Home

EtherNetI/P User`s Manual

1. Shows the group number in upper 8 bits and the category number in lower 8 bits Shows the additional information section in upper 8 bits and the detail value in lower 8 bits A 151 lt A i 3 O D O O 3 3 Q gt Q c Q D Example Channel Value Use this command as shown at right to acquire the 0x0508 execution line of a task 0x0000 Values are expressed as shown at right when executed correctly 0x0200 Task 1 Execution on first line 0x0000 Task 2 Execution on 19th line 0x0001 Task 3 no tas 0x0013 Task 4 no tas 0x0000 Task 5 Execution on 99th line 0x0000 Task 6 no tas 0x0063 Task 7 no tas 0x0000 Task 8 no tas 0x0000 0x0000 0x0000 4 7 8 Message reference Execute this command to acquire information on error message status E Command Channel Contents Command code 0x0509 Not used 0x0000 Error acquisition number Oxaaaa Not used 0x0000 aaaa Specify the error acquisition number 0 Message currently displayed on programming box 1 to 500 Message number stored in error history E Status Normal end Channel Contents Status code 0x0200 Error code Oxaabb Additional information Oxccdd Not used A D 3 O 0 O O 3 3 Q gt Q c Q D aabb Shows the group number in upper 8 bits and the
2. 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 A 109 lt A D 3 O ja D O O 3 3 Q gt Q c Q D 4 4 1 4 Arithmetic operation using variable on static variable This command performs four arithmetic operations by specifying variable numbers 1 and 2 Results are stored in a static variable SGIn or SGRn specified by variable number 1 Variable number 1 Variable number 1 operator variable number 2 E Command Channel Contents Command code Addition 0x0205 Subtraction 0x0209 Multiplication 0x020D Division 0x0211 Not used 0x0000 Variable number 1 Variable number at arithmetic operation destination Oxssss Not used 0x0000 Variable number 2 Variable number at arithmetic operation source Oxssss Not used 0x0000 ssss Specify variable numbers 1 and 2 in 16 bits Specified range for integer variable 0 0x0000 to 7 0x0007 Specified range for real variable 256 0x0100 to 263 0x0107 Integer variable Variable number Real variable Variable number 0 0x0000 256 0x0100 1 0x0001 257 0x0101 7 0x0007 263 0x0107 E Status Normal end Channel Contents Status code 0x0200 Not used Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd Not used aabb Shows the group number in upper 8 bits and th
3. Output port DO 21 n 4 0x1021 Numerical data 1 n 6 0x0001 0x0000 Values are expressed as shown at right when executed Channel Value m correctly 0x0200 m 2 0x0000 m 4 0x0000 0x0000 ns D 3 O ja D O O 3 3 Q 3 Q c Q D gt A 130 4 5 1 2 O port reference Use this command to obtain the contents of a port number by specifying the port number E Command Channel Contents Command code Port units 0x0304 Not used 0x0000 Port number bit 3 bit 0 0 Fixed bit 7 bit 4 Units of port number bit 11 bit 8 Tens of port number bit 15 bit 12 Specified port type Not used 0x0000 rq Specify the place of each port number in 4 bits p Specify the port type in 4 bits Designated port type Bit pattern Specified range of port number 0 to 7 10 to 17 20 to 27 0 to 7 10 to 17 20 to 27 0 to 7 10 to 17 20 to 27 0 0 0 to 7 10 to 17 20 to 27 0 to 7 10 to 17 20 to 27 E Status Normal end Channel Contents Status code 0x0200 Not used Port number bit 3 bit 0 Not used bit 7 bit 4 Units of port number bit 11 bit 8 Tens of port number bit 15 bit 12 Specified port type Bit pattern 0x00bb Not used rq Shows the place of each port number in 4 bits p Shows the port type in 4 bits bb Shows the bit pattern in 8 bits When i
4. bit 5 Axis 6 bit 6 0 Fixed bit 7 Direction bit 15 bit 8 0 Fixed Not used 0x0000 n Specify in 1 bit whether to output current position 0 No output 1 Output tt Specify the axis to move in 0 to 3 bits Only one axis can be specified d Specify the movement direction in 1 bit direction direction A D 3 O ja D O O 3 3 Q gt Q c Q D gt A 66 E Status Normal end Channel Contents Status code 0x0200 Not used Point flag bit 0 Point unit a bit 15 bit 1 Not used 0 Axis 1 data Oxbbbbbbbb Axis 2 data Oxbbbbbbbb Axis 3 data Oxbbbbbbbb Axis 4 data Oxbbbbbbbb Axis 5 data Oxbbbbbbbb Axis 6 data Oxbbbbbbbb a Shows in 1 bit the units for current position output point data Linked with point display unit of controller Pulse units Millimeter units bbbbbbbb Shows the current position output data in 32 bits little endian Data is shown in integers when point display units are in pulses Data is shown in integers x100 when point display units are in millimeters Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd Not used aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information sectio
5. gt A 98 Shift number 5 Axis 1 100 00 Axis 2 200 00 Axis 3 50 00 Axis 4 180 00 Channel Value 0x010D 0x0000 0x0005 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 Channel Value 0x0200 0x0000 0x0005 0x0000 0x2710 0x0000 0xB1E0 OxFFFF 0x1388 0x0000 0xB9BO OxFFFF 0x0000 0x0000 0x0000 0x0000 4 3 5 Hand related command Execute this command to define or obtain hand data 4 3 5 1 Hand data definition Use this command to define hand data by specifying the hand number and each data E Command Channel Contents Command code For main robot 0x0110 For sub robot 0x0190 Not used 0x0000 Hand number Oxssss Not used 0x0000 Data 1 Oxbbbbbbbb Oxbbbbbbbb Oxbbbbbbbb Oxbbbbbbbb 0x0000 Ssss Specify the hand number in 16 bits Specified range for main robot 0 0x0000 to 3 0x0003 Specified range for sub robot 4 0x0004 to 7 0x0007 bbbbbbbb When SCARA robot is specified and data 4 is 0 Data 1 Specify the integer in 32 bits little endian Data 2 and 3 Specify the integer x100 in 32 bits little endian Data 4 When hand is installed to R axis 1 other cases 0 In other cases Data 1 to 3 Specif
6. Axis 2 data Oxbbbbbbbb Axis 3 data Oxbbbbbbbb Axis 4 data Oxbbbbbbbb Axis 5 data Oxbbbbbbbb Axis 6 data Oxbbbbbbbb a Shows in 1 bit the units for current position output point data Linked with point display unit of controller Pulse units Millimeter units bbbbbbbb Shows the current position output data in 32 bits little endian Data is shown in integers when point display units are in pulses Data is shown in integers x100 when point display units are in millimeters Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd Not used aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits A D 3 O ja D O O 3 3 Q Q c Q D A 19 lt Example Specify the MOVE command with linear interpolation as shown at right when moving all axes of the main robot to point number 100 at a speed of 200 mm s and at 50 acceleration The current position output is specified at this time Values are expressed as shown at right when controller display units are in millimeters and with Axis 1 123 45 Axis 2 1 23 Axis 3 50 00 Axis 4 90 23 Other axes 0 00 A D 3 O D O O 3 3 Q gt Q c Q D gt A 20 Channe
7. Oxbbbb Oxbbbb Oxbbbb Oxbbbb Oxbbbb 0x00bb Not used 0x0000 Ssss Specify the point number in 16 bits Specified range 0 0x0000 to 9999 0x270F bb Specify 1 byte comment data in 8 bits little endian Specified range 0x20 to 0x7E E Status Normal end Channel Contents Status code 0x0200 Not used Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd Not used aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits gt A 88 Example Channel Value Use the point comment data definition command as 0x0104 shown at right to create the following point comment 0x0000 data 0x0064 Point number 100 0x0000 Comment data WAIT ORG 0x4157 character code W 0x57 0x5449 ia 0x4F20 ASTONAR 0x4752 an ees 0x0000 0x20 0x0000 O 0x4F 0x0000 R 0x52 0x0000 G 0x47 0x0000 0x0000 0x0000 0x0000 Values are expressed as shown at right when executed Channel Value correctly 0x0200 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000
8. 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 ns D 3 O ja D O O 3 3 Q Q c Q D A 105 lt 4 4 1 2 Assigning a variable to a static variable This command assigns a numerical value to a static variable SGIn or SGRn by designating the source variable number and destination variable number Variable number 1 Variable number 2 E Command Channel Contents Command code 0x0201 Not used 0x0000 Variable number 1 Variable number at assignment destination Oxssss Not used 0x0000 Variable number 2 Variable number at assignment source Oxssss Not used 0x0000 Ssss Specify variable numbers 1 and 2 in 16 bits Specified range for integer variable 0 Ox0000 to 7 0x0007 Specified range for real variable 256 0x0100 to 263 0x0107 Integer variable Variable number Real variable Variable number 0 0x0000 256 0x0100 1 0x0001 257 0x0101 7 0x0007 263 0x0107 E Status Normal end Channel Contents Status code 0x0200 Not used Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits A D 3 O D O O 3 3 Q gt Q c Q D
9. Program step execution Executes one line in the robot program Enters the subroutine when a GOSUB statement is used Performs the same processing as the STEP key F11 on RPB Program skip execution Skips one line in the program Performs the same processing as the SKIP key F12 on RPB Program next execution Executes one line in the robot program Executes the entire subroutine when a GOSUB statement is used Performs the same processing as the NEXT key F13 on RPB E Command Channel Contents Command code Program execution 0x0402 Program step execution 0x0403 Program skip execution 0x0404 Program next execution 0x0405 Not used 0x0000 E Status Normal end Channel Contents Status code 0x0200 Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Example Channel Value Use these commands to execute a program as shown 0x0402 at right 0x0000 A D 3 O D O O 3 3 Q Q c Q D Values are expressed as shown at right when executed correctly 0x0200 0x0000 A 135 lt 4 6 3 Program reset This command resets the robot program This is only valid in AUTO mode
10. Use this command as shown at right to acquire the execution status of a task A D 3 O ja D O O 3 3 Q gt Q c Q D 0x0000 gt A 150 Values are expressed as shown at right when executed correctly Task 1 1 Task 2 1 Task 3 Task 4 Task 5 Task 6 Task 7 Task 8 O OO N O Run status Run status no task no task Suspend status no task no task no task 4 7 7 Task execution line reference Channel Value 0x0200 0x0000 0x0001 0x0001 0x0009 0x0009 0x0002 0x0009 0x0009 0x0009 0x0000 Execute this command to acquire information on task execution line E Command Command code 0x0508 Not used E Status Normal end Channel Contents Status code 0x0000 0x0200 Not used Execution line of task 1 Oxaaaa Execution line of task 2 Oxaaaa Execution line of task 3 Oxaaaa Execution line of task 4 Oxaaaa Execution line of task 5 Oxaaaa Execution line of task 6 Oxaaaa Execution line of task 7 Oxaaaa Execution line of task 8 Oxaaaa Not used aaaa Abnormal end Channel Shows the execution line of each task When no task exists the value is 0 Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd Not used
11. Value Meaning 00 Speed is not specified 10 Speed is set in n Specify in 1 bit whether to output current position Value Meaning 0 No output 1 Output tt Specify the axis to move in bit pattern using lower 8 bits Valid when axis designation flag is 1 A D 3 O 0 O O 3 3 Q gt Q c Q D ssss Specify the movement speed in 16 bits Specified range 1 0x0001 to 100 0x0064 pppp Specify the point number in 16 bits Specified range 0 0x0000 to 9999 0x270F gt A 30 E Status Normal end Channel Contents Status code 0x0200 Not used Point flag bit 0 Point unit a bit 15 bit 1 Not used 0 Axis 1 data Oxbbbbbbbb Axis 2 data Oxbbbbbbbb Axis 3 data Oxbbbbbbbb Axis 4 data Oxbbbbbbbb Axis 5 data Oxbbbbbbbb Axis 6 data Oxbbbbbbbb a Shows in 1 bit the units for current position output point data Linked with point display unit of controller Pulse units Millimeter units bbbbbbbb Shows the current position output data in 32 bits little endian Data is shown in integers when point display units are in pulses Data is shown in integers x100 when point display units are in millimeters Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the ca
12. bit 5 Axis 6 bit 7 bit 6 0 Fixed tt Specify the axis to move in 0 to 3 bits All controller servos are processed if no axis is specified No axis can be specified when executing Power ON 4 11 Manual speed change command Execute this command to change the manual movement speed in MANUAL mode This command can only be executed in MANUAL mode E Command Contents Command code For main robot For sub robot Specified speed Not used ss Specify the manual movement speed in 8 bits Specified range 1 0x01 to 100 0x64 4 12 Auto speed change command Execute this command to change the auto movement speed in AUTO mode E Command Contents Command code For main robot For sub robot Specified speed Not used ss Specify the auto movement speed in 8 bits Specified range 1 0x01 to 100 0x64 O Q O 3 3 Q m Q Q Q gt B 10 4 13 Program speed change command Execute this command to change the program speed in AUTO mode The program speed changed with this command is reset to 100 when the program is reset or changed E Command Contents Command code For main robot For sub robot Specified speed Not used ss Specify the program speed in 8 bits Specified range 1 0x01 to 100 0x64 4 14 Shift designation change command Execute this command to change the selected shift to a s
13. For main robot 0x0000 0x003C For sub robot 0x00BC Not used 0x0000 Specified hand number Oxssss Not used 0x0000 Ssss Specify the hand number in 16 bits Specified range for main robot 0 0x0000 to 3 0x0003 Specified range for sub robot 4 0x0004 to 7 0x0007 E Status Normal end Status code 0x0200 A D 3 O D O O 3 3 Q Q c Q D Not used A 79 lt Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Example Use the hand designation change command as shown at right to set the hand number of the main robot to 0x003C hand 1 0x0000 0x0001 0x0000 Values are expressed as shown at right when executed correctly 0x0200 0x0000 0x0000 0x0000 4 2 18 Arm designation change command Execute this command to change the arm designation status This command is valid only when SCARA robot is specified Command Channel Contents Command code For main robot 0x003D For sub robot 0x00BD Not used 0x0000 Status of specified arm Oxssss 0x0000 Ssss Specify the arm
14. Normal end Status code 0x0200 Not used Contents Status code 0x4000 A D 3 O ja 0 O O 3 3 Q Q c Q D Error code Oxaabb Additional information Oxccdd Not used aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits gt A 124 Example Channel Value Use this command as shown at right to assign a 0x0241 numerical value to part of the following point 0x0000 Point number 1 0x0001 Data number designation 4 0x0008 Numerical value 10 00 0x03E8 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 Values are expressed as shown at right when executed Channel Value correctly 0x0200 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 ns D 3 O ja D O O 3 3 Q Q c Q D A 125 lt 4 4 4 2 Assigning to a shift element This command assigns a numerical value to a shift element by specifying the shift number data number and numerical value LOC data number shift number numerical value E Command Channel Contents Command code 0x0245 N
15. Robots other than SCARA robot Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd Not used aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Channel Value 0x050B Example Use this command as shown at right to acquire the status of currently specified arm 0x0000 Values are expressed as shown at right when executed Channel Value correctly 0x0200 Main robot 1 Left handed system status Sub robot 9 Robots other than SCARA robot 0x0000 0x0001 0x0009 0x0000 4 7 11 Arm status reference Execute this command to acquire information on arm E Command Command code 0x050C Not used 0x0000 E Status Normal end Channel Contents Status code 0x0200 A i 3 O ja D O O 3 3 Q Q c Q D Not used Main robot status Oxaaaa Sub robot status Oxaaaa A 155 lt aaaa Shows the arm status Value Contents Right handed system status Left handed system status Robots other than SCARA robot Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd Not used aabb Shows the group numb
16. aaaa Shows the speed setting 1 to 100 Shows 0 when no robot axis is specified A 153 lt A D 3 O ja D O O 3 3 Q gt Q c Q D A D 3 O ja D O O 3 3 Q gt Q c Q D Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Example Use the speed status reference command as shown at right to acquire the status of current speed Values are expressed as shown at right when executed correctly Main robot speed in AUTO mode 50 Main robot speed in MANUAL mode 50 4 7 10 Arm designation status reference E Command Command code Channel Value 0x050A 0x0000 0x0200 0x0000 0x0032 0x0032 0x0000 0x0000 0x0000 Execute this command to acquire information on currently designated arm 0x050B E Status Normal end Channel Contents Status code 0x0000 0x0200 Not used Main robot status Oxaaaa Sub robot status Oxaaaa Not used gt A 154 aaaa Shows the arm designation status Value Contents Right handed system status Left handed system status
17. g Specify the bit number in 4 bits Specified range 0 to 7 rq Specify the place of each port number in 4 bits p Specify the port type in 4 bits When in port units specify 0 in the bit number Designated port type Bit pattern Specified range of port number 2 to 7 10 to 17 20 to 27 2 to 7 10 to 17 20 to 27 0 0 2 to 7 10 to 17 20 to 27 bb Specify the bit pattern in 8 bits When in bit units use 0 or 1 to specify the bit pattern E Status Normal end Channel Contents Status code 0x0200 Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd A D 3 O ja D O O 3 3 Q Q c Q D aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits A 129 lt Example Channel Value n Use this command as shown at right to output a 0x0300 numerical value to the following output port n 2 0x0000 Output port DO12 n 4 0x1120 Numerical data 7 n 6 0x0007 0x0000 Values are expressed as shown at right when executed S a P 8 Exe Channel Value m correctly 0x0200 m 2 0x0000 m 4 0x0000 0x0000 Example Channel Value n Use this command as shown at right to output a 0x0301 numerical value to the following output port n 2 0x0000
18. m 47 Reserved n 47 Reserved m Start address of the input area assigned to the master module n Start address of the output area assigned to the master module 1 Used for absolute reset or absolute reset return to origin depending on the parameter DI17 mode setting Word input output Slave Master Master Slave Address Name Dedicated output Address Name Dedicated input Dedicated output Dedicated input General purpose output General purpose output General purpose input General purpose input General purpose output General purpose output General purpose input General purpose input General purpose output General purpose output General purpose input General purpose input General purpose output General purpose output General purpose input General purpose input General purpose output General purpose output General purpose input General purpose input General purpose output General purpose output General purpose input General purpose input General purpose output General purpose output General purpose input General purpose input m Start address of the input area assigned to the master module n Start address of the output area assigned to the master module 2 Details of input output signals E Bit
19. 1 Profile 5 1 2 Details of input output signals 5 3 3 Dedicated input output signal timing chart 5 6 5 6 3 1 Servo ON and emergency stop 3 2 AUTO mode changeover program reset and program execution 5 7 3 3 Stopping with program interlock 5 8 4 EtherNet IP compatible module specifications 5 9 5 EtherNet IP specifications 5 10 E Bit input output Slave Master Master Slave Address Bit Signal name Address Bit Signal name 0 SO 00 Emergency stop input status output 0 SI 00 Emergency stop input 1 SO 01 CPU_OK status output 1 SI 01 Servo ON input 2 SO 02 Servo ON status output 2 SI 02 Service mode input 3 SO 03 Alarm status output 3 Reserved m 32 n 32 4 Reserved 4 Reserved 5 Reserved 5 SI 05 I O command execution trigger input 6 Reserved 6 Reserved 7 Reserved 7 Reserved 0 SO 10 AUTO mode status output 0 SI 10 Sequence control input R to origi l i so 11 eturn to origin complete status 4 Si 11 Interlock input output 2 0 12 Sequence program execution status F 1 12 Start input output R 3 0 13 obot program execution status 3 SI 13 AUTO mode input m 33 output n 33 4 SO 14 Program reset status output 4 SI 14 Return to origin input 5 Reserved 5 S1 15 Program reset input PRR a soge VO command executionjudgment 6 SI 16 MANUAL mode input
20. Packets per sec 504 bytes 6 7 lt Remote command guide Contents 1 Remote command format 1 1 Remote command specifications A 1 1 2 Remote status A 2 2 Sending and receiving remo e commands 3 Remote command amp remote status tables 4 Remote command description 4 1 Special commands A 8 4 1 1 Status reset command A 8 4 1 2 Main robot current position reference command A 8 4 1 3 Sub robot current position reference command A 9 4 2 Category 1 remote commands A 11 4 2 1 MOVE command A 12 4 2 1 1 PTP designation A 12 4 2 1 2 Arch designation A 15 4 2 1 3 Linear interpolation A 18 4 2 1 4 Circular interpolation A 21 4 2 1 5 Direct PTP designation millimeter units A 24 4 2 1 6 Direct PTP designation pulse units A 27 4 2 2 MOVEI command A 30 4 2 2 1 PTP designation A 30 4 2 2 2 Direct PTP designation millimeter units A 33 4 2 2 3 Direct PTP designation pulse units A 36 4 2 3 DRIVE command A 39 4 2 3 1 Point designation A 39 4 2 3 2 Direct designation millimeter units A 42 4 2 3 3 Direct designation pulse units A 45 4 2 4 DRIVE command A 48 4 2 4 1 Point designation A 48 4 2 4 2 Direct designation millimeter units A 51 4 2 4 3 Direct designation pulse units A 54 4 2 5 Pallet movement command A 57 4 2 5 1 PTP designation A 57 4 2 5 2 Arch designation A 60 4 2 6 Jog movement command A 63 4 2 7 Inching movement command A 66 4 2 8 Point teaching command A 69 4 2 9 Absolute reset movement com
21. Regardless of the robot program the master module and up to four ports can be controlled using the emulated serialization function Settings such as IP address The settings are made with the programming box RPB Monitor LEDs Activity Network Status Link Module Status CPU BOARD ASSY KX0 M4210 2XX Refer to 3 Installing into the robot controller in Chapter 1 of this guide 1 Controller s I O update intervals are 10 ms at shortest but actual I O update intervals may vary depending on the update time for the master station CAUTION AN For the names and contents of the word and bit input output signals refer to the tables shown in the sections Profile and Details of input output signals e The specifications and appearance are subject to change without prior notice due to continual improvement 5 9 lt SUOIJODYIOEdS 5 EtherNet IP specifications E General data Applicable EtherNet IP specifications Volume 1 Common Industrial protocol CIP Edition 3 8 Volume 2 EtherNet IP Adaptation Edition 1 9 Vendor name YAMAHA MOTOR CO LTD Vendor ID 636 Device type Generic Device Device No 43 Product code 5 Product revision SUOIJODYIODEdS a gt 5 10 1 1 OTTER Appendix Contents 1 Definitions of terms 2 EDS files 1 Definitions of terms E EtherNet IP Ethernet Industrial Protocol This EtherNet IP
22. c Q D Return to origin complete No axis A 145 lt A D 3 O D O O 3 3 Q gt Q c Q D Abnormal end Channel Status code Contents 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shws the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Example Use this commnd to acquire an absolute reset status as shown at right Values are exprssed as shown at right when executed correctly Axis 1 1 Return to origin complete Axis 2 1 Return to origin complete Axis 3 0 Return to origin incomplete Axis 4 1 Return to origin complete Axis 5 9 no axis Axis 6 9 no axis Axis 7 9 no axis Axis 8 9 no axis gt A 146 Channel Value 0x0504 0x0000 0x0200 0x0000 0x0001 0x0001 0x0000 0x0001 0x0009 0x0009 0x0009 0x0009 0x0000 4 7 5 Current position reference Execute this command group to obtain the robot current position data 4 7 5 1 Pulse designation Use this command to obtain the robot current position data in pulse units E Command Channel Command code Contents For main robot 0x0505 For sub robot 0x0585 Not used E Status Normal end Channel St
23. 24205 6 00 3 Output MSG SOW1 INVALID TIP 4 IP address 192 168 0 2 5 Subnet mask ASS AV 255 0 If you press the F 1 INVALID key the controller 6 Gateway 192 168 0 1 does not recognize the EtherNet IP module as TF DD CS a a step Exit the setting Press the key to exit the setting Subsequently to set other item use the cursor up or down key to select a desired parameter you want to set AN CAUTION e The Board condition you have changed becomes valid after the controller is restarted e This parameter has been set at INVALID at shipment Wta NOTE e When using the controller without connecting to an EtherNet IP set the Board condition parameter to INVALID e When the Board condition parameter is set to INVALID the dedicated input output of the STD DIO connector becomes enabled e When the Board condition parameter is set to VALID the dedicated input except DI11 for RCX240 of the STD DIO connector becomes disabled However the emergency stop input signal DIOO interlock input D111 and service mode input DIO2 stay enabled 2 3 lt 3 2 Setting the Remote_cmd S105 function This section describes how to make the remote command and I O command function valid that uses the word information and bit information When the Remote_cmd SI05 function is valid the remote command and I O command can be used Conversely when the Remote_cmd S105 function is inval
24. 4 4 4 2 Assigning to a shift element A 126 4 5 Category 4 remote commands A 128 4 5 1 I O port commands A 129 4 5 11 Assigning a numerical value to an I O port A 129 4 5 1 2 I O port reference A 131 4 6 Category 5 remote commands A 133 4 6 1 Execution program designation A 134 4 6 2 Program execution A 135 4 6 3 Program reset A 136 4 6 4 Program task switching A 137 4 6 5 Program execution information reference A 138 4 7 Category 6 remote commands A 140 4 71 Version information reference A 141 4 7 2 Controller configuration reference A 142 4 7 3 Servo status reference A 144 4 7 4 Absolute reset status reference A 145 4 7 5 Current position reference A 147 4 7 5 1 Pulse designation A 147 4 7 5 2 Millimeter designation A 148 4 7 6 Task status reference A 150 4 7 7 Task execution line reference A 151 4 7 8 Message reference A 152 4 7 9 Speed status reference A 153 4 710 Arm designation status reference A 154 4 7 11 Arm status reference A 155 4 712 Service mode status reference A 156 4 713 Point unit status reference A 157 4 714 Return to origin status reference A 158 I O command guide 1 1 0 command format B 1 2 Sending and receiving I O commands B 2 3 I O command list B 3 4 I O command description B 4 CONTENTS 4 1 MOVE command 4 1 1 PTP designation 4 1 2 Linear interpolation 4 2 MOVEI command 4 21 PTP designation 4 3 Pallet movement command 4 3 1 PTP designation 4 4 Jog movement command 4 5 Inching movement com
25. A D 3 O ja D O O 3 3 Q Q c Q D A 89 lt 4 3 2 2 Point comment data reference Use this command to search and obtain point comment data by specifying the point number E Command Channel Contents Command code 0x0105 Not used 0x0000 Point number Oxssss Not used 0x0000 Ssss Specify the point number in 16 bits Specified range 0 0x0000 to 9999 0x270F E Status Normal end Channel Contents Status code 0x0200 Not used Point number Oxssss Not used Comment data Oxbbbb Oxbbbb Oxbbbb Oxbbbb Oxbbbb Oxbbbb Oxbbbb 0x00bb Ssss Shows the point number in 16 bits Specified range 0 0x0000 to 9999 0x270F bb Shows the 1 byte comment data in 8 bits little endian Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd Not used aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits A D 3 O ja D O O 3 3 Q gt Q c Q D gt A 90 Example Use the point comment data reference command as shown at right to obtain point comment data at point number 50 Values are expressed as shown at right when executed correctly to obtain t
26. MOVEI DRIVEI start position setting is Keep motion to the original target position when MOVEL is interrupted and then re executed E Command Channel Contents Command code For main robot Ox000F For sub robot 0x008F Command flag bit 0 Axis designation flag a bit 2 bit 1 Speed designation flag bit 14 bit 3 0 Fixed bit 15 Current position output designation flag Specified axis to move bit 0 Axis 1 OxOO0tt bit 1 Axis 2 bit 2 Axis 3 bit 3 Axis 4 bit 4 Axis 5 bit 5 Axis 6 bit 15 bit 6 0 Fixed Specified speed Oxssss Axis 1 data Oxpppppppp Axis 2 data Oxpppppppp Axis 3 data Oxpppppppp Axis 4 data Oxpppppppp Axis 5 data Oxpppppppp Axis 6 data Oxpppppppp a Specify in 1 bit whether all axes are designated Value Meaning 0 All axes are specified 1 One or more axes are specified bb Specify the speed setting method in 2 bits Value Meaning 00 Speed is not specified A D 3 O ja 0 O O 3 3 Q gt Q c Q D 10 Speed is set in n Specify in 1 bit whether to output current position Value Meaning 0 No output 1 Output tt Specify the axis to move in bit pattern using lower 8 bits Valid when axis designation flag is 1 gt A 36 Ssss Specify the speed in 16 bits Specified range 1 0x0001 to 100 0x0064 pppppppp Specify t
27. Parameter number Oxssss Specified axis bit 0 Axis 1 OxOO0tt bit 1 Axis 2 bit 2 Axis 3 bit 3 Axis 4 bit 4 Axis 5 bit 5 Axis 6 A D 3 O ja D O O 3 3 Q gt Q c Q D bit 15 bit 6 Not used Numerical data Oxbbbbbbbb Not used Ssss Specify the parameter number in 16 bits gt A 116 tt Specify the axis number in bit pattern using lower 8 bits Only one axis can be specified Specify 0 for robot parameters bbbbbbbb Specify the integer in 32 bits little endian Abnormal end Channel Status code Contents 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Example Use this command as shown at right to obtain the OUT effective position of axis 1 of the main robot Parameter number 260 Specified axis 1 Values are expressed as shown at right when executed correctly to obtain the following parameter Parameter number 260 Specified axis 1 Numerical data 131071 Channel Value 0x0224 0x0000 0x0104 0x0001 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 Cha
28. T gt O number of bytes per slot obsolete 8 10 O gt T Real time transfer format 11 reserved 12 14 T gt O Real time transfer format 15 reserved gt 16 O gt T connection type NULL Oo 17 O gt T connection type MULTICAST Oo 18 O gt T connection type POINT2POINT O 19 O gt T connection type reserved 20 T gt O connection type NULL Q 21 T gt O connection type MULTICAST S 22 T gt O connection type POINT2POINT 23 T gt O connection type reserved 24 O gt T priority LOW 25 O gt T priority HIGH 26 O gt T priority SCHEDULED 27 O gt T priority reserved 28 T gt O priority LOW 29 T gt O priority HIGH 30 T gt O priority SCHEDULED 31 T gt O priority reserved Param3 0 O gt T RPI size format gt 6 6 Param3 Param2 Assem100 T gt O RPI size format r PF Input Only wi 20 04 24 C5 2C C6 2C 64 Connection3 config 1 size format config 2 size format Connection Name help string Path 0x01030002 0 15 supported transport classes 16 trigger cyclic 17 trigger change of state 18 trigger application 19 23 trigger reserved 24 transport type listen only 25 transport type input only 26 transport type exclusive owner 27 transport type redundant owner 28 30 reserved 31 Client 0 Server 1 0x44240305 0 O gt T fixed size suppo
29. This command executes absolute reset of the specified axis When absolute reset of the specified axis uses the mark method the axis must be at a position where absolute reset can be executed If no axis is specified SI3 is 0 then absolute reset is performed on all axes main robot sub robot in either case of command code 0x31 or OxB1 However this command cannot be executed if return to origin is not yet complete on the axis using the mark method In this case perform return to origin individually on each axis E Command Contents Command code For main robot For sub robot Specified axis bit 0 Axis 1 bit 1 Axis 2 bit 2 Axis 3 bit 3 Axis 4 bit 4 Axis 5 bit 5 Axis 6 bit 7 bit 6 0 Fixed Not used tt Specify the axis to perform absolute reset in 0 to 3 bits Only one axis can be specified If no particular axis is specified then absolute reset is performed on all axes main robot sub robot 4 9 Return to origin command This command executes return to origin on the specified axis When this command is executed return to origin is performed on an incremental mode axis and absolute search is performed on a semi absolute mode axis If no axis is specified S13 is 0 this command is performed on all axes main robot sub robot in either case of command code 0x32 or OxB2 E Command Contents Command code For main robot For sub robot Specified axis bi
30. YAMAHA YAMAHA NETWORK BOARD EtherNet IP Bes Manat RCX240 EUS6122100 Ver 1 00 CONTENTS Introduction Introduction EtherNet IP User s Manual Safety Precautions Always read before starting use Warranty iv Chapter 1 Outline 1 Features 1 1 2 Mechanism 1 2 3 Installing into the robot controller 1 3 4 Part names 1 4 5 I O assignments of EtherNet IP compatible module 1 5 6 EtherNet IP system connection status transition and robot controller status 1 6 Chapter 2 Connection 1 Confirming the EtherNet IP compatible module settings 2 1 2 Setting to the EtherNet IP system specification controller 2 2 2 1 Saving the robot controller data 2 2 2 2 Installing into the robot controller 2 2 2 3 Response when starting up the robot controller 2 2 3 Setting the EtherNet IP compatible module 2 3 3 1 Making the EtherNet IP module valid 2 3 3 2 Setting the Remote_cmd SI05 function 2 4 3 3 Setting the Output MSG SOW1 function 2 5 3 4 Setting the IP address 2 6 3 5 Setting the subnet mask 2 7 3 6 Setting the gateway 2 8 4 Noise measures 2 9 41 LAN cable 2 9 4 2 Mounting the ferrite core 2 9 5 Connecting to the EtherNet IP system 2 10 CONTENTS EtherNet IP User s Manual 5 1 Connecting the LAN cable 2 10 Chapter 3 Communication 1 State when the robot controller power is turned ON 3 1 2 Communication with the master module 3 2 2 1 Receiving dat
31. c Q D 4 2 2 MOVEI command Execute this command group to move the robot to a relative position 4 2 2 1 PTP designation This command moves the robot a specified distance in PTP motion by specifying the point number NL NOTE e If the MOVE command is interrupted and then re executed the resumed motion that occurs either to the original target position or to a new target position referenced to the current position can be selected by the MOVEI DRIVEI start position setting of other parameters For details refer to the controller user s manual e The other parameters default MOVEI DRIVEI start position setting is Keep motion to the original target position when MOVEI is interrupted and then re executed E Command Channel Contents Command code For main robot 0x0009 For sub robot 0x0089 Command flag bit 0 Axis designation flag a bit 2 bit 1 Speed designation flag bit 14 bit 3 0 Fixed bit 15 Current position output designation flag Specified axis to move bit 0 Axis 1 OxOO0tt bit 1 Axis 2 bit 2 Axis 3 bit 3 Axis 4 bit 4 Axis 5 bit 5 Axis 6 bit 15 bit 6 0 Fixed Specified speed Oxssss Point number Oxpppp Not used 0x0000 a Specify in 1 bit whether all axes are designated Value Meaning 0 All axes are specified 1 One or more axes are specified bb Specify the speed setting method in 2 bits
