YASKAWA MOTOMAN DX100 Instructions Manual

DX100 OPTIONS

INSTRUCTIONS

FOR HIGH-SPEED ETHERNET SERVER FUNCTION

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference.

MOTOMAN INSTRUCTIONS

MOTOMAN INSTRUCTIONS

DX100 INSTRUCTIONS

DX100 OPERATOR’S MANUAL

DX100 MAINTENANCE MANUAL

The DX100 Operator’s manual above corresponds to specific usage.

Be sure to use the appropriate manual.

Part Number: 162529-1CD

Revision: 5

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Copyright © 2018, 2017, 2014, 2012 Yaskawa America, Inc.

Terms of Use and Copyright Notice

All rights reserved. This manual is freely available as a service to Yaskawa customers to assist in the operation of Motoman robots, related equipment and software This manual is copyrighted property of Yaskawa and may not be sold or redistributed in any way. You are welcome to copy this document to your computer or mobile device for easy access but you may not copy the PDF files to another website, blog, cloud storage site or any other means of storing or distributing online content.

Printed in the United States of America

First Printing, 2012

Yaskawa America, Inc.

Motoman Robotics Division

100 Automation Way

Miamisburg, OH 45342

Phone: 937-847-6200 www.motoman.com ii

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DX100

MANDATORY

• This manual explains the high-speed Ethernet server function of the

DX100 system and general operations. Read this manual carefully and be sure to understand its contents before handling the DX100.

• General items related to safety are listed in 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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We suggest that you obtain and review a copy of the ANSI/RIA National

Safety Standard for Industrial Robots and Robot Systems (ANSI/RIA

R15.06-2012). You can obtain this document from the Robotic Industries

Association (RIA) at the following address:

Robotic Industries Association

900 Victors Way

P.O. Box 3724

Ann Arbor, Michigan 48106

TEL: (734) 994-6088

FAX: (734) 994-3338 www.roboticsonline.com

Ultimately, well-trained personnel are the best safeguard against accidents and damage that can result from improper operation of the equipment. The customer is responsible for providing adequately trained personnel to operate, program, and maintain the equipment. NEVER

ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM, OR

REPAIR THE EQUIPMENT!

We recommend approved Yaskawa training courses for all personnel involved with the operation, programming, or repair of the equipment.

This equipment has been tested and found to comply with the limits for a

Class A digital device, pursuant to part 15 of the FCC rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio communications.

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DX100 Notes for Safe Operation

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 “DANGER”,

“WARNING”, “CAUTION”, “MANDATORY” or ”PROHIBITED”.

DANGER

WARNING

CAUTION

Indicates an imminent 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 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 “DANGER”,

“WARNING” and “CAUTION”.

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Notes for Safe Operation

WARNING

• Before operating the manipulator, check that servo power is turned

OFF pressing the emergency stop buttons on the programming pendant.

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.

Figure 1: 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.

Figure 2: Release of Emergency Stop

TURN

• Observe the following precautions when performing teaching operations within the P-point maximum envelope of the manipulator:

– Be sure to use a lockout device to the safeguarding when going inside. Also, display the sign that the operation is being performed inside the safeguarding and make sure no one closes the safeguarding.

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 power for the DX100.

– 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 is on the programming pendant.

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DX100 Definition of Terms Used In this Manual

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 cabinet of the DX100 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 Warning Labels in the

DX100 Instructions before operating the manipulator:

Definition of Terms Used In this Manual

The MOTOMAN is the YASKAWA industrial robot product.

The MOTOMAN usually consists of the manipulator, the controller, the programming pendant, and the manipulator cables.

In this manual, the equipment is designated as follows:

Equipment

DX100 controller

DX100 programming pendant

Cable between the manipulator and the controller

Manual Designation

DX100

Programming pendant

Manipulator cable vii

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Description of the Operation Procedure

Descriptions of the programming pendant, 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.

ex. page key

The cursor key is an exception, and a picture is not shown.

Axis Keys

Number Keys

“Axis Keys” and “Number Keys” are generic names for the keys for axis operation and number input.

Keys pressed simultaneously

Displays

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, or that the item is directly selected by touching the screen.

Registered Trademark

In this manual, names of companies, corporations, or products are trademarks, registered trademarks, or bland names for each company or corporation. The indications of (R) and TM are omitted.

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DX100 Safeguarding Tips

Safeguarding Tips

All operators, programmers, maintenance personnel, supervisors, and anyone working near the system must become familiar with the operation of this equipment. All personnel involved with the operation of the equipment must understand potential dangers of operation. General safeguarding tips are as follows:

• Improper operation can result in personal injury and/or damage to the equipment. Only trained personnel familiar with the operation of this equipment, the operator's manuals, the system equipment, and options and accessories should be permitted to operate this equipment.

• Improper connections can damage the equipment. All connections must be made within the standard voltage and current ratings of the equipment.

• The system must be placed in Emergency Stop (E-Stop) mode whenever it is not in use.

• In accordance with ANSI/RIA R15.06-2012, section 4.2.5, Sources of

Energy, use lockout/tagout procedures during equipment maintenance. Refer also to Section 1910.147 (29CFR, Part 1910),

Occupational Safety and Health Standards for General Industry

(OSHA).

Mechanical Safety Devices

The safe operation of this equipment is ultimately the users responsibility.

The conditions under which the equipment will be operated safely should be reviewed by the user. The user must be aware of the various national codes, ANSI/RIA R15.06-2012 safety standards, and other local codes that may pertain to the installation and use of this equipment.

Additional safety measures for personnel and equipment may be required depending on system installation, operation, and/or location. The following safety equipment is provided as standard:

• Safety barriers

• Door interlocks

• Emergency stop palm buttons located on operator station

Check all safety equipment frequently for proper operation. Repair or replace any non-functioning safety equipment immediately.

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DX100 Programming, Operation, and Maintenance Safety

Programming, Operation, and Maintenance Safety

All operators, programmers, maintenance personnel, supervisors, and anyone working near the system must become familiar with the operation of this equipment. Improper operation can result in personal injury and/or damage to the equipment. Only trained personnel familiar with the operation, manuals, electrical design, and equipment interconnections of this equipment should be permitted to program, or maintain the system.

All personnel involved with the operation of the equipment must understand potential dangers of operation.

• Inspect the equipment to be sure no potentially hazardous conditions exist. Be sure the area is clean and free of water, oil, debris, etc.

• Be sure that all safeguards are in place. Check all safety equipment for proper operation. Repair or replace any non-functioning safety equipment immediately.

• Check the E-Stop button on the operator station for proper operation before programming. The equipment must be placed in Emergency

Stop (E-Stop) mode whenever it is not in use.

• Back up all programs and jobs onto suitable media before program changes are made. To avoid loss of information, programs, or jobs, a backup must always be made before any service procedures are done and before any changes are made to options, accessories, or equipment.

• Any modifications to the controller unit can cause severe personal injury or death, as well as damage to the robot! Do not make any modifications to the controller unit. Making any changes without the written permission from Yaskawa will void the warranty.

• Some operations require standard passwords and some require special passwords.

• The equipment allows modifications of the software for maximum performance. Care must be taken when making these modifications.

All modifications made to the software will change the way the equipment operates and can cause severe personal injury or death, as well as damage parts of the system. Double check all modifications under every mode of operation to ensure that the changes have not created hazards or dangerous situations.

• This equipment has multiple sources of electrical supply. Electrical interconnections are made between the controller and other equipment. Disconnect and lockout/tagout all electrical circuits before making any modifications or connections.

• Do not perform any maintenance procedures before reading and understanding the proper procedures in the appropriate manual.

• Use proper replacement parts.

• Improper connections can damage the equipment. All connections must be made within the standard voltage and current ratings of the equipment.

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DX100 Maintenance Safety

Maintenance Safety

Turn the power OFF and disconnect and lockout/tagout all electrical circuits before making any modifications or connections.

Perform only the maintenance described in this manual. Maintenance other than specified in this manual should be performed only by Yaskawatrained, qualified personnel.

Summary of Warning Information

This manual is provided to help users establish safe conditions for operating the equipment. Specific considerations and precautions are also described in the manual, but appear in the form of Dangers, Warnings,

Cautions, and Notes.

It is important that users operate the equipment in accordance with this instruction manual and any additional information which may be provided by Yaskawa. Address any questions regarding the safe and proper operation of the equipment to Yaskawa Customer Support.

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DX100 Customer Support Information

Customer Support Information

If you need assistance with any aspect of your DX100 system, please contact YASKAWA Customer Support at the following 24-hour telephone number:

(937) 847-3200

For routine technical inquiries, you can also contact YASKAWA Customer

Support at the following e-mail address: [email protected]

When using e-mail to contact YASKAWA Customer Support, please provide a detailed description of your issue, along with complete contact information. Please allow approximately 24 to 36 hours for a response to your inquiry.

NOTE

Please use e-mail for routine inquiries only. If you have an urgent or emergency need for service, replacement parts, or information, you must contact YASKAWA Customer

Support at the telephone number shown above.

Please have the following information ready before you call Customer

Support:

• System

• Robots

DX100

___________________________

• Primary Application

• Controller

• Software Version

___________________________

DX100

Access this information on the

Programming Pendant’s LCD display screen by selecting {MAIN

MENU} - {SYSTEM INFO} -

{VERSION}

• Robot Serial Number

• Robot Sales Order Number

Located on the robot data plate

Located on the DX100 controller data plate xii

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DX100 Table of Contents

Table of Contents

1 Introductions ................................................................................................................................... 1-1

1.1 Preparation ........................................................................................................................ 1-1

1.2 Restriction.......................................................................................................................... 1-1

2 System Setting................................................................................................................................ 2-1

2.1 Before using the System.................................................................................................... 2-1

2.2 Parameter Setting.............................................................................................................. 2-1

2.3 Setting of Relevant Parameter........................................................................................... 2-1

2.4 Setting of Command Remote ............................................................................................ 2-2

2.5 Setting of a Batch Data Backup Function .......................................................................... 2-2

3 Transmission Procedure ................................................................................................................. 3-1

3.1 Packet Format ................................................................................................................... 3-1

3.2 Outline ............................................................................................................................... 3-5

3.2.1 Robot Control/Status Reading.............................................................................. 3-5

3.2.2 Robot Control/Data Writing to Register ................................................................ 3-6

3.2.3 File Control ........................................................................................................... 3-7

3.2.4 File Control (File Loading) .................................................................................. 3-10

3.2.5 File Control (File list)........................................................................................... 3-13

3.2.6 File Control (Deleting of file) ............................................................................... 3-17

3.3 Respective Commands for Robot Control ....................................................................... 3-18

3.3.1 Alarm Data Reading Command.......................................................................... 3-20

3.3.2 Alarm History Reading Command ...................................................................... 3-23

3.3.3 Status Information Reading Command .............................................................. 3-26

3.3.4 Executing Job Information Reading Command .................................................. 3-27

3.3.5 Axis Configuration Information Reading Command ........................................... 3-29

3.3.6 Robot Position Data Reading Command............................................................ 3-31

3.3.7 Position Error Reading Command...................................................................... 3-34

3.3.8 Torque Data Reading Data................................................................................. 3-35

3.3.9 I/O Data Reading / Writing Command ................................................................ 3-36

3.3.10 Register Data Reading / Writing Command ..................................................... 3-37

3.3.11 Byte Variable (B) Reading / Writing Command ................................................ 3-38

3.3.12 Integer Type Variable (I) Reading / Writing Command..................................... 3-39

3.3.13 Double Precision Integer Type Variable (B) Reading / Writing Command ....... 3-40

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3.3.14 Real Type Variable (R) Reading / Writing Command ....................................... 3-41

3.3.15 Character Type Variable (S) Reading Writing Command................................. 3-42

3.3.16 Robot Position Type Variable (P) Reading / Writing Command ....................... 3-43

3.3.17 Base Position Type Variable (Bp) Reading / Writing Command....................... 3-46

3.3.18 External Axis Type Variable (Ex) Reading / Writing Command........................ 3-48

3.3.19 Alarm Reset / Error Cancel Command ............................................................. 3-50

3.3.20 Hold / Servo On/off Command.......................................................................... 3-51

3.3.21 Step / Cycle / Continuous Switching Command ............................................... 3-52

3.3.22 Character String Display Command To The Programming Pendant................ 3-53

3.3.23 Start-up (Job Start) Command.......................................................................... 3-54

3.3.24 Job Select Command ....................................................................................... 3-55

3.3.25 Management Time Acquiring Command .......................................................... 3-57

3.3.26 System Information Acquiring Command ......................................................... 3-58

3.3.27 Plural I/o Data Reading / Writing Command..................................................... 3-59

3.3.28 Plural Register Data Reading / Writing Command ........................................... 3-61

3.3.29 Plural Byte Type Variable (B) Reading / Writing Command ............................. 3-62

3.3.30 Plural Integer Type Variable (I) Reading / Writing Command........................... 3-64

3.3.31 Plural Double Precision Integer Type Variable (B)

Reading / Writing Command ............................................................................ 3-65

3.3.32 Plural Real Type Variable (R) Reading / Writing Command............................. 3-66

3.3.33 Plural Character Type Variable (S) Reading / Writing Command..................... 3-67

3.3.34 Plural Robot Position Type Variable (P) Reading / Writing Command ............. 3-69

3.3.35 Plural Base Position Type Variable (Bp) Reading / Writing Command ............ 3-71

3.3.36 Plural External Axis Type Variable (Ex) Reading / Writing Command.............. 3-73

3.3.37 Alarm Data Reading Command

(for Applying the Sub Code Character Strings) ................................................ 3-75

3.3.38 Alarm History Reading Command

(for Applying the Sub Code Character Strings) ................................................ 3-78

3.3.39 Move instruction command (Type Cartesian coordinates) ............................... 3-81

3.3.40 Move Instruction Command (Type Pulse) ........................................................ 3-84

3.4 File Control Command ..................................................................................................... 3-87

3.4.1 File Deleting Command ...................................................................................... 3-88

3.4.2 File Loading Command....................................................................................... 3-89

3.4.3 File Saving Command ........................................................................................ 3-90

3.4.4 File List Acquiring Command.............................................................................. 3-91

3.4.5 File Saving Command (The Batch Data Backup) ............................................... 3-93

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DX100 Table of Contents

4 Error Code ...................................................................................................................................... 4-1

5 Added Status Code......................................................................................................................... 5-1

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DX100 1 Introductions

1.1 Preparation

1 Introductions

The high-speed Ethernet server function is a new communication protocol to enable high-speed Ethernet communication between the DX100 and external devices such as PC, etc.

Followings are the characteristics of this function.

(1) It becomes possible to communicate in more than two times higher peed than the present Ethernet server function and more then 5 times higher speed than the present Ethernet data transmission function.

(2) It combines the present Ethernet data transmission function (host control) and the present Ethernet server function. (except for some functions)

(3) It corresponds to the file receiving/transmission function to which the present Ethernet server function dose not correspond.

(4) It is incompatible to the present data transmission function (host control) and the present Ethernet server function. Therefore,

MotoCom communication library (Ver3.6), which corresponds to the high-speed Ethernet server function, will be released at the same time.

(5) It is also possible to create a communication program without using MotoCom since this function is publishing its communication protocol.

(6) To maintain the compatibility with existing communication software, the present data transmission function and the present

Ethernet server function are still available.

1.1

Preparation

This high-speed Ethernet server function is an expansion option to the

DX100 Ethernet function. In this reason, when using this function, the PC should be ready to use the DX100 Ethernet function.

1.2

Restriction

• This function cannot use concurrently with MotoPlus function, PP customizing function, other Ethernet functions and the data transmission function (serial).

• To increase the speed, the protocol of this function was modified.

Therefore, it has no compatibility with the data transmission function and the Ethernet server function.

To retain the compatibility, MotoCom communication library (Ver3.6) will be released at the same time with this function. Please use

MotoCom communication library of later version than Ver3.6.

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DX100

2 System Setting

2 System Setting

2.1 Before using the System

To use the high-speed Ethernet server function, configuration of the following settings are required.

2.1

Before using the System

The high-speed Ethernet server function is designed as an expansion option to the DX100 Ethernet function. Before using this function, it is required to make the DX100 Ethernet host control function available.

