Yaskawa Motoman DX100 Owner's Manual

DX100 OPTIONS
INSTRUCTIONS
FOR ETHERNET 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.
YASKAWA ELECTRIC CORPORATION
157130-1CD
2
MANUAL NO.
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MANDATORY
•
This manual explains the Ethernet 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. Be sure to tell the
representative the manual number listed on the front cover.
•
YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your
product's warranty.
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Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or
inspection of the DX100.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.
DANGER
WARNING
CAUTION
MANDATORY
PROHIBITED
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.
Always be sure to follow explicitly the
items listed under this heading.
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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WARNING
•
Before operating the manipulator, check that servo power is turned
OFF pressing the emergency stop buttons on the front door of the
DX100 and 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.
Fig. : Emergency Stop Button
•
Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Fig. : Release of Emergency Stop
TURN
•
Observe the following precautions when performing teaching
operations within the P-point maximum envelope of the
manipulator:
– 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 are located on the right of front door of the
DX100 and the programming
pendant.
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CAUTION
•
Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately, and be sure that all other necessary processing has
been performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
•
Always return the programming pendant to the hook on the 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 Often in This Manual
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and supply cables.
In this manual, the equipment is designated as follows:
Equipment
Manual Designation
DX100 controller
DX100
DX100 programming pendant
Programming pendant
Cable between the manipulator and the
controller
Manipulator cable
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Descriptions of the programming pendant, buttons, and displays are
shown as follows:
Equipment
Manual Designation
Programming Character
Pendant
Keys
The keys which have characters printed on
them are denoted with [ ].
ex. [ENTER]
Symbol
Keys
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 When two keys are to be pressed
simultaneously simultaneously, the keys are shown with a “+”
sign between them, ex. [SHIFT]+[COORD]
Displays
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] 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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Contents
1 Outline............................................................................................................................................. 1-1
1.1 Features............................................................................................................................. 1-1
1.1.1 High-Speed Transmission .................................................................................... 1-1
1.1.2 Communication Station Switchable with Software................................................ 1-1
1.1.3 Easy Setup ........................................................................................................... 1-1
2 Ethernet Cable Connections ........................................................................................................... 2-1
3 Ethernet Function Settings.............................................................................................................. 3-1
3.1 Transmission Function Settings......................................................................................... 3-1
3.2 Ethernet Function Settings................................................................................................. 3-1
3.3 Ethernet Communication Settings ..................................................................................... 3-2
3.3.1 Setting Procedure ................................................................................................. 3-2
3.3.2 Description of setting items (Network function setting window)........................... 3-7
3.3.2.1 HOST NAME ........................................................................................... 3-7
3.3.2.2 DOMAIN NAME....................................................................................... 3-7
3.3.3 Description of setting items (Ethernet communication setting window)............... 3-8
3.3.3.1 IP ADDRESS SETTING .......................................................................... 3-8
3.3.3.2 DNS SETTING ...................................................................................... 3-10
3.3.3.3 SERVER (HOST PC) ............................................................................ 3-11
3.3.3.4 SNTP SETTING .................................................................................... 3-11
