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YASKAWA Electric Corporation
High Speed Ethernet
Server Driver
1
High Speed Ethernet Server Driver
Introduction
This manual describes how to connect the Display and the External Device (target robot).
In this manual, the connection procedure will be described in the sections identified below:
1 System Configuration
This section lists the types of External
Devices and SIO that you can connect.
"1 System Configuration" (page 3)
2 External Device Selection
Select a model (series) of the External
Device and its connection method.
"2 External Device Selection" (page 4)
3 Communication Settings
This section shows setting examples for communicating between the Display and the External Device.
"3 Communication Settings" (page 5)
4 Setup Items
This section describes communication setup items on the Display. Set the
Display’s communication settings in GP
Pro-EX or in off-line mode.
Operation
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High Speed Ethernet Server Driver
1 System Configuration
The system configuration in the case when the External Device of Yaskawa Electric Corporation and the Display are connected is shown.
Series CPU Link I/F SIO Type
DX100
FS100
DX200
FS100L
DX100
FS100
DX200
FS100L
LAN port on the controller
Ethernet port on the controller
LAN port on the controller
Ethernet port on the controller
Ethernet (UDP)
Ethernet (UDP)
Ethernet (UDP)
Ethernet (UDP)
Setting Example
• Available Classes vary depending on the software version of the External Device.
Please contact the Yaskawa Electric Corporation for the more information.
YASKAWA Electric Corporation
Robotics Division
Telephone: +81-93-645-7703
Facsimile: +81-93-631-8140
Connection Configuration
• 1:1 Connection
Display External Device
• 1:n Connection
Display
HUB
Maximum number of External Devices: 64 *1
External Device External Device
HUB
*1 When 33 or more External Devices are connected, it is necessary to check [Increase allowable number of
Devices/PLCs].
"4.1 Setup Items in GP-Pro EX" (page 7)
GP-Pro EX Device/PLC Connection Manual
3
2 External Device Selection
Select the External Device to be connected to the Display.
High Speed Ethernet Server Driver
Setup Items
Number of Devices/PLCs
Manufacturer
Series
Port
Use System Area
Setup Description
Use an integer from 1 to 4 to enter the number of Devices/PLCs to connect to the display.
Select the manufacturer of the External Device to be connected. Select "YASKAWA
Electric Corporation".
Select a model (series) of the External Device to be connected and connection method. Select "High Speed Ethernet Server".
Check the External Device which can be connected in "High Speed Ethernet Server" in system configuration.
"1 System Configuration" (page 3)
Select the Display port to be connected to the External Device. Select "Ethernet
(UDP)".
Not available in this driver.
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High Speed Ethernet Server Driver
3 Communication Settings
Examples of communication settings of the Display and the External Device, recommended by Pro-face, are shown.
3.1
Setting Example 1
Settings of GP-Pro EX
Communication Settings
To display the setup screen, from the [Project] menu, point to [System Settings] and select [Device/PLC].
• Because it may take some time for file operation processing, "20" (sec.) is specified for a default of "Timeout."
Even if the External Device does not respond, therefore, it takes 20 seconds until the Timeout is detected.
Adjust the Timeout value while checking the actual communication status.
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High Speed Ethernet Server Driver
Device Setting
To display the [Individual Device Settings] dialog box, from [Device-Specific Settings] in the [Device/PLC] window, select the External Device and click [Settings] . To connect multiple External Devices, from
[Device-Specific Settings] in the [Device/PLC] window, click [Add Device] to add another External Device.
• Default IP address of the External Device is as follows.
DX100 series: 192.168.255.1
FS100 series: 10.0.0.2
• Check with a network administrator about IP address.
• Do not set the duplicate IP address in the same network.
• Set IP address and Port Number on the External Device in the [Individual Device Settings] dialog box.
• You need to set IP address on the Display in offline mode.
Settings of External Device
Please contact the Yaskawa Electric Corporation for the communication settings of the External Device.
Check the set IP address in the next procedure.
1
Change the security mode to "management mode".
2
Select [NETWORK SERVICE] from [SYSTEM INFO] of main menu.
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High Speed Ethernet Server Driver
4 Setup Items
Set up the Display’s communication settings in GP Pro-EX or in the Display’s off-line mode.
The setting of each parameter must match that of the External Device.
"3 Communication Settings" (page 5)
• Set the Display’s IP address in off-line mode.
Cf.