For more details, see chapter 3 “Ethernet Function Settings” in the

“DX100 OPTIONS INSTRUCTIONS FOR ETHERNET FUNCTION”.

2.2

Parameter Setting

Set the following parameters before using this function.

Parameter

RS022

RS029

RS034

RS035

Parameter

S2C541

S2C542

S2C680

Details

Instance 0 permitted

(Instance 0 is used as the ordinal data)

A job during the playback operation, Loading of a variable

Timer to wait for a replay

Timer for monitoring end of text

Setting value

1

1

200

200

2.3

Setting of Relevant Parameter

Details

Specify the permission of variable and I/O input during the play mode

(0: writing is allowed / 1: writing is not allowed)

Specify the permission of variable and I/O input during the edit-lock status

(0: writing is allowed / 1: writing is not allowed)

Specify the permission of the batch data backup function

(0: INVALID 1: Create RAMDISK at the STARTUP)

When shipping

1

1

1

NOTE

When setting 0 toS2C541 (writing is allowed), writing is possible even during the playback operation. However, please be noted that this setting may affect the manipulator’s cycle time due to some writing timings or their frequencies.

NOTE

Following are the status to which specifying of the “edit-lock status” is permitted by S2C542 parameter.

• During an alarm

• When an external memory device is operated

• When the data transmission function is used

• Specific input EDIT_LOCK (#40064) is turned ON

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2 System Setting

2.4 Setting of Command Remote

2.4

Setting of Command Remote

Set Management mode as Security mode, and select {IN/OUT} –

{PSEUDO INPUT SIGNAL} to appear the following display. Move the cursor to the #82015 CMD REMOTE SEL, and press [INTER LOCK] +

[SELECT] to select [ON].

2.5

Setting of a Batch Data Backup Function

With the batch data backup function, the data saved in the DX100 such as system setting or operational condition are collectively backed up by using the command from High Speed Ethernet Server Function. Set the following procedures in advance to use this function.

Set Management mode as Security mode. Select {CONTROLLER SET} +

{AUTO BACKUP SET} in the Main Menu, and following display will appear. Set the DEVICE as “RAMDISK”.

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DX100 2 System Setting

2.5 Setting of a Batch Data Backup Function

NOTE

• A batch data backup function is available for software version DS3.00 or higher.

• Refer to DX100 Instruction section 9.3 “Auto Backup

Function” for more details.

• Refer to DX100 Instruction section 9.4 “Loading the

Backup Data from the CompactFlash” for using files from the restore system which is backed up by command from

High Speed Ethernet Server Function.

• During an alarm is occurring, it would not be able to change the device. Thus, operate after resetting the alarm.

• When the parameter is S2C680=0, “RAMDISK” will not appear in the “AUTO BACKUP SET” display. Make sure to set the parameter S2C680.

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DX100 3 Transmission Procedure

3.1 Packet Format

3 Transmission Procedure

3.1

Packet Format

Transmission packet of the high-speed Ethernet server function is composed of header part (32 byte) + data part (changeable: 479 byte at max.)

The transmission packet consists of “request”, which transmits the data from the PC to the DX100, and “answer”, which transmits the data from the DX100 to the PC.

The sub-header setting composition of “request” and “answer” are different. And the setting value of the “answer” varies in accordance with the replying contents.

Followings are the format of each packet.

Request (the PC to the DX100)

4 Byte

Type Byte 0 Byte 1 Byte 2 Byte 3

Identifier

Data size

Reserve 1 / processing division

Block No.

Reserve 2

Sub-header

Data division

Fixed character strings for identification (YERC)

Header part size

(fixed to 0x20)

Reserve 1

(fixed to “3”)

Processing division

Data part size

(variable value)

ACK

Reserve2 (fixed to “99999999”)

Command No.

Attribute Service (when requested)

Instance

Padding

Data division (variable:479Byte at maximum)

Request ID

Header part

(fixed to 32Byte)

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DX100 3 Transmission Procedure

3.1 Packet Format

Answer (the DX100 to the PC)

4 Byte

Type Byte 0 Byte 1 Byte 2 Byte 3

Identifier

Data size

Reserve 1 / processing division

Block No.

Reserve 2

Sub-header

Data division

Fixed character strings for identification (YERC)

Header part size

(fixed to 0x20)

Data part size

(variable value)

Reserve 1

(fixed to “3”)

Processing division

ACK

Allocate the block number from 0 to0x7fff_ffff

Add 0x8000_0000 to the last block

Reserve 2 (fixed to “99999999”)

Service

(when replying)

Status:

When normal operation:0x00

When abnormal operation: other than 0x00

Added status size

Added status size

1) Padding

Data division (variable:479Byte at maximum)

Request ID

Padding

1 For the details of added status, please refer to chapter 5 “Added Status Code”

.

Header part

(fixed to 32Byte)

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DX100 3 Transmission Procedure

3.1 Packet Format

Item

Identifier

Header part size

Data part size

Reserve 1

Processing division

ACK

Request ID

Block No.

Reserve 2

Sub-header

(request)

8byte

Command No.

2byte

Instance

Attribute

2byte

1byte

Sub-header

(answer)

Padding

Service

(request)

1byte

Service (answer) 1byte

Status 1byte

Added status size

Added status

1byte

2byte

Variable

Data size

4byte

2byte

2byte

1byte

1byte

1byte

1byte

4byte

Settings

Fixed to “YERC”

Size of header part (fixed to 0x20)

Size of data part (variable)

Fixed to “3”

1: robot control

2: file control

Request: 0

Other than request: 1

Identifying ID for command session

(increment this ID every time the client side outputs a new command. In reply to this, server side answers the received value.)

Request: 0

Answer: add 0x8000_0000 to the last packet.

Data transmission other than above: add 1

(max: 0x7FFF_FFFF)

Fixed to “99999999”

Execute processing by this command.

(conforms to “Class” of CIP communication protocol)

Define SECTION to execute a command.

(conforms to “Padding” of CIP communication protocol)

Define SUB SECTION for executing a command.

Attribute: (conforms to “Attribute” of CIP communication protocol)

Define data accessing method.

Add 0s80 to service (request).

0x00: normal reply

Other than 0x00: abnormal reply

Size of added status

(0: not specified / 1: 1 WORD data / 2: 2 WORD data)

Error code specified by added status size

For details, refer to

chapter 5 “Added Status Code”

.

Reserve area

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DX100 3 Transmission Procedure

3.1 Packet Format

Details of sub-header

• Sub header (request)

Sub header (request) Command No.

Attribute Service (request)

Instance

Padding

• Sub header (answer/ no added status)

Sub header (request) Service (answer) Status: normal:

0x00

Added status:0x14809580

Added status: size:

0x00

Padding

Padding

• Sub header (answer/ with added status)

Sub header (request) Service (answer) Status: abnormal: other than 0x00

Added status:0x00001010

Added status: size:0x01

Padding

Padding

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3 Transmission Procedure

3.2 Outline

3.2

Outline

The transmission/receiving flow of the transmission packet is divided into

robot control and file control. Please refer to section 3.3 “Respective

Commands for Robot Control”

for the details of respective robot control commands (request/answer) and

section 3.4 “File Control Command”

for the details of respective file control commands.

[Ex. When Reading]

3.2.1 Robot Control/Status Reading

PC

UDP: optional

Socket opened

Request (status reading request)

Answer (status)

Socket closed

More than two commands are occasionally processed till the socket is closed

UDP:10040

DX100

Request

0x03

0x00

0x0020

0x0072

<Format>

“YERC”

0x01

0x0000_0000

“99999999”

0x0000

0x00

Identifier

Header part size

0x00 Reserve 1 Processing division

Block No.

Data part size

ACK Request ID

0x01

0x0001

0x0000

Reserve 2

Command No.

Attribute Service

Instance

Padding

Answer

0x03

0x0020

0x01

“YERC”

0x01

0x0000

0x00

0x81

0x8000_0000

“99999999”

0x00 0x00 0x00

0x0000 0x0000

Status data 1

Status data 2

<Format>

Identifier

Header part size

Reserve 1 Processing division

Data part size

ACK Request ID

Block No.

Reserve 2

Service

Added status status size

Padding

Reading value 1

Reading value 2

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DX100 3 Transmission Procedure

3.2 Outline

[Ex. When Writing]

3.2.2 Robot Control/Data Writing to Register

PC

UDP: optional UDP:10040

Socket opened

Request (request of data writing to register)

DX100

Answer (writing result)

Socket closed

Request

0x03

0x0020

0x01

“YERC”

0x00

0x0002

0x01

0x0000_0000

‘99999999’

0x0079

0x00 0x02

Register data

Register No.

0x0000

<Format>

Identifier

Header part size

Reserve 1 Processing division

Block No.

Data part size

ACK Request ID

Reserve 2

Command No.

Attribute Service

Writing value

Instance

Padding

Answer

0x03

0x0020

0x01

‘YERC’

0x01

0x0000

0x01

0x82

0x8000_0000

‘99999999’

0x00 0x00 0x00

0x0000 0x0000

<Format>

Identifier

Header part size

Reserve 1 Processing division

Block No.

Data part size

ACK Request ID

Service

Reserve 2

Status Added status size

Added status

Padding

Padding

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3 Transmission Procedure

3.2 Outline

3.2.3 File Control

PC

UDP: optional

Socket opened

Request 1 (request saving)

Data 1 (file data 1)

ACK 1 (reply of receiving)

Data 2 (file data 2)

ACK 2 (reply of receiving)

UDP:10040

DX100

The last data (file data N: the last file data)

ACK N (reply of receiving)

Socket closed

Request 1

0x03

0x0020

0x02

“YERC”

0x00

0x000B

0x02

0x0000_0000

“99999999”

0x00

T

J

J

0x00

0x16

E

O

B

S

B

I

0x0000

0x00

T

.

<Format>

Identifier

Header part size

Reserve 1 Processing division

Block No.

Reserve 2

Command No.

Attribute Service

File name

Data part size

ACK Request

ID

Instance

Padding

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DX100 3 Transmission Procedure

3.2 Outline

Data 1

0x03

0x0020

0x02

“YERC”

0x01

0x01d f

0x02

0x96

0x0000_0001

“99999999”

0x00 0x00 0x00

0x0000 0x0000

File data 1

<Format>

Identifier

Header part size

Reserve 1 Processing division

Data part size

ACK Request ID

Block No.

Reserve 2

Service Status

Added status

Added status size

Padding

Padding

File data 1

ACK1

0x03

0x0020

0x02

“YERC”

0x01

0x0000

0x02

0x00

0x0000_0001

“99999999”

0x00

0x16

0x0000

0x00

<Format>

Identifier

Header part size

Reserve 1 Processing division

Block No.

Data part size

ACK Request ID

Reserve 2

Command No.

Attribute Service

Instance

Padding

Data 2

“YERC”

0x03

0x0020

0x96

0x02 0x01

0x0000_0002

“99999999”

0x00 0x00

0x01d?

0x02

0x00

0x0000 0x0000

File data 2

<Format>

Header part size

Reserve 1

Identifier

Processing division

Data part size

ACK

Block No.

Request ID

Service

Reserve 2

Status Added status size

Added status

Padding

Padding

File data 2

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DX100 3 Transmission Procedure

3.2 Outline

ACK2

“YERC”

0x0020 0x0000

0x03 0x02 0x01

0x0000_0002

“99999999”

0x00

0x00

0x16

0x0000

0x00

0x02

<Format>

Header part size

Reserve 1

Identifier

Processing division

Data part size

ACK

Block No.

Reserve 2

Command No.

Attribute Service

Request ID

Instance

Padding

The last data (N)

0x0020

0x03

0x96

“YERC”

0x02 0x01

0x8000_000N

“99999999”

0x00 0x00

0x0008

0x02

0x00

0x0000 0x0000

File data N

<Format>

Header part size

Reserve 1

Identifier

Processing division

Data part size

ACK

Block No.

Request ID

Service

Reserve 2 status Added status size

Added status

Padding

Padding

File data N

The last ACK (N)

“YERC”

0x0020 0x0000

0x03 0x02 0x01

0x8000_000N

“99999999”

0x00

0x00

0x16

0x0000

0x00

0x02

<Format>

Header part size

Reserve 1

Identifier

Processing division

Data part size

ACK

Block No.

Reserve 2

Command No.

Attribute Service

Request ID

Instance

Padding

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DX100 3 Transmission Procedure

3.2 Outline

3.2.4 File Control (File Loading)

PC

UDP: optional

Socket opened

Request 1 (request loading)

ACK (to command)

Data 1 (file data 1)

ACK 1 (reply 1)

UDP:10040

DX100

The last data (data N)

The last ACK (reply N)

Socket closed

Request 1

0x03

0x0020

0x02

“YERC”

0x00

0x000B

0x03

0x0000_0000

“99999999”

0x0000

T

J

J

0x00

0x15

E

O

B

S

B

I

0x0000

0x00

T

.

<Format>

Identifier

Header part size

Reserve 1 Processing division

Data part size

ACK Request ID

Command No.

Attribute Service

Block No.

Reserve 2

File name

Instance

Padding

ACK (to request)

0x03

0x0020

0x02

“YERC”

0x01

0x0000

0x03

0x95

0x0000_0000

“99999999”

0x00 0x00 0x00

0x0000 0x0000

<Format>

Identifier

Header part size

Reserve 1 Processing division

Data part size

ACK Request ID

Service

Block No.

Reserve 2

Status

Added status

Added status size

Padding

Padding

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DX100 3 Transmission Procedure

3.2 Outline

Data 1

0x03

0x0020

0x02

“YERC”

0x01

0x01d?

0x03

0x0000_0001

“99999999”

0x0000

0x00

0x15

File data 1

0x0000

0x00

<Format>

Identifier

Header part size

Reserve 1 Processing division

Block No.

Data part size

ACK Request ID

Reserve 2

Command No.

Attribute Service

File data 1

Instance

Padding

ACK1

0x03

0x0020

0x02

“YERC”

0x01

0x0000

0x03

0x95

0x0000_0001

“99999999”

0x00 0x00 0x00

0x0000 0x0000

<Format>

Identifier

Header part size

Reserve 1 Processing division

Block No.

Data part size

ACK Request ID

Service

Reserve 2

Status Added status size

Added status

Padding

Padding

The last data (N)

0x03

0x0020

0x02

“YERC”

0x01

0x0008

0x03

0x8000_000N

“99999999”

0x0000

0x00

0x15

File data N

0x0000

0x00

<Format>

Identifier

Header part size

Reserve 1 Processing division

Block No.

Data part size

ACK Request ID

Reserve 2

Command No.

Attribute Service

File data N

Instance

Padding

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3.2 Outline

The last ACK (N)

0x03

0x0020

0x02

“YERC”

0x01

0x0000

0x03

0x95

0x8000_000N

“99999999”

0x00 0x00 0x00

0x0000 0x0000

<Format>

Identifier

Header part size

Reserve 1 Processing division

Data part size

ACK Request ID

Service

Block No.

Reserve 2

Status

Added status

Added status size

Padding

Padding

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3 Transmission Procedure

3.2 Outline

3.2.5 File Control (File list)

UDP: optional

PC Socket opened

Request 1 (request of llist)

Data 1 (file list 1)

ACK 1 (reply of confirmation)

Data 2 (file list 2)

ACK 2 (reply of confirmation)

The last data (file list N: the last file list)

ACK N (reply of confirmation)

Socket closed

UDP:10041

DX100

Request 1

0x03

0x0020

0x02

“YERC”

0x00

0x0005

0x04

0x0000_0000

“99999999”

0x00

*

I

0x00

0x32

.

J

0x0000

0x0000

B

<Format>

Identifier

Header part size

Reserve 1 Processing division

Block No.

Data part size

ACK Request ID

Reserve 2

Command No.

Instance

Attribute Service Padding

File identification (refer to data details)

Data 1

0x03

0x0020

0x02

“YERC”

0x01

0x01d?

0x04

0xB2

0x0000_0001

“99999999”

0x00 0x00 0x00

0x0000 0x0000

File list 1

<Format>

Identifier

Header part size

Reserve 1 Processing division

Block No.

