YASKAWA DX100 PCU-ETHIO EtherNet/IP Board Instructions
Hirdetés
Hirdetés
DX100 OPTIONS
INSTRUCTIONS
EtherNet/IP BOARD
(PCU-ETHIO FOR INPUT ONLY VERSION MADE BY Molex)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-ETHERNET/IP BOARD INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR’S MANUAL
DX100 MAINTENANCE MANUAL
The DX100 operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.
Part Number: 161340-1CD
Revision: 1
MANUAL NO.
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MANDATORY
• This manual explains MotoPlus of the DX100 system. Read this manual carefully and be sure to understand its contents before handling the DX100.
• General items related to safety are listed in the Chapter 1: Safety of the DX100 Instructions. To ensure correct and safe operation, carefully read the DX100 Instructions before reading this manual.
CAUTION
• Some drawings in this manual are shown with the protective covers or shields removed for clarity. Be sure all covers and shields are replaced before operating this product.
• The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product.
• YASKAWA may modify this model without notice when necessary due to product improvements, modifications, or changes in specifications. If such modification is made, the manual number will also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids your product’s warranty.
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NOTES FOR SAFE OPERATION
Read this manual carefully before installation, operation, maintenance, or inspection of the DX100.
In this manual, the Notes for Safe Operation are classified as
“WARNING”, “CAUTION”, “MANDATORY”, or ”PROHIBITED”.
WARNING
CAUTION
Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury to personnel.
Indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury to personnel and damage to equipment. It may also be used to alert against unsafe practices.
MANDATORY
Always be sure to follow explicitly the items listed under this heading.
PROHIBITED
Must never be performed.
Even items described as “CAUTION” may result in a serious accident in some situations. At any rate, be sure to follow these important items.
NOTE
To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as “CAUTION” and “WARNING”.
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WARNING
• Before operating the manipulator, check that servo power is turned
OFF when the emergency stop buttons on the front door of the
DX100 and the programming pendant are pressed.
When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit cannot stop the manipulator during an emergency. The manipulator should not be used if the emergency stop buttons do not function.
Fig. : Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Fig. : Release of Emergency Stop
TURN
• Observe the following precautions when performing teaching operations within the P-point maximum envelope of the manipulator:
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no person is present in the P-point maximum envelope of the manipulator and that you are in a safe location before:
– Turning ON the DX100 power
– Moving the manipulator with the programming pendant
– Running the system in the check mode
– Performing automatic operations
Injury may result if anyone enters the P-point maximum envelope of the manipulator during operation. Always press an emergency stop button immediately if there is a problem. The emergency stop buttons are located on the right of the front door of the DX100 and the programming pendant.
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CAUTION
• Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair them immediately, and be sure that all other necessary processing has been performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the DX100 cabinet after use.
The programming pendant can be damaged if it is left in the manipulator’s work area, on the floor, or near fixtures.
• Read and understand the Explanation of the Warning Labels in the
DX100 Instructions before operating the manipulator.
Definition of Terms Used Often in This Manual
MOTOMAN is an YASKAWA industrial robot product.
MOTOMAN usually consists of the manipulator, the controller, the programming pendant, and manipulator cables.
In this manual, the equipment is designated as follows:
Equipment
DX100 Controller
DX100 Programming Pendant
Manual Designation
DX100
Programming Pendant v
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Descriptions of the programming pendant keys, buttons, and displays are shown as follows:
Equipment
Programming
Pendant
Character
Keys
Symbol
Keys
Manual Designation
The keys which have characters printed on them are denoted with [ ].
ex. [ENTER]
The keys which have a symbol printed on them are not denoted with [ ] but depicted with a small picture.
Axis Keys
Numeric
Keys
Keys pressed simultaneou sly
Displays ex. page key
The cursor key is an exception, and a picture is not shown.
“Axis Keys” and “Numeric Keys” are generic names for the keys for axis operation and number input.
When two keys are to be pressed simultaneously, the keys are shown with a “+” sign between them, ex. [SHIFT]+[COORD]
The menu displayed in the programming pendant is denoted with { }.
ex. {JOB}
Description of the Operation Procedure
In the explanation of the operation procedure, the expression “Select • • • “ means that the cursor is moved to the object item and the SELECT key is pressed.
Registered Trademark
In this manual, names of companies, corporations, or products are trademarks, registered trademarks, or brand names for each company or corporation. The indications of (R) and TM are omitted. vi
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DX100 Table of Contents
4.2.1 Calling the SETUP Window for the PCU-ETHIO Board ......................................... 4-3
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DX100 Table of Contents
5.2.1 Details on Commands for Message Communication Using CIP ............................ 5-2
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1 Introductions
1 Introductions
1.1
System Configuration
In DX100, with the PCU-ETHIO board made by Molex, you can use the
EtherNet/IP communication function. The EtherNet/IP communication function of DX100 provides the following features: an IO transmission/ reception function that enables to exchange external input/output signals between DX100 and other EtherNet/IP supported devices and a message communication function that realizes data transmission equal to the one realized by the DX100 Ethernet function. The present revision further improved this function to make it possible to carry out IO communication by InputOnly as well as message communication using CIP. This manual describes the settings necessary for using this function and its related information.
1.1
System Configuration
1.1.1 System Configuration Example
A system configuration example when using the PCU-ETHIO is as follows.
EtherNet/IP
Scanner
PLC (sequencer)
DX100
HUB
EtherNet/IP
Adaptor/Scanner
PCU-ETHIO
EtherNet/IP
Adaptor
I/O unit
PC
1.1.2 Adaptor
When the IO transmission/reception function is used, DX100 can operate as an adaptor (communication slave) for the scanner (communication master). In the system configuration example, IO communication is carried out with the PLC being a scanner and DX100's PCU-ETHIO being an adaptor.
1.1.3 Scanner
When the IO transmission/reception function is used, DX100 can operate as a scanner (communication master) for the adaptor (communication slave). In the system configuration example, IO communications is carried out with DX100's PCU-ETHIO being a scanner and the IO unit being an adaptor.
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1 Introductions
1.2
Number of PCU-ETHIO Boards that can be Used
1.1.4 Message Communication
Message communication can be carried out in parallel with IO transmission and reception. In the system configuration example, message communication with a PC is carried out. The DX100 Ethernet function, the FTP function, and the Ethernet server function (the latter two are extended functions) can be used for this message communication.
Also, communication using CIP is possible. To use the DX100 Ethernet function and the extended option function, settings need to be made separately.
NOTE
When the settings for use of the PCU-ETHIO board have been made, you cannot use the transmission Ethernet port of the JANCD-YCP01 board.
1.2
Number of PCU-ETHIO Boards that can be Used
Only one PCU-ETHIO board can be used for each DX100 controller unit.
(Co-existence with other IO boards is permitted.)
1.3
Upgraded Features in this Version
1.3.1 IO Communication by InputOnly
When communication stations on the network communicate with one another, in conventional ExlusiveOwner connection, as the number of communication stations increases, the number of transmitted packets increases sharply, placing considerable strain on the network band. To cope with this problem, the multicast communication called InputOnly connection is introduced to keep the increase in the number of packets low.
1.3.2 Message Communication Using CIP
CIP for message communication is used so that communication with general panel computer becomes possible.
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1.4
Function Comparison Against Conventional Software
1.4
Function Comparison Against Conventional Software
Table 1-1: Function Comparison Against Conventional Software
Molex board firmware version
IO communication by ExclusiveOwner O
IO communication by InputOnly X
O Message communication by the
Ethernet server function
Message communication by the FTP function
Conventional
Software
3.xx
This Software
(InputOnly-supported version)
4.3
O
O
O
O
O
Message communication by the CIP method
X O
NOTE
InputOnly-supported version software operates only with version 4.3 or higher firmware of the Molex PCU-ETHIO board.
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2 Hardware Specifications
2.1
Board External View
2 Hardware Specifications
The hardware specifications for the PCU-ETHIO board are as follows.
2.1
Board External View
EtherNet/IP connector (RJ45)
PCU-ETHIO
LED (Config Port Indicator:Trans )
LED (Network Status )
EtherNet/IP connector (RJ45)
Discrete I/O allocation connector
*cannot be used with the DX100
LED (Config Port Indicator:Recv)
Configuration connector
(RS232C D-Sub 9 pin)
*cannot be used with the DX100
LED (Module Status )
LED (Ethernet Link)
LED (Transmission speed)
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2 Hardware Specifications
2.2
Board Specifications
2.2
Board Specifications
Items
Interface to external devices
Board mounting position
Error display
Transmission I/O points (max.)