3.4 Settings confirmation ....................................................................................................... 3-16
3.5 Command Remote Settings............................................................................................. 3-17
4 Specifications .................................................................................................................................. 4-1
4.1 Ethernet Specifications ...................................................................................................... 4-1
4.1.1 Ethernet Specifications ......................................................................................... 4-1
4.1.2 Protocol Version ................................................................................................... 4-1
4.1.3 Connector Specifications ...................................................................................... 4-1
4.1.3.1 Pin Assignment ....................................................................................... 4-1
4.1.3.2 LED Specifications .................................................................................. 4-1
4.1.4 Cable Specifications ............................................................................................. 4-2
4.2 Restrictions ........................................................................................................................ 4-3
4.2.1 Restrictions on the Data Transmission Function .................................................. 4-3
4.2.1.1 Operation with the External Memory Devices ......................................... 4-3
4.2.1.2 Remote Mode .......................................................................................... 4-3
4.2.1.3 Concurrent Communication..................................................................... 4-3
4.2.2 Restrictions on Setting the IP Address ................................................................. 4-3
4.2.3 Restrictions on Communication Port .................................................................... 4-3
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Contents
5 Troubleshooting .............................................................................................................................. 5-1
5.1 Cable Connection Check ................................................................................................... 5-1
5.2 Connection Check with Lower Protocol ............................................................................. 5-2
5.3 Connection Check with MOTOCOM.................................................................................. 5-3
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1.1
DX100
1
Outline
Features
Outline
Data transmission function of the DX100 is achieved by data exchange
between the data transmission function which is the DX100 application,
and the MOTOCOM32 which is the application of the personal computer.
For the data transmission, Ethernet can be optionally used as a medium
instead of RS-232C which is used as a standard. The DX100 data
transmission function in case of using Ethernet for the transmission
medium is peculiarly called the Ethernet function.
This instruction manual explains the settings and relevant information
required in use of the Ethernet function.
NOTE
1.1
1.1.1
When the data transmission using Ethernet is enabled, RS232C cannot be used as a data transmission medium.
Features
High-Speed Transmission
The Ethernet function with Ethernet (10/100 Mbps) for the transmission
medium enables a faster transmission compared to RS-232C (max. 9600
bps).
1.1.2
Communication Station Switchable with Software
unlike RS-232C which requires a device to physically switch the stations,
the Ethernet function can switch the communication station easily by
changing the destination for connection with a software. (Note, however,
that it is unable to communicate with one or more station simultaneously.)
1.1.3
Easy Setup
The DX100 is provided with the Ethernet connector RJ-45 for deta
transmission as standard equipment. Therefore, the Ethernet function
can be used without adding any extra hardware.
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Ethernet Cable Connections
DX100
2
Ethernet Cable Connections
Connect the Ethernet cable (shielded cable; category 5 or more) to the
CN104 RJ-45 LAN connector which is located on the front face of the
YCP01 board inside the CPU rack.
NOTE
There are two RJ-45 connectors at the front face of the
YCP01 board, and CN104 on the bottom side is the one for
the Ethernet function. Do not touch CN105 on the upper
side since it is exclusively used for the programming pendant.
Fig. 2-1: Front Face
Sensor board
Dedicated PCI slot X1
Robot I/F board
JANCD-YIF01- E
(CN114) IO I/F
(Communication with YIU)
Control circuit board
JANCD-YCP01-E
LED
(CN107)
Compact Flash
CN107
(CN113) Drive I/F
(Communication with EAXA)
(CN106)
USB
CN106
(CN105)
For programming pendant
CN105
(CN104)
For LAN
CN104
CN103
(CN103)
Serial Port (RS232C)
Battery
Earth connection terminal
PCI slot X2
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3.1
DX100
3
Ethernet Function Settings