Data part size

ACK Request ID

Service

Reserve 2

Status Added status size

Padding

Added status Padding

File list 1 (refer to “Details of data”)

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DX100 3 Transmission Procedure

3.2 Outline

ACK1

0x03

0x0020

0x02

“YERC”

0x01

0x0000

0x04

0x00

0x0000_0001

“99999999”

0x00

0x32

0x0000

0x0000

<Format>

Identifier

Header part size

Reserve 1 Processing division

Data part size

ACK Request ID

Command No.

Attribute Service

Block No.

Reserve 2

Instance

Padding

Data 2

0x03

0x0020

0x02

“YERC”

0x01

0x01d?

0x04

0xB2

0x0000_0002

“99999999”

0x00 0x00 0x00

0x0000 0x0000

File list 2

<Format>

Identifier

Header part size

Reserve 1 Processing division

Block No.

Data part size

ACK Request ID

Service

Reserve 2

Status Added status size

Added status

Padding

Padding

File list 2

ACK2

0x03

0x0020

0x02

“YERC”

0x01

0x0000

0x04

0x00

0x0000_0002

“99999999”

0x00

0x32

0x0000

0x0000

<Format>

Identifier

Header part size

Reserve 1 Processing division

Data part size

ACK Request ID

Command No.

Attribute Service

Block No.

Reserve 2

Instance

Padding

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DX100 3 Transmission Procedure

3.2 Outline

The last data (N)

“YERC”“YERC”

0x03

0x0020

0x02 0x01

0x0008

0x04

0xB2

0x8000_000N

“99999999”

0x00 0x00 0x00

0x0000 0x0000

File list N

<Format>

Identifier

Header part size

Reserve 1 Processing division

Data part size

ACK Request ID

Block No.

Reserve 2

Service Status

Added status

Added status size

Padding

Padding

File list N

The last ACK (N)

0x03

0x0020

0x02

“YERC”

0x01

0x0000

0x04

0x8000_000N

“99999999”

0x00

0x00

0x32

0x0000

0x0000

<Format>

Identifier

Header part size

Reserve 1 Processing division

Block No.

Data part size

ACK Request ID

Reserve 2

Command No.

Attribute Service

Instance

Padding

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DX100 3 Transmission Procedure

3.2 Outline

Detail of data

Not specified

*.*

*.JBI

*.DAT

*.CND

*.PRM

*.SYS

*.LST

JBI list

JBI list

JBI list

DAT file list

CND file list

PRM file list

SYS file list

LST file list

Output form of the list

The list is described in the form of “file name” + <CR> + <LF>

consecutively

‘I’

‘3’

‘B’

‘4’

<Ex.>

‘1’

‘I’

‘2’

‘.’

<CR>

‘.’

<CR>

‘.’

<CR>

‘3’

‘I’

‘4’

‘J’

<LF>

‘J’

<LF>

‘J’

<LF>

‘.’

<CR>

‘4’

‘B’

‘B’

‘2’

‘B’

‘3’

‘J’

<LF>

‘4’

‘I’

<CR><LF> means end-of -line

<CR> : Carriage Return

<LF> : Line Feed

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3 Transmission Procedure

3.2 Outline

3.2.6 File Control (Deleting of file)

PC

UDP: optional

Socket opened

Request 1 (request of llist)

ACK 1 (reply of confirmation)

Socket closed

UDP:10041

DX100

Request 1

0x03

0x0020

0x02

“YERC”

0x01

0x000B

0x05

0x0000_0000

“99999999”

0x00

T

J

J

0x00

0x09

E

O

B

S

B

I

0x0000

0x00

T

.

<Format>

Identifier

Header part size

Reserve 1 Processing division

Data part size

ACK Request ID

Command No.

Attribute Service

Block No.

Reserve 2

File name

Instance

Padding

ACK 1

0x03

0x0020

0x02

‘YERC’

0x01

0x0000

0x05

0x89

0x8000_0000

“99999999”

0x00 0x00 0x00

0x0000 0x0000

<Format>

Identifier

Header part size

Reserve 1 Processing division

Data part size

ACK Request ID

Service

Block No.

Reserve 2

Status

Added status

Added status size

Padding

Padding

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DX100 3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3

Respective Commands for Robot Control

Follows are robot controlling commands which can use in the high-speed

Ethernet communication.

Table 3-1: List of Robot Control Command

No. Command

3

4

1

2

No.

0x70

0x71

7

8

5

6

0x72

0x73

0x74

0x75

0x76

0x77

9 0x78

10 0x79

11 0x7A

12 0x7B

13 0x7C

14 0x7D

15 0x7E

16 0x7F

17 0x80

18 0x81

19 0x82

20 0x83

21 0x84

22 0x85

23 0x86

24 0x87

25 0x88

26 0x89

27 0x300

28 0x301

29 0x302

30 0x303

31 0x304

32 0x305

33 0x306

34 0x307

Name Reference chapter

Alarm data reading command

Alarm history reading command

Status information reading command

Executing job information reading command

Axis configuration information reading command

Robot position data reading command

Position error reading command

Torque data reading command

Refer to

section 3.3.1

.

Refer to

section 3.3.2

.

Refer to

section 3.3.3

.

Refer to

section 3.3.4

.

Refer to

section 3.3.5

.

Refer to

section 3.3.6

.

Refer to

section 3.3.7

.

Refer to

section 3.3.8

.

I/O data reading / writing command

Register data reading / writing command

Byte variable (B) reading / writing command

Integer type variable (I) reading / writing command

Double precision integer type variable (B) reading / writing command

Refer to

Refer to

Refer to

Refer to

Refer to

section 3.3.9

.

section 3.3.10

section 3.3.11

section 3.3.12

section 3.3.13

.

.

.

Real type variable (R) reading / writing command

Character type variable (S) reading / writing command

Refer to

Refer to

section 3.3.14

section 3.3.15

Robot position type variable (P) reading / writing command Refer to

section 3.3.16

.

.

.

.

Base position type variable (BP) reading / writing command

Refer to

section 3.3.17

External axis type variable (EX) reading / writing command Refer to

section 3.3.18

.

.

Alarm reset / error cancel command

HOLD / servo ON/OFF command

Step / cycle / continuous switching command

Refer to

section 3.3.19

.

Refer to

section 3.3.20

.

Refer to

section 3.3.21

Refer to

section 3.3.22

.

.

Character string display command to the programming pendant

Start-up (job START) command

Job select command

Management time acquiring command

System information acquiring command

Plural I/O data reading / writing command

Plural register data reading / writing command

Refer to

section 3.3.23

.

Refer to

section 3.3.24

.

Refer to

section 3.3.25

.

Refer to

Refer to

Refer to

section 3.3.26

section 3.3.27

section 3.3.28

.

.

.

Plural byte type variable (B) reading / writing command Refer to

section 3.3.29

.

Plural integer type variable (I) reading / writing command Refer to

section 3.3.30

.

Refer to

section 3.3.31

.

Plural double precision integer type variable (B) reading / writing command

Plural real type variable (R) reading / writing command Refer to

section 3.3.32

.

Refer to

section 3.3.33

.

Plural character type variable (S) reading / writing command

Plural robot position type variable (P) reading / writing command

Refer to

section 3.3.34

.

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3.3 Respective Commands for Robot Control

Table 3-1: List of Robot Control Command

No. Command

No.

35 0x308

Name

36

37

38

39

40

0x309

0x30A

0x30B

0x8A

0x8B

Plural base position type variable (BP) reading / writing command

Plural external axis type variable (EX) reading / writing command

Alarm data reading command

(for applying the sub code character strings)

1)

Alarm history reading command

(for applying the sub character strings)

1)

Move instruction command

(Type Cartesian coordinates)

1)

Move instruction command

(Type Pulse)

1)

1 This command is available for system software version DS3.00 or higher.

Reference chapter

Refer to section 3.3.35

.

Refer to section 3.3.36

.

Refer to section 3.3.37

.

Refer to section 3.3.38

.

Refer to section 3.3.39

.

Refer to section 3.3.40

.

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DX100

Command No.

Instance

Attribute

Service

3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.1 Alarm Data Reading Command

Request

Sub header part

<Details>

0x70

Specify one out of followings

1: The latest alarm

2: The second alarm from the

latest

3: The third alarm from the latest

4: The fourth alarm from the latest

Specify one out of followings

1: Alarm code

2: Alarm data

3: By alarm type

4: Alarm occurring time

5: Alarm character string name

•

Get_Attribute_Single: 0x0E

•

Get_Attribute_All: 0x01

Up to four alarms are displayed on the P.P display at the same time. Specify one out of them.

Alarm code means the alarm No.

Alarm data means the sub code which supports the alarm contents. Some alarms may not appear as the sub code.

Specify the accessing method to the data.

0x0E: Read out data of the specified element number

0x01: Read out data of all the element number

(In this case, specify0 to the element number.)

Data part

No data part

Status

Added status size

Added status

Answer

Sub header part

<Details>

Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

•

0: not specified

•

1: 1 WORD

•

2: 2 WORD

Error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

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3.3 Respective Commands for Robot Control

Data part

11

12

13

14

15

7

8

9

10

5

6

32bit integer Byte 0 Byte 1 Byte 2 Byte3 <Details>

1 Alarm code Range is from 0x0001 to 0x270F(decimal value: 9999)

2 Alarm data

3 Alarm type

Setting values vary in accordance with the contents of the alarm type. Also, some alarms are not displayed with the sub code. In this case, the value is zero (0x0).

0 : No alarm

1 : Decimal UNSIGNED SHORT type

(display example: [1])

2 : UNSIGNED CHAR bit pattern

(display example: [0000_0001])

3 : User axis type (display example: [SLURBT])

4 : Spacial coordinate type (display example: [XYZ])

5 : Robot coordinate type

(display example: [XYZRxRyRz])

6 : Conveyor characteristic file (display example: [123])

8 : Control group type

(display example: [R1R2S1S2])

robot & station

9 : Decimal SHORT type (display example: [-1])

10 : UNSIGNED SHORT bit pattern

(display example: [0000_0000_0000_0001])

11 : Control group type (display example: [R1])

for robot only

12 : Control group type (display example:[R1S1B1])

for robot, station and base

20 : Control group LOW/HIGH logical axis

(display example: [R1:LOW SLURBT, HIGH

SLURBT])

21 : Control group MIN/MAX logical axis

(display example: [R1: MIN SLURBT, MAX

SLURBT])

22 : Control group MIN/MAX spacial coordinate

(display example: [R1: MIN XYZ, MAX XYZ])

23 : Logical axis of both control group 1 and control

group 2

(display example: [R1: SLURBT, R2: SLURBT])

24 : Logical axis 1 and 2 of the control group

(display example: [R1: SLURBT, SLURBT])

25 : Logical axis of the control group and UNSIGNED

CHAR type

(display example: [R1: SLURBT, 1])

27 : Control group and UNSIGNED CHAR type

(display example: [R1: 1])

4 Alarm occurring time

(Character strings of 16 letters)

Ex.2011/10/10 15:49

Alarm character strings name

(character strings: 32 letters)

It is transmitted in the form of the character strings whose language code was selected by the programming pendant and half- and full-width characters are mixed.

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3.3 Respective Commands for Robot Control

NOTE

For the alarm character strings name, it is transmitted in the form of the character strings whose language code was selected by the programming pendant.

Use the same language code as the DX100, or the characters corrupt in case the client side dose not correspond to its language code.

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DX100

Command No.

Instance

Attribute

Service

162529-1CD

3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.2 Alarm History Reading Command

Request

Sub header part

<Details>

0x71

Specify one out of followings

•

1 to 100

•

1001 to 1100

•

2001 to 2100

•

3001 to 3100

•

4001 to 4100

Specify one out of followings

1: Alarm code

2: Alarm data

3: Alarm type

4: Alarm occurring time

5: Alarm character strings name

•

Get_Attribute_Single: 0x0E

•

Get_Attribute_All: 0x01

Specify the alarm number

1 to 100 : Major failure

1001 to 1100: Monitor alarm

2001 to 2100: User alarm (system)

3001 to 3100: User alarm (user)

4001 to 4100: OFF line alarm

Alarm code means the alarm No.

Alarm data means the sub code which supports the alarm content. There are some cases that the sub code for the occurring alarm would not appear.

Specify the accessing method to the data.

0x0E: Read out data of the specified element number

0x01: Read out data of all the element number

(In this case, specify0 to the element number.)

Data part

No data part

Status

Added status size

Added status

Answer

Sub header part

<Details>

Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

•

0: not specified

•

1: 1 WORD

•

2: 2 WORD

Error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

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DX100 3 Transmission Procedure

3.3 Respective Commands for Robot Control

Data part

11

12

13

14

15

7

8

9

10

5

6

32bit Integer Byte 0 Byte 1 Byte 2 Byte3 <Details>

1 Alarm code Range is from 0x0001 to 0x270F(decimal value: 9999)

2 Alarm data

3 Alarm type

Setting values vary in accordance with the contents of the alarm type. Also, some alarm are not displayed with the sub code. In this case, the value is 0 :0x0).

0 : No alarm

1 : Decimal UNSIGNED SHORT type

(display example: [1])

2 : UNSIGNED CHAR bit pattern

(display example: [0000_0001])

3 : User axis type (display example: [SLURBT])

4 : Spacial coordinate type (display example: [XYZ])

5 : Robot coordinate type

(display example: [XYZRxRyRz])

6 : Conveyor characteristic file (display example: [123])

8 : Control group type

(display example: [R1R2S1S2])

robot & station

9 : Decimal SHORT type (display example: [-1])

10 : UNSIGNED SHORT bit pattern

(display example: [0000_0000_0000_0001])

11 : Control group type (display example: [R1])

for robot only

12 : Control group type (display example:[R1S1B1])

for robot, station and base

20 : Control group LOW/HIGH logical axis

(display example: [R1: LOW SLURBT, HIGH

SLURBT])

21 : Control group MIN/MAX logical axis

(display example: [R1: MIN SLURBT, MAX

SLURBT])

22 : Control group MIN/MAX spacial coordinate

(display example: [R1: MIN XYZ, MAX XYZ])

23 : Logical axis of both control group 1 and control

group 2

(display example: [R1: SLURBT, R2: SLURBT])

24 : Logical axis 1 and 2 of the control group

(display example: [R1:SLURBT, SLURBT])

25 : Logical axis of the control group and UNSIGNED

CHAR type

(display example: [R1: SLURBT, 1])

27 : Control group and UNSIGNED CHAR type

(display example: [R: 1])

4 Alarm occurring time

(Character strings of 16 letters)

Ex.2011/10/10 15:49

Alarm character strings name

(character strings: 32 letters)

It is transmitted in the form of the character strings whose language code was selected by the programming pendant and half- and full-width characters are mixed.

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3 Transmission Procedure

3.3 Respective Commands for Robot Control

NOTE

For the alarm character strings name, it is transmitted in the form of the character strings whose language code was selected by the programming pendant.

Use the same language code as the DX100, or the characters corrupt in case the client side dose not correspond to its language code.

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DX100

Command No.

Instance

Attribute

Service

3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.3 Status Information Reading Command

Request

Sub header part

<Details>

0x72

Fixed to “1”.

Specify one out of followings

1: Data 1

2: Data 2

•

Get_Attribute_Single: 0x0E

•

Get_Attribute_All: 0x01

Specify “1”.

Specify the status data number.

For the details of Data1 and Data 2, refer to “Details of data”.

Specify the accessing method to the data.

0x0E: Read out data of the specified element number

0x01: Read out data of all the element number

(In this case, specify0 to the element number.)

Data part

No data part

Status

Added status size

Added status

Answer

Sub header part

<Details>

Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

•

0: not specified

•

1: 1 WORD

•

2: 2 WORD

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

Data part

32bit integer Byte 0 Byte 1 Byte 2 Byte3 <Details>

1 Data 1 Refer to “Details of data”.

2 Data 2 Refer to “Details of data”.

Data 1 bit0 bit1 bit2 bit3 bit4 bit5 bit6 bit7

Details of data

Step

1 cycle

Automatic and continuous

Running

In-guard safe operation

Teach

Play

Command remote

Data 2 bit0 bit1 bit2 bit3 bit4 bit5 bit6 bit7

In hold status (by programming pendant)

In hold status (externally)

In hold status (by command)

Alarming

Error occurring

Servo ON

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DX100

Command No.