Maintenance/Troubleshooting Guide "Ethernet Settings"
4.1
Setup Items in GP-Pro EX
Communication Settings
To display the setup screen, from the [Project] menu, point to [System Settings] and select [Device/PLC].
Port No.
Timeout
Retry
Setup Items
Wait To Send
Increase Allowable
Number of Devices/
PLCs
Setup Description
Enter a port number of the Display, using 1024 to 65535.
Check into [Auto], and a port number is set automatically.
Use an integer from 1 to 127 to enter the time (s) for which the Display waits for the response from the External Device.
In case of no response from the External Device, use an integer from 0 to 255 to enter how many times the Display retransmits the command.
Use an integer from 0 to 255 to enter standby time (ms) for the Display from receiving packets to transmitting next commands.
When clicked, the [Increase Allowable Number of Devices/PLCs] dialog box is displayed.
When you check [Increase allowable number of Devices/PLCs], the settings for
[Allowable Number of Devices/PLCs] can be extended to "64".
• Refer to the GP-Pro EX Reference Manual for Indirect Device.
Cf.
GP-Pro EX Reference Manual "Changing the Device/PLC at Runtime (Indirect
Device)"
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High Speed Ethernet Server Driver
Device Setting
To display the [Individual Device Settings] dialog box, from [Device-Specific Settings] in the [Device/PLC] window, select the External Device and click [Settings] . To connect multiple External Devices, from
[Device-Specific Settings] in the [Device/PLC] window, click [Add Device] to add another External Device.
Setup Items Setup Description
Set IP address of the External Device.
IP Address
Port No.
Use Multiple Read /
Write Command
• Check with a network administrator about IP address. Do not set the duplicate IP address.
Enter a port number of the External Device, using 1024 to 65534.
If read / write to the multiple points at the same time, select the [Use Multiple Read / Write
Command] check box.
I
Register data
B
• Enter a check in the box of [Use Multiple Read/Write Command], and the following changes are made.
Class
Name
I/O data
• When a check is removed, only the class ID is changed. The device that was changed to
"undefined" by entering a check stays "undefined" even if the check is removed.
Attribute Bit Class ID
Before the change
(Single
Read /
Write)
After the change
(Multiple
Read /
Write)
Instance
Before the change
After the change
Before the change
After the change
0x078
0x079
0x07A
0x07B
0x300
0x301
0x302
0x303
No change
No change
No change
No change
00 - 63
00 - 63
00 - 63
00 - 63
0
0
0
0
00 - 07
More than
08
00 - 07
More than
08
00 - 15
More than
16
00 - 15
More than
16
No change undefined
No change undefined
No change undefined
No change undefined
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High Speed Ethernet Server Driver
D
R
Class
Name
Class ID
Before the change
(Single
Read /
Write)
After the change
(Multiple
Read /
Write)
0x07C
0x07D
0x304
0x305
Instance
No change
No change
S
P
BP
EX
0x07E
0x07F
0x080
0x081
0x306
0x307
0x308
0x309
No change
No change
No change
No change
Attribute
Before the change
After the change
Before the change
00 - 63
00 - 63
0
1 - 4
0
0
1
No change
More than 5 undefined
0 1
No change 1 - 13
More than
14
0 undefined
1
No change 1 - 9
More than
10
0 undefined
1
No change 1 - 9
More than
10 undefined
No change
No change
No change
No change
No change
No change
Bit
After the change
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High Speed Ethernet Server Driver
4.2
Setup Items in Offline Mode
• Please refer to Maintenance/Troubleshooting Guide for more information on how to enter offline mode or about operation.
Cf.
Maintenance/Troubleshooting Guide "Offline Mode"
• The number of the setup items to be displayed for 1 page in the offline mode depends on the
Display in use. Please refer to the Reference manual for details.
Communication Settings
To display the setting screen, touch [Device/PLC Settings] from [Peripheral Settings] in offline mode. Touch the
External Device you want to set from the displayed list.
Setup Items
Port No.
Timeout
Retry
Wait To Send
Setup Description
Enter a port number of the Display, using 1024 to 65535.
Check into [Auto], and a port number is set automatically.
Use an integer from 1 to 127 to enter the time (s) for which the Display waits for the response from the External Device.
In case of no response from the External Device, use an integer from 0 to 255 to enter how many times the Display retransmits the command.
Use an integer from 0 to 255 to enter standby time (ms) for the Display from receiving packets to transmitting next commands.