Transmission Function Settings
Ethernet Function Settings
Perform the setting procedures below to make the DX100 Ethernet
function available.
3.1
Transmission Function Settings
Set the parameters to enable the transmission function.
(The customers should not change the parameter settings themselves:
contact your Yaskawa representative. )
3.2
Ethernet Function Settings
Set the parameters to enable the Ethernet function.
(The customers should not change the parameter settings themselves:
contact your Yaskawa representative. )
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3.3
DX100
3.3
3.3.1
Ethernet Function Settings
Ethernet Communication Settings
Ethernet Communication Settings
Setting Procedure
Perform the following procedures for Ethernet communications.
NOTE
• Perform the Ethernet communication settings in the management mode.
• In the operation mode and the editing mode, the settings
are for reference only.
1. Turn ON the power supply again while pressing [MAIN MENU]
simultaneously.
– The maintenance mode window appears.
2. Select {SYSTEM} under the main menu.
– The sub menu appears.
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3.3
Ethernet Function Settings
Ethernet Communication Settings
3. Select {Security}.
– The Security setting window appears.
4. Set the security mode to the “MANAGEMENT MODE”.
– Security mode is set to “MANAGEMENT MODE”.
5. Select {SYSTEM} under the main menu.
– The sub menu appears.
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3.3
Ethernet Function Settings
Ethernet Communication Settings
6. Select {SETUP}.
– The SETUP window appears.
7. Select {OPTION FUNCTION}.
– The function selection window appears.
8. Select {DETAIL} of {NETWORK}.
– The network function setting window appears.
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3.3
Ethernet Function Settings
Ethernet Communication Settings
9. Set host name/domain name.
– Set host name/domain name as appropriate.
– Refer to chapter 3.3.2 “Description of setting items (Network
function setting window)” at page 3-7 for further details of each item.
10. Select {DETAIL}.
– The Ethernet communication setting window appears.
11. Select the communication parameter to be changed.
– When pull-down menu is used, items become selectable.
– When direct entering, virtual keyboard is enabled for entry.
12. Input the new communication parameter value.
– When pull-down menu is used, select an appropriate item.
– When directly entering, use virtual keyboard or numeric keys for
entry.
– Refer to chapter 3.3.3 “Description of setting items (Ethernet
communication setting window)” at page 3-8 for further details of
each item.
13. Press [ENTER].
– The network function setting window appears.
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3.3
Ethernet Function Settings
Ethernet Communication Settings
14. Press [ENTER].
– The confirmation dialog box appears.
15. Select “YES”.
– If the Ethernet communication settings are correct, select “YES”.
– The function selection window appears.
16. Turn ON the power supply again.
– The normal operation mode starts.
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3.3
DX100
3.3.2
3.3.2.1
Ethernet Function Settings
Ethernet Communication Settings
Description of setting items (Network function setting window)
HOST NAME
NOTE
Host name is not used in communication.
Set the host name assigned for the DX100.
Enter using one-byte alphanumeric characters, hyphen (-) and underscore
(_).
Then, be sure to include at least an alphabetic character.
3.3.2.2
DOMAIN NAME
NOTE
Domain name is used when DNS is enabled.
Set the domain name to which DX100 belongs to.
Enter using one-byte alphanumeric characters, hyphen (-), underscore
(_), and period (.).
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3.3.3
3.3.3.1
3
3.3
Ethernet Function Settings
Ethernet Communication Settings
Description of setting items (Ethernet communication setting window)
IP ADDRESS SETTING
In “IP ADDRESS SETTING”, specify a method to set DX100 IP address.
Select either “MANUAL SETTING” or “DHCP SETTING” from the pulldown menu.
When “MANUAL SETTING” is selected, be sure also to set “IP
ADDRESS” and “SUBNET MASK”.
NOTE
“MANUAL SETTING” cannot be selected in “IP ADDRESS
SETTING” if “DHCP SETTING” is selected in “DNS SETTING” or “SNTP SETTING”.
(Selecting “MANUAL SETTING” causes an error “DHCP is
already set to use for another item” to occur.)
Select other than “DHCP SETTING” in “DNS SETTING”
and “SNTP SETTING” beforehand when selecting “MANUAL SETTING” in “IP ADDRESS SETTING”.
NOTE
DX100 does not support NetBIOS, WINS (Windows Internet
Name Service) and Dynamic DNS etc.
Consequently, obtaining DX100 IP address via DHCP can
cause external access to become difficult.
In order to enable easy external access even while obtaining IP address via DHCP, take action on the DHCP server
side as appropriate such as making the same IP address be
leased.
NOTE
DX100 only supports IPv4.
IPv6 is not supported.
NOTE
DX100 does not support [10.0.0.xx] (xx is a decimal number
from 0-255) among local IP addresses.
Therefore, don't use [10.0.0.xx] for IP address.
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3.3
DX100