32. execution level For details refer to the user s manual for controller E Word input Address Description Used as the remote command area Dedicated input Used as the command data area of the remote command Used to input the word or double word data from the SIW or SID General purpose input port Or used as the command data area of the remote command wW O Q h Q Q O gt Q n Start address of the output area assigned to the master module E Word output Address Description Used as the status area of the remote command Dedicated output Used as the error code area of the remote command Used to output the word or double word data from the SOW or SOD port Or used as the response area of the remote command General purpose output m Start address of the input area assigned to the master module 5 5 lt 3 Dedicated input output signal timing chart 3 1 Servo ON and emergency stop Servo ON and emergency stop on m 32 0 SO 00 Emergency stop input oft status output m 32 1 SO 01 CPU_OK status output off i a on m 32 2 SO 02 Servo ON status output off L on m 32 3 S0 03 Alarm status output off on n 32 0 SI 00 Emergency stop input off on n 32 1 SI 01 Servo ON input off a cof CS EAEE PL
33. lt 4 Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Example Use the manual speed change command as shown at right to set the manual movement speed of the main 0x0038 robot to 20 0x0000 0x0014 0x0000 Values are expressed as shown at right when executed correctly 0x0200 0x0000 0x0000 0x0000 4 2 14 Auto speed change command Execute this command to change the auto movement speed in AUTO mode E Command Channel Contents Command code For main robot 0x0039 For sub robot 0x00B9 Not used 0x0000 Specified speed Oxssss Not used 0x0000 Ssss Specify the auto movement speed in 16 bits Specified range 1 0x0001 to 100 0x0064 E Status Normal end A D 3 O ja D O O 3 3 Q gt Q c Q D Status code 0x0200 gt A 76 Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in
34. 0 Fixed Direction Not used tt Specify the axis to move in 0 to 3 bits Only one axis can be specified d Specify the movement direction in 1 bit vous anne 0 direction 1 direction 4 6 Point teaching command Execute this command to teach the current robot position to the specified point number Point data units of this command are linked to the controller s point display unit system E Command Contents Command code For main robot 0x28 For sub robot OxA8 Point number Oxpppp pppp Specify the point number in 16 bits Specified range 0 0x0000 to 9999 0x270F O Q O 3 3 Q Q Q Q B 7 lt O Q O 3 3 Q m Q Q Q 4 7 Absolute reset movement command When absolute reset of the specified axis uses the mark method this command moves the axis to the nearest position where absolute reset can be executed Positions capable of absolute reset are located at every 1 4 rotation of the motor E Command Contents Command code For main robot For sub robot Axis to move and Axis 1 direction Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 0 Fixed Direction Not used tt Specify the axis to move in 0 to 3 bits Only one axis can be specified d Specify the movement direction in 1 bit 0 direction 1 direction 4 8 Absolute reset command
35. 0x0000 0x0000 0x0000 0x4E21 0x0000 0x0000 0x0000 OxCFC7 OxFFFF 0x0000 0x0000 0x0000 0x0000 0x0000 For main robot 0x0000 0x0506 For sub robot 0x0586 Not used E Status Normal end Channel Contents Status code 0x0000 0x0200 Not used Point flag bit 0 Point unit bit 2 bit 1 Hand system bit 15 bit 3 Not used Axis 1 data Oxbbbbbbbb Axis 2 data Oxbbbbbbbb Axis 3 data Oxbbbbbbbb Axis 4 data Oxbbbbbbbb Axis 5 data Oxbbbbbbbb Axis 6 data gt A 148 Oxbbbbbbbb tt Shows in 2 bits the current hand system Valid only for a SCARA robot is specified Right handed is specified Left handed is specified bbbbbbbb Shows the current position output data in 32 bits little endian Data is shown in integers x100 Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd Not used aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Channel Value 0x0506 Example Use this command as shown at right to obtain the main robot current position data in millimeter units 0x0
36. 17 Output during I O command execution Turns ON while the I O command is being executed m 34 0 m 34 7 SO 20 0 27 General purpose output m 44 0 m 44 7 SRA OF NOTE O 150 SO 157 General purpose output General purpose output turns ON OFF when the value is assigned to the SO port or SET RESET command or OUT command is executed m Start address of the input area assigned to the master module outputs O 20 to O 157 When the area check output function is used the area check outputs can be assigned to the general purpose 5 3 lt Ww O O h Q Q O gt SUOIJODYIOEdS a E Bit input Address n 32 0 1 00 Signal name Emergency stop input Description Turn OFF to put the controller in the emergency stop state Keeps turned ON during normal operation n 32 1 1 01 Servo ON input Turn ON to cancel the emergency stop state and put the robot servomotor in the ON state The servo ON is executed when this signal is switched from OFF to ON It is necessary that the emergency stop input SI 00 is in the ON state and all emergency stop states emergency stop terminal in the SAFETY connector etc on the robot controller are cancelled n 32 2 1 02 Service mode input Turn OFF to put the controller in the SERVICE mode Keeps turned ON during normal operation This signal is valid only when the SA
37. 6 Deceleration designation flag bit 14 bit 7 0 Fixed bit 15 Current position output designation flag Not used 0x0000 Specified speed Oxssss Point number Oxpppp Not used 0x0000 Acceleration designation Oxrrrr Deceleration designation Oxrrrr Not used 0x0000 bb Specify the speed setting method in 2 bits Value Meaning 00 Speed is not specified Speed is set in Speed is specified in mm s d Specify in 1 bit whether to set acceleration Meaning 0 Acceleration is not specified Acceleration is specified e Specify in 1 bit whether to set deceleration Meaning 0 Deceleration is not specified Deceleration is specified n Specify in 1 bit whether to output current position Value Meaning 0 No output Output A D 3 O ja D O O 3 3 Q gt Q c Q D ssss Specify the speed in 16 bits Specified range Speed 1 0x0001 to 100 0x0064 Specified speed in mm s 1 0x0001 to 1000 0x03E8 pppp Specify the point number in 16 bits Specified range 0 0x0000 to 9999 0x270F rrrr Specify the acceleration and deceleration in 16 bits Specified range 1 0x0001 to 100 0x0064 gt A 18 E Status Normal end Channel Contents Status code 0x0200 Not used Point flag bit 0 Point unit a bit 15 bit 1 Not used 0 Axis 1 data Oxbbbbbbbb
38. Abnormal end When jog movement was stopped by interlock Channel Contents Status code 0x4000 Error code 0x0C02 Not used Point flag bit 0 Point unit a bit 15 bit 1 Not used 0 Axis 1 data Oxbbbbbbbb Axis 2 data Oxbbbbbbbb Axis 3 data Oxbbbbbbbb Axis 4 data Oxbbbbbbbb Axis 5 data Oxbbbbbbbb Axis 6 data Oxbbbbbbbb gt A 64 Shows in 1 bit the units for current position output point data Linked with point display unit of controller Pulse units Millimeter units bbbbbbbb Shows the current position output data in 32 bits little endian Data is shown in integers when point display units are in pulses Data is shown in integers x100 when point display units are in millimeters Abnormal end other cases Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd Not used aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Example Specify the jog command as shown at right to move axis 1 of the main robot in the minus direction The current position output is specified at this time Values are expressed as shown at right after robot movement with the jog command is stopped by the interlock signal when controller display u
39. Axis 6 bit 15 bit 6 0 Fixed OxO0tt Specified speed Oxssss Movement data Oxpppppppp Not used 0x0000 Not used Oxqqqq Not used 0x0000 bb Specify the speed setting method in 2 bits Meaning Speed is not specified 10 Speed is set in h Specify in 1 bit whether to use torque limit Value Meaning Torque limit is not specified Torque limit is specified n Specify in 1 bit whether to output current position Value Meaning 0 No output 1 Output tt Specify the axis to move in bit pattern using lower 8 bits Only one axis can be specified Ssss Specify the movement speed in 16 bits Specified range 1 0x0001 to 100 0x0064 pppppppp Specify target position data for specified axis in 32 bits little endian Data should be integers x 100 in millimeter units qqqq Specify the percentage of rated torque in 16 bits Specified range 1 0x0001 to 100 0x0064 gt A 42 AN CAUTION e When the torque limit is specified by the command flag this command ends in the following cases e The axis has reached the target position when the time required to move to the target position has elapsed e Time out period was exceeded while the axis torque has reached the specified torque value Time out period depends on the TRQTIME statement or TRQTIME2 statement executed in the program e This command cannot use a
40. CAUTION The EtherNet IP system may not function properly if the master module and robot controller power are turned ON simultaneously Always turn the robot controller power ON after turning ON the power for the master module ON E Precautions for disposal AN CAUTION Dispose of this product as industrial waste This manual does not guarantee the implementation of industrial rights or other rights and does not authorize the implementation rights YAMAHA shall not be held liable for any problems regarding industrial rights that occur through the use of the contents given in this manual 2012 YAMAHA MOTOR CO LTD uUoOHONpo4U UOHONpPOdU For information on the product warranty please contact your local agent where you purchased your product TCAE Outline Contents 1 Features 1 1 2 Mechanism 1 2 3 Installing into the robot controller 3 4 1 4 Part names 1 5 1 O assignments of EtherNet IP compatible module 1 5 6 EtherNet IP system connection status transition and robot controller status 1 6 This EtherNet IP is an industrial network that is achieved by combining the standard protocol TCP IP with the higher level protocol CIP Common Industrial Protocol Additionally since the EtherNet IP uses the standard protocol TCP IP and Ethernet as lower level protocols it can utilize the Ethernet technologies that are widely available in the world The EtherNet IP syst
41. Channel Contents Command code 0x0401 Not used 0x0000 Program name Oxbbbb Oxbbbb Oxbbbb Oxbbbb Not used 0x0000 bb Specify the 1 byte program name in 8 bits little endian Specify a program name with letters uppercase numbers and underscores _ When the program name is shorter than 8 characters use a space E Status Normal end Channel Contents Status code 0x0200 Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Example Use this command as shown at right to specify a program name ABC_DE 0x0401 0x0000 0x4241 Ox5F43 0x4544 0x2020 0x0000 A D 3 O D O O 3 3 Q gt Q c Q D Values are expressed as shown at right when executed correctly 0x0200 0x0000 gt A 134 4 6 2 Program execution These commands execute robot program operations These are only valid in AUTO mode Command Meaning Program execution Starts automatic operation of a robot program Performs the same processing as the RUN key on RPB and start input S112 Use the program in progress status output signal S013 to verify the program is in progress
42. Not used 0x0000 Point number Oxpppp 0x0000 pppp Specify the point number in 16 bits Specified range 0 0x0000 to 9999 0x270F E Status Normal end Channel Contents Status code 0x0200 Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Channel Value 0x0028 Example Use the point teaching command as shown at right to teach the main robot current position to point 4000 0x0000 OxOFAO 0x0000 Values are expressed as shown at right when executed correctly 0x0200 A D 3 O ja D O O 3 3 Q gt Q c Q D 0x0000 A 69 lt A i 3 O ja D O O 3 3 Q gt Q c Q D 4 2 9 Absolute reset movement command When absolute reset of the specified axis uses the mark method this command moves the axis to the nearest position where absolute reset can be executed Positions capable of absolute reset are located at every 1 4 rotation of the motor E Command Channel Contents Command code For main robot 0x0030 For sub robot 0x00B0 Not used 0x0000 Axis to move and bit 0 Axis 1 tt direction bit 1 Axis 2 bit 2 Axis 3 bit 3 Ax
43. Ox0000 to 7 0x0007 Specified range for real variable 256 0x0100 to 263 0x0107 Integer variable Variable number Real variable Variable number 0 0x0000 256 0x0100 1 0x0001 257 0x0101 7 0x0007 263 0x0107 bbbbbbbb Specify the integer in 32 bits little endian Specify a signed integer value when assigning to an integer variable Specify a single precision real number when assigning to a real variable E Status Normal end Channel Contents Status code 0x0200 Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd A D 3 O ja D O O 3 3 Q gt Q c Q D aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits gt A 108 Example Use this command to assign numerical data to a static variable as shown at right l Variable number 1 Numerical data 10000 Values are expressed as shown at right when executed correctly Channel Value 0x0204 0x0000 0x0001 0x0000 0x2710 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 Channel Value 0x0200 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000
44. OxOOtt Specified speed Oxssss Movement data Oxpppppppp Not used 0x0000 Specified torque Oxqqqq Not used tt SSSS PPPPPPPP qqqq Specify the speed setting method in 2 bits Speed is not specified 10 Speed is set in Specify in 1 bit whether to use torque limit Value Meaning Torque limit is not specified Torque limit is specified Specify in 1 bit whether to output current position Value Meaning 0 No output 1 Output Specify the axis to move in bit pattern using lower 8 bits Only one axis can be specified Specify the movement speed in 16 bits Specified range 1 0x0001 to 100 0x0064 Specify the target position data for specified axis in 32 bits little endian Data should be integers in pulse units Specify the percentage of rated torque in 16 bits Specified range 1 0x0001 to 100 0x0064 0x0000 A 3 O ja D O O 3 3 Q gt Q c Q D A 45 lt AN CAUTION e When the torque limit is specified by the command flag this command ends in the following cases e The axis has reached the target position when the time required to move to the target position has elapsed e Time out period was exceeded while the axis torque has reached the specified torque value Time out period depends on the TRQTIME statement or TRQTIME2 statement executed in the program This co
45. Oxaaaa Axis 4 robot number Oxaaaa Axis 5 robot number Oxaaaa Axis 6 robot number Oxaaaa Axis 7 robot number Oxaaaa Axis 8 robot number Oxaaaa Unit number of option slot No Oxpppp Unit number of option slot No Oxpppp Unit number of option slot No Oxpppp Unit number of option slot No Oxpppp A D 3 O ja D O O 3 3 Q gt Q c Q D aaaa Showsthe robot number Th robot number is determined before shipment acording to the uer specifications gt A 142 pppp Shows the option slot unit No Non DIO unit NPN specifications DIO unit PNP specifications CC Link unit DeviceNet unit Profibus unit Ethernet unit YC Link unit EtherNet IP unit Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd Not used aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional infrmation section in upper 8 bits and the detail value in lower 8 bits Channel Value n 0x0502 Example Use thi command to obtain the robot configuration as shown at right 0x0000 Values are expressed as shown at right when executed Channel Value correctly m m 30 0x0000 Main robot number 2000 YK250X Sub robot number 100
46. PE YAMAHA also conducts the functional check with the hub that connects the chassis to the PE AN CAUTION The maximum length of the cable between the hub and controller is 100 m When connecting the LAN cable be sure to thoroughly read the user s manuals for mating units such as personal computer and sequencer and peripheral units such as hub gt MEMO Za It is recommended to connect the mating unit with the straight cable through the hub It is also possible to use the cross cable to directly connect the mating unit without use of the hub At this time however the communication with the mating unit may not be performed correctly depending on the type of the LAN adaptor gt 2 10 itersismee Communication Contents 1 State when the robot controller power is turned ON 3 1 2 Communication with the master module 3 2 2 1 Receiving data 3 2 2 2 Transmitting data 3 4 3 1 Emulated serialization setting on parallel DIO 3 5 4 Referring to the communication data 3 8 4 1 Referring to the data from the programming box 3 8 1 State when the robot controller power is turned ON The EtherNet IP system specification robot controller always starts the operation in the servo OFF state after the power has been turned ON 1 When the connection to the EtherNet IP system is correctly established The following conditions must be satisfied to correctly connect to the EtherNet IP system e The EtherNet IP system
47. S15 0 gt DO5 0 5 Direct S02 0 lt DI2 0 l D E Valid keys and submenu functions in this mode are as follows 24301 S6 00 Valid keys Function Selects SIO parameters Sets SIO parameters Jumps to specified SIO parameter wiz M 9 NOTE When the port specified by SIO is identical with the port used by the program the output results might be inaccurate 3 5 lt O O 3 3 J O Q 5 1 Direct connection from SI n to DO n Serial port input can be directly connected to the parallel port output The relation of the parallel port and serial port that can be connected is as follows Output device such as sensor DO port lt SI port VA M inaccurate E Operation step f Select SIO Select SYSTEM gt OPTION gt SIO The SIO setting screen will appear Step Select a SI port use the EN or BA key cursor up or down key to move the cursor to a desired SI port from 1 Direct SI2 gt DO20 to 4 Direct SI5Q gt DO50 and press the F1 EDIT key Step Set the direct connection Press the F1 connection va Press the F2 SET key to make the direct lid NO key to make the direct connection invalid 24302 S6 00 step Exit the setting Press the key to exit the setting Subsequently to set other item use the ry or Ba key cursor up or do
48. SI 02 in the EtherNet IP system e The emergency stop terminal in the SAFETY connector is valid e The interlock signal in the STD DIO connector is valid unless the external 24V monitor control of the system parameters is set invalid e When the SAFE mode is enabled and the external 24V monitor control of the system parameters is left valid the service mode input signal is made valid with DI 02 in the SAFETY connector The signals in the EtherNet IP system are sent and received 2 Transition from the EtherNet IP system normal connection state to the EtherNet IP system connection error state System connection error state 1 Robot Master module Robot controller controller or Master module Robot controller 23107 S6 00 e The emergency stop input turns off with SI 00 in the robot controller The interlock signal turns off with SI 10 in the robot controller e The service mode input turns off with SI 02 in the robot controller e The emergency stop terminal in the SAFETY connector is valid The interlock signal in the STD DIO connector is valid when the external 24V monitor control of the system parameters is left valid e When the SAFE mode is enabled and the external 24V monitor control of the system parameters is left valid the service mode input signal is made valid with DI 02 in the SAFETY connector The signals in the EtherNet IP system are not sent or received If the connection to t
49. amp HOCO2 a Program was executed or moving of axis attempted with the interlock signal still input Interlock signal turned ON during execution of program or axis movement DC 24V is supplied to the STD DIO connector and DI 11 is not turned ON while using the RCX240 SI 11 is not ON Error in the connection to the EtherNet IP system oF Meaning Cause Cancel the interlock signal and execute the program or move the axis Set DI 11 on the STD DIO connector to ON RCX240 Set SI 11 to ON When not using STD DIO disable invalid the Watch on STD DO DC24V parameter in the SYSTEM mode RCX240 5 Correct the connection to the EtherNet IP system Action O cC So D gt fo O m Q RoONM 10 QA 12 51 EtherNet IP link error Code amp HOC33 Meaning Cause a Error in the EtherNet IP option board Action Contact our company 12 70 Incorrect option setting Code amp HOC46 Error in the DIP switch setting on the option unit Mismatched option units have been installed Cannot identify the installed option unit Meaning Cause Check the DIP switch settings on the option unit Install the correct option units Replace the option unit Action on 190 7 21 16 System error EherNet IP Code amp H1510 Meaning Cause a Error in the software Action 1 Contact our company 4 5 lt OTe Specifications Contents
50. as shown at right to acquire the status of service mode 0x0000 Values are expressed as shown at right when executed correctly 0x0200 0x0000 0x0001 0x0000 4 7 13 Point unit status reference Execute this command to acquire current information on point units E Command Command code 0x050E 0x0000 E Status Normal end Channel Contents Status code 0x0200 Not used Setting status Oxaaaa A D 3 O ja D O O 3 3 Q Q c Q D Not used A 157 lt A D 3 O ja D O O 3 3 Q gt Q c Q D aaaa Shows the point setting status Value Contents 0 Pulse units 1 Millimeter units 2 Tool coordinates Abnormal end Channel Status code Contents 0x4000 Error code Oxaabb Additional information Oxccdd Not used aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Example Use this command as shown at right to acquire the status of point units Values are expressed as shown at right when executed correctly 4 7 14 Return to origin status reference Channel Value 0x050E 0x0000 0x0200 0x0000 0x0001 0x0000 Execute this command to acquire infor
51. be integers x100 when units are in millimeters E Status Normal end Status code 0x0200 A D 3 O ja D O O 3 3 Q gt Q c Q D Not used gt A 84 Abnormal end Channel Status code Contents 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Example Use the point data definition command as shown at right to create the following point data in pulse units Point number 100 Axis 1 10000 Axis 2 20000 Axis 3 5000 Axis 4 18000 Other axes 0 Values are expressed as shown at right when executed correctly Channel Value 0x0100 0x0000 0x0064 0x0000 0x2710 0x0000 0xB1E0 OxFFFF 0x1388 0x0000 0xB9BO OxFFFF 0x0000 0x0000 0x0000 0x0000 Channel Value 0x0200 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 A 85 lt A D 3 O ja D O O 3 3 Q Q c Q D 4 3 1 2 Point data reference Use this command to find and obtain point data by specifying the point number E Command Cha
52. be set to VALID in advance For details refer to 3 2 Setting the Remote_cmd SI05 function in Chapter 2 of the EtherNet IP compatible module guide and the user s manual for controller The following features are assigned to each I O Output Controller gt PLC Input Controller PLC Output port Contents Input port Contents Execution check output 1 O command execution trigger input Execution in progress output Command code Command data O commands cannot be executed simultaneously with remote commands Commands cannot be executed unless the status is ready to accept commands 0x0000 O commands cannot be executed while program execution is in progress SO13 is ON O commands cannot be executed simultaneously with on line commands O commands assign command codes to be executed to 12 and command data to S1I3 and SI4 These are executed when the SI05 is changed from OFF to ON The controller processes the I O commands when they are received and sends execution check results and execution in progress information to the PLC via SO16 and SO17 Command data added to the I O commands will differ according to the I O command For details Refer to 4 I O command description in this guide Command data settings must always be made before attempting to set the I O commands Data is set in binary code If the data size is greater than 8 bits set the upper bit data into the h
53. bit 2 Axis 3 bit 3 Axis 4 bit 4 Axis 5 bit 5 Axis 6 bit 15 bit 6 0 Fixed Numerical data Oxbbbbbbbb 0x0000 Ssss Specify the parameter number in 16 bits tt Specify the axis number in bit pattern using lower 8 bits Only one axis can be specified Specify 0 for robot parameters bbbbbbbb Specify the integer in 32 bits little endian E Status Normal end Status code 0x0200 A D 3 O ja D O O 3 3 Q gt Q c Q D Not used gt A 114 Abnormal end Channel Status code Contents 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Example Use this command as shown at right to assign a numerical value to the tolerance for axis 3 of the main robot Parameter number 259 Specified axis 3 Numerical data 1000 Values are expressed as shown at right when executed correctly Channel Value 0x0220 0x0000 0x0103 0x0004 0x03E8 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 Channel Value 0x0200 0x0000 0x0000 0x0000 0x0000 0x0000 0x
54. bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Example Use the point data reference command as shown at right to search and obtain point data at point number 50 Values are expressed as shown at right when executed correctly to obtain the following point data Point number 50 Axis 1 100 00 Axis 2 200 00 Axis 3 50 00 Axis 4 180 00 Other axes 0 00 Channel Value 0x0101 0x0000 0x0032 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 Channel Value 0x0200 0x0000 0x0032 0x0001 0x2710 0x0000 0xB1E0 OxFFFF 0x1388 0x0000 0xB9BO OxFFFF 0x0000 0x0000 0x0000 0x0000 A 87 lt A D 3 O ja D O O 3 3 Q Q c Q D A D 3 O ja D O O 3 3 Q gt Q c Q D 4 3 2 Point comment related command Execute this command to define or obtain point comment data 4 3 2 1 Point comment data definition Use this command to define point comment data by specifying the point number and point comment data E Command Channel Contents Command code 0x0104 Not used 0x0000 Point number Oxssss Not used 0x0000 Comment data Oxbbbb Oxbbbb
55. cable must be physically connected e The IP address subnet mask and gateway must be set correctly e The master module is operating correctly When connected to the EtherNet IP system correctly the LEDs on the EtherNet IP compatible module show the normal state At this time the emergency stop signal and interlock signal in the EtherNet IP system become valid so both signals need to be turned ON in the connection process The emergency stop terminal in the SAFETY connector is always valid In the RCX240 the interlock signal of STD DIO is valid unless the external 24V monitor control of the system parameters is set invalid When the SAFE mode is enabled the SERVICE mode input signal is made valid with SI 02 in the EtherNet IP system In the RCX240 when the SAFE mode is enabled and the external 24V monitor control of the system parameters is not set invalid the SERVICE mode input signal is made valid with DI 02 of the SAFETY connector 2 When the connection to the EtherNet IP system is incorrectly established If connected to the EtherNet IP system incorrectly the following may be the cause O O 3 3 O Q 5 e The EtherNet IP system cable is not physically connected e The IP address subnet mask or gateway is not set correctly e The master module is not operating correctly If connected to the EtherNet IP system incorrectly the LEDs on the EtherNet IP compatible module show the error state This al
56. cannot be used as general purpose input output data 2 Since this port is used as dedicated input output it cannot be used as general purpose input output data 3 Reserved area NL A NOTE e Each address is 8 bit data SOnQ and SInQ are handled as unsigned 8 bit integer data e SOW n and SIW n are handled as unsigned 16 bit integer data e SOD n and SID n are handled as signed 32 bit integer data e The upper word and lower word of SOD n correspond to SOW n 1 and SOW n respectively e The upper word and lower word of SID n correspond to SIW n 1 and SIW n respectively e In the RCX240 the dedicated inputs of STD DIO provided on the controller will be disabled except for the interlock signal DI11 When the external 24V monitor control of the system parameters is set invalid the interlock signal DI11 will also be disabled M 1 5 lt 6 EtherNet IP system connection status transition and robot controller status The EtherNet IP system specification robot controller always starts the operation in the servo OFF state after the power has been turned ON O 1 Normal state of EtherNet IP system connection when the robot controller power is turned ON Cc System connection normal state D Master module Robot controller e The emergency stop interlock signals in the EtherNet IP system are valid 23106 S6 00 e When the SAFE mode is enabled the service mode input signal is made valid with
57. category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits NORE NOTE When 0 is specified for Error acquisition number the message number and additional information which were last displayed on the programming box will be set to m 2 and m 4 When error is cleared O will be set to m 2 and m 4 gt A 152 Abnormal end Channel Status code Contents 0x4000 Error code Oxaabb Additional information Oxccdd aabb ccdd Example Shows the group number in upper 8 bits and the category number in lower 8 bits Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Channel Value Use this command as shown at right to acquire the status of an error message Values are expressed as shown at right when executed correctly 4 7 9 Speed status reference 0x0509 0x0000 0x000A 0x0000 0x0200 0x0C02 0x0000 Execute this command to acquire information on current speed status E Command Contents 0x0000 0x050A Not used E Status Normal end Channel Status code Contents 0x0000 0x0200 Not used Main robot AUTO mode speed Oxaaaa MANUAL mode speed Oxaaaa Sub robot AUTO mode speed Oxaaaa MANUAL mode speed Oxaaaa
58. command 3 is only valid for pallet 0 The movement methods on the jog movement command 4 and inching movement command 5 will differ according to the point units that were specified The point teaching command 6 uses different point units according to the point units that were specified If no axis is specified the absolute reset command 8 is executed on all axes main robot sub robot in either case of command code 0x31 or OxB1 If no axis is specified the return to origin command 9 is executed on all axes main robot sub robot in either case of command code 0x32 or OxB2 The point display unit designation command 17 is for use on the controller O Q O 3 3 Q a Q Q B 3 lt 4 1 O command description 4 1 MOVE command Execute this command group to move the robot to an absolute position 4 1 1 PTP designation This command moves the robot to a target position in PTP motion by specifying the point number m Command Contents Command code For main robot 0x01 For sub robot 0x81 Point number Oxpppp pppp Specify the point number in 16 bits Specified range 0 0x0000 to 9999 0x270F NZ NOTE Y When a SCARA robot is used and a hand system flag is set for the point data you specify that hand system has priority over the current arm type M 4 1 2 Linear interpolation This command moves the robot to a target position by linear
59. current position reference command A 8 41 3 Sub robot current position reference command A 9 4 2 Category 1 remote commands A 11 4 21 MOVE command A 12 4 211 PTP designation A 12 4 2 1 2 Arch designation A 15 4 21 3 Linear interpolation A 18 4 21 4 Circular interpolation A 21 4 21 5 Direct PTP designation millimeter units A 24 4 21 6 Direct PTP designation pulse units A 27 4 2 2 MOVEI command A 30 4 2 21 PTP designation A 30 4 2 2 2 Direct PTP designation millimeter units A 33 4 2 2 3 Direct PTP designation pulse units A 36 4 2 3 DRIVE command A 39 4 2 3 1 Point designation A 39 4 2 3 2 Direct designation millimeter units A 42 4 2 3 3 Direct designation pulse units A 45 4 2 4 DRIVEl command A 48 4 2 41 Point designation A 48 4 2 4 2 Direct designation millimeter units A 51 4 2 4 3 Direct designation pulse units A 54 4 2 5 Pallet movement command A 57 4 2 5 1 PTP designation A 57 CONTENTS EtherNet IP User s Manual 4 2 5 2 Arch designation 4 2 6 Jog movement command 4 2 7 Inching movement command 4 2 8 Point teaching command 4 2 9 Absolute reset movement command 4 2 10 Absolute reset command 4 2 11 Return to origin command 4 212 Servo command 4 2 13 Manual speed change command 4 214 Auto speed change command 4 215 Program speed change command 4 2 16 Shift designation change command 4 2 17 Hand designation change command 4 2 18 Arm designation change command 4 2 19 Point display unit designation command 4 3 Ca
60. data Oxpppppppp Axis 3 data Oxpppppppp Axis 4 data Oxpppppppp Axis 5 data Oxpppppppp Axis 6 data Oxpppppppp a Specify in 1 bit whether all axes are designated Value Meaning All axes are specified One or more axes are specified bb Specify the speed setting method in 2 bits Value Meaning Speed is not specified Speed is set in n Specify in 1 bit whether to output current position Value Meaning No output Output A 3 O ja D O O 3 3 Q Q c Q D tt Specify the axis to move in bit pattern using lower 8 bits Valid when axis designation flag is 1 SSSS Specify the speed in 16 bits Specified range 1 0x0001 to 100 0x0064 pppppppp Specify the target position data for each axis in 32 bits little endian Data should be integers in pulse units A 27 lt A D 3 O D O O 3 3 Q gt Q c Q D E Status Normal end Channel Contents Status code 0x0200 Not used Point flag bit 0 Point unit a bit 15 bit 1 Not used 0 Axis 1 data Oxbbbbbbbb Axis 2 data Oxbbbbbbbb Axis 3 data Oxbbbbbbbb Axis 4 data Oxbbbbbbbb Axis 5 data Oxbbbbbbbb Axis 6 data Oxbbbbbbbb Shows in 1 bit the units for current position output point data Linked with point display unit of controller Pulse units Milli
