YRC Series Ethernet User´s Manual
Contents
1. Signal name TD TD RD N C Pins 4 5 7 8 are not used Modular connector RUN Receive Transmit Link Collision 2 14 Specifications 2 14 3 UTP STP cable The Ethernet cables are standardized by ANSI TIA EIAS68A To avoid miswiring and malfunction we recommend using cables conforming to this standard When using 10BASE T cables it must have transmission characteristics of category 3 or higher m Straight through cable Use this cable to connect the HUB to the robot controller and other party s device Between T 568A Between T 568A Signal name Color Color Signal name TD Green White Green White TD TD Green Green TD Orange White Orange White RD Blue Blue White RD Orange Not use Brown White 39429433 Blue not use Blue White not use Orange RD Brown White Not use Not use Brown Brown Not use Pins 4 5 7 8 are not used for IOBASE T Straight through cable also connects between T 568B and T 568B m Crossover cable Use this cable to connect the robot controller directly w2. P D YRC robot controller The IOBASE 5 cable has a maximum length of 500 meters However this distance can be extended to a maximum of 2 5 kilometers by connecting cables together and using repeaters etc System setup example IP address Subnet mask Gateway PC 192 168 0 2 255 255 255 0 192 168 0 1 Controller 1 192 168 0 3 255 255 255 0 192 168 0 1 Controller 2 192 168 0 4 255 255 255 0 192 168 0 1 Controller 3 192 168 0 5 255 255 255 0 192 168 0 1 2 34 2 15 Supplement m Example 4 In this example a controller in a remote location is centrally managed over the Internet Factory 2 Internet Factory 1 puy Head office Router YRC robot controller Use of a fir
3. te e P He Ee HS ERIT 2 12 2 Telnet message list TOT E D IS E IDA EE 2 14 1 Ethernet unit specifications nennen nennen nennen nennen 2 14 2 Modular connector 2 14 3 STP cable entere entente tent tette tente tenente SUpDplemen ttq u D 2715 1 Typical network Systems u certe rt 2215 2 Description of terminology ne Cautions To Ensure Safety 1 1 1 1 Basic safety points Cautions To Ensure Safety 1 2 1 1 Basic safety points Besides reading this manual and the controller user s manual also be sure to handle the equipment correctly while paying sufficient attention to safety Points regarding safety in this manual only list items involving this product Please refer to the controller user s manual for information regarding safety when using this unit with the controller It is not possible to detail all safety items within the limited space of this manual So it is essential that the user have a full knowledge of basic safety rules and also that the operator makes correct judgments on safety procedures during operation Industrial robots are highly programmable mechanical devices that provide a large degree of freedom when performing various manipulative tasks Failure to take necessary safety meas
4. Refer to programming manual termination code CR 0Dh code or CRLF 0Dh 0Ah code m Robot control commands begin with the start code 40h and run when a statement with the last line ending with the termination code CR 0Dh code or CRLF 0Dh 0Ah code is sent to the controller As exceptions control codes do not require a start code and termination code Ethernet unit control commands do not require a start code but the last line must end with a termination code Start code Termination code 40h CR 0Dh code or CRLF 0Dh 0Ah code Ethernet unit control commands Not required Required Other than control codes Required Required Robot control commands Control codes Not required Not required m One line must be within 80 characters except for the terminal code CR 0Dh code or CRLF 0Dh 0Ah code m Acommunication command is basically composed of an lt online command gt and an lt _com mand option gt Depending on the command statement no lt _command option gt is used or multiple lt _command options gt are used m The character codes used are the JIS8 unit system codes See the controller user s manual for the character code tables m One or more space must be inserted between lt online command gt and lt command option gt m Items in lt command option should be specified by the user Check the description of each communication command and enter
5. O O mt o Sr n V Ts VF vNYT M ALWAYS STORE NETWORK CABLE INSIDE CABLE DUCTS OR CLAMP THEM SECURELY IN PLACE OTHERWISE EXCESSIVE PLAY OR MOVEMENT OR MISTAKENLY PULLING ON THE CABLE MAY DAMAGE THE UNIT OR CABLES OR POOR CABLE CONTACT MAY LEAD TO FAULTY OPERATION CAUTION WHEN DETACHING THE CABLE REMOVE BY HOLDING THE CONNECTOR ITSELF AND NOT BY TUGGING ON THE CABLE OTHERWISE REMOVING BY PULLING ON THE CABLE ITSELF MAY DAM AGE THE UNIT OR CABLES OR POOR CABLE CONTACT MAY LEAD TO FAULTY OPERATION 1 4 Start up and maintenance safety points 1 4 Start up and maintenance safety points CAUTION NEVER ATTEMPT TO DISASSEMBLE THE ROBOT OR CONTROLLER WHEN A ROBOT OR CONTROLLER COMPONENT MUST BE REPAIRED OR REPLACED CONTACT US FOR DETAILS ON HOW TO PERFORM THE SERVICING CAUTION ALWAYS CUT OFF ALL POWER TO THE CONTROLLER AND THE OVERALL SYSTEM BEFORE ATTEMPTING MAINTENANCE OR SERVICING THIS WILL PREVENT POSSIBLE ELECTRICAL SHOCKS AFTER THE CONTROLLER HAS BEEN ON FOR A WHILE SOME POINTS IN THE CONTROLLER MAY BE EXTREMELY HOT OR REMAIN AT HIGH VOLTAGES AFTER CUTTING OFF THE POWER WHEN INSTALLING OR REMOVING THE UNIT WAIT AT LEAST 5 MINUTES BEFORE STARTING WORK CAUTION DO NOT TOUCH THE TERMINALS OR PINS WHILE POWER IS STILL APPLIED TO THE UNIT THIS MAY CAUSE ELECTRICAL SHOCKS OR FAULTY OPERATION Cautions To Ensure Safety 1 5 Precautions when disposing of the unit CAUTION THIS PRODUCT MU
6. 3 Communication status continues for a fixed period and then cuts off automatically at timeout Check the TELNET parameter to find if communication status is longer than the time set for timeout Set so communication time does not exceed the timeout limit Otherwise increase the communication timeout period or disable the timeout function No response status continues for a fixed period versus the keep alive packet and then cut off automatically at timeout Check if a cable is detached or power supply for the HUB or other equipment is off Check if operating problems are occurring in devices such as the HUB due to noise etc Too short of a period was set for the no response timeout period Check the network and repair restore any problem locations Replace a device having operating errors with another device Set the no response timeout period to match the network structure and traffic conditions Or disable the timeout function 5 Ethernet unit is defective Try substituting with another Ethernet unit If operation returns to normal then the Ethernet unit is defective so replace it 2 14 Specifications 2 14 Specifications 2 14 1 Ethernet unit specifications Applicable controllers Ethernet unit YRC series controllers Network specs Conforms to Ethernet IEEE802 3 Baud rate Connector 10Mbps 10BASE T RJ 45 connector octal modular
7. 0 2 With the cursor positioned on the 1 board 3 subnet mask 255 255 255 0 4 gateway 192 168 0 1 condition press F1 EDIT origen 23 awa ARAM OP BRD v123M 5 Press F2 VALID to make the Ethernet identifiable from the controller 2 IP address 192 168 0 2 E 3 subnet mask 255 255 255 0 If making it unidentified from the controller 192 168 0 1 5 port No 23 press F1 INVALID NY 6 To end the setting press Esc To continue setting another parameter use the keys to select the parameter 2 4 Making system settings for the controller server 2 4 2 Setting the IP address The following explains how to set the IP address The IP address is a number unique to each device and identifies that device from among many other devices connected on the network The IP address of one device must not be the same number as another device so use caution when setting the IP address 2 Press F5 BRD Ethernet Uni 3 Select the number for E Net with the keys and press F1 SELECT 4 Press the key once to select 2 IP address and press F1 EDIT 5 The currently set IP address appears To change it enter the new IP address with the to keys Enter the exact number including periods After changing the setting press 1 Press 1 SYSTEM mode to enter SYSTEM gt PARAM mode R