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High Speed Ethernet Server Driver
Device Setting
To display the setting screen, touch [Device/PLC Settings] from [Peripheral Settings]. Touch the External Device you want to set from the displayed list, and touch [Device].
Setup Items Setup Description
Set IP address of the External Device.
IP Address
Port No.
Multiple Read / Write
• Check with a network administrator about IP address. Do not set the duplicate IP address.
Enter a port number of the External Device, using 1024 to 65534.
Display whether perform the Multiple Read / Write.
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High Speed Ethernet Server Driver
5 Supported Devices
Range of supported device address is shown in the table below. Please note that the actually supported range of the devices varies depending on the External Device to be used. Please check the actual range in the manual of your connecting equipment.
Enter the External Device address in the dialog box below.
• For word addresses
Class
(Command number)
Instance
(Data array number)
Attribute
(Data element number)
Control Address
Select the class of the object to send messages. If [Direct Input] is selected, input a class code of "0000 - FFFF" (hexadecimal).
Input the instance number (a decimal from 00000 - 16383) that defines which class instance receives the message.
Input the value (a decimal from 00 - 63) that defines which attribute of the instance is accessed.
Depending on the class, a control address will be needed that instructs the data target for expansion, etc. In such an event, input the foremost position of the control address with a decimal from 0000 - 4095.
Only the user area can be designated
For classes that do not require control addresses, this value is ignored.
• If "Set as Default Value" is checked, when a new address is input the configured value will be displayed as the default value.
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High Speed Ethernet Server Driver
• For bit addresses
Class
(Command number)
Instance
(Data array number)
Attribute
(Data element number)
Control Address
Bit Number
Select the class of the object to send messages. If [Direct Input] is selected, input a class code of "0000 - FFFF" (hexadecimal).
Input the instance number (a decimal from 00000 - 16383) that defines which class instance receives the message.
Input the value (a decimal from 00 - 63) that defines which attribute of the instance is accessed.
Depending on the class, a control address will be needed that instructs the data target for expansion, etc. In such an event, input the foremost position of the control address with a decimal from 0000 - 4095.
Only the user area can be designated
For classes that do not require control addresses, this value is ignored.
Input the bit position you want to get / write via a decimal (00 - 31) from the word data designated to the attribute.
• If "Set as Default Value" is checked, when a new address is input the configured value will be displayed as the default value.
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High Speed Ethernet Server Driver
Device
Class
Instance
Attribute
Control
Bit
Bit address
Class: 0000h - FFFFh
Instance: 00000 - 16383
Attribute: 00 - 63
Control address: 0000 - 4095
Bit: 0 - 31
Word address
Class: 0000h - FFFFh
Instance: 00000 - 16383
Attribute: 00 - 63
Control address: 0000 - 4095
32 bits or
*1
Comments
*2
*1 The high and low relationship of the stored data varies depending on the External Device. Refer to your External
Device manual for details.
*2 The usable system area designation on the connection device is only the load area size. The usable size for the load area differs depending on the object designated.
• Please refer to the manual of the External Device for more details of the device. The device name notation differs in the manual of the GP-Pro EX and the External Device.
GP-Pro EX External Device
Class
Instance
Attribute
Command No.
Instance
Attribute
• Not supported in sequential address designation / indirect address designation / offset address designation. Data behavior, when designated, is indeterminate. (The address increment and changed portion is reflected in Control)
• Please refer to the precautions on manual notation for icons in the table.
"Manual Symbols and Terminology"
The address input area is shown below.
• For word addresses
(0070,00001,01,0000)
Control address
*1
Attribute
Instance
Class
*1 Not used if the command type is robot control (Class other than 0x04C0 to 0x04C3). (0000: reserved)
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High Speed Ethernet Server Driver
• For bit addresses
(0070,00001,01,0000)/0
Bit position
Control address
*1
Attribute
Instance
Class
*1 Not used if the command type is robot control (Class other than 0x04C0 to 0x04C3). (0000: reserved)
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High Speed Ethernet Server Driver
File Control Commands
File control command are commands for sending and receiving with a robot controller in file units.
Designate the following classes and execute.
Process
File read
File write
File list
File delete
Class
0x4C0
0x4C1
0x4C2
0x4C3
Data direction
External Device
Display
Display
External Device
External Device
Display
Display
External Device
• Class 0x4C0 to 0x4C3 is Virtual Class. The class of corresponding External Device is 0x0.
• File control commands can only execute D script.
