connector Les CE JE AE AC PC Controller The IOBASE 5 cable has a maximum length of 500 meters However this distance can be extended to a maximum of 2 5 kilometers by connecting cables together and using repeaters etc System setup example IP address Subnet mask Gateway PC 192 168 0 2 255 255 255 0 192 168 0 1 Controller 1 192 168 0 3 255 255 255 0 192 168 0 1 Controller 2 192 168 0 4 255 255 255 0 192 168 0 1 Controller 3 192 168 0 5 255 255 255 0 192 168 0 1 40 2 Ethernet Unit E Example 4 this example a dial up router is used to operate a controller in a remote location over an ISDN line ISDN public telephone line Factory Head office ISDN dial up router Le Controller System setup example Head office network 192 168 0 0 24 Factory network 192 168 1 0 24 IP address Subnet mask Gateway Head office router 192 168 0 1 255 255 255 0 PC 192 168 0 2 255 255 255 0 192 168 0 1 Factory router 192 168 1 1 255 255 255 0 Controller 1 192 168 1 2 255 255 255 0 192 168 1 1 Controller 2 192 168 1 3 255 255 255 0 192 168 1 1 Controller 3 192 168 1 4 255 255 255 0 192 168 1 1 The dial up router must be set so that data destined for 192 168 0 0 24 is sent to the head office and data destined for 192 168 1 0 24 is sent to the factory
27. d the password check when connected to the controller In this case the client cannot con nect to the controller if data stored within the controller does not match data sent from the client However if the login check is not selected here then no check of the con nection is made and communication is possible right away Input range 1 Meaning 0 No login check 1 Login check Default value 1 B LIN USER Login user Use this parameter to set the user name when making the login check When the login check is used the user name set here must entered so the client can connect to the controller Characters that can be input are alphabet letters to Z a to z numbers 0 to 9 and symbols amp I All regular pitch letters Input range 1 to 8 characters Default value USER LIN PASS Login password Use this parameter to set the password when making the login check When the login check is used the password set here must entered so the client can connect to the controller Characters that can be input are alphabet letters A to Z a to z numbers 0 to 9 and symbols amp I All regular pitch letters Input range 1 to 8 characters Default value PASSWORD LOUT Logout processing Robot operation can stop automatically when the client terminates the connection with the controller Input range 1 Meaning 0 Continue robot operation 1
28. dating the Ethernet unit Before the Ethernet unit can be used it must first be set as follows to allow it to be identified by the controller 1 Press F3 SYS on the initial menu select menu lEDIT2OPRT3SYS AMON S 2 Press next to switch the function SYS display and then press F2 select menu 15 3UTL 4next 3 Press F1 DEV b Li SYS OPT select menu 2MAC 3VER 4next 4 current Ethernet unit identity status SYS OPT DEV appears on the display Using the number keypad enter 1 to Ethernet 0 make the Ethernet unit identifiable from the controller or enter 0 to prevent it being identified from the controller and d P then press key N 5 The screen returns to the previous display SYS OPT DEV in step 4 Ethernet 1 0 invalid 1 valid 2 Ethernet Unit 2 4 2 Setting the IP address This following explains how to set the IP address The IP address is a number unique to each device and identifies that device from among many other devices connected on the network The IP address of one device must not be the same number as another device so use caution when setting the IP address 1 Press SYS initial menu N screen MENU select menu
29. duct instruction manual For information on operating the YAMAHA controller or robot programming refer to the controller user s manual Ethernet is a registered trademark of the Xerox Corporation USA 2 Ethernet Unit How data is exchanged The following is a brief explanation to help understand how information is exchanged over the Ethernet with the other devices such as between the controller and PC In the communications method called TCP IP an IP address is assigned to each device connected on the network The IP address is a number unique to each device and serves to identify that device In the communications process the IP address of the controller must first be specified to make connection After making the connection the actual data is exchanged between the devices and when finished the connection is terminated The controllers equipped with the Ethernet unit operate as a server and constantly await a connection request from the client other party s device such as a PC Specific actions are then carried out when a request arrives from a client So the controller cannot connect to another server on its own 192 168 0 5 IP address Functions as a server 192 168 0 3 Controller Performs specified actions upon receiving Server Ethernet Unit request from client Ethernet 192 168 0 10 192 168 0 11 192 168 0 12 Device such as PC is the client connects to server and issues commands to perform
