Ethernet Telnet User`s Manual - RCX Series
Contents
1. RCX series controller Use of a firewall 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 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 40 2 15 Supplement 2 15 2 Description of terminology E 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 RCX series contai2. RCX series controller 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 37 2 15 Supplement E Example 2 In this example many controllers are operated with the HUBs connected in cascade _ Crossover cable vo Straight through cable Pe a ea J c9 HUB lt hn Cascade port UPLINK port MDI port HUB with cascade port m vino Eg ROP240 a wo HAE xla ro i ee p A pi Jeou s Ia ers i ZR L J S zA HUB ce RCX240 6 lu q PC pax SSK ISe 3 keg RCX series controller
3. 12345678 Pins 4 5 7 8 are not used Ethernet Unit YAMAHA yup Puy Modular connector RUN Receive Transmit Link Collision 35 2 14 Specifications 2 14 3 UTP STP cable The Ethernet cables are standardized by ANSI TIA EIA568A To avoid miswiring and malfunction we recommend using cables conforming to this standard When using 1OBASE T cables it must have transmission characteristics of category 3 or higher E 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 Green White Green White TD Green Green Orange White 3 Orange White Not use Blue Blue not use Ethernet Unit Not use Blue White Blue White not use RD Orange Orange RD Not use Brown White Brown White Not use Not use Brown Brown Not use Pins 4 5 7 8 are not used for 10BASE T Straight through cable also connects between T 568B and T 568B E Crossover c
4. YAMAHA The cascade port also sometimes called an UPLINK port or MDI port is used when connect ing multiple HUBs in cascade Straight through cables are used to connect the cascade ports of the HUBs together However crossover cables are used when connecting HUBs not having cascade ports or when making cascade connections without using cascade ports A maximum 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 38 192 168 0 12 255 255 255 0 192 168 0 1 2 15 Supplement E Example 3 In this example the control PC and the controllers are separated from each other Terminator Terminator km 10BASE 5 cable Transceiver MAU Transceiver MAU Transceiver cable AUI cable yup Puy 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
5. 7 Click OK to close the setup screen 16 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 protocol then consult the instruction manual for that particular device 1 Click the Start button point to All E Command Prompt Microsoft Windows XP Version 5 1 26001 Programs and select Accessories lt C gt Copyright 1985 2001 Microsoft Corp Command Prompt to open the Command Prompt screen C Windows gt s plus JOUAIY A 2 Run the ping command Following the command prompt gt enter ping XxXxX XXX XXX xxx and press the Enter key 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 that Cz Windows gt ping 192 168 0 2 Pinging 192 168 2 with 32 bytes of data normal communication is established abe Reply from 192 168 0 2 time ims Reply from 192 168 0 2 time lt ims from 192 168 0 2 time lt ims from 192 168 0 2 s time lt ims C Windows 4 The screen o
6. however please contact us if errors ambiguities or possible trouble points are found e This manual does not constitute a warranty of industrial rights or other rights nor a concession of utility rights Further no responsibility whatsoever is accepted for problems arising from use of the information contents listed in this manual MEMO General Contents 1f Basic Safty POmnts ceivssscecssensiccconcesetvsesenasscconedsnsssecenseudiveecenasdecencstesonessereodtestennacdersses 2 1 2 System design safety Points cscscccscsscsscssssssscssessecsessesesessesssesseessssseesesessesoees 2 1 3 Installation and wiring safety points cscccssesscsessscseessesesessecssesseessesseessseesessees 3 1 4 Start up and maintenance safety points ccsscssscscsseccsscseesesesseesseeseesssesseseseeseseees 3 1 5 Precautions when disposing of the unit ccssscssessscssessecesessecesesseesseeseesssesseeoess 3 1 6 Warranty seserinis er en ANa ATE E E EN EE R 4 Chapter 2 Dek Ethernet UNE features ssena neose aneron nea Seen ae r aa RE aE eaae 6 2 2 How data is exchanged icci cesccisceteecsescccetvessecesencnsscesarcssecectsessceesceeuatecedensedssseessedzes 7 2 3 How to connect to Ethernet wscsccscevsesiea 3 cascs sa sedasceaeas setecsatern tare nansivercentewieiuensaveeacetaans 8 2 4 Making system settings for the Controller Server scssssessessssssssessseesessssseeseeseess 9 2 4 1 Validating th