• The control address of the file control command can specify only USR area. (USR0000 -
USR4095)
• File Read
Loads the designated file from the robotic controller into Display.
The loaded file data is either saved on a external storage or stored in a Display internal device.
File Type and Structure
The following are the types of files for loading.
File Type
Job program files
(*.JBI)
Data to read
Extracts the "NOP" - "END" range from the job program file that is read out.
Tool info files
(TOOL.CND)
Extracts information about Tool 0 - Tool 63.
Tool data is read out for the 15 items of TOOL Name and Data0 - Data13 for each Tool number.
IO comment files
(IONAME.DAT)
Reads out comments in 4-bit units.
Text files
(*.PRM,*.LST)
Binary files
Saves data that is read out in an as-is format.
The starting read line and the number of read lines can be designated. (Up to
CRLF is counted as 1 line)
Saves data that is read out in an as-is format.
Cannot designate the starting read line and the number of read lines.
One time data backup
(CMOSBK.BIN)
Saves data that is read out in an as-is format.
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High Speed Ethernet Server Driver
File Read Command
Inputs commands directly from D script.
[w:[PLC1](04C0,00000,00,0000)]
Control address
Attribute: Designate 0 (reserved)
Instance: Designate 0 (reserved)
Class: 0x4C0
Control address
Address
+0000
+0001
+0002
+0003
+0004
+0005
+0006
+0007
+0008 -
+0025
+0026
Status
Item Details
0: Initial value, 1: Run instruction, 16: In-process,
256: Normal completion, 4096: Error
Line count
Number of lines in the obtained file
Protocol is updated after send is complete.
Save location
File type
*1*2
0: Memory, 1: CF/SD, 3: USB
1: Job program, 2: Tool info file, 3: IO comment file, 4: Text file, 5: Binary file, 6: One time data backup
Starting address USER area address for the output destination
Starting line
Number of output lines
*3
Character count
File name
Folder name
File list output starting line 0 - 4999
If a line is designated where no data exists, the output result will be filled with
0x00.
Maximum number of characters on each line
Filled with 0x00 during overflow. Excess is truncated.
Number of output file names 1 - 5000
If a line is designated where no data exists, the output result will be filled with
0x00.
Load file name (Max. 32 characters + extension)
18 Word is reserved.
Overflow digits (Byte units) are filled with 0x00, or 0x00 unnecessary when inputting maximum character count.
Also used as the file name when saving to CF
Path name of save location (Max. 64 characters) Variable length
Set 0x00 at the end of the character string.
Designated when saving to CF or loading from CF into controller.
(There is no concept of the directory in the load target controller.)
*1 The usable external strage varies depending on the Display. Refer to the Display manual for details.
*2 Saving to external strage is available only select [Binary file] or [One time data backup] in the [File type]. Unable to save in other file types. In addition, [One time data backup] will not be able to save on memory.
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High Speed Ethernet Server Driver
*3 Starting line: Designate the file starting line number (0 - ) when storing in GP internal memory.
* The CRLF in the file is used as the line delimiter.
However, the line numbers when Tool info is selected in [Type] are as follows.
Tool info: Tool number designation (0 - 63)
0001 - 0015: Tool number 0
0001: Tool Name (Text data 20 bytes)
0002: Data0 (2 words [float 32-bit])
:
0015: Data13 (2 words [float 32-bit])
0101 - 0115: Tool number 1
0201 - 0215: Tool number 2
:
0301 - 0315: Tool number 3
6301 - 6315: Tool number 63
• When displaying Data0 -, a [Signed Float 32-bit] is necessary.
Settings by file type
Job file (memory)
Address
+0000
+0001
+0002
+0003
+0004
+0005
+0006
+0007
+0008 -
+0025
+0026
Status
Item
File name
Folder name
Details
0: Initial value, 1: Run instruction, 16: In-process,
256: Normal completion, 4096: Error
Line count
Character count
Number of lines in the obtained file
Protocol is updated after send is complete.
0: Memory Save location
File type 1: Job program
Starting address USER area address for the output destination
Starting line Ignored (0 reserved)
Maximum number of characters on each line
Filled with 0x00 during overflow. Excess is truncated
Number of output lines
Ignored (0 reserved)
File name (Max. 32 characters + extension)
18 Word is reserved.
Overflow digits (Byte units) are filled with 0x00, or 0x00 unnecessary when inputting maximum character count.