Specifications
EtherNet/IP
Option PCI slot in the DX100 controller
LED display
Input: 2000 points/Output: 2000 points
NOTE
The above maximum I/O points (input: 2000 points/output:
2000 points) are secured on the condition that as an option
IO module, only this board is mounted to DX100. When any other option IO module is attached, the above I/O points cannot be secured.
2.3
Communication Specifications
Items Specifications
Connection type Star (Connection by HUB)
10 Mbps/100 Mbps (Detected automatically during startup) Communication speed
Communication media
Use category 5 or higher shielded Ethernet cables.
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3 How to Mount the Board
WARNING
• Before wiring, be sure to turn OFF the power supply and put up a warning sign, such as “DO NOT TURN ON THE POWER.”
Failure to observe this warning may result in an electric shock or an injury.
• Do not touch the inside of the panel for 5 minutes after the power is turned OFF.
The remaining charged voltage in the capacitor may cause an electric shock or an injury.
• Be sure to close the door and install the protection cover while the power is turned ON.
Failure to observe this warning may result in a fire or an electric shock.
CAUTION
• The wiring and mounting must be performed by authorized and qualified personnel.
Failure to observe this caution may result in a fire or an electric shock.
• Make sure that there is no foreign matter such as metal chips on the board.
In case of malfunction, etc. it may result in an injury or damage the board.
• Make sure that there is no damage or deflection of parts on the board.
In case of malfunction, etc. it may result in an injury or damage the board.
• Correctly connect each cable and connector.
Failure to observe this caution may result in a fire or damage the board.
• Set the switches, etc. correctly.
In case of malfunction, etc. it may result in an injury or damage the board.
• Never touch the mounting surfaces and the soldered surfaces of the board parts directly with fingers.
The generated static electricity may damage the IC, and protrusions on the soldered surface may result in an injury.
• Never touch the soldered surfaces of the board directly with fingers.
Protrusions on the soldered surface may result in an injury.
• Never give any shock to the board.
The shock may damage the board.
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3 How to Mount the Board
3.1
Operating the Front Door of DX100 (Controller)
3.1
Operating the Front Door of DX100 (Controller)
Take the following procedure to mount the PCU-ETHIO board.
1. Using a coin or a flathead screwdriver, rotate the door locks on the front of the DX100 (two places) 90 degrees clockwise.
clockwise
90 door lock flathed screw driver
2. Rotate the main power supply switch to the “OFF” position and open the door gently.
I
ON
TRIPPED
OFF
RESET
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3.2
Mounting the PCU-ETHIO Board to DX100
3.2
Mounting the PCU-ETHIO Board to DX100
1. Remove the riser card (JANCD-YBB02-E) from the CPU rack.
2. Insert the PCU-ETHIO into the PCI slot of the riser card, and tighten the support clamps to ensure it does not come lose.
3. Attach the riser card to the CPU rack.
NOTE
• To mount the PCU-ETHIO board to the riser card, attach it to slot 1. If the PCU-ETHIO board is attached to slot 2, it may fail to be identified and fail to operate correctly.
• Do not use PCU-ETHIO and ETHIO-PN simultaneously.
Controller may fail to operate correctry.
Tighten the screws
CN1 : CPU Optional Slot 1 CN2 : CPU Optional Slot 2
3.3
Connecting Cable
1. Connect a category 5 or higher shielded cable to the RJ45 connector of the PCU-ETHIO board.
NOTE
When the settings for use of the PCU-ETHIO board have been made, you cannot use the transmission Ethernet port of the JANCD-YCP01 board.
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3.4
Closing the Front Door of the DX100
3.4
Closing the Front Door of the DX100
1. Close the door gently.
2. Using a coin or a flathead screwdriver, rotate the door locks on the front of the DX100 (two places) 90 degrees counterclockwise.
counterclockwise 90 flathead screw driver door lock
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4 How to Set Up the Board
4.1
Outline
4 How to Set Up the Board
4.1
Outline
To use the PCU-ETHIO board for DX100, you must configure the settings for option board and I/O module.
Make sure that the PCU-ETHIO is already attached to DX100 and then configure the settings shown in the subsequent chapters.
NOTE
To configure the settings, be sure to attach the PCU-ETHIO board and then select the management mode.
You cannot configure the settings when the board is not attached or when in operation mode or editing mode.
4.1.1 Window Composition
Select the maintenance mode to set up the PCU-ETHIO board. The composition of the SETUP window is as follows.
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4.1
Outline
Window Composition
OPTION BOARD
PCU-ETHIO
USED/NOT USED
IO SIZE
ETHERNET
Explanation
Determine the board of which slot to set up by selecting #0, #1, or #2. The EtherNet/IP board uses #1
(#0 or #2 cannot be used). Detailed settings should be made on subsequent windows.
Set up the PCU-ETHIO board. Detailed settings should be made on subsequent windows.
Set whether to use the PCU-ETHIO board.
Displays the IO size totally used by the PCU-ETHIO board (displays a total of IO sizes set for adaptor and scanner).
Configure the settings for TCP/IP communication.
Detailed settings should be made on subsequent windows.
IO MODULE
ADAPTOR
NETWORK
DEVICE
Configure the settings for TCP/IP communication.
Detailed settings should be made on subsequent windows.
Select the device for TCP/IP communication.
When the PCU-ETHIO board is used, “EtherNet/IP” is displayed.
You cannot change this setting.
HOST NAME For TCP/IP communication, set the name of local station (this DX100). This name is put and used by the local station only and cannot be used for access from other communication stations.
DOMAIN
NAME
When the DNS setting is enabled, set the name of the domain the local station belongs to.
HOST SET UP Configure the communication settings for TCP/IP.
Detailed settings should be made on subsequent windows.
SCANNER
DEVICE INFORMATION LIST
Configure the settings for communication with sequencers. Detailed settings should be made on subsequent windows.
Configure the settings for communication with tools.
Detailed settings should be made on subsequent windows. Note that before configuring these settings, you must set “Device information list”.
To configure the scanner settings, you must define the communication target slave station on this window.
Detailed settings should be made on subsequent windows.
Checks and revises signals used by DX100 for input/ output from/to outside.
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4.2
Setup Procedure
4.2
Setup Procedure
Take the following procedure to set up the PCU-ETHIO board.
4.2.1 Calling the SETUP Window for the PCU-ETHIO Board
First, take the following procedure to display the SETUP window for the
PCU-ETHIO board.
1. Turn the power supply ON while pressing [Main Menu] simultaneously.
– The maintenance mode appears.
2. Change security mode to management mode.
3. Select [SYSTEM] under the main menu.
– The sub menu appears.
4. Select [SETUP].
– The SETUP window appears.
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4.2
Setup Procedure
5. Select [OPTION BOARD].
– The option board screen appears.
6. Select [PCU-ETHIO].
– The PCU-ETHIO SETUP window appears.
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4.2
Setup Procedure
4.2.2 Setting the Device Information List
To use the PCU-ETHIO as a scanner, you must set the network information such as lower tools in advance. This chapter describes how to register such information into the device information list. If you do not need to make registration in the device information list, move to the next chapter.
1. Select [DETAIL] in Device information list.
– The Device information list window appears.
In the example shown below, no device information has been registered; only the cursor is displayed on screen.
2. Press [SELECT].
– The device information setting window appears.
– (Description of each setting item)
(1) Registered name
Enter the name you want to register as a device.
Without this name, you cannot make registration in the device information list.
To delete an already registered device, make this field blank.
(2) Comment
Enter a comment as needed.
(3) Connection RPI (O->T)
Set the revision processing interval (RPI) for data to be sent from the originator to the target.
(4) Connection RPI (T->O)
Set the revision processing interval (RPI) for data to be sent from the target to the originator.
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Setup Procedure
(5) Connection type
Set the connection type for connection. Either ExclusiveOwner or
InputOnly can be used.
(6) Input size
Set the size of the IN signal to be input into DX100 (Unit: Byte).
(7) Output size
Set the size of the OUT signal to be output from DX100 (Unit:
Byte).