7. Press the key three times to select 4 gate EREI P ARAWDOP BRD way and then press EDIT y P F1 1 board condition VALID 2 IP address 192 168 0 2 3 subnet mask 255 255 255 0 5 port No 23 EE ee eee 5 The currently set gateway appears ENES ARAWDOP BRD To change it enter the new gateway with the eae aoa Van o to keys Enter the exact number 2 IP address 192 168 0 2 includi iod 3 subnet mask 255 255 255 0 including periods d 5 port No 23 After changing the setting press 2 Enter wabewagr Sloe Ter i 6 To end the setting press ESC To continue setting another parameter use the f keys to select the parameter A CAUTION Any appropriate gateway address can be used as long as the network is not connected 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 RCX 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 13 2 4 Making system settings for the controller server 2 4 5 Setting the communication mode The following explains how to set the mode online offlin
8. YAMAHA YAMAHA MOTOR CO LTD YAMAHA NETWORK BOARD RCX series Ethernet ENGLISH E User s Manual YAMAHA MOTOR CO LTD IM Operations 882 Soude Naka ku Hamamatsu Shizuoka 435 0054 Japan URL http www yamaha motor jp robot index html E94 Ver 1 07 INTRODUCTION Our thanks for your purchase of this Ethernet unit for use with YAMAHA RCX series robot control lers This is an optional unit to allow connecting YAMAHA RCX series robot controllers to the widely used Ethernet which is a de facto standard for office equipment network This manual describes typical examples for taking safety measures installing wiring making ma chine settings and operating the machine to ensure that the Ethernet unit is used safely and effec tively Be sure to read this manual before use Even after 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 NOTE e The contents of this manual may be changed in advance without prior notice e Every effort was made to ensure the contents of this manual are complete
9. relevant instruction manual 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 YAMAHA 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 RCX series robot controllers equipped with the Ethernet unit operate as a server and constantly await a connection request from the client other party s device such as a PC Specific actions are then carried out when a request arrives from a clien
10. SAFETY connector of the robot controller to ensure quick and effective emergency stops A CAUTION 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 A 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 A CAUTION Always cut off all power to the controller and the overall system before attempting 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 gt CAUTION 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 fault
11. address appears MEP ARAMDOP BRD To change it enter the new IP address with the l board condition VALID 0 to 9 keys Enter the exact number L J 3 subnet mask 255 255 255 0 including periods 4 gateway 192 168 0 1 F i 5 port No 23 After changing the setting press gt Enter IP address gt 192 168 0 2 6 To end the setting press ESC To continue setting another parameter use the f keys to select the parameter A 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 4 Making system settings for the controller server W NOTE 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 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 th
12. communications without using these commands causes an error to be issued and halts robot operation Transmission example LOGOUT cfr I f eee Terminates TELNET commu nication VER This command shows the Ethernet unit version Transmission example VER c r I f Response example Version_1 01 c r I f ETHER ECHO lt echo status gt Selects the Ethernet status Echo status 1 signifies using echoback 0 signifies no echoback Transmission example ETHER_ECHO_0 c r I f Sets to no echoback Response example OK cfr 1 f ETHER ECHO Reads out the echoback status Transmission example ETHER_ECHO_0 c r I f Response example OCT Eae aese Echobackstatusis no OK cfr I f echoback 2 9 3 Robot control commands Robot control commands access the controller and perform sophisticated processing Command speci fications are identical to RS 232C communication commands See the programming manual for details on each command 2 10 Making a connection with TELNET EXE 2 10 Making a connection with TELNET EXE The following briefly explains how to make a connection using TELNET EXE For details on how to install TELNET into PCs see the relevant instruction manual 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 2 3 4 5 6 Click the Start button and select Run to open the fi