30. e IP address and MAC address do not match each other then the IP address is wrong so try redoing the settings If found to be the same as another device change the setting Network traffic communication data load is too heavy Check if the traffic load is appropriate Change the network structure to get a smaller traffic load An OK does not come back after login or no replay comes back even after issuing a command Some unit control commands are useable such as LOGOUT or BYE Ethernet unit is not enabled and not identified recognized by controller See 2 4 1 Enabling the Ethernet Unit p 9 and check if the Ethernet Unit is enabled Enable the Ethernet unit and turn on the power to the controller again I O custom command input signal is set ON Check the I O signal Check on the sequencer monitor etc Communication error is issued when TPB is connected to controller Always use a pulse input for the custom command input Commands such as origin return axis movement commands or data write commands are being run from I O or RS 232C Reply comes back after axis movement or writing data 33 When issuing TELNET commands do not run commands from the I O or RS 232C 2 Ethernet Unit Symptom Program stops by itself during automatic operation Probable causes TELNET communication cuts of
31. ely when communication errors occur CAUTION Do not bundle control lines or communication cables together or in close contact with main circuit or motor actuator lines As a general rule maintain a gap of at least 100mm Noise in signal lines may cause faulty operation 1 3 CHAPTER1 Cautions Ensure Safety Installation and wiring safety points CAUTION Always cut off all power to the controller and the overall system before attempting installation or wiring jobs This will prevent possible electrical shocks After the controller has been on for a while some points in the controller may be extremely hot or remain at high voltages After cutting off the power when install ing or removing the unit wait at least 5 minutes before starting work CAUTION Always uses the system specifications as listed in the controller instruction manual during installation or wiring work on the controller Attempting to use other than these system specifications might cause electrical shocks fire faulty operation product damage or deteriorated performance CAUTION Securely install the connectors into the unit and when wiring the connectors make the crimp contact or solder connections correctly using the tool specified by the manufacturer Poor connections will cause faulty operation ACAUTION When installing the unit be careful not to directly touch any electronic compo
32. ernet Unit 2 5 Making PC settings client The settings for the device PC are also essential for correctly exchanging information with the controller A basic method for setting a computer using Windows 98 is de scribed below If using a device having a different OS operating system or TCP IP protocols refer to the user s manual for that device for information on how to make the settings Windows is a registered trademark of the Microsoft Corporation USA EP 2 5 1 Setting the TCP IP protocol A brief description of setting the TCP IP protocol for Windows 98 is given below See the First Step Guide in Windows 98 for more detailed information Some changes in the settings may be needed to match the user s network 1 Click the Start button point to Set tings and then select Control Panel 2 Double click the Network icon within the Control Panel 3 Under the Configuration tab screen Network look inside following network com Configuration Identification Access Contra ponents are installed list and check that The following network components are installed Client for Microsoft Networks and BS Client for Microsoft Networks aa am Ethemet TCP IP present When there is I Dial Up Adapter Y TCP IP gt der Ue Ethene LAN Cod more than one network adapter the Y gt
33. f by itself without a LOGOUT or BYE command being issued Checkpoints Action Always use a LOGOUT or BYE command to terminate a TELNET communication TELNET parameter was set to stop operation during logout Check the TELNET parameter to find if it was set to stop operation during logout Reset the parameter so operation continues during logout Communication status continues for a fixed period and then cuts off automatically at timeout Check the TELNET parameter to find if communication status is longer than the time set for timeout Set so communication time does not exceed the timeout limit Otherwise increase the communication timeout period or disable the timeout function No response status continues for a fixed period versus the keep alive packet and then cuts off automatically at timeout Check if a cable is detached or power supply for the HUB or other equipment is off Check if operating problems are occurring in devices such as the HUB due to noise etc Too short of a period was set for the no response timeout period Check the network and repair restore any problem locations Replace a device having operating errors with another device Set the no response timeout period to match the network structure and traffic conditions Or disable the timeout function Ethernet unit is defective Try substituting with another Ethernet unit