(8) Configuration size
Set the size of configuration data (Unit: Word).
(9) Input instance
Set the instance number of the IN signal to be input into DX100.
(10) Output instance
Set the instance number of the OUT signal to be output from
DX100.
(11) Configuration instance
Set the instance number of configuration data.
3. Enter the desired values.
– An input example is shown below. (Configure the settings that suits the actual communication target.)
4. Press [ENTER].
– The confirmation dialog box appears.
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4.2
Setup Procedure
5. Select [Yes].
– The Device information list window will appear again.
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– In the window example, the device information named “TEST” has been registered. A maximum of 16 devices can be set into the device information list. Move the cursor over the field where no string is displayed and press [SELECT] to register new device information.
6. Press [ENTER].
– The PCU-ETHIO SETUP window will appear again.
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4.2
Setup Procedure
4.2.3 General Setup for the PCU-ETHIO Board
Perform general setup for the PCU-ETHIO board. In the general setup, set whether to use the PCU-ETHIO board.
1. Select [PCU-ETHIO] in the PCU-ETHIO SETUP window.
– The PCU-ETHIO SETUP window appears.
– (Description of each setting item)
(1) PCU-ETHIO
Select this item using a toggle switch to alternately change between “USED” and “NOT USED”.
Set it to “USED”.
“IO size (IN/OUT)” displayed on this window size shows a total of IO sizes set for adaptor and scanner. You cannot set the IO size on this window.
The detailed settings for the PCU-ETHIO board should be made using
“EtherNet/IP”, “ADAPTER”, and “SCANNER”.
4.2.4 Ethernet Setting
For EtherNet/IP communication, settings such as the IP address for
Ethernet communication are required. This chapter describes how to configure such settings.
1. Select [Ethernet/IP] in the PCU-ETHIO general setup window.
– The Network function setting window appears.
– For details on each setting item, see the last part of this chapter.
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4.2
Setup Procedure
2. Set the host name and the domain name.
– Set the host name and the domain name as needed.
3. Select [DETAIL].
– The Host setting window appears.
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– For details on each setting item, see the last part of this sub-chapter.
4. Press [ENTER].
– The Network function setting window will appear again.
5. Press [ENTER].
– The PCU-ETHIO general setup window will appear again.
The meanings and details of setting items described in this sub-chapter are as follows:
Host name (Network function setting window)
NOTE
The host name is not used for communication.
Set the host name to assign to DX100. This name is put and used by the local station only and cannot be used for access from other communication stations. For entry, use single-byte alphanumeric, dash “-”, and underscore “_” characters. Be sure to include one or more alphabetical characters in the name.
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4.2
Setup Procedure
Domain name (Network function setting window)
NOTE
The domain name is used when DNS is enabled.
Set the name of the domain DX100 belongs to.
For entry, use single-byte alphanumeric, dash “-”, underscore “_”, and dot
“.” characters.
IP address setting (Host setting window)
In “IP ADDRESS SETTING”, specify the method for setting the IP address for DX100.
Using the pulldown menu, select between “MANUAL SETTING” and
“DHCP SETTING”.
Note that when “MANUAL SETTING” is selected, be sure to set also “IP
ADDRESS” and “SUBNET MASK”.
NOTE
• When “DHCP SETTING” is selected in “DNS SETTING” or
“SNTP SETTING”, “MANUAL SETTING” cannot be selected in “IP ADDRESS SETTING” (if “MANUAL
SETTING” is selected, the error “DHCP is already set to use for another item” occurs). To select “MANUAL
SETTING” in “IP ADDRESS SETTING”, select in advance an option other than “DHCP SETTING” in “DNS
SETTING” and “SNTP SETTING”.
• DX100 does not support NetBIOS, WINS (Windows
Internet Name Service), or Dynamic DNS. For that reason, if an IP address is arbitrarily set for DX100 through DHCP, access from outside becomes difficult. To make access from outside easy even when an IP address is set by DHCP, take measures on the DHCP server side as needed such as always creating the same IP address as a DHCP lease address.
• DX100 supports IPv4 only.
• IPv6 is not supported.
IP address
Using single-byte numeric characters and dots “.”, enter the IP address to set to DX100 in the format “xx.xx.xx.xx” (xx being a decimal number).
Note that when “DHCP SETTING” is selected in “IP ADDRESS
SETTING”, this setting will not be used.
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4.2
Setup Procedure
Subnet mask
Using single-byte numeric characters and dots “.”, enter the subnet mask to set to DX100 in the format “xx.xx.xx.xx” (xx being a decimal number).
Note that when “DHCP SETTING” is selected in “IP ADDRESS
SETTING”, this setting will not be used.
Default gateway
To communicate with terminals on a different network (or a different subnet) over TCP/IP, the default gateway must be set. In such cases, using single-byte numeric characters and dots “.”, enter the default gateway to set to DX100 in the format “xx.xx.xx.xx” (xx being a decimal number). If not using the default gateway, set “0.0.0.0”. Note that when
“DHCP SETTING” is selected in “IP ADDRESS SETTING”, this setting will not be used.
DNS setting (Host setting window)
In “DNS setting”, set whether to use the DNS (Domain Name System) client function, and specify how to set the DNS server when using the
DNS client function.
Using the pulldown menu, select between “NOT USED”, “MANUAL
SETTING”, and “DHCP SETTING”.
Note that when “MANUAL SETTING” is selected, be sure to set also “DNS
SERVER”.
NOTE
• When “MANUAL SETTING” is selected in “IP ADDRESS
SETTING”, “DHCP SETTING” cannot be selected in “DNS
SETTING” (if “DHCP SETTING” is selected, the error
“DHCP is not set to use” occurs). To select “DHCP
SETTING” in “DNS SETTING”, select in advance “DHCP
SETTING” in “IP ADDRESS SETTING”.
• When “MANUAL SETTING” is selected in “SNTP
SETTING” and the host name is set for “SNTP SERVER”,
“NOT USED” cannot be selected in “DNS SETTING” (if
“NOT USED” is selected, the error “DNS is already set to use for another item” occurs). To select “NOT USED” in
“DNS SETTING”, confirm in advance that the host name is not set for any item.
DNS server
Using single-byte numeric characters and dots “.”, enter the IP address of the DNS server in the format “xx.xx.xx.xx” (xx being a decimal number).
Note that when “NOT USED” or “DHCP SETTING” is selected in “DNS
SETTING”, this setting will not be used.
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4.2
Setup Procedure
Server (Host PC) (Host setting window)
Specify the server (host PC) when standalone or DCI is used for the data transmission function. Using single-byte numeric characters and dots “.”, enter the IP address of the server in the format “xx.xx.xx.xx” (xx being a decimal number).
SNTP setting (Host setting window)
In “SNTP SETTING”, set whether to use the SNTP (Simple Network Time
Protocol) client function, and specify how to set the SNTP server when using the SNTP client function.
Using the pulldown menu, select between “NOT USED”, “MANUAL
SETTING”, “BROADCAST”, and “DHCP SETTING”.
Note that when “MANUAL SETTING” is selected, be sure to set also
“SNTP SERVER”.
NOTE
When “MANUAL SETTING” is selected in “IP ADDRESS
SETTING”, “DHCP SETTING” cannot be selected in “SNTP setting” (if “DHCP SETTING” is selected, the error “DHCP is not set to use” occurs). To select “DHCP SETTING” in
“SNTP SETTING”, select in advance “DHCP SETTING” in
“IP ADDRESS SETTING”.
SNTP server
Using single-byte numeric characters and dots “.”, enter the IP address of the SNTP server in the format “xx.xx.xx.xx” (xx being a decimal number).
Note that when the DNS client function is enabled in the settings, you can also enter a domain name (or Fully Qualified Domain Name). Single-byte alphanumeric, dash “-”, underscore “_”, and dot “.” characters can be used to enter a domain name. Be sure to include one or more alphabetical characters in the name.
Note that when “NOT USED”, “BROADCAST”, or “DHCP SETTING” is selected in “SNTP SETTING”, this setting will not be used.
Time difference against UTC time
Time that can be obtained with SNTP protocol is UTC time (Coordinated
Universal Time). To match local time with UTC time, enter a time difference against UTC time. At that time, enter the hour “(-)**” and the minute “**” separately using single-byte minus “-” and numeric characters.