13. traffic load An OK does not come back after login or no replay comes back even after issuing a command Some unit control commands are useable such as LOGOUT or BYE 1 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 2 T O custom command input signal is set ON Check the I O signal Check on the sequencer monitor etc e Communication error is issued when the programming box is connected to controller e Always use a pulse input for the custom command input 3 Commands such as origin return axis movement commands or data write commands are being run from I O or RS 232C e Reply comes back after axis movement or writing data When issuing TELNET commands do not run commands from the I O or RS 232C Symptom Probable causes 2 13 Troubleshooting Checkpoints Action Program stops by itself during automatic operation 1 TELNET communication cuts off by itself without a LOGOUT or BYE command being issued e Always use a LOGOUT or BYE command to terminate a TELNET communication 2 TELNET parameter was set to stop operation during logout e Check the TELNET parameter to find if it was set to stop operation during logout e Re
14. 4 2 10 Making a connection with TELNET EXE eseeseesessesseseeserecseesessessessesereesecsorsossesseseese 25 2 11 Other operating tasks ccccccetesssseceseeescecscessceseccssesrscceccetssoeseceseeesseccccensceuecerses 27 2 11 1 Displaying the MAC address c cee eeeeecescsecsecssesessecsessessessessessesscssesesenseneeseens 27 2 11 2 Displaying the version of the Ethernet unit 00 0 eee ee eeeeeceecneeseenseneeneteeseeaeeas 28 2 12 Message List lt lt ccico ictesiccsoceesitiec vests ceicsusiecssvesstdpvenesoesGedeceesheuescenstevescersbedisceucsteicctasd 29 212 1 Error messages a usc vs sect atbestugtes Sorte th ete S a EEEE RS Lantana ced 29 2212 2 Telnet message list ss civ insine A castes cee e aa A AEE RA S e 30 2 13 TroubleshootiNg sses jnc02 ees caceeecing cotetecscenesdestesaisoonedeviccrseni tascteeseeoulsveousvasseesechSucerses 31 214 SPOCHICAUOMS 5 sekcninssdencatasssuscalanctescstekesedsuxsdaasssdoladebagueudindessneatucssnsdelansduscandicbeadaxsieces 34 2 14 1 Ethernet unit specifications 00 cece ee e i a EE E E A GERR 34 2214 2 Modular connector ana r ATEA A ER RA E LM ee eS 35 214 3 UTP STP Cable sic o a a AE E evi A E TETE 36 2 15 Supple me iit sisisi oii eer esna sesasi Sosan ien oeaiei ser 37 Qa15 1 Typical MEtwOrk systems nienie orui aeren ai R a Ene Ea 37 215 2 Description of terminology isaimini ann r i D A Ea E EAAS S EEE 41 MEMO Cautions To Ensure Safety 1 1 Basic safe
15. ET connection right away ping 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 Enter the correct IP address 3 Robot control is already logged in with another TELNET terminal When connected the message telnet is already used appears e Await termination of current TELNET connection 4 Alarm issued to controller Alarm message appears when connected Connect the programming box and check for an alarm Status led is lit up in red Troubleshoot according to the type of alarm 5 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 e 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 6 Network traffic communication data load is too heavy Check if the traffic load is appropriate e Change the network structure to get a smaller
16. J keys and press F1 SELECT Se u ee 4 Press the 4 CL key twice to select 3 subnet BRED ARAMDOP BRD mask and then press F1 EDIT 1 board condition VALID 2 IP address 192 168 0 2 4 gateway i 168 0 1 a port am a a a a 5 The currently set subnet mask appears BRP ARAMDOP BRD To change it enter the new subnet mask with oneri eoni Lhe OVAL ID the O to 9 keys Enter the exact 2 IP address tk 168 0 Lo 9 number including periods 4 gateway TE 168 0 After changing the setting press 2 seer 2 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 TA 2 2 Press F5 OP BRD RAP ARAM 5 Robot YK250X aA M1 AYK250X M5 no axis M2 BIYK250X M6 no axis Cc M3 BlYK 250X M4 BJYK250X ng 3 Select the number for E_Net with the EASP ARANSOP BRD keys and press ELECT 4 keys and press F1 SELECT 2 _ 3 4 ee eee eee 4