61. designation millimeter units as shown at right when moving all axes of the main robot a distance specified by the following points from 0 00 mm positions at 50 speed Axis 1 100 00 Axis 2 200 00 Axis 3 50 00 Axis 4 180 00 Other axes 0 00 The current position output is specified at this time Values are expressed as shown at right when controller display units are in millimeters Channel Value Ox000E 0x8004 0x0000 0x0032 0x2710 0x0000 0xB1E0 OxFFFF 0x1388 0x0000 0xB9BO OxFFFF 0x0000 0x0000 0x0000 0x0000 Channel Value 0x0200 0x0000 0x0000 0x0001 0x2710 0x0000 0xB1E0 OxFFFF 0x1388 0x0000 0xB9BO OxFFFF 0x0000 0x0000 0x0000 0x0000 A 35 lt A D 3 O ja D O O 3 3 Q Q c Q D 4 2 2 3 Direct PTP designation pulse units This command moves the robot a specified data distance in PTP motion by directly specifying the data in pulses pe NOTE e If the MOVE command is interrupted and then re executed the resumed motion that occurs either to the original target position or to a new target position referenced to the current position can be selected by the MOVEI DRIVEI start position setting of other parameters For details refer to the controller user s manual The other parameters default
62. distance data for specified axis in 32 bits little endian Data should be integers in pulse units A D 3 O ja 0 O O 3 3 Q gt Q c Q D gt A 54 E Status Normal end Channel Contents Status code 0x0200 Not used Point flag bit 0 Point unit a bit 15 bit 1 Not used 0 Axis 1 data Oxbbbbbbbb Axis 2 data Oxbbbbbbbb Axis 3 data Oxbbbbbbbb Axis 4 data Oxbbbbbbbb Axis 5 data Oxbbbbbbbb Axis 6 data Oxbbbbbbbb a Shows in 1 bit the units for current position output point data Linked with point display unit of controller Pulse units Millimeter units bbbbbbbb Shows the current position output data in 32 bits little endian Data is shown in integers when point display units are in pulses Data is shown in integers x100 when point display units are in millimeters Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits AJ i 3 O ja D O O 3 3 Q Q c Q D A 55 lt Example Specify the DRIVE command with direct designation pulse units as shown at right to move axis 3 a distance equal to 5000 pulses from 0 pulse positi
63. enabled dedicated inputs other than SI 00 and SI 11 might be disabled depending on service mode parameter setting unless service mode input signal is set to ON with SI 02 in the EtherNet IP system gt 5 8 4 Controller model EtherNet IP compatible module specifications EtherNet IP compatible module RCX240 Software version V10 50 or higher Network specifications Conforms to Ethernet IEEE 802 3 Applicable EtherNet IP specifications Volume 1 Common Industrial protocol CIP Edition 3 8 Volume 2 EtherNet IP Adaptation Edition 1 9 Device type Generic Device Device No 43 Data size 48 bytes each for input output Transmission speed 10 Mbps 100 Mbps Connector specifications RJ 45 connector 8 pole modular connector 1 port Cable specifications Refer to 4 1 LAN cable in Chapter 2 of this guide Max cable length 100 m EtherNet IP input output points 2 words 14 words byte 0 3 byte 4 31 byte 32 33 byte 34 47 Dedicated word input Input General purpose word input 48 bytes in total Dedicated bit input General purpose bit input 16 points 96 points byte 0 3 byte 4 31 byte 32 33 byte 34 47 Dedicated word output 2 words Output General purpose word output 14 words 48 bytes in total Dedicated bit output General purpose bit output 16 points 96 points Parallel external input
64. ended abnormally O Q O 3 3 Q Qa Q Q B 1 lt 2 Sending and receiving O commands Sending and receiving is performed in the I O register as shown below Sending and receiving I O commands 100ms or more S105 l2 Input port 13 to SI4 20ms Output port S016 ees 15 Execution end 93301 S6 00 1 Set command code and command data Time interval between 1 and 2 30ms or more 2 Set I O command execution trigger input Pulse width 100ms or more 3 Transition to execute 4 Clear the I O command trigger input and command code and command data 5 Set termination of I O command and execution check output Example Follow these steps when sending and receiving I O commands to execute the PTP movement command to point 19 1 Set the following values in the register to execute the PTP movement command by designating a point S12 Command code 0x01 S13 Lower point setting 0x13 point 19 S14 Upper point setting 0x00 point 19 2 Set to ON after SIO5 turns OFF 3 The controller receives the I O command and executes it if the command and command data are acceptable The in progress output SO17 turns ON and the execution check output SO16 is turned OFF at this time The robot moves to the position specified by point 19 4 Clear S12 through SI4 after checking that in progress output SO17 is ON 5 The command has ended so in progress output SO1
65. gt A 106 Example Channel Value Use this command as shown at right to assign 0x0201 numerical data of variable number 2 to variable 0x0000 number 1 0x0001 Variable number 1 1 0x0000 Variable number 2 2 0x0002 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 Values are expressed as shown at right when executed Channel Value correctly 0x0200 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 A i 3 O ja D O O 3 3 Q Q c Q D A 107 lt 4 4 1 3 Arithmetic operation using numerical data on static variable This command performs four arithmetic operations by specifying variable number 1 and a numerical value Results are stored in a static variable SGIn or SGRn specified by variable number 1 Variable number 1 Variable number 1 operator numerical value E Command Channel Contents Command code Addition 0x0204 Subtraction 0x0208 Multiplication 0x020C Division 0x0210 Not used 0x0000 Variable number 1 Variable number at addition destination Oxssss Not used 0x0000 Numerical data Oxbbbbbbbb 0x0000 Ssss Specify variable number 1 in 16 bits Specified range for integer variable 0
66. input area assigned to the master module n Start address of the output area assigned to the master module m indicates the data direction from remote to master and n the data direction from master to remote A 83 lt A D 3 O ja D O O 3 3 Q Q c Q D 4 3 1 Point related command Execute this command to define or obtain point data 4 3 1 1 Point data definition This command defines point data by specifying the point number and position data on each axis E Command Channel Contents Command code 0x0100 Command flag bit 0 Point unit bit 2 bit 1 Hand system bit 15 bit 3 0 Fixed Point number Oxssss Not used 0x0000 Axis 1 data Oxbbbbbbbb Axis 2 data Oxbbbbbbbb Axis 3 data Oxbbbbbbbb Axis 4 data Oxbbbbbbbb Axis 5 data Oxbbbbbbbb Axis 6 data Oxbbbbbbbb u Specify the point data unit in 1 bit 0 Pulse units 1 Millimeter units tt Specify in 2 bits the hand system to be defined Valid only when SCARA robot is specified and units are in millimeters Value Meaning 01 Right handed system is defined 10 Left handed system is defined Others No hand system is defined ssss Specify the point number in 16 bits Specified range 1 0x0001 to 9999 0x270F bbbbbbbb Specify the point data in 32 bits little endian Data should be integers when units are in pulses Data should
67. integers x100 when point display units are in millimeters Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd gt A 22 Shows the group number in upper 8 bits and the category number in lower 8 bits Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Example Specify the MOVE command with circular interpolation as shown at right when moving all axes of the main robot to point numbers 100 and 101 at 20 speed and 50 deceleration The current position output is specified at this time Values are expressed as shown at right when controller display units are in millimeters and with Axis 1 123 45 Axis 2 1 23 Axis 3 50 00 Axis 4 90 23 Other axes 0 00 Channel Value 0x0004 0x8044 0x0000 0x0014 0x0064 0x0065 0x0000 0x0000 0x0000 0x0000 0x0000 0x0032 0x0000 0x0000 0x0000 0x0000 Channel Value 0x0200 0x0000 0x0000 0x0001 0x3039 0x0000 OxFF85 OxFFFF 0x1388 0x0000 0x233F 0x0000 0x0000 0x0000 0x0000 0x0000 A 23 lt A D 3 O ja D O O 3 3 Q Q c Q D 4 2 1 5 Direct PTP designation millimeter units This command moves the robot to a target position in PTP motion by directly specifying the data in millimete
68. interpolation by specifying the point number E Command Contents Command code For main robot For sub robot Point number pppp Specify the point number in 16 bits Specified range 0 0x0000 to 9999 0x270F AN CAUTION The point number setting range is 0 to 255 when there is no S140 When moving the robot by linear interpolation to a point where a hand system flag is specified make sure that the same hand system is used at the current position and target position If the same hand system is not used then an error will occur and robot movement will not be allowed NEC M NOTE Y When a SCARA robot is used and a hand system flag is set for the point data you specify that hand system has priority over the current arm type O Q O 3 3 Q m a Q Q gt B 4 4 2 MOVEI command Execute this command group to move the robot to a relative position 4 2 1 PTP designation This command moves the robot a specified distance in PTP motion by specifying the point number wA 1y NOTE g If the MOVEI command is interrupted and then re executed the resumed motion that occurs either to the original target position or to a new target position referenced to the current position can be selected by the MOVEI DRIVEI start position setting of other parameters For details refer to the controller user s manual e The other parameters default MOVEI DRIVEI start position setting is Kee
69. is a communication protocol that CIP Common Industrial Protocol is mounted on the Ethernet and TCP IP The EtherNet IP is jointly controlled by ODVA Open DeviceNet Vendor Association and Cl ContorolNet International E CIP Ethernet Industrial Protocol This CIP is a protocol for the application layer that does not depend on the physical layer used for the EtherNet IP or DeviceNet The CIP provides the standard object that can access to data and includes functions necessary for industrial network units E TCP IP Transmission Control Protocol Internet Protocol This TCP IP is a standard protocol for the Internet communication The TCP IP is a generic name of multiple protocol groups that use the TCP and IP protocols as a core All computers and personal computers that can access to the Internet use the TCP IP protocol E Ethernet Simply put this Ethernet is a kind of standard for the hardware related to the network system The Ethernet is a network that was invented by Xerox in the U S A in the early 1970s Presently the Ethernet is national standardized as IEE802 3 The specifications are classified into 10BASE 2 10BASE 5 and 10BASE T by the transmission cable type The maximum cable length or the maximum number of connections may vary depending on the specifications The EtherNet IP compatible module for the RCX240 uses the 10BASE T specifications Protocols generally used for the Ethernet are NetBEUI and IPX SPX in addition t
70. linear interpolation on Cartesian coordinates when units are in millimeters Jog speed is determined by the MANUAL speed To stop the jog movement command set the dedicated input interlock signal S111 to OFF After checking that jog movement has stopped set the interlock signal back to ON Command Contents Command code For main robot For sub robot Axis to move and Axis 1 direction Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 0 Fixed Direction tt Specify the axis to move in 0 to 3 bits Only one axis can be specified d Specify the movement direction in 1 bit 0 direction 1 direction O Q O 3 3 Q m Q Q Q gt B 6 4 5 Inching movement command Execute this command to move the robot by inching in MANUAL mode Inching movement distance is linked to the manual movement speed The inching command can only be executed in MANUAL mode This command is linked with the controller s point display unit system So when display units are in pulses the axis moves a certain number of pulses at the manual speed setting When display units are in millimeters the axis moves on Cartesian coordinates by linear interpolation at the manual speed setting divided by 100 E Command Contents Command code For main robot For sub robot Axis to move and Axis 1 direction Axis 2 Axis 3 Axis 4 Axis 5 Axis 6
71. method that substitutes the LSB into the memory at low order address and refers to the LSB when the word information data is handed as double word data For example when the value 00012345h is substituted into SOD 2 2345h is substituted into SOW 2 of the first word and 0001h2 into SOW 3 of the second word 6 3 lt gt re re 5 Q X lt The contents of an EDS file are shown below just for your reference EZ EDS Version 3 9 Generated Electronic Data Sheet File DescText YAMAHA RCX EtherNet IP CreateDate 03 30 2011 CreateTime 12 07 19 ModDate 05 18 2011 ModTime 14 00 47 Revision 1 1 Device VendCode 636 VendName YAMAHA Motor Co Ltd ProdType 43 ProdTypeStr Generic Device ProdCode 5 MajRev 1 MinRev 1 ProdName YAMAHA ROBOT RCX EIP Catalog YAMAHA ROBOT RCX EIP Device Classification Class1 EtherNetIP Params Param 0 first field shall equal 0 n path size path 0x0000 descriptor OxC7 data type 16 bit Unsigned Integer 2 data size in bytes Output Size name um units ae help string 0 504 48 min max default data values oe mult dev base offset scaling not used oe mult dev base offset link not used decimal places not used Param2 0 first field shall equal 0 T path size path 0x0000 descriptor OxC7 data type 16 bit Unsigned Integer 2 data size in bytes Input Size nam
72. no robot oe gt Axis 1 robot number 2000 YK250X nS aks 3 Axis2 robot number 200 YK250X ar 0xO7D O Axis 3 robot number 200 YK250X m0 0x07D0 D Axs 4 robot number 2000 YK250X mad 0x07D0 Axis 5 robot number O no axis mata 0x07D0 8 Axis 6 robot number O no axis m 16 0x0000 3 Axis 7 robot number 0 no axis m 18 0x0000 3 Axis 8 robot number 0 no axis m 20 0x0000 Q Option slot 1 27 EtherNet IP unit m 22 0x0000 m Option slot 2 6 DIO unit NPN specifications m 24 0x001B Q Option slot 3 6 DIO unit NPN specifications m 26 0x0006 Q Option slot 4 0 no unit m 28 0x0006 C Q D A 143 lt A D 3 O ja D O O 3 3 Q gt Q c Q D 4 7 3 Servo status reference Execute this command to acquire information on servo status E Command Command code 0x0503 Not used E Status Normal end Channel Contents Status code 0x0000 0x0200 Not used Axis 1 information Oxaaaa Axis 2 information Oxaaaa Axis 3 information Oxaaaa Axis 4 information Oxaaaa Axis 5 information Oxaaaa Axis 6 information Oxaaaa Axis 7 information Oxaaaa Axis 8 information Oxaaaa aaaa Shows the servo status of each axis Servo OFF mechanical brake ON Servo ON Servo OFF mechanical brake OFF No axis Abnormal end Channel Contents Status code 0x4000 Erro
73. output Address m 32 0 O 00 Signal name Emergency stop input status output Description Turns ON when the robot controller is in the emergency stop state m 32 1 O 01 CPU_OK status output Turns ON when the robot controller is in the normal state m 32 2 O 02 Servo ON status output Turns ON when the motor power of the robot controller is ON m 32 3 O 03 Alarm status output Turns ON when the robot controller is in any of the following states e The controller is in the serious error state e The emergency stop input is turned OFF m 33 0 O 10 AUTO mode status output Turns ON when the AUTO mode is selected Turns OFF when other mode is selected m 33 1 SO 11 Return to origin complete status output Turns ON when the robot has completed the return to origin m 33 2 0 12 Sequence program execution status output Turns ON while the sequence program is being executed m 33 3 O 13 Robot program execution status output Turns ON while the robot program is being executed m 33 4 0 14 Program reset status output Turns ON when the robot program has been reset Turns OFF when the robot program starts m 33 6 O 16 I O command execution judgment output Turns OFF while the I O command is being executed After the I O command has been executed turns ON if normal and stays OFF if abnormal m 33 7 O
74. output 7 0 17 aida I O command 7 SI 17 ae reset Return to origin a SO 20 1 20 m 34 0 7 N General purpose output n 34 0 7 x General purpose input O S0 27 SI 27 O 30 1 30 o m 35 0 7 General purpose output n 35 0 7 i General purpose input S0 37 SI 37 Q SO 40 1 40 rey m 36 0 7 General purpose output n 36 0 7 a General purpose input 5 SO 47 SI 47 D O 50 1 50 m 37 0 7 E General purpose output n 37 0 7 General purpose input S0 57 SI 57 SO 60 SI 60 m 38 0 7 amp General purpose output n 38 0 7 x General purpose input SO 67 SI 67 SO 70 SI 70 m 39 0 7 a General purpose output n 39 0 7 General purpose input SO 77 SI 77 SO 100 SI 100 m 40 07 General purpose output n 40 0 7 R General purpose input O 107 S1 107 O 110 S1 110 m 41 0 7 a General purpose output n 41 0 7 x General purpose input O 117 S1 117 O 120 SI 120 m 42 0 7 ss General purpose output n 42 0 7 i General purpose input SO 127 1 127 0 130 1 130 m 43 0 7 General purpose output n 43 0 7 General purpose input S0 137 SI 137 SO 140 SI 140 m 44 0 7 i General purpose output n 44 0 7 General purpose input SO 147 SI 147 O 150 S1 150 m 45 0 7 ca General purpose output n 45 0 7 a General purpose input S0 157 SI 157 continued to next page SUOIJODYIDEdS a Slave Master Master Slave Address m 46 Signal name Reserved Address n 46 Signal name Reserved
75. output c After confirming that the AUTO mode status output is ON the AUTO mode input OFF is input E Program reset process d Program reset input ON is input e Program reset status output ON is output f After confirming that the program reset status output is ON the program reset input OFF is input E Program execution process g Robot program start input ON is input h Program reset status output OFF is output Robot program execution status output ON is output i After confirming that the robot program execution status output is ON the robot program start input OFF is input The program cannot be executed if the emergency stop input and interlock input are OFF If the return to origin complete status output is not ON execution of the program may not be possible depending on the execution level setting value When SAFE mode is enabled dedicated inputs other than SI 00 and SI 11 might be disabled depending on service mode parameter setting unless service mode input signal is set to ON with SI 02 in the EtherNet IP system 5 7 lt Ww Q h Q Q O D n 100ms or more 23503 S6 00 3 3 Stopping with program interlock Stopping with program interlock on m 33 0 SO 10 AUTO mode status off output on m 33 1 SO 11 Return to origin complete off status output on m 33 3 SO 13 Robot program execution status output off n 33 1 S1 11 nterlock input I i i off j n 33 2 S
76. subtraction 4 4 3 3Assigning a pallet point 44 4 Element assignment command 4 4 4 1 Assigning to a point element 4 4 4 2 Assigning to a shift element 4 5 Category 4 remote commands 4 5 1 I O port commands 4 5 1 1 Assigning a numerical value to an I O port 4 5 1 2 I O port reference 4 6 Category 5 remote commands 4 6 1 Execution program designation 4 6 2 Program execution 4 6 3 Program reset 4 6 4 Program task switching 4 6 5 Program execution information reference 4 7 Category 6 remote commands 4 7 1 Version information reference A 77 A 78 A 79 A 80 A 81 A 83 A 84 A 84 A 86 A 88 A 88 A 90 A 92 A 92 A 93 A 95 A 95 A 97 A 99 A 99 A 101 A 103 A 104 A 104 A 106 A 108 A 110 A 112 A 114 A 114 A 116 A 118 A 118 A 120 A 122 A 124 A 124 A 126 A 128 A 129 A 129 A 131 A 133 A 134 A 135 A 136 A 137 A 138 A 140 A 141 4 7 2 4 7 3 4 7 4 4 7 5 4 7 5 1 Controller configuration reference Servo status reference Absolute reset status reference Current position reference Pulse designation 4 7 5 2 Millimeter designation 4 7 6 4 7 7 4 7 8 ATEO 4 7 10 4 7 11 4 7 12 4 7 13 4 7 14 Task status reference Task execution line reference Message reference Speed status reference Arm designation status reference Arm status reference Service mode status reference Point unit status reference Return to origin status reference 142 144 145 147 147 148 150 151 152
77. through the SAFETY connector DI 02 is valid The signals in the EtherNet IP system are not sent or received If the connection to the EtherNet IP system transits from the normal state to the error state the EtherNet IP system connection must be returned to the normal state The signals in the EtherNet IP system can be sent and received when the EtherNet IP system connection is recovered to the normal state 1 7 lt OEA Connection 2 2 1 2 2 2 3 Contents 1 Confirming the EtherNet IP compatible module settings 2 1 Setting to the EtherNet IP system specification controller Saving the robot controller data Installing into the robot controller Response when starting up the robot controller 3 Setting the EtherNet IP compatible module 3 1 3 2 3 3 3 4 3 5 Making the EtherNet IP module valid Setting the Remote_cmd SI05 function Setting the Output MSG SOW1 function Setting the IP address Setting the subnet mask 3 6 Setting the gateway 4 1 4 2 LAN cable Mounting the ferrite core 5 Connecting to the EtherNet IP system 5 1 Connecting the LAN cable 2 2 2 2 2 2 2 2 2 3 2 3 2 4 2 5 2 6 2 7 2 8 4 Noise measures 2 9 2 9 2 9 2 10 2 10 1 Confirming the EtherNet IP compatible module settings Whether or not an EtherNet IP compatible module is installed in the robot controller can be confirmed from the RPB programming box hereafter referred to as RPB
78. to origin on axis 2 of the main robot n 2 0x0000 n 4 0x0002 0x0000 Values are expressed as shown at right when executed P 8 Channel Value correctly m 0x0200 0x0000 A D 3 O ja D O O 3 3 Q Q c Q D A 73 lt 4 2 12 Servo command Execute this command group to operate the robot servos Servo ON Execute this command to turn on the servo of a specified axis The motor power must be turned on when specifying the axis All controller servos are turned on if no axis is specified Servo OFF Execute this command to turn off the servo of a specified axis All controller servos are turned off if no axis is specified Servo Free Execute this command to turn off the mechanical brake and dynamic brake after turning off the servo of a specified axis Servo OFF and Free are repeated when this command is consecutively executed Power ON Execute this command to turn on the motor power No axis can be specified Command Channel Contents Command code Servo ON For main robot 0x0034 For sub robot 0x00B4 Servo OFF For main robot 0x0035 For sub robot 0x00B5 Servo Free For main robot 0x0036 For sub robot 0x00B6 Power ON All controller servos 0x0037 Not used 0x0000 Specified axis bit 0 OxO0tt bit 1 bit 2 bit 3 bit 4 bit 5 bit 15 bit 6 Not used 0x0000 tt Specify the
79. units as shown at right when moving all axes of the main robot to the following points at 50 speed Axis 1 100 00 Axis 2 200 00 Axis 3 50 00 Axis 4 180 00 Other axes 0 00 The current position output is specified at this time Values are expressed as shown at right when controller display units are in millimeters gt A 26 Channel Value 0x0006 0x8004 0x0000 0x0032 0x2710 0x0000 0xB1E0 OxFFFF 0x1388 0x0000 0xB9BO OxFFFF 0x0000 0x0000 0x0000 0x0000 Channel Value 0x0200 0x0000 0x0000 0x0001 0x2710 0x0000 0xB1E0 OxFFFF 0x1388 0x0000 0xB9BO OxFFFF 0x0000 0x0000 0x0000 0x0000 4 2 1 6 Direct PTP designation pulse units This command moves the robot to a target position in PTP motion by directly specifying the data in pulses E Command Channel Contents Command code For main robot 0x0007 For sub robot 0x0087 Command flag bit 0 Axis designation flag a bit 2 bit 1 Speed designation flag bit 14 bit 3 0 Fixed bit 15 Current position output designation flag Specified axis to move bit 0 Axis 1 OxO0tt bit 1 Axis 2 bit 2 Axis 3 bit 3 Axis 4 bit 4 Axis 5 bit 5 Axis 6 bit 15 bit 6 0 Fixed Specified speed Oxssss Axis 1 data Oxpppppppp Axis 2
80. you want to set T MAn lt 2 Sa a AN CAUTION e This parameter is compatible with the RCX240 software version 10 52 or higher e This parameter has been set at INVALID at shipment Ky M NOTE Y For details about codes output by the Output MSG SOW1 function refer to the error messages stated in the user s manual for controller e When the Remote_cmd SI05 function is made invalid the Output MSG SOW 1 function cannot be used Conversely when the Output MSG SOW 1 function is made valid the Remote_cmd SI05 function cannot be used 2 5 lt 3 4 Setting the IP address Set the IP address The IP address is a unique number assigned to each unit that identifies multiple units connected to the network So the IP address needs to be set and controlled so that it does not overlap with that of other unit step f Select OP BRD Select SYSTEM gt PARAM gt OP BRD The option board list screen will appear Step Select an EtherNet IP module you gt Step 2 Selecting EtherNet IP module want to make valid Move the cursor to ENet_IP and press the ieee gt PARAM gt OP BRD V10 50 F1 SELECT key 0 ss ROP ENet IP VALID The Ethernet IP module setting screen will 2 a appear ha ear Do 24212 S6 00 stepd Select 4 IP address SSG M ee eee eee Use the Ba key cursor down key to move the cursor to 4 IP address and press the gt Step 3 Selecting 4 IP a
81. 0 to the specified point 0x0000 l Point number 1 0x0001 Point number 2 100 0x0064 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 Values are expressed as shown at right when executed Channel Value correctly 0x0200 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 A D 3 O ja D O O 3 3 Q Q c Q D A 119 lt 4 4 3 2 Point addition subtraction This command adds and subtracts points by specifying point number 1 and point number 2 Point number 1 Point number 1 operator point number 2 E Command Channel Contents Command code Addition 0x0234 Subtraction 0x0235 Not used 0x0000 Point number 1 Point number at operation destination Oxssss Point number 2 Point number at operation source Oxssss Not used 0x0000 Ssss Specify the point number in 16 bits Specified range 0 0x0000 to 9999 0x270F E Status Normal end Channel Contents Status code 0x0200 Not used Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd Not used aabb Shows the group number in upper 8 bits and the category number in lower 8
82. 00 0x0000 0x0000 0x0000 0x0000 Channel Value 0x0200 0x0000 0x0000 0x0000 0xE240 0x0001 OxFF85 OxFFFF 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 4 2 4 2 Direct designation millimeter units This command moves the specified axis of the robot in PTP motion a distance by directly specifying the data in millimeters er A NOTE e If the DRIVE command is interrupted and then re executed the resumed motion that occurs either to the original target position or to a new target position referenced to the current position can be selected by the MOVEI DRIVEI start position setting of other parameters For details refer to the controller user s manual The other parameters default MOVEI DRIVEI start position setting is Keep motion to the original target position when DRIVEL is interrupted and then re executed E Command Channel Contents Command code For main robot 0x0016 For sub robot 0x0096 Command flag bit 0 1 Fixed 1 bit 2 bit 1 Speed designation flag bit 14 bit 3 0 Fixed bit 15 Current position output designation flag Specified axis to move bit 0 Axis 1 OxO0tt bit 1 Axis 2 bit 2 Axis 3 bit 3 Axis 4 bit 4 Axis 5 bit 5 Axis 6 bit 15 bit 6 0 Fixed Specified speed Oxssss Movement data Oxpppppppp Not
83. 000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 4 3 4 2 Shift data reference Use this command to search and obtain shift data by specifying the shift number Command Channel Contents Command code 0x010D Not used 0x0000 Shift number Oxssss Not used 0x0000 Ssss Specify the shift number in 16 bits Specified range 0 0x0000 to 9 0x0009 E Status Normal end Channel Contents Status code 0x0200 Not used Shift number Oxssss Not used Data 1 Oxbbbbbbbb Oxbbbbbbbb Oxbbbbbbbb Oxbbbbbbbb SSSS Shows the shift number in 16 bits bbbbbbbb Shows the shift data in 32 bits little endian Data is show in integers x100 Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd Not used aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits A 3 O ja D O O 3 3 Q Q Q c Q D A 97 lt A D 3 O ja D O O 3 3 Q gt Q c Q D Example Use the shift data reference command as shown at right to obtain shift data at shift number 5 Values are expressed as shown at right when executed correctly to obtain the following shift data
84. 000 ee as executed correctly to obtain the following positions R Sane 0x0200 in millimeter units 0x0000 Axis 1 200 01 0x0000 Axis 3 123 45 0x0001 Other axes 0 00 0x4E21 0x0000 0x0000 0x0000 OxCFC7 OxFFFF 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 A D 3 O ja D O O 3 3 Q Q c Q D A 149 lt 4 7 6 Task status reference Execute this command to acquire task execution status E Command Command code 0x0507 Not used 0x0000 E Status Normal end Channel Contents Status code 0x0200 Not used Execution status of task 1 Oxaaaa Execution status of task 2 Oxaaaa Execution status of task 3 Oxaaaa Execution status of task 4 Oxaaaa Execution status of task 5 Oxaaaa Execution status of task 6 Oxaaaa Execution status of task 7 Oxaaaa Execution status of task 8 Oxaaaa Stop status Run status Ready status Wait status Suspend status No task Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd Not used aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Channel Value 0x0507 Example
85. 0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 ns D 3 O ja D O O 3 3 Q Q c Q D A 127 lt 4 5 Category 4 remote commands Category 4 remote commands are I O port commands A command list is given below No Command contents Command code n I O port command Assignment port units 0x0300 Assignment bit units 0x0301 Reference port units 0x0304 m Start address of the input area assigned to the master module n Start address of the output area assigned to the master module m indicates the data direction from remote to master and n the data direction from master to remote A D 3 O ja D O O 3 3 Q gt Q c Q D gt A 128 4 5 1 1 O port commands Use these commands to assign a value to an I O port or obtain the contents of a specified I O port 4 5 1 1 Assigning a numerical value to an I O port This command assigns a bit pattern to a port number by specifying the destination port number and bit pattern E Command Channel Contents Command code Port units 0x0300 Bit units 0x0301 Not used 0x0000 Port number bit 3 bit 0 Bit number bit 7 bit 4 Units of port number bit 11 bit 8 Tens of port number bit 15 bit 12 Specified port type Assignment bit pattern 0x00bb Not used 0x0000
86. 0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 A 115 lt A D 3 O ja D O O 3 3 Q Q c Q D 4 4 2 2 Parameter value reference Use this command to search and obtain parameter setting data by specifying the parameter number Robot parameter Parameter number Reference range WEIGHT Robot payload kg 1 0x0001 0 to maximum payload Axis parameter Parameter number Reference range ACCEL Acceleration coefficient 57 0x0101 1 to 100 DECEL Deceleration ratio 258 0x0102 1 to 100 TOLE Tolerance pulses 259 0x0103 1 to 2048 OUTPOS OUT effective position pulses 260 0x0104 1 to 614400 ARCH Arch position pulses 261 0x0105 1 to 614400 AXWGHT Axis payload kg 262 0x0106 0 to maximum payload E Command Channel Contents Command code For main robot 0x0224 For sub robot 0x02A4 Not used 0x0000 Parameter number Oxssss Specified axis bit 0 Axis 1 OxOO0tt bit 1 Axis 2 bit 2 Axis 3 bit 3 Axis 4 bit 4 Axis 5 bit 5 Axis 6 bit 15 bit 6 0 Fixed Not used 0x0000 Ssss Specify the parameter number in 16 bits tt Specify the axis number in bit pattern using lower 8 bits Only one axis can be specified Specify 0 for robot parameters E Status Normal end Channel Contents Status code 0x0200 Not used
87. 0007 Specified range for real variable 256 0x0100 to 263 0x0107 Integer variable Variable number Real variable 0 0x0000 Variable number 256 0x0100 1 0x0001 257 0x0101 7 0x0007 Contents Status code 263 0x0107 0x0200 Not used Variable number Oxssss Not used Value of variable Oxbbbbbbbb SSSS Abnormal end Channel Specify variable number in 16 bits Specified range for integer variable 0 Ox0000 to 7 0x0007 Specified range for real variable 256 0x0100 to 263 0x0107 bbbbbbbb Shows the numerical value in 32 bits little endian Specify a signed integer value when assigning to an integer variable Specify a single precision real number when assigning to a real variable Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd Not used gt A 112 Shows the group number in upper 8 bits and the category number in lower 8 bits Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Example Channel Value Use this command as shown at right to obtain the 0x0214 numerical value of variable number 5 0x0000 0x0005 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 Values ar
88. 1 12 on H i Robot program start i a input off 1 rri i b V _ CAUTION Provide an interval of 100ms or more when turning the dedicated input from the master module to the controller ON and OFF If the interval is too short the dedicated input may not be recognized This also applies to the interval for the same dedicated inputs or different dedicated inputs Use this also if there is a dedicated output in response to the dedicated input from the master module to the controller E Program execution process mo Robot program start input ON is input oF Robot program execution status output ON is output g After confirming that the robot program execution status output is ON the start input OFF is input a v rogram stop process using interlock input jos Interlock input OFF is input oO Robot program execution status output OFF is output E Program execution after stopping program with interlock input f Interlock input ON is input g Robot program start input ON is input h Robot program execution status output ON is output i After confirming that the robot program execution status output is ON the start input OFF is input The program also stops when emergency stop input OFF is input At this point emergency stop input status ON and alarm status output ON are output and servo ON status output OFF is output To re execute the program servo ON process is required When SAFE mode is
89. 153 154 155 156 157 158 1 Remote command format Using the EtherNet IP compatible module allows issuing commands directly from the PLC programmable logic controller Commands such as MOVE commands can now be run that were impossible to execute up until now without using the robot program or RS 232C port CAUTION A e Remote commands are compatible with the RCX240 software version 10 52 or higher e To use remote commands the Remote_cmd SI05 parameter in SYSTEM gt PARAM gt OP BRD mode must be set to VALID in advance For details refer to 3 2 Setting the Remote_cmd SI05 function in Chapter 2 of the EtherNet IP compatible module guide and the user s manual for controller 1 1 Remote command specifications Functions such as shown below are assigned to each remote register Output remote master Input remote lt master Address Contents Address Contents Status Execute command code Normal end Abnormal end Error code Additional information Response Command data m Start address of the input area assigned to the master module n Start address of the output area assigned to the master module ead M NOTE Remote commands must be held until the status changes to a normal end 0x0200 or an abnormal end 0x4000 If a remote command is changed before the status changes to an end the status of the remote command executed will not be reflected Remo