34. he initial N ress the initial menu MENU screen select menu LEDIT2ZOPRT3SYS 2 Press next to switch function eve ES display and then press OPT select menu 15 3UTL 4next 3 Press next again and then press N 4 next ag GWAY select menu 1IP 2MASK3GWAY4next Ne 4 The currently set gateway is now dis played To change it enter new gate SYS OPT GWAY way with the number pad keys To move gateway the cursor to right and left between peri ods use 25 or 2 keys When completely finished making the gateway entry press the key 5 The screen returns to the previous display a in step 4 SYS OPT GWAY gateway 133 210 201 1 x 2 Ethernet Unit CAUTION Any appropriate gateway address can be used as long as the network is not con nected to other networks However use an IP address that has not yet been as signed to other devices When connecting the controller on an already existing network always check with the network supervisor before making IP address subnet mask and gateway set tings The Ethernet unit uses a private address as the IP address default setting This default value cannot be used as is on the Internet So when connecting to the Internet always be sure to change the IP address of the controller to a global address 2 Eth
35. ice The HUB may have different type connectors depending on whether the HUB is for 10BASE 2 or 10 5 5 Various types of networks be constructed by means of these HUBs Router The router is a device for mutually connecting networks together The router is con trolled based on a sophisticated process The router sends data with an external desti nation from an internal network to an external network and sends data received from an external network to an internal network Designated data is discarded in a filtering process to help maintain network safety The router IP address is set as the gateway address in each network device This set ting allows data to be correctly sent and received by each device on the network 45 Revision record Manual version Issue date Description Ver 3 07 Dec 2007 Addition of SRCP30 to supporting controller version Clerical error corrections etc Ver 3 09 Jul 2012 The description regarding Warranty was changed User s Manual SRCD SRCP VA M A H A ERCX SRCX DRCX Single axis Dual axis Robot Controllers Eth e rn e t network board Ver 3 09 This manual is based on Ver 3 09 of Japanese manual YAMAHA MOTOR LTD IM Operations All rights reserved No part of this publication may be reproduced in any form without the permission of YAMAHA MOTOR CO LTD Information furnished by YAMAHA in this manual is believed to be reliable However no resp
36. ilizes TCP IP which is a standard Internet protocol so PCs and business computers with Internet access or equipment incorporating TCP IP protocols can easily exchange data with the controller Main features of this Ethernet unit are as follows The controller can be connected to the Ethernet system using this unit The unit fits directly inside the controller and so does not require any extra installation space The Ethernet unit uses 1 specifications so UTP cables unshielded twisted pair cables or STP cables shielded twisted pair cables can be used This makes cable and wiring installation really easy Several controllers be connected the same network so information can be processed in one batch from a designated PC Bi Utilizing HUB having 10 5 2 1OBASE 5 connectors controllers can be accessed even from offices located away from the factory Using the Internet al lows accessing even controllers in remote locations The controller operates as a TELNET socket server which can easily be accessed from PCs used as TELNET terminals Windows PCs incorporate a TELNET ter minal called TELNET EXE as standard equipment Ethernet unit commands are the same as those handled through RS 232C so even first time users will find it easy to use If information such as network settings on the PC or for detailed information on other equipment is needed refer to that particular user s manual or pro
37. in incorrect Meaning Error was found during login check Response Enter the correct user name and password Message TELNET is disconnected Meaning Login check was made 3 times but errors were found so connection was cutoff Response Enter the correct user name and password Message telnet is already used Meaning A TELNET connection has already been made Response Limit the number of simultaneous logins to 1 Message timeout Meaning Continuous communication time exceeded the time set on the TELNET parameter timeout time Response Set a larger timeout time on the TELNET parameter so communication time does not exceed the timeout 31 2 Ethernet Unit 2 13 Troubleshooting When problems occur then troubleshoot as needed by using the following information as a guide Be sure to always also refer to sections on Troubleshooting in the controller user s manual as well as the instruction manual for the other party s equipment such as PCs or HUB peripheral devices If taking the troubleshooting steps listed there does not eliminate the problem then quickly contact your local YAMAHA sales dealer Symptom Cannot make TELNET connection Using ping only results in a timeout Probable causes Checkpoints Disconnect the controller from the network and connect the PC instead Use a PC capable of a good connection with the networ