Ethernet Function Settings
Ethernet Communication Settings
IP ADDRESS
Enter the IP address to set for DX100 in the format [xx.xx.xx.xx] (xx is a
decimal number from 0 to 255) using one-byte numeric characters and
period (.).
If “DHCP SETTING” is selected in “IP ADDRESS SETTING”, the setting
made here is neglected.

SUBNET MASK
Enter the subnet mask to set for DX100 in the format [xx.xx.xx.xx] (xx is a
decimal number from 0 to 255) using one-byte numeric characters and
period (.).
If “DHCP SETTING” is selected in “IP ADDRESS SETTING”, the setting
made here is neglected.

DEFAULT GATEWAY
When communicating with TCP/IP with a terminal on different network (or
different subnet), setting a default gateway is required.
Enter the default gateway to set for DX100 in the format [xx.xx.xx.xx] (xx is
a decimal number from 0 to 255) using one-byte numeric characters and
period (.).
Set the value at "0.0.0.0" if the default gateway will not be used.
If “DHCP SETTING” is selected in “IP ADDRESS SETTING”, the setting
made here is neglected.
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3.3
DX100
3.3.3.2
Ethernet Function Settings
Ethernet Communication Settings
DNS SETTING
In “DNS SETTING”, specify whether or not to use DNS (Domain Name
System) client function and the DNS server setting method when using
the DNS client function.
Select either “NOT USED”, “MANUAL SETTING” or “DHCP SETTING”
from the pull-down menu.
When “MANUAL SETTING” is selected, be sure also to set “DNS
SERVER”.
NOTE
“DHCP SETTING” cannot be selected in “DNS SETTING” if
“MANUAL SETTING” is selected in “IP ADDRESS SETTING”.
(Selecting “DHCP SETTING” causes an error “DHCP is not
set to use” to occur.)
When selecting “DHCP SETTING” in “DNS SETTING”,
select “DHCP SETTING” beforehand in “IP ADDRESS
SETTING”.
NOTE
When “MANUAL SETTING” is selected in “SNTP SETTING” and “SNTP SERVER” is set by a host name, “NOT
USED” cannot be selected in “DNS SETTING”.
(Selecting “NOT USED” causes an error “DNS is already
set to use for another item” to occur.)
When selecting “NOT USED” in “DNS SETTING”, confirm
beforehand that there is no item set by host name.

DNS SERVER
Enter the IP address to set for DNS server in the format [xx.xx.xx.xx] (xx is
a decimal number from 0 to 255) using one-byte numeric characters and
period (.).
If “DHCP SETTING” or “NOT USED” is selected in “DNS SETTING”, the
setting made here is neglected.
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3.3
3.3.3.3
SERVER (HOST PC)
Ethernet Function Settings
Ethernet Communication Settings
Specify the server (host PC) for when using standalone or DCI in data
transmission function.
Enter the IP address to set for the server in the format [xx.xx.xx.xx] (xx is a
decimal number from 0 to 255) using one-byte numeric characters and
period (.).
3.3.3.4
SNTP SETTING
SNTP (Simple Network Time Protocol) is a protocol used to synchronize
clocks. The DX100 can retrieve the current date and time from an NTP/
SNTP server. Retrieve the date and time from an NTP/SNTP server to
eliminate the need to manually set the calendar IC built into the main CPU
board. This function retrieves the current accurate date and time from an
NTP/SNTP server and updates the calendar IC built into the main CPU
board. This function can help eliminate human error by allowing the date
and time for multiple DX100s to be set accurately.
When "SNTP SETTING" is set to "DHCP SETTING" or "MANUAL
SETTING", the DX100 accesses the NTP/SNTP server at startup and
retrieves the current date and time.
In “SNTP SETTING”, specify whether or not to use SNTP(Simple Network
Time Protocol) client function and the SNTP server setting method when
using the SNTP client function.
Select either “NOT USED”, “MANUAL SETTING”, “BROADCAST” or
“DHCP SETTING” from the pull-down menu.
When “MANUAL SETTING” is selected, be sure also to set “SNTP
SERVER”.
“DHCP SETTING” cannot be selected in “SNTP SETTING”
if “MANUAL SETTING” is selected in “IP ADDRESS SETTING”.
NOTE
(Selecting “DHCP SETTING” causes an error “DHCP is not
set to use” to occur.)
When selecting “DHCP SETTING” in “SNTP SETTING”,
select “DHCP SETTING” beforehand in “IP ADDRESS
SETTING”.
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3.3
DX100

Ethernet Function Settings
Ethernet Communication Settings
SNTP SERVER
Enter the IP address to set for SNTP server in the format [xx.xx.xx.xx] (xx
is a decimal number from 0 to 255) using one-byte numeric characters
and period (.).
If setting is made to use DNS client function, domain name can be entered
(Fully Qualified Domain Name is acceptable).
One-byte alphanumeric characters, hyphen (-), underscore (_) and period
(.) can be used for domain name entry.
Then, be sure to include at least an alphabetic character.
If “NOT USED”, “BROADCAST”, or “DHCP SETTING” is selected in
“SNTP SETTING”, the setting made here is neglected.