Ignored
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Tool info file (memory)
Address
+0000
+0001
+0002
+0003
+0004
+0005
+0006
+0007
Status
Item
Character count
Number of output lines
Details
0: Initial value, 1: Run instruction, 16: In-process,
256: Normal completion, 4096: Error
Line count
Save location
File type
Number of lines in the obtained file
Protocol is updated after send is complete.
0: Memory
2: Tool info file
Starting address USER area address for the output destination
Starting line
Starting Tool number 0 - 63
If a number is designated where no data exists, the output result will be filled with 0x00.
Ignored (20-byte reserved)
If a number is designated where no data exists, the output result will be filled with 0x00.
Overflow Excess is truncated.
Number of tools to load 1 - 64
If a number is designated where no data exists, the output result will be filled with 0x00.
+0008 -
+0025
+0026
File name
Folder name
Ignored (TOOL.CND reserved)
Ignored
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IO comment file (Memory)
Address
+0000
+0001
+0002
+0003
+0004
+0005
+0006
+0007
+0008 -
+0025
+0026
Status
Item
Line count
Save location
File type
Starting address USER area address for the output destination
Starting line
Comment number 0 - (4bit/1unit)
(Ex: IN#1 is in Line No.0 , IN#5 is in Line No.1)
If a number is designated where no data exists, the output result will be filled with 0x00.
Character count
Number of output lines
File name
Folder name
Details
0: Initial value, 1: Run instruction, 16: In-process,
256: Normal completion, 4096: Error
Number of lines in the obtained file
Protocol is updated after send is complete.
0: Memory
3: IO comment file
Maximum number of characters on each comment.
If a number is designated where no data exists, the output result will be filled with 0x00.
Overflow Excess is truncated.
Load comment number 1 - (4bit/1unit)
If a number is designated where no data exists, the output result will be filled with 0x00.
File name (Max. 32 characters + extension)
18 Word is reserved.
Overflow digits (Byte units) are filled with 0x00, or 0x00 unnecessary when inputting maximum character count. (Ex: IONAME.DAT)
Ignored
Text file (memory)
Address
+0000
+0001
+0002
+0003
+0004
+0005
+0006
+0007
+0008 -
+0025
+0026
Item
Status
Line count
0: Initial value, 1: Run instruction, 16: In-process,
256: Normal completion, 4096: Error
Number of lines in the obtained file
Protocol is updated after send is complete.
0: Memory Save location
File type 4: Text file
Starting address USER area address for the output destination
Starting line
Character count
Number of output lines
File name
Folder name
Details
File list output starting line 0 - 4999
If a line is designated where no data exists, the output result will be filled with 0x00.
Maximum number of characters on each line
Filled with 0x00 during overflow. Excess is truncated.
Number of output file names 1 - 5000
If a line is designated where no data exists, the output result will be filled with 0x00.
File name (Max. 32 characters + extension)
18 Word is reserved.
Overflow digits (Byte units) are filled with 0x00, or 0x00 unnecessary when inputting maximum character count.
Ignored
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Binary file (memory)
Address
+0000
+0001
+0002
+0003
+0004
+0005
+0006
+0007
+0008 -
+0025
+0026
Status
Item Details
0: Initial value, 1: Run instruction, 16: In-process,
256: Normal completion, 4096: Error
Line count
Save location
File type
Number of lines in the obtained file
Protocol is updated after send is complete.
0: Memory
5: Binary file
Starting address USER area address for the output destination
Starting line Ignored (0 reserved)
Character count Ignored (0 reserved)
Number of output lines
Ignored (0 reserved)
File name
Load file name (Max. 32 characters + extension)
18 Word is reserved.
Overflow digits (Byte units) are filled with 0x00, or 0x00 unnecessary when inputting maximum character count.
Also used as the file name when saving to CF.
Folder name Ignored
Binary file (CF/SD/USB)
Address
+0000
+0001
+0002
+0003
+0004
+0005
+0006
+0007
+0008 -
+0025
+0026
Status
Item Details
0: Initial value, 1: Run instruction, 16: In-process,
256: Normal completion, 4096: Error
Line count
Save location
File type
Number of lines in the obtained file
Protocol is updated after send is complete.
1: CF/SD, 3: USB
5: Binary file
Starting address Ignored (0 reserved)
Starting line Ignored (0 reserved)
Character count Ignored (0 reserved)
Number of output lines
Ignored (0 reserved)
File name
Load file name (Max. 32 characters + extension)
18 Word is reserved.
Overflow digits (Byte units) are filled with 0x00, or 0x00 unnecessary when inputting maximum character count.