38. ion example VER Response example Version 1 01 3 ETHER ECHO echo status Selects the Ethernet status Echo status 1 signifies using echoback 0 signifies no echoback Transmission example _ _0 I f Sets to echoback Response example OK I f 4 ETHER ECHO Reads out echoback status Transmission example ETHER_ECHO_0 c r Response example oan clei Echobackstatusis echoback PPP 2 9 3 Robot control commands Robot control commands access the controller and perform sophisticated processing Command specifications are identical to RS 232C communication commands Refer to the Communication Command Description in the controller instruction manual for further information 26 2 10 2 Ethernet Unit Making a connection with TELNET EXE A typical Windows PC has a TELNET terminal called TELNET EXE as standard equip ment The following briefly explains how to make a connection using TELNET EXE Preconditions are a controller IP address of 192 168 0 2 a port No of 23 and all other dedicated TELNET parameters at their default values 1 2 3 4 5 Click the Start button and select to open the file name input window En ter telnet here and then press the OK button The telnet exe now starts up so select Remote System from the Connect
39. k Make the same IP address subnet mask and gateway settings as used on the controller Now try running ping from the client while setup as above and check for a response Action If timeouts still occur when connected this way using PC instead of controller then the problem is on the client side or in the HUB peripheral device Check probable causes 1 through 6 If a replay comes back normally then the problem is in the controller so check probable causes 7 through 8 1 Ethernet cable defects poor connection or wrong specs Check if securely attached to modular connector Check for a disconnection or break in the cable or a miswire Check if the straight through cable or crossover cable are being used for the wrong connection Try replacing the cables nsert in firmly until a click noise is heard Correct the wiring if a miswire is found Replace the cable if a break in the wiring is found Use a straight through cable between the HUB and controller Use a crossover cable if connecting directly to the other party s device f operation returns to normal then the problem is in the cables Replace the cable Defective HUB or wrong settings Try changing to another port Check if the communication mode is manually set to other than 10Mbps Half Duplex Try another HUB f operation returns to normal then the port is defective so do not use that
40. ld be different for every device and set so that no two devices have the same number The first and the last host address numbers are reserved for the system so be sure not to set these as the IP address When the IP address for example is 192 168 0 10 and the subnet mask is 255 255 255 0 the network address section is found to be 192 168 0 and the host address section to be 10 by means of AND processing with the subnet mask In this case the network address section of all other devices belonging to that network must all be 192 168 0 The host address section of those other devices on the other hand must be set to a number other than 10 The number 0 and 255 are reserved so do not use them for setting the host address So when a device having an IP address of 192 168 0 10 and a subnet mask of 255 255 255 0 belongs to a particular network and you want to add another device to that network then you would assign IP addresses from among 192 168 0 1 to 192 168 0 9 and 192 168 0 11 to 192 168 0 254 MEMO The Ethernet unit is not usable with IP address auto acquisition functions such DHCP and BOOTP You must set the IP address manually 2 Ethernet Unit 2 4 3 Setting the subnet mask This following explains how to set the subnet mask The subnet