TIME DIFFERENCE FROM UTC
Time which can be obtained by NTP is UTC (Coordinated Universal Time).
Enter the time difference between UTC and local time for coordination.
Then, enter hour "(-)**" and minute "**" separately using one-byte minus
sign (-) and numeric characters.
For example, when using JST (Japan Standard Time) as local time, set as
+09:00.
If “NOT USED” is selected in “SNTP SETTING”, the setting made here is
neglected.
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3.3
DX100
Ethernet Function Settings
Ethernet Communication Settings

INQUIRY TYPE
Select "INQUIRY TIME" or "INQUIRY INTERVAL". The item not selected
is displayed as “---”.

INQUIRY INTERVAL
Enter time intervals at which to make inquiry to the NTP/SNTP server.
Enter in hour using one-byte numeric characters.
If “NOT USED” or “BROADCAST” is selected in “SNTP SETTING”, the
setting made here is neglected.
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3.3
DX100

Ethernet Function Settings
Ethernet Communication Settings
INQUIRY TIME
Enter the time at which to make an inquiry to the NTP/SNTP server. Enter
the time (H) using one-byte numeric characters.
If “SNTP SETTING” is set to “NOT USED” or “BROADCAST”, this setting
cannot be used.

BROADCAST
The date and time are broadcast to DX100s from an NTP/SNTP client.
The DX100 updates the calendar IC built into the main CPU board by
retrieving the date and time.

Specific Signal OUTPUT
If the DX100 fails to retrieve the date and time from the NTP/SNTP server,
specific output signal #51234 is turned ON. Once this signal is turned ON,
it will not be turned OFF unless the date and time are successfully
retrieved from the NTP/SNTP server.

Alarm Control
If the DX100 fails to retrieve the date and time from the NTP/SNTP server,
an alarm occurs. The alarm can be controlled with parameter S2C1907.
Parameter
Value
Setting Status
S2C1907 = 0
Alarm occurs.
S2C1907 = 1
Alarm does not occur.
If the connection to the DHCP server fails, an alarm occurs. The alarm can
be controlled with parameter S2C1908.
Parameter
Value
Setting Status
S2C1908 = 0
Alarm occurs.
S2C1908 = 1
Alarm does not occur.
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3.3
DX100

Ethernet Function Settings
Ethernet Communication Settings
Data Update
When the settings are completed, press the [ENTER] key on the
programming pendant. The following window appears.
Press the [ENTER] key on the programming pendant again. The following
dialog box appears. Select "YES". The data is updated.
If "NO" is selected, the set data is canceled and the original data values
are restored.