Also used as the file name when saving to CF.
Folder name
Path name of save location (Max. 64 characters) Variable length
Set 0x00 at the end of the character string.
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One time data backup (CF/SD/USB)
Address
+0000
+0001
+0002
+0003
+0004
+0005
+0006
+0007
Status
Item Details
0: Initial value, 1: Run instruction, 16: In-process,
256: Normal completion, 4096: Error
Line count
Save location
File Size in kBytes (Max 64MB)
1: CF/SD, 3: USB
File type 6: One Time Data Backup
Starting address Ignored (0 reserved)
Starting line Ignored (0 reserved)
Character count Ignored (0 reserved)
Number of output lines
Ignored (0 reserved)
+0008 -
+0025
File name Ignored (CMOSBK.BIN reserved)
+0026 - Folder name
Path name of save location (Max. 64 characters) Variable length
Set 0x00 at the end of the character string.
• It may take some time to run the [One time data backup]. Please note that other tasks can not be performed because in [One time data backup].
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Example of D script execution
Read Job file (ABC.JBI) from controller and save to the root folder of CF card
[w:[#INTERNAL]USR01002]=1
[w:[#INTERNAL]USR01003]=1
// Save location : CF
// File type : JOB program
[w:[#INTERNAL]USR01008]=0x4241
// File name
// AB
[w:[#INTERNAL]USR01009]=0x2E43 // C.
[w:[#INTERNAL]USR01010]=0x424A // JB
[w:[#INTERNAL]USR01011]=0x0049 // I
[w:[#INTERNAL]USR01026]=0x0000
// Folder name
// (NULL=root)
[w:[#INTERNAL]USR01000]=1 // Status : Run instruction
[t:0000]= [w:[PLC1](04C0,00000,00,1000)]#[t:0001]
• [t:0000] is a temporary address required to perform the file access. (Undefined value is set.)
• Set up the [t:0001] to "0".
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• File Write
Writes the designated file to the robotic controller.
Designates the file data to be written and the file being stored in the CF card.
File Write command
Inputs commands directly from D script.
[w:[PLC1](04C1,00000,00,0000)]
Control address
Address
+0000 Status
Item
+0001 -
+0018
File name
+0019 Folder name
Control address
Attribute: Designate 0 (reserved)
Instance: Designate 0 (reserved)
Class: 0x4C1
Details
0: Initial value, 1: Run instruction, 16: In-process, 256: Normal completion,
4096: Error
File name (Max. 32 characters + extension)
18 Word is reserved.
Overflow digits (Byte units) are filled with 0x00, or 0x00 unnecessary when inputting maximum character count.
Path name (Max. 64 characters) Variable length
Set 0x00 at the end of the character string.
Example of D script execution
Read Job (\123\ABC.JBI) from CF card and write controller.
[t:0000]=[w:[PLC1](04C1,0000,00,1000)]# [t:0001]
// File name
[w:[#INTERNAL]USR01001]=0x4241 // AB
[w:[#INTERNAL]USR01002]=0x2E43 // C.
[w:[#INTERNAL]USR01003]=0x424A // JB
[w:[#INTERNAL]USR01004]=0x0049 // I
// Folder name
[w:[#INTERNAL]USR01019]=0x3231 // 12
[w:[#INTERNAL]USR01020]=0x0033 // 3
[w:[#INTERNAL]USR01000]=1 // Status : Run instruction
[t:0000]=[w:[PLC1](04C1,00000,00,1000)]#[t:0001]
• [t:0000] is a temporary address required to perform the file access. (Undefined value is set.)
• Set up the [t:0001] to "0".
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• File List
Loads a list of files stored in the robotic controller.
The loaded file list is stored in the designated address.
File List command
Inputs commands directly from D script.
[w:[PLC1](04C2,00000,00,0000)]
Control address
Attribute: Designate 0 (reserved)
Instance: Designate 0 (reserved)
Class: 0x4C2
Control address
Address
+0000
+0001
+0002
+0003
+0004
+0005
+0006
Status
Item
List count
Details
0: Initial value, 1: Run instruction, 16: In-process, 256: Normal completion,
4096: Error
The number of obtained lists
Number of files of the file type unit that was read out.
(Not the number of outputs.)