For example, when using EST (Eastern Standard Time) as local time, set as -5:00.
Note that when “NOT USED” is selected in “SNTP SETTING”, this setting will not be used.
Query interval
Enter the interval for sending a query to the SNTP server. Enter the number of hours “H” using a single-byte numeric character.
Note that when “NOT USED” or “BROADCAST” is selected in “SNTP
SETTING”, this setting will not be used.
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4.2
Setup Procedure
4.2.5 Adaptor Setting
The settings for adaptor are required for IO transmission and reception to and from the scanner (communication master such as PLC) during
EtherNet/IP IO communication. This chapter describes the adaptor setting procedure.
1. Select [ADAPTER] in the PCU-ETHIO general setup window.
– The Adaptor setting window appears.
– (Description of each setting item)
(1) Adaptor
Select this item using a toggle switch to alternately change between “ENABLE” and “DISABLE”.
For use as an adaptor, set this item as “ENABLE”.
(2) Input size
Set the size of the IN signal to be input into DX100 (Unit: Byte).
(3) Output size
Set the size of the OUT signal to be output from DX100 (Unit:
Byte).
(4) Configuration size
Set the size of configuration data (Unit: Word).
(5) Input instance
Set the instance number of the IN signal to be input into DX100.
(6) Output instance
Set the instance number of the OUT signal to be output from
DX100.
(7) Configuration instance
Set the instance number of configuration data.
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4 How to Set Up the Board
4.2
Setup Procedure
2. Enter the desired values.
– An input example is shown below. (Configure the settings that suits the actual communication target.)
3. Press [ENTER].
– The PCU-ETHIO general setup window will appear again.
4.2.6 Scanner Setting
The settings for scanner are required for IO transmission and reception to and from the adaptor (communication slave such as tool) during EtherNet/
IP IO communication. This chapter describes how to configure such settings.
1. Select [SCANNER] in the PCU-ETHIO general setup window.
– The Scanner setting window appears.
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4.2
Setup Procedure
2. Press [SELECT].
– When a blank field with no registered name in it is selected,
“MODIFY” appears.
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– When a field with a registered name already set to it is selected, the following appears.
– (Description of each item)
(1) Insert
Add new settings to the current number. If settings have been already registered into the current number, such registered settings shift to the next number.
(2) Modify
Change the target registered name (if there is no registered name, register a new name).
(3) Delete
Delete the target registered name.
(4) Details
Display the details of the device information list.
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4.2
Setup Procedure
– When the details are displayed and some current value is changed, an asterisk “ ” is displayed as follows.
3. Select [MODIFY].
– The registered device information list appears.
– For details on how to set the device information list, see
chapter 4.2.2 “Setting the Device Information List” at page 4-5.
4. Select the device you want to use.
– Information on the selected device appears in the Scanner setting window.
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4.2
Setup Procedure
5. Enter the IP address.
– Enter the IP address.
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6. Press [ENTER].
– The PCU-ETHIO general setup window will appear again.
7. Press [ENTER].
– The confirmation dialog box appears.
8. Select [Yes].
– The IO module window appears.
The PCU-ETHIO board setting ends here. Then, you must reconfigure the
IO module according to the settings for the board. Move on to the next setting procedure.
NOTE
If the settings for the option board are not matched to the settings for the IO module, DX100 will not operate correctly.
To prevent the above, after the option board setting process is complete, be sure to execute the IO module setting that appears next.
4.2.7 IO Module Reconfiguration
When changes are made to the settings for the PCU-ETHIO board, you must reconfigure the IO module too. Take the following procedure to reconfigure the IO module.
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4.2
Setup Procedure
1. (Continued from the PCU-ETHIO board setting)
– The IO module window (1st half) appears.
2. Press [ENTER].
– The IO module window (2nd half) appears.
– Check that the values set as “IO size (unit: bit) plus 8” are assigned to the DI and DO of the slot to which the EtherNet/IP board is attached (ST#16).
3. Press [ENTER].
– The confirmation dialog box appears.
4. Select [Yes].
– The settings will be registered and the SETUP window will appear again.
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4.3
IO Assignment Example
4.3
IO Assignment Example
4.3.1 Setting ExclusiveOwner Communication
Adaptor setting
An example of settings for ExclusiveOwner connection is as follows:
Scanner (PLC etc.)
IP Address
Connection RPI (O->T)
Connection RPI (T->O)
Connection type
Output size
Input size
Configuration size
Output instance
Input instance
Configuration instance
192.168.255.1
8 msec
8 msec
ExclusiveOwner
8 Byte
12 Byte
0 Word
101
102
103
Adaptor (DX100)
IP Address
-> Connection RPI (O->T)
<Connection RPI (T->O)
Connection type
-> Input size
<Output size
Configuration size
-> Input instance
<Output instance
Configuration instance
192.168.255.2
Undefined
Undefined
Undefined
8 Byte
12 Byte
0 Word
101
102
103
4.3.2 Setting InputOnly Communication
Scanner (PLC etc.)
IP Address
Connection RPI (O->T)
Connection RPI (T->O)
Connection type
Output size
Input size
Configuration size
Output instance
Input instance
Configuration instance
Adaptor setting
An example of settings as an adaptor (DX100 is the data transmission side) for InputOnly connection is as follows:
192.168.255.1
64 msec
8 msec
InputOnly
0 Byte
12 Byte
0 Word
198
102
103
Adaptor (DX100)
IP Address
-> Connection RPI (O->T)
<Connection RPI (T->O)
Connection type
-> Input size
<Output size
Configuration size
-> Input instance
<Output instance
Configuration instance
192.168.255.2
Undefined
Undefined
Undefined
0 Byte
12 Byte
0 Word
101
102
103
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4.3
IO Assignment Example
Adaptor (PLC etc.)
IP Address
Connection RPI (O->T)
Connection RPI (T->O)
Connection type
Output size
Input size
Configuration size
Output instance
Input instance
Configuration instance
Scanner setting
An example of settings as a scanner (DX100 is the data receiving side) for
InputOnly connection is as follows:
192.168.255.1
Undefined
Undefined
Undefined
8 Byte
0 Byte
0 Word
101
102
103
Scanner (DX100)
IP Address
<Connection RPI (O->T)
-> Connection RPI (T->O)
Connection type
-> Input size
<Output size
Configuration size
-> Input instance
<Output instance
Configuration instance
192.168.255.2
64 msec
8 msec
InputOnly
8 Byte
0 Byte
0 Word
101
0
103
NOTE
• For InputOnly communication, no output data exist. To carry out InputOnly communication using the PCU-ETHIO board, set “0” for the output instance number.
• The instance number varies depending on the communication device. For details on how to set the instance number, see the instruction manual for the target communication device.
4.3.3 Partial Input Data Assignment
In IO communication over EtherNet/IP, instead of all input data, only partial data can be loaded into DX100 and assigned to external input signals. In such cases, set as follows:
1. (After displaying the Scanner setting window and selecting the registered name for which you want to specify the input range,) select
[DETAIL].
– The Device information window appears.
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4.3
IO Assignment Example
2. Select [DETAIL] for the input range setting.
– The Input range setting window appears.
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3. Press [ENTER].
– The Device information window will appear again.
– Follow the same procedure as in the scanner setting up to revision of the IO module.
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4.4
Communication Data
4.4
Communication Data
As IO data transferred into DX100 from the PCU-ETHIO board, besides input/output data transmitted from external EtherNet/IP-supported equipment, the status of the PCU-ETHIO board is also transferred.
Thus, in addition to the contact data area, an eight-point-worth (1 Byte) area, for input and output each, for the status of the PCU-ETHIO board is secured inside DX100 (the output area cannot be used).
PCU-ETHIO board communication data are assigned to the concurrent
I/O signal external input/output signals.
Assignments to external input/output signals inside the PCU-ETHIO board are made as follows:
PCU-ETHIO board
Board status
Adaptor area
(3)
Area for station #1
Scanner area
Area for station #2
Area for station #3
(5)
(5)’
(5)’’
(4)
(2)
(1)
(1) Number of bytes occupied by DX100 as an IO module
Consists of the current value in item (2) below + board status 1
byte. A value displayed in chapter 4.2.7 “IO Module Reconfigura-
tion” at page 4-17 is a value obtained by converting this value into
a bit count (x8).