8. E Net with the 1 J keys and press F1 SELECT HE 0 login password PASSWORD 4 Select 13 MAC address with the the ARAM gt OP BRD 1 11 logout CONT 1 keys and press F1 EDIT 2 1 sec 5 The MAC address cannot be changed 14 unit version 1 03 EILEEN I 2 11 Other operating tasks 2 11 2 Displaying the version of the Ethernet unit 1 Press F1 PARAM in SYSTEM mode to enter SYSTEM gt PARAM mode 2 Press F5 OP BRD 3 Select the number for E Net with the keys and press F1 SELECT 319419431 HEN ENEEEEN 4 Select 14 unit version with the the BBM ARAM gt OP BRD keys and press F1 EDIT 10 login password PASSWORD 11 logout CONT 12 keep alive sec 5 The Ethernet unit version number cannot be changed a s u 2 23 2 12 Message List Ethernet Uni 2 24 2 12 Message List 2 12 1 Error messages The following error messages involving the Ethernet system have been added 12 44 EtherNet link error Code amp H0C29 Meaning Cause TELNET connection is disconnected a Cable is broken or connector is disconnected b Communication with the client was off for more than the time specified by the 13 timeout min parameter for Ethernet c Logout processing was performed because the 11 logout parameter for Ethernet is set
9. processing tasks So such a network is normally set with subnet masks to divide it into an appropriate number of smaller networks When a class B network for example is set with a subnet mask of 255 255 255 0 a total of 256 settings can be made allowing up to 254 devices to be connected MAC address Media access control address The MAC address also called the Ethernet address is a hardware type identification number 6 bytes set in each network interface The MAC address is set in each device during the manufacturing stage and therefore does not have to be set by the user Each device in the Ethernet system is identified by means of this MAC address In other words the IP address is automatically converted to a MAC address even when communicating by means of a TCP IP protocol Basically the user does not normally have to even be aware of the MAC address However if there are communication problems then the interrelation of the IP address and MAC address can be checked to find out if the cause of the problem is overlapping identical IP addresses HUB A HUB is a device used for connecting devices such as PCs by way of a IOBASE T network The HUB has multiple ports that allow connecting modular jacks and twisted pair cables fitted with these modular jacks connect to the HUB from each device The HUB may have different type connectors depending on whether the HUB is for 10 2 or IOBASE 5 Various types of networks can be constru
10. connector 1 port Cable UTP unshielded twisted pair cable for category 3 or higher or STP shielded twisted pair cable Maximum cable length 00 meters between HUB and controller Communication mode Half Duplex Network protocol Application layer TELNET Transport layer TCP Network layer IP ICMP ARP Data link layer CSMA CD Physical layer TOBASE T Number of simultaneous logins IP address setting From PB Monitor LED Run Collision Link Transmit Receive NOTE The product external appearance and specifications are subject to change without prior notice for purposes of improvements or other factors CAUTION yup 3201203 WE USE AN FL HUB MADE BY PHOENIX CONTACT TO CHECK OPERATION USING THIS HUB IS RECOMMENDED IF CONSTRUCTING YOUR OWN SYSTEM HUBS GENERALLY AVAILABLE ON THE MARKET ARE NOT DESIGNED FOR USE IN LOCATIONS SUCH AS FACTORIES SO SOME HUBS ARE VULNERABLE TO EXTERNAL NOISE PLEASE ACKNOWLEDGE BEFOREHAND THAT OPERATION CANNOT BE GUARANTEED IF OTHER TYPES OF HUBS ARE USED ALWAYS BE SURE TO USE A HUB WITH HIGH NOISE RESISTANCE WHEN CONNECTING TO THE CONTROLLER 2 29 2 14 Specifications Ethernet Uni 2 30 2 14 2 Modular connector The pin layout for the modular connector used in the Ethernet unit for YRC series is shown below 12345678
11. disconnect the TELNET connection PB display 7 timeout min Input range 0 to 255 minutes Default value 10 2 8 TELNET dedicated parameters m LOGIN check Use this parameter to set whether or not to perform a login check when a client attempts to connect to the robot controller When the login check is enabled the user name and password are always checked when the client attempts to connect to the robot controller The client cannot connect the robot controller unless the user name and password sent from the client match the data stored in the robot controller When the login check is disabled the client can connect to the robot controller without a login check and communication is possible right away PB display 8 login check Invalid Input range Valid Default value Valid 3201203 m LOGIN user name Use this parameter to set the login user name When the login check is enabled the client must enter the user name specified here to connect to the robot controller PB display 9 login user 1 to 8 characters lt Usable characters gt Alphabets AtoZ Input range Numbers 0to9 Symbols DI 965 amp ST Vg Default value m LOGIN password Use this parameter to set the login password When the login check is enabled the client must enter the password specified here to connect to the robot controller PB display 10 login password 1 to 8 characters lt Usable
12. of conventions or rules that must be mutually complied with so that controllers and PCs can communicate with the other party UDP TELNET HTTP FTP TCP IP protocols ICMP m Ethernet The Ethernet is basically one type of standard for network system hardware Ethernet is a network invented by the Xerox Corporation USA in the early 1970 s and currently forms an international standard known IEE802 3 The Ethernet physically consists of cable types such as IOBASE 2 10 5 0 that differ from each other in terms of transmission cable types such as maximum cable length and the maximum number of connections The Ethernet unit for YRC series uses cables conforming to 10 specifications Besides TCP IP the protocols most commonly used on the Internet are NetBEUI and IPX SPX ete Another feature of the Ethernet is the use of CSMA CD as a data transmission method see below CSMA CD Carrier Sense Multiple Access with Collision Detection CSMA CD is a method of sending signals developed by combining a CSMA data transmission method with a transmission error handling method called CD CSMA refers to joint use of one transmission cable by many devices connected over a network CSMA is therefore a method for checking network status beforehand and then transmitting the data after verifying that transmission is possible CD is a method for handling data collisions that occur on the networ
13. D AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION ABUSE MISUSE OR INAPPROPRIATE MODIFICATION OR REPAIR QJ Ethernet Unit 2 1 2 1 Ethernet unit features Ethernet Uni 2 1 Ethernet unit features Ethernet is the network most commonly used by office equipment today This Ethernet unit is an optional device for connecting to OMRON robot controller over the Ethernet The communications protocol utilizes TCP IP which is a standard Internet protocol so PCs and business computers with Internet access or equipment incorporating TCP IP protocols can easily exchange data with the robot controller Malin features of this Ethernet unit for YRC series robot controllers are as follows m The YRC series robot controllers can be connected to the Ethernet system using this unit The unit fits directly inside the controller and so does not require any extra installation space m The Ethernet unit uses IOBASE T specifications so UTP cables unshielded twisted pair cables or STP cables shielded twisted pair cables can be used This makes cable and wiring installation really easy m Several controllers can be connected on the same network so information can be processed in one batch from a designated PC m Utilizing a HUB having 10BASE 2 or 10 5 connectors robot controllers can be ac cessed even from offices located away from the factory Using the Internet allows accessing even robot controllers in remote locations m Th