90. 16 O gt T connection type NULL 17 O gt T connection type MULTICAST 18 O gt T connection type POINT2POINT 19 O gt T connection type reserved 20 T gt O connection type NULL 21 T gt O connection type MULTICAST 22 T gt O connection type POINT2POINT 23 T gt O connection type reserved 24 O gt T priority LOW 25 O gt T priority HIGH 26 O gt T priority SCHEDULED 27 O gt T priority reserved 28 T gt O priority LOW 6 5 lt 29 T gt O priority HIGH 30 T gt O priority SCHEDULED 31 T gt O priority reserved Param3 Param1 Assem100 O gt T RPI size format Param3 Param2 Assem150 T gt O RPI size format ki Exclusive Owner 20 04 24 C5 2C 96 2C 64 config 1 size format config 2 size format help string Path Connection Name Connection2 0x02030002 0 15 supported transport classes 16 trigger cyclic 17 trigger change of state 18 trigger application 19 23 trigger reserved 24 transport type listen only 25 transport type input only 26 transport type exclusive owner 27 transport type redundant owner 28 30 reserved 31 Client 0 Server 1 0x44640305 0 O gt T fixed size supported 1 O gt T variable size supported 2 T gt O fixed size supported 3 T gt O variable size supported 4 5 O gt T number of bytes per slot obsolete 6 7
91. 200 Response data Normal end status Additional 0x4000 Error code P 3 0x0000 Abnormal end status information m Start address of the input area assigned to the master module m indicates the data direction from remote to master E Category 1 Command code n Command contents Main robot Sub robot 1 1 MOVE command PTP point designation 0x0001 0x0081 Arch designation 0x0002 0x0082 Linear interpolation 0x0003 0x0083 Circular interpolation 0x0004 0x0084 Direct PTP Millimeter units 0x0006 0x0086 designation Pulse units 0x0007 0x0087 1 2 MOVEI command PTP point designation 0x0009 0x0089 Direct PTP Millimeter units 0x000E 0x008E designation Pulse units 0x000F 0x008F 1 3 DRIVE command Point designation 0x0010 0x0090 Direct Millimeter units 0x0012 0x0092 designation Pulse units 0x0013 0x0093 1 4 DRIVEI command Point designation 0x0014 0x0094 Direct Millimeter units 0x0016 0x0096 designation Pulse units 0x0017 0x0097 1 5 Pallet command PTP designation 0x0018 0x0098 Arch designation 0x0019 0x0099 1 6 Jog movement command 0x0020 0x00A0 1 7 Inching movement command 0x0024 0x00A4 1 8 Point teaching command 0x0028 0x00A8 1 9 Absolute reset movement command 0x0030 0x00B0 1 10 Absolute reset command 0x0031 0x00B1 1 11 Return to origin command 0x0032 0x00B2 1 12 Servo command On designation 0x0034 0x00B4 Off designation 0x0035 0x00
92. 45 Axis 2 1 23 Axis 3 50 00 Axis 4 90 23 Other axes 0 00 A D 3 O ja D O O 3 3 Q gt Q c Q D gt A 62 Channel Value 0x0019 0x8014 0x0400 0x0046 0x000A 0x0020 0x0000 0x0000 0x03E8 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 Channel Value 0x0200 0x0000 0x0000 0x0001 0x3039 0x0000 OxFF85 OxFFFF 0x1388 0x0000 0x233F 0x0000 0x0000 0x0000 0x0000 0x0000 4 2 6 Jog movement command Execute this command in MANUAL mode to move the robot in jog mode This command can only be executed in MANUAL mode This command is linked with the controller s point display unit So the axis moves in PTP motion when the display units are in pulses and moves by linear interpolation on the Cartesian coordinates when the units are in millimeters Jog speed is determined by the manual movement speed To stop the jog command set the dedicated input of the interlock signal S111 to OFF Abnormal end status 0x4000 appears as the status code and the error code indicates that the robot has stopped by the interlock Ox0CO2 After confirming that movement has stopped set the dedicated input of the interlock signal to ON E Command Channel Contents Command code For main robot 0x0020 For sub robot 0x00A0 Command flag bi
93. 7 turns OFF and execution check output SO16 turns ON if command ended correctly and turns OFF if the command failed If SIO5 was not set to OFF in 4 the in progress output S017 remains ON for a maximum of 100ms from the timing in 5 Example of sending and receiving Output port O Q O 3 3 Q m a Q Q Execution end 93302 S6 00 gt B 2 3 I O command list I O commands are expressed with hexadecimal codes Command code SI2 No Command contents Main robot Sub robot 1 MOVE command PTP point designation 0x01 0x81 Linear interpolation 0x03 0x83 2 MOVEI command PTP designation 0x09 0x89 3 Pallet movement command PTP designation at pallet 0 0x18 0x98 4 Jog movement command 0x20 OxAO 5 Inching movement command 0x24 OxA4 6 Point teaching command 0x28 OxA8 7 Absolute reset movement command 0x30 0xBO 8 Absolute reset command 0x31 0xB1 9 Return to origin command 0x32 0xB2 10 Servo command On designation 0x34 0xB4 Off designation 0x35 0xB5 Free designation 0x36 0xB6 Power on designation 0x37 11 Manual movement speed command 0x38 0xB8 12 Auto movement speed command 0x39 0xB9 13 Program speed change command 0x3A OxBA 14 Shift designation change command 0x3B 0OxBB 15 Hand designation change command 0x3C 0xBC 16 Arm designation change command 0x3D 0xBD 17 Point display unit designation command 0x3E The pallet movement
94. B5 Free designation 0x0036 0x00B6 Power on designation 0x0037 1 13 Manual speed change command 0x0038 0x00B8 1 14 Automatic speed change command 0x0039 0x00B9 1 15 Program speed change command 0x003A 0x00BA 1 16 Shift designation change command 0x003B 0x00BB 1 17 Hand designation change command 0x003C 0x00BC 1 18 Arm designation change command 0x003D 0x00BD 1 19 Point display unit designation command 0x003E The DRIVE command 1 3 and DRIVEI command 1 4 are only valid for a single axis The movement methods on the jog movement command 1 6 and inching movement command 1 7 will differ according to the point units that were specified Point units for the point teaching command 1 8 will differ according to the point units that were specified If no axis is specified the absolute reset command 1 10 is executed on all axes main robot sub robot in either case of command code 0x0031 or 0x00B1 If no axis is specified the return to origin command 1 11 is executed on all axes main robot sub robot in either case of command code 0x0032 or 0x00B2 The point unit designation command 1 19 is for use on the controller A i 3 O ja D O O 3 3 Q Q c Q D E Category 2 Command contents Command code n Point related command Point data definition 0x0100 Point data reference 0x0101 Point comment related command Point comment data definition 0x0104 Point comment data referen
95. Category 5 commands can be used in AUTO mode Execution program designation Command contents Command code n 0x0401 Program execution Program execution 0x0402 Program step execution 0x0403 Program skip execution 0x0404 Program next execution 0x0405 Program reset 0x0406 Program task switching 0x0407 Program execution information reference 0x0408 m Start address of the input area assigned to the master module n Start address of the output area assigned to the master module m indicates the data direction from remote to master and n the data direction from master to remote Key operation commands are the same as key instructions from the programming box Normal status signifies that key input was received correctly and does not mean the actual operation was executed Upon receiving a normal status after issuing a key command allow a time interval of at least 100ms before issuing the next command This interval will prevent errors that may occur when issuing consecutive commands Check the robot program in progress status output signal SO13 to verify a program execution command has been run Check the program reset status output signal SO14 to verify the program reset command has been run A 133 lt A i 3 O ja D O O 3 3 Q Q c Q D 4 6 1 Execution program designation Use this command to execute a robot program E Command
96. Check the program reset status output signal SO14 to verify the program has been reset Command Command code 0x0406 0x0000 E Status Normal end Channel Contents Status code 0x0200 Not used Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd Not used aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Channel Value 0x0406 Example Use this command to reset a program as shown at right 0x0000 Values are expressed as shown at right when executed correctly 0x0200 0x0000 A D 3 O ja D O O 3 3 Q gt Q c Q D gt A 136 4 6 4 Program task switching This command switches tasks to run when the robot program is stopped This is only valid in AUTO mode E Command Channel Contents Command code 0x0407 E Status Normal end Channel Not used Contents Status code 0x0000 0x0200 Not used Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd aabb ccdd Example Not used Use this command to switch tasks as shown at right Values are expressed as shown at right when executed correctly Shows the group number
97. EN bes bec acne 4 de f 23501 S6 00 AN CAUTION Provide an interval of 100ms or more when turning the dedicated input from the master module to the controller ON and OFF If the interval is too short the dedicated input may not be recognized This also applies to the interval for the same dedicated inputs or different dedicated inputs O Use this also if there is a dedicated output in response to the dedicated input from the master module to the Q controller a 2 E Initial servo ON process after power ON 77 a Servo ON input ON is input b If not in the emergency stop state output servo ON status ON is output c After confirming that servo ON status output is ON servo ON input OFF is input E Shift to emergency stop d Emergency stop input OFF is input e Emergency stop input status ON and alarm status output ON are output Servo ON status output OFF is output E Servo ON process from emergency stop status f Emergency stop input ON is input g Emergency stop input status output OFF is output h Servo ON input ON is input i Alarm status output OFF is output j Servo ON status output ON is output k After confirming that servo ON status output is ON servo ON input OFF is input The servo is OFF when the controller power is turned ON When SAFE mode is enabled dedicated inputs other than SI 00 and SI 11 might be disabled depending on service mode parameter setting unless s
98. FE mode is set When the SAFE mode is set and the controller is in the SERVICE mode the dedicated input may become invalid depending on the SERVICE mode setting n 32 5 1 O command execution trigger input Switch this signal from OFF to ON to execute the I O command Note that this signal must be turned ON when the I O command is set for the general purpose input n 33 0 Sequence control input Turn ON to execute the sequence program in the robot controller The sequence program is executed when this signal is in the ON state n 33 1 Interlock input Turn OFF to stop the robot program currently being executed To execute the program keep this signal turned ON n 33 2 Start input Turn ON to execute the robot program The robot program is executed when this signal is switched from OFF to ON It is necessary that the robot controller is in the AUTO mode n 33 3 1 13 AUTO mode input Turn ON to select the AUTO mode The mode transits to the AUTO mode when this signal is switched from OFF to ON n 33 4 S1 14 Return to origin input Turn ON to perform the return to origin of the incremental type axis or semi absolute type axis When this signal is switched from OFF to ON the incremental type axis performs the return to origin and the semi absolute type axis performs the absolute search operation This signal is intended for axes whose return to origin method is the sens
99. MSG SOW1 INVALID Exit th ing 4 IP address 192 168 0 2 step Exit the setting 5 Subnet mask 255 255 255 0 Press the BA key to exit the setting 6 Gateway 192 168 0 1 Subsequently to set other item use the cursor up or down key to select a desired parameter you want fo set CAUTION This parameter is compatible with the RCX240 software version 10 52 or higher This parameter has been set at VALID at shipment DE CS a a pau M NOTE Y For details about remote commands and I O commands refer to the sections Remote command guide and I O command guide in this manual e When the Remote_cmd SI05 function is made invalid the Output MSG SOW 1 function cannot be used Conversely when the Output MSG SOW 1 function is made valid the Remote_cmd SI05 function cannot be used gt 2 4 3 3 Setting the Output MSG SOW1 function This section describes how to make the function valid or invalid that outputs the message number to be displayed on the RPB to the word information SOW 1 When the Output MSG SOW1 function is valid the message number to be displayed on the RPB is output to the SOW 1 Conversely when the Output MSG SOW1 function is invalid the message number to be displayed on the RPB is not output to the SOW 1 This Output MSG SOW1 function and 2 Remote_cmd S105 cannot be set valid at the same time Step Select OP BRD Select SYSTEM gt PARAMS
100. O ja D O O 3 3 Q Q c Q D A 123 lt 4 4 4 Element assignment command Execute this command to assign a number to a point or shift element 4 4 4 1 Assigning to a point element This command assigns a numerical value to a point element by specifying the point number data number and numerical value LOC data number point number numerical value Sie M m NOTE When 1000 is specified in the x1 input format as a numerical value 1000 is assigned When 1000 is specified in the x100 input format as a numerical value 10 00 is assigned Use the proper input format according to the point data format of the assignment destination E Command Channel Contents Command code x1 input format 0x0240 x100 input format 0x0241 Not used 0x0000 Point number Point number at assignment destination Oxssss Data number bit 0 Data 1 OxO0tt designation bit 1 Data 2 bit 2 Data 3 bit 3 Data 4 bit 4 Data 5 bit 5 Data 6 bit 15 bit 6 0 Fixed Numerical value Oxbbbbbbbb Not used 0x0000 Ssss Specify the point number in 16 bits Specified range 0 0x0000 to 9999 0x270F tt Specify the data number in bit pattern using lower 6 bits bbbbbbbb Specify the integer in 32 bits little endian Specify data in integers when using x1 input format Specify data in integers x100 when using x100 input format E Status
101. O 3 3 Q gt Q c Q D Abnormal end Channel Status code Contents 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Example Use the point display unit designation command as shown at right to set the point display units to pulses Values are expressed as shown at right when executed correctly gt A 82 Channel Value 0x003E 0x0000 0x0000 0x0000 0x0200 0x0000 0x0000 0x0000 4 3 Category 2 remote commands Category 2 remote commands are used to define or obtain point data A command list is given below Point related commands Command contents Point data definition Command code n 0x0100 Point data reference 0x0101 Point comment related commands Point comment data definition 0x0104 Point comment data reference 0x0105 Pallet related command Pallet data definition 0x0108 Pallet data reference 0x0109 Shift related command Shift data definition 0x010C Shift data reference 0x010D Hand related command Hand data definition Main robot 0x0110 Sub robot 0x0190 Hand data reference 0x0111 m Start address of the
102. OP BRD gt Step 2 Selecting EtherNet IP module The option board list screen will appear O KAASA PARAM gt OP BRD V10 52 O step Select an EtherNet IP module you 5 want to make valid 5 Move the cursor to ENet_IP and press the A Serene O 3 F1 SELECT key P re Q The Ethernet IP module setting screen will o p O aa S M E E E 24209 S6 00 gt Step3 Selecting Output MSG SOW1 stepd Select 3 Output MSG SOW1 Use the BA key cursor down key to move S P ARAM gt OP BRD gt SELECT V10 52 the cursor to 3 Output MSG SOW1 and em 1 Board condition VALID press the F1 EDIT key Remote cmd S105 VALID 3 Output MSG SOW1 is then selected Output MSG SWWIRINVALID 7 IP address 192 168 0 24210 S6 00 5 Subnet mask 255 255 255 6 Gateway 192 168 0 1 step Select 3 Output MSG SOW1 LL d valid or invalid Press the F 2 VALID key to make the D a M M Output MSG SOW1 function valid gt Step4 Selecting Output MSG SOW1 valid invalid Press the F1 INVALID key to make the Output MSG SOW function iva See NE SIE a 24211 86 00 1 Board condition VALID 2 Remote_cmd S105 VALID step Exit the setting Output MSG SWWIBINVALID ri IP address 192 168 0 Press the key to exit the setting 5 Subnet mask 255 MRR DRS Subsequently to set other item use the 6 Gateway 192 168 0 1 cursor up or down key to select a desired pi D p parameter
103. Specified range 0 0x0000 to 19 0x0013 Specify the number of pallets positive integer in 16 bits Specified range 0 0x0000 to 32767 0x7FFF The value of Nx Ny Nz should be 32767 or less Contents Status code 0x0200 Not used Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd Not used gt A 92 Shows the group number in upper 8 bits and the category number in lower 8 bits Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Example Channel Value Use the pallet data definition command as shown at 0x0108 right to create the following pallet PEETA Pallet number 10 anon be 0x000A Ny a 0x000F NZ ail 0x0001 0x0000 Values are expressed as shown at right when executed correctly 0x0200 0x0000 0x0000 0x0000 4 3 3 2 Pallet data reference Use this command to obtain pallet data by specifying the pallet number E Command Channel Contents Command code 0x0109 Not used 0x0000 Pallet number Oxssss Not used 0x0000 Ssss Specify the pallet number in 16 bits Specified range 0 0x0000 to 19 0x0013 E Status Normal end Channel Contents Status code 0x0200 Not used Pallet number Oxssss Number of pallets in X direction Nx Oxaaaa Number of pallets in Y direction Ny Oxaa
104. T CONTROLLER WHEN A COMMUNICATION ERROR OCCURS WITH THE ETHERNET IP SYSTEM ETC CONFIGURE AN INTERLOCK CIRCUIT IN THE SEQUENCE PROGRAM SO THAT THE SYSTEM INCLUDING THE ROBOT CONTROLLER WILL WORK SAFELY USING THE COMMUNICATION STATUS INFORMATION e THE SAFETY CONNECTOR OF THE ROBOT CONTROLLER HAS AN EMERGENCY STOP TERMINAL TO TRIGGER EMERGENCY STOP USING THIS TERMINAL PREPARE A PHYSICAL INTERLOCK CIRCUIT SO THAT THE SYSTEM INCLUDING THE ROBOT CONTROLLER WILL WORK SAFETY AN CAUTION The control line and communication cable must not be bound with or placed near the main circuit or power line Separate these by at least 100mm Failure to observe this could lead to malfunctions caused by noise The dedicated input of STD DIO connector provided on the RCX240 controllers will be disabled except for an interlock signal DI 11 When the external 24V monitor control setting of system parameters is set invalid the interlock signal DI 11 will also be disabled E Precautions for installation A WARNING e ALWAYS CRIMP PRESS FIT OR SOLDER THE CONNECTOR WIRE CONNECTIONS WITH THE MAKER DESIGNATED TOOL AND SECURELY CONNECT THE CONNECTOR TO THE MODULE e ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE STARTING INSTALLATION OR WIRING WORK FAILURE TO SHUT OFF ALL PHASES COULD LEAD TO ELECTRIC SHOCKS OR PRODUCT DAMAGE AN CAUTION Use the robot controller within the environment specifications given in the manual Use in an enviro
105. The current position output is specified at this time Values are expressed as shown at right when controller display units are in pulses and with Axis 1 123456 Axis 2 123 Other axes 0 Channel Value 0x0010 0x8005 0x0004 0x0032 0x0064 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 Channel Value 0x0200 0x0000 0x0000 0x0000 0xE240 0x0001 OxFF85 OxFFFF 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 A 41 lt A i 3 O ja D O O 3 3 Q gt Q c Q D A D 3 O ja D O O 3 3 Q gt Q c Q D 4 2 3 2 Direct designation millimeter units This command moves the specified axis of the robot to a target position in PTP motion by directly specifying the data in millimeters E Command Channel Contents Command code For main robot 0x0012 For sub robot 0x0092 Command flag bit 0 1 Fixed bit 2 bit 1 Speed designation flag bit 6 bit 3 0 Fixed bit 7 Torque limit designation flag bit 14 bit 8 0 Fixed bit 15 Current position output designation flag Specified axis to move bit 0 Axis 1 bit 1 Axis 2 bit 2 Axis 3 bit 3 Axis 4 bit 4 Axis 5 bit 5
106. The following describes the confirmation steps E Operation step I Select SYSTEM gt Step1 SYSTEM screen Press the mone key on the RPB to change the function menu and then press the F4 arte ee SYSTEM key The SYSTEM screen will Robot YK250X O appear Axis XYZR O Standard SRAM 364kB DIO_N 5 24201 S6 00 Opt ifo ENet_IP T Step Confirm that the EtherNet IP a pas module is installed PARAM OPTION E TE o ENet_IP is shown in Opt ifo when the O EtherNet IP module is installed properly 5 gt Step2 Confirming that the EtherNet IP module is installed 24202 S6 00 Cs SYSTE V10 50 Robot YK250X Axis XYZR Standard SRAM 364kB DIO_N Opt ifo GE GU CL DE Ds Confirm 2 1 lt 2 Setting to the EtherNet IP system specification controller When connecting the EtherNet IP compatible module to an existing robot controller the EtherNet IP compatible module must be installed Check the EtherNet IP system specifications using the procedure described in 1 Confirming the EtherNet IP compatible module settings of Chapter 2 in this guide 2 1 Saving the robot controller data Before installing the EtherNet IP compatible module into the robot controller be sure to save the data stored in the robot controller into an external memory using the VIP software etc 2 2 Installing into the robot controller Install the EtherNet IP compatible module into the root controller Refer to 3 In
107. Valid when axis designation flag is 1 A 33 lt A D 3 O ja D O O 3 3 Q gt Q c Q D SSSS Specify the speed in 16 bits Specified range 1 0x0001 to 100 0x0064 pppppppp Specify the target movement distance data for each axis in 32 bits little endian E Status Normal end Channel Data should be integers x100 in millimeter units Contents Status code 0x0200 Not used Point flag bit 0 Point unit a bit 15 bit 1 Not used 0 Axis 1 data Oxbbbbbbbb Axis 2 data Oxbbbbbbbb Axis 3 data Oxbbbbbbbb Axis 4 data Oxbbbbbbbb Axis 5 data Oxbbbbbbbb Axis 6 data Oxbbbbbbbb Shows in 1 bit the units for current position output point data Linked with point display unit of controller Pulse units Millimeter units bbbbbbbb Shows the current position output data in 32 bits little endian Abnormal end Channel Data is shown in integers when point display units are in pulses Data is shown in integers x100 when point display units are in millimeters Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd gt A 34 Shows the group number in upper 8 bits and the category number in lower 8 bits Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Example Specify the MOVEI command with direct PTP
108. a 3 2 2 2 Transmitting data 3 4 3 Direct connection by emulated serialization on parallel DIO 3 5 3 1 Emulated serialization setting on parallel DIO 3 5 4 Referring to the communication data 3 8 4 1 Referring to the data from the programming box 3 8 Chapter 4 Troubleshooting 1 Check items before starting up the EtherNet IP system 4 1 2 Meanings of LEDs on EtherNet IP compatible module 4 2 3 Troubleshooting 4 3 3 1 Robot controller front panel LED confirmation 4 3 3 2 RPB programming box error display confirmation 4 3 3 3 EtherNet IP compatible module LED confirmation 4 4 3 4 Confirmation from master module 4 4 4 Error messages relating to EtherNet IP 4 5 Chapter5 Specifications 1 Profile 5 1 2 Details of input output signals 5 3 3 Dedicated input output signal timing chart 5 6 3 1 Servo ON and emergency stop 5 6 3 2 AUTO mode changeover program reset and program execution 5 7 3 3 Stopping with program interlock 5 8 4 EtherNet IP compatible module specifications 5 9 5 EtherNet IP specifications 5 10 CONTENTS EtherNet IP User s Manual Chapter6 Appendix 1 Definitions of terms 6 1 2 EDS files 6 4 Remote command guide 1 Remote command format A 1 1 1 Remote command specifications A 1 1 2 Remote status A 2 2 Sending and receiving remote commands A 3 3 Remote command amp remote status tables A 4 4 Remote command description A 8 4 1 Special commands A 8 4 1 1 Status reset command A 8 4 1 2 Main robot
109. a with an external destination 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 setting allows data to be correctly sent and received by each device on the network E SAFE mode setting When the SAFE mode setting is enabled the SERVICE mode input is made valid so that the safety functions such as operating speed limits in the MANUAL mode can be used The SAFE mode setting is determined at the time of shipping The SAFE mode setting is always enabled for controllers compatible with the CE marking SERVICE mode This mode becomes valid when the SAFE mode setting is enabled The SERVICE mode can be controlled by service mode input signals m SAFETY connector This SAFETY connector is a controller connector that connects the emergency stop input and service mode input STD DIO connector This STD DIO connector is a controller connector that connects the dedicated input output signals or general purpose input output signals E Bit information This bit information can be handled by the EtherNet IP compatible module E Word information This word information can be handled by the EtherNet IP compatible module gt 1 m Q gt x lt E Little endian This little endian is a
110. aa Number of pallets in Z direction Nz Oxaaaa Not used Ssss Shows the pallet number in 16 bits A D 3 O ja D O O 3 3 Q gt Q c Q D aaaa Shows the number of pallets in 16 bits A 93 lt A D 3 O D O O 3 3 Q gt Q c Q D Abnormal end Channel Status code Contents 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Example Use the pallet data reference command as shown at right to obtain pallet data at pallet number 10 Values are expressed as shown at right when executed correctly to obtain the following pallet data Pallet number 10 Nx 10 Ny 15 Nz 1 gt A 94 Channel Value 0x0109 0x0000 0x000A 0x0000 0x0200 0x0000 0x000A 0x000A 0x000F 0x0001 0x0000 4 3 4 Shift related command Execute this command to define or obtain shift data 4 3 4 1 Shift data definition Use this command to define shift data by specifying the shift number and shift data E Command Channel Contents Command code 0x010C Not used 0x0000 Shift number Oxssss Not used 0x0000 Axis 1 data Oxbbbbbbbb Axis 2 data Oxbb
111. abb Shows the group number i upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits A D 3 O ja D O O 3 3 Q gt Q c Q D gt A 138 Example Use this command to switch program tasks as shown at right Values are expressed as shown at right when executed correctly to switch to the following program task Program name ABCDEFGH Task number Execution number 101 Task priority 32 Channel Value 0x0408 0x0000 0x0200 0x0000 0x4241 0x4443 0x4645 0x4847 0x0002 0x0065 0x0020 0x0000 A 139 lt A 3 O ja D O O 3 3 Q Q c Q D 4 7 Category 6 remote commands Category 6 remote commands are data handling commands A command list is given below Command contents Command code n Version information reference 0x0501 Controller configuration reference 0x0502 Servo status reference 0x0503 Absolute reset status reference 0x0504 Current position reference Pulse units For main robot 0x0505 For sub robot 0x0585 Millimeter units For main robot 0x0506 For sub robot 0x0586 Task status reference 0x0507 Task execution reference 0x0508 Message reference 0x0509 Speed status reference 0x050A Arm designation status reference 0x050B Arch arm sta
112. able 0 0x0000 to 7 0x0007 Integer variable Variable number 0 0x0000 Real variable Specified range for real variable 256 0x0100 to 263 0x0107 Variable number 256 0x0100 1 0x0001 257 0x0101 7 0x0007 bbbbbbbb Specify the integer in 32 bits little endian 263 0x0107 Specify a signed integer value when assigning to an integer variable Specify a single precision real number when assigning to a real variable E Status Normal end Channel Contents Status code 0x0200 Not used Status code Contents 0x4000 Error code Oxaabb Additional information Oxccdd Not used aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits gt A 104 Example Channel Value Use this command as shown at right to assign 0x0200 numerical data to variable number 1 0x0000 Variable number 1 1 0x0001 Numerical data 10000 0x0000 0x2710 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 Values are expressed as shown at right when executed Ghonnel Value correctly 0x0200 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000
113. ally 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 OxCOA80002 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 section 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 the N 1 bit through 32nd bit as the host address The value of N is determined by the subnet mask 6 1 lt gt 1 m Q x lt IP address 1 1 N N 1 32 IP address Network address section Host address section 23601 S6 00 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 is 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 an
114. amp Hxxxx expresses a hexadecimal value E Operation step 9 Display the DI monitor Press the key on the RPB The DI monitor screen will appear 24306 S6 00 gt Step1 Di monitor 24304 S6 00 24305 S6 00 DI monitor DIO 0 amp B00000111 DI1 0 amp B00001111 DI2 0 amp B00010001 DI3 0 amp B00000100 v D14 0 amp B11000000 DI5 0 amp B00101000 D16 0 amp B00000111 DI7 0 amp B00000000 o ZME GU Ca DE rE step Display the input output port status Press the key on the RPB until the SI input ports 0 to 7 are displayed See the figure shown on the right 24207 S6 00 The input output port status is displayed in the order shown below each time the key is pressed from this status SI input ports 10 to 15 Unused SO input ports 0 to 7 SO input ports 10 to 15 Unused SIW input ports O to 7 SIW input ports 8 to 15 Vv SOW output ports 0 to 7 Vv SOW output ports 8 to 15 stepd Exit the DI monitor After you have checked the input output port status press the key to exit the DI monitor gt Step 2 Displaying SI input ports 0 to 7 SI monitor S10 0 amp B00000111 S11 0 amp B00001111 S12 0 amp B00010001 S13 0 amp B00000100 v S14 0 amp B11000000 S15 0 amp B00101000 S16 0 amp B00000111 S17 0 amp B00000000 PTE GU CaO DE E 3 9 lt O O 3 3 J O Q 5 ETTEI Troubleshooting Contents 1 Check items before starting up
115. and as shown at right to obtain hand data Values are expressed as shown at right when executed correctly to obtain the following hand data gt A 102 Hand number Data 1 Data 2 Data 3 Data 4 1 10000 20 00 50 00 Channel Value 0x0111 0x0000 0x0001 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 Channel Value 0x0200 0x0000 0x0001 0x0000 0x2710 0x0000 0xF830 OxFFFF 0x1388 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 4 4 Category 3 remote commands Category 3 remote commands are arithmetic commands A command list is given below Command contents Command code n Static variable related commands Assignment Va 0x0200 Va 0x0201 Addition Value 0x0204 Variable 0x0205 Subtraction Value 0x0208 Variable 0x0209 Multiplication Value 0x020C Va 0x020D Division Value 0x0210 Variable 0x0211 Reference Variable 0x0214 Parameter related command Assignment Main robot 0x0220 Sub robot 0x02A0 Reference Main robot 0x0224 Sub robot 0x02A4 Point related command Point assignment 0x0230 Addition 0x0234 Subtraction 0x0235 Pallet point assignment 0x0238 Element assignment command Point element x1 input format 0x0240 as
116. and is interrupted and then re executed the resumed motion that occurs either to the original target position or to a new target position referenced to the current position can be selected by the MOVEI DRIVEI start position setting of other parameters For details refer to the controller user s manual The other parameters default MOVEI DRIVEI start position setting is Keep motion to the original target position when DRIVEL is interrupted and then re executed E Command Channel Contents Command code For main robot 0x0017 For sub robot 0x0097 Command flag bit 0 1 Fixed 1 bit 2 bit 1 Speed designation flag bit 14 bit 3 0 Fixed bit 15 Current position output designation flag Specified axis to move bit 0 Axis 1 OxO0tt bit 1 Axis 2 bit 2 Axis 3 bit 3 Axis 4 bit 4 Axis 5 bit 5 Axis 6 bit 15 bit 6 0 Fixed Specified speed Oxssss Movement data Oxpppppppp Not used 0x0000 bb Specify the speed setting method in 2 bits Value Meaning 00 Speed is not specified 10 Speed is set in n Specify in 1 bit whether to output current position Value Meaning 0 No output 1 Output tt Specify the axis to move in bit pattern using lower 8 bits Only one axis can be specified ssss Specify the movement speed in 16 bits Specified range 1 0x0001 to 100 0x0064 pppppppp Specify the target movement
117. at right when executed correctly 0x0200 0x0000 0x0000 0x0000 4 2 16 Shift designation change command Execute this command to change the selected shift to a specified shift number E Command Channel Contents Command code For main robot 0x003B For sub robot 0x00BB Not used 0x0000 Specified shift number Oxssss Not used 0x0000 Ssss Specify the shift number in 16 bits Specified range 0 0x0000 to 9 0x0009 E Status Normal end A D 3 O ja D O O 3 3 Q gt Q c Q D Status code 0x0200 gt A 78 Abnormal end Channel Status code Contents 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Channel Value Example Use the shift designation change command as shown at right to set the shift number of the main robot to shift 4 Values are expressed as shown at right when executed correctly 4 2 17 Hand designation change command Execute this command to change the selected hand to a specified hand number E Command Channel Command code Contents 0x003B 0x0000 0x0004 0x0000 Channel Value 0x0200 0x0000 0x0000
118. atus code Contents 0x0000 0x0200 Not used Point flag bit 0 Point unit 0 bit 15 bit 1 Not used 0 Axis 1 data Oxbbbbbbbb Axis 2 data Oxbbbbbbbb Axis 3 data Oxbbbbbbbb Axis 4 data Oxbbbbbbbb Axis 5 data Oxbbbbbbbb Axis 6 data bbbbbbbb Shows the current position output data in 32 bits little endian Data is shown in integers Abnormal end Channel Status code Contents Oxbbbbbbbb 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Example Use this command as shown at right to obtain the main robot current position data in pulse units A i 3 O ja D O O 3 3 Q gt Q c Q D Channel Value 0x0505 0x0000 A 147 lt A D 3 O ja D O O 3 3 Q m Q c Q D Values are expressed as shown at right when executed correctly to obtain the following positions in pulse units Axis 1 20001 Axis 3 12345 Other axes 0 4 7 5 2 Millimeter designation Use this command to obtain the robot current position data in millimeter units E Command Channel Contents Command code Channel Value 0x0200