Instance

Attribute

Service

162529-1CD

3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.4 Executing Job Information Reading Command

Request

Sub header part

<Details>

0x73

Specify one out of followings

1: Master task

2: Sub task 1

3: Sub task 2

4: Sub task 3

5: Sub task 4

6: Sub task 5

7: Sub task 6

8: Sub task 7

9: Sub task 8

10: Sub task 9

11: Sub task 10

12: Sub task 11

13: Sub task 12

14: Sub task 13

15: Sub task 14

16: Sub task 15

Specify one out of followings

1: Job name

2: Line number

3: Step number

4: Speed override value

•

Get_Attribute_Single: 0x0E

•

Get_Attribute_All: 0x01

Specify the status data number of the executing job information.

Specify the accessing method to the data.

0x0E: Read out data of the specified element number

0x01: Read out data of all the element number

(In this case, specify0 to the element number)

Data part

No data part

Status

Added status size

Added status

Answer

Sub header part

<Details>

Respond by one in the followings

•

0x00 :respond normally

•

Other than 0x00

: respond abnormally

•

0: not specified

•

1: 1 WORD

•

2: 2 WORD

The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

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3.3 Respective Commands for Robot Control

Data part

8

9

6

7

4

5

32bit integer Byte 0 Byte 1 Byte 2 Byte3 <Details>

1

2

Job name

(character strings: 32 letters)

Job name

Half-width character: 32 characters

Full-width character: 16 characters

3

10

11

Line No. (0 to 9999)

Step No. (1 to 9998)

Speed override value

Job line number

Job step number

Speed override value

NOTE

For the alarm character strings name, it is transmitted in the form of the character strings whose language code was selected by the programming pendant.

Use the same language code as the DX100, or the characters corrupt in case the client side dose not correspond to its language code.

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DX100

Command No.

Instance

Attribute

Service

162529-1CD

3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.5 Axis Configuration Information Reading Command

Request

Sub header part

<Details>

0x74

Specify one out of followings

•

•

•

•

•

1 to 8

11 to 18

21 to 44

101 to 108

111 to 118

Specify the control group

1 : R1 to 8 : R8

11 : B1 to 18 : B8

…Robot (pulse value)

…Base (pulse value)

21 : S1 to 44 : S24 …Station (pulse value)

101 : R1 to 108 : R8 …Robot

(cartesian coordinate)

111 : B1 to 118 : B8 …Base

(cartesian coordinate)

Specify one out of followings

1: “Axis name” of the first axis

2: “Axis name” of the second axis

3: “Axis name” of the third axis

4: “Axis name” of the fourth axis

5: “Axis name” of the fifth axis

6: “Axis name” of the sixth axis

7: “Axis name” of the seventh axis

8: “Axis name” of the eighth axis

• Get_Attribute_Single:0x0E

•

Get_Attribute_All: 0x01

Specify the data number of axis information.

Each axis is justified for setting.

“0” is set to nonexistent axis.

Specify the accessing method to the data.

0x0E: Read out data of the specified element number.

0x01: Read out data of all the element number.

(In this case, specify0 to the element number.)

Data part

No data part

Status

Added status size

Added status

Answer

Sub header part

<Details>

Respond by one in the followings

•

0x00 :respond normally

• Other than 0x00

: respond abnormally

• 0: not specified

•

1: 1 WORD

• 2: 2 WORD

The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

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3.3 Respective Commands for Robot Control

Data part

32bit integer Byte 0 Byte 1 Byte 2 Byte3 <Details>

1 First coordinate name “S” (R*: pulse)/“X” (R*/B*: cartesian value)/

“1” (B*/S*: pulse)

2 Second coordinate name

3

4

Third coordinate name

Fourth coordinate name

“L” (R*: pulse)/“Y” (R*/B*: cartesian value)/

“2” (B*/S*: pulse)

“U” (R*: pulse)/“Z” (R*/B*: cartesian value)

“3” (B*/S*: pulse)

“R” (R*: pulse)/“Rx” (R*: cartesian value)/

“4” (B*/S*: pulse)

5 Fifth coordinate name

6

7

Sixth coordinate name

Seventh coordinate name

“B” (R*: pulse)/“Ry” (R*: cartesian value)/

“5” (B*/S*: pulse)

“T” (R*: pulse)/“Rz” (R*: cartesian value)/

“6” (B*/S*: pulse)

“E” (R*: pulse)/“Rz” (R*: cartesian value)/

“7” (B*/S*: pulse)

8 Eighth coordinate name

*: Each control group number.

R: Robot (R1 to R8)

S: Station (S1 to s24)

B: Base (B1 to b8)

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DX100

Service

162529-1CD

3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.6 Robot Position Data Reading Command

Cartesian value can select the base coordinate only. (It cannot select the robot, user and tool coordinates.)

Request

Sub header part

Command No.

Instance

0x75

Specify one out of followings

•

1 to 8

•

11 to 18

•

21 to 44

•

101 to 108

Attribute Specify one out of followings

1: Data type

2: Form

3: Tool number

4: User coordinate number

5: Extended form

6: First axis data

7: Second axis data

8: Third axis data

9: Fourth axis data

10: Fifth axis data

11: Sixth axis data

12: Seventh axis data

13: Eighth axis data

•

Get_Attribute_Single: 0x0E

•

Get_Attribute_All: 0x01

<Details>

Specify the control group

1 : R1 to 8 : R8

11 : B1 to 18 : B8

101 : R1 to 108 : R8

… Robot (pulse value)

… Base (pulse value)

21 : S1 to 44 : S24 … Station (pulse value)

… Robot

(cartesian coordinate)

Specify the position information data number.

1 0: pulse value/16: base coordinate value

2 As for the form, refer to the “Details of data”.

3 Tool number

4 User coordinate number

5 As for the extended form, refer to the “Details of data”.

6 First axis data

7 Second axis data

8 Third axis data

9 Fourth axis data

10 Fifth axis data

11 Sixth axis data

12 Seventh axis data

13 Eighth axis data

Each axis data is output by the same sequence as

mentioned in section 3.3.5 “Axis Configuration

Information Reading Command”

, and “0” is set to nonexistent axis.

Specify the accessing method to the data.

0x0E: Read out data of the specified element number

0x01: Read out data of all the element number

(In this case, specify0 to the element number.)

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DX100 3 Transmission Procedure

3.3 Respective Commands for Robot Control

Data part

No data part

Form bit0 0: Front bit1 0: Upper arm bit2 0: Flip bit3 0: ө R < 180, bit4 0: ө T<180, bit5 0: ө S<180, bit6 0: Redundant

front

Detail of data

Please refer section 3.9.5 “Flip/ No flip” in the “DX100 OPERATOR’S

MANUAL” prepared for each application.

1: Back 1: ө L ≥ 180

1: Lower arm

1:No flip

1: ө R ≥ 180

1: ө T ≥ 180

1: ө S ≥ 180

1: Redundant

back bit7 0: Previous step regarded reverse

conversion specified

1: Form regarded reverse conversion

specified

Extended form bit0 0: ө L<180, bit1 0: ө U<180, bit2 0: ө B<180, bit3 0: ө E<180, bit4 0: ө W<180, bit5 Reserve bit6 Reserve bit7 Reserve

1:

1:

1:

1: ө U ≥ 180 ө B ≥ 180 ө E ≥ 180 ө W ≥ 180

Status

Added status size

Added status

Answer

Sub header part

<Details>

Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

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3.3 Respective Commands for Robot Control

Data part

8

9

10

11

12

13

6

7

4

5

2

3

32bit integer Byte 0 Byte 1 Byte 2 Byte3 <Details>

1 Data type 0: Pulse value/ 16: Base coordinate value

Form

Tool number

For the form, refer to “Details of data”.

Tool number

User coordinate number

Extended form

First axis data

Second axis data

User coordinate number

For the extended form, refer to “Details of data”.

Third axis data

Fourth axis data

Fifth axis data

Sixth axis data

Seventh axis data

Eighth axis data

162529-1CD

Form bit0 0: Front

Details of data

Please refer “3.9.5 Flip/ No flip” in “DX100 OPERATOR’S MANUAL” prepared for each application.

1: Back bit1 0: Upper arm bit2 0: Flip bit3 0: ө R < 180, bit4 0: ө T<180, bit5 0: ө S<180, bit6 0: Redundant

front

1: Lower arm

1: No flip

1: ө R ≥ 180

1: ө T ≥ 180

1: ө S ≥ 180

1: Redundant

back bit7 0: Previous step regarded reverse

conversion specified

1: Form regarded reverse conversion

specified

Extended form bit0 0: ө L<180, 1: ө L ≥ 180 bit1 0: ө U<180, 1: ө U ≥ 180 bit2 0: ө B<180, 1: ө B ≥ 180 bit3 0: ө E<180, 1: ө E ≥ 180 bit4 0: ө W<180, 1: ө W ≥ 180 bit5 Reserve bit6 Reserve bit7 Reserve

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DX100

Command No.

Instance

Attribute

Service

3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.7 Position Error Reading Command

Request

Sub header part

<Details>

0x76

Specify one out of followings

•

1 to 8

•

11 to 18

•

21 to 44

Specify the control group

1 : R1 to 8 : R8

11 : B1 to 18 : B8

… Robot axis

… Base axis

21 : S1 to 44 : S24 … Station axis

Specify one out of followings

1: First axis data

2: Second axis data

3: Third axis data

4: Fourth axis data

5: Fifth axis data

6: Sixth axis data

7: Seventh axis data

8: Eighth axis data

•

Get_Attribute_Singlel: 0x0E

• Get_Attribute_All:0x01

Specify the axis number.

Each axis data is output by the same sequence as mentioned in

section 3.3.5 “Axis Configuration

Information Reading Command” , and “0” is set to

nonexistent axis.

Specify the accessing method to the data.

0x0E: Read out data of the specified element number

0x01: Read out data of all the element number

(In this case, specify0 to the element number.)

Data part

No data part

Status

Added status size

Added status

Answer

Sub header part

<Details>

Respond by one in the followings

• 0x00 : respond normally

•

Other than 0x00

: respond abnormally

•

0: no added status

• 1: 1 WORD

•

2: 2 WORD

The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

Data part

5

6

3

4

7

8

32bit integer Byte 0 Byte 1 Byte 2 Byte3 <Details>

1

2

First axis data

Second axis data

Position variable data of each axis can be read out.

Third axis data

Fourth axis data

Fifth axis data

Sixth axis data

Seventh axis data

Eighth axis data

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DX100

Command No.

Instance

Attribute

Service

162529-1CD

3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.8 Torque Data Reading Data

Request

Sub header part

<Details>

0x77

Specify one out of followings

•

1 to 8

•

11 to 18

•

21 to 44

Specify the control group

1 : R1 to 8 : R8

11 : B1 to 18 : B8

… Robot axis

… Base axis

21 : S1 to 44 : S24 … Station axis

Specify one out of followings

1: First axis data

2: Second axis data

3: Third axis data

4: Fourth axis data

5: Fifth axis data

6: Sixth axis data

7: Seventh axis data

8: Eighth axis data

•

Get_Attribute_Single: 0x0E

• Get_Attribute_All:0x01

Specify the axis number.

Each axis data is output by the same sequence as

mentioned in section 3.3.5 “Axis Configuration

Information Reading Command”

, and “0” is set to nonexistent axis.

Specify the accessing method to the data.

0x0E: Read out data of the specified element number

0x01: Read out data of all the element number

(In this case, specify0 to the element number.)

Data part

No data part

Status

Added status size

Added status

Answer

Sub header part

<Details>

Respond by one in the followings

• 0x00 : respond normally

•

Other than 0x00

: respond abnormally

•

0: no added status

• 1: 1 WORD

•

2: 2 WORD

The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

Data part

5

6

3

4

7

8

32bit integer Byte 0 Byte 1 Byte 2 Byte3 <Details>

1

2

First axis data

Second axis data

Torque data of each axis can be read out.

Third axis data

Fourth axis data

Fifth axis data

Sixth axis data

Seventh axis data

Eighth axis data

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DX100

Command No.

Instance

Attribute

Service

3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.9 I/O Data Reading / Writing Command

Request

Sub header part

<Details>

0x78

Specify one out of followings

•

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

Fixed to “1”.

•

Get_Attribute_Single: 0x0E

•

Set_Attribute_Single: 0x10

Specify logical number /10

•

1 to 256 : Robot user input

•

1001 to 1256: Robot user output

•

2001 to 2256: External input

•

2501 to 2756: Network input

•

3001 to 3256: External output

•

3501 to 3756: Network output

•

4001 to 4160: Robot system input

•

5001 to 5200: Robot system output

•

6001 to 6064: Interface panel input

•

7001 to 7999: Auxiliary relay

•

8001 to 8064: Robot control status signal

•

8201 to 8220: Pseudo input

Specify “1”.

Specify the accessing method to the data.

0x0E: Read out of all I/O data is enabler

0x01: Only network input signal is writable.

32bit integer Byte 0

1 IO data

Data part

(Data exists during the writing operation only)

Byte 1 Byte 2 Byte3 <Details>

Status

Added status size

Added status

Answer

Sub header part

<Details>

Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

32bit integer Byte 0

1 IO data

Data part

(Data exists during the writing operation only)

Byte 1 Byte 2 Byte3 <Details>

I/O data exists only when requested by the client.

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DX100

Command No.

Instance

Attribute

Service

3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.10 Register Data Reading / Writing Command

Request

Sub header part

<Details>

0x79

Specify one out of followings

•

0 to 999

Fixed to “1”.

•

Get_Attribute_Single: 0x0E

•

Set_Attribute_Single: 0x10

Specify the register number

0 to 999 (writable register: 0 to 559)

Specify “1”.

Specify the accessing method to the data.

0x0E: Read out the specified register data

0x01: Register 0 to 599 is writable

Data part

(Data exists during the writing operation only)

32bit integer Byte 0

1

Byte 1

Register data

Byte 2 Byte3 <Details>

Status

Added status size

Added status

Answer

Sub header part

<Details>

Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

Data part

(Data exists during the writing operation only)

32bit integer Byte 0

1

Byte 1

Register data

Byte 2 Byte3 <Details>

Register data exists only when requested by the client.

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DX100

Command No.

Instance

Attribute

Service

3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.11 Byte Variable (B) Reading / Writing Command

Request

Sub header part

<Details>

0x7A

Specify one out of followings

•

0 to 99 (for standard setting)

Fixed to “1”.

•

Get_Attribute_Single: 0x0E

•

Get_Attribute_All: 0x01

•

Set_Attribute_Single: 0x10

•

Set_Attribute_All: 0x02

Specify the variable number.

Since the extended variable is an optional function, follow the numbers of the variables specified by the parameter when specifying the number.

Specify “1”.

Specify the accessing method to the data.

0x0E/0x01: Read out data of the specified element

number

0x10/0x02: Write the data to the specified variable

Data part

(Data exists during the writing operation only)

32bit integer Byte 0

1 B variable

Byte 1 Byte 2 Byte3 <Details>

Set the data when writing.

Status

Added status size

Added status

Answer

Sub header part

<Details>

Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

Data part

(Data exists during the writing operation only)

32bit integer Byte 0

1 B variable

Byte 1 Byte 2 Byte3 <Details>

The data exists only when requested by the client.

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Command No.

Instance

Attribute

Service

162529-1CD

3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.12 Integer Type Variable (I) Reading / Writing Command

Request

Sub header part

<Details>

0x7B

Specify one out of followings

•

0 to 99 (for standard setting)

Fixed to “1”.

•

Get_Attribute_Single: 0x0E

•

Get_Attribute_All: 0x01

•

Set_Attribute_Single: 0x10

•

Set_Attribute_All: 0x02

Specify the variable number.

Since the extended variable is an optional function, follow the numbers of the variables specified by the parameter when specifying the number.

Specify “1”.

Specify the accessing method to the data.

0x0E/0x01: Read out data of the specified element

number

0x10/0x02: Write the data to the specified variable

Data part

(Data exists during the writing operation only)

32bit integer Byte 0

1 I variable

Byte 1 Byte 2 Byte3 <Details>

Set the data when writing.