41. ls or pins while power is still applied to the unit This may cause electrical shocks or faulty operation 1 5 Precautions when disposing of the unit ACAUTION This product must be properly handled as industrial waste when its disposal is required 1 6 CHAPTER1 Cautions To Ensure Safety Warranty For information on the warranty period and terms please contact our distributor where you purchased the product This warranty does not cover any failure caused by 1 Installation wiring connection to other control devices operating methods in spection or maintenance that does not comply with industry standards or in structions specified in the YAMAHA manual 2 Usage that exceeded the specifications or standard performance shown in the YAMAHA manual 3 Product usage other than intended by YAMAHA Storage operating conditions and utilities that are outside the range specified in the manual AR Damage due to improper shipping or shipping methods Accident or collision damage Installation of other than genuine YAMAHA parts and or accessories N tA Modification to original parts or modifications not conforming to standard speci fications designated by YAMAHA including customizing performed by YAMAHA in compliance with distributor or customer requests 9 Pollution salt damage condensation 10 Fires or natural disasters such as earthquakes tsunamis lightning strikes wind
42. ly with other party s device This cable is also used to connect HUBs in cascade when HUBs have a cascade port Between 1 568 Between T 568B Signal name Color Color TD Green White Orange White TD TD Green Orange TD RD Orange White Green White RD Not use Blue Blue not use Notuse Blue White Blue White not use RD Orange Green RD Notuse Brown White Brown White Not use Not use Brown Brown Not use Pins 4 5 7 8 are not used for IOBASE T 37 2 Ethernet Unit 2 15 Supplement PPP 2 15 1 Typical network systems How a particular user builds up a network system depends on factors such as the scale of the network E Example 1 In this example several controllers are operated from one PC using one HUB HUB 10BASE T cable 10BASE T cable 66 1 Controller System setup example IP address Subnet mask Gateway PC 192 168 0 2 255 255 255 0 192 168 0 1 Controller 1 192 168 0 3 255 255 255 0 192 168 0 1 Controller 2 192 168 0 4 255 255 255 0 192 168 0 1 Controller 3 192 168 0 5 255 255 255 0 192 168 0 1 38 2 Ethernet Unit Example 2 this example many controllers are operated with HUBs connected in cascade wr Crossover cable Fel
43. mask is a numerical address used to subdivide the network into smaller parts 1 2 3 4 5 Press SYS on the initial menu screen Press next to switch the function display and then press F2 Press next again and then press F2 MASK The currently set subnet mask is now dis played To change it enter the new subnet mask with the number pad keys To move the cursor to right and left between peri ods use the 24 or keys When completely finished making the subnet mask entries press the gt key The screen returns to the previous display in step 4 When connecting the controller on an already existing network always check with the network supervisor before making IP address subnet mask and gateway set tings ie MENU select menu LEDIT2ZOPRT3SYS 4MON ES 5 51 select menu 15 3UTL 4next SYS OPT select menu 1IP 2MASK3GWAY4next SYS OPT MASK subnet mask 255 255 255 0 SYS OPT MASK subnet mask 255 255 255 240 2 4 4 2 Ethernet Unit Setting the gateway The following explains how to set the gateway Basically this is specifying the router IP address The router is a device relaying information from a certain network to a different network when two or more networks are present 1 P SYS t
44. munication command is basically composed of an operation code and an oper and Depending on the command statement either no operand or multiple operands are used Items in brackets can be omitted The character codes used are the JIS8 unit system codes ASCII codes with katakana characters added Input characters can be upper case or lower case One or more space must be inserted between the operation code and the operand W Items in lt gt marks should be specified by the user Check the description of each communication command and enter the appropriate data When two or more operands are entered insert a comma between them There are exceptions 25 2 Ethernet Unit 2 9 2 Ethernet unit control commands These commands instruct the Ethernet unit to process the command task Unlike the robot control commands described later on the Ethernet unit control commands may not require a start code 40H at the beginning of the command 1 LOGOUT BYE This command terminates TELNET communication The LOGOUT and the BYE commands have the same results Always issue one of these commands when termi nating communication Cutting off communications without using these commands causes an error to be issued and halts robot operation Transmission example LOGOUT Terminates TELNET communication 2 VER This command shows the Ethernet unit version Transmiss
45. oenix Contact to check operation Using this HUB is recommended if constructing your own system HUBs generally available on the market are not designed for use in locations such as factories so some HUBs are vulnerable to external noise Please acknowledge beforehand that operation cannot be guaranteed if other types of HUBs are used Always be sure to use a HUB with high noise resistance when connecting to the controller CAUTION The maximum cable length between the HUB and controller is 100 meters Before connecting the HUB and controller always refer to the instruction manuals for the device used by the other party and peripheral equipment such as the HUB If the HUB communication mode be set manually then set to 10Mbps Half Duplex MEMO Using a straight through cable is recommended when connecting to the other party s device by way of the HUB You can connect directly to the other party s device without the HUB by using a crossover cable but communication may sometimes not be possible due to the type of LAN adapter used by other party s device 10 2 4 2 Ethernet Unit Making system settings for the controller server A minimum of IP address subnet mask and gateway settings must be made so that the controller will be correctly identified and acknowledged on Ethernet These settings are made from the TPB and enabled after the controller is restarted PPP 2 4 1 Vali