(2) Number of bytes set for the PCU-ETHIO board I/O area
A value displayed as ‘IO size (IN/OUT)’ in chapter 4.2.3 “General
Setup for the PCU-ETHIO Board” at page 4-8.
(3) Number of bytes set for the adaptor I/O area
A greater value between the values set for ‘Input size’/‘Output
size’ in chapter 4.2.5 “Adaptor Setting” at page 4-13.
(4) Number of bytes set for the scanner I/O area
This value cannot be set.
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4.4
Communication Data
(5) Number of bytes set for the I/O areas (5), (5)', and (5)" of the stations (devices) managed by scanner.
The number of bytes is to be set using ‘Input size’ or ‘Output size’
in chapter 4.2.2 “Setting the Device Information List” at page 4-5.
Set which device to use by making a choice from the registered
device information list in chapter 4.2.6 “Scanner Setting” at
The following chapter shows a concurrent I/O assignment example when only the PCU-ETHIO board is installed. In the example, communication is carried out assuming the quantity of data being 16 bytes for adaptor, 8 bytes for station #1 of scanner, and 8 bytes for station #2 of scanner (the same number of bytes for IN/OUT). And the 20010 - 20057 and 30010 -
30057 input/output areas are used by the DX100 standard I/O unit.
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4.4
Communication Data
4.4.1 IO Data
Table 4-1: PCU-ETHIO Board IO Assignment Example
Status
Input
20060 to 20067 Board status
1)
Output
30060 to 30067 Not available
Adaptor area 20070 to 20077 Input data (1) 30070 to 30077 Output data (1)
20080 to 20087 Input data (2) 30080 to 30087 Output data (2)
20090 to 20097 Input data (3) 30090 to 30097 Output data (3)
20100 to 20107 Input data (4) 30100 to 30107 Output data (4)
20110 to 20117 Input data (5) 30110 to 30117 Output data (5)
20120 to 20127 Input data (6) 30120 to 30127 Output data (6)
Scanner:
Area for station #1
20130 to 20137 Input data (7) 30130 to 30137 Output data (7)
20140 to 20147 Input data (8) 30140 to 30147 Output data (8)
20150 to 20157 Input data (9) 30150 to 30157 Output data (9)
20160 to 20167 Input data (10) 30160 to 30167 Output data (10)
20170 to 20177 Input data (11) 30170 to 30177 Output data (11)
20180 to 20187 Input data (12) 30180 to 30187 Output data (12)
20190 to 20197 Input data (13) 30190 to 30197 Output data (13)
20200 to 20207 Input data (14) 30200 to 30207 Output data (14)
20210 to 20217 Input data (15) 30210 to 30217 Output data (15)
20220 to 20227 Input data (16) 30220 to 30227 Output data (16)
20230 to 20237 Input data (1) 30230 to 30237 Output data (1)
Scanner:
Area for station #2
20240 to 20247 Input data (2) 30240 to 30247 Output data (2)
20250 to 20257 Input data (3) 30250 to 30257 Output data (3)
20260 to 20267 Input data (4) 30260 to 30267 Output data (4)
20270 to 20277 Input data (5) 30270 to 30277 Output data (5)
20280 to 20287 Input data (6) 30280 to 30287 Output data (6)
20290 to 20297 Input data (7) 30290 to 30297 Output data (7)
20300 to 20307 Input data (8) 30300 to 30307 Output data (8)
20310 to 20317 Input data (1) 30310 to 30317 Output data (1)
20320 to 20327 Input data (2) 30320 to 30327 Output data (2)
20330 to 20337 Input data (3) 30330 to 30337 Output data (3)
20340 to 20347 Input data (4) 30340 to 30347 Output data (4)
20350 to 20357 Input data (5) 30350 to 30357 Output data (5)
20360 to 20367 Input data (6) 30360 to 30367 Output data (6)
20370 to 20377 Input data (7) 30370 to 30377 Output data (7)
20380 to 20387 Input data (8) 30380 to 30387 Output data (8)
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4.5
Managing Setting Data
1 [PCU-ETHIO board status]
The table below shows the meanings of the PCU-ETHIO board statuses (the first 8 points of the assigned area). The
“xxx” value in each assigned signal
(input) in the table corresponds to part of each top assigned number. (Since
20060 - 20067 are assigned first (top assigned numbers), “xxx” in the following example is “006”.)
Signal
2xxx0 to 2xxx3
2xxx4
2xxx5
2xxx6
2xxx7
Description
Vendor-reserved (not available)
Indicates the existence of an error at the EtherNet/IP adaptor communication.
Normal status: 0
Communication error: 1
Indicates the existence of a non-connected device at the
EtherNet/IP scanner communication.
Connecting to all devices normally: 0
Non-connected device exists: 1
Indicates the status of EtherNet/IP communication.
Normal status: 0
Communication error: 1
Indicates the operating status of the PCU-ETHIO board.
Normal status: 0
Communication error: 1
4.5
Managing Setting Data
PCU-ETHIO board setting information can be saved and loaded using an external storage device. The procedure is shown below. For general instructions on how to operate an external storage device, see “7 External memory device” in “DX100 OPERATOR'S MANUAL”.
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4.5
Managing Setting Data
4.5.1 How to Save Data
1. DX100 Power supply turn on.
2. Select [EXTERNAL MEMORY DEVICE] under the main menu.
3. Select [SAVE].
– The SAVE window appears.
4. Select [SYSTEM DATA].
– The System data selection window appears.
5. Select [APPLICOM EIP CONFIG DATA].
– “ ” appears for the selected system data.
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4.5
Managing Setting Data
6. Press [ENTER].
– The confirmation dialog box appears.
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7. Select [Yes].
– The file saving process will start and the transmission window appears. If you want to stop the saving process, press [STOP].
– When the saving process is complete or cancelled, the file selection window will appear again.
4.5.2 How to Load Data
1. DX100 Power supply turn on.
2. The security mode is changed to the management mode.
3. Select [EXTERNAL MEMORY DEVICE] under the main menu.
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Managing Setting Data
4. Select [LOAD].
– The LOAD window appears.
5. Select [SYSTEM DATA].
– The System data selection window appears.
6. Select [APPLICOM EIP CONFIG DATA].
– “ ” appears for the selected system data.
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Managing Setting Data
7. Press [ENTER].
– The confirmation dialog box appears.
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8. Select [Yes].
– The file loading process will start and the transmission window appears.
– When the loading process is complete, the file selection window will appear again.
9. After the loading process becomes complete, turn the power ON again.
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5 Message Communication
5.1
Conventional Message Communication
5 Message Communication
5.1
Conventional Message Communication
In PCU-ETHIO board message communication, it is possible to achieve the same level of data transmission/reception as the level achieved by the
DX100 Ethernet function. For details, see the following manuals:
• DX100 OPTIONS INSTRUCTIONS FOR DATA TRANSMISSION
FUNCTION and DX100 OPTIONS INSTRUCTIONS FOR
ETHERNET FUNCTION
• DX100 OPTIONS INSTRUCTIONS FOR ETHERNET SERVER
FUNCTION
• DX100 OPTIONS INSTRUCTIONS FOR FTP FUNCTION
5.2
Message Communication Using CIP
The following commands are available in message communication using
CIP:
0x77
0x78
0x79
0x7A
0x7B
0x7C
0x7D
0x7E
Class number
0x70
0x71
0x72
0x73
0x74
0x75
0x76
0x7F
0x80
0x81
Function outline
Read a currently occurring alarm
Read an alarm history
Read the current status
Read the current active job information
Read the current axis configuration
Read the current robot position
Read the deviation of each axis position
Read the torque of each axis
Read and write IO data
Read and write register data
Read and write a byte-type variable (B)
Read and write an integer-type variable (I)
Read and write a double precision integer-type variable (D)
Read and write a real-type variable (R)
Read and write a character-type variable (S)
Read and write a robot position-type variable (P)
Read and write a base position-type variable (BP)
Read and write an external axis position-type variable (EX)
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5.2
Message Communication Using CIP
5.2.1 Details on Commands for Message Communication Using CIP
Read a currently occurring alarm
Table 5-1(a): Required Format
Division Outline Size Data
Header Class 2 Byte 0x70
Instance 2 Byte Specify the read data division
1 to 4
Attribute 1 Byte Specify the read data type
1 to 5
Service 1 Byte Specify the data access method
0x01: Get Attribute All
0x0E: Get Attribute
Single
Explanation
Vendor-specific
Specify the alarm
1: Latest alarm
2: Alarm immediately before 1
3: Alarm immediately before 2
4: Alarm immediately before 3
1: Alarm code to
5: Alarm string name
Table 5-1(b): Response Format (When Reading All Attributes/Omitting
Headers)
Division Outline
Data Alarm code
Size Explanation
4 Byte Output the alarm code
0 to 9999
Alarm data 4 Byte Output the alarm data
Alarm data type 4 Byte Output the alarm data type
0: No supplementary indication
1: USHORT type decimal data
2: UCHAR type bit pattern
3: General-purpose axis type
4: Space coordinates type
5: Robot coordinates type
6: Servo axis type
8: Control group type
9: SHORT type decimal data
10: USHORT type bit pattern
Alarm occurrence date/time
Alarm string
16 Byte Output the alarm occurrence date/time as strings
Example of display: 2010/10/10 10:10
32 Byte Output the alarm name as strings
The same language as the one used for display on the pendant is used.