Calendar Settings
When {SETUP}-{DATE/TIME SET} are selected and the date and time are
changed while "SNTP SETTING" is set to “DHCP SETTING” or “MANUAL
SETTING”, “RESTART” appears in the message area on the
programming pendant. Turn the power supply to the DX100 OFF and then
ON again.
If “SNTP SETTING” is set to “NOT USED” or “BROADCAST”, the
message “RESTART” does not appear even if {SETUP}-{DATE/TIME
SET} are selected and the date and time are changed.
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3.4
DX100
3.4
Ethernet Function Settings
Settings confirmation
Settings confirmation
Settings made in the Ethernet communication setting can also be
confirmed while in normal operation.
Display and confirm in the following procedures.
1. Set the security mode to the “MANAGEMENT MODE”.
2. Select {SYSTEM INFO} under the main menu.
– The sub menu appears.
3. Select {NETWORK SERVICE}.
– The NETWORK SERVICES window appears.
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3.5
DX100
3.5
Ethernet Function Settings
Command Remote Settings
Command Remote Settings
Since the Ethernet function applies the data transmission function, it is
required to set the command remote available if the Ethernet function is to
be used as a host control function.
Refer to "DX100 OPTIONS INSTRUCTIONS FOR DATA
TRANSMISSION FUNCTION" for the details of command remote and the
setting method to enable it.
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4
4.1
DX100
4
Specifications
Ethernet Specifications
Specifications
4.1
4.1.1
Ethernet Specifications
Ethernet Specifications
Applicable Standard
IEEE 802.3 10Base-T/100Base-TX compliant
Baud Rate
10 Mbps/100 Mbps (Automatically recognized when the power is turned on.)
(It is the transmission speed of signals, and not of the actual data.
The actual data transfer rate is rather slow, since it depends on the
processing speed and the transmission line status inside each communication station.)
4.1.2
4.1.3
Protocol Version
IP
IPv4
* IPv6 is not supported.
SNTP
Simple Network Time Protocol Version 3
* SNTP Version 4（RFC2030）is not supported.
Connector Specifications
Connector CN104 (RJ-45 8-pin modular jack)
4.1.3.1
4.1.3.2
Pin Assignment
PIN #
Signal Name
PIN #
Signal Name
1
MX1+
5
MX3-
2
MX1-
6
MX2-
3
MX2+
7
MX4+
4
MX3+
8
MX4-
LED Specifications
LED
Status
Meaning
RIGHT
(Green)
Lit
Link
Blink
Active
LEFT
(Yellow)
Lit
100 MBps
Unlit
10 MBps
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4.1.4
4
4.1
Specifications
Ethernet Specifications
Cable Specifications
Use the following Ethernet cable.
Item
Description
Cable Type
Shielded, category 5 or more
Maximum Cable Length
100 m
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4.2
DX100
4.2
4.2.1
Specifications
Restrictions
Restrictions
Restrictions on the Data Transmission Function
NOTE
4.2.1.1
Refer to "DX100 OPTIONS INSTRUCTIONS FOR DATA
TRANSMISSION FUNCTION" for the details of the data
transmission function.
Operation with the External Memory Devices
The external memory Devices and the data transmission function
(Ethernet function is included.) work exclusively. Therefore, data
transmission function cannnot be executed when the external memory
devices are in processing status, or external memory devices cannot
process data when the data transmission function is being executed.
4.2.1.2
Remote Mode
With the remote mode, the data transmission function switches the
external access wait state and the external access state. The host control
function becomes available and the external access enters in a wait status
when the remote is turned ON. When the remote is turned OFF, the
external access is enabled and the DCI or stand-alone functions become
available. The host control function and the DCI/stan-alone functions
cannot be used simultaneously since the remote ON status and the
remote OFF status work exclusively.
4.2.1.3
Concurrent Communication
Communication with more than one station is not available with the data
transmission function.
4.2.2
Restrictions on Setting the IP Address
The Ethernet function does not support the local IP address "10.0.0.xx".
(xx is a decimal number from 0 to 255)
Do not set it for the IP address"10.0.0.xx".
4.2.3
Restrictions on Communication Port
The Ethernet function occupies 10000 to 10008 of the UDP ports.
Therefore, do not transmit the packets that use the UDP ports occupied by
the Ethernet function to the DX100 and the host computer which are
executing the Ethernet communications.
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5.1
DX100
5
Troubleshooting
Cable Connection Check
Troubleshooting
In case of communication failure, try the following check items.
5.1
Cable Connection Check
• Check that the cable is securely connected to the CN104 connector
on the YCP01 board.
• Check that the LED of the CN104 (green LED on the right) is lit