14. D THE OVERALL SYSTEM BEFORE AT TEMPTING INSTALLATION OR WIRING JOBS THIS WILL PREVENT POSSIBLE ELECTRICAL SHOCKS AFTER THE CONTROLLER HAS BEEN ON FOR A WHILE SOME POINTS IN THE CONTROLLER MAY BE EXTREMELY HOT OR REMAIN AT HIGH VOLTAGES AFTER CUTTING OFF THE POWER WHEN INSTALLING OR REMOVING THE UNIT WAIT AT LEAST 5 MINUTES BEFORE STARTING WORK CAUTION _a ob tF t D P A A ALWAYS USES THE SYSTEM SPECIFICATIONS AS LISTED IN THE CONTROLLER USER S MANUAL DURING INSTALLATION OR WIRING WORK ON THE ROBOT CONTROLLER ATTEMPTING TO USE OTHER THAN THESE SYSTEM SPECIFICATIONS MIGHT CAUSE ELECTRICAL SHOCKS FIRE FAULTY OPERATION PRODUCT DAMAGE OR DETERIORATED PERFORMANCE A CAUTION gt se sn V h SECURELY INSTALL THE CONNECTORS INTO THE UNIT AND WHEN WIRING THE CONNECTORS MAKE THE CRIMP CONTACT OR SOLDER CONNECTIONS CORRECTLY USING THE TOOL SPECIFIED BY THE MANUFACTURER POOR CONNECTIONS WILL CAUSE FAULTY OPERATION Ayayes aunsuq ol suorne N CAUTION WHEN INSTALLING THE UNIT BE CAREFUL NOT TO DIRECTLY TOUCH ANY ELECTRONIC COMPONENTS EXCEPT DIP SWITCHES OR PARTS CONDUCTING ELECTRICAL CURRENT CAUTION MAKE SURE THAT FOREIGN MATTER SUCH AS WIRING DEBRIS OR DUST DOES NOT PENETRATE INTO THE ROBOT CONTROLLER CAUTION gt gt gt gt gt b y y yv
15. EVICE USED BY THE OTHER PARTY AND PERIPHERAL EQUIPMENT SUCH AS THE HUB IF THE HUB COMMUNICATION MODE CAN BE SET MANUALLY THEN SET TO 1OMBPS HALF DUPLEX NOTE Using a straight through cable is recommended when connecting to the other party s device by way of the HUB You can connect directly to the other party s device without the HUB by using a crossover cable but communication may sometimes not be possible due to the type of LAN adapter used by other party s device 2 4 Making system settings for the controller server 2 4 Making system settings for the controller server A minimum of IP address subnet mask and gateway settings must be made so that the robot controller will be correctly identified and acknowledged on Ethernet These settings are made from the PB The following sections explain the procedures using the PB The settings will be enabled after restarting the controller 2 4 1 Validating the Ethernet unit To use the Ethernet the Ethernet board must first be enabled by setting the parameter 1 Press F1 PARAM in SYSTEM mode to enter SYSTEM gt PARAM mode 319419431 2 Press F5 OP BRD ARAM gt OP BRD 3 Select the number for Net with the keys and press F1 SELECT 2 3 4 s TM 1 23M 4 The current Ethernet unit identity status BBD ARAM gt OP BRD appears the display n MN 2 IP address 192 168
16. Ethernet USER S MANUAL COPYRIGHT The following shall be described in the Copyright section and the description shall not be changed without permission OMRON 2010 All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of OMRON No patent liability is assumed with respect to the use of the information contained herein Moreover because OMRON is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless OMRON assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication INTRODUCTION Our thanks for your purchase of this Ethernet unit for use with OMRON YRC series robot controllers This is an optional unit to allow connecting OMRON YRC series robot controllers to the widely used Ethernet which is the standard factor for office equipment network This manual describes typical examples for taking safety measures installing wiring making machine settings and operating the machine to ensure that the Ethernet unit is used safely and effectively Be sure to read this manual before use Even af
17. ST BE PROPERLY HANDLED AS INDUSTRIAL WASTE WHEN ITS DISPOSAL IS REQUIRED 1 4 16 Warranty 1 6 Warranty The OMRON robot and or related product you have purchased are warranted against the defects or malfunctions as described below Warranty description Warranty Period Exceptions to the Warranty Ifa failure or breakdown occurs due to defects in materials or workmanship in the genuine parts constituting this OMRON robot and or related product within the warranty period then OMRON shall supply free of charge the necessary replacement repair parts The warranty period ends 24 months after the date of manufacturing as shown on the products This warranty will not apply in the following cases 1 Fatigue arising due to the passage of time natural wear and tear occurring during operation natural fading of painted or plated surfaces deterioration of parts subject to wear etc 2 Minor natural phenomena that do not affect the capabilities of the robot and or related product noise from computers motors etc 3 Programs point data and other internal data that were changed or created by the user Failures resulting from the following causes are not covered by warranty 1 Damage due to earthquakes storms floods thunderbolt fire or any other natural or man made disasters 2 Troubles caused by procedures prohibited in this manual 3 Modifications to the robot and or related product not appr
18. USER Password wawapana At this point the password characters you entered are displayed as asterisks on the screen After entering the password press the Enter key 6 An OK message appears on the screen when the login check ends normally From now on commands and messages can be exchanged with the robot 2 20 2 10 Making a connection with TELN 7 When the task or job is complete enter LOGOUT or BYE to cancel the cour 419000 30008 connection with the robot controller and press the Enter key 8 A message appears indicating the connection ri ty aeae has been disconnected iod 36888 Click any key to return to the screen in step 3 Connection to host lost Press any key to continue s 319419431 9 To end the telnet exe enter QUIT following the prompt gt and press the Enter key oft Telnet open 192 168 0 2 seting To 192 168 2 Microsoft Telnet gt quit NOTE If you want to simultaneously control two or more robot controllers start up TELNET EXE as many times as needed 2 21 2 11 Other operating tasks Ethernet Uni 2 22 2 11 Other operating tasks 2 11 1 Displaying the MAC address Use the following procedure to display the MAC address of the Ethernet unit for YRC series robot controllers 1 Press F1 PARAM in SYSTEM mode to enter SYSTEM gt PARAM mode 2 Press F5 OP BRD 3 Select the number for
19. characters gt Alphabets AtoZ Input range Numbers 0to9 Symbols 1 amp lt gt ATI Default value PASSWORD m LOGOUT processing This parameter sets whether to stop the robot automatically or to continue the robot operation when the client disconnects from the robot controller PB display 11 logout F1 CONT Continues robot operation Input range F2 Stop Stops robot operation Default value Stop IfTELNET connection is cut off due to an error the robot operation stops automatically regardless of the above setting 2 15 2 8 TELNET dedicated parameters m No response timeout If no response has come back from the client packets keep alive packets can be sent at fixed time intervals to verify if the other party is present This parameter sets the time interval between transmissions of these packets If no response state continues for a specified time setting time x 3 Default is 15 seconds then the robot controller determines that an error has occurred and automatically cuts the TELNET connection Setting to 0 zero will not send keep alive packets so the connection with the client is not automatically cut even if no response state continues PB display 12 keep alive sec Input range 0 to 255 seconds Default setting 5 Ethernet Uni Depending on the network response time may be longer and an apparent no response error detected If th
20. ct 4 gateway and then press F1 EDIT 2 IP address 192 168 0 2 3 subnet mask 255 255 255 0 5 port No 23 s 5 The currently set gateway appears BRD To change it enter the new gateway with the 1 board condition VALID 2 IP address 192 168 0 2 O to 9 keys Enter the exact 3 subnet mask 255 255 255 0 number including periods 5 port No 23 7 Enter gateway 2192 168 ko After changing the setting press 6 To end the setting press ESC To continue setting another parameter use the keys to select the parameter CAUTION A ANY APPROPRIATE GATEWAY ADDRESS CAN BE USED AS LONG AS THE NETWORK IS NOT CON NECTED TO OTHER NETWORKS HOWEVER USE AN IP ADDRESS THAT HAS NOT YET BEEN ASSIGNED TO OTHER DEVICES WHEN CONNECTING THE ROBOT CONTROLLER ON AN ALREADY EXISTING NETWORK ALWAYS CHECK WITH THE NETWORK SUPERVISOR BEFORE MAKING IP ADDRESS SUBNET MASK AND GATEWAY SETTINGS THE ETHERNET UNIT FOR YRC SERIES USES A PRIVATE ADDRESS AS THE IP ADDRESS DEFAULT SETTING THIS DEFAULT VALUE CANNOT BE USED AS IS ON THE INTERNET SO WHEN CONNECTING TO THE INTERNET ALWAYS BE SURE TO CHANGE THE IP ADDRESS OF THE ROBOT CONTROLLER TO A GLOBAL ADDRESS 2 9 2 5 Making the PC settings client Ethernet Uni 2 10 2 5 Making the PC settings client The settings for the device PC are also essential for correctly exchanging information with the robot c