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5.2
Message Communication Using CIP
Read an alarm history
Table 5-2(a): Required Format
Division Outline Size Data
Header Class 2 Byte 0x71
Instance 2 Byte Specify the read data division
1 to 100
1001 to 1100
2001 to 2100
3001 to 3100
4001 to 4100
Attribute 1 Byte Specify the read data type
1 to 5
Service 1 Byte Specify the data access method
0x01: Get Attribute All
0x0E: Get Attribute
Single
Explanation
Vendor-specific
Specify the alarm division
1 to 100: major failure
1001 to 1100: minor failure
2001 to 2100: User
(System)
3001 to 3100: User
(User)
4001 to 4100: Off-line
1: Alarm code to
5: Alarm string name
Table 5-2(b): Response Format (When Reading All Attributes/Omitting
Headers)
Division Outline
Data Alarm code
Alarm data
Alarm data type
Alarm occurrence date/time
Alarm string
Size Explanation
4 Byte Output the alarm code
0 to 9999
4 Byte Output the alarm data
4 Byte Output the alarm data type
0: No supplementary indication
1: USHORT type decimal data
2: UCHAR type bit pattern
3: General-purpose axis type
4: Space coordinates type
5: Robot coordinates type
6: Servo axis type
8: Control group type
9: SHORT type decimal data
10: USHORT type bit pattern
16 Byte Output the alarm occurrence date/time as strings
Example of display: 2010/10/10 10:10
32 Byte Output the alarm name as strings
The same language as the one used for display on the pendant is used.
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5.2
Message Communication Using CIP
Read the current status
Table 5-3(a): Required Format
Division Outline Size Data
Header Class 2 Byte 0x72
Instance 2 Byte Specify “1”
Attribute 1 Byte Specify the read data type
1 to 2
Service 1 Byte Specify the data access method
0x01: Get Attribute All
0x0E: Get Attribute Single
Explanation
Vendor-specific
1: Data 1
2: Data 2
Table 5-3(b): Response Format (When Reading All Attributes/Omitting
Headers)
Division
Data
Outline
Data 1
Data 2
Size
4 Byte
4 Byte
Explanation
Output one of the following statuses:
bit 0: Step
bit 1: 1 cycle
bit 2: Auto
bit 3: Running
bit 4: Safety speed operation
bit 5: Teach
bit 6: Play
bit 7: Command remote
Output one of the following statuses:
bit 0: System-reserved
bit 1: Hold (Programming pendant)
bit 2: Hold (external)
bit 3: Hold (Command)
bit 4: Alarm
bit 5: Error
bit 6: Servo on
bit 7: System-reserved
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5 Message Communication
5.2
Message Communication Using CIP
Read the current active job information
Table 5-4(a): Required Format
Division Outline Size Data
Header Class 2 Byte 0x73
Instance 2 Byte Specify the read task series
1 to 16
Attribute 1 Byte Specify the read data type
1 to 4
Service 1 Byte Specify the data access method
0x01: Get Attribute All
0x0E: Get Attribute
Single
Explanation
Vendor-specific
Specify the serial number of the task to read
1: Master task
2: Sub task 1
to
16: Sub task 15
Data number of the active job information
1: Job name
to
4: Speed override value
Table 5-4(b): Response Format (When Reading Al Attributes/Omitting
Headers)
Division Outline
Data Job name
Line number
Step number
Size Explanation
32 Byte Output the job name
4 Byte
4 Byte
Output the line number
0 to 9999
Output the step number
1 to 9998
Speed override value 4 Byte Output the speed override value
Unit: 0.01%
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5.2
Message Communication Using CIP
Read the current axis configuration
Table 5-5(a): Required Format
Division Outline Size Data
Header Class 2 Byte 0x74
Instance 2 Byte Specify the control group to read
1 to 8
11 to 18
21 to 44
101 to 108
111 to 118
Attribute 1 Byte Specify the read data type
1 to 8
Explanation
Vendor-specific
Specify the control group and the coordinates system
1 to 8: Robot (pulse)
11 to 18: Base (pulse)
21 to 44: Station
(Pulse)
101 to 108: Robot
(robot coordinate)
(X-Y coordinate)
111 to 118: Base
(linear)
Specify the data number of the axis information
1: 1st axis coordinates name
to
8: 8th axis coordinates name
Service 1 Byte Specify the data access method
0x01: Get Attribute All
0x0E: Get Attribute
Single
Table 5-5(b): Response Format (When Reading All Attributes/Omitting
Headers)
Division Outline
Data
Size Explanation
1st axis coordinates name 4 Byte The following will be output:
2nd axis coordinates name
4 Byte
3rd axis coordinates name 4 Byte
4th axis coordinates name 4 Byte
5th axis coordinates name 4 Byte
For robot (pulse):
‘S’, ‘L’, …‘T’
For robot/base (X-Y coordinate):
‘X’, ‘Y’, …‘Rz’
For base/station (pulse):
‘1', ‘2’, …‘6’
6th axis coordinates name 4 Byte
7th axis coordinates name 4 Byte
8th axis coordinates name 4 Byte
Data on each axis is set in ascending order.
The value zero is set to a non-existing axis.
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5 Message Communication
5.2
Message Communication Using CIP
Read the current robot position
Table 5-6(a): Required Format
Division Outline Size Data
Header Class 2 Byte 0x75
Instance 2 Byte Specify the control group to read
1 to 8
11 to 18
21 to 44
101 to 108
Attribute 1 Byte Specify the read data type
1 to 13
Service 1 Byte Specify the data access method
0x01: Get Attribute All
0x0E: Get Attribute
Single
Explanation
Vendor-specific
Specify the control group and the coordinates system
1 to 8: Robot (Pulse)
11 to 18: Base (Pulse)
21 to 44: Station
(Pulse)
101 to 108: Robot
(Base)
Specify the data number of the position information
1: Data type
to
13: 8th axis data
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5.2
Message Communication Using CIP
Table 5-6(b): Response Format (When Reading All Attributes/Omitting
Headers)
Division Outline
Data Data type
Configuration
Size Explanation
4 Byte The position data type will be output
0: Pulse
16: Base
4 Byte The configuration will be output
bit 0: Back
bit 1: Lower arm
bit 2: No flip
bit 3: R axis ≥ 180°
bit 4: T axis ≥ 180°
bit 5: S axis ≥ 180°
4 Byte Tool number
Reservation 4 Byte
Extended configuration 4 Byte Output the 7-axis robot extended configuration
bit 0: θL ≥ 180°
bit 1: θU ≥ 180°
bit 2: θB ≥ 180°
bit 3: θE ≥ 180°
bit 4: θW ≥ 180°
1st axis data
2nd axis data
3rd axis data
4th axis data
5th axis data
6th axis data
7th axis data
8th axis data
4 Byte The following values will be output:
4 Byte
For pulse:
Each axis’ pulse value
4 Byte
For base:
4 Byte
4 Byte
Length (μm)
Angle (0.0001°)
4 Byte
4 Byte
4 Byte
Data on each axis is set in ascending order.
The value zero is set to a non-existing axis.