119. axis to move in 0 to 3 bits All controller servos are processed if no axis is specified No axis can be specified when executing Power ON E Status Normal end Status code 0x0200 A D 3 O ja 0 O O 3 3 Q gt Q c Q D gt A 74 Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Example Channel Value Use the servo command as shown at right to free the servo of axis 4 of the main robot eee 0x0000 0x0008 0x0000 Values are expressed as shown at right when executed correctly 0x0200 0x0000 0x0000 0x0000 4 2 13 Manual speed change command Execute this command to change the manual movement speed in MANUAL mode This command can only be executed in MANUAL mode E Command Channel Contents Command code For main robot 0x0038 For sub robot 0x00B8 Not used 0x0000 Specified speed Oxssss 0x0000 Ssss Specify the manual movement speed in 16 bits Specified range 1 0x0001 to 100 0x0064 E Status Normal end A 3 O ja D O O 3 3 Q Q c Q D Status code 0x0200 Not used A 75
120. bbbbb Axis 5 data Oxbbbbbbbb Axis 6 data Oxbbbbbbbb a Shows in 1 bit the units for current position output point data Linked with point display unit of controller Pulse units Millimeter units bbbbbbbb Shows the current position output data in 32 bits little endian Data is shown in integers when point display units are in pulses Data is shown in integers x100 when point display units are in millimeters Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits AJ i 3 O ja D O O 3 3 Q Q c Q D A 49 lt A D 3 O ja D O O 3 3 Q gt Q c Q D Example Specify the DRIVEI command with point designation as shown at right to move axis 3 of the main robot a distance specified by point number 100 at 50 speed The current position output is specified at this time Values are expressed as shown at right when controller display units are in pulses and with Axis 1 123456 Axis 2 123 Other axes 0 gt A 50 Channel Value 0x0014 0x8005 0x0004 0x0032 0x0064 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x00
121. bbbbbb Axis 3 data Oxbbbbbbbb Axis 4 data Oxbbbbbbbb Not used 0x0000 Ssss Specify the shift number in 16 bits Specified range 0 0x0000 to 9 0x0009 bbbbbbbb Specify the shift data in 32 bits little endian Data should by integers x100 E Status Normal end Channel Contents Status code 0x0200 Not used Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd Not used aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits A 3 O ja D O O 3 3 Q Q c Q D A 95 lt A D 3 O ja D O O 3 3 Q gt Q c Q D Example Use the shift data definition command as shown at right to create the following shift data Shift number 5 Axis 1 100 00 Axis 2 200 00 Axis 3 50 00 Axis 4 180 00 Values are expressed as shown at right when executed correctly gt A 96 Channel Value 0x010C 0x0000 0x0005 0x0000 0x2710 0x0000 0xB1E0 OxFFFF 0x1388 0x0000 0xB9BO OxFFFF 0x0000 0x0000 0x0000 0x0000 Channel Value 0x0200 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0
122. bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits A i 3 O D O O 3 3 Q gt Q c Q D gt A 120 Example Channel Value Use the point addition command as shown at right to 0x0234 add point number 2 to point number 1 0x0000 Point number 1 1 0x0001 Point number 2 100 0x0064 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 Values are expressed as shown at right when executed Channel Value correctly 0x0200 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 ns p 3 O ja D O O 3 3 Q Q c Q D A 121 lt A D 3 O ja 0 O O 3 3 Q m Q c Q D 4 4 3 3 Assigning a pallet point This command assigns a pallet point to the destination point number by specifying a pallet number and work position number Pallet point number Pallet point pallet number work position number Ve M A NOTE e The target pallet must be defined e The maximum value of work position number is determined by the target pallet definition E Command Channel Contents Command code 0x0238 Not used 0x0000 Point number Point number at assi
123. by emulated serialization on parallel DIO The robot controller s parallel input data can be transferred to the serial output data regardless of the robot program Likewise the robot controller s serial input data can be transferred to the parallel output data By using this function a sensor or relay connected to the parallel I O of the robot controller can be used like a device connected to the EtherNet IP master module Direct connection by emulated serialization EtherNet IP master module Robot controller Output gt S ee DO PH Relay valve etc Input e SO D A Sensor etc LEA EtherNet IP connection Parallel I O connection 23301 S6 00 eee M 9 NOE 1 S S S W When the directly connected and set output port is used with the program the bit information may not become the intended value Do not use the directly connected and set output port with the program 3 1 Emulated serialization setting on parallel DIO The relation of the parallel port and serial port that can be connected is shown below O O 3 3 J O Q 5 E Operation Press the F 3 SIO key in the SYSTEM gt OPTION mode The setting screen will appear that is necessary to make the emulated serialization setting on parallel DIO SIO setting screen SSS OPTION gt S10 1 Direct S12 0 gt DO2 0 2 Direct S13 0 gt DO3 0 3 Direct S140 gt DO4 0 4 Direct
124. ce 0x0105 Pallet related command Pallet data definition 0x0108 Pallet data reference 0x0109 Shift related command Shift data definition 0x010C Shift data reference 0x010D Hand related command Hand data definition Main robot 0x0110 Sub robot 0x0190 Hand data reference 0x0111 E Category 3 Command contents Command code n Static variable related commands Assignment Value 0x0200 Variable 0x0201 Addition Value 0x0204 Va 0x0205 Subtraction Value 0x0208 Variable 0x0209 Multiplication Value 0x020C Variable 0x020D Division Value 0x0210 Variable 0x0211 Reference Variable 0x0214 Parameter related command Assignment Main robot 0x0220 Sub robot 0x02A0 Reference Main robot 0x0224 Sub robot 0x02A4 Point related command Point assignment 0x0230 Addition 0x0234 Subtraction 0x0235 Pallet point assignment 0x0238 Element assignment command Point element x1 input format 0x0240 assignmen x100 input format 0x0241 Shift element x100 input format 0x0245 assignment E Category 4 No Command contents Command code n I O port related commands Assignment Port units 0x0300 Bit units 0x0301 A i 3 O ja D O O 3 3 Q gt Q c Q D Reference Port units 0x0304 E Category 5 Command contents Command code n Execution program desig
125. ck the setting while referring to the user s manual for PLC When writing the bit information of the robot controller to the input area of the master module write the following commands in the robot program in the same manner as the DO input port SET RESET command Assignment statement OUT command Example To turn the address m 34 0 ON SET SO 20 or SO 20 1 SO 20 will turn ON Example To write the variable A data to addresses m 34 0 to m 34 7 SOZ J A emarien The variable A data will be converted into a binary value and assigned to SO2 If variable A is 127 SO2 will be 7Fh Se NOTE The SO statement in the robot language can be defined from SO20 to S0270 but the EtherNet IP compatible module accepts from SO20 to S0150 When writing the word information of the robot controller to the input area of the master module create the robot program using the assignment statement Example To write 512 into addresses m 4 as word data SOW 2 512 ccececcec cence eee 512 is assigned to SOW 2 and then SOW 2 becomes 0200h Example To write 69905 to addresses m 4 and m 6 as double word data SOD 2 69905 ec 69905 is assigned to SOD 2 and then SOW 2 becomes 1111h and SOW 3 becomes 0001h St NOTE The word data written with SOW n has the uncoded little endian format The double word data written with SOD n has the coded little endian format gt 3 4 3 Direct connection
126. command cannot use a torque offset value Noh M NOTE Y Refer to the programming manual for detailed information on the TRQTIME and TRQATIME2 statements of the robot language E Status Normal end Channel Contents Status code 0x0200 Not used Point flag bit 0 Point unit a bit 15 bit 1 Not used 0 Axis 1 data Oxbbbbbbbb Axis 2 data Oxbbbbbbbb Axis 3 data Oxbbbbbbbb Axis 4 data Oxbbbbbbbb Axis 5 data Oxbbbbbbbb Axis 6 data Oxbbbbbbbb a Shows in 1 bit the units for current position output point data Linked with point display unit of controller 0 Pulse units 1 Millimeter units bbbbbbbb Shows the current position output data in 32 bits little endian Data is shown in integers when point display units are in pulses Data is shown in integers x100 when point display units are in millimeters Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb A D 3 O ja 0 O O 3 3 Q gt Q c Q D Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits gt A 40 Example Specify the DRIVE command with point designation as shown at right to move axis 3 of the main robot to point number 100 at 50 speed
127. current position can be selected by the MOVEI DRIVEI start position setting of other parameters For details refer to the controller user s manual The other parameters default MOVEI DRIVEI start position setting is Keep motion to the original target position when MOVE is interrupted and then re executed Command Channel Contents Command code For main robot Ox000E For sub robot 0x008E Command flag bit 0 Axis designation flag a bit 2 bit 1 Speed designation flag bit 14 bit 3 0 Fixed bit 15 Current position output designation flag Specified axis to move bit 0 Axis 1 OxO0tt bit 1 Axis 2 bit 2 Axis 3 bit 3 Axis 4 bit 4 Axis 5 bit 5 Axis 6 bit 15 bit 6 0 Fixed Specified speed Oxssss Axis 1 data Oxpppppppp Axis 2 data Oxpppppppp Axis 3 data Oxpppppppp Axis 4 data Oxpppppppp Axis 5 data Oxpppppppp Axis 6 data Oxpppppppp a Specify in 1 bit whether all axes are designated Value Meaning 0 All axes are specified 1 One or more axes are specified bb Specify the speed setting method in 2 bits Value Meaning 00 Speed is not specified A D 3 O ja D O O 3 3 Q Q c Q D 10 Speed is set in n Specify in 1 bit whether to output current position Value Meaning 0 No output 1 Output tt Specify the axis to move in bit pattern using lower 8 bits
128. d 255 cannot be used so the maximum number of devices that can actually be connected is 254 IP address 2 192 168 0 0 24 192 168 0 1 Maximum of 192 168 0 100 254 devices q p connected by 192 168 1 0 24 192 16811 192 168 1 100 Maximum of 254 devices 192 168 0 254 router 192 168 1 254 Network A Network B 23602 S6 00 Any company organization can freely select a host address but when attempting to connect their network to the Internet that company organization 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 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 s
129. ddress F1 EDIT key The IP address entry screen will appear SASA PARAM gt OP BRD gt SELECT V10 52 24213 S6 00 1 Board condition VALID 2 Remote_cmd S105 VALID Step Enter an IP address 2 Output MSG SOW1 INVALID Enter a desired IP address with the numeric IP address 192 168 keys 0 to 9 and period key 5 Subnet mask 255 255 TA After you have entered the IP address press 6 Gateway 192 168 0 the EMER key ana ag D a a a 24214 S6 00 step Exit the setting B Step4 Entering IP address Press the key to exit the setting Subsequently to set other item use the ry EER PARADOR BRD gt SELECT V10 52 or BA key cursor up or down key to select 1 Board condition VALID 2 Remote_cmd S105 VALID a desired parameter you want to set 3 Output MSG SOW1 INVALID 4 IP address 192 168 0 2 5 Subnet mask 255 255 255 0 6 Gateway 192 168 0 1 Enter IP address gt 192 168 0 2 gt 2 6 3 5 Setting the subnet mask Select the subnet mask The subnet mask is used to divide the network into small units gt Step2 Selecting EtherNet IP module Step Select OP BRD Select SYSTEM gt PARAM gt OP BRD SAP ARAM gt OP BRD V10 50 The option board list screen willappear Use the B key cursor down key to move I Board condition VALID ENet_IP Step Select an EtherNet IP module you a wa
130. de or higher e Twist pair e Dual shielded Recommended cables NWSMC5E SON S2SB SB Straight cable Manufacturer MiSUMi NWSMC5E SON C2SB SB Cross cable Manufacturer MiSUMi shows the cable length A desired cable length can be specified at intervals of 0 1m in a range of 0 5 to 100m O O 5 5 O O 5 4 2 Mounting the ferrite core Mount one ferrite core at both ends of the LAN cable A WARNING COMPLETELY SHUT DOWN THE POWER SUPPLY TO THE INPUT POWER CABLE BEFORE STARTING THIS WORK E Procedure step 9 Mount the ferrite core Mount the ferrite core at both ends of the LAN cable as shown in the figure below At this time place the ferrite core as close to the robot controller and HUB as possible step Secure the ferrite core with a cable tie etc Secure the mounted ferrite core with a cable tie etc Mounting ferrite core RCX240 HUB 23201 S6 00 2 9 lt 5 Connecting to the EtherNet IP system 5 1 Connecting the LAN cable A WARNING BEFORE CONNECTING THE CABLE COMPLETELY SHUT DOWN THE POWER SUPPLIED TO THE ROBOT CONTROLLER Insert the modular jack of the LAN cable recommended in section 4 1 LAN cable into the modular connector of the controller until a click sounds In the same manner connect the modular jack into the modular connector of the hub CAUTION In the EtherNet IP it is recommended to use a hub that connects the chassis of the LAN connector to the
131. designation status in 16 bits 0x0000 Right handed system 0x0001 Left handed system A D 3 O ja D O O 3 3 Q gt Q c Q D E Status Normal end Status code 0x0200 gt A 80 Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Example cat Use the arm designation change command as shown at right to set the arm designation status of the main 0x0039 robot to the right handed system 0x0000 0x0000 0x0000 Values are expressed as shown at right when executed correctly 0x0200 0x0000 0x0000 0x0000 4 2 19 Point display unit designation command Execute this command to change the point display unit E Command Channel Contents Command code 0x003E Not used 0x0000 Display units for specified point Oxssss Not used 0x0000 Ssss Specify the point display unit system in 16 bits Value Meaning 0x0000 Pulse units 0x0001 Millimeter units 0x0002 Millimeter units Tool coordinates E Status p n puNWILUOD jow y Normal end Status code 0x0200 Not used A 81 lt A D 3 O ja D O
132. e a units ni help string 0 504 48 min max default data values P mult dev base offset scaling not used in mult dev base offset link not used decimal places not used Param3 0 reserved shall equal O Hp Link Path Size Link Path 0x0000 Descriptor OxC8 Data Type 4 Data Size in bytes RPI Range name ae units an help string 2000 3200000 150000 min max default data values oe mult div base offset scaling i mult div base offset links 5 decimal places Assembly Revision 2 Assem100 OUTPUT 504 0x0000 Fe 4032 Assem150 INPUT 504 0x0000 1r 4032 Connection Manager Connection1 0x04030002 0 15 supported transport classes 16 trigger cyclic 17 trigger change of state gt 18 trigger application Oo 19 23 trigger reserved Oo 24 transport type listen only 25 transport type input only m 26 transport type exclusive owner Q 27 transport type redundant owner lt 28 30 reserved 31 Client 0 Server 1 0x44640405 0 O gt T fixed size supported 1 O gt T variable size supported 2 T gt O fixed size supported 3 T gt O variable size supported 4 5 O gt T number of bytes per slot obsolete 6 7 T gt O number of bytes per slot obsolete 8 10 O gt T Real time transfer format 11 reserved 12 14 T gt O Real time transfer format 15 reserved
133. e category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits A D 3 O ja D O O 3 3 Q gt Q c Q D gt A 110 Example Channel Value Use this arithmetic operation command to multiply 0x020D static variables as shown at right 0x0000 Variable number 1 1 0x0001 Variable number 2 2 0x0000 0x0002 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 Values are expressed as shown at right when executed Channel Value correctly 0x0200 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 ns p 3 O ja D O O 3 3 Q Q c Q D A 111 lt A D 3 O ja D O O 3 3 Q gt Q c Q D 4 4 1 5 Static variable value reference Use this command to search and obtain the value stored in a static variable SGIn or SGRn by specifying the variable number E Command Channel Contents Command code 0x0214 Not used 0x0000 Variable number Oxssss Not used SSSS E Status Normal end Channel Specify variable number in 16 bits 0x0000 Specified range for integer variable 0 Ox0000 to 7 0x
134. e expressed as shown at right when executed Channel Value correctly to obtain the following variable 0x0200 Variable number 5 0x0000 Value 50 0x0005 0x0000 0x0032 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 ns D 3 O ja D O O 3 3 Q Q c Q D A 113 lt 4 4 2 Parameter related command Execute this command to assign a value to a parameter or obtain a parameter 4 4 2 1 Assigning a value to a parameter This command assigns a numerical value to a specified parameter by specifying the parameter number axis and numerical value Robot parameter Parameter number Assignment range WEIGHT Robot payload kg 1 0x0001 0 to maximum payload Axis parameter Parameter number Assignment range ACCEL Acceleration coefficient 257 0x0101 1 to 100 DECEL Deceleration ratio 258 0x0102 1 to 100 TOLE Tolerance pulses 259 0x0103 1 to 2048 OUTPOS OUT effective position pulses 260 0x0104 1 to 614400 ARCH Arch position pulses 261 0x0105 1 to 614400 AXWGHT Axis payload kg 262 0x0106 0 to maximum payload TORQUE Torque 263 0x0107 1 to 100 E Command Channel Contents Command code For main robot 0x0220 For sub robot 0x02A0 Not used 0x0000 Parameter number Oxssss Specified axis bit 0 Axis 1 OxO0tt bit 1 Axis 2
135. e in millimeters Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd gt A 52 Shows the group number in upper 8 bits and the category number in lower 8 bits Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Example Specify the DRIVEI command with direct designation millimeter units as shown at right to move axis 3 a distance equal to 50 00 from 0 00 position at 50 speed The current position output is specified at this time Values are expressed as shown at right when controller display units are in millimeters and with Axis 1 100 00 Axis 2 200 00 Axis 3 50 00 Axis 4 180 00 Other axes 0 00 Channel Value 0x0016 0x8005 0x0004 0x0032 0x1388 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 Channel Value 0x0200 0x0000 0x0000 0x0001 0x2710 0x0000 0xB1E0 OxFFFF 0x1388 0x0000 0xB9BO OxFFFF 0x0000 0x0000 0x0000 0x0000 A 53 lt A D 3 O ja D O O 3 3 Q Q c Q D 4 2 4 3 Direct designation pulse units This command moves the specified axis of the robot in PTP motion a distance by directly specifying the data in pulses Nos NOTE e If the DRIVE comm
136. e remote command ends correctly When the remote command ends incorrectly an error code is sent to m 2 and additional information is sent to m 4 as a response The error group number is displayed in the upper 8 bits of the error code and the error category number is displayed in the lower 8 bits The additional information section appears in the upper 8 bits of additional information and a detail value for the additional information appears in the lower 8 bits See the troubleshooting section of the robot controller user s manual for description of the error group number and error category number For example when 0x0201 hexadecimal was set in m 2 this shows that a soft limit over error has occurred When 0x0001 hexadecimal is set in m 4 it indicates that Axis 1 of the controller is selected A 0 3 O ja 0 O O 3 3 Q Q c Q 9 A 1 lt 7J D 3 O 0 O O 3 3 Q gt Q c Q D 1 2 Remote status The controller starts processing when the remote command is received and sends the status results to the PLC by way of m E Remote status list Status contents From m 6 0x0000 0x0000 Command ready status 0x0100 0x0000 Command run status 0x0200 Response data Normal end status 0x4000 Error code Additional information 0x0000 Abnormal end status m Start address of the input area assigned to the master module Bue M NOTE Y Remote commands mu
137. em connects the robot controllers or distributed input output systems with dedicated cables to control these units from the master module The EtherNet IP system allows wiring to be reduced SUuILINO EtherNet IP system Master module Controls the entire EtherNet IP system The PLC master module corresponds to this module Slave module Controlled by the master module in the EtherNet IP system Slave module Controlled by the master module in the EtherNet IP system The robot controller corresponds to this module 23101 S6 00 For details about other units such as the network settings on the master module side refer to the user s manual for relevant unit Additionally for details about operation of the controller main unit and robot programming refer to the user s manuals for controller and programming The EtherNet IP is a protocol that is jointly controlled by ODVA Open DeviceNet Vendor Association and Cl Control Net International ys NOTE O The dedicated inputs of the STD DIO connector provided on the RCX240 controller will oe disabled except for the interlock signal DI 11 When the Watch on STD DO DC24V of the system parameters is set invalid the interlock signal DI 11 will also be disabled M E Emulated serialization on parallel DIO By making the robot controller s internal settings without using a robot program various I O devices such as the sensors and relays mounted on
138. en Connection with the master is not established Lit in red Recoverable minor error is detected Flashing red Unrecoverable error is detected Flashing green red gt 1 4 Performing the self test only when the power is turned ON 5 1 0 assignments of EtherNet IP compatible module The following describes the correspondence between the serial input output of the robot controller and the input output data on the EtherNet IP The number of bytes to be assigned to the EtherNet IP compatible module is 48 byes for input and 48 bytes for output Serial output Serial input Robot controller Master module Master module Robot controller Robot controller Master module Robot controller Master module Port number Address Port number Address SulliNO SID 2 SID 4 SID 6 SID 8 SID 10 SID 12 SID 14 z l0 7 0 SH 7 0 12 7 0 13 7 0 S14 7 0 15 7 0 16 7 0 S17 7 0 S110 7 S111 7 S112 7 7 7 2 SH3 Sl14 115 7 0 Reserved Reserved 0 0 0 0 0 Reserved 7 0 Reserved m Start address of the input area assigned to the master module n Start address of the output area assigned to the master module 1 Since this port is used as dedicated command it
139. eparated 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 applying 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 allowing connection of up to 65533 devices However unless changes are made this network cannot efficiently 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 HUB A HUB is a device used for connecting devices such as PCs by way of a 10BASE T 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 device The HUB may have different type connectors depending on whether the HUB is for 1OBASE 2 or 10BASE 5 Various types of networks can be constructed by means of these HUBs E Router The router is a device for mutually connecting networks together The router is controlled based on a sophisticated process The router sends dat
140. er in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Example i Channel Value Use this command as shown at right to acquire the status of arm 0x050C 0x0000 Values are expressed as shown at right when executed correctly 0x0200 Main robot 1 Left handed system status Sub robot 9 Robots other than SCARA robot 0x0000 0x0001 0x0009 0x0000 4 7 12 Service mode status reference Execute this command to acquire current information on service mode To use this command DI dedicated input must be enabled by input device exclusive control E Command Command code 0x050D 0x0000 E Status Normal end Channel Contents A D 3 O ja D O O 3 3 Q gt Q c Q D Status code 0x0200 Not used Setting status Oxaaaa Not used gt A 156 aaaa Shows the service mode setting status Normal mode Service mode Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd Not used aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Channel Value 0x050D Example Use this command
141. ervice mode input signal is set to ON with SI 02 in the EtherNet IP system gt 5 6 3 2 AUTO mode changeover program reset and program execution AUTO mode changeover program reset and program execution on m 33 0 SO 10 AUTO mode status off 1 output l on MM m 33 1 SO 11 Return to origin complete off j status output on i m 33 3 SO 13 i Robot program execution off i status output on i m 33 4 SO 14 Program reset status output off 7 on _ IaaaaaaaaaaaauauauauauasasauasasasauasasasairiaIaeaaaaasssst n 33 1 SI 11 Interlock input off i on n 33 2 S1 12 Robot program start input off i i i o i n 33 3 S1 13 i i Eo o AUTO mode input off a on i i hott n 33 5 S1 15 E Program reset input off r i m i e aa eae z a b f g h i 100ms or more 100ms or more 23502 S6 00 AN CAUTION Provide an interval of 100ms or more when turning the dedicated input from the master module to the controller ON and OFF If the interval is too short the dedicated input may not be recognized This also applies to the interval for the same dedicated inputs or different dedicated inputs e Use this also if there is a dedicated output in response to the dedicated input from the master module to the controller Ww O O h Q Q O m AUTO mode changeover process a AUTO mode input ON is input b AUTO mode status output ON is
142. following points from 0 pulse positions at 50 speed Axis 1 100000 Axis 2 200000 Axis 3 50000 Axis 4 180000 Other axes 0 The current position output is specified at this time Values are expressed as shown at right when controller display units are in millimeters gt A 38 Channel Value 0x000F 0x8004 0x0000 0x0032 0x86A0 0x0001 OxF2C0 OxFFFC 0xC350 0x0000 0x40E0 OxFFFD 0x0000 0x0000 0x0000 0x0000 Channel Value 0x0200 0x0000 0x0000 0x0000 0x86A0 0x0001 OxF2C0 OxFFFC 0xC350 0x0000 0x40E0 OxFFFD 0x0000 0x0000 0x0000 0x0000 4 2 3 DRIVE command Execute this command group to move the specified axis of the robot to an absolute position Valid only for a single axis 4 2 3 1 Point designation This command moves the specified axis of the robot to a target position in PTP motion by specifying the point number E Command Channel Contents Command code For main robot 0x0010 For sub robot 0x0090 Command flag bit 0 1 Fixed bit 2 bit 1 Speed designation flag bit 6 bit 3 0 Fixed bit 7 Torque limit designation flag bit 14 bit 8 0 Fixed bit 15 Current position output designation flag Specified axis to move bit 0 Axis 1 OxO0tt bit 1 Axis 2 bit 2 Axis 3 bit 3 Axis 4 bi
143. g gateway step Exit the setting Press the key to exit the setting SE PARAM gt OP BRD gt SELECT ViA 52 Subsequently to set other item use the EN 1 Board condition VALID 2 Remote_cmd S105 VALID or BA key cursor up or down key to select 3 Output MSG SOW1 INVALID 4 IP address 192 168 0 2 a desired parameter you want to set S Subnet mask 255 255 255 0 192 168 0 1 AN CAUTION Any appropriate gateway address can be used as as long as the network is not connected to other Enter gateway gt 192 168 0 1 networks However use an IP address that has not yet been assigned to other devices When connecting the robot controller to an already existing network always check with the network administrator before making IP address subnet mask and gateway settings The EtherNet IP module for RCX240 series uses a private address as the IP address default setting This default value cannot be used as it is on the Internet So when connecting to the Internet always be sure to change the IP address of the robot controller to a global address gt 2 8 4 Noise measures Two ferrite cores must be mounted on the shielded LAN cable when connecting to the EtherNet IP system 4 1 LAN cable The EtherNet IP is connected in a wide zone from the enterprise zone to the manufacturing zone So an appropriate LAN cable that prevents noise from entering its inside must be used Conditions e CAT5E gra
144. gers when point display units are in pulses Data is shown in integers x100 when point display units are in millimeters Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits AJ i 3 O ja D O O 3 3 Q Q c Q D A 13 lt A D 3 O ja D O O 3 3 Q gt Q c Q D Example Specify the MOVE command with PTP designation as shown at right when moving all axes of the main robot to point number 100 at 50 speed The current position output is specified at this time Values are expressed as shown at right when controller display units are in pulses and with Axis 1 123456 Axis 2 123 Other axes 0 gt A 14 Channel Value 0x0001 0x8004 0x0000 0x0032 0x0064 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 Channel Value 0x0200 0x0000 0x0000 0x0000 0xE240 0x0001 OxFF85 OxFFFF 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 4 2 1 2 Arch designation This command moves the robot to a target positio
145. gnment destination Oxssss Pallet number Oxaaaa Work position number Oxbbbb Not used 0x0000 Ssss Specify the point number in 16 bits Specified range 0 0x0000 to 9999 0x270F aaaa Specify the pallet number in 16 bits Specified range 0 0x0000 to 19 0x0013 bbbb Specify the work position number in 16 bits Specified range 1 0x0000 to 32767 0x7FFF E Status Normal end Channel Contents Status code 0x0200 Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits gt A 122 Example Channel Value Use this command as shown at right to assign a pallet 0x0238 point to the following point 0x0000 Point number 100 0x0064 Pallet number 2 0x0002 Work position number 133 0x0085 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 Values are expressed as shown at right when executed Channel Value correctly 0x0200 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 ns D 3
146. hannel Contents Status code 0x0200 Not used Point flag bit 0 Point unit a bit 15 bit 1 Not used 0 Axis 1 data Oxbbbbbbbb Axis 2 data Oxbbbbbbbb Axis 3 data Oxbbbbbbbb Axis 4 data Oxbbbbbbbb Axis 5 data Oxbbbbbbbb Axis 6 data Oxbbbbbbbb a Shows in 1 bit the units for current position output point data Linked with point display unit of controller Pulse units Millimeter units bbbbbbbb Shows the current position output data in 32 bits little endian Data is shown in integers when point display units are in pulses Data is shown in integers x100 when point display units are in millimeters Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits A D 3 O ja D O O 3 3 Q Q c Q D A 61 lt Example Specify the PMOVE command with arch designation as shown at right when moving the Z axis to work position number 32 on pallet number 10 at 70 speed by way of a Z axis arch position of 10 00mm The current position output is specified at this time Values are expressed as shown at right when controller display units are in millimeters and with Axis 1 123
147. he EtherNet IP module for RCX240 series is not usable with IP address auto acquisition functions such as DHCP and BOOTP In this case you must set the IP address manually 2 lt 3 6 Setting the gateway Set the gateway Actually specify the IP address of the router The router is a device that relays the information from a certain network to other network when there are multiple networks step f Select OP BRD Select SYSTEM gt PARAM gt OP BRD The option board list screen will appear step Select an EtherNet IP module you B Step2 Selecting EtherNet IP module want to make valid Move the cursor to ENet_IP and press the SAAP ARAM gt OP BRD V10 50 F1 SELECT key o ENet_IP VALID The Ethernet IP module setting screen will Do s appear 3 S2555 LL 24218 S6 00 Step Select 6 Gateway T SS a a Use the v key cursor down key to move the cursor to 6 Gateway and press the gt Step3 Selecting 6 Gateway F1 EDIT key The gateway IP address entry screen will Bam U A earn appear 1 Board condition VALID 94910 86 00 2 Remote_cmd S105 VALID 3 Output MSG SOW1 INVALID 4 IP address 192 168 0 A step Enter a gateway IP address 5 AEE 255 255 255 Enter a desired gateway IP address with the 192 168 numeric keys 0 to 9 and period key After you have entered the gateway IP as peas T a M a adaress press the 9 key 24220 86 00 M Step4 Enterin
148. he EtherNet IP system transits from the normal state to the error state the EtherNet IP system connection must be returned to the normal state The signals in the EtherNet IP system can be sent and received when the EtherNet IP system connection is recovered to the normal state gt 1 6 3 EtherNet IP system connection error state due to following factors when the robot controller power is turned ON e It is impossible to connect to the EtherNet IP system e The master module is faulty System connection error state 2 Robot Master module controller Robot controller e The emergency stop input turns off with SI 00 in the robot controller 23108 S6 00 e The interlock signal turns off with SI 10 in the robot controller e The service mode input turns off with SI 02 in the robot controller e At this time the emergency stop signal and interlock signal in the EtherNet IP system turn off So the robot controller cannot be operated individually To operate the robot controller individually change the Board condition parameter of the EtherNet IP module to INVALID e The emergency stop signal terminal in the SAFETY connector is valid e The interlock signal in the STD DIO connector is valid when the external 24V monitor control of the system parameters is left valid e When the safe mode is set and the external 24V monitor control of the system parameters is not set invalid the service mode input signal
149. he following point data Point number 50 Comment data WAIT ORG Channel Value 0x0105 0x0000 0x0032 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 Channel Value 0x0200 0x0000 0x0032 0x0000 0x4157 0x5449 0x4F20 0x4752 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 A 91 lt A i 3 O ja D O O 3 3 Q gt Q c Q D A D 3 O ja 0 O O 3 3 Q gt Q c Q D 4 3 3 Pallet related command Execute this command to define or obtain pallet data 4 3 3 1 Pallet data definition Use this command to define pallet data by specifying the pallet number and the number of pallets Nx Ny Nz Nees m NOTE Point data used for pallet movement is determined by the pallet number Refer to the robot controller user s manual or robot programming manual for detailed information E Command Channel Contents Command code 0x0108 Not used 0x0000 Pallet number Oxssss Number of pallets in X direction Nx Oxaaaa Number of pallets in Y direction Ny Oxaaaa Number of pallets in Z direction Nz Oxaaaa Not used 0x0000 aaaa E Status Normal end Channel Specify the pallet number in 16 bits