or blinks.
• Check that the cable connector of the hub side is properly connected.
• Check that the power supply for the hub is ON.
• Check the cable type.
• In case of connecting the cable to the hub which cannot autodetect MDI/MDI-X connection, check if the cable used is a
straight cable.
• In case of directly connecting the DX100 and host computer,
check if the cable used is a crossing cable.
• Check the baud rates of the hub and the host computer.
DX100 automatically recognizes 10/100 Mbps when the power is turned
on.
Consequently, changing communication speed after turning on the power
causes normal communication to be impossible.
Before starting DX100, confirm that the other end of the cable connection
(HUB or host computer) is normally operating.
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5.2
DX100
5.2
Troubleshooting
Connection Check with Lower Protocol
Connection Check with Lower Protocol
In the TCP/IP network, it is possible to check if the IP packets are
transmitted to the destinations using a ping command from a host
computer.
Start the command prompt in the Windows 2000/XP, then input the IP
address after entering "ping". If the communication is successfully done,
the window displays as follows:
C:\>ping 192.168.255.1
Pinging 192.168.255.1 with 32 bytes of data:
Reply from 192.168.255.1: bytes=32 time<10ms TTL=255
Reply from 192.168.255.1: bytes=32 time<10ms TTL=255
Reply from 192.168.255.1: bytes=32 time<10ms TTL=255
Reply from 192.168.255.1: bytes=32 time<10ms TTL=255
Ping statistics for 192.168.255.1:
Packets: Sent = 4, Received = 4, Lost = 0 (0% loss),
Approximate round trip times in milli-seconds:
Minimum = 0ms, Maximum = 0ms, Average = 0ms
C:\>
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5.3
DX100
Troubleshooting
Connection Check with MOTOCOM
In case of a communication failure, the window displays as shown below.
In this case, check the cable connections, network settings of the host
computer, the Ethernet communication settings of the DX100 once again.
C:\>ping 192.168.255.1
Pinging 192.168.255.1 with 32 bytes of data:
Request timed out.
Request timed out.
Request timed out.
Request timed out.
Ping statistics for 192.168.255.1:
Packets: Sent = 4, Received = 0, Lost = 4 (100% loss),
Approximate round trip times in milli-seconds:
Minimum = 0ms, Maximum = 0ms, Average = 0ms
C:\>
5.3
Connection Check with MOTOCOM
The Ethernet communication settings are completed when the connection
check with lower protocol is finished. For the further connection check,
use the MOTOCOM referring to "DX100 OPTIONS INSTRUCTIONS FOR
DATA TRANSMISSION FUNCTION" and "MOTOCOM32 OPERATION
MANUAL".
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DX100 OPTIONS
INSTRUCTIONS
FOR ETHERNET FUNCTION
For inquiries or after-sales service on this product, contact
your local YASKAWA representative as shown below.
YASKAWA ELECTRIC CORPORATION
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu, 806-0004, Japan
Phone: +81-93-645-7703 Fax: +81-93-645-7802
www.yaskawa.co.jp
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
www.motoman.com
YASKAWA EUROPE GmbH (ROBOTICS DIVISION)
Yaskawastrasse 1, 85391, Allershausen, Germany
Phone: +49-8166-90-100 Fax: +49-8166-90-103
www.yaskawa.eu.com
YASKAWA NORDIC AB
Verkstadsgatan 2, Box 504, SE-385 25 Torsas, Sweden
Phone: +46-480-417-800 Fax: +46-486-414-10
www.yaskawa.se
YASKAWA ELECTRIC (CHINA) CO., LTD.
22F, One Corporate Avenue, No.222 Hubin Road, Huangpu District, Shanghai 200021, China
Phone: +86-21-5385-2200 Fax: +86-21-5385-3299
www.yaskawa.com.cn
YASKAWA SHOUGANG ROBOT CO., LTD.
No.7 Yongchang North Road, Beijing E&T Development Area, Beijing 100076, China
Phone: +86-10-6788-2858 Fax: +86-10-6788-2878
www.ysr-motoman.cn
YASKAWA ELECTRIC KOREA CORPORATION
35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, 07326, Korea
Phone: +82-2-784-7844 Fax: +82-2-784-8495
www.yaskawa.co.kr
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
www.yaskawa.com.tw
YASKAWA ASIA PACIFIC PTE. LTD.
30A Kallang Place, #06-01, 339213, Singapore
Phone: +65-6282-3003 Fax: +65-6289-3003
www.yaskawa.com.sg
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
www.yaskawa.co.th
PT. YASKAWA ELECTRIC INDONESIA
Secure Building-Gedung B Lantai Dasar & Lantai 1 Jl. Raya Protokol Halim Perdanakusuma,
Jakarta 13610, Indonesia
Phone: +62-21-2982-6470 Fax: +62-21-2982-6471
www.yaskawa.co.id
YASKAWA INDIA PRIVATE LIMITED (ROBOTICS DIVISION)
#426, Udyog Vihar Phase-IV, Gurugram, Haryana 122016, India
Phone: +91-124-475-8500 Fax: +91-124-475-8542
www.yaskawaindia.in
Specifications are subject to change without notice
for ongoing product modifications and improvements.
C Printed in Japan January 2021 09-09
YASKAWA ELECTRIC CORPORATION
MANUAL NO.
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