Status

Added status size

Added status

Answer

Sub header part

<Details>

Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

Data part

(Data exists during the writing operation only)

32bit integer Byte 0

1 I variable

Byte 1 Byte 2 Byte3 <Details>

The data exists only when requested by the client.

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DX100

Command No.

Instance

Attribute

Service

3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.13 Double Precision Integer Type Variable (B) Reading / Writing

Command

Request

Sub header part

<Details>

0x7C

Specify one out of followings

•

0 to 99 (for standard setting)

Fixed to “1”.

•

Get_Attribute_Single: 0x0E

•

Get_Attribute_All: 0x01

•

Set_Attribute_Single: 0x10

•

Set_Attribute_All: 0x02

Specify the variable number.

Since the extended variable is an optional function, follow the numbers of the variables specified by the parameter when specifying the number.

Specify “1”.

Specify the accessing method to the data.

0x0E/0x01: Read out data of the specified element

number

0x10/0x02: Write the data to the specified variable

Data part

(Data exists during the writing operation only)

32bit integer Byte 0

1 D variable

Byte 1 Byte 2 Byte3 <Details>

Set the data when writing.

Status

Added status size

Added status

Answer

Sub header part

<Details>

Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

Data part

(Data exists during the writing operation only)

32bit integer Byte 0

1 D variable

Byte 1 Byte 2 Byte3 <Details>

The data exists only when requested by the client.

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Command No.

Instance

Attribute

Service

162529-1CD

3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.14 Real Type Variable (R) Reading / Writing Command

Request

Sub header part

<Details>

0x7D

Specify one out of followings

•

0 to 99 (for standard setting)

Fixed to “1”.

•

Get_Attribute_Single: 0x0E

•

Get_Attribute_All: 0x01

•

Set_Attribute_Single: 0x10

•

Set_Attribute_All: 0x02

Specify the variable number.

Since the extended variable is an optional function, follow the numbers of the variables specified by the parameter when specifying the number.

Specify “1”.

Specify the accessing method to the data.

0x0E/0x01: Read out data of the specified element

number

0x10/0x02: Write the data to the specified variable

Data part

(Data exists during the writing operation only)

32bit integer Byte 0

1 R variable

Byte 1 Byte 2 Byte3 <Details>

Set the data when writing.

Status

Added status size

Added status

Answer

Sub header part

<Details>

Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

Data part

(Data exists during the writing operation only)

32bit integer Byte 0

1 R variable

Byte 1 Byte 2 Byte3 <Details>

The data exists only when requested by the client.

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DX100

Command No.

Instance

Attribute

Service

3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.15 Character Type Variable (S) Reading Writing Command

Request

Sub header part

<Details>

0x7E

Specify one out of followings

•

0 to 99 (for standard setting)

Fixed to “1”.

•

Get_Attribute_Single: 0x0E

•

Get_Attribute_All: 0x01

•

Set_Attribute_Single: 0x10

•

Set_Attribute_Al: 0x02

Specify the variable number.

Since the extended variable is an optional function, follow the numbers of the variables specified by the parameter when specifying the number

Specify “1”.

Specify the accessing method to the data.

0x0E/0x01: Read out data of the specified element

number

0x10/0x02: Write the data to the specified variable

Data part

(Data exists during the writing operation only)

2

3

32bit integer Byte 0

1 S variable

Byte 1 Byte 2 Byte3 <Details>

Set the data when writing.

4

Status

Added status size

Added status

Answer

Sub header part

<Details>

Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

Data part

(Data exists during the writing operation only)

3

4

1

2

32bit integer Byte 0

S variable

Byte 1 Byte 2 Byte3 <Details>

The data exists only when requested by the client.

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DX100 3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.16 Robot Position Type Variable (P) Reading / Writing Command

Request

Sub header part

<Details>

Command No.

0x7F

Instance Specify one out of followings

•

0 to 127 (for standard setting)

Attribute

Service

Specify one out of followings

1: Data type

2: Form

3: Tool number

4: User coordinate number

5: Extended form

6: “Coordinated data” of the first axis

7: “Coordinated data” of the second axis

8: “Coordinated data” of the third axis

9: “Coordinated data” of the fourth axis

10: “Coordinated data” of the fifth axis

11: “Coordinated data” of the sixth axis

12: “Coordinated data” of the seventh axis

13: “Coordinated data” of the eighth axis

•

Get_Attribute_All: 0x01

•

Set_Attribute_All: 0x02

Specify the variable number.

Since the extended variable is an optional function, follow the numbers of the variables specified by the parameter when specifying the number.

Specify the axis information data number.

Followings are the data type.

0: Pulse value

16: Base coordinated value

17: Robot coordinated value

18: User coordinated value

19: Tool coordinated value

Specify the accessing method to the data.

0x0E/0x01: Read out data of the specified

element number

0x10/0x02: Write the data to the specified

variable

Data part

(Data exists during the writing operation only)

10

11

12

13

8

9

6

7

4

5

2

3

32bit integer Byte 0

1 Data type

Byte 1 Byte 2 Byte3 <Details>

Form

Tool number

User coordinate number

Extended form

0: Pulse value

16: Base coordinated value

17: Robot coordinated value

18: User coordinated value

19: Tool coordinated value

For the form, refer to “Details of data”.

Tool number

User coordinate number

For the extended form, refer to “Details of data”.

First coordinate data

Second coordinate data

Third coordinated data

Fourth coordinate data

Fifth coordinate data

Sixth coordinate data

Seventh coordinate data

Eighth coordinate data

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DX100 3 Transmission Procedure

3.3 Respective Commands for Robot Control

Form bit0 0: Front bit1 0: Upper arm bit2 0: Flip bit3 0: ө R < 180, bit4 0: ө T<180, bit5 0: ө S<180, bit6 0: Redundant

front

Details of data

Please refer “3.9.5 Flip/ No flip” in “DX100 OPERATOR’S MANUAL” prepared for each application.

1: Back 1: ө L ≥ 180

1: Lower arm

1:No flip

1: ө R ≥ 180

1: ө T ≥ 180

1: ө S ≥ 180

1: Redundant

back bit7 0: Previous step regarded reverse

conversion specified

1: Form regarded reverse conversion

specified

Extended form bit0 0: ө L<180, bit1 0: ө U<180, bit2 0: ө B<180, bit3 0: ө E<180, bit4 0: ө W<180, bit5 Reserve bit6 Reserve bit7 Reserve

1:

1:

1:

1: ө U ≥ 180 ө B ≥ 180 ө E ≥ 180 ө W ≥ 180

Status

Added status size

Added status

Answer

Sub header part

<Details>

Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

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DX100 3 Transmission Procedure

3.3 Respective Commands for Robot Control

Data part

(Data exists during the writing operation only)

10

11

12

13

8

9

6

7

4

5

2

3

32bit integer Byte 0

1 Data type

Byte 1 Byte 2 Byte3 <Details>

0: Pulse value

16: Base coordinated value

17: Robot coordinated value

18: User coordinated value

19: Tool coordinated value

Form

Tool number

User coordinate number

Extended form

First coordinate data

Second coordinate data

Third coordinated data

Fourth coordinate data

For the form, refer to “Details of data”.

Tool number

User coordinate number

For the extended form, refer to “Details of data”.

Fifth coordinate data

Sixth coordinate data

Seventh coordinate data

Eighth coordinate data

Form bit0 0: Front bit1 0: Upper arm bit2 0: Flip bit3 0: ө R<180, bit4 0: ө T<180, bit5 0: ө S<180, bit6 0: Redundant

front

Details of data

Please refer to section 3.9.5 “Flip/ No flip” in “DX100 OPERATOR’S

MANUAL” prepared for each application.

1: Back 1: ө L ≥ 180

1: Lower arm

1:No flip

1: ө R ≥ 180

1: ө T ≥ 180

1: ө S ≥ 180

1: Redundant

back bit7 0: Previous step regarded reverse

conversion specified

1: Form regarded reverse conversion

specified

Extended form bit0 0: ө L<180, bit1 0: ө U<180, bit2 0: ө B<180, bit3 0: ө E<180, bit4 0: ө W<180, bit5 Reserve bit6 Reserve bit7 Reserve

1: ө U ≥ 180

1: ө B ≥ 180

1: ө E ≥ 180

1: ө W ≥ 180

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DX100 3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.17 Base Position Type Variable (Bp) Reading / Writing Command

Request

Sub header part

<Details>

Command No.

0x80

Instance

Attribute

Service

Specify one out of followings

•

0 to 127 (for standard setting)

Specify one out of followings

1: Data type

2: “Coordinated data” of the first axis

3: “Coordinated data” of the second axis

4: “Coordinated data” of the third axis

5: “Coordinated data” of the fourth axis

6: “Coordinated data” of the fifth axis

7: “Coordinated data” of the sixth axis

8: “Coordinated data” of the seventh axis

9: “Coordinated data” of the eighth axis

•

Get_Attribute_Single :0x0E

•

Get_Attribute_All :0x01

•

Set_Attribute_Single :0x10

•

Set_Attribute_All :0x02

Specify the variable number.

Since the extended variable is an optional function, follow the numbers of the variables specified by the parameter when specifying the number.

Specify the axis information data number.

Followings are the data type.

0: Pulse value

16: Base coordinated value

Specify the accessing method to the data.

0x0E: Read out the specified data

0x01: Read out the data

0x10: Write a specified data. If it is not an object

element, keep the data previous to writing

operation.

0x02: Write the data

Data part

(Data exists during the writing operation only)

8

9

6

7

4

5

2

3

32bit integer Byte 0

1 Data type

Byte 1 Byte 2 Byte3 <Details>

0: Pulse value

16: Base coordinated value

First coordinate data

Second coordinate data

Third coordinated data

Fourth coordinate data

Fifth coordinate data

Sixth coordinate data

Seventh coordinate data

Eighth coordinate data

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Status

Added status size

Added status

162529-1CD

3 Transmission Procedure

3.3 Respective Commands for Robot Control

Answer

Sub header part

<Details>

Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

Data part

(Data exists during the writing operation only)

8

9

6

7

4

5

2

3

32bit integer

1

Byte 0

Data type

Byte 1 Byte 2 Byte3 <Details>

0: Pulse value

16: Base coordinated value

First coordinate data

Second coordinate data

Third coordinated data

Fourth coordinate data

Fifth coordinate data

Sixth coordinate data

Seventh coordinate data

Eighth coordinate data

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DX100 3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.18 External Axis Type Variable (Ex) Reading / Writing Command

Request

Sub header part

<Details>

Command No.

0x81

Instance

Attribute

Service

Specify one out of followings

•

0 to 127 (for standard setting)

Specify one out of followings

1: Data type

2: “Coordinated data” of the first axis

3: “Coordinated data” of the second axis

4: “Coordinated data” of the third axis

5: “Coordinated data” of the fourth axis

6: “Coordinated data” of the fifth axis

7: “Coordinated data” of the sixth axis

8: “Coordinated data” of the seventh axis

9: “Coordinated data” of the eighth axis

•

Get_Attribute_Single :0x0E

•

Get_Attribute_All :0x01

•

Set_Attribute_Single :0x10

•

Set_Attribute_All :0x02

Specify the variable number.

Since the extended variable is an optional function, follow the numbers of the variables specified by the parameter when specifying the number.

Specify the axis information data number.

Followings are the data type.

0: Pulse value

Specify the accessing method to the data.

0x0E : Read out the specified data

0x01 : Read out the data

0x10 :Write a specified data. If it is not an object

element, keep the data previous to writing

operation.

0x02 : Write the data

Data part

(Data exists during the writing operation only)

7

8

9

5

6

3

4

1

2

32bit integer Byte 0

Data type

Byte 1 Byte 2 Byte3 <Details>

0: Pulse value

First coordinate data

Second coordinate data

Third coordinated data

Fourth coordinate data

Fifth coordinate data

Sixth coordinate data

Seventh coordinate data

Eighth coordinate data

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Status

Added status size

Added status

162529-1CD

3 Transmission Procedure

3.3 Respective Commands for Robot Control

Answer

Sub header part

<Details>

Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

Data part

(Data exists during the writing operation only)

7

8

9

5

6

3

4

1

2

32bit integer Byte 0

Data type

Byte 1 Byte 2 Byte3 <Details>

0: Pulse value

First coordinate data

Second coordinate data

Third coordinated data

Fourth coordinate data

Fifth coordinate data

Sixth coordinate data

Seventh coordinate data

Eighth coordinate data

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DX100 3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.19 Alarm Reset / Error Cancel Command

Request

Sub header part

<Details>

Command No.

0x82

Instance

Attribute

Specify one out of followings

1: Resetting of alarm

2: Cancelling of error

Fixed to “1”.

Service

•

Set_Attribute_Single: 0x10

Specify the type of reset/cancel

1: RESET (resetting of alarm)

2: CANCEL (cancelling of error)

Specify “1”.

Specify the accessing method to the data.

0x10 : Execute the specified request

32bit integer Byte 0

1 Data 1

Data part

(Data exists during the writing operation only)

Byte 1 Byte 2 Byte3 <Details>

Fixed to “1”.

Answer

Sub header part

<Details>

Status Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

Added status size

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

Added status The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

Data part

No data part

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DX100 3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.20 Hold / Servo On/off Command

Request

Sub header part

<Details>

Command No.

0x83

Instance Specify one out of followings

1: HOLD

2: Servo ON

3: HLOCK

Attribute

Service

Fixed to “1”.

•

Set_Attribute_Single: 0x10

Specify the type of OFF/ON command

1: HOLD

2: Servo ON

3: HLOCK (Refer to “Details of data”.)

Specify “1”.

Specify the accessing method to the data.

0x10 : Execute the specified request

32bit integer Byte 0

1 1:ON

2:OFF

Data part

(Data exists during the writing operation only)

Byte 1 Byte 2 Byte3 <Details>

Specify ON/OFF

Details of data

 HLOCK

This data interlocks the P.P and I/O operation system signals. Only the following operations are available while the interlock operation is ON.

• Emergency stop for the programming pendant

• Inputting signals excluding I/O mode switching, external start, external servo ON, cycle switch, inhibit I/O, inhibit PP/PANEL and master calling up.

HLOCK is invalid while the programming pendant is in edit mode or it is file accessing using other functions.

Answer

Sub header part

<Details>

Status Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

Added status size

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

Added status The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

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DX100 3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.21 Step / Cycle / Continuous Switching Command

Request

Sub header part

<Details>

Command No.

0x84

Instance Specify the following

•

2

Attribute

Service

Fixed to “1”.

•

Set_Attribute_Single: 0x10

Specify the type of status switch command

2: CYCLE (switching of STEP/CYCLE/CONTINUE)

Specify “1”.

Specify the accessing method to the data.

0x10 : Execute the specified request

32bit integer Byte 0

1 Data 1

Data part

(Data exists during the writing operation only)

Byte 1 Byte 2 Byte3 <Details>

CYCLE = 1: STEP/2: 1 CYCLE/3:CONTINUE

Answer

Sub header part

<Details>

Status Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

Added status size

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

Added status The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

Data part

No data part

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DX100 3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.22 Character String Display Command To The Programming Pendant

Request

Sub header part

<Details>

Command No.

0x85

Instance

Attribute

Service

Fixed to “1”.

Fixed to “1”.

•

Set_Attribute_Single: 0x10

Specify “1”.

Specify “1”.

Specify the accessing method to the data.

0x10 : Execute the specified request

Data part

(Data exists during the writing operation only)

7

8

5

6

1

2

3

4

32bit integer Byte 0 Byte 1 Byte 2 Byte3 <Details>

Displaying message Set the character strings to be indicated on the programming pendant

Half-width character: 30 characters

Full-width character: 15 characters

Answer

Sub header part

<Details>

Status Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

Added status size

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

Added status The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

Data part

No data part

NOTE

For the alarm character strings name, it is transmitted in the form of the character strings whose language code was selected by the programming pendant.

Use the same language code as the DX100, or the characters corrupt in case the client side dose not correspond to its language code.

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DX100 3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.23 Start-up (Job Start) Command

Request

Sub header part

<Details>

Command No.

0x86

Instance

Attribute

Service

Fixed to “1”.

Fixed to “1”.