150. he target movement distance data for each axis in 32 bits little endian Data should be integers in pulse units E Status Normal end Channel Contents Status code 0x0200 Not used Point flag bit 0 Point unit a bit 15 bit 1 Not used 0 Axis 1 data Oxbbbbbbbb Axis 2 data Oxbbbbbbbb Axis 3 data Oxbbbbbbbb Axis 4 data Oxbbbbbbbb Axis 5 data Oxbbbbbbbb Axis 6 data Oxbbbbbbbb a Shows in 1 bit the units for current position output point data Linked with point display unit of controller Pulse units Millimeter units bbbbbbbb Shows the current position output data in 32 bits little endian Data is shown in integers when point display units are in pulses Data is shown in integers x100 when point display units are in millimeters Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits A 3 O ja D O O 3 3 Q Q Q c Q D A 37 lt A D 3 O ja D O O 3 3 Q gt Q c Q D Example Specify the MOVEI command with direct PTP designation millimeter units as shown at right when moving all axes of the main robot a distance specified by the
151. i absolute type axis performs the absolute search operation When the absolute type axis incremental type axis and semi absolute type axis are mixed the incremental type axis and semi absolute type axis perform the return to origin after the absolute type axis has performed the absolute reset Address Signal name Description General purpose input General purpose input Refers to the SI port value executes the WAIT command and uses the ON OFF state of the general purpose input General purpose input n Start address of the output area assigned to the master module Vy M NOTE Y e When the RCX141 or RCX221 is changed to the RCX240 and SI 17 needs to be used for the return to origin input SI 17 is used for absolute reset return to origin e When the RCX240 is used with a robot whose axis configuration includes the absolute type incremental type and semi absolute type axes and SI 17 is used for absolute reset return to origin the absolute reset is performed for the absolute reset type axis each time the return to origin is performed for the incremental type or semi absolute type axis So when the robot axis configuration includes the absolute type incremental type and semi absolute type axes it is recommended to perform the absolute reset with SI 17 and return to origin with SI 14 The return to origin input and absolute reset input can also be executed in the AUTO mode by changing the
152. id the remote command and I O command cannot be used This Remote_cmd SI05 function and 3 Output MSG SOW1 cannot be set valid at the same time step f Select OP BRD Select SYSTEM gt PARAM gt OP BRD gt Step 2 Selecting EtherNet IP module The option board list screen will appear BAHP ARAM gt OP BRD V10 52 step Select an EtherNet IP module you 2 va want to make valid 1 ENet_IP VALID Move the cursor to ENet_IP and press the 2 F1 SELECT key A Eea The Ethernet IP module setting screen will Si D ae appear Tr C a CE M E E 24206 S6 00 Step Select 2 Remote_cmd S105 gt Step3 Selecting Remote_cmd SI05 Use the v key cursor down key to move the cursor to 2 Remote_cmd 5105 and press SAA PARAM gt OP BRD gt SELECT V1 0 52 the F1 EDIT key 1 Board condition VALID ja ECEE D 2 Remote_cmd SIO5 is then selected 3 Output MSG SOW1 INVALID 24207 S6 00 4 IP address 192 168 0 2 5 Subnet mask 255 255 255 0 Step Select 2 Remote_cmd S105 valid 6 Gateway 192 168 1 or invalid AL aL Press the F 2 VALID key to make the EDIT JUMP nl remote command and I O command function valid B Step4 Selecting Remote_cmd S105 valid invalid Press the F1 INVALID key to make the remote command and I O command SASA gt PARAM gt OP BRD gt SELECT V10 52 function inv la 1 Board condition VALID 24208 S6 00 CE D 3 Output
153. ify the speed setting method in 2 bits Value Meaning 00 Speed is not specified 10 Speed is set in Specify in 1 bit whether to output current position Value Meaning 0 No output 1 Output Specify the movement speed in 16 bits Specified range 1 0x0001 to 100 0x0064 Specify the pallet number in 16 bits Specified range 0 0x0000 to 19 0x0013 Specify the work position number in 16 bits Specified range 1 0x0001 to 32767 0x7FFF 0x0000 A 57 lt A D 3 O ja D O O 3 3 Q Q c Q D A D 3 O D O O 3 3 Q gt Q c Q D E Status Normal end Channel Contents Status code 0x0200 Not used Point flag bit 0 Point unit a bit 15 bit 1 Not used 0 Axis 1 data Oxbbbbbbbb Axis 2 data Oxbbbbbbbb Axis 3 data Oxbbbbbbbb Axis 4 data Oxbbbbbbbb Axis 5 data Oxbbbbbbbb Axis 6 data Oxbbbbbbbb Shows in 1 bit the units for current position output point data Linked with point display unit of controller Pulse units Millimeter units bbbbbbbb Shows the current position output data in 32 bits little endian Abnormal end Channel Data is shown in integers when point display units are in pulses Data is shown in integers x100 when point display units are in millimeters Contents Status code 0x4000 Error code Oxaabb Additi
154. igher address little endian For example to set OxOF9F hexadecimal 3999 in the S113 and SI14 ports set OxOF hexadecimal in S14 and set Ox9F hexadecimal in S113 The I O command execution trigger is disabled when the execution in progress output O17 is ON The execution in progress output SO17 is ON in the following cases e When an I O command is running after receiving I O command execution trigger input e When an I O command is terminated after receiving I O command execution trigger input yet a maximum of 100ms state is maintained when I O command trigger input is ON The I O command trigger input pulse must always be maintained for 100ms or more during input Commands cannot be accepted if this state is not maintained Sometimes 20ms or more is needed for the execution in progress output SO17 to turn ON after startup rising edge of the I O command trigger input pulse The I O command trigger input might not be accepted during this period After inputting the I O command trigger input pulse and the in progress output turns OFF at least a 100ms time period must always elapse before executing the next command If this elapsed time period is too small the I O command execution trigger input might not be accepted The execution check output SO16 turns OFF when an I O command is received The execution check output SO16 turns ON when an I O command ended correctly but stays OFF if an I O command
155. in complete 0x0000 Axis 5 9 no axis 0x0001 Axis 6 9 no axis 0x0009 Axis 7 9 no axis 0x0009 Axis 8 9 no axis 0x0009 0x0009 0x0000 A 159 lt I O command guide Contents 1 I O command format 2 Sending and receiving I O commands 3 I O command list 4 I O command description 4 1 MOVE command 4 1 1 PTP designation 4 1 2 Linear interpolation 4 2 MOVEI command 4 2 1 PTP designation 4 3 Pallet movement command 4 3 1 PTP designation 4 4 Jog movement command 4 5 Inching movement command 4 6 Point teaching command 4 7 Absolute reset movement command 4 8 Absolute reset command 4 9 Return to origin command 4 10 Servo command 4 11 Manual speed change command 4 12 Auto speed change command 4 13 Program speed change command 4 14 Shift designation change command 4 15 Hand designation change command 4 16 Arm designation change command 4 17 Point display unit designation command 1 I O command format Using bit information from the SI SO port on the EtherNet IP compatible module allows issuing commands directly from the PLC It is now possible to execute commands such as the MOVE command that were impossible to execute up until now without using the robot program or RS 232C port AN CAUTION I O commands are compatible with the RCX240 software version 10 52 or higher To use remote commands the Remote_cmd SI05 parameter in SYSTEM gt PARAM gt OP BRD mode must
156. in upper 8 bits and the category number in lower 8 bits Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Channel Value n 0x0407 Channel Value m 0x0200 0x0000 0x0000 A i 3 O ja D O O 3 3 Q gt Q c Q D A 137 lt 4 6 5 Program execution information reference Execute this command to acquire information on task execution when the robot program is stopped This is only valid in AUTO mode E Command Command code 0x0408 0x0000 E Status Normal end Channel Contents Status code 0x0200 Not used Program name Oxbbbb Oxbbbb Oxbbbb Oxbbbb Task number Oxtttt Execution line number Oxilll Task priority Oxpppp Not used bb Shows the 1 byte program name in 8 bits little endian Program names are shown with letters uppercase numbers and underscores _ A space indicates a portion in the program name not having all 8 characters tttt Shows the urrently selected task number 1 to 8 WII Shows the currently executed line of selected task 1 to 9999 A value 10000 is shown when COMMON program is running pppp Shows the priority of curretly selected task 17 to 47 Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd Not used a
157. ion from the output area of the master module with the robot controller create the robot program using the assignment statement Example To read the address n 4 word data into variable B BESI S naaa The SIW 2 data will be assigned to variable B as a decimal value If SIW 2 is 01FFh variable B will be 511 gt 3 2 Example To read the address n 4 and n 6 double word data into variable C C SID 2 techinediscedthtedudedens The SIW 2 and SIW 3 data will be assigned to variable C as a decimal value If SIW 2 is 0010h and SIW 3 is 0001h variable C will be 65552 Ns NOTE The word data written with SIW n has the uncoded little endian format The double word data written with SID n has the coded little endian format O O 3 3 J O Q 5 3 3 lt UOIDIUNWIWOD oO 2 2 Transmitting data The serial output port data of the robot controller is transmitted to the input area of the master module The correspondence between the serial output port of the robot controller and the input area of the master module is shown below Address of master Serial output port No of robot Address of master Serial output port No of module input area controller module input area robot controller m Start address of the input area assigned to the master module AN CAUTION Before communicating with the master module be sure to che
158. irmation E Confirmation item 1 Confirmation contents e The PWR LED is OFF Cause e The power is not supplied to the robot controller Corrective e Measure the voltage at the AC power input terminal of the power connector with a multi meter to check measures that the operating power voltage is supplied MEMO a For details about the operating power voltage for the robot controller refer to the user s manual for robot controller E Confirmation item 2 Confirmation contents e The ERR LED is ON e The robot controller is in the emergency stop state Cause A i A serious error has occurred in the robot controller e Check the error message displayed on the programming box e Take corrective measures while referring to the troubleshooting stated in the user s manual for robot controller Corrective measures MEMO L For details about error contents refer to the user s manual for robot controller O cC 22 D gt fo lo m Q 3 2 RPB programming box error display confirmation E Confirmation item Confirmation e Check the error message displayed on the RPB contents Cause An error has occurred in the robot controller e Check the error message displayed on the RPB e Check the error history with the RPB At this time check the error history with the RPB in the SYSTEM gt DIAGNOS gt HISTORY mode e Take corrective measures while referring to the t
159. is 4 bit 4 Axis 5 bit 5 Axis 6 bit 6 0 Fixed bit 7 Direction bit 15 bit 8 0 Fixed Not used 0x0000 tt Specify the axis to move in 0 to 3 bits Only one axis can be specified d Specify the movement direction in 1 bit direction direction E Status Normal end Channel Contents Status code 0x0200 Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits gt A 70 Example Use the absolute reset movement command as shown at right to move axis 2 of the main robot in the minus direction to a position capable of absolute reset Values are expressed as shown at right when executed correctly 4 2 10 Absolute reset command Channel Value 0x0030 0x0000 0x0082 0x0000 0x0200 0x0000 Execute this command to perform absolute reset on the specified axis When absolute reset of the specified axis uses the mark method a position capable of absolute reset is required If no particular axis is specified n 4 is 0 then absolute reset is performed on all axes main robot sub robot in either case of command code 0x0031 or 0x00B1 This command cannot be executed if return t
160. ist actually the value is OxOFFF Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the categorynumber in lower 8 bis ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bis Channel Value 0x0501 Example Use this command to obtain a software version as shown at right A D 3 O ja D O O 3 3 Q gt Q Q D 0x0000 A 141 lt Values are expressed as shown at right when executed Channel Value correctly 0x0200 Host software version V8 08 0x0000 Host software revision R1013 0x0808 Axis 1 driver software version V1 01 0x03F5 Axis 2 driver software version V1 01 0x0101 Axis 3 driver softwre version V1 01 0x0101 Axis 4 driver software version V1 01 0x0101 No other axis exists 0x0101 OxOFFF OxOFFF OxOFFF OxOFFF 0x0000 4 7 2 Controller configuration reference Execute this command to acquire information on the settings made for the robot controller E Command Command code 0x0502 Not used 0x0000 E Status Normal end Channel Contents Status code 0x0200 Not used Main robot number Oxaaaa Sub robot number Oxaaaa Axis 1 robot number Oxaaaa Axis 2 robot number Oxaaaa Axis 3 robot number
161. it 5 Axis 6 bit 15 bit 6 0 Fixed Specified speed Oxssss Point numbe Oxpppp 0x0000 a Specify in 1 bit whether all axes are designated Value Meaning 0 All axes are specified 1 One or more axes are specified bb Specify the speed setting method in 2 bits Value Meaning 00 Speed is not specified 10 Speed is set in n Specify in 1 bit whether to output current position Value Meaning 0 No output 1 Output tt Specify the axis to move in bit pattern using lower 8 bits Valid when axis designation flag is 1 ssss Specify the movement speed in 16 bits Specified range 1 0x0001 to 100 0x0064 pppp Specify the point number in 16 bits Specified range 0 0x0000 to 9999 0x270F A D 3 O ja D O O 3 3 Q gt Q c Q D gt A 12 E Status Normal end Channel Contents Status code 0x0200 Not used Point flag bit 0 Point unit a bit 15 bit 1 Not used 0 Axis 1 data Oxbbbbbbbb Axis 2 data Oxbbbbbbbb Axis 3 data Oxbbbbbbbb Axis 4 data Oxbbbbbbbb Axis 5 data Oxbbbbbbbb Axis 6 data Oxbbbbbbbb a Shows in 1 bit the units for current position output point data Linked with point display unit of controller Pulse units Millimeter units bbbbbbbb Shows the current position output data in 32 bits little endian Data is shown in inte
162. ixed bit 2 bit 1 Speed designation flag bit 3 0 Fixed bit 4 Arch data unit flag bit 14 bit 5 0 Fixed bit 15 Current position output designation flag Arch designation axis bit 7 bit 0 0 Fixed bit 8 Axis 1 bit 9 Axis 2 bit 10 Axis 3 bit 11 Axis 4 bit 12 Axis 5 bit 13 Axis 6 bit 15 bit 14 0 Fixed Oxuu00 Specified speed Oxssss Pallet number Oxpppp Work position number Oxwwww Not used 0x0000 Arch position data Oxqqqqqqaqq Not used uu SSSS PPPP wwww gt A 60 Specify the speed setting method in 2 bits Value Meaning Speed is not specified Speed is set in Specify the arch data units in 1 bit Value Meaning Pulse units Millimeter units No output Output Specify the arch motion axis in bit pattern using upper 8 bits Specified arch axis is one axis only Specify the speed in 16 bits Specified range 1 0x0001 to 100 0x0064 Specify the pallet number in 16 bits Specified range 0 0x0000 to 19 0x0013 Specify the work position number in 16 bits Specified range 1 0x0001 to 32767 0x7FFF 0x0000 qqqqqqqq Specify the arch position data in 32 bits little endian Data should be integers when units are in pulses Data should be integers x100 when units are in millimeters E Status Normal end C
163. k signal DI11 will also be disabled O 22 D gt O O m Q 4 1 lt O c S D gt ro O D Q 2 Meanings of LEDs on EtherNet IP compatible module Status indicators 1 Activity 1 G 3 Link 2 Network Status 2 4 4 Module Status 23401 S6 00 The LEDs on the EtherNet IP compatible module express the following statuses Use these for the confirmation work if an error occurs 1 Activity Flashing green during packet communication 2 Network Status Status Description OFF Power is OFF or no IP address is found Lit in green Detects the online and connects other unit Flashing green Detects the online but does not connect other unit Lit in red Detects serious error such as IP address duplication Flashing red Time out occurs during connection with other unit Flashing green red Performing the self test only when the power is turned ON 3 Link Lit in green when the link is detected 4 Module Status Status Description OFF Power is OFF Lit in green Connection with the master is correct Flashing green Connection with the master is not established Lit in red Recoverable minor error is detected Flashing red Unrecoverable error is detected Flashing green red Performing the self test only when the power is turned ON 3 Troubleshooting 3 1 Robot controller front panel LED conf
164. l Value 0x0003 0x8026 0x0000 0x00C8 0x0064 0x0000 0x0000 0x0000 0x0000 0x0000 0x0032 0x0000 0x0000 0x0000 0x0000 0x0000 Channel Value 0x0200 0x0000 0x0000 0x0001 0x3039 0x0000 OxFF85 OxFFFF 0x1388 0x0000 0x233F 0x0000 0x0000 0x0000 0x0000 0x0000 4 2 1 4 Circular interpolation This command moves the robot to a target position by circular interpolation by specifying two point numbers E Command Channel Contents Command code For main robot 0x0004 For sub robot 0x0084 Command flag bit 0 0 Fixed 0 bit 2 bit 1 Speed designation flag bit 4 bit 3 0 Fixed bit 5 Acceleration designation flag bit 6 Deceleration designation flag bit 14 bit 7 0 Fixed bit 15 Current position output designation flag Not used 0x0000 Specified speed Oxssss First point number Oxpppp Second point number Oxpppp Not used 0x0000 Acceleration designation Oxrrrr Deceleration designation Oxrrrr Not used 0x0000 bb Specify the speed setting method in 2 bits Meaning 00 Speed is not specified 10 Speed is set in 11 Speed is specified in mm s d Specify in 1 bit whether to set acceleration Meaning 0 Acceleration is not specified Acceleration is
165. l is needed For details contact YAMAHA s Sales Department The CPU BOARD ASSY is applicable only when the ROM capacity is 4MB or more KXO M4210 2XX pp y pac ty 1 3 lt 4 Part names 1 RJ45 connector 5 2 DIP SWITCH O Unused All switches must be OFF 3 Status Indicators Status indicators 1 Activity lt a Cis 3 Link 2 Network Status 1 Activity 2 Network Status Connect commercially available LAN cable supporting 10Base T or 100Base TX This section describes the part names of the EtherNet IP compatible module to be installed in the robot controller This module is installed in the option slot of the robot controller Part names 23104 S6 00 4 Module Status 2 4 23105 S6 00 Flashing green during packet communication Status Description OFF Power is OFF or no IP address is found Lit in green Detects the online and connects other unit Flashing green Detects the online but does not connect other unit Lit in red Detects serious error such as IP address duplication Flashing red Time out occurs during connection with other unit Flashing green red 3 Link 4 Module Status Performing the self test only when the power is turned ON Lit in green when the link is detected Status Description OFF Power is OFF Lit in green Connection with the master is correct Flashing gre
166. ld until the status changes to a normal end 0x0200 or an abnormal end 0x4000 If a remote command is changed before the status changes to an end the status of the remote command executed will not be reflected 1 Command data setting 2 Remote command setting 3 Status shifts to command run status 0x0100 If the command is quickly executed status may sometimes shift to normal end status 0x0200 without changing to command run status 0x0100 4 Shifts to response change and normal end status 0x0200 or to abnormal end status 0x4000 5 Status reset command 0x0000 setting 6 Status and response shifts to command ready status Example Typical transmit receive when running a PTP movement command all axes program speed 50 to point 19 is shown below 1 To run the PTP movement command for the designated point enter the value in the registers shown below n 2 command flag 0x0004 speed setting n 6 speed setting 0x0032 50 n 8 point setting 0x0013 point 19 2 Enter the PTP movement command 0x0001 for the designated point into the n 3 The robot controller receives the remote command and starts running it if the command code and command data can be executed Status now shifts to command run status 0x0100 The robot moves to the position designated as point 19 at the program speed 50 of normal speed If the command cannot be executed status shifts to abnormal end status 0x4000 and m 2 changes to an e
167. lower 8 bits Channel Value 0x0039 Example Use the auto speed change command as shown at right to set the auto movement speed of the main robot to 80 0x0000 0x0050 0x0000 Values are expressed as shown at right when executed correctly 0x0200 0x0000 0x0000 0x0000 4 2 15 Program speed change command Execute this command to change the program speed in AUTO mode The program speed changed with this command is reset to 100 when the program is reset or changed E Command Channel Contents Command code For main robot 0x003A For sub robot Ox00BA Not used 0x0000 Specified speed Oxssss 0x0000 SSS Specify the program speed in 16 bits Specified range 1 0x0001 to 100 0x0064 E Status Normal end A i 3 O ja D O O 3 3 Q Q Q c Q D Status code 0x0200 Not used A 77 lt Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Example Use the program speed change command as shown at right to set the program speed for the main robot to 0x003A 80 0x0000 0x0050 0x0000 Values are expressed as shown
168. mally Error number and error additional information on the error that occurred are sent to m 2 and m 4 e Error code m 2 Shows the error code for error causing command to end abnormally Upper 8 bits show the group number and lower 8 bits show the category number e Additional information m 4 Shows additional information if present in error code such as axis number causing error Upper 8 bits show the section number of additional information and lower 8 bits show a detail value Section No Contents Actual axis d Axis d of main robot Axis d of sub robot Main robot Sub robot d task Here d shows a detail value for the additional information For example Ox0CO2 is set in m 2 as the error code when the remote command was interrupted by an interlock signal For information on the error code refer to the error message section of the robot controller user s manual gt A 2 2 Sending and receiving remote commands Remote register transmit and receive is performed as follows Sending and receiving remote commands Remote command Command data Status Response m Start address of the input area assigned to the master module n Start address of the output area assigned to the master module m indicates the data direction from remote to master and n the data direction from master to remote 93201 S6 00 VEF M NOTE Y Remote commands must be he
169. mand 4 6 Point teaching command 4 7 Absolute reset movement command 4 8 Absolute reset command 4 9 Return to origin command 4 10 Servo command 4 11 Manual speed change command 4 12 Auto speed change command 4 13 Program speed change command 4 14 Shift designation change command 4 15 Hand designation change command 4 16 Arm designation change command 4 17 Point display unit designation command EtherNet IP User s Manual B 10 B 10 B 11 B 11 B 11 B 12 B 12 Introduction Contents Introduction Safety Precautions Always read before starting use ii Warranty Introduction Thank you for purchasing the EtherNet IP compatible module This EtherNet IP compatible module is an option module that allows the YAMAHA robot controller RCX240 to be connected as an EtherNet IP system slave module The robot controller explained in this manual refers to the RCX240 This manual consists of EtherNet IP compatible module guide explanation on wiring or communication remote command guide and I O command guide For information on other devices such as connecting the master module and sequence programming refer to the manual for the respective product For details on operating the robot controller and on the robot program thoroughly read the controller user s manual and programming manual supplied with the YAMAHA robot controller UOHONpojU UOHONpojU Safety Precautions Always read before starting use Before using
170. mand A 70 4 2 10 Absolute reset command A 71 4 2 11 Return to origin command A 72 4 2 12 Servo command A 74 4 2 13 Manual speed change command A 75 4 2 14 Auto speed change command A 76 4 2 15 Program speed change command 4 2 16 Shift designation change command 4 2 17 Hand designation change command 4 2 18 Arm designation change command 4 2 19 Point display unit designation command 4 3 Category 2 remote commands 4 3 1 Point related command 4 3 1 1 Point data definition 4 3 1 2 Point data reference 4 3 2 Point comment related command 4 3 2 1 Point comment data definition 4 3 2 2 Point comment data reference 4 3 3 Pallet related command 4 3 3 1 Pallet data definition 4 3 3 2 Pallet data reference 4 3 4 Shift related command 4 3 4 1 Shift data definition 4 3 4 2 Shift data reference 4 3 5 Hand related command 4 3 5 1 Hand data definition 4 3 5 2 Hand data reference 4 4 Category 3 remote commands 4 4 1 Static variable related command 4 4 1 1 Assigning a numerical value to a static variable 4 4 1 2 Assigning a variable to a static variable 4 4 1 3 Arithmetic operation using numerical data on static variable 4 4 1 4 Arithmetic operation using variable on static variable 4 4 1 5 Static variable value reference 4 4 2 Parameter related command 4 4 2 1 Assigning a value to a parameter 4 4 2 2 Parameter value reference 4 4 3 Point related command 4 4 3 1 Assigning a point to a parameter 4 4 3 2 Point addition
171. mation on the return to origin status E Command Command code 0x050F Not used gt A 158 0x0000 E Status Normal end Channel Contents Status code 0x0200 Not used Axis 1 information Oxaaaa Axis 2 information Oxaaaa Axis 3 information Oxaaaa Axis 4 information Oxaaaa Axis 5 information Oxaaaa Axis 6 information Oxaaaa Axis 7 information Oxaaaa Axis 8 information Oxaaaa Not used aaaa Shows the return to origin status of each axis Value Contents 0 Return to origin incomplete 1 Return to origin complete 9 No axis Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Channel Value 0x050F Example Use this command to obtain a return to origin status as shown at right 0x0000 Values are expressed as shown at right when executed Ghannal Value correctly 0x0200 Axis 1 1 Return to origin complete 0x0000 x Axis 2 1 Return to origin complete 0x0001 Axis 3 0 Return to origin incomplete 0x0001 A D 3 O ja D O O 3 3 Q Q c Q D Axis 4 1 Return to orig
172. meter units bbbbbbbb Shows the current position output data in 32 bits little endian Abnormal end Channel Data is shown in integers when point display units are in pulses Data is shown in integers x100 when point display units are in millimeters Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd gt A 28 Shows the group number in upper 8 bits and the category number in lower 8 bits Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Example Specify the MOVE command with direct designation PTP pulse units as shown at right when moving all axes of the main robot to the following points at 50 speed Axis 1 100000 Axis 2 200000 Axis 3 50000 Axis 4 180000 Other axes 0 The current position output is specified at this time Values are expressed as shown at right when controller display units are in pulses Channel Value 0x0007 0x8004 0x0000 0x0032 0x86A0 0x0001 0xF2C0 OxFFFC 0xC350 0x0000 0x40E0 OxFFFD 0x0000 0x0000 0x0000 0x0000 Channel Value 0x0200 0x0000 0x0000 0x0000 Ox86A0 0x0001 OxF2C0 OxFFFC 0xC350 0x0000 0x40E0 OxFFFD 0x0000 0x0000 0x0000 0x0000 A 29 lt A i 3 O ja D O O 3 3 Q Q
173. mmand cannot use a torque offset value oh M NOTE Y Refer to the programming manual for detailed information on the TRQTIME and TRQTIME2 statements of the robot language E Status Normal end Channel Contents Status code 0x0200 Not used Point flag bit 0 Point unit a bit 15 bit 1 Not used 0 Axis 1 data Oxbbbbbbbb Axis 2 data Oxbbbbbbbb Axis 3 data Oxbbbbbbbb Axis 4 data Oxbbbbbbbb Axis 5 data Oxbbbbbbbb Axis 6 data Oxbbbbbbbb a Shows in 1 bit the units for current position output point data Linked with point display unit of controller 0 Pulse units 1 Millimeter units bbbbbbbb Shows the current position output data in 32 bits little endian Data is shown in integers when point display units are in pulses Data is shown in integers x100 when point display units are in millimeters Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd A D 3 O ja 0 O O 3 3 Q gt Q c Q D Not used aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits gt A 46 Example Specify the DRIVE command with direct designation pulse units as shown at right to move axis 3 of the main robot to a positi
174. n bit units 0 or 1 is used to show the bit pattern Contents Status code 0x4000 A D 3 O D O O 3 3 Q gt Q c Q D Error code Oxaabb Additional information Oxccdd Not used aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits A 131 lt Example Channel Value n Use this command as shown at right to obtain the 0x0304 following port data Output port DO12 n 2 0x0000 n 4 0x1120 0x0000 Values are expressed as shown at right when executed SGR A P 8 meu Channel Value m correctly 0x0200 Output port DOT2 0 m 2 0x0000 Numerical data 7 m 4 0x1120 m 6 0x0007 0x0000 Example Channel Value Use this command as shown at right to output a n 0x0304 numerical value to the following port data Input port DI2 n 2 0x0000 n 4 0x0020 0x0000 Values are expressed as shown at right when executed Channel Value m correctly 0x0200 l t t DI2 es m 2 0x0000 Numerical data 127 m 4 0x0020 m 6 0x007F 0x0000 A D 3 O D O O 3 3 Q gt Q c Q D gt A 132 4 6 Category 5 remote commands Category 5 remote commands are key operation commands A command list is given below Bead Q NOTE
175. n in arch motion by specifying the point number arch axis and arch data E Command Channel Contents Command code For main robot 0x0002 For sub robot 0x0082 Command flag bit 0 Axis designation flag bit 2 bit 1 Speed designation flag bit 3 0 Fixed bit 4 Arch data unit flag bit 14 bit 5 0 Fixed bit 15 Current position output designation flag Specified axis to move bit 0 Axis 1 bit 1 Axis 2 bit 2 Axis 3 bit 3 Axis 4 bit 4 Axis 5 bit 5 Axis 6 bit 7 bit 6 0 Fixed Oxuutt Arch designation axis bit 8 Axis 1 bit 9 Axis 2 bit 10 Axis 3 bit 11 Axis 4 bit 12 Axis 5 bit 13 Axis 6 bit 15 bit 14 0 Fixed Specified speed Oxssss Point number Oxpppp Not used 0x0000 Arch position data 0xqqqqqqqq Not used 0x0000 a Specify in 1 bit how to designate axis Value Meaning All axes are specified One or more axes are specified bb Specify the speed setting method in 2 bits A D 3 O ja D O O 3 3 Q Q c Q D Speed is not specified Speed is set in Pulse units Millimeter units A 15 lt 7J D 3 O ja D O O 3 3 Q gt Q c Q D tt uu SSSS PPPP Specify in 1 bit whether to output current position No output Output Specify the axis to move in bit pattern using lowe
176. n in upper 8 bits and the detail value in lower 8 bits A i 3 O ja D O O 3 3 Q Q c Q D A 67 lt A D 3 O ja D O O 3 3 Q gt Q c Q D Example Specify the inching command as shown at right to move axis 2 of the main robot in the plus direction When controller s point display units are in millimeters movement is in 0 5 mm steps at 50 manual speed The current position output is specified at this time Values are expressed as shown at right after executing the inching command and then stopping point movement when controller display units are in millimeters and with Axis 1 123 45 Axis 2 1 23 Axis 3 20 00 Other axes 0 00 gt A 68 Channel Value 0x0024 0x8000 0x0002 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 Channel Value 0x0200 0x0000 0x0000 0x0001 0x3039 0x0000 OxFF85 OxFFFF 0x07D0 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 4 2 8 Point teaching command Execute this command to teach the current robot position to the specified point number Point data units of this command are linked to the controller s point display unit E Command Channel Contents Command code For main robot 0x0028 For sub robot 0x00A8
177. n to origin on the specified axis When this command is executed on an incremental mode axis that axis moves to its origin When executed on a semi absolute mode axis an absolute search is performed on that axis If no axis is specified n 4 is 0 return to origin is performed on all axes main robot sub robot in either case of command code 0x0032 or 0x00B2 E Command Channel Contents Command code For main robot 0x0032 For sub robot 0x00B2 Not used 0x0000 Specified axis bit 0 Axis 1 OxOOtt bit 1 Axis 2 bit 2 Axis 3 bit 3 Axis 4 bit 4 Axis 5 bit 5 Axis 6 bit 15 bit 6 0 Fixed 0x0000 A D 3 O ja D O O 3 3 Q gt Q c Q D tt Specify the axis to perform return to origin in 0 to 3 bits Only one axis can be specified If no particular axis is specified then return to origin is performed on all axes main robot sub robot gt A 72 E Status Normal end Channel Contents Status code 0x0200 Not used Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd Not used aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Example Channel Value n hi d h t right t f Use this command as shown at right to perform TEE return
178. nation 0x0401 Program execution Program execution 0x0402 Program step execution 0x0403 Program skip execution 0x0404 Program next execution 0x0405 Program reset 0x0406 Program task switching 0x0407 Program execution information reference 0x0408 E Category 6 Command contents Command code n Version information reference 0x0501 Controller configuration reference 0x0502 Servo status reference 0x0503 Absolute reset status reference 0x0504 Current position reference Pulse units Main robot 0x0505 Sub robot 0x0585 Millimeter units Main robot 0x0506 Sub robot 0x0586 Task status reference 0x0507 Task execution reference 0x0508 Message reference 0x0509 Speed status reference 0x050A Arm designation status reference 0x050B Arm status reference 0x050C Service mode status reference 0x050D Point unit status reference 0x050E Return to origin status reference Ox050F A D 3 O ja D O O 3 3 Q Q c Q D 4 Remote command description 4 1 Special commands Special commands are used in applications different from other remote commands A list of those commands is shown below Command contents Command code n Status reset command 0x0000 Main robot current position reference command 0x8000 Sub robot current position reference command 0x4000 4 1 1 Status reset c
