YASKAWA | DX200 | Troubleshooting guide | YASKAWA DX200 Troubleshooting guide

YASKAWA DX200 Troubleshooting guide
YASKAWA Electric Corporation
High Speed Ethernet
Server Driver
1
System Configuration....................................................................................................... 3
2
External Device Selection ................................................................................................ 4
3
Communication Settings .................................................................................................. 5
4
Setup Items ...................................................................................................................... 7
5
Supported Devices......................................................................................................... 12
6
Device Code and Address Code.................................................................................... 28
7
Error Messages.............................................................................................................. 31
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.
"4 Setup Items" (page 7)
Operation
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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
Setting Example
DX100
DX100
LAN port on the controller
Ethernet (UDP)
"Setting Example 1"
(page 5)
FS100
FS100
Ethernet port on the controller
Ethernet (UDP)
"Setting Example 1"
(page 5)
DX200
DX200
LAN port on the controller
Ethernet (UDP)
"Setting Example 1"
(page 5)
FS100L
FS100L
Ethernet port on the controller
Ethernet (UDP)
"Setting Example 1"
(page 5)
• 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
External Device
Display
HUB
•
1:n Connection
Maximum number of External Devices: 64 *1
External Device
Display
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)
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High Speed Ethernet Server Driver
2
External Device Selection
Select the External Device to be connected to the Display.
Setup Items
Setup Description
Number of Devices/PLCs
Use an integer from 1 to 4 to enter the number of Devices/PLCs to connect to the
display.
Manufacturer
Select the manufacturer of the External Device to be connected. Select "YASKAWA
Electric Corporation".
Series
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)
Port
Select the Display port to be connected to the External Device. Select "Ethernet
(UDP)".
Use System Area
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
2
Change the security mode to "management mode".
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.
4.1
Maintenance/Troubleshooting Guide "Ethernet Settings"
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].
Setup Items
Setup Description
Port No.
Enter a port number of the Display, using 1024 to 65535.
Check into [Auto], and a port number is set automatically.
Timeout
Use an integer from 1 to 127 to enter the time (s) for which the Display waits for the
response from the External Device.
Retry
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.
Wait To Send
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".
Increase Allowable
Number of Devices/
PLCs
• 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
• Check with a network administrator about IP address. Do not set the duplicate IP
address.
Port No.
Enter a port number of the External Device, using 1024 to 65534.
Use Multiple Read /
Write Command
If read / write to the multiple points at the same time, select the [Use Multiple Read / Write
Command] check box.
•
Enter a check in the box of [Use Multiple Read/Write Command], and the following changes are made.
• 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.
Class ID
Class
Name
I/O data
Before the
change
(Single
Read /
Write)
0x078
Attribute
After the
change
(Multiple
Read /
Write)
0x300
Instance
Before the
change
No change
00 - 63
After the
change
0
Register
data
0x079
0x301
No change
00 - 63
0
B
0x07A
0x302
No change
00 - 63
0
I
0x07B
0x303
No change
00 - 63
0
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Bit
Before the
change
After the
change
00 - 07
No change
More than
08
undefined
00 - 07
No change
More than
08
undefined
00 - 15
No change
More than
16
undefined
00 - 15
No change
More than
16
undefined
High Speed Ethernet Server Driver
Class ID
Class
Name
Before the
change
(Single
Read /
Write)
Attribute
After the
change
(Multiple
Read /
Write)
Instance
Before the
change
After the
change
Bit
Before the
change
D
0x07C
0x304
No change
00 - 63
0
No change
R
0x07D
0x305
No change
00 - 63
0
No change
0
1
1-4
No change
S
0x07E
0x306
No change
No change
More than 5 undefined
P
BP
EX
0x07F
0x080
0x081
0x307
0x308
0x309
No change
No change
No change
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0
1
1 - 13
No change
More than
14
undefined
0
1
1-9
No change
More than
10
undefined
0
1
1-9
No change
More than
10
undefined
No change
No change
No change
After the
change
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
Setup Description
Port No.
Enter a port number of the Display, using 1024 to 65535.
Check into [Auto], and a port number is set automatically.
Timeout
Use an integer from 1 to 127 to enter the time (s) for which the Display waits for the
response from the External Device.
Retry
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.