File type
0: *.*
1: *.JBI
2: *.DAT
4: *.PRM
5: *.SYS
6: *.LST
JBI file list
DAT file list
PRM file list
SYS file list
LST file list
Starting address USER area address for the output destination
Starting line
Character count
Output count
File list output starting line 0 - 4999
If a line is designated where no data exists, the output result will be filled with
0x00.
Maximum number of characters on each line
Filled with 0x00 during overflow. Excess is truncated.
Number of output file names 1 - 5000
If a number of lines are designated where no data exists, the output result will be filled with 0x00.
Example of D script execution
Load 3 places from the 7th position, and store in USR10000 . with a file name of maximum 12 characters
[w:[#INTERNAL]USR01002]=1
[w:[#INTERNAL]USR01003]=10000
[w:[#INTERNAL]USR01004]=6
[w:[#INTERNAL]USR01005]=12
[w:[#INTERNAL]USR01006]=3
// File type : JOB program
// Starting address : JOB program
// Starting line
// Character count
// Output count
[w:[#INTERNAL]USR01000]=1 // Status : Run instruction
[t:0000]=[w:[PLC1](04C2,00000,00,1000)]#[t:0001]
• [t:0000] is a temporary address required to perform the file access. (Undefined value is set.)
• Set up the [t:0001] to "0".
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High Speed Ethernet Server Driver
When the file present is one of the following
ABC.JBI
ABCDE.JBI
ABCDEF.JBI
ABCDEFG.JBI
ABCDEFGH.JBI
ABCDEFGHI.JBI
123456.JBI
AA.JBI
Execution results
Address
(USR)
10000
10006
10012
0 1 2 3 4 5
2 1 4 3 6 5 J .
I B 0x0 0x0
A A J .
I B 0x0 0x0 0x0 0x0 0x0 0x0
0x0 0x0 0x0 0x0 0x0 0x0 0x0 0x0 0x0 0x0 0x0 0x0
• Data with a "0x" is a numerical value, and without is ASCII.
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High Speed Ethernet Server Driver
• File Delete
Deletes the file stored in the robotic controller.
File Delete command
Inputs commands directly from D script.
[w:[PLC1](04C3,00000,00,0000)]
Control address
Address
+0000 Status
Item
+0001 -
+0018
File name
Control address
Attribute: Designate 0 (reserved)
Instance: Designate 0 (reserved)
Class: 0x4C3
Details
0: Initial value, 1: Run instruction, 16: In-process, 256: Normal completion,
4096: Error
File name (Max. 32 characters + extension)
18 Word is reserved.
Overflow digits (Byte units) are filled with 0x00, or 0x00 unnecessary when inputting maximum character count.
Example of D script execution
When deleting the file (ABC.JBI) designated with D script
[w:[#INTERNAL]USR01001]=0x4241
// File name
// AB
[w:[#INTERNAL]USR01002]=0x2E43 // C.
[w:[#INTERNAL]USR01003]=0x424A // JB
[w:[#INTERNAL]USR01004]=0x0049 // I
[w:[#INTERNAL]USR01000]=1 // Status : Run instruction
[t:0000]=[w:[PLC1](04C3,00000,00,1000)]#[t:0001]
• [t:0000] is a temporary address required to perform the file access. (Undefined value is set.)
• Set up the [t:0001] to "0".
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High Speed Ethernet Server Driver
6 Device Code and Address Code
Use device code and address code when you select "Device Type & Address" for the address type in data displays.