46. on cannot be guaranteed if other types of HUBs are used Always be sure to use a HUB with high noise resistance when connecting to the controller 35 2 Ethernet Unit 2 14 2 Modular connector The pin layout for the modular connector used in the Ethernet unit is shown below Signal name 12345678 TD TD Pins 4 5 7 8 are not used 36 2 14 3 2 Ethernet Unit UTP STP cable The Ethernet cables are standardized by ANSI TIA EIA568A To avoid miswiring and malfunction we recommend using cables conforming to this standard When using 10BASE T cables it must have transmission characteristics of category 3 or higher Straight through cable Use this cable to connect the HUB to the controller and other party s device Between T 568A Between T 568A Signal name Color No Pin Color Signal name TD Green White 1 1 Green White TD TD Green 2 2 Green TD RD Orange White 3 3 Orange White RD Not use Blue 4 4 Blue not use Notuse Blue White 5 5 Blue White not use RD Orange 6 6 Orange RD Brown White 7 Brown White Not use Not use Brown 8 8 Brown Not use Pins 4 5 7 8 are not used for IOBASE T Straight through cable also connects between T 568B and T 568B Crossover cable Use this cable to connect the controller direct
47. ons since it connects between separate systems Basically not usable for real time processing since real time operation is not guaran teed RS 232C Basically handles one party to one party or device communications Designed for communications between devices in close proximity Operates largely to real time specifications Ethernet communications protocol specifications do not guarantee real time opera tion So relying only on the Ethernet in situations such as robot emergency stop can be extremely dangerous Install safety interlock circuits using the emergency stop termi nal in the parallel I O of the controller to ensure quick and effective emergency stops 20 2 8 2 Ethernet Unit TELNET dedicated parameters To ensure reliable TELNET communications that match customer system settings the Ethernet unit can be used with TELNET dedicated parameters explained in this section PPP 2 8 1 TELNET dedicated parameters Setup method 1 To set up TELNET dedicated parameters use the procedure below User name and password settings are not included EE 1 Press SYS on the initial menu MENU screen select menu LEDIT2ZOPRT3SYS AMON 2 Press next to switch the function C 33 SYS display and then press OPT select menu 15 3UTL 4next i i TN 3 Press next a few times until the pa SYS OPT rameter you want
48. onsibility is assumed for possible inaccuracies or omissions If you find any part unclear in this manual please contact your distributor
49. owing connection of up to 65533 devices However unless changes are made this network cannot effi ciently perform the required managing and processing tasks So such a network is normally set with subnet masks to divide it into an appropriate number of smaller networks When a class B network for example is set with a subnet mask of 255 255 255 0 a total of 256 settings can be made allowing up to 254 devices to be connected MAC address Media access control address The MAC address also called the Ethernet address is a hardware type identification number 6 bytes set in each network interface The MAC address is set in each device during the manufacturing stage and therefore does not have to be set by the user Each device in the Ethernet system is identified by means of this MAC address In other words the IP address is automatically converted to a MAC address even when communicating by means of a TCP IP protocol Basically the user does not normally have to even be aware of the MAC address However if there are communication problems then the interrelation of the IP ad dress and MAC address can be checked to find out if the cause of the problem is overlapping identical IP addresses E HUB A HUB is device used for connecting devices such as PCs by way of a 10 network The HUB has multiple ports that allow connecting modular jacks and twisted pair cables fitted with these modular jacks connect to the HUB from each dev