Wait To Send
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
• Check with a network administrator about IP address. Do not set the duplicate IP
address.
Port No.
Enter a port number of the External Device, using 1024 to 65534.
Multiple Read / Write
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)
Select the class of the object to send messages. If [Direct Input] is selected,
input a class code of "0000 - FFFF" (hexadecimal).
Instance
(Data array number)
Input the instance number (a decimal from 00000 - 16383) that defines which
class instance receives the message.
Attribute
(Data element number)
Input the value (a decimal from 00 - 63) that defines which attribute of the
instance is accessed.
Control Address
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)
Select the class of the object to send messages. If [Direct Input] is selected,
input a class code of "0000 - FFFF" (hexadecimal).
Instance
(Data array number)
Input the instance number (a decimal from 00000 - 16383) that defines which
class instance receives the message.
Attribute
(Data element number)
Input the value (a decimal from 00 - 63) that defines which attribute of the
instance is accessed.
Control Address
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.
Bit Number
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
Word address
Class: 0000h - FFFFh
Instance: 00000 - 16383
Attribute: 00 - 63
Control address: 0000 - 4095
Bit: 0 - 31
32 bits
Class: 0000h - FFFFh
Instance: 00000 - 16383
Attribute: 00 - 63
Control address: 0000 - 4095
or
Comments
*2
*1
*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
Command No.
Instance
Instance
Attribute
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
Class
Data direction
File read
0x4C0
External Device  Display
File write
0x4C1
Display  External Device
File list
0x4C2
External Device  Display
File delete
0x4C3
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
Data to read
Job program files
(*.JBI)
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)
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)
Binary files
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
Item
Details
+0000
Status
0: Initial value, 1: Run instruction, 16: In-process,
256: Normal completion, 4096: Error
+0001
Line count
Number of lines in the obtained file
Protocol is updated after send is complete.
+0002
Save location*1*2 0: Memory, 1: CF/SD, 3: USB
+0003
File type
1: Job program, 2: Tool info file, 3: IO comment file, 4: Text file, 5: Binary
file, 6: One time data backup
+0004
Starting address
USER area address for the output destination
+0005
Starting line*3
File list output starting line 0 - 4999
If a line is designated where no data exists, the output result will be filled with
0x00.
+0006
Character count
Maximum number of characters on each line
Filled with 0x00 during overflow. Excess is truncated.
+0007
Number of
output lines
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
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.
Designated when saving to CF or loading from CF into controller.
(There is no concept of the directory in the load target controller.)
+0008 +0025
+0026
*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:
0201 - 0215:
:
0301 - 0315:
6301 - 6315:
Tool number 1
Tool number 2
Tool number 3
Tool number 63
• When displaying Data0 -, a [Signed Float 32-bit] is necessary.
Settings by file type
Job file (memory)
Address
Item
Details
+0000
Status
0: Initial value, 1: Run instruction, 16: In-process,
256: Normal completion, 4096: Error
+0001
Line count
Number of lines in the obtained file
Protocol is updated after send is complete.
+0002
Save location
0: Memory
+0003
File type
1: Job program
+0004
Starting address
USER area address for the output destination
+0005
Starting line
Ignored (0 reserved)
+0006
Character count
Maximum number of characters on each line
Filled with 0x00 during overflow. Excess is truncated
+0007
Number of
output lines
Ignored (0 reserved)
+0008 +0025
File name
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.
+0026
Folder name
Ignored
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High Speed Ethernet Server Driver
Tool info file (memory)
Address
Item
Details
+0000
Status
0: Initial value, 1: Run instruction, 16: In-process,
256: Normal completion, 4096: Error
+0001
Line count
Number of lines in the obtained file
Protocol is updated after send is complete.
+0002
Save location
0: Memory
+0003
File type
2: Tool info file
+0004
Starting address
USER area address for the output destination
+0005
Starting line
Starting Tool number 0 - 63
If a number is designated where no data exists, the output result will be
filled with 0x00.
+0006
Character count
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.
+0007
Number of
output lines
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
File name
Ignored (TOOL.CND reserved)
+0026
Folder name
Ignored
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High Speed Ethernet Server Driver
IO comment file (Memory)
Address
Item
Details
+0000
Status
0: Initial value, 1: Run instruction, 16: In-process,
256: Normal completion, 4096: Error
+0001
Line count
Number of lines in the obtained file
Protocol is updated after send is complete.