21. cted by means of these HUBs Router The router is a device for mutually connecting networks together The router is controlled based on a sophisticated process The router sends data with an external destination from an internal network to an external network and sends data received from an external network to an internal network Designated data is discarded in a filtering process to help maintain network safety The router IP address is set as the gateway address in each network device This setting allows data to be correctly sent and received by each device on the network Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual Cat No II51E EN 01 Revision code The following table outlines the changes made to the manual during each revision Page numbers refer to the previous revision 0 July 2010 Original production
22. e robot controller operates as a TELNET socket server which can easily be accessed from PCs used as TELNET terminals Windows PCs incorporate a TELNET terminal called TELNET EXE as standard equipment Ethernet unit commands are the same as those handled through RS 232C so even first time users will find it easy to use If information such as network settings on the PC or for detailed information on other equipment is needed refer to that particular user s manual or product instruction manual For information on operating the OMRON robot controller and robot programming refer to the controller user s manual and programming manual Ethernet is a registered trademark of the Xerox Corporation USA 2 2 How data is exchanged 2 2 How data is exchanged The following is a brief explanation to help understand how information is exchanged over the Ethernet with the other devices such as between the robot controller and PC In the communications method called TCP IP an IP address is assigned to each device connected on the network The IP address is a number unique to each device and serves to identify that device In the communications process the IP address of the robot controller must first be specified to make connection After making the connection the actual data is exchanged between the devices and when finished the connection is terminated The YRC series robot controllers equipped with the Ethernet unit operate as a serve
23. ed in this section 2 8 1 Parameter description To use TELNET communications the following parameters should be set as needed Each parameter can be set in SYSTEM gt PARAM gt OP BRD mode See 2 8 2 Setting the parameters for how to set the parameters m TCP port No Use this parameter to set the TCP port No of the robot controller The port No set here is specified along with the IP address when the client connects to the robot controller PB display 5 port No Input range 0 to 65535 Default value 23 TELNET port If any value other than the TELNET port 23 is specified then negotiation with the TELNET protocol is not attempted Switches to ordinary socket communication Using a port No other than the well known ports 0 to 1023 is advised when changing the port After changing the setting restart the controller to enable the change m Echoback Use this parameter to select whether or not to send back echoback to the client the same characters that the client sent to the robot controller PB display 6 echoback F Invalid Input range F2 Valid Default value m Communication timeout The TELNET connection can be disconnected if data is not sent or received from the client or robot controller within a certain amount of time Use this parameter to set the amount of that time minutes Setting to 0 zero voids the timeout check and there is no timeout to
24. er 1 192 168 0 3 255 255 255 0 192 168 0 1 Controller 2 192 168 0 4 255 255 255 0 192 168 0 1 Controller 3 192 168 0 5 255 255 255 0 192 168 0 1 2 32 2 15 Supplement m Example 2 In this example many controllers are operated with the HUBs connected in cascade HUB En Crossover cable La amp raight through cable yup 3201203 Cascade port UPLINK port MDI port with cascade port YRC robot controller PC The cascade port also sometimes called an UPLINK port or MDI port is used when connecting multiple HUBs in cascade Straight through cables are used to connect the cascade ports of the HUBs together However crossover cables are used when connec
25. es the tofowing tems v Chent for Microsoft Networks Fite ond Printer Shaneg for Microsoft Networks 005 Pocket Scheduler B L instal Propestes Transmission Control Protocol ntemet Protocol The default wde eres network protocol fef provides COMMUNION across reverse interconnected networks Z Show icon m neticabon sewa when coreected 2 5 Making the PC settings client 6 In the Internet Protocol TCP IP Properties DIRI aaa dialog box set the PC s IP address subnet mask and gateway to match the status of use You coo get enega assigned extomascaly eo supports ts Also set the DNS server to match the status of sppropnate amp senngs use O Qian an IP address eutomotcelly 3 Ue the tollowing IP address address Sybnet mash etat gom my G Vie the following ONS server addresses Preferred DNS server ONS server 3201203 7 Click OK to close the setup screen 2 11 2 6 Checking the connection with ping 2 6 Checking the connection with ping Once you are finished with the network settings make a check with ping to confirm that you can send and receive data normally Here ping is a network diagnostic tool incorporated into the OS as a standard feature A simple description of how to use ping incorporated into Windows XP is described below so refer to it when needed If using ping while incorporated into another OS or TCP IP protoco
26. etwork to the Internet is not necessary then any company can freely select a network address as well as a host address If there is no need to connect to the Internet then use of the following addresses is allowed 10 0 0 0 through 10 255 255 255 1 unit of class A 172 16 0 0 through 172 31 255 255 16 units of class B 192 168 0 0 through 192 168 255 255 256 units of class C An address acquired by making application to NIC on the other hand is referred to as a global address 2 37 2 15 Supplement Ethernet Uni 2 38 m Subnet mask The subnet mask is used to separate the IP address into a network address section and a host address section The network address bit is set to 1 and the host address bit is set to 0 The subnet mask just like the IP address is expressed as a decimal number of 32 bits 4 bytes with each byte separated by a period or four sets of numbers separated by periods So if the subnet mask is 255 255 255 0 then the network address section is 24 bits A company organization is generally assigned only one network address when applying to the NIC for an IP address The company making the application falls within one of classes A B or C depending on the scale of the company Class B for example has a network length of 16 bits and can be assigned a network allowing connection of up to 65533 devices However unless changes are made this network cannot efficiently perform the required managing and
27. ewall defense mechanism to keep out intruders is recommended to maintain security System setup example IP address Subnet mask Gateway Head office router 133 215 0 1 255 255 255 0 PC 133 215 0 2 255 255 255 0 133 215 0 1 Factory 1 router 133 215 1 1 255 255 255 0 Controller 1 133 215 1 2 255 255 255 0 133 215 1 1 Factory 2 router 133 215 2 1 255 255 255 0 Controller 1 133 215 2 2 255 255 255 0 133 215 2 1 Routers must be set to match system conditions To make a connection over the Internet a global address must be set in the IP address Use of identical addresses is not allowed so customers must not use the addresses set in the above example Always use the customer s own unique address NIC in Japan JPNIC handles the assigning and management of addresses 2 35 2 15 Supplement Ethernet Uni 2 36 2 15 2 Description of terminology a TCP IP Transmission Control Protocol Internet Protocol TCP IP is a general term for a group of standard protocols for carrying out communications over the Internet centering around TCP and IP protocols Computers and PCs capable of accessing the Internet all use TCP IP protocols The Ethernet unit for YRC series contains TCP IP ICMP ARP and TELNET protocols among TCP IP protocols The protocols making up TCP IP are also comprised of many protocols other than those shown in the figure on the left Protocols are a set