•

Set_Attribute_Single: 0x10

Specify “1”.

Specify “1”.

Specify the accessing method to the data.

0x10 : Execute the specified request

32bit integer Byte 0

1 Data 1

Data part

(Data exists during the writing operation only)

Byte 1 Byte 2 Byte3 <Details>

Fixed to “1”.

Answer

Sub header part

<Details>

Status Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

Added status size

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

Added status The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

Data part

No data part

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DX100 3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.24 Job Select Command

Request

Sub header part

<Details>

Command No.

0x87

Instance Specify one out of followings

1: Set the executing job

10: Set the master job (task 0)

11: Set the master job (task 1)

12: Set the master job (task 2)

13: Set the master job (task 3)

14: Set the master job (task 4)

15: Set the master job (task 5)

16: Set the master job (task 6)

17: Set the master job (task 7)

18: Set the master job (task 8)

19: Set the master job (task 9)

20: Set the master job (task 10)

21: Set the master job (task 11)

22: Set the master job (task 12)

23: Set the master job (task 13)

24: Set the master job (task 14)

25: Set the master job (task 15)

Attribute

Service

Specify one out of followings

1: Job name

2: Line number (valid only when

executing job setting.)

•

Set_Attribute_All: 0x02

Specify the type.

Specify the setting content.

Specify the accessing method to the data.

0x02: Read out data of all the element number

(In this case, specify0 to the element number.)

Data part

8

9

6

7

4

5

32bit integer Byte 0

1

2

Job name

Byte 1 Byte 2 Byte3

(Character strings: 32 characters)

<Details>

Job name

Half-width character: 32 characters

Full-width character: 16 characters

3

Line number (0 to 9999) Line number

NOTE

For the alarm character strings name, it is transmitted in the form of the character strings whose language code was selected by the programming pendant.

Use the same language code as the DX100, or the characters corrupt in case the client side dose not correspond to its language code.

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3.3 Respective Commands for Robot Control

Answer

Sub header part

<Details>

Status Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

Added status size

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

Added status The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

Data part

No data part

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DX100 3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.25 Management Time Acquiring Command

Request

Sub header part

<Details>

Command No.

0x88

Instance Specify one out of followings

•

1

•

10

•

11 to 18

•

21 to 44

•

110

•

111 to 118

•

121 to 144

•

210

•

211 to 218

•

221 to 244

•

301 to 308

Attribute

Service

Specify one out of followings

1: Operation start time

2: Elapse time

•

Get_Attribute_Single: 0x0E

•

Get_Attribute_All: 0x01

Specify the type of the management time

1 :Control power ON time

10 :Servo power ON time (TOTAL)

11 to 18 :Servo power ON time (R1 to R8)

21 to 44 :Servo power ON time (S1 to S24)

110 :Play back time (TOTAL)

111 to 118 :Play back time (R1 to R8)

121 to 144 :Play back time (S1 to S24)

210 :Motion time (TOTAL)

211 to 218 :Motion time (R1 to R8)

221 to 244 :Motion time (S1 to S24)

301 to 308 :Operation time (application 1 to 8)

Specify the type of the management time

Specify the accessing method to the data.

0x0E : Read out data of the specified element number

0x01 : Read out data of all the element number

(In this case, specify0 to the element number.)

Answer

Sub header part

<Details>

Status Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

Added status size

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

Added status The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

Data part

5

6

7

1

2

3

4

32bit integer Byte 0 Byte 1 Byte 2 Byte3 <Details>

Operation start time

(Character strings: 16 characters)

Ex. 2011/10/10 15:49

Operation start time

Elapse time

(Character strings: 12 characters)

Ex. 000000:00'00

Elapse time

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DX100 3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.26 System Information Acquiring Command

Request

Sub header part

<Details>

Command No.

0x89

Instance Specify one out of followings

•

11 to 18

•

21 to 44

•

101 to 108

Attribute

Service

Specify one out of followings

1: System software version

2: Model name / application

3: Parameter version

•

Get_Attribute_Single: 0x0E

•

Get_Attribute_Al: 0x01

Specify the type of system type.

11 to 18: Type information (R1 to R8)

21 to 44: Type information (S1 to s24)

101 to 108: Application information (application 1 to 8)

Specify the type of system information

Specify the accessing method to the data.

0x0E: :Read out data of the specified element number

0x01 : Read out data of all the element number

(In this case, specify0 to the element number)

Answer

Sub header part

<Details>

Status Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

Added status size

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

Added status The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

Data part

10

11

12

8

9

6

7

4

5

32bit integer Byte 0

1

2

Byte 1 Byte 2

System software version

Byte3

(Character strings: 24 characters)

Ex. DS2.07.00A. (JP/US) -00

<Details>

3

The same character strings are returned even if either

11 to 18, 21 to 44 or 101 to 108 is specified to the instance in the request sub-header part.

Model name / application

(Character strings: 16 characters)

Ex.

(For model) ES0165D-A0*

(For application) ARC WELDING

The model name is returned when it is R1 to R8, and

NULL character is returned when it is S1 to S24. Also, application name is returned when it is application 1 to

8R.

Parameter version

(Character strings: 8 characters)

Ex. 12.34

R1 to R8: Parameter version

When it is nonexistent control group, it is returned in

NULL characters.

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DX100 3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.27 Plural I/o Data Reading / Writing Command

Request

Sub header part

<Details>

Command No.

0x300

Instance

Attribute

Specify one out of followings

•

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

Fixed to “0”.

Service 0x33:Read plural data

0x34:Write plural data

Specify logical number /10

•

1 to 256 : Robot user input

•

1001 to 1256: Robot user output

•

2001 to 2256: External input

•

2501 to 2756: Network input

•

3001 to 3256: External output

•

3501 to 3756: Network output

•

4001 to 4160: Robot system input

•

5001 to 5200: Robot system output

•

6001 to 6064: Interface panel input

•

7001 to 7999: Auxiliary relay

•

8001 to 8064: Robot control status signal

•

8201 to 8220: Pseudo input

Specify “0”.

Specify the accessing method to the data.

0x33: Read out the fixed size specified by the data part.

0x34: Write the fixed size specified by the data part.

Only the network input signal can be writable.

Data part

32bit integer

1

2

120

Byte 0

Number

Byte 1 Byte 2 Byte3 <Details>

Maximum: 474

*It can specify by a multiple of 2 only.

:

I/O data 1 I/O data 2 I/O data 3 I/O data 4 I/O data part is valid only when writing.

Only the number of data is valid when reading.

I/O data

473

I/O data

474

Answer

Sub header part

<Details>

Status Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

Added status size

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

Added status The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

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Data part

(Data exists during the writing operation only)

32bit integer

1

2

120

Byte 0

Number

Byte 1 Byte 2 Byte3 <Details>

Maximum: 474

*It can specify by a multiple of 2 only.

:

I/O data 1 I/O data 2 I/O data 3 I/O data 4 I/O data part is valid only when writing.

Only the number of data is valid when reading.

I/O data 473 I/O data 474

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DX100 3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.28 Plural Register Data Reading / Writing Command

Request

Sub header part

<Details>

Command No.

0x301

Instance Specify one out of followings

•

0 to 999

Attribute

Service

Fixed to “0”

0x33 : Read plural data

0x34 : Write plural data

Specify the variable number (the first number with which reading/writing is executed)

0 to 999 (writable register: 0 to 559)

Specify “0”

Specify the accessing method to the data.

0x33: Read out the fixed size specified by the data part.

0x34: Write the fixed size specified by the data part.

Data part

32bit integer Byte 0

1 Number

2

:

Byte 1

Register data 1

120 Register data 237

Byte 2 Byte3

Register data 2

<Details>

Maximum: 237

I/O data part is valid only when writing. Only the number of data is valid when reading.

Answer

Sub header part

<Details>

Status Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

Added status size

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

Added status The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

Data part

(Data exists during the writing operation only)

32bit integer Byte 0

1

2

Number

Byte 1

Register data 1

120

:

Register data 237

Byte 2 Byte3

Register data 2

<Details>

Maximum: 237

The data part is valid only when requested by the client.

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DX100 3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.29 Plural Byte Type Variable (B) Reading / Writing Command

Request

Sub header part

<Details>

Command No.

0x302

Instance Specify one out of followings

•

0 to 99 (for standard setting)

Attribute

Service

Fixed to “0”.

0x33 : Read plural data

0x34 : Write plural data

Specify the variable number (the first number with which reading/writing is executed)

Follow the numbers of the variable specified by the parameter since the extended variable is an optional function.

Specify “0”.

Specify the accessing method to the data.

0x33: Read out the fixed size specified by the data part.

0x34: Write the fixed size specified by the data part.

32bit integer

1

2

120

Byte 0

Number

Data part

Byte 1

:

B variable 1 B variable 2

B variable 473 B variable 474

Byte 2 Byte3 <Details>

Maximum: 474

*It can specify by a multiple of

2 only.

B variable 3 B variable 4 Variable data part is valid only when writing. Only the number of data is valid when reading.

Answer

Sub header part

<Details>

Status Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

Added status size

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

Added status The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

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32bit integer Byte 0

1 Number

2

120

B variable 1

Data part

(Data exists during the writing operation only)

Byte 1 Byte 2 Byte3 <Details>

Maximum: 474

*It can specify by a multiple of 2

only. (invalid if specified by other than a multiple of 2)

B variable 2 B variable

3

B variable 4

:

B variable 473 B variable 474

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3.3 Respective Commands for Robot Control

3.3.30 Plural Integer Type Variable (I) Reading / Writing Command

Request

Sub header part

<Details>

Command No.

0x303

Instance Specify one out of followings

•

0 to 99 (for standard setting)

Attribute

Service

Fixed to “0”

0x33 : Read plural data

0x34 : Write plural data

Specify the variable number (the first number with which reading/writing is executed)

Follow the numbers of the variable specified by the parameter since the extended variable is an optional function.

Specify “0”

Only batch access of all elements is valid

Specify the accessing method to the data.

0x33: Read plural data.

0x34: Write plural data

32bit integer Byte 0

1

2

Number

I variable 1

:

120 I variable 237

Data part

Byte 1 Byte 2

I variable 2

Byte3 <Details>

Maximum: 237

Variable data part is valid only when writing. Only the number of data is valid when reading.

Answer

Sub header part

<Details>

Status Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

Added status size

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

Added status The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

32bit integer Byte 0

1

2

Number

I variable 1

120

:

I variable 237

Data part

(Data exists during the writing operation only)

Byte 1 Byte 2 Byte3 <Details>

Maximum: 237

I variable 2

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3.3 Respective Commands for Robot Control

3.3.31 Plural Double Precision Integer Type Variable (B) Reading / Writing

Command

Request

Sub header part

<Details>

Command No.

0x304

Instance Specify one out of followings

•

0 to 99 (for standard setting)

Attribute

Service

Fixed to “0”

0x33 : Read plural data

0x34 : Write plural data

Specify the variable number (the first number with which reading/writing is executed)

Follow the numbers of the variable specified by the parameter since the extended variable is an optional function.

Specify “0”

Only batch access of all elements is valid

Specify the accessing method to the data.

0x33: Read plural data

0x34: Write plural data

32bit integer Byte 0

1

2

Number

D variable 1

:

Data part

Byte 1

119 D variable 118

Byte 2 Byte3 <Details>

Maximum: 118

Variable data part is valid only when writing. Only the number of data is valid when reading.

Answer

Sub header part

<Details>

Status Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

Added status size

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

Added status The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

Data part

(Data exists during the writing operation only)

32bit integer Byte 0

1

2

Number

D variable 1

119

:

D variable 118

Byte 1 Byte 2 Byte3 <Details>

Maximum: 118

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DX100 3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.32 Plural Real Type Variable (R) Reading / Writing Command

Request

Sub header part

<Details>

Command No.

0x305

Instance Specify one out of followings

•

0 to 99 (for standard setting)

Attribute

Service

Fixed to “0”

0x33 : Read plural data

0x34 : Write plural data

Specify the variable number (the first number with which reading/writing is executed)

Follow the numbers of the variable specified by the parameter since the extended variable is an optional function.

Specify “0”

Only batch access of all elements is valid

Specify the accessing method to the data.

0x33: Read plural data

0x34: Write plural data

32bit integer Byte 0

1

2

Number

R variable 1

:

Data part

Byte 1

119 R variable 118

Byte 2 Byte3 <Details>

Maximum: 118

Variable data part is valid only when writing. Only the number of data is valid when reading.

Answer

Sub header part

<Details>

Status Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

Added status size

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

Added status The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

Data part

(Data exists during the writing operation only)

32bit integer Byte 0

1

2

Number

R variable 1

119

:

R variable 118

Byte 1 Byte 2 Byte3 <Details>

Maximum: 118

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3.3 Respective Commands for Robot Control

3.3.33 Plural Character Type Variable (S) Reading / Writing Command

Request

Sub header part

<Details>

Command No.

0x306

Instance Specify one out of followings

•

0 to 99 (for standard setting)

Attribute

Service

Fixed to “0”

0x33 : Read plural data

0x34 : Write plural data

Specify the variable number (the first number with which reading/writing is executed)

Follow the numbers of the variable specified by the parameter since the extended variable is an optional function.

Specify “0”

Only batch access of all elements is valid

Specify the accessing method to the data.

0x33: Read plural data

0x34: Write plural data

Data part

114

115

116

117

3

4

5

32bit integer Byte 0

1

2

Number

S variable 1

:

S variable 29

Byte 1 Byte 2 Byte3 <Details>

Maximum: 29

Variable data part is valid only when writing.

Only the number of data is valid when reading.

Answer

Sub header part

<Details>

Status Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

Added status size

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

Added status The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

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Data part

(Data exists during the writing operation only)

114

115

116

117

4

5

2

3

32bit integer Byte 0

1 Number

S variable 1

:

S variable 29

Byte 1 Byte 2 Byte3 <Details>

Maximum: 29

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3.3 Respective Commands for Robot Control

3.3.34 Plural Robot Position Type Variable (P) Reading / Writing Command

Request

Sub header part

<Details>

Command No.

0x307

Instance Specify one out of followings

•

0 to 127 (for standard setting)

Attribute

Service

Fixed to “0”

0x33 : Read plural data

0x34 : Write plural data

Specify the variable number (the first number with which reading/writing is executed)

Follow the numbers of the variable specified by the parameter since the extended variable is an optional function.

Specify “0”

Only batch access of all elements is valid

Specify the accessing method to the data.

0x33: Read plural data

0x34: Write plural data

32bit integer Byte 0

1

2 to 14

Number

Data type

Data part

Byte 1 Byte 2 Byte3 <Details>

Maximum: 9

0: Pulse value

16: Base coordinated value

17: Robot coordinated value

18: User coordinated value

19: Tool coordinated value

Form

Tool number

User coordinate number

106 to 118

Form

Tool number

User coordinate number

Extended form

First coordinate data

Second coordinate data

Third coordinated data

Fourth coordinate data

Fifth coordinate data

Sixth coordinate data

Seventh coordinate data

Eighth coordinate data

:

Data type

Variable data part is valid only when writing.

Only the number of data is valid when reading.

0: Pulse value

16: Base coordinated value

17: Robot coordinated value

18: User coordinated value

19: Tool coordinated value

Form

Tool number

User coordinate number

Form

Tool number

User coordinate number

Extended form

First coordinate data

Second coordinate data

Third coordinated data

Fourth coordinate data

Fifth coordinate data

Sixth coordinate data

Seventh coordinate data

Eighth coordinate data

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3.3 Respective Commands for Robot Control

Answer

Sub header part

<Details>

Status Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

Added status size

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

Added status The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

32bit integer Byte 0

1

2 to 14

Number

Data type

106 to 118

Form

Tool number

User coordinate number

Extended form

First coordinate data

Second coordinate data

Third coordinated data

Fourth coordinate data

Fifth coordinate data

Sixth coordinate data

Seventh coordinate data

Eighth coordinate data

:

Data type

Data part

(Data exists during the writing operation only)

Byte 1 Byte 2 Byte3 <Details>

Maximum: 9

0: Pulse value

16: Base coordinated value

17: Robot coordinated value

18: User coordinated value

19: Tool coordinated value

Form

Tool number

User coordinate number

Variable data part is valid only when writing.