+0002
Save location
0: Memory
+0003
File type
3: IO comment file
+0004
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.
+0006
Character count
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.
+0007
Number of
output lines
Load comment number 1 - (4bit/1unit)
If a number is designated where no data exists, the output result will be
filled with 0x00.
+0008 +0025
File name
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)
+0026
Folder name
Ignored
+0005
Text file (memory)
Address
Item
Details
+0000
Status
0: Initial value, 1: Run instruction, 16: In-process,
256: Normal completion, 4096: Error
+0001
Line count
Number of lines in the obtained file
Protocol is updated after send is complete.
+0002
Save location
0: Memory
+0003
File type
4: Text file
+0004
Starting address
USER area address for the output destination
+0005
Starting line
File list output starting line 0 - 4999
If a line is designated where no data exists, the output result will be filled
with 0x00.
+0006
Character count
Maximum number of characters on each line
Filled with 0x00 during overflow. Excess is truncated.
+0007
Number of
output lines
Number of output file names 1 - 5000
If a line is designated where no data exists, the output result will be filled
with 0x00.
+0008 +0025
File name
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.
+0026
Folder name
Ignored
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Binary file (memory)
Address
Item
Details
+0000
Status
0: Initial value, 1: Run instruction, 16: In-process,
256: Normal completion, 4096: Error
+0001
Line count
Number of lines in the obtained file
Protocol is updated after send is complete.
+0002
Save location
0: Memory
+0003
File type
5: Binary file
+0004
Starting address
USER area address for the output destination
+0005
Starting line
Ignored (0 reserved)
+0006
Character count
Ignored (0 reserved)
+0007
Number of
output lines
Ignored (0 reserved)
+0008 +0025
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.
+0026
Folder name
Ignored
Binary file (CF/SD/USB)
Address
Item
Details
+0000
Status
0: Initial value, 1: Run instruction, 16: In-process,
256: Normal completion, 4096: Error
+0001
Line count
Number of lines in the obtained file
Protocol is updated after send is complete.
+0002
Save location
1: CF/SD, 3: USB
+0003
File type
5: Binary file
+0004
Starting address
Ignored (0 reserved)
+0005
Starting line
Ignored (0 reserved)
+0006
Character count
Ignored (0 reserved)
+0007
Number of
output lines
Ignored (0 reserved)
+0008 +0025
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.
+0026
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
Item
Details
+0000
Status
0: Initial value, 1: Run instruction, 16: In-process,
256: Normal completion, 4096: Error
+0001
Line count
File Size in kBytes (Max 64MB)
+0002
Save location
1: CF/SD, 3: USB
+0003
File type
6: One Time Data Backup
+0004
Starting address
Ignored (0 reserved)
+0005
Starting line
Ignored (0 reserved)
+0006
Character count
Ignored (0 reserved)
+0007
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
[w:[#INTERNAL]USR01009]=0x2E43
[w:[#INTERNAL]USR01010]=0x424A
[w:[#INTERNAL]USR01011]=0x0049
// File name
// AB
// C.
// JB
// 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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High Speed Ethernet Server Driver
•
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
Attribute: Designate 0 (reserved)
Instance: Designate 0 (reserved)
Class: 0x4C1
Control address
Address
Item
Details
Status
0: Initial value, 1: Run instruction, 16: In-process, 256: Normal completion,
4096: Error
+0001 +0018
File name
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.
+0019
Folder name
Path name (Max. 64 characters) Variable length
Set 0x00 at the end of the character string.
+0000
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]
[w:[#INTERNAL]USR01001]=0x4241
[w:[#INTERNAL]USR01002]=0x2E43
[w:[#INTERNAL]USR01003]=0x424A
[w:[#INTERNAL]USR01004]=0x0049
// File name
// AB
// C.
// JB
// I
[w:[#INTERNAL]USR01019]=0x3231
[w:[#INTERNAL]USR01020]=0x0033
// Folder name
// 12
// 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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High Speed Ethernet Server Driver
•
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
Item
Details
+0000
Status
0: Initial value, 1: Run instruction, 16: In-process, 256: Normal completion,
4096: Error
+0001
List count
The number of obtained lists
Number of files of the file type unit that was read out.
(Not the number of outputs.)