28. g reply is normal 1 Wrong IP address used during Telnet connection Check that the IP address of the robot controller you are attempting to connect with is correct Enter the correct IP address 2 Wrong Port No used during TELNET connection Check that the port No of the robot controller you are attempting to connect with is correct 3201203 Enter the correct IP address Robot control is already logged in with another TELNET terminal When connected the message telnet is already used appears Await termination of current TELNET connection Alarm issued to controller Alarm message appears when connected Connect the PB and check for an alarm Status led is lit up in red Troubleshoot according to the type of alarm IP address is the same as another network device Check if the IP address and MAC address have a correct match by using the arp command incorporated in the OS Check all devices on the network to find if the same IP address is being used If the IP address and MAC address do not match each other then the IP address is wrong so try redoing the settings If found to be the same as another device change the setting Network traffic communication data load is too heavy Check if the traffic load is appropriate Change the network structure to get a smaller traffic load An OK does not come back after log
29. in or no replay comes back even after issuing a command Some unit control commands are useable such as LOGOUT or BYE Ethernet unit is not enabled and not identified recognized by controller See 2 4 1 Validating the Ethernet unit and check if the Ethernet unit is enabled Enable the Ethernet unit and turn on the power to the controller again custom command input signal is set ON Check the I O signal Check on the sequencer monitor etc Communication error is issued when PB is connected to controller Always use a pulse input for the custom command input Commands such as origin return axis movement commands or data write commands are being run from or RS 232C Reply comes back after axis movement or writing data When issuing TELNET commands do not run commands from the I O or RS 232C 2 27 Ethernet Uni 2 13 Troubleshooting 2 28 Symptom Probable causes Checkpoints Action Program stops by itself during automatic operation 1 TELNET communication cuts off by itself without a LOGOUT or BYE command being issued Always use a LOGOUT or BYE command to terminate a TELNET communication 2 TELNET parameter was set to stop operation during logout Check the TELNET parameter to find if it was set to stop operation during logout Reset the parameter so operation continues during logout
30. is happens change the setting as needed Internet etc The controller automatically sends keep alive packets These packets do not affect the user transmit receive data 2 16 2 8 2 Setting the parameters 1 Press PARAM in SYSTEM mode to enter SYSTEM gt PARAM mode 2 Press F5 BRD 3 Select the number for E Net with the 4 keys and press F1J SELECT 4 Use the keys to select the parameter to be changed and press F1 EDIT 5 The setting method slightly differs according to the parameter to be changed Setting method 1 gt Enter the number with the 0 to 9 keys and then press Applicable parameters 5 port No 7 timeout min 12 keep alive sec lt Setting method 2 gt Enter the desired setting with or F2 Applicable parameters 6 echoback 8 login check 11 logout lt Setting method 3 gt Enter the setting withthe O to 9 A ltol Z land symbol keys and then press Applicable parameters 9 login user 10 login password 2 8 TELNET dedicated parameters gt gt BRD 2 3 4 319419431 gt gt BRD 1 board condition VALID 2 IP address 192 168 0 3 subnet mask 255 255 255 4 gateway 5 E Y 3 EXER ARAM gt OP BRD 1 board condition VALID 2 IP address 192 168 0 3 subnet mask 255 255 255 4 gate
31. ith other party s device This cable is also used to connect HUBs in cascade when HUBs have a cascade port Between T 568A Between T 568B Signal name Color Color Signal name TD Green White Orange White TD TD Orange TD RD 1 Green White RD Not use Blue not use Not use Blue White Blue White not use Orange Green RD Brown White Brown White Brown Brown Pins 4 5 7 8 are not used for 0 2 31 2 15 Supplement 2 15 Supplement 2 15 1 Typical network systems How a particular user builds up a network system depends on factors such as the scale of the network m Example 1 In this example several controllers are operated from one PC using one HUB HUB Eizo 10BASE T cable Ethernet Uni 1OBASE T cable dels of bead HF S 5 T PC YRC robot controller System setup example IP address Subnet mask Gateway PC 192 168 0 2 255 255 255 0 192 168 0 1 Controll
32. k In this method when a data collision conflict occurs that data is re transmitted after a randomly selected time period has elapsed Many devices can be connected to the Ethernet by using these CSMA CD methods However performance cannot be guaranteed in real time because of transmission standby time awaiting transmission and retransmissions 2 15 Supplement m IP address The IP address is a unique number assigned to each device to identify that device on the network and prevent the same number from being used by different devices More accurately an IP address is assigned to each network interface since once PC may sometimes be installed with multiple network interfaces In a TCP IP protocol the data transmit source and destination are specified by this IP address The IP address consists of 32 bits 4 bytes so can be expressed with this number without changes however it is normally expressed as a decimal number separated by periods at each byte in other words four sets of numbers separated by periods An IP address of 0xC0A80002 for example is normally expressed as 192 168 0 2 The IP address is actually comprised of 2 address sections One section is the network address The network address is the address of the network itself The other section is the host address section The host address is an address for identifying each device on that network The IP address as shown below uses the first through the Nth bits as
33. l then consult the instruction manual for that particular device 1 Click the Start button point to All A E Hic roso t 5 ALI ove d 1 Version s 26 Programs and select Accessories lt C gt Copyright 1985 2001 Microsoft Corp Ci Windows Command Prompt to open the Command Prompt screen Ethernet Uni 2 Run the ping command Command Prompt Microsoft Windows X iercion 5 1 26001 U lt C gt Copyright 1985 2001 Microsoft Corp Following the command prompt gt enter ping and press the Enter key Ci Vindows gt ping 192 168 0 2 In the ping xxx xxx xxx xxx portion enter the IP address of the robot controller 3 The screen on the right shows an example Ce Windews gt ping 192 168 0 2 that normal communication is established E EEE E NE bytes for 192 168 0 2 4 Received 4 nd trip tines in mill Minimin Maximum inc fun Mindows 4 The screen on the right shows an example that normal communication is not established If this happens recheck the network device and settings and eliminate the trouble 2 12 2 7 Using TELNET 2 7 Using TELNET Communicating by TELNET remote operation allows loading and editing point or program data and operating the robot Just the same if connected through an RS 232C port a Commands are easy to understand because they are identical to RS 232C communication commands 2 7 1 Difference betwee
34. lded twisted pair cables or STP cables shielded twisted pair cables for category 3 or higher with straight through wiring specifications To connect to the Ethernet insert the cable with modular jack into the modular connector on the controller until you hear a click Insert the other end of the cable into the modular connector on the HUB Fig 2 1 Connecting to Ethernet HUB UTP STP straight through cable CAUTION A WE USE AN FL HUB MADE BY PHOENIX CONTACT TO CHECK OPERATION USING THIS HUB IS RECOMMENDED IF CONSTRUCTING YOUR OWN SYSTEM HUBS GENERALLY AVAILABLE ON THE MARKET ARE NOT DESIGNED FOR USE IN LOCATIONS SUCH AS FACTORIES SO SOME HUBS ARE VULNERABLE TO EXTERNAL NOISE PLEASE ACKNOWLEDGE BEFOREHAND THAT OPERATION CANNOT BE GUARANTEED IF OTHER TYPES OF HUBS ARE USED ALWAYS BE SURE TO USE A HUB WITH HIGH NOISE RESISTANCE WHEN CONNECTING TO THE CONTROLLER CAUTION A THE MAXIMUM CABLE LENGTH BETWEEN THE HUB AND CONTROLLER IS 100 METERS BEFORE CONNECTING THE HUB AND CONTROLLER ALWAYS REFER TO THE INSTRUCTION MANUALS FOR THE D