Read the deviation of each axis position
Table 5-7(a): Required Format
Division Outline Size Data
Header Class 2 Byte 0x76
Instance 2 Byte Specify the control group to read
1 to 8
11 to 18
21 to 44
Attribute 1 Byte Specify the read data type
1 to 8
Service 1 Byte Specify the data access method
0x01: Get Attribute All
0x0E: Get Attribute
Single
Explanation
Vendor-specific
Specify the control group
1 to 8: Robot
11 to 18: Base
21 to 44: Station
Specify the data number of the position deviation information
1: 1st axis data
to
8: 8th axis data
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5 Message Communication
5.2
Message Communication Using CIP
Table 5-7(b): Response Format (When Reading All Attributes/Omitting
Headers)
Division Outline
Data 1st axis data
Size Explanation
4 Byte The pulse value of each axis will be output:
2nd axis data 4 Byte
3rd axis data 4 Byte
Data on each axis is set in ascending order.
The value zero is set to a non-existing axis.
4th axis data 4 Byte
5th axis data 4 Byte
6th axis data 4 Byte
7th axis data 4 Byte
8th axis data 4 Byte
Read the torque of each axis
Table 5-8(a): Required Format
Division Outline Size Data
Header Class 2 Byte 0x77
Instance 2 Byte Specify the control group to read
1 to 8
11 to 18
21 to 44
Attribute 1 Byte Specify the read data type
1 to 8
Service 1 Byte Specify the data access method
0x01: Get Attribute All
0x0E: Get Attribute
Single
Explanation
Vendor-specific
Specify the control group
1 to 8: Robot
11 to 18: Base
21 to 44: Station
Specify the data number of each axis torque
1: 1st axis data
to
8: 8th axis data
Table 5-8(b): Response Format (When Reading All Attributes/Omitting
Headers)
Division Outline
Data 1st axis data
Size Explanation
4 Byte The value for the torque of each axis is output
2nd axis data 4 Byte
3rd axis data 4 Byte
4th axis data
5th axis data
4 Byte
4 Byte as a percentage when the nominal value is
100%.
Data on each axis is set in ascending order.
The value zero is set to a non-existing axis.
6th axis data 4 Byte
7th axis data 4 Byte
8th axis data 4 Byte
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5 Message Communication
5.2
Message Communication Using CIP
Read and write IO data
Table 5-9(a): Required Format/Data Omitted When Writing
Division Outline Size Data
Header Class 2 Byte 0x78
Instance 2 Byte Specify the signal to read/ write
1 to 256
1001 to 1256
2001 to 2256
3001 to 3256
4001 to 4160
5001 to 5200
6001 to 6064
7001 to 7999
2501 to 2756
3501 to 3756
8001 to 8064
8201 to 8220
Explanation
Vendor-specific
Specify the value obtained by dividing the logical number of the signal by 10
1 to 256: General input
1001 to 1256:
General output
2001 to 2256:
External input
2501 to 2756:
Network input
* Writable
3001 to 3256:
External output
3501 to 3756:
Network output
4001 to 4160: Specific input
5001 to 5200: Specific output
6001 to 6064:
Interface panel input
7001 to 7999:
Auxiliary relay
8001 to 8064: Control status
8201 to 8220: Pseudo input
Attribute 1 Byte Specify “1”
Service 1 Byte Specify the data access method
0x10: Set Attribute Single
0x0E: Get Attribute
Single
Table 5-9(b): Response Format (When Reading All Attributes/Omitting
Headers)
Division Outline Size Explanation
Data IO data 1 Byte When parameter:RS023=1 is set, the data will be treated as 2 byte data (only the 1 byte portion is treated as valid data).
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5 Message Communication
5.2
Message Communication Using CIP
Read and write register data
Table 5-10(a): Required Format/Data Omitted When Writing
Division Outline Size Data
Header Class 2 Byte 0x79
Instance 2 Byte Specify the register to read/write
0 to 999 or 1 to 1000
Explanation
Vendor-specific
Specify the register number
(Parameter: RS022=1)
Attribute 1 Byte Specify “1”
Service 1 Byte Specify the data access method
0x0E: Get Attribute
Single
0x10: Set Attribute Single
Specify the register number +1
(Parameter: RS022=0)
Table 5-10(b): Response Format (When Reading All Attributes/Omitting
Headers)
Division
Data
Outline
Register data
Size
2 Byte
Explanation
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5.2
Message Communication Using CIP
Read and write a byte-type variable (B)
Table 5-11(a): Required Format/Data Omitted When Writing
Division Outline Size Data
Header Class 2 Byte 0x7A
Instance 2 Byte Specify the variable B to read/write
From 0 or from 1
Explanation
Vendor-specific
Specify the variable B number
(Parameter: RS022=1)
Attribute 1 Byte Specify “1”
Service 1 Byte Specify the data access method
0x0E: Get Attribute
Single
0x10: Set Attribute Single
Specify the variable B number +1
(Parameter: RS022=0)
Table 5-11(b): Response Format (When Reading All Attributes/Omitting
Headers)
Division Outline
Data
Size Explanation
(B) variable data 1 Byte When parameter: RS023=1 is set, the data will be treated as 2 byte data (only the 1 byte portion is treated as valid data).
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5 Message Communication
5.2
Message Communication Using CIP
Read and write an integer-type variable (I)
Table 5-12(a): Required Format/Data Omitted When Writing
Division Outline Size Data
Header Class 2 Byte 0x7B
Instance 2 Byte Specify the variable I to read/write
From 0 or from 1
Explanation
Vendor-specific
Specify the variable I number
(Parameter: RS022=1)
Specify the variable I number +1
(Parameter: RS022=0)
Attribute 1 Byte Specify “1”
Service 1 Byte Specify the data access method
0x0E: Get Attribute
Single
0x10: Set Attribute
Single
Table 5-12(b): Response Format (When Reading All Attributes/Omitting
Headers)
Division Outline
Data (I) variable data
Size
2 Byte
Explanation
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5.2
Message Communication Using CIP
Read and write a double precision integer-type variable (D)
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Table 5-13(a): Required Format/Data Omitted When Writing
Division Outline Size Data
Header Class 2 Byte 0x7C
Instance 2 Byte Specify the variable D to read/write
From 0 or from 1
Explanation
Vendor-specific
Specify the variable D number
(Parameter: RS022=1)
Specify the variable D number +1
(Parameter: RS022=0)
Attribute 1 Byte Specify “1”
Service 1 Byte Specify the data access method
0x0E: Get Attribute
Single
0x10: Set Attribute
Single
Table 5-13(b): Response Format (When Reading All Attributes/Omitting
Headers)
Division Outline
Data (D) variable data
Size
4 Byte
Explanation
Read and write a real-type variable (R)
Table 5-14(a): Required Format/Data Omitted When Writing
Division Outline Size Data
Header Class 2 Byte 0x7D
Instance 2 Byte Specify the variable D to read/write
From 0 or from 1
Explanation
Vendor-specific
Specify the variable R number
(Parameter: RS022=1)
Specify the variable R number +1
(Parameter: RS022=0)
Attribute 1 Byte Specify “1”
Service 1 Byte Specify the data access method
0x0E: Get Attribute
Single
0x10: Set Attribute
Single
Table 5-14(b): Response Format (When Reading All Attributes/Omitting
Headers)
Division Outline
Data (R) variable data
Size
4 Byte
Explanation
A real value is output
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5 Message Communication
5.2
Message Communication Using CIP
Read and write a string-type variable (S)
Table 5-15(a): Required Format/Data Omitted When Writing
Division Outline Size Data
Header Class 2 Byte 0x7E
Instance 2 Byte Specify the variable S to read/write
From 0 or from 1
Explanation
Vendor-specific
Specify the variable S number
(Parameter: RS022=1)
Specify the variable S number +1
(Parameter: RS022=0)
Attribute 1 Byte Specify “1”
Service 1 Byte Specify the data access method
0x0E: Get Attribute
Single
0x10: Set Attribute
Single
Table 5-15(b): Response Format (When Reading All Attributes/Omitting
Headers)
Division Outline
Data (S) variable data
Size
16 Byte
Explanation
Read and write a robot position-type variable (P)
Table 5-16(a): Required Format
Division Outline Size Data
Header Class 2 Byte 0x7F
Instance 2 Byte Specify the variable P to read/write
From 0 or from 1
Explanation
Vendor-specific
Specify the variable P number
(Parameter: RS022=1)
Attribute 1 Byte Specify the read data type
1 to 13
Specify the variable P number +1
(Parameter: RS022=0)
Specify the data number of the position information
1: Data type
to
13: 8th axis data
Service 1 Byte Specify the data access method
0x01: Get Attribute All
0x0E: Get Attribute
Single
0x02: Set Attribute All
0x10: Set Attribute
Single
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5.2
Message Communication Using CIP
Table 5-16(b): Response Format (When Reading All Attributes/Omitting
Headers)
Division Outline
Data Data type
Configuration
Size Explanation
4 Byte The position data type will be output
0: Pulse
16: Base
17: Robot
18: Tool
19: User coordinates
4 Byte The configuration will be output
bit 0: Back
bit 1: Lower arm
bit 2: No flip
bit 3: R axis ≥ 180°
bit 4: T axis ≥ 180°
bit 5: S axis ≥ 180°
4 Byte Tool number
User coordinate number 4 Byte
Extended configuration 4 Byte Output the 7-axis robot extended configuration
bit 0: θL ≥ 180°
bit 1: θU ≥ 180°
bit 2: θB ≥ 180°
bit 3: θE ≥ 180°
bit 4: θW ≥ 180°
1st axis data
2nd axis data
3rd axis data
4th axis data
5th axis data
6th axis data
7th axis data
8th axis data
4 Byte The following values will be output:
4 Byte
4 Byte
4 Byte
4 Byte
For pulse:
Each axis’ pulse value
For base:
Length (μm)
Angle (0.0001°)
4 Byte
4 Byte
4 Byte
Data on each axis is set in ascending order.