Device Device Name
Device Code
(HEX)
Address Code
Alarm data reading
Alarm history reading
Alarm data reading (for applying the sub code character strings)
Alarm history reading (for applying the sub code character strings)
Status information reading
Executing job information reading
Axis configuration ingormation reading
Robot position data reading
Position error reading
Torque data reading
I/O data reading / writing
*1
Register data reading / writing
*3
Single Read /
Write
Multiple Read /
Write
*2
Single Read /
Write
Multiple Read /
Write
*2
Single Read /
Write
Byte variable (B) reading
/ writing
*1
Multiple Read /
Write
*2
Integer type variable (I) reading / writing
*3
Single Read /
Write
Multiple Read /
Write
*2
Double precision integer type variable (D) reading
/ writing
Single Read /
Write
Multiple Read /
Write
*2
Real type variable (R) reading /writing
Single Read /
Write
Multiple Read /
Write
*2
0x70
0x71
0x30A
0x30B
0x72
0x73
0x74
0x75
0x76
0x77
0x78
0x300
0x79
0x301
0x7A
0x302
0x7B
0x303
0x7C
0x304
0x7D
0x305
Class code value
(Instance*0x40000) +
(Attribute*0x1000) +
(Control) value
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High Speed Ethernet Server Driver
Device Device Name
Device Code
(HEX)
Address Code
Character type variable
(S) reading /writing (16 bytes)
*4 *5 *6
Character type variable
(S) reading /writing (32
*7
Robot position type variable (P) reading /
*8
Base position type variable (BP) reading /
Single Read /
Write
Multiple Read /
Write
Single Read /
Write
Multiple Read /
Write
Single Read /
Write
Multiple Read /
Write
Single Read /
Write
Multiple Read /
Write
0x7E
0x306
0x8C
0x30C
0x7F
0x307
0x80
0x308
External axis type variable (EX) reading /
Single Read /
Write
Multiple Read /
Write
0x81
0x309
Class code value
(Instance*0x40000) +
(Attribute*0x1000) +
(Control) value
Alarm reset / error cancel
HOLD / servo ON/OFF
0x82
Step / cycle / continuous switching
Character string display command to the programming pendant
Start-up (job START)
0x83
0x84
0x85
Job select
Management time acquiring
0x86
0x87
System information acquiring
Move instruction command (Type
Cartesian coordinates)
Move instruction command (Type Pulse)
0x88
0x89
0x8A
File Read
File Write
0x8B
0x4C0
File List
File Delete
0x4C1
0x4C2
0x4C3
*1 The Display is 32 bit data, but the External Device is 8 bit data. Therefore, only low 8 bit data is valid. In the case that data is read from the External Device, data except for low 8 bits becomes zero.
3 or more odd-numbered points cannot be written at once by Multiple Write. Split the odd-numbered points to be written into even-numbered points + 1 point to write.
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*2 When entering a check in the box of [Use Multiple Read/Write Command] in the [Individual Device Settings], it corresponds to the device monitor. Other classes and cases where a check has not been entered do not correspond to the device monitor.
*3 The Display is 32 bit data, but the External Device is 16 bit data. Therefore, only low 16 bit data is valid. In the case that data is read from the External Device, data except for low 16 bits becomes zero.
*4 If multiple points writing the S device, the P device, the BP device and the EX device, please use the memcpy command.
The points can be specified are as follows.
S device: Multiples of 16 (Example: 16 points, 32 points, 48 points, etc.)
P device: 13 points
BP device: 9 points
EX device: 9 points
*5 The Multiple Read/Write attribute of the External Device is fixed to zero. To specify with the Display, set to
"1".
*6 Can be used for the External Devices except for DX200 series.
*7 Can be used for DX200 series only.
*8 When the [Use Multiple Read/Write Command] is selected, set the same attribute as the Single Read/Write of the same device.
Refer to the External Device Manual for the content of the attribute.
• When using a class that is not supported by the driver, no error occurs with the GP-Pro EX. If project transfer to the Display and restart are conducted, an improper device error occurs.
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High Speed Ethernet Server Driver
7 Error Messages
No.
Error messages are displayed on the screen of Display as follows: "No. : Device Name: Error Message (Error
Occurrence Area)". Each description is shown below.
Item
Device Name
Error Message
Description
Error No.
Name of External Device where error occurs. Device name is a title of External Device set with GP-Pro EX. (Initial value [PLC1])
Displays messages related to the error which occurs.
Displays IP address or device address of External Device where error occurs, or error codes received from External Device.
Error Occurrence Area
• IP address is displayed such as "IP address (Decimal): MAC address (Hex)".
• Device address is displayed such as "Address: Device address".
• Received error codes are displayed such as "Decimal [Hex]".
Display Examples of Error Messages
"RHAA035: PLC1: Error has been responded for device write command (Error Code: 2 [02H])"
• Refer to your External Device manual for details on received error codes.
• Refer to "Display-related errors" in "Maintenance/Troubleshooting Guide" for details on the error messages common to the driver.
Error Messages Unique to External Device
Message ID
RHxx130
RHxx131
Error Message
Error status received from the device on a write command
Description
(Connection device name): Error response received on a read out request (General status:
[Hex] Extended status [Hex]
Error status received from the device on a load command
(Connection device name): Error response received on a write request (General status:
[(Hex)] Extended status [(Hex)])
• If the general status code is 0x1f, it is a vendor-specific error.
• If the general status code is anything other than 0x1f, it is an error defined in the ODVA documentation.
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