35. n TELNET and RS 232C communications TELNET and RS 232C both perform the same processing However they use different communication formats This means that one format might not match your own particular system zi needs or objectives so you should get a good understanding of their different features before c incorporating them into your system TELNET Easily connects to different types of systems Can handle one versus multiple device communications Allows remote communications since it connects between separate systems Basically not usable for real time processing since real time operation is not guaranteed RS 232C Basically handles one party to one party or device communications Designed for communications between devices in close proximity Operates largely to real time specifications Ethernet communications protocol specifications do not guarantee real time operation So relying only on the Ethernet in situations such as robot emergency stop can be extremely dangerous Install safety interlock circuits using the emergency stop terminal in the SAFETY connector of the robot controller to ensure quick and effective emergency stops 2 13 2 8 TELNET dedicated parameters Ethernet Uni 2 14 2 8 TELNET dedicated parameters To ensure reliable TELNET communications that match customer system settings the Ethernet unit for YRC series can be used with TELNET dedicated parameters explain
36. nd press F1 SELECT 4 Press the key twice to select 3 subnet mask and then press F1 EDIT 5 The currently set subnet mask appears To change it enter the new subnet mask with the 0 to 9 keys Enter the exact number including periods After changing the setting press 2 EE P ARAM gt OP BRD 2 3 4 ss P ARAM gt OP BRD 1 board condition VALID 2 IP address us 168 0 4 gateway vee 168 0 port m a FILMS RENE NENNEN maaa EIE PAR AM gt OP BRD 1 board condition VALID 2 IP address rra 168 0 4 gateway TE 168 0 5 port No 23 Enter subnet mask gt 255 255 255 0 6 To end the setting press esc To continue setting another parameter use the keys to select the parameter 2 4 Making system settings for the controller server 2 4 4 Setting the gateway The following explains how to set the gateway Basically this is specifying the router IP address The router is a device relaying information from a certain network to a different network when two or more networks are present 1 Press F1 PARAM in SYSTEM mode to enter SYSTEM gt PARAM mode 2 Press F5 OP BRD ROBOT PN OTHERS OP BRD DH PYCHNER CS 3 50 319419431 amp gt gt BRD 3 Select the number for E Net with the keys and press F1 SELECT 2 3 4 s c u 4 Press the key three times to sele
37. nds See the programming manual for details on each command 2 19 2 10 Making a connection with TELNET EXH Ethernet Uni 2 10 Making a connection with TELNET EXE A typical Windows PC has a TELNET terminal called TELNET EXE as standard equipment The following briefly explains how to make a connection using TELNET EXE Preconditions are a robot controller IP address of 192 168 0 2 a port No of 23 and all other dedicated TELNET parameters at their default values 1 Click the Start button and select Run to six open the file name input dialog box 7 Ytp apom fide Gomer Ovens z te 2 Enter telnet in the edit box and then press CEEEE SS xxi the OK button ISe nao d o mean toide mt Oper 2 Cad trane 3 The telnet exe now starts up Enter open xxx Melcome to Microsoft Telnet Client following the prompt gt and then press the Enter key Escape Character is CTRL 1 Microsoft Telnet open 192 168 8 2 In the xxx xxx xxx xxx portion enter the IP address of the robot controller 4 Connection is made to the robot controller gear sah and a login check begins Enter the user name here and then press the Enter key If the login check is disabled by the robot parameter then this user name request message and the subsequent password message do not appear 5 Next enter the password login
38. number of simultaneous logins to 1 timeout Meaning No communication state continued beyond the time specified by the TELNET communication timeout parameter Action Set the TELNET communication timeout parameter to a longer time so that no communication state does not exceed the timeout period 2 25 Ethernet Uni 2 13 Troubleshooting 2 26 2 13 Troubleshooting When problems occur then troubleshoot as needed using the following information guide Be sure to always also refer to sections on Troubleshooting in the controller user s manual as well as the instruction manual for the other party s equipment such as PCs or HUB peripheral devices If taking the troubleshooting steps listed there does not eliminate the problem then quickly contact your local OMRON sales dealer Symptom Probable causes Checkpoints Action Cannot make TELNET connection Using ping only results in a timeout e Disconnect the controller from the network and connect the PC instead Use a PC capable of a good connection with the network Make the same IP address subnet mask and gateway settings as used on the controller Now try running ping from the client while setup as above and check for a response If timeouts still occur when connected this way using PC instead of controller then the problem is on the client side or in the HUB peripheral device Check probable causes 1
39. obot R6YXH250 MI 250 5 noaxis M6 noaxis gt BRD 2 3 4 HERE EE gt gt BRD 1 board condition VALID 3 subnet mask 255 255 255 0 4 gateway 192 168 0 1 5 port No 23 EILEEN Ima gt gt BRD 1 board condition VALID 3 subnet mask 255 255 255 0 4 gateway 0 1 5 port No 23 Enter IP address 2192 168 0 2 6 To end the setting press ESC To continue setting another parameter use the keys to select the parameter CAUTION ALL CHANGES TO THE IP ADDRESS SUBNET MASK AND GATEWAY SETTINGS WILL BE ENABLED AFTER RESTARTING THE ROBOT CONTROLLER WHEN CONNECTING THE ROBOT CONTROLLER ON AN ALREADY EXISTING NETWORK ALWAYS CHECK WITH THE NETWORK SUPERVISOR BEFORE MAKING IP ADDRESS SUBNET MASK AND GATEWAY SETTINGS 2 6 2 4 Making system settings for the controller server NOTE n The IP address is separated into network address and host address sections The network address section is extracted from the IP address by AND processing with the subnet mask The remaining portion is the host address section Devices belonging to the same network must all be set to have the same network address The host address however should be different for every device and set so that no two devices have the same number The first and the last host address numbers are reserved for the system
40. ontroller A basic method for setting a computer using Windows XP is described below If using a device having a different OS operating system or TCP IP protocols refer to the user s manual for that device for information on how to make the settings Windows is a registered trademark of the Microsoft Corporation USA 2 5 1 Setting the TCP IP protocol A brief description of setting the TCP IP protocol for Windows XP is given below See the First Step Guide in Windows XP for more detailed information Some changes in the settings may be needed to match the user s network 1 Open Control Panel 2 Double click Network connections icon in Control Panel So rat 3 In the Network connection window LOCA Area Correction right click on Local Area Connection to ca open Properties 4 Check that Client for Microsoft Networks L Local Area Connection Properties and Internet Protocol TCP IP are listed on Generi Auternenton Advanced the General tab Connect ining PRRO 100 VE Network Connecton Tha cgnnectoo utes the folioeng tems p v Bichen for Microsot Networks F de and Printer Sharing for Microsoft Networks 005 Pocket Scheduler io Protocol TORN 5 Select Internet Protocol TCP IP and press the Properties button Local Area Connection Properties Gerem Auteracaton Advanced Connect using E ictal PRO 100 VE Network Connecton Tha connecton us