Only the number of data is valid when reading.

0: Pulse value

16: Base coordinated value

17: Robot coordinated value

18: User coordinated value

19: Tool coordinated value

Form

Tool number

User coordinate number

Form

Tool number

User coordinate number

Extended form

First coordinate data

Second coordinate data

Third coordinated data

Fourth coordinate data

Fifth coordinate data

Sixth coordinate data

Seventh coordinate data

Eighth coordinate data

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3.3 Respective Commands for Robot Control

3.3.35 Plural Base Position Type Variable (Bp) Reading / Writing Command

Request

Sub header part

<Details>

Command No.

0x308

Instance Specify one out of followings

•

0 to 127 (for standard setting)

Attribute

Service

Fixed to “0”.

0x33 : Read plural data

0x34 : Write plural data

Specify the variable number (the first number with which reading/writing is executed)

Follow the numbers of the variable specified by the parameter since the extended variable is an optional function.

Specify “0”.

Specify the accessing method to the data.

0x33: Read plural data

0x34: Write plural data

Data part

32bit integer Byte 0

1 Number

2

(Replying data is determined by the value specified by the element number.)

Data type

Byte 1

First coordinate data

Third coordinated data

Fourth coordinate data

Byte 2

Second coordinate data

119

Fifth coordinate data

Sixth coordinate data

Seventh coordinate data

Eighth coordinate data

:

Data type

First coordinate data

Second coordinate data

Third coordinated data

Fourth coordinate data

Fifth coordinate data

Sixth coordinate data

Seventh coordinate data

Eighth coordinate data

Byte3 <Details>

Maximum: 13

0x00 : Pulse value

0x10 : Base coordinate value

Variable data part is valid only when writing.

Only the number of data is valid when reading.

0x00 : Pulse value

0x10 : Base coordinate value

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Answer

Sub header part

<Details>

Status Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

Added status size

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

Added status The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

Data part

(Data exists during the writing operation only)

32bit integer Byte 0

1

2 to 10

(Replying data is determined by the value specified by the element number.)

Number

Data type

Byte 1

First coordinate data

Second coordinate data

Third coordinated data

Fourth coordinate data

Fifth coordinate data

119

Sixth coordinate data

Seventh coordinate data

:

Eighth coordinate data

Data type

Byte 2 Byte3 <Details>

Maximum: 13

0x00 : Pulse value

0x10 : Base coordinate

Variable data part is valid only when writing.

Only the number of data is valid when reading.

0x00 : Pulse value

0x10 : Base coordinate

First coordinate data

Second coordinate data

Third coordinated data

Fourth coordinate data

Fifth coordinate data

Sixth coordinate data

Seventh coordinate data

Eighth coordinate data

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DX100 3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.36 Plural External Axis Type Variable (Ex) Reading / Writing Command

Request

Sub header part

<Details>

Command No.

0x309

Instance Specify one out of followings

•

0 to 127 (for standard setting)

Attribute

Service

Fixed to “0”

0x33 : Read plural data

0x34 : Write plural data

Specify the variable number (the first number with which reading/writing is executed)

Follow the numbers of the variable specified by the parameter since the extended variable is an optional function.

Specify “0”.

Specify the accessing method to the data.

0x33: Read plural data

0x34: Write plural data

Data part

32bit integer Byte 0

1 Number

2 to 10 Data type

Byte 1

First coordinate data

Second coordinate data

Third coordinated data

Fourth coordinate data

Fifth coordinate data

110 to 118

Sixth coordinate data

Seventh coordinate data

:

Eighth coordinate data

Data type

First coordinate data

Second coordinate data

Third coordinated data

Fourth coordinate data

Fifth coordinate data

Sixth coordinate data

Seventh coordinate data

Eighth coordinate data

Byte 2 Byte3 <Details>

Maximum: 13

0 : Pulse value

Variable data part is valid only when writing.

Only the number of data is valid when reading.

0 : Pulse value

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3.3 Respective Commands for Robot Control

Answer

Sub header part

<Details>

Status Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

Added status size

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

Added status The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

Data part

(Data exists during the writing operation only)

32bit integer Byte 0

1

2 to 10

Number

Data type

Byte 1

First coordinate data

Second coordinate data

Third coordinated data

Fourth coordinate data

110 to 118

Fifth coordinate data

Sixth coordinate data

Seventh coordinate data

Eighth coordinate data

:

Data type

First coordinate data

Second coordinate data

Third coordinated data

Fourth coordinate data

Fifth coordinate data

Sixth coordinate data

Seventh coordinate data

Eighth coordinate data

Byte 2 Byte3 <Details>

Maximum: 13

0: Pulse value

Variable data part is valid only when writing.

Only the number of data is valid when reading.

0: Pulse value

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DX100 3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.37 Alarm Data Reading Command (for Applying the Sub Code

Character Strings)

Request

Sub header part

<Details>

Command No.

0x30A

Instance

Attribute

Specify one out of followings

1: The latest alarm

2: The second alarm from the

latest

3: The third alarm from the latest

4: The fourth alarm from the

latest

Specify one out of followings

1: Alarm code

2: Alarm data

3: By alarm type

4: Alarm occurring time

5: Alarm character string name

6: Sub code data additional

information character strings

7:Sub code data character strings

8:Sub code data character strings

reverse display information

Service

•

Get_Attribute_Single: 0x0E

•

Get_Attribute_All: 0x01

Up to four alarms are displayed on the P.P display at the same time. Specify one out of them.

Alarm code means the alarm No.

Alarm data means the sub code which supports the alarm contents. Some alarms may not appear as the sub code.

Sub code additional info character strings means the number for alarms from the Servo circuit board [SV#*]or the function safety board[NSU(CPU#*)]. (*denotes number)

Sub code data character string reverse display information sets [1], when the characters are reverse.

Specify the accessing method to the data.

0x0E: Read out data of the specified element number

0x01: Read out data of all the element number

(In this case, specify0 to the element number.)

Status

Added status size

Added status

Data part

No data part

Answer

<Details>

Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

•

0: not specified

•

1: 1 WORD

•

2: 2 WORD

Error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

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3.3 Respective Commands for Robot Control

Data part

32bit integer Byte 0 Byte 1 Byte 2 Byte3 <Details>

1 Alarm code Range is from 0x0001 to 0x270F(decimal value: 9999)

2 Alarm data

3 Alarm type

Setting values vary in accordance with the contents of the alarm type. Also, some alarms are not displayed with the sub code. In this case, the value is zero (0x0).

0 : No alarm

1 : Decimal UNSIGNED SHORT type

(display example: [1])

2 : UNSIGNED CHAR bit pattern

(display example: [0000_0001])

3 : User axis type (display example: [SLURBT])

4 : Spacial coordinate type (display example: [XYZ])

5 : Robot coordinate type

(display example: [XYZRxRyRz])

6 : Conveyor characteristic file (display example: [123])

8 : Control group type

(display example: [R1R2S1S2])

robot & station

9 : Decimal SHORT type (display example: [-1])

10 : UNSIGNED SHORT bit pattern

(display example: [0000_0000_0000_0001])

11 : Control group type (display example: [R1])

for robot only

12 : Control group type (display example:[R1S1B1])

for robot, station and base

20 : Control group LOW/HIGH logical axis

(display example: [R1:LOW SLURBT, HIGH

SLURBT])

21 : Control group MIN/MAX logical axis

(display example: [R1: MIN SLURBT, MAX

SLURBT])

22 : Control group MIN/MAX spacial coordinate

(display example: [R1: MIN XYZ, MAX XYZ])

23 : Logical axis of both control group 1 and control

group 2

(display example: [R1: SLURBT, R2: SLURBT])

24 : Logical axis 1 and 2 of the control group

(display example: [R1: SLURBT, SLURBT])

25 : Logical axis of the control group and UNSIGNED

CHAR type

(display example: [R1: SLURBT, 1])

27 : Control group and UNSIGNED CHAR type

(display example: [R1: 1])

4 to 7

8 to 15

16 to 19

20 to 43

Alarm occurring time

(Character strings of 16 letters)

Ex.2011/10/10 15:49

Alarm character strings name

(character strings: 32 letters)

Sub code data additional information character strings

(Character strings of 16 letters)

Sub code data character strings

(Character strings of 96 letters)

It is transmitted in the form of the character strings whose language code was selected by the programming pendant and half- and full-width characters are mixed.

[SV#1] indicates the servo board number 1.

[NSU(CPU#1)] indicates that an alarm is found in the function safety unit CPU#1.

44 to 67 Sub code data character strings reverse display information

(Character strings of 96 letters)

Regular characters show [0] and reverse characters show [1]. (display example: [ R1 R2S1S2])

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3 Transmission Procedure

3.3 Respective Commands for Robot Control

NOTE

For the alarm character strings name, it is transmitted in the form of the character strings whose language code was selected by the programming pendant.

Use the same language code as the DX100, or the characters corrupt in case the client side dose not correspond to its language code.

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DX100

Command No.

Instance

Attribute

Service

3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.38 Alarm History Reading Command (for Applying the Sub Code

Character Strings)

Request

Sub header part

<Details>

0x30B

Specify one out of followings

•

•

•

•

•

1 to 100

1001 to 1100

2001 to 2100

3001 to 3100

4001 to 4100

Specify the alarm number

1 to 100 : Major failure

1001 to 1100: Monitor alarm

2001 to 2100: User alarm (system)

3001 to 3100: User alarm (user)

4001 to 4100: OFF line alarm

Specify one out of followings

1:Alarm code

2:Alarm data

3:Alarm type

4:Alarm occurring time

5:Alarm character strings name

6:Sub code data additional

information character strings

7:Sub code data character strings

8:Sub code data character strings

reverse display information

•

Get_Attribute_Single: 0x0E

•

Get_Attribute_All: 0x01

Alarm code means the alarm No.

Alarm data means the sub code which supports the alarm content. Some alarms may not appear as the sub code.

Sub code additional info character strings mean the number for alarms from the Servo circuit board [SV#*]or the function safety board [NSU(CPU#*)].

Sub code data character strings reverse display information means setting [1], when the characters are reverse.

Specify the accessing method to the data.

0x0E: Read out data of the specified element number

0x01: Read out data of all the element number

(In this case, specify0 to the element number.)

Status

Added status size

Added status

Data part

No data part

Answer

<Details>

Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

•

0: not specified

•

1: 1 WORD

•

2: 2 WORD

Error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

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DX100 3 Transmission Procedure

3.3 Respective Commands for Robot Control

Data part

32bit integer Byte 0 Byte 1 Byte 2 Byte3 <Details>

1 Alarm code Range is from 0x0001 to 0x270F(decimal value: 9999)

2 Alarm data

3 Alarm type

Setting values vary in accordance with the contents of the alarm type. Also, some alarms are not displayed with the sub code. In this case, the value is zero (0x0).

0 : No alarm

1 : Decimal UNSIGNED SHORT type

(display example: [1])

2 : UNSIGNED CHAR bit pattern

(display example: [0000_0001])

3 : User axis type (display example: [SLURBT])

4 : Spacial coordinate type (display example: [XYZ])

5 : Robot coordinate type

(display example: [XYZRxRyRz])

6 : Conveyor characteristic file (display example: [123])

8 : Control group type

(display example: [R1R2S1S2])

robot & station

9 : Decimal SHORT type (display example: [-1])

10 : UNSIGNED SHORT bit pattern

(display example: [0000_0000_0000_0001])

11 : Control group type (display example: [R1])

for robot only

12 : Control group type (display example:[R1S1B1])

for robot, station and base

20 : Control group LOW/HIGH logical axis

(display example: [R1:LOW SLURBT, HIGH

SLURBT])

21 : Control group MIN/MAX logical axis

(display example: [R1: MIN SLURBT, MAX

SLURBT])

22 : Control group MIN/MAX spacial coordinate

(display example: [R1: MIN XYZ, MAX XYZ])

23 : Logical axis of both control group 1 and control

group 2

(display example: [R1: SLURBT, R2: SLURBT])

24 : Logical axis 1 and 2 of the control group

(display example: [R1: SLURBT, SLURBT])

25 : Logical axis of the control group and UNSIGNED

CHAR type

(display example: [R1: SLURBT, 1])

27 : Control group and UNSIGNED CHAR type

(display example: [R1: 1])

4 to 7

8 to 15

16 to 19

20 to 43

Alarm occurring time

(Character strings of 16 letters)

Ex.2011/10/10 15:49

Alarm character strings name

(character strings: 32 letters)

Sub code data additional information character strings

(Character strings of 16 letters)

Sub code data character strings

(Character strings of 96 letters)

It is transmitted in the form of the character strings whose language code was selected by the programming pendant and half- and full-width characters are mixed.

[SV#1] indicates the servo board number 1.

[NSU(CPU#1)] indicates that an alarm is found in the function safety unit CPU#1.

44 to 67 Sub code data character strings reverse display information

(Character strings of 96 letters)

Regular characters show [0] and reverse characters show [1]. (display example: [ R1 R2S1S2])

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3.3 Respective Commands for Robot Control

NOTE

For the alarm character strings name, it is transmitted in the form of the character strings whose language code was selected by the programming pendant.

Use the same language code as the DX100, or the characters corrupt in case the client side dose not correspond to its language code.

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DX100 3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.39 Move instruction command (Type Cartesian coordinates)

Request

Sub header part

162529-1CD

<Details>

Command No.

0x8A

Instance Specify one out of followings

1:Link absolute position operation

2:Straight absolute position operation

3:Straight increment value operation

Attribute Fixed to “1”

Service

•

Set_Attribute_All: 0x02

Specify the operation number from one to three.

1:Link absolute position operation

2:Straight absolute position operation

3:Straight increment value operation

Specify “1”.

Specify the accessing method to the data.

0x02: Write the data to the specified coordinate.

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3.3 Respective Commands for Robot Control

Data part

13

14

15

16

17

18

2

3

32bit integer Byte 0 Byte 1 Byte 2 Byte3 <Details>

1 Specifying control group (Robot) 1 to 8 (Robot No.)

4

5

6

7

8

9

10

11

12

Specifying control group (Station) 1 to 24 (Station No.)

Specifying the classification in speed Specify the classification of operations

0: % (Link operation)

1: V (Cartesian operation)

2: VR (Cartesian operation)

Specifying a speed Specify the rate

Link operation : 0.01%

Cartesian operation V speed : 0.1 mm/s

Cartesian operation VR speed : 0.1 degree/s

Specifying the operation coordinate Specify the operation coordinate

16: Base coordinate

17: Robot coordinate

18: User coordinate

19: Tool coordinate

X coordinate value (unit: μ m )

Y coordinate value (unit: μ m )

Z coordinate value (unit: μ m )

Tx coordinate value

(unit: 0.0001 degree)

Ty coordinate value

(unit: 0.0001 degree)

Tz coordinate value

(unit: 0.0001 degree)

Reservation

19

20

21

22

23

24

25

26

Reservation

Type

Expanded type

Tool No. (0 to 63)

User coordinate No. (1 to 63)

Base 1st axis position (unit: μ m )

Base 2nd axis position (unit: μ m )

Base 3rd axis position (unit: μ m )

Station 1st axis position

(pulse value)

Station 2nd axis position

(pulse value)

Station 3rd axis position

(pulse value)

Station 4th axis position

(pulse value)

Station 5th axis position

(pulse value)

Station 6th axis position

(pulse value)

Refer to following data at the next page for details

Up to three axes

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DX100 3 Transmission Procedure

3.3 Respective Commands for Robot Control

Form bit0 0: Front bit1 0: Upper arm bit2 0: Flip bit3 0: ө R<180, bit4 0: ө T<180, bit5 0: ө S<180, bit6 Reserve bit7 Reserve

Details of data

Please refer to section 3.9.5 “Flip/ No flip” in “DX100 OPERATOR’S

MANUAL” prepared for each application.

1: Back 1: ө L ≥ 180

1: Lower arm

1:No flip

1: ө R ≥ 180

1: ө T ≥ 180

1: ө S ≥ 180

Extended form bit0 0: ө L<180, bit1 0: ө U<180, bit2 0: ө B<180, bit3 0: ө E<180, bit4 0: ө W<180, bit5 Reserve bit6 Reserve bit7 Reserve

1:

1:

1:

1: ө U ≥ 180 ө B ≥ 180 ө E ≥ 180 ө W ≥ 180

NOTE

To move the base axis, specify the robot No. at the specifying control group, and input the current value to the following coordinate values.