50. ss 00 04 C6 00 01 1F J 2 Ethernet Unit 2 11 2 Displaying the version of the Ethernet unit 1 2 3 4 Press SYS on the initial screen Press next to switch the function display and then press 2 Press VER The version of the Ethernet unit now ap pears on the screen Press Eso to return to the previous screen 30 MENU select menu LEDIT2ZOPRT3SYS 4MON SYS select menu 15 3UTL 4next SYS OPT select menu IDEV 2 3VER 4next SYS OPT VER unit version 1 01 2 Ethernet Unit 2 12 Message List EP 2 12 1 Error messages The following error messages involving the Ethernet system have been added Message net link error TELNET connection terminated due to error Cause TELNET dedicated parameter is set so as to stop operation during ERROR logout processin MESSAGE ________ 38 To end the TELNET communication use a LOGOUT BYE Solution command Make setting with a TELNET dedicated parameter so as to continue operation during logout processing 2 12 2 Telnet message list Message login Meaning Request for entry of login user name Response Enter user name Message Password Meaning Request for entry of login password Response Enter login password Message log
51. tatus beforehand and then transmitting the data after verifying that transmission is possible CD is a method for handling data collisions that occur on the network In this method when a data collision conflict occurs that data is re transmitted after a randomly selected time period has elapsed Many devices can be connected to the Ethernet by using these CSMA CD methods However performance cannot be guaranteed in real time because of transmission standby time awaiting transmission and retransmissions 43 2 Ethernet Unit address The IP address is unique number assigned to each device to identify that device on the network and prevent the same number from being used by different devices More accurately an IP address is assigned to each network interface since once PC may sometimes be installed with multiple network interfaces In a TCP IP protocol the data transmit source and destination are specified by this IP address The IP address consists of 32 bits 4 bytes so can be expressed with this number without changes however it is normally expressed as a decimal number separated by periods at each byte in other words four sets of numbers separated by periods An IP address of 0xC0A80002 for example is normally expressed as 192 168 0 2 The IP address is actually comprised of 2 address sections One section is the network address The network address is the address of the network itself The other se
52. thernet Unit Redo IP address subnet mask and gateway settings correctly Then turn on the controller power again Ethernet unit is defective Try substituting the Ethernet unit f operation returns to normal then the Ethernet unit is probably defective so replace the Ethernet unit Cannot make TELNET connection or cannot terminate the TELNET connection right away ping reply is normal Wrong IP address used during Telnet connection Check that the IP address of the controller you are attempting to connect with is correct Enter the correct IP address Wrong Port No used during TELNET connection Check that the port No of the controller you are attempting to connect with is correct Enter the correct IP address The controller is already logged in with another TELNET terminal When connected the message telnet is already used appears Await termination of current TELNET connection Alarm issued to controller Alarm message appears when connected Connect the TPB and check for an alarm Status led is lit up in red Troubleshoot according to the type of alarm IP address is the same as another network device Check if the IP address and MAC address have a correct match by using the command incorporated in the OS Check all devices on the network to find if the same IP address is being used If th
53. y items within the limited space of this manual So it is essential that the user have a full knowledge of basic safety rules and also that the opera tor makes correct judgments on safety procedures during operation Industrial robots are highly programmable mechanical devices that provide a large de gree of freedom when performing various manipulative tasks Failure to take necessary safety measures or mishandling due to not following the instruction in this manual may result in trouble or damage to the robot and injury to personnel robot operator or service personnel including fatal accidents Important caution points in this manual are from hereon indicated by the term CAUTION agg 1 2 System design safety points CAUTION Ethernet communications protocol specifications do not guarantee real time op eration So relying only on the Ethernet in situations such as robot emergency stop can be extremely dangerous Install safety interlock circuits using the emergency stop terminal in the parallel I O of the controller to ensure quick and effective emergency stops CAUTION To find the current status of the network system and controller when communica tion errors occur on the Ethernet system refer beforehand to this manual and the instruction manual for equipment used by the other party Also install safety in terlock circuit so that systems including a controller will function reliably and saf
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