41. oved by OMRON or OMRON sales representatives 4 Use of any other than genuine parts and specified grease and lubricants 5 Incorrect or inadequate maintenance and inspection 6 Repairs by other than authorized dealers Ayayes aunsuq ol suorne 1 6 Warranty WARRANTY OMRON s exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year or other period if specified from date of sale by OMRON OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED REGARDING NONINFRINGEMENT MERCHANTABILITY OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY In no event shall the responsibility of OMRON for any act exceed the individual price of the Cautions To Ensure Safety product on which liability is asserted IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY REPAIR OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED STORED INSTALLE
42. place the router Network adapter used by the client is defective or the settings on the Client side are wrong Check the network settings on the client side Try substituting with another network adapter on the client side Redo the network settings on the client side If operation returns to normal then the network adapter is defective so replace the adapter Network traffic communication data load is too heavy e Check if the traffic load is appropriate Change the network structure to get a smaller traffic load Ethernet cable is too close to a noise Source such as motor cables e Check how and where the Ethernet cables are installed Separate the Ethernet cable from potential noise sources Symptom Probable causes 2 13 Troubleshooting Checkpoints Action 7 Wrong IP address subnet mask or gateway settings on controller Check the settings by referring to 2 4 2 Setting the IP address 2 4 3 Setting the subnet mask and 2 4 4 Setting the gateway Redo the IP address subnet mask and gateway settings correctly Then turn on the controller power again 8 Ethernet unit is defective Try substituting the Ethernet unit If operation returns to normal then the Ethernet unit is probably defective so replace the Ethernet unit Cannot make TELNET connection or cannot terminate the TELNET connection right away pin
43. r and constantly await a connection request from the client other party s device such as a PO Specificactions are then carried out when a request arrives from a client So the robot controller does not connect to another server on its own 39429433 192 168 0 5 IP address YRC Functions as a server 192 168 0 3 robot controller Performs specified actions upon receiving request from client Server Ethernet Unit a Ethernet 192 168 0 10 192 168 0 11 192 168 0 12 Device such as PC is the client connects to server and issues commands to perform specified actions l Specify the IP address of robot controller to exchange data with and make the connection Above example shows the client 192 168 0 10 has specified the robot controller 192 168 0 5 and made a connection 2 After making the connection the robot controller runs a specific series of actions according to instructions from the client NOTE During multitasking by the client several robots can be simultaneously connected to one client unit Only one client can make a simultaneous connection to one robot controller unit Settings such as of the IP address and subnet are made from the PB 2 3 2 3 How to connect to Ethernet Ethernet Uni 2 4 2 3 How to connect to Ethernet The Ethernet unit for YRC series employs IOBASE T specifications so the robot controller connects by a cable to the HUB Use UTP cables unshie
44. so be sure not to set these as the IP address When the IP address for example is 192 168 0 10 and the subnet mask is 255 255 255 0 the network address section is found to be 192 168 0 and the host address section to be 10 by means of AND processing with the subnet mask In this case the network address section of all other devices belonging to that network must all be 192 168 0 The host address section of those other devices on the other hand must be set to a number other than 10 The number 0 and 255 are reserved so do not use them for setting the host address So when a device having an IP address of 192 168 0 10 and a subnet mask of 255 255 255 0 belongs to a particular network and you want to add another device to that network then you would assign IP addresses from among 192 168 0 1 to 192 168 0 9 and 192 168 0 11 to 192 168 0 254 NOTE The Ethernet unit for YRC series is not usable with IP address auto acquisition functions such as DHCP and BOOTP You must set the IP address manually 3201203 Dey 2 4 Making system settings for the controller server Ethernet Uni 2 4 3 Setting the subnet mask The following explains how to set the subnet mask The subnet mask is a numerical address used to subdivide the network into smaller parts 1 Press F1 PARAM in SYSTEM mode to enter SYSTEM gt PARAM mode 2 Press F5 OP BRD 3 Select the number for E Net with the 4 keys a
45. t correlate it to actual application requirements Actual performance is subject to the OMRON Warranty and Limitations of Liability ERRORS AND OMISSIONS The information in this manual has been carefully checked and is believed to be accurate however no responsibility is assumed for clerical typographical or proofreading errors or omissions General Contents Chapter 1 Cautions To Ensure Safety 1 1 1 1 1 2 1 3 1 4 1 5 1 6 Chapter 2 Basic rdc 1 2 System design safety points cccccccscsccecssccccccssccesscceseecsscecscscsccessceesscssscesscssesceseseeeoesee 1 2 Installation and wiring safety points 1 3 Start up and maintenance safety points 1 4 Precautions when disposing of the unit 1 4 fupcuoM 1 5 2 5 2 6 2 7 2 8 2 9 2 10 2 11 2 12 2 13 2 14 2 15 Ethernet unit features How data is exchanged How to connect
46. ter reading this manual keep it in a safe easily accessible location so it can be referred to whenever needed When moving this unit always make sure this manual accompanies it and make sure that the person who will actually use this Ethernet unit reads this manual thoroughly This manual only contains information involving the Ethernet unit Please refer to the controller user s manual and programming manual for information on basic robot controller operation and programming DISCLAIMERS CHANGE IN SPECIFICATIONS Product specifications and accessories may be changed at any time based on improvements and other reasons It is our practice to change model numbers when published ratings or features are changed or when significant construction changes are made However some specifications of the products may be changed without any notice When in doubt special model numbers may be assigned to fix or establish key specifications for your application on your request Please consult with your OMRON representative at any time to confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORMANCE DATA Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of OMRON s test conditions and the users mus
47. the appropriate data 2 9 TELENET communication commands 2 9 2 Ethernet unit control commands These commands instruct the Ethernet unit to process the command task Unlike the robot control commands described later on the Ethernet unit control commands do not require a start code 40 at the beginning of the command a 1 LOGOUT BYE a This command terminates TELNET communication The LOGOUT and the BYE commands have the same results Always issue one of these commands when terminating communication 3 Cutting off communications without using these commands causes an errorto be issued and halts robot operation c 5 Transmission example lt LOGOUT 6E Terminates TELNET ii communication 2 VER This command shows the Ethernet unit version Transmission example VER I f Response example Version 1 01 3 ETHER ECHO echo status Selects the Ethernet status Echo status 1 signifies using echoback 0 signifies no echoback Transmission example ETHER ECHO 0 c rI f Sets to no echoback Response example OK 4 ECHO Reads out the echoback status Transmission example Q ETHER ECHO 0 Response example s eA TAE ac ete rtr tenete Echobackstatusis no echoback OK 2 9 3 Robot control commands Robot control commands access the controller and perform sophisticated processing Command specifications are identical to RS 232C communication comma