The value zero is set to a nonexisting axis.
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5 Message Communication
5.2
Message Communication Using CIP
Read and write a base position-type variable (BP)
Table 5-17(a): Required Format
Division Outline Size Data
Header Class 2 Byte 0x80
Instance 2 Byte Specify the variable BP to read/write
From 0 or from 1
Attribute 1 Byte Specify the read data type
1 to 9
Explanation
Vendor-specific
Specify the variable BP number
(Parameter: RS022=1)
Specify the variable BP number +1
(Parameter: RS022=0)
Specify the data number of the position information
1: Data type
to
9: 8th axis data
Service 1 Byte Specify the data access method
0x01: Get Attribute All
0x0E: Get Attribute
Single
0x02: Set Attribute All
0x10: Set Attribute
Single
Table 5-17(b): Response Format (When Reading All Attributes/Omitting
Headers)
Division Outline
Data Data type
Size Explanation
4 Byte The position data type will be output
0: Pulse
16: Base
1st axis data 4 Byte The following values will be output:
2nd axis data 4 Byte
For pulse:
Each axis’ pulse value
3rd axis data 4 Byte
For base:
4th axis data
5th axis data
4 Byte
4 Byte
Length (μm)
Angle (0.0001°)
6th axis data 4 Byte
7th axis data 4 Byte
8th axis data 4 Byte
Data on each axis is set in ascending order.
The value zero is set to a non-existing axis.
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5 Message Communication
5.2
Message Communication Using CIP
Read and write an external axis position-type variable (EX)
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Table 5-18(a): Required Format
Division Outline Size Data
Header Class 2 Byte 0x81
Instance 2 Byte Specify the variable BP to read/write
From 0 or from 1
Attribute 1 Byte Specify the read data type
1 to 9
Explanation
Vendor-specific
Specify the variable EX number
(Parameter: RS022=1)
Specify the variable EX number +1
(Parameter: RS022=0)
Specify the data number of the position information
1: Data type
to
9: 8th axis data
Service 1 Byte Specify the data access method
0x01: Get Attribute All
0x0E: Get Attribute
Single
0x02: Set Attribute All
0x10: Set Attribute
Single
Table 5-18(b): Response Format (When Reading All Attributes/Omitting
Headers)
Division Outline
Data Data type
Size Explanation
4 Byte The position data type will be output
0: Pulse
1st axis data 4 Byte The following values will be output:
2nd axis data 4 Byte
For pulse:
Each axis’ pulse value
3rd axis data 4 Byte
4th axis data
5th axis data
4 Byte
4 Byte
Data on each axis is set in ascending order.
The value zero is set to a non-existing axis.
6th axis data 4 Byte
7th axis data 4 Byte
8th axis data 4 Byte
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5 Message Communication
5.3
Related Parameters
5.3
Related Parameters
For CIP message communication, according to the function of the communication target, set the following parameters:
Parameter No. Description
RS022 Specify permission of Instance 0
Set Value Initial Value
1 0
RS023
Some equipment capable of CIP message communication treats instance 0 as a regular instance number. To communicate with such a device, set this parameter to “1”.
By setting this parameter to “1”, the variable or register number as is can be specified as an instance number.
(When this parameter is set to “0”, specify the value by adding “1” to the variable or the register number.)
Specify prohibition of 1 byte input/ output
1
Some equipment capable of CIP message communication cannot input or output one-byte data. To communicate with such a device, set this parameter to “1”.
By setting this parameter to “1”, data whose size is originally one byte can be transmitted/received as byte.
(Also in this case, only the one-byte portion is treated as valid data.)
0
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6 Error Indication
6 Error Indication
6.1
LED Indicators on the Board
6.1
LED Indicators on the Board
There are six LEDs on the PCU-ETHIO board. Each LED indication means as follows:
• Configuration port Indicator: Trans
The status displayed when a serial cable is connected for setting up the board (not used in DX100).
• Configuration port Indicator: Recv
The status displayed when a serial cable is connected for setting up the board (not used in DX100).
• Network Status
Displays the EtherNet/IP communication status.
• Module Status
Displays the PCU-ETHIO board status.
• Ethernet Link
Displays the Ethernet Link status.
• Transmission speed
Displays the Ethernet transmission speed.
The location and details of each LED is described as follows.
Configuration port Indicator: Trans Configuration port Indicator: Recv
Network Status
Module Status
Ethernet Link
Transmission speed
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6 Error Indication
6.1
LED Indicators on the Board
Network Status
Network Status
Off
Green light flashing
Status
The communication target cannot be identified.
The communication target was identified, however a CIP connection could not be established.
Details and Solutions
The presence of the station specified as the communication target cannot be identified.
• Check the Ethernet cable,
HUB, connector wiring and connection status.
• Check the communication speed of each device.
• Check the operating status of the target communication station.
The device is online, however communication cannot be established.
• Check the Ethernet cable,
HUB, connector wiring and connection status.
• Check the communication speed of each device.
• Check the operating status of the target communication station.
• Check that the number of
I/O allocation matches that set at the communication target station.
Normal status Green light on CIP connection was established.
Red light flashing One or more CIP connections have timed out.
Communications have been established with online status, however there are stations with a communication error.
• Check the operating status of the target communication station.
• Check that the number of
I/O allocation matches that set at the communication target station.
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6 Error Indication
6.1
LED Indicators on the Board
Module Status
Module Status
Off
Green light flashing
Status
The power has not been turned on, or this board has not started.
This board settings could not be changed correctly.
Details and Solutions
This board has not been installed correctly, or settings may mean this board cannot be used.
• Check the installation status of this board.
• Check the setting status of this board.
Cannot start normally as this board has not been set correctly.
• Check the connection status of this board.
• Check the setting status of this board.
Normal status Green light on This board is operating normally.
Red light flashing A minor problem has occurred.
Red light on A major problem has occurred.
Check whether the alarm has been output by the DX100 side.
Replace the PCU-ETHIO board.
Ethernet Link
Ethernet Link
Off
Light on
Status
The Ethernet communication link has not been established.
The Ethernet communication link is operating normally.
Details and Solutions
(Physical) signals are not being sent or received at the Ethernet level.
• Check the installation status of this board.
• Check the Ethernet cable,
HUB, connector wiring and connection status.
• Check the communication speed of each device.
Normal status
Transmission Speed
Transmission Speed
Light on
Off
Status
Communication at 100 Mbps
Communication at 10 Mbps
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DX100 OPTIONS
INSTRUCTIONS
EtherNet/IP BOARD
(PCU-ETHIO FOR INPUTONLY VERSION MADE BY Molex)
Specifications are subject to change without notice for ongoing product modifications and improvements.
MANUAL NO.
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