+0002
File type
0: *.*
1: *.JBI
2: *.DAT
4: *.PRM
5: *.SYS
6: *.LST
+0003
Starting address
USER area address for the output destination
+0004
Starting line
File list output starting line 0 - 4999
If a line is designated where no data exists, the output result will be filled with
0x00.
+0005
Character count
Maximum number of characters on each line
Filled with 0x00 during overflow. Excess is truncated.
+0006
Output count
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.
JBI file list
DAT file list
PRM file list
SYS file list
LST file list
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)
0
1
2
3
4
5
10000
2
1
4
3
6
5
J
.
I
B
0x0
0x0
10006
A
A
J
.
I
B
0x0
0x0
0x0
0x0
0x0
0x0
10012
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
Attribute: Designate 0 (reserved)
Instance: Designate 0 (reserved)
Class: 0x4C3
Control address
Address
+0000
+0001 +0018
Item
Details
Status
0: Initial value, 1: Run instruction, 16: In-process, 256: Normal completion,
4096: Error
File name
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
[w:[#INTERNAL]USR01002]=0x2E43
[w:[#INTERNAL]USR01003]=0x424A
[w:[#INTERNAL]USR01004]=0x0049
// File name
// AB
// C.
// JB
// 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
Alarm data reading
0x70
Alarm history reading
0x71
Alarm data reading (for applying the sub
code character strings)
0x30A
Alarm history reading (for applying the sub
code character strings)
0x30B
Status information reading
0x72
Executing job information reading
0x73
Axis configuration ingormation reading
0x74
Robot position data reading
0x75
Position error reading
0x76
Torque data reading
0x77
Single Read /
Write
0x78
Multiple Read /
Write*2
0x300
Single Read /
Write
0x79
Multiple Read /
Write*2
0x301
Single Read /
Write
0x7A
Multiple Read /
Write*2
0x302
Single Read /
Write
0x7B
Multiple Read /
Write*2
0x303
Single Read /
Write
0x7C
Multiple Read /
Write*2
0x304
Single Read /
Write
0x7D
Multiple Read /
Write*2
0x305
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I/O data reading /
writing*1
Register data reading /
writing*3
Byte variable (B) reading
/ writing*1
Integer type variable (I)
reading / writing*3
Double precision integer
type variable (D) reading
/ writing
Real type variable (R)
reading /writing
Device Code
(HEX)
Class code value
Address Code
(Instance*0x40000) +
(Attribute*0x1000) +
(Control) value
High Speed Ethernet Server Driver
Device
Character type variable
(S) reading /writing (16
bytes) *4 *5 *6
Character type variable
(S) reading /writing (32
bytes) *4 *5 *7
Robot position type
variable (P) reading /
writing*4 *8
Base position type
variable (BP) reading /
writing*4 *8
External axis type
variable (EX) reading /
writing*4 *8
Device Name
Single Read /
Write
0x7E
Multiple Read /
Write
0x306
Single Read /
Write
0x8C
Multiple Read /
Write
0x30C
Single Read /
Write
0x7F
Multiple Read /
Write
0x307
Single Read /
Write
0x80
Multiple Read /
Write
0x308
Single Read /
Write
0x81
Multiple Read /
Write
0x309
Alarm reset / error cancel
0x82
HOLD / servo ON/OFF
0x83
Step / cycle / continuous switching
0x84
Character string display command to the
programming pendant
0x85
Start-up (job START)
0x86
Job select
0x87
Management time acquiring
0x88
System information acquiring
0x89
Move instruction command (Type
Cartesian coordinates)
0x8A
Move instruction command (Type Pulse)
0x8B
File Read
0x4C0
File Write
0x4C1
File List
0x4C2
File Delete
0x4C3
*1
Device Code
(HEX)
Class code value
Address Code
(Instance*0x40000) +
(Attribute*0x1000) +
(Control) value
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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High Speed Ethernet Server Driver
*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
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
Description
No.
Error No.
Device Name
Name of External Device where error occurs. Device name is a title of External Device set
with GP-Pro EX. (Initial value [PLC1])
Error Message
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
Error Message
Description
RHxx130
(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
RHxx131
(Connection device name): Error response
received on a write request (General status:
[(Hex)] Extended status [(Hex)])
Error status received from the device on a
write command
• 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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