179. nits are in millimeters and with Axis 1 123 45 Axis 2 1 23 Axis 3 20 00 Other axes 0 00 Channel Value 0x0020 0x8000 0x0081 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 Channel Value 0x4000 0x0C02 0x0000 0x0001 0x3039 0x0000 OxFF85 OxFFFF 0x07D0 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 A 65 lt A 3 O D O O 3 3 Q Q c Q D 4 2 7 Inching movement command Execute this command to move the robot by inching in MANUAL mode Inching movement distance is linked to the manual movement speed The inching command can only be executed in MANUAL mode This command is linked with the controller s point display unit So when display units are in pulses the axis moves a certain number of pulses at the manual speed setting When display units are in millimeters the axis moves on Cartesian coordinates by linear interpolation at the manual speed setting divided by 100 E Command Channel Contents Command code For main robot 0x0024 For sub robot Ox00A4 Command flag bit 14 bit 0 0 Fixed bit 15 Current position output designation flag Axis to move and bit 0 Axis 1 direction bit 1 Axis 2 bit 2 Axis 3 bit 3 Axis 4 bit 4 Axis 5
180. nment outside the environment specification range could lead to electric shocks fires malfunctioning product damage or deterioration Install the EtherNet IP compatible module into the robot controller and securely fix with screws Never directly touch the conductive sections or electric parts inside the controller Accurately connect each connection cable connector to the mounting section Failure to observe this could lead to malfunctions caused by a connection fault E Precautions for wiring A WARNING e ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE STARTING INSTALLATION OR WIRING WORK FAILURE TO SHUT OFF ALL PHASES COULD LEAD TO ELECTRIC SHOCKS OR PRODUCT DAMAGE e ALWAYS INSTALL THE TERMINAL COVERS ENCLOSED WITH THE PRODUCT BEFORE TURNING ON THE POWER OR OPERATING THE PRODUCT AFTER INSTALLATION OR WIRING WORK FAILURE TO INSTALL THE TERMINAL COVER COULD LEAD TO MALFUNCTIONS CAUTION A Tighten the terminal screws within the specified torque range A loose terminal screw could lead to short circuiting or malfunctioning If the terminal screw is too tight short circuiting or malfunctioning could occur due to screw damage e Make sure that foreign matter such as cutting chips or wire scraps do not enter the robot controller e The communication cables connected to the EtherNet IP compatible module must be placed in a conduit or fixed with a clamp If the cable is not placed in a conduit or fixed with a clam
181. nnel Contents Command code 0x0101 Not used 0x0000 Point number Oxssss Not used Ssss Specify the point number in 16 bits Specified range 0 0x0000 to 9999 0x270F E Status Normal end Channel Contents Status code 0x0200 Not used Point number Oxssss Point flag bit 0 Point unit bit 2 bit 1 Hand system bit 15 bit 3 0 Fixed Axis 1 data Oxbbbbbbbb Axis 2 data Oxbbbbbbbb Axis 3 data Oxbbbbbbbb Axis 4 data Oxbbbbbbbb Axis 5 data Oxbbbbbbbb Axis 6 data Oxbbbbbbbb ssss Shows the point number in 16 bits Specified range 0 0x0000 to 9999 0x270F u Shows the point data unit in 1 bit Pulse units Millimeter units tt Shows in 2 bits the hand system to define point data Valid only when SCARA robot is specified and units are in millimeters Value Meaning No hand system is defined A D 3 O ja D O O 3 3 Q gt Q c Q D Right handed system is defined Left handed system is defined bbbbbbb Shows the point data in 32 bits little endian Data is shown in integers when units are in pulses Data is shown in integers x100 when units are in millimeters gt A 86 Abnormal end Channel Status code Contents 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8
182. nnel Value 0x0200 0x0000 0x0104 0x0001 OxFFFF 0x0001 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 A 117 lt A D 3 O ja D O O 3 3 Q gt Q c Q D A D 3 O D O O 3 3 Q gt Q c Q D 4 4 3 Point related command Execute this command to assign a point to a parameter or obtain a parameter 4 4 3 1 Assigning a point to a parameter This command assigns a numerical value to a specified parameter by specifying the parameter number axis and numerical value Point number 1 Point number 2 E Command Channel Contents Command code 0x0230 Not used 0x0000 Point number 1 Point number at assignment destination Oxssss Point number 2 Point number at assignment source Oxssss 0x0000 Ssss Specify the point number in 16 bits Specified range 0 0x0000 to 9999 0x270F E Status Normal end Channel Contents Status code 0x0200 Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits gt A 118 Example Channel Value Use this command as shown at right to assign a point 0x023
183. nt to make valid 3 0 Move the cursor to ENet_IP and press the 4 F1 SELECT key O The Ethernet IP module setting screen will Se M M a O appear gt Step3 Selecting 5 Subnet mask 5 24215 S6 00 gt Step Select 5 Subnet mask SASS PARAM gt OP BRD gt SELECT V10 52 Q m the cursor to 5 Subnet mask and press the 2 Remote_cmd S105 VALID 3 Output MSG SOW1 INVALID F1 j DID key i IP address 192 168 0 The subnet mask entry screen will appear 155 255 A Gateway 192 168 0 24216 S6 00 step Enter a subnet mask EDIT a a a Enter a desired subnet mask with the numeric keys 0 to 9 and period key gt Step4 Entering subnet mask After you have entered the subnet mask press the EME key SASI gt PARAM gt OP BRD gt SELECT V10 52 24217 86 00 1 Board condition VALID f 2 Remote_cmd S105 VALID step Exit the setting 3 Output MSG SOW1 INVALID Press the key to exit the setting 4 IP address 192 168 0 2 5 Subnet mask 155 255 255 0 Subsequently to set other item use the EN 6 Gateway 192 168 0 1 or v key cursor up or down key to select Enter subnet mask gt 255 255 255 0 a desired parameter you want to set AN CAUTION The IP address subnet mask and gateway you have changed become valid after the controller is restarted When connecting the robot controller to an existing network be sure to check with the network administrator for the IP add
184. nt to the master module via the EtherNet IP system by 1 SO 20 1 Conversely if the following is executed with the robot program the bit information received from the master module via the EtherNet IP system will be monitored by 2 and the robot controller will wait for the ON information WAIT SI 20 1 If the following is executed with the robot program in the robot controller the word information will be sent to the master module via the EtherNet IP system by 1 SOW 2 256 Conversely if the following is executed with the robot program the word information received from the master module via the EtherNet IP system will be substituted in integer variable A by 2 A S IW 3 3 Installing into the robot controller The EtherNet IP compatible module is installed into an option slot of the robot controller Refer to the figure below Installing into the robot controller EtherNet IP compatible module SUuILINO 23103 S6 00 When installing the EtherNet IP compatible module into the robot controller strictly observe the following cautions When three or less option boards are installed do not stack the EtherNet IP compatible module on other option board Since the EtherNet IP compatible module is taller than other option boards it interferes with other option board When four option boards are installed install the EtherNet IP compatible module into the OP 3 slot Additionally a custom ordered front pane
185. nts Command code 0x0111 Not used 0x0000 Hand number Oxssss Not used 0x0000 Ssss Specify the hand number in 16 bits Specified range 0 0x0000 to 7 0x0007 Numbers 0 to 3 are hand data for main robot and numbers 4 to 7 are hand data for sub robot E Status Normal end Channel Contents Status code 0x0200 Not used Hand number Oxssss Not used Data 1 Oxbbbbbbbb Oxbbbbbbbb Oxbbbbbbbb Oxbbbbbbbb Not used SSSss Shows the hand number in 16 bits bbbbbbbb When SCARA robot is specified and data 4 is 0 Data 1 Shows the integer in 32 bits little endian Data 2 and 3 Shows the integer x100 in 32 bits little endian Data 4 When hand is installed to R axis 1 other cases 0 In other cases Data 1 to 3 Shows the integer x100 in 32 bits little endian Data 4 When hand is installed to R axis 1 other cases 0 Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd A D 3 O D O O 3 3 Q Q c Q D Not used aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits A 101 lt A D 3 O ja D O O 3 3 Q gt Q c Q D Example Use the hand data reference comm
186. o origin on a mark specified axis is incomplete Perform absolute reset on each axis E Command Channel Command code Contents For main robot 0x0031 For sub robot 0x00B1 Not used 0x0000 Specified axis bit 0 Axis 1 bit 1 Axis 2 bit 2 Axis 3 bit 3 Axis 4 bit 4 Axis 5 bit 5 Axis 6 bit 15 bit 6 0 Fixed OxOOtt Not used tt pecify the axis to perform absolute reset in 0 to 3 bits Only one axis can be specified 0x0000 If no particular axis is specified then absolute reset is performed on all axes main robot sub robot E Status Normal end Status code 0x0200 A 71 lt A D 3 O ja D O O 3 3 Q Q c Q D Abnormal end Channel Status code Contents 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Channel Value 0x0031 Example Use this command as shown at right to perform absolute reset on axis 2 of the main robot 0x0000 0x0002 0x0000 Values are expressed as shown at right when executed correctly 0x0200 0x0000 4 2 11 Return to origin command This command executes retur
187. o the TCP IP protocol Additionally the features of the Ethernet are that the CSMA CD method is used for the data transmission method CSMA CD Carrier Sense Multiple Access with Collision Detection This CSMA CD is a signal transmission method that the data transmission method called CSMA is combined with the transmission troubleshooting method called CD Since the CSMA commonly uses multiple units connected to the network only with one transmission cable it checks the gt 1 Lo m Q gt x lt network working status to confirm the transmission ready status before transmitting the data The CD waits for randomly determined time and then transmits the data again if data collision occurs in the network Therefore many units can be connected to the Ethernet that uses the CSMA CD method but the real time transmission is not guaranteed since the transmission waiting or re transmission occurs E IP address The IP address is a 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 device 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 norm
188. ommand This command is executed to set the status to command ready status Ox0000 Remote commands cannot be executed unless in command ready status 0x0000 Therefore after executing a remote command this command must always be executed before running the next command E Command Channel Contents Command code 0x0000 Not used 0x0000 E Status Contents Status code 0x0000 Response 4 1 2 Main robot current position reference command Execute this command to obtain the main robot current position data This command returns normal end status 0x0200 as the status code but continually executes the main robot current position reference command until the status reset command is run Units for the current position obtained at this time are the same as the point unit system of the controller This command is useful when constantly monitoring the main robot current position Command Command code 0x8000 Not used 0x0000 7J 0 3 O ja 0 QO O 3 3 Q gt Qa c Q 9 gt A 8 E Status Channel Contents Status code 0x0200 Not used Point flag bit 0 Point unit a bit 15 bit 1 Not used 0 Axis 1 data Oxbbbbbbbb Axis 2 data Oxbbbbbbbb Axis 3 data Oxbbbbbbbb Axis 4 data Oxbbbbbbbb Axis 5 data Oxbbbbbbbb Axis 6 data Oxbbbbbbbb a Shows in 1 bit the units for the current positi
189. on at 50 speed The current position output is specified at this time Values are expressed as shown at right when controller display units are in pulses and with Axis 1 10000 Axis 2 20000 Axis 3 5000 Axis 4 18000 Other axes 0 A D 3 O ja D O O 3 3 Q gt Q c Q D gt A 56 Channel Value 0x0017 0x8005 0x0004 0x0032 0x1388 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 Channel Value 0x0200 0x0000 0x0000 0x0000 0x2710 0x0000 0xB1E0 OxFFFF 0x1388 0x0000 0xB9BO OxFFFF 0x0000 0x0000 0x0000 0x0000 4 2 5 Pallet movement command Execute this command group to move the robot to work positions on a pallet 4 2 5 1 PTP designation This command moves the robot to a target position in PTP motion by specifying the pallet number and work position number E Command Channel Contents Command code For main robot 0x0018 For sub robot 0x0098 Command flag bit 0 0 Fixed 0 bit 2 bit 1 Speed designation flag bit 14 bit 3 0 Fixed bit 15 Current position output designation flag Not used 0x0000 Specified speed Oxssss Pallet number Oxpppp Work position number Oxwwww SSSS Pppp WWWW Spec
190. on data obtained Linked with point display unit of controller Pulse units Millimeter units bbbbbbbb Shows the data in 32 bits little endian Data is shown in integers when units are in pulses Data is shown in integers x100 when units are in millimeters E le SANB E Channel Value Values are expressed ARNOR at right when controller P 0x0200 display units are in millimeters and with m 2 0x0000 Axis 1 200 01 m 4 0x0000 Axis 3 123 45 m 6 0x0001 Other axes 0 00 en 0x4E21 m 10 0x0000 m 12 0x0000 m 14 0x0000 m 16 OxCFC7 m 18 OxFFFF m 20 0x0000 m 22 0x0000 m 24 0x0000 m 26 0x0000 m 28 0x0000 m 30 0x0000 4 1 3 Sub robot current position reference command Execute this command to obtain the sub robot current position data This command returns normal end status 0x0200 as the status code but continually executes the sub robot current position reference command until the status reset command is run Units for the current position obtained at this time are the same as the point unit system of the controller This command is valid when constantly monitoring the sub robot current position A 9 lt AJ D 3 O ja D O O 3 3 Q gt Q c Q D A D 3 O ja D O O 3 3 Q gt Q c Q D E Command Command code 0x4000 E Status Channel Status code Contents 0x0000 0x0200 Not u
191. on of 5000 pulses at 50 speed The current position output is specified at this time Values are expressed as shown at right when controller display units are in pulses and with Axis 1 10000 Axis 2 20000 Axis 3 5000 Axis 4 18000 Other axes 0 Channel Value 0x0013 0x8005 0x0004 0x0032 0x1388 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 Channel Value 0x0200 0x0000 0x0000 0x0000 0x2710 0x0000 0xB1E0 OxFFFF 0x1388 0x0000 0xB9BO OxFFFF 0x0000 0x0000 0x0000 0x0000 A 47 lt A i 3 O ja D O O 3 3 Q Q c Q D 4 2 4 DRIVEI command Execute this command group to move the specified axis of the robot to a relative position Valid only for a single axis 4 2 4 1 Point designation This command moves the specified axis of the robot in PTP motion a distance by specifying the point number Noh m NOTE e If the DRIVE command is interrupted and then re executed the resumed motion that occurs either to the original target position or to a new target position referenced to the current position can be selected by the MOVEI DRIVEI start position setting of other parameters For details refer to the controller user s manual The other parameters default MOVEI DRIVEI start p
192. onal information Oxccdd gt A 58 Shows the group number in upper 8 bits and the category number in lower 8 bits Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Example Specify the PMOVE command with PTP designation as shown at right when moving the main robot to work position number 21 on pallet number 1 at 70 speed The current position output is specified at this time Values are expressed as shown at right when controller display units are in millimeters and with Axis 1 123 45 Axis 2 1 23 Axis 3 20 00 Other axes 0 00 Channel Value 0x0018 0x8004 0x0000 0x0046 0x0001 0x0015 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 Channel Value 0x0200 0x0000 0x0000 0x0001 0x3039 0x0000 OxFF85 OxFFFF 0x07D0 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 A 59 lt A D 3 O ja D O O 3 3 Q Q c Q D A D 3 O ja D O O 3 3 Q gt Q c Q D 4 2 5 2 Arch designation This command moves the robot to a target position in arch motion by specifying the pallet number work position number arch axis and arch data E Command Channel Contents Command code For main robot 0x0019 For sub robot 0x0099 Command flag bit 0 0 F
193. or or stroke end method It is necessary that the robot controller is in the MANUAL mode n 33 5 1 15 Program reset input Turn ON to reset the robot program The program is reset when this signal is switched from OFF to ON It is necessary that the robot controller is in the AUTO mode n 33 6 S1 16 MANUAL mode input Turn ON to select the MANUAL mode The mode transits to the MANUAL mode when this signal is switched from OFF to ON n 33 7 SI 17 Absolute reset Return to origin input Used for absolute reset or absolute reset return to origin depending on the parameter DI17 mode setting When set at ABS absolute reset Turn ON to perform the absolute reset of the robot The absolute reset is executed when this signal is switched from OFF to ON The axis whose return to origin method is the mark method does not perform the absolute reset Additionally if the axis whose return to origin method is the mark method does not complete the return to origin the absolute reset is not executed using the dedicated input It is necessary that the robot controller is in the MANUAL mode When set at ABS ORG absolute reset return to origin Only the absolute type axis performs the absolute reset The absolute reset is executed when this signal is switched from OFF to ON When this signal is switched from OFF to ON the incremental type axis performs the return to origin and the sem
194. osition setting is Keep motion to the original target position when DRIVEL is interrupted and then re executed E Command Channel Contents Command code For main robot 0x0014 For sub robot 0x0094 Command flag bit 0 1 Fixed 1 bit 2 bit 1 Speed designation flag bit 14 bit 3 0 Fixed bit 15 Current position output designation flag Specified axis to move bit 0 Axis 1 OxOO0tt bit 1 Axis 2 bit 2 Axis 3 bit 3 Axis 4 bit 4 Axis 5 bit 5 Axis 6 bit 15 bit 6 0 Fixed Specified speed Oxssss Point number Oxpppp Not used 0x0000 bb Specify the speed setting method in 2 bits Value Meaning 00 Speed is not specified 10 Speed is set in Specify in 1 bit whether to output current position Value Meaning 0 No output 1 Output tt Specify the axis to move in bit pattern using lower 8 bits Only one axis can be specified Ssss Specify the movement speed in 16 bits Specified range 1 0x0001 to 100 0x0064 p n puNWILUOD jow y pppp Specify the point number in 16 bits Specified range 0 0x0000 to 9999 0x270F gt A 48 E Status Normal end Channel Contents Status code 0x0200 Not used Point flag bit 0 Point unit a bit 15 bit 1 Not used 0 Axis 1 data Oxbbbbbbbb Axis 2 data Oxbbbbbbbb Axis 3 data Oxbbbbbbbb Axis 4 data Oxbbb
195. ot used 0x0000 Shift number Shift number at assignment destination Oxssss Data number bit 0 Data 1 OxO0tt designation bit 1 Data 2 bit 2 Data 3 bit 3 Data 4 bit 15 bit 4 0 Fixed Numerical value Oxbbbbbbbb Not used 0x0000 Ssss Specify the shift number in 16 bits Specified range 0 0x0000 to 9 0x0009 tt Specify the data number in bit pattern using lower 4 bits bbbbbbbb Specify the integer x100 in 32 bits little endian E Status Normal end Channel Contents Status code 0x0200 Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits A D 3 O D O O 3 3 Q gt Q c Q D gt A 126 Example Channel Value Use this command as shown at right to assign a real 0x0245 number value to part of the following shift 0x0000 Shift number 1 0x0001 Data number designation 2 0x0002 Numerical value 10 00 0x03E8 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 Values are expressed as shown at right when executed Channel Value correctly 0x0200 0x0000 0x0000 0x
196. out how to load the support software VIP refer to the user s manual for VIP gt 2 2 3 Setting the EtherNet IP compatible module To connect the EtherNet IP system to the EtherNet IP system specification controller it is necessary to set the IP address subnet mask and gateway parameters These settings are made with the RPB programming box The settings are valid after the controller has been restarted 3 1 Making the EtherNet IP module valid To use the EtherNet IP module it is necessary to set the EtherNet IP board valid using the parameters step f Select OP BRD O Select SYSTEM gt PARAM gt OP BRD O The option board list screen will appear step Select an EtherNet IP module you jp Step2 Selecting EtherNet IP module want to make valid QO Move the cursor to ENet_IP and press the SATP ARAM gt OP BRD V10 50 O F1 SELECT key ee etc eo op ee 1 ENet_IP VALID The Ethernet IP module setting screen will eases appear 3 0 24204 S6 00 en nas Step Make the Ethernet IP module valid Y E es W Press the B key cursor down key to move the cursor to 1 Board condition and gt Step3 Making EtherNet IP module valid press the F1 EDIT key PASA PARAM gt OP BRD gt SELECT V10 52 Press the F 2 VALID key The controller __ gt _EEEEEE eee ill ize the EtherNet IP aie 1 Board condition mINVALID Be poe ee sealers E 2 Remote_cmd 105 VALID
197. p motion to the original target position when MOVE is interrupted and then re executed Command Contents Command code For main robot 0x09 For sub robot 0x89 Point number Oxpppp pppp Specify the point number in 16 bits Specified range 0 0x0000 to 9999 0x270F AN CAUTION The point number setting range is 0 to 255 when there is no 140 er A NOTE When a SCARA robot is used and a hand system flag is set for the point data you specify that hand system has priority over the current arm type 4 3 Pallet movement command Execute this command group to move the robot to a position with respect to pallet 0 4 3 1 PTP designation This command moves the robot to a target position in PTP motion by specifying the work position number E Command Contents Command code For main robot 0x18 For sub robot 0x98 Work position number Oxwwww wwww Specify the work position number in 16 bits Specified range 1 0x0001 to 32767 0x7FFF AN CAUTION If SI4Q is not present then the specified range of the work position number will be 0 to 255 O Q O 3 3 Q m Q Q Q B 5 lt 4 4 Jog movement command This command moves the robot in jog mode while in MANUAL mode This command is only valid in MANUAL mode This command is linked with the controller point display units The robot axis moves in PTP motion when display units are in pulses and moves by
198. p the module or cable could be damaged by the cable shifting movement or unintentional pulling leading to malfunctioning caused by an improper cable connection e Do not disconnect the communication cable connected to the EtherNet IP compatible module by pulling on the cable section E Precautions for starting and maintenance A WARNING e DO NOT TOUCH THE TERMINALS WHILE THE POWER IS ON FAILURE TO OBSERVE THIS COULD LEAD TO MALFUNCTIONING ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE CLEANING OR TIGHTENING THE TERMINAL SCREWS FAILURE TO SHUT OFF ALL PHASES COULD LEAD TO ELECTRIC SHOCKS PRODUCT DAMAGE OR MALFUNCTIONING A LOOSE SCREW COULD LEAD TO DROPPING SHORT CIRCUITING OR MALFUNCTIONING IF THE SCREW IS TOO TIGHT SHORT CIRCUITING OR MALFUNCTIONING COULD OCCUR DUE TO SCREW DAMAGE NEVER DISASSEMBLE OR MODIFY ANY OF THE ROBOT CONTROLLER MODULES FAILURE TO OBSERVE THIS COULD LEAD TO TROUBLE MALFUNCTIONING INJURIES OR FIRES ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE INSTALLING OR REMOVING THE ETHERNET IP COMPATIBLE MODULE FAILURE TO SHUT OFF ALL PHASES COULD LEAD TO ROBOT CONTROLLER TROUBLE OR MALFUNCTIONING WHEN USING THE ROBOT CONTROLLER WITH THE ETHERNET IP COMPATIBLE MODULE MOUNTED ALWAYS MOUNT THE ENCLOSED FERRITE CORE FOR NOISE MEASURES ON THE POWER CABLE AS CLOSE TO THE ROBOT CONTROLLER AS POSSIBLE FAILURE TO MOUNT THIS FERRITE CORE COULD LEAD TO MALFUNCTIONING CAUSED BY NOISE AX
199. pecified by SIO is identical with the port used by the program the output results might be O O 3 3 J O Q 5 gt Step3 Setting DI port direct connection SASA OPTION gt S10 4 Direct S150 gt DO5 0 6 Direct S03 0 lt DI3 0 7 Direct S04 0 lt DI40 8 Direct S05 0 lt DI5 0 v NO H a a a 3 7 lt 4 Referring to the communication data The ON OFF information exchanged with the master module can be referred to with the RPB Note that the RPB display update interval is longer than the EtherNet IP data update interval So if the ON OFF interval is short accurate information may not be displayed 4 1 Referring to the data from the programming box The data exchanged with the master module can be referred to with the RPB The reference unit is the robot controller input output port No Communication screen with RPB SI monitor S10 0 amp B00000111 S11 0 amp B00001111 S12 0 amp B00010001 S13 0 amp B00000100 S14 0 amp B11000000 S15 0 amp B00101000 S16 0 amp B00000111 S17 0 amp B00000000 ECE GU a DE rE amp Bxxxxxxx Corresponds to the Oth bit to 7th bit from the right to the left UOlDIUNWIWOD oO Reference screen from RPB SIW monitor SIW 0 amp HO132 SIW 1 amp H0001 SIW 2 amp H8000 SIW 3 amp H0000 V10 50 SIW 4 amp H0000 SIW 5 amp H0000 SIW 6 amp HFFFF SIW 7 amp H0000 PEC GU Cao DE Kaos
200. pecified shift number E Command Contents Command code For main robot For sub robot Specified shift number Not used ss Specify the shift number in 8 bits Specified range 0 0x00 to 9 0x09 4 15 Hand designation change command Execute this command to change the selected hand to a specified hand number E Command Contents Command code For main robot For sub robot Specified hand number Not used ss Specify the hand number in 8 bits Specified range for main robot 0 0x00 to 3 0x03 Specified range for sub robot 4 0x04 to 7 0x07 O Q O 3 3 Q Q Q Q B 11 lt 4 16 Arm designation change command Execute this command to change the arm designation status E Command Contents Command code For main robot For sub robot Status of specified arm Not used ss Specify the arm designation status in 8 bits 0x00 Right handed system 0x01 Left handed system 4 17 Point display unit designation command Execute this command to change the point display unit E Command Contents Command code For main robot For sub robot Display units for specified point Not used ss Specify the point display unit in 8 bits Value Meaning Pulse units Millimeter units Millimeter units Tool coordinates O Q O 3 3 Q m Q Q Q gt B 12 Re
201. r 8 bits Valid when axis designation flag is 1 Specify the arch motion axis in bit pattern using upper 8 bits Specified arch axis is one axis only Specify the speed in 16 bits Specified range 1 0x0001 to 100 0x0064 Specify the point number in 16 bits Specified range 0 0x0000 to 9999 0x270F qqqqqqqq Specify the arch position in 32 bits little endian E Status Normal end Channel Data should be integers when units are in pulses Data should be integers x100 when units are in millimeters Contents Status code 0x0200 Not used Point flag bit 0 Point unit a bit 15 bit 1 Not used 0 Axis 1 data Oxbbbbbbbb Axis 2 data Oxbbbbbbbb Axis 3 data Oxbbbbbbbb Axis 4 data Oxbbbbbbbb Axis 5 data Oxbbbbbbbb Axis 6 data Oxbbbbbbbb Shows in 1 bit the units for current position output point data Linked with point display unit of controller Pulse units Millimeter units bbbbbbbb Shows the current position output data in 32 bits little endian Abnormal end Channel Data is shown in integers when point display units are in pulses Data is shown in integers x100 when point display units are in millimeters Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd Not used aabb ccdd gt A 16 Shows the group number in upper 8 bits and the catego
202. r code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows te additional informaion section in upper 8 bits and the detail value i lower 8 bits Example Use this command to acquire a servo status as shown at right gt A 144 Channel Value 0x0503 0x0000 Values are expressed as shown at right when executed Channel Value correctly 0x0200 Axis 1 1 Servo ON 0x0000 Axis 2 1 Servo ON 0x0001 Axis 3 2 Servo Free 0x0001 Axis 4 1 Servo ON 0x0002 Axis 5 9 no axis 0x0001 Axis 6 9 no axis 0x0009 Axis 7 9 no axis 0x0009 Axis 8 9 no axis 0x0009 0x0009 0x0000 4 7 4 Absolute reset status reference Execute this command to acquire information on absolute reset status E Command Command code 0x0504 Not used 0x0000 E Status Normal end Channel Contents Status code 0x0200 Not used Axis 1 information Oxaaaa Axis 2 information Oxaaaa Axis 3 information Oxaaaa Axis 4 information Oxaaaa Axis 5 information Oxaaaa Axis 6 information Oxaaaa Axis 7 information Oxaaaa Axis 8 information Oxaaaa aaaa Shows the absolue reset status of each axis Value Contents Return to origin incomplete A D 3 O ja D O O 3 3 Q Q
203. ress subnet mask and gateway settings Shy a NOTE The IP address is separated into network address and host address sections The 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 should 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 M er A NOTE 9 _ _ _ ____ SSS T
204. roubleshooting stated in the user s manual for robot controller Corrective measures MEMO L For details about error contents see the user s manual for robot controller 3 3 EtherNet IP compatible module LED confirmation E Confirmation item Confirmation e Check that the LED indication on the EtherNet IP compatible module is not ACT Flashing green Link contents Lit in green MS Lit in green and NS Lit in green An error has occurred in the EtherNet IP system connection Cause For details about LED indication meanings refer to the table stated in 2 Meanings of LEDs on EtherNet IP compatible module of Chapter 4 in this guide Check whether the LAN cable is not connected or connected incorrectly and whether or not the straight or cross cable does not meet the specifications e Check whether the LAN cable is run close to the main circuit or power cable or whether or not it is bundled e Check that the ferrite core is connected to the power supply cable of the robot controller e Check the TCP IP setting of the EtherNet IP compatible module e Check that the master module is operating correctly Corrective measures 3 4 Confirmation from master module E Confirmation item Confirmation Use the connection setting function or connection check function of the master module to check that the contents robot controller is connected to the EtherNet IP system correctly The signal has noi
205. rror code 4 When finished executing the remote command status changes to normal end status 0x0200 Response information is changed at the same time if present 5 The current remote command has now finished so set the status reset command 0x0000 in n in order to issue the next command 6 The status and response shift to command ready status 0x0000 AO 0 3 O ja 0 O O 3 3 Q Q c Q 0 A 3 lt 4 7J 0 3 O ja 0 QO O 3 3 Q gt Q c Q 9 3 Remote command amp remote status tables Remote commands and remote status codes are shown in hexadecimal notation E Remote Command Command contents Category n 0x0000 Status reset command Special 0x8000 Main robot current position reference command 0x4000 Sub robot current position reference command Movement command and associated command 0x00nn i including commands supported with I O command OxOinn Definition and reference command 0x02nn Arithmetic command 0x03nn I O port command 0x04nn Key operation command 0x05nn Data handling command n Start address of the output area assigned to the master module n indicates the data direction from master to remote nn is determined by the particular remote command E Remote Status Status contents From m 6 0x0000 0x0000 Command ready status 0x0100 0x0000 or response data Command run status 0x0
206. rs E Command Channel Contents Command code For main robot 0x0006 For sub robot 0x0086 Command flag bit 0 Axis designation flag a bit 2 bit 1 Speed designation flag bit 14 bit 3 0 Fixed bit 15 Current position output designation flag Specified axis to move bit 0 Axis 1 OxOO0tt bit 1 Axis 2 bit 2 Axis 3 bit 3 Axis 4 bit 4 Axis 5 bit 5 Axis 6 bit 15 bit 6 0 Fixed Specified speed Oxssss Axis 1 data Oxpppppppp Axis 2 data Oxpppppppp Axis 3 data Oxpppppppp Axis 4 data Oxpppppppp Axis 5 data Oxpppppppp Axis 6 data Oxpppppppp a Specify in 1 bit whether all axes are designated Value Meaning 0 All axes are specified 1 One or more axes are specified bb Specify the speed setting method in 2 bits Value Meaning 00 Speed is not specified 10 Speed is set in n Specify in 1 bit whether to output current position Value Meaning 0 No output 1 Output tt Specify the axis to move in bit pattern using lower 8 bits Valid when axis designation flag is 1 A D 3 O ja D O O 3 3 Q gt Q c Q D ssss Specify the speed in 16 bits Specified range 1 0x0001 to 100 0x0064 pppppppp Specify the target position data for each axis in 32 bits little endian Data should be integers x100 in millimeter units AN CAUTION Do not try to
207. rted 1 O gt T variable size supported 2 T gt O fixed size supported 3 T gt O variable size supported 4 5 O gt T number of bytes per slot obsolete 6 7 T gt O number of bytes per slot obsolete 8 10 O gt T Real time transfer format 11 reserved 12 14 T gt O Real time transfer format 15 reserved 16 O gt T connection type NULL 17 O gt T connection type MULTICAST 18 O gt T connection type POINT2POINT 19 O gt T connection type reserved 20 T gt O connection type NULL 21 T gt O connection type MULTICAST 22 T gt O connection type POINT2POINT 23 T gt O connection type reserved 24 O gt T priority LOW 25 O gt T priority HIGH 26 O gt T priority SCHEDULED 27 O gt T priority reserved 28 T gt O priority LOW 29 T gt O priority HIGH 30 T gt O priority SCHEDULED 31 T gt O priority reserved Param3 0 O gt T RPI size format Param3 Param2 Assem100 T gt O RPI size format n config 1 size format j config 2 size format gt Listen Only Connection Name Oo ie help string Oo 20 04 24 C5 2C C7 2C 64 Path m Port Q Porti lt TCP port type name TCP IP name of port 20 F5 24 01 instance one of the TCP IP interface object 2 port number Capacity MaxClPConnections 63 Max CIP cnx all classes TSpec1 TxRx 1 2000 Packets per sec 1 bytes TSpec2 TxRx 504 2000