• X coordinate value (unit: μ m )

• Y coordinate value (unit: μ m )

• Z coordinate value (unit: μ m )

• Tx coordinate value (unit: 0.0001 degree)

• Ty coordinate value (unit: 0.0001 degree)

• Tz coordinate value (unit: 0.0001 degree)

Status

Added status size

Added status

Answer

Sub header part

<Details>

Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

•

0: not specified

•

1: 1 WORD

•

2: 2 WORD

Error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

Data part

No data part

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DX100 3 Transmission Procedure

3.3 Respective Commands for Robot Control

3.3.40 Move Instruction Command (Type Pulse)

Request

Sub header part

<Details>

Command No.

0x8B

Instance Specify one out of followings

1:Link absolute position operation

2:Straight absolute position operation

Specify the operation number from one to three.

1:Link absolute position operation

2:Straight absolute position operation

Attribute

Service

Fixed to “1”

•

Set_Attribute_All: 0x02

Specify “1”.

Specify the accessing method to the data.

0x02: Write the data to the specified coordinate.

NOTE

It is not able to operate the robot and the station at the same time. Setting the both operation at the same time receives the control group setting error (0xB008) from the

DX100.

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3.3 Respective Commands for Robot Control

Data part

14

15

16

17

10

11

12

13

8

9

6

7

2

3

32bit integer Byte 0 Byte 1 Byte 2 Byte3 <Details>

1 Specifying control group (Robot) 1 to 8 (Robot No.)

4

5

Specifying control group (Station) 1 to 24 (Station No.)

Specifying the classification in speed Specify the classification of operations

0: % (Link operation)

1: V (Cartesian operation)

2: VR (Cartesian operation)

Specifying a speed

Robot 1st axis pulse value

Specify the rate

Link Operation : 0.01%

Cartesian operation V speed : 0.1 mm/s

Cartesian operation VR speed : 0.1 degree/s

Robot 2nd axis pulse value

Robot 3rd axis pulse value

Robot 4th axis pulse value

Robot 5thaxis pulse value

18

Robot 6th axis pulse value

Robot 7th axis pulse value

Robot 8th axis pulse value

Tool No. (0 to 63)

Base 1st axis position (Pulse value)

Base 2nd axis position (Pulse value)

Base 3rdaxis position (Pulse value)

Station 1st axis position

(pulse value)

Station 2nd axis position

(pulse value)

Up to three axes

19

20

21

22

Station 3rdaxis position

(pulse value)

Station 4th axis position

(pulse value)

Station 5th axis position

(pulse value)

Station 6th axis position

(pulse value)

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3.3 Respective Commands for Robot Control

NOTE

To move the base axis, specify the robot No. at the specifying control group, and input the each axis value.

• Robot 1st axis pulse value

• Robot 2ndt axis pulse value

• Robot 3rd axis pulse value

• Robot 4th axis pulse value

• Robot 5th axis pulse value

• Robot 6th axis pulse value

• Robot 7th axis pulse value

• Robot 8th axis pulse value

Status

Added status size

Added status

Answer

Sub header part

<Details>

Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

•

0: not specified

•

1: 1 WORD

•

2: 2 WORD

Error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

Data part

No data part

NOTE

It is not able to operate the robot and the station at the same time. Setting the both operation at the same time receives the control group setting error (0xB008) from the

DX100.

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3 Transmission Procedure

3.4 File Control Command

3.4

File Control Command

Followings are respective commands used in the high-speed Ethernet communication.

Table 3-2: List of File Control Command

No. Command No. Instance Attribute Service Command name

1 0x0 0x0 0x0 0x09 File delete

2

3

4

5

0x15

0x16

0x32

0x16

File loading command

(the PC to the DX100)

File saving command

(the DX100 to the PC)

File list acquiring command

File saving command

(A batch data backup)

(the DX100 to the

PC)

1)

1 This command is available for system software version DS3.00 or higher.

Reference

Refer to

section 3.4.1

.

Refer to

section 3.4.2

.

Refer to

section 3.4.3

.

Refer to

section 3.4.4

.

Refer to

section 3.4.5

.

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DX100 3 Transmission Procedure

3.4 File Control Command

Command No.

0x0

Instance

Attribute

Service

0x0

0x0

0x09

3.4.1 File Deleting Command

Request

Sub header part

<Details>

File deleting process

32bit integer Byte 0

T

J

J

Data part

O

B

Byte 1

E

I

B

Byte 2

S

.

Byte3

T

<Details>

Specify the job name to be deleted

Answer

Sub header part

<Details>

Status Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

Added status size

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

Added status The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

Data part

No data part

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DX100 3 Transmission Procedure

3.4 File Control Command

Command No.

0x0

Instance

Attribute

Service

0x0

0x0

0x15

3.4.2 File Loading Command

Request

Sub header part

<Details>

File loading process

32bit integer Byte 0

T

J

J

Data part

O

B

Byte 1

E

I

B

Byte 2

S

.

Byte3

T

<Details>

Specify the job name to be loaded

Answer

Sub header part

<Details>

Status Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

Added status size

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

Added status The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

Data part

No data part

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3.4 File Control Command

Command No.

0x0

Instance

Attribute

Service

0x0

0x0

0x16

3.4.3 File Saving Command

Request

Sub header part

<Details>

File saving process

32bit integer Byte 0

T

J

J

Data part

O

B

Byte 1

E

I

B

Byte 2

S

.

Byte3

T

<Details>

Specify the job names to be saved.

Answer

Sub header part

<Details>

Status Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

Added status size

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

Added status The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

Data part

No data part

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DX100 3 Transmission Procedure

3.4 File Control Command

Command No.

0x0

Instance

Attribute

Service

0x0

0x0

0x32

3.4.4 File List Acquiring Command

Request

Sub header part

<Details>

File list accruing process

32bit integer Byte 0

*

I

Data part

.

Byte 1 Byte 2

J

Byte3

B

<Details>

Refer to “Details of data” for the file type.

Details of data

No specification JBI list

*.*

*.JBI

JBI list

JBI list

*.DAT

*.CND

*.PRM

*.SYS

*.LST

DAT file list

CND file list

PRM file list

SYS file list

LST file list

Answer

Sub header part

<Details>

Status Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

Added status size

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

Added status The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

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3.4 File Control Command

Data part

32bit integer Byte 0

I

1

3

B

I

2

T

0

B I

E

1

Byte 1

.

<CR>

I

3

.

<CR>

Byte 2

J

<LF>

J

<LF>

.

<CR>

.

S

<CR>

Byte3

B

2

B

3

J

<LF>

T

J

<LF>

<Details>

File name + <CR><LF> to input consecutively

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DX100 3 Transmission Procedure

3.4 File Control Command

Command No.

0x0

Instance

Attribute

Service

0x0

0x0

0x16

3.4.5 File Saving Command (The Batch Data Backup)

Request

Sub header part

<Details>

File saving process

32bit integer Byte 0

/

R

M

K

N

Data part

.

V

O

Byte 1

S

/

S

Byte 2

P

B I

C

B

Byte3

D

<Details>

Specify /SPDRV/CMOSBK.BIN

Answer

Sub header part

<Details>

Instance

Status

0x96

Respond by one in the followings

•

0x00 : respond normally

•

Other than 0x00

: respond abnormally

Added status size

•

0: no added status

•

1: 1 WORD

•

2: 2 WORD

Added status The error code specified by the added status size

“1” indicates 1 WORD of added status data, and “2” indicates 2 WORD of added status data.

The error code of 1 WORD exists if the added status code is “1” and that of 2 WORD exists if the code is “2”.

Data part

No data part

NOTE

To set the batch data backup function, set the device as

“RAMDISK” as in advance.

It takes about ten minutes to finish backing-up the data by using the batch data backup function.

Refer to

section 2.5 “Setting of a Batch Data Backup

Function” for more detail.

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DX100

4 Error Code

4 Error Code

The following table is the message list of the status.

Added status code

0x08

0x09

0x1f

0x28

Details

Requested command is not defined

The element number of the invalid data is detected

An error inherent in vendor occurred

(CIP communication protocol corresponds to the vendor specification error)

Refer to chapter 5 “Added Status Code” for more

details.

An array number of the requested data does not exist in the specified command.

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DX100 5 Added Status Code

5 Added Status Code

3420

3430

3450

3460

4010

4012

3010

3040

3050

3070

3220

3230

3350

3360

3370

3380

3390

3400

3410

The following table is the message list of the added status.

Added status code

2040

2050

2060

2070

2080

2090

2100

2110

1010

1011

1012

1013

1020

2010

2020

2030

2120

2130

2150

4020

4030

Details

Command error

Error in number of command operands

Command operand value range over

Command operand length error

Disk full of files

Manipulator operating

Hold by programming pendant

Hold by playback panel

External hold

Command hold

Error/alarm occurring

Servo OFF

Incorrect mode

File accessing by other function

Command remote not set

This data cannot be accessed

This data cannot be loaded

Editing

Running the coordinate conversion function

*Refer to the NOTE in the last page of this list.

Turn ON the servo power

Perform home positioning

Confirm positions

Current value not made

Panel lock; mode/cycle prohibit signal is ON

Panel lock; start prohibit signal is ON

User coordinate is not taught

User coordinate is destroyed

Incorrect control group

Incorrect base axis data

Relative job conversion prohibited (at CVTRJ)

Master job call prohibited (parameter)

Master job call prohibited

(lamp ON during operation)

Master job call prohibited (teach lock)

Robot calibration data not defined

Servo power cannot be turned ON

Coordinate system cannot be set

Insufficient memory capacity (job registered memory)

Insufficient memory capacity

(position data registered memory)

Job editing prohibited

Same job name exists

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DX100 5 Added Status Code

Added status code

5430

5480

6010

6020

6030

6040

6050

6060

5120

5130

5170

5180

5200

5310

5340

5370

5390

4190

4200

4230

4420

4430

4480

4490

5110

4040

4060

4120

4130

4140

4150

4170

6070

6080

6090

6100

6110

6120

6130

6140

A000

A001

A002

A101

B001

Details

No specified job

Set an execution job

Position data is destroyed

Position data not exist

Incorrect position variable type

END instruction for job which is not master job

Instruction data is destroyed

Invalid character in job name

Invalid character in the label name

Invalid instruction in this system

No step in job to be converted

Already converted

Teach user coordinate

Relative job/ independent control function not permitted

Syntax error (syntax of instruction)

Position data error

No NOP or END

Format error (incorrect format)

Incorrect number of data

Data range over

Syntax error (except instruction)

Error in pseudo instruction specification

Error in condition file data record

Error in JOB data record

System data not same

Incorrect welding function type

The robot/station is under the operation

Not enough memory of the specified device

Cannot be accessed to the specified device

Unexpected auto backup request

CMOS size is over the RAM area

No memory allocation at the power supply on

Accessing error to backup file information

Failed in sorting backup file (Remove)

Failed in sorting backup file (Rename)

Drive name exceeds the specified values

Incorrect device

System error

Auto backup is not available

Cannot be backed up under the auto backup

Undefined command

Instance error

Attribute error

Replying data part size error (hardware limit)

Replying data part size error (software limit)

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5 Added Status Code

Added status code

B009

B00A

B00B

B00C

B00D

B00E

C001

C002

B002

B003

B004

B005

B006

B007

B008

C003

C800

CFFF

D8FA

D8F1

E24F

E250

E2B0

E2B1

E2B2

E2B3

E2B4

E444

E49D

E49E

E49F

E4A1

E4A2

E289

E28A

E28B

E28C

E29D

E29E

E29F

E2A0

E2AA

E2AF

Details

Data use prohibited

Requiring data size error

Outside the data

Data undefined

Specified application unregistered

Specified type unregistered

Control group setting error

Speed setting error

Operating speed is not setting

Operation coordinate system setting error

Type setting error

Tool No. setting error

User No. setting error

Address error

System error

System error

System error

Other error

Transmission exclusive error

(BUSY or Semaphore error)

Processing the another command (BUSY condition)

Parameter setting wrong for the system backup

System backup file creating error

(confirm if the mode is the remote mode)

System error

System error

Disconnect the communication due to receive timeout

Cannot over write the target file

System error

System error

System error

The wrong required pass

System error

Receive the deletion request of the file that cannot to delete

System error

The directory cannot to be deleted

System error

File not found

The requested pass is too long

Processing the another command (BUSY condition)

Format error (data size 0)

Format error (frame size over)

Format error (frame size 0)

Format error (block number error)

Format error (ACK error)

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DX100 5 Added Status Code

E4A8

E4A9

FFF0

FFF2

FFF3

FFF4

FFF5

FFF6

FFF7

FFF8

FFFE

Added status code

E4A3

E4A4

E4A5

E4A6

E4A7

Details

Format error (processing category error)

Format error (access level error)

Format error (header size error)

Format error (identifier error)

Format error (the size of the requested command and received frame are different)

System error

System error

System error

System error

System error

System error

System error

Too many request and unable to process

(BUSY condition)

System error

System error

The remote mode is detected, and disconnect the communication

NOTE

• Added status code 2150: Running the coordinate conversion function

This error occurs when executes the axis configuration information reading command at the following screen displays.

• Parallel shift job conversion display

• Mirror shift conversion display

• PAM display

• Relative job conversion display

• PMT conversion display

• Position modification display

• Arm bend compensate display

• User coordinate shift display

• Gun teaching position modification display

• 4 point teaching display

It is not only conditions above, but also the error occurs while executing the PMT instruction.

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5 Added Status Code

NOTE

When the DX100 returning the system error, perform the following procedures.

1: Reset the alarm.

2: Save the CMOS.BIN, and report the occurrence of the

alarm to YASKAWA service representative.

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DX100 OPTIONS

INSTRUCTIONS

FOR HIGH-SPEED ETHERNET SERVER FUNCTION

HEAD OFFICE

2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan

Phone +81-93-645-7703 Fax +81-93-645-7802

YASKAWA America Inc. (Motoman Robotics Division)

100 Automation Way, Miamisburg, OH 45342, U.S.A.

Phone +1-937-847-6200 Fax +1-937-847-6277

YASKAWA Europe GmbH Robotics Divsion )

Yaskawastrasse 1, 85391 Allershausen, Germany

Phone +49-8166-90-100 Fax +49-8166-90-103

YASKAWA Nordic AB

Verkstadsgatan 2, Box 504 ,SE-385 25 Torsas, Sweden

Phone +46-480-417-800 Fax +46-486-414-10

YASKAWA Electric (China) Co., Ltd.

22F, One Corporate Avenue, No.222, Hubin Road, Huangpu District, Shanghai 200021, China

Phone +86-21-5385-2200 Fax 㸩 86-21-5385-3299

YASKAWA SHOUGANG ROBOT Co. Ltd.

No7 Yongchang North Road, Beijing E&T Development Area China 100176

Phone +86-10-6788-2858 Fax +86-10-6788-2878

YASKAWA India Private Ltd. (Robotics Division)

#426, Udyog Vihar, Phase- IV, Gurgaon, Haryana, India

Phone +91-124-475-8500 Fax +91-124-475-8542

YASKAWA Electric Korea Corporation

35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, Korea   07326

Phone +82-2-784-7844 Fax +82-2-784-8495

YASKAWA Electric Taiwan Corporation

12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan

Phone +886-2-8913-1333 Fax +886-2-8913-1513

YASKAWA Electric (Singapore) PTE Ltd.

151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741

Phone +65-6282-3003 Fax +65-6289-3003

YASKAWA Electric (Thailand) Co., Ltd.

59,1st-5th Floor, Flourish Building, Soi Ratchadapisek 18,Ratchadapisek Road,

Huaykwang, Bangkok 10310, THAILAND

Phone +66-2-017-0099 Fax +66-2-017-0199

PT. YASKAWA Electric Indonesia

Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma,

Jakarta 13610, Indonesia

Phone +62-21-2982-6470 Fax +62-21-2982-6741

Specifications are subject to change without notice for ongoing product modifications and improvements.

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MANUAL NO.

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