48. the network address the N 1 bit through 32nd bit as the host address The value of N is determined by the subnet mask 3201203 1 N N 1 32 IP address Network address section Host address section In an IP address of 192 168 0 2 for example if the N value network length is 24 bits then the network address section is 192 168 0 and the host address section is 2 Generally in a network address the host address section is 0 and the network length is listed behind the address In the above example this would be shown as 192 168 0 0 24 One network can be connected with as many devices as there are addresses to identify them However host address bits having all zeroes 0 or all ones 1 are reserved and so cannot be used In the above example though the host address can identify 256 devices the numbers 0 and 255 cannot be used so the maximum number of devices that can actually be connected is 254 192 168 0 0 24 192 168 1 0 24 192 168 0 1 192 168 1 1 Maximum of Maxi f 192 168 0 100 254 devices lt gt 192 168 1 100 254 devices connected by 192 168 0 254 router 192 168 1 254 Network A Network B Any company organization can freely select a host address but when attempting to connect their network to the Internet that company organization cannot select the network address on their own An application to acquire a network address must be made to the NIC in Japan JPNIC If connecting one s n
49. through 6 If a replay comes back normally then the problem is in the controller so check probable causes 7 through 8 1 Ethernet cable defects poor connection or wrong specs Check if securely attached to the modular connector Check for a disconnection or break in the cable or a miswire Check if the straight through cable or crossover cable are being used for the wrong connection Try replacing the cables Insert in firmly until a click noise is heard Correct the wiring if a miswire is found Replace the cable if a break in the wiring is found Use a straight through cable between the HUB and controller Use a crossover cable if connecting directly to the other party s device If operation returns to normal then the problem is in the cables Replace the cable 2 Defective HUB or wrong settings Try changing to another port Check if the communication mode is manually set to other than 10Mbps Half Duplex Try another HUB If operation returns to normal then the port is defective so do not use that port When setting the HUB communication mode manually then set it to 10Mbps Half Duplex If operation returns to normal then the HUB is defective so replace the HUB 3 Router is defective or wrong settings Check the router settings Try substituting with another router Redo the router settings If operation returns to normal then the router is defective so re
50. ting HUBS not having cascade ports or when making cascade connections without using cascade ports Amaximum of 4 HUB units can be connected in cascade The same type network can also be built up by stacking HUBs together using so called stackable HUBs In this case Multiple HUBs connected in a stack are seen as just one large HUB by the network so there is no limit on the number of HUB units that can be stacked System setup example IP address Subnet mask Gateway PC 192 168 0 2 255 255 255 0 192 168 0 1 Controller 1 192 168 0 3 255 255 255 0 192 168 0 1 Controller 2 192 168 0 4 255 255 255 0 192 168 0 1 Controller 9 192 168 0 11 255 255 255 0 192 168 0 1 Controller 10 192 168 0 12 255 255 255 0 192 168 0 1 2 33 2 15 Supplement m Example 3 In this example the control PC and the controllers are separated from each other Terminator Terminator P ad 10BASE 5 cable b Transceiver MAU Transceiver MAU Transceiver cable AUI cable Ethernet Uni Transceiver cable AUI cable HUB with 10BASE 5 connector 2 3 4 5 6 7 8 HUB with 10BASE 5 connector 2 3 4 5 6 7 8 MOTOR 0 1 e m PRO sRVO k x BATT x E ma ig BATT 28
51. to Stop d There was no response from the client even when keep alive packets were sent e The LOGOUT or BYE command was not used to end the TELNET communication Action 1 Connect the cable and or connector securely 2 Communicate at least once within the time specified by the 7 timeout min parameter or set that parameter to 0 to disable the timeout 3 To prevent this error at logout set the 11 logout parameter to 4 Check if the client is in response to keep alive packets or set the 12 keep alive sec parameter to 0 to stop sending out keep alive packets 5 Use the LOGOUT or BYE command to end the TELNET communication 12 42 EtherNet hardware error Code amp HOC2A Meaning Cause The Ethernet unit is broken Action Replace the Ethernet unit 2 12 Message List 2 12 2 Telnet message list login Meaning Request for entry of login user name Action Enter user name Password Meaning Request for entry of login password Action Enter login password login incorrect c Meaning Error was found during login check Action Enter the correct user name and password TELNET is disconnected Meaning Login check resulted in errors 3 times in succession so connection was disconnected automatically Action Enter the correct user name and password TELNET is disconnected Meaning TELNET has already been connected Action Limit the
52. to Ethernet Making system settings for the controller server 2 4 1 Validating the Ethernet Unit nn 2 2 4 3 Setting th subnet mask ayu nn Ba dee enit tee yaaa aaa die Rea 2 4 4 Setting the Bate Way usu asa e card du ete dte docui He d Samana d E I END ad Making the PC settings client 225 1 Setting the TCP IP pfotOocOl eerte RERO EH Rec ree RE Checking the connection with ping Using TELNET 2 7 Difference between TELNET and RS 232C communications TELNET dedicated parameters 22871 Parameter descr ptlOn intr I EIE EI ouo OA RARE RC sata IRE EIER 22822 S t ng the parameters ice TELENET communication commands 2 9 1 Communication command specifications eee 2 9 2 Ethernet unit control commands nn nanara 2 9 3 Robot control commands Making a connection with TELNET EXE ugquidputparncm 2 11 Displaying the MAC dr 2 11 2 Displaying the version of the Ethernet unit uuu u uiisqa sas ayka MeSsSape BE mec 2 12 l JErrorum ssages
53. ures or mishandling due to not following the instruction in this manual may result in trouble or damage to the robot and injury to personnel robot operator or service personnel including fatal accidents Important caution points in this manual are from hereon indicated by the term AN CAUTION 1 2 System design safety points CAUTION A ETHERNET COMMUNICATIONS PROTOCOL SPECIFICATIONS DO NOT GUARANTEE REAL TIME OPERATION SO RELYING ONLY ON THE ETHERNET IN SITUATIONS SUCH AS ROBOT EMERGENCY STOP CAN BE EXTREMELY DANGEROUS INSTALL SAFETY INTERLOCK CIRCUITS USING THE EMERGENCY STOP TERMINAL IN THE SAFETY CONNECTOR OF THE ROBOT CONTROLLER TO ENSURE QUICK AND EFFECTIVE EMERGENCY STOPS CAUTION A TO FIND THE CURRENT STATUS OF THE NETWORK SYSTEM AND ROBOT CONTROLLER WHEN COMMUNICATION ERRORS OCCUR ON THE ETHERNET SYSTEM REFER BEFOREHAND TO THIS MANUAL AND THE INSTRUCTION MANUAL FOR EQUIPMENT USED BY THE OTHER PARTY ALSO INSTALL SAFETY INTERLOCK CIRCUIT SO THAT SYSTEMS INCLUDING A ROBOT CONTROLLER WILL FUNCTION RELIABLY AND SAFELY WHEN COMMUNICATION ERRORS OCCUR CAUTION DO NOT BUNDLE CONTROL LINES OR COMMUNICATION CABLES TOGETHER OR IN CLOSE CONTACT WITH MAIN CIRCUIT OR MOTOR ACTUATOR LINES AS A GENERAL RULE MAINTAIN A GAP OF AT LEAST 100MM NOISE IN SIGNAL LINES MAY CAUSE FAULTY OPERATION 1 3 Installation and wiring safety points 1 3 Installation and wiring safety points CAUTION A ALWAYS CUT OFF ALL POWER TO THE CONTROLLER AN
54. way 192 168 0 1 0 65535 Enter gt 23 amp gt gt BRD 5 port No 7 timeout min Tm 8 login check VALID nin user USER DED r gt gt BRD 8 login check VALID 10 login password PASSWORD 11 logout CONT 12 keep alive sec 5 Enter login user gt USER 6 To end the setting press ESC To continue setting another parameter use the keys to select the parameter 2 17 2 9 TELENET communication commands Ethernet Uni 2 18 2 9 TELENET communication commands 2 9 1 Communication command specifications TELNET communication commands are broadly classified into two types One type is commands that instruct the Ethernet unit to process the command task The other type is robot control commands to access the robot controller and perform sophisticated processing These robot control commands are further subdivided into the following 5 categories Ethernet unit control commands Robot control commands 1 Key operation 2 Utilities 3 Data handling 4 Robot language 5 Control codes Communication command format for robot control commands except control codes is as follows online command command option gt termination code Items in brackets can be omitted start code 40h sabes a ban blank online command gt Refer to programming manual lt command option
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