208. ry number in lower 8 bits Shows the additional information section in upper 8 bits and the detail value in lower 8 bits Example Spmecify the MOVE command with arch designation as shown at right when moving all axes of the main robot to point number 100 at 50 speed by way of a Z axis arch position of 10 00mm The current position output is specified at this time Values are expressed as shown at right when controller display units are in millimeters and with Axis 1 123 45 Axis 2 1 23 Axis 3 50 00 Axis 4 90 23 Other axes 0 00 Channel Value 0x0002 0x8014 0x0400 0x0032 0x0064 0x0000 0x0000 0x0000 0x03E8 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 Channel Value 0x0200 0x0000 0x0000 0x0001 0x3039 0x0000 OxFF85 OxFFFF 0x1388 0x0000 0x233F 0x0000 0x0000 0x0000 0x0000 0x0000 A 17 lt A D 3 O ja D O O 3 3 Q gt Q c Q D 4 2 1 3 Linear interpolation This command moves the robot to a target position by linear interpolation by specifying the point number E Command Channel Contents Command code For main robot 0x0003 For sub robot 0x0083 Command flag bit 0 0 Fixed 0 bit 2 bit 1 Speed designation flag bit 4 bit 3 0 Fixed bit 5 Acceleration designation flag bit
209. se Cause The cable is broken The IP address setting is incorrect Replace the cable Change the cable running route to lay it away from the noise source such as power cable e Check the IP address setting Corrective measures MEMO LE For details about connection setting function refer to the user s manual for master module Furthermore for details about IP address and other settings contact the system administrator O eJ D Q gt O O D Q 4 Error messages relating to EtherNet IP This section describes error messages relating to EtherNet IP compatible modules For other messages refer to the user s manual for robot controller If an error occurs relevant error message appears on the message line 2nd line of the RPB screen 12 1 Emg stop on Code amp HOCO1 RPB emergency stop button was pressed Emergency stop terminals in the SAFETY connector are open emergency stop state RPB or terminator is not connected to the RPB connector SAFETY connector is not connected SI 00 is not ON Error in the connection to the EtherNet IP system Meaning Cause oao Release the RPB emergency stop button Close the emergency stop terminals in the SAFETY connector Connect the RPB or terminator to the RPB connector Attach the SAFETY connector Set SI 00 to ON Correct the connection to the EtherNet IP system Action oarhwon 12 2 Interlock on Code
210. sed Point flag bit 0 Point unit a bit 15 bit 1 Not used 0 Axis 1 data Oxbbbbbbbb Axis 2 data Oxbbbbbbbb Axis 3 data Oxbbbbbbbb Axis 4 data Oxbbbbbbbb Axis 5 data Oxbbbbbbbb Axis 6 data bbbbbbbb Example Oxbbbbbbbb Shows in 1 bit the units for the current position data obtained Linked with point display unit of controller Pulse units Millimeter units Shows the data in 32 bits little endian Data is shown in integers when units are in pulses Data is shown in integers x100 when units are in millimeters Values are expressed as shown at right when controller display units are in pulses and with Axis 1 Axis 2 Other axes gt A 10 123456 123 0 Channel Value 0x0200 0x0000 0x0000 0x0000 0xE240 0x0001 OxFF85 OxFFFF 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 4 2 Category 1 remote commands These are remote commands mainly for movement commands A list of these commands is shown below Command code n No Command contents Main robot Sub robot 1 MOVE command PTP point designation 0x0001 0x0081 Arch designation 0x0002 0x0082 Linear interpolation 0x0003 0x0083 Circular in
211. signment x100 input format 0x0241 Shift element x100 input format 0x0245 assignment m Start address of the input area assigned to the master module n Start address of the output area assigned to the master module m indicates the data direction from remote to master and n the data direction from master to remote A 3 O ja D O O 3 3 Q Q c Q D A 103 lt A D 3 O 0 O O 3 3 Q gt Q c Q D 4 4 1 Static variable related command Execute this command to assign a numerical value to a static variable for four arithmetic operations or reference 4 4 1 1 Assigning a numerical value to a static variable This command assigns a numerical value to a static variable SGIn or SGRn by specifying the destination variable number and the numerical value Variable number 1 numerical value AN CAUTION Areal number is assigned when a real variable was used Due to cancellation of significant digits when using real number data for assignment reference the assigned data might sometimes differ from the reference data E Command Channel Contents Command code 0x0200 Not used 0x0000 Variable number 1 Variable number at assignment destination Oxssss Not used 0x0000 Numerical data Oxbbbbbbbb Ssss Specify variable number 1 in 16 bits 0x0000 Specified range for integer vari
212. so occurs when the master module is not operating correctly At this time the emergency stop signal and interlock signal in the EtherNet IP system turn off So the robot controller cannot be operated individually To operate the robot controller individually change the Board condition parameter of the EtherNet IP module to INVALID The emergency stop signal terminal in the SAFETY connector is always valid In the RCX240 the interlock signal of STD DIO is valid unless the external 24V monitor control of the system parameters is set invalid In the RCX240 when the SAFE mode is enabled and the external 24V monitor control of the system parameters is not set invalid the SERVICE mode input signal is made valid with DI 02 in the SAFETY connector When the SAFE mode is enabled the SERVICE mode input signal in the EtherNet IP system cannot be set invalid So change the SERVICE mode setting of the system parameters for operation Always change this parameter with great care ME M Ce L For details about LED indications see Chapter 4 of this guide 3 1 lt 2 Communication with the master module uooolunwWo oO This section describes the communication with the master module using the robot program when connected to the EtherNet IP system correctly 2 1 Receiving data The data in the output area of the master module is read via the serial input ports of the robot controller The following shows the correspondence between the outpu
213. specified e Specifies in 1 bit whether to set deceleration Value Meaning 0 Deceleration is not specified Deceleration is specified n Specify in 1 bit whether to output current position Value Meaning 0 No output Output A D 3 O ja D O O 3 3 Q gt Q c Q D Ssss Specify the speed in 16 bits Specified range Speed 1 0x0001 to 100 0x0064 Specified speed in mm s 1 0x0001 to 1000 0x03E8 pppp Specify the first and second point numbers in 16 bits Specified range 0 0x0000 to 9999 0x270F rrr Specify the acceleration and deceleration in 16 bits Specified range 1 0x0001 to 100 0x0064 A 21 lt A D 3 O ja D O O 3 3 Q gt Q c Q D E Status Normal end Channel Contents Status code 0x0200 Not used Point flag bit 0 Point unit a bit 15 bit 1 Not used 0 Axis 1 data Oxbbbbbbbb Axis 2 data Oxbbbbbbbb Axis 3 data Oxbbbbbbbb Axis 4 data Oxbbbbbbbb Axis 5 data Oxbbbbbbbb Axis 6 data Oxbbbbbbbb Shows in 1 bit the units for current position output point data Linked with point display unit of controller Pulse units Millimeter units bbbbbbbb Shows the current position output data in 32 bits little endian Abnormal end Channel Data is shown in integers when point display units are in pulses Data is shown in
214. specify only axis 4 to move on SCARA robots Attempting to specify only axis 4 will cause a 5 38 Illegal option When specifying axis 4 then also specify axis 1 and axis 2 at the same time gt A 24 E Status Normal end Channel Contents Status code 0x0200 Not used Point flag bit 0 Point unit a bit 15 bit 1 Not used 0 Axis 1 data Oxbbbbbbbb Axis 2 data Oxbbbbbbbb Axis 3 data Oxbbbbbbbb Axis 4 data Oxbbbbbbbb Axis 5 data Oxbbbbbbbb Axis 6 data Oxbbbbbbbb a Shows in 1 bit the units for current position output point data Linked with point display unit of controller Pulse units Millimeter units bbbbbbbb Shows the current position output data in 32 bits little endian Data is shown in integers when point display units are in pulses Data is shown in integers x100 when point display units are in millimeters Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits AJ i 3 O ja D O O 3 3 Q Q c Q D A 25 lt A D 3 O ja D O O 3 3 Q gt Q c Q D Example Specify the MOVE command with direct PTP designation millimeter
215. st be held until the status changes to a normal end 0x0200 or an abnormal end Ox4000 If a remote command is changed before the status changes to an end the status of the remote command executed will not be reflected Code 0x0000 essssssecccossssssecosessseceecosssssecesesssssseeesesssseseesss COMMaANG ready status Indicates a state where remote command is not being run and a new remote command can be received Remote status must always be set to command ready status 0x0000 in order to execute a remote command To change the remote status to command ready status 0x0000 run the status reset command 0x0000 Code 0x0100 sevcccccecccsccccceccscceccscescesccsscscccsccscesssesesceessssseeeee COMMand run status Indicates a state where the controller has received a remote command and is in command run status In some cases the command run status 0x0100 might not be sent to the PLC due to problems caused by a short remote command execution time versus the controller scan time 10 ms HM Code 0x0200 seveccececcsccccceccsccsccscescceccsscsccescssssssssseccsssssssseseeee NOrmal end status Indicates a state where the remote command was run correctly Category 5 key operation command indicates command was received as a key operation command The actual key operation sometimes might be in progress E Code 0x4000 jgauibbinteoassaneaeunsiedaaGe decd easapausacaseeousenceestessicesscoe Abnormal end status Indicates remote command ended abnor
216. stalling into the robot controller in Chapter 1 of this guide After the EtherNet IP compatible module has been installed set the IP address subnet mask and gateway for the EtherNet IP compatible module while referring to 3 Setting the EtherNet IP compatible module in Chapter 2 of this guide 2 3 Response when starting up the robot controller The robot controller will always start up in the option board setting error state after the EtherNet IP compatible module has been installed into the robot controller Follow the steps below to make the settings E Procedure step 9 Check the controller connections and then turn ON the power Connect all input connectors on the front panel of the controller and then turn ON the power Step Select YES gt Step 2 Checking the option setting change The message Change OptionSlot OK will es appear on the RPB Select YES After you have selected YES the MANUAL screen will appear POWER ON V10 50 see 12 70 Incorrect option sett ing 24203 S6 00 TIP The initial value of the Board condition parameters of the EtherNet IP module is n a 7 a INVALID change OptionSlot OK If the controller does not operate properly due to amemory error etc load the data saved in section 2 1 For details about how to load the data refer to the user s manual for controller Sal M 0 NOTE _ _ __ O For details ab
217. ster and n the data direction from master to remote The DRIVE command 3 and DRIVE command 4 are only valid for a single axis The movement methods on the jog movement command 6 and inching movement command 7 will differ according to the point units that were specified Point units for the point teaching command 8 will differ according to the point units that were specified If no axis is specified the absolute reset command 10 is executed on all axes main robot sub robot in either case of command code 0x0031 or 0x00B1 If no axis is specified the return to origin command 11 is executed on all axes main robot sub robot in either case of command code 0x0032 or 0x00B2 The point unit designation command 19 is for use on the controller A i 3 O ja D O O 3 3 Q Q c Q D A 11 lt 4 2 1 MOVE command Execute this command group to move the robot to an absolute position 4 2 1 1 PTP designation This command moves the robot to a target position in PTP motion by specifying the point number E Command Channel Contents Command code For main robot 0x0001 For sub robot 0x0081 Command flag bit 0 Axis designation flag a bit 2 bit 1 Speed designation flag bit 14 bit 3 0 Fixed bit 15 Current position output designation flag Specified axis to move bit 0 Axis 1 OxO0tt bit 1 Axis 2 bit 2 Axis 3 bit 3 Axis 4 bit 4 Axis 5 b
218. t 0 Axis 1 bit 1 Axis 2 bit 2 Axis 3 bit 3 Axis 4 bit 4 Axis 5 bit 5 Axis 6 bit 7 bit 6 0 Fixed Not used tt Specify the axis to perform return to origin in O to 3 bits Only one axis can be specified If no particular axis is specified then return to origin is performed on all axes main robot sub robot 4 10 Servo command Execute this command group to operate the robot servos Servo ON Execute this command to turn on the servo of a specified axis The motor power must be turned on when specifying the axis All controller servos are turned on if no axis is specified Servo OFF Execute this command to turn off the servo of a specified axis All controller servos are turned off if no axis is specified Servo Free Execute this command to turn off the mechanical brake and dynamic brake after turning off the servo of a specified axis Servo OFF and Free are repeated when this command is consecutively executed Power ON Execute this command to turn on the motor power No axis can be specified O Q O 3 3 Q Q Q Q B 9 lt E Command Contents Command code Servo ON For main robot For sub robot Servo OFF For main robot For sub robot Servo Free For main robot For sub robot Power ON All controller servos Specified axis bit 0 Axis 1 bit 1 Axis 2 bit 2 Axis 3 bit 3 Axis 4 bit 4 Axis 5
219. t 14 bit 0 0 Fixed bit 15 Current position output designation flag Axis to move and bit 0 Axis 1 direction bit 1 Axis 2 bit 2 Axis 3 bit 3 Axis 4 bit 4 Axis 5 bit 5 Axis 6 bit 6 0 Fixed bit 7 Direction bit 15 bit 8 0 Fixed Not used n Specify in 1 bit whether to output current position vous ann 0 No output 1 Output tt Specify the axis to move in 0 to 3 bits Only one axis can be specified d Specify the movement direction in 1 bit direction direction 0x0000 A i 3 O ja D O O 3 3 Q Q c Q D A 63 lt A D 3 O ja D O O 3 3 Q gt Q c Q D E Status Normal end Channel Contents Status code 0x0200 Not used Point flag bit 0 Point unit a bit 15 bit 1 Not used 0 Axis 1 data Oxbbbbbbbb Axis 2 data Oxbbbbbbbb Axis 3 data Oxbbbbbbbb Axis 4 data Oxbbbbbbbb Axis 5 data Oxbbbbbbbb Axis 6 data Oxbbbbbbbb Shows in 1 bit the units for current position output point data Linked with point display unit of controller Pulse units Millimeter units bbbbbbbb Shows the current position output data in 32 bits little endian Data is shown in integers when point display units are in pulses Data is shown in integers x100 when point display units are in millimeters
220. t 4 Axis 5 bit 5 Axis 6 bit 15 bit 6 0 Fixed Specified speed Oxssss Point number Oxpppp Not used 0x0000 Specified torque Oxqqaqq Not used 0x0000 tt SSSS PPPP Specify the speed setting method in 2 bits Meaning Speed is not specified 10 Speed is set in Specify in 1 bit whether to use torque limit Value Meaning Torque limit is not specified Torque limit is specified Specify in 1 bit whether to output current position Value Meaning 0 No output 1 Output Specify the axis to move in bit pattern using lower 8 bits Only one axis can be specified Specify the movement speed in 16 bits Specified range 1 0x0001 to 100 0x0064 Specify the point number in 16 bits Specified range 0 0x0000 to 9999 0x270F A 39 lt A D 3 O ja D O O 3 3 Q gt Q c Q D qqqq Specify the percentage of rated torque in 16 bits Specified range 1 0x0001 to 100 0x0064 CAUTION A When the torque limit is specified by the command flag this command ends in the following cases e The axis has reached the target position when the time required to move to the target position has elapsed e Time out period was exceeded while the axis torque has reached the specified torque value Time out period depends on the TRQTIME statement or TRQTIME2 statement executed in the program This
221. t area of the master module and the serial input port of the robot controller Address of master Serial input port No of robot Address of master Serial input port No of robot module output area controller module output area controller SIW 2 7 0 S111 7 0 S112 7 0 S113 7 0 S114 7 0 SIW 13 115 7 0 SIW 14 SIW 15 Si10 n Start address of the output area assigned to the master module AN CAUTION Before communicating with the master module be sure to check the setting while referring to the user s manual for PLC When reading the bit information from the output area of the master module with the robot controller write the following commands in the robot program in the same manner as the DI input port WAIT command Assignment statement Example To wait for bit O of the address n 34 to turn ON WAIT SI 20 1 eesse The robot program will wait for SI 20 to turn ON Example To read the address n 34 0 to n 34 7 data into variable A A S2 0 iasantecesstes eddasdedeccinds The SI2 data will be converted into a decimal value and assigned to variable A If SI2 is 7Fh variable A will be 127 a NOTE The SI statement in the robot language can be defined from SIOQ to SI270 but the EtherNet IP compatible module accepts from SIOO to S I150 When reading the word informat
222. te commands are run by assigning the command codes to the n and command data to the n 2 to n 30 When the controller receives the remote command it starts the processing and sends the status results and its other information to the PLC by way of the m and m 2 to m 30 When the remote command ends assign the status reset command 0x0000 hexadecimal to the n to clear the status The remote command can be run when in command ready status 0x0000 hexadecimal Command data to be added to remote commands differs according to the particular remote command For details Refer to 4 Remote command description in this guide Command data must always be entered before trying to set the remote command Contents of the remote command response sent as the remote command results differ according to the particular remote command For details Refer to 4 Remote command description in this guide Data is set in binary code When setting two pieces of 8 bit data such as character code data set the upper bit data into the higher address If the data size is greater than 16 bits set the upper bit data into the higher address little endian For example to set 12 in n 8 enter 0x3231 hexadecimal character code 1 0x31 2 0x32 For example to set 0x01234567 hexadecimal 19 088 743 in the n 8 and n 10 registers set 0x0123 hexadecimal in n 10 and set 0x4567 hexadecimal in n 8 The status code is sent to m when th
223. tegory 2 remote commands 4 3 1 Point related command 4 3 1 1 Point data definition 4 3 1 2 Point data reference 4 3 2 Point comment related command 4 3 2 1 Point comment data definition 4 3 2 2 Point comment data reference 4 3 3 Pallet related command 4 3 3 1 Pallet data definition 4 3 3 2 Pallet data reference 4 3 4 Shift related command 4 3 41 Shift data definition 4 3 4 2 Shift data reference 4 3 5 Hand related command 4 3 5 1 Hand data definition 4 3 5 2 Hand data reference 4 4 Category 3 remote commands 4 41 Static variable related command 4 41 4 Assigning a numerical value to a static variable 4 41 2 Assigning a variable to a static variable 4 41 3 Arithmetic operation using numerical data on static variable 4 4 1 4 Arithmetic operation using variable on static variable 4 41 5 Static variable value reference 4 4 2 Parameter related command 4 4 2 1 Assigning a value to a parameter 4 4 2 2 Parameter value reference 4 4 3 Point related command A 60 A 63 A 66 A 69 A 70 A 71 A 72 A 74 A 75 A 76 A 77 A 78 A 79 A 80 A 81 A 83 A 84 A 84 A 86 A 88 A 88 A 90 A 92 A 92 A 93 A 95 A 95 A 97 A 99 A 99 A 101 A 103 A 104 A 104 A 106 A 108 A 110 A 112 A 114 A 114 A 116 A 118 CONTENTS User s Manual 4 4 3 1 Assigning a point to a parameter A 118 4 4 3 2 Point addition subtraction A 120 4 4 3 3 Assigning a pallet point A 122 4 44 Element assignment command A 124 4 4 4 1 Assigning to a point element A 124
224. tegory number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits AJ i 3 O ja D O O 3 3 Q Q c Q D A 31 lt A D 3 O ja D O O 3 3 Q gt Q c Q D Example Specify the MOVEI command with PTP designation as shown at right when moving all axes of the main robot a distance specified by point number 100 at 50 speed The current position output is specified at this time Values are expressed as shown at right when controller display units are in pulses and with Axis 1 123456 Axis 2 123 Other axes 0 gt A 32 Channel Value 0x0009 0x8004 0x0000 0x0032 0x0064 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 Channel Value 0x0200 0x0000 0x0000 0x0000 0xE240 0x0001 OxFF85 OxFFFF 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 4 2 2 2 Direct PTP designation millimeter units This command moves the robot a specified data distance in PTP motion by directly specifying the data in millimeters er A NOTE e If the MOVEI command is interrupted and then re executed the resumed motion that occurs either to the original target position or to a new target position referenced to the
225. terpolation 0x0004 0x0084 Direct PTP Millimeter units 0x0006 0x0086 designation Pulse units 0x0007 0x0087 2 MOVEI command PTP point designation 0x0009 0x0089 Direct PTP Millimeter units 0x000E 0x008E designation Pulse units 0x000F 0x008F 3 DRIVE command Point designation 0x0010 0x0090 Direct Millimeter units 0x0012 0x0092 designation Pulse units 0x0013 0x0093 4 DRIVEI command Point designation 0x0014 0x0094 Direct Millimeter units 0x0016 0x0096 designation Pulse units 0x0017 0x0097 5 Pallet command PTP designation 0x0018 0x0098 Arch designation 0x0019 0x0099 6 Jog movement command 0x0020 0x00A0 7 Inching movement command 0x0024 0x00A4 8 Point teaching command 0x0028 0x00A8 9 Absolute reset movement command 0x0030 0x00B0 10 Absolute reset command 0x0031 0x00B1 11 Return to origin command 0x0032 0x00B2 12 Servo command On designation 0x0034 0x00B4 Off designation 0x0035 0x00B5 Free designation 0x0036 0x00B6 Power on designation 0x0037 13 Manual speed change command 0x0038 0x00B8 14 Automatic speed change command 0x0039 0x00B9 15 Program speed change command 0x003A 0x00BA 16 Shift designation change command 0x003B 0x00BB 17 Hand designation change command 0x003C 0x00BC 18 Arm designation change command 0x003D 0x00BD 19 Point display unit designation command 0x003E m Start address of the input area assigned to the master module n Start address of the output area assigned to the master module m indicates the data direction from remote to ma
226. the EtherNet IP system 4 1 2 Meanings of LEDs on EtherNet IP compatible module 4 2 3 Troubleshooting 4 3 4 3 3 1 Robot controller front panel LED confirmation 3 2 Programming box error display confirmation 4 3 3 3 EtherNet IP compatible module LED confirmation 4 4 3 4 Confirmation from master module 4 4 4 Error messages relating to EtherNet IP 4 5 1 Check items before starting up the EtherNet IP system Check the following items before starting up the EtherNet IP system Check item Is the EtherNet IP compatible module connected securely Refer to section 1 in Chapter 2 Is the robot controller set to the EtherNet IP system specifications Refer to section 2 in Chapter 2 Are the IP address subnet mask and gateway of the EtherNet IP compatible module are set correctly Refer to section 3 in Chapter 2 Are the ferrite cores connected to the power input cable to the robot controller Refer to section 4 in Chapter 2 Is the EtherNet IP system cable connected to the EtherNet IP compatible module securely Refer to section 5 in Chapter 2 Was the line test from the master module correct Refer to the user s manual for master module ee NOTE In the RCX240 the dedicated input of STD DIO provided on the controller will be disabled except for the interlock signal DI11 When the external 24V monitor control of the system parameters is set invalid the interloc
227. the robot controller s parallel 1 O can be controlled from the PLC as if they were EtherNet IP system I O devices CAUTION A An emergency stop terminal for hardwire is provided in the SAFETY connector on the robot controller For the RCX240 when the EtherNet IP system is used while STD DIO is not used external DC 24V power is not supplied the Watch on STD DO DC24V of the system parameters must be set invalid If it is left valid the STD DIO interlock signal is enabled causing an error in the robot operation commands 1 1 lt O 5 D This section describes the mechanism of the communication to provide an understanding of how the robot controller and master module operate via the EtherNet IP system 1 2 Mechanism of communication ON OFF information Master module Robot controller 2 23102 86 00 1 The robot controller s ON OFF information is sent to the master module via the network 2 The master module s ON OFF information is sent to the robot controller via the network The robot controller monitors the ON OFF information at a 10ms cycle The ON OFF information consists of two words each of dedicated I O words 14 words each of general purpose I O words as word information and 16 points each of dedicated I O points 96 points each of general purpose I O points as bit information If the following is executed with the robot program in the robot controller the bit information will be se
228. this product be sure to read this manual carefully as well as robot controller user s manual and programming manual Take sufficient precautions to ensure safety and handle the product correctly The cautions given in this manual are related to this product Refer to the robot controller user s manual for details on the cautions to be taken with the robot controller system using this product The safety precautions are ranked as WARNING and CAUTION in this manual A WARNING FAILURE TO FOLLOW WARNING INSTRUCTIONS COULD RESULT IN SERIOUS INJURY OR DEATH TO THE OPERATOR OR PERSON SERVICING THE PRODUCT AN CAUTION Failure to follow CAUTION instructions may result in injury to the operator or person servicing product or damage to the product or peripheral equipment LERA M q NOTE Explains the key point in the operation in a simple and clear manner Note that some items described as CAUTION may lead to serious results depending on the situation In any case important information that must be observed is explained Store this manual where it can be easily referred to and make sure that it is delivered to the end user The EtherNet IP is a protocol that is jointly controlled by ODVA Open DeviceNet Vendor Association and CI ControlNet International E Precautions for design A WARNING e REFER TO THE ETHERNET IP SYSTEM MASTER MODULE USER S MANUAL AND THIS MANUAL FOR DETAILS ON THE STATE OF THE ETHERNET IP SYSTEM AND ROBO
229. tion of 50 00 at 50 speed The current position output is specified at this time Values are expressed as shown at right when controller display units are in millimeters and with Axis 1 100 00 Axis 2 200 00 Axis 3 50 00 Axis 4 180 00 Other axes 0 00 A D 3 O D O O 3 3 Q gt Q c Q D gt A 44 Channel Value 0x0012 0x8005 0x0004 0x0032 0x1388 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 Channel Value 0x0200 0x0000 0x0000 0x0001 0x2710 0x0000 0xB1E0 OxFFFF 0x1388 0x0000 0xB9B0 OxFFFF 0x0000 0x0000 0x0000 0x0000 4 2 3 3 Direct designation pulse units This command moves the specified axis of the robot to a target position in PTP motion by directly specifying the data in pulses Command Channel Contents Command code For main robot 0x0013 For sub robot 0x0093 Command flag bit 0 1 Fixed bit 2 bit 1 Speed designation flag bit 6 bit 3 0 Fixed bit 7 Torque limit designation flag bit 14 bit 8 0 Fixed bit 15 Current position output designation flag Specified axis to move bit 0 Axis 1 bit 1 Axis 2 bit 2 Axis 3 bit 3 Axis 4 bit 4 Axis 5 bit 5 Axis 6 bit 15 bit 6 0 Fixed
230. torque offset value Ky M NOTE Y Refer to the programming manual for detailed information on the TRQATIME and TRQTIME2 statements of the robot language E Status Normal end Channel Contents Status code 0x0200 Not used Point flag bit 0 Point unit a bit 15 bit 1 Not used 0 Axis 1 data Oxbbbbbbbb Axis 2 data Oxbbbbbbbb Axis 3 data Oxbbbbbbbb Axis 4 data Oxbbbbbbbb Axis 5 data Oxbbbbbbbb Axis 6 data Oxbbbbbbbb a Shows in 1 bit the units for current position output point data Linked with point display unit of controller ewe Weaning 0 Pulse units 1 Millimeter units bbbbbbbb Shows the current position output data in 32 bits little endian Data is shown in integers when point display units are in pulses Data is shown in integers x100 when point display units are in millimeters Abnormal end Channel Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd A D 3 O ja D O O 3 3 Q Q c Q D Not used aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits A 43 lt Example Specify the DRIVE command with direct designation millimeter units as shown at right to move axis 3 of the main robot to a posi
231. tus reference 0x050C Service mode status reference 0x050D Point unit status reference 0x050E Return to origin status reference 0x050F m Start address of the input area assigned to the master module n Start address of the output area assigned to the master module m indicates the data direction from remote to master and n the data direction from master to remote A D 3 O D O O 3 3 Q gt Q c Q D gt A 140 4 7 1 Version information reference Execute this command to acquire information on the sotware version used in the robot controller E Command Command code 0x0501 Not used 0x0000 E Status Normal end Channel Contents Status code 0x0200 Not used Host software version Oxaabb Host software revision Oxcccc Axis 1 driver software version Oxddee Axis 2 driver software version Oxddee Axis 3 driver software version Oxddee Axis 4 driver software version Oxddee Axis 5 driver software version Oxddee Axis 6 driver software version Oxddee Axis 7 driver software version Oxddee Axis 8 driver software version Oxddee Not used aabb Shows the controller s host software version in upper 8 bits and lower 8 bits Cccc Shows the controller s host softwar revision in 16 bits ddee Shows the controller s driver software version in uper 8 bits and lower 8 bits For axes that do not ex
232. used 0x0000 bb Specify the speed setting method in 2 bits Value Meaning 00 Speed is not specified 10 Speed is set in n Specify in 1 bit whether to output current position Value Meaning 0 No output 1 Output tt Specify the axis to move in bit pattern using lower 8 bits Only one axis can be specified Ssss Specify the speed in 16 bits Specified range 1 0x0001 to 100 0x0064 pppppppp Specify the target movement distance data for specified axis in 32 bits little endian Data should be integers x100 in millimeter units A 0 3 O ja D O O 3 3 Q Q c Q D A 51 lt A D 3 O D O O 3 3 Q gt Q c Q D E Status Normal end Channel Contents Status code 0x0200 Not used Point flag bit 0 Point unit a bit 15 bit 1 Not used 0 Axis 1 data Oxbbbbbbbb Axis 2 data Oxbbbbbbbb Axis 3 data Oxbbbbbbbb Axis 4 data Oxbbbbbbbb Axis 5 data Oxbbbbbbbb Axis 6 data Oxbbbbbbbb Shows in 1 bit the units for current position output point data Linked with point display unit of controller Pulse units Millimeter units bbbbbbbb Shows the current position output data in 32 bits little endian Abnormal end Channel Data is shown in integers when point display units are in pulses Data is shown in integers x100 when point display units ar
233. vision record Manual version Issue date Description Ver 1 00 Feb 2012 First edition User s Manual RCX240 YAMAHA therNet IP Robot Controller network board Feb 2012 Ver 1 00 This manual is based on Ver 1 00 of Japanese manual YAMAHA MOTOR CO 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 responsibility is assumed for possible inaccuracies or omissions If you find any part unclear in this manual please contact YAMAHA or YAMAHA sales representatives IM Operations 882 Soude Nakaku Hamamatsu Shizuoka 435 0054 Japan Tel 81 53 460 6103 Fax 81 53 460 681 1 Instruction manuals can be downloaded from our company website Please use the following for more detailed information http www yamaha motor co jp global industrial robot YAMAHA YAMAHA MOTOR CO LTD
234. wn key to select other SI port gt 3 6 NOTE Y When the port specified by SIO is identical with the port used by the program the output results might be gt Step3 Setting SI port direct connection BAPTI oNn gt s1i0 V10 50 1 Direct 120 gt DO2 0 No 2 Direct S13 0 gt DO3 0 NO 3 Direct S140 gt D040 NO 4 Direct S150 gt DO5 0 NO 5 Direct S02 0 lt DI20 NO C a U a 2 Direct connection from DI n to SDO n Parallel port input can be directly connected to the serial port output The relation of the parallel port and serial port that can be connected is as follows Input device such as valve DI port gt SO port VY M inaccurate E Operation step I Select SIO Select SYSTEM gt OPTION gt SIO The SIO setting screen will appear Step Select a DI port Stepd Step Use the EN or BA key cursor up or down key to move the cursor to a desired DI port from 5 Direct SO2Q lt DI2 to 8 Direct SO5Q lt DI50 and press the F1 EDIT key Set the direct connection Press the F1 SET key to make the direct connection valid Press the F2 NO key to make the direct connection invalid 24303 S6 00 Exit the setting Press the key to exit the setting Subsequently to set other item use the ry or v key cursor up or down key to select other DI port NOTE Y When the port s
235. y the integer x100 in 32 bits little endian Data 4 When hand is installed to R axis 1 other cases 0 E Status Normal end Channel Contents Status code 0x0200 Contents Status code 0x4000 Error code Oxaabb Additional information Oxccdd A 0 3 O ja D O O 3 3 Q Q c Q D aabb Shows the group number in upper 8 bits and the category number in lower 8 bits ccdd Shows the additional information section in upper 8 bits and the detail value in lower 8 bits A 99 lt A D 3 O D O O 3 3 Q gt Q c Q D Example Use the hand data definition command as shown at right to create hand data for a Cartesian robot Hand number 1 Data 1 100 00 Data 2 20 00 Data 3 50 00 Data 4 0 Values are expressed as shown at right when executed correctly gt A 100 Channel Value 0x0110 0x0000 0x0001 0x0000 0x2710 0x0000 0xF830 OxFFFF 0x1388 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 Channel Value 0x0200 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 4 3 5 2 Hand data reference Use this command to obtain hand data by specifying the hand number E Commands Channel Conte

EtherNetI/P User`s Manual

Contents

Download Pdf Manuals

Related Search

Related Contents