17. 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 e Redo the network settings on the client side e If operation returns to normal then the network adapter is defective so replace the adapter 5 Network traffic communication data load is too heavy e Check if the traffic load is appropriate e Change the network structure to get a smaller traffic load 6 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 31 Ethernet Uni 2 13 Troubleshooting 32 Symptom Probable causes Checkpoints Action 7 Wrong IP address subnet mask or gateway settings on controller e 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 e 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 e 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 TELN
18. RRSP ARAM gt OP BRD 10 login password PASSWORD 11 logout Ean li keep alive sec The MAC address cannot be changed a 4 C6 01 n unit version S a a E 27 2 11 Other operating tasks 2 11 2 Displaying the version of the Ethernet unit Ethernet Uni 28 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 J keys and press F1 SELECT 4 Select 14 unit version with the the keys and press F1 EDIT The Ethernet unit version number cannot be changed BA ARAM Robot YK250X M1 BJYK 250X M5 no axis M2 BJYK 250X M6 no axis M3 BYK250X M4 BJYK 250X BRS P ARAM gt OP BRD 2 3 4 ER u a a BEA ARAM gt OP BRD 10 login password PASSWORD 11 logout CONT 12 keep alive sec 5 13 MAC address 00 04 C6 01 01 1F 14 unit version a Es Ee 2 12 Message List 2 12 Message List 2 12 1 Error messages The following error messages involving the Ethernet system have been added 12 41 EtherNet link error Code amp HO0C29 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 to Stop d Th
19. able Use this cable to connect the robot controller directly with 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 Green Orange TD RD Orange White 3 Green White RD Not use Blue Blue not use Not use Blue White Blue White not use RD Orange Green RD Not use Brown White Brown White Not use Not use Brown Brown Not use Pins 4 5 7 8 are not used for 10BASE T 30 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 E Example 1 In this example several controllers are operated from one PC using one HUB HUB 2 3 4 5 6 7 yup Puy 10BASE T cable 10BASE T cable moron m RCX240 YM S 3 vE NE 3 3 zeA RGEN f k I YAMAHA 1 wl Ea F RM A mr k gt besad
20. and then press S Applicable parameters 5 port No 7 timeout min 12 keep alive sec lt Setting method 2 gt Enter the desired setting with F1 or F2 Applicable parameters 6 echoback 8 login check 11 logout lt Setting method 3 gt Enter the setting with the 0 to 9 to Z and symbol keys and then press S Applicable parameters 9 login user 10 login password SEP ARAM Robot YK250X M1 BYK250X M2 BYK250X M3 B YK 250X M4 BJYK 250X ROBOT E CE M CD M5 no axis M6 no axis SWAP ARAM gt OP BRD 2 3 4 Se u a a BAP ARAM gt OP BRD 1 board condition VALID 2 P address 192 168 0 3 subnet mask 255 255 255 4 gateway 192 168 1 D a a a SAAS PARAM gt OP BRD 1 board condition VALID 2 IP address 192 168 0 3 subnet mask 255 255 255 4 gateway 192 168 0 1 0 65535 Enter gt 23 BABS P ARAM gt OP BRD 5 port No 2 3 7 timeout min 10 8 login check VALID 9 login user USER D CS a ee SSP ARAM gt OP 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 22 2 9 TELENET communication commands 2 9 TELENET communication commands 2 9 1 Communication command specifications TELNET communication command
21. e of the communication with the computer The online commands can be run only in the online mode W NOTE The communication mode setting ETH mode parameter is valid only when the software version is as follows RCX240 Ver 10 20 or higher RCX221 222 Ver 9 27 or higher 1 Press F1 PARAM in SYSTEM mode to enter SYSTEM gt PARAM mode Ethernet Uni 2 Press F5 OP BRD BEAP ARAM Robot YK250X M1 AYK250X M5 no axis M2 AYK250X M6 no axis M3 B YK 250X M4 BJYK 250X Om Las Mag M CD 3 Select the number for E_Net with the EEP ARAM gt OP BRD keys and press F1 SELECT 2 3 4 SS a a a 4 Press 4 to select 15 ETH mode and press E gt P ARAM gt OP BRD V10 20 F1 EDIT m 11 logout CONT 12 keep alivelsec 0 13 MAC address 00 04 C6 00 00 C2 14 unit version 103 D a M a 5 When changing the communication mode press E gt PARAM gt OP BRD V10 20 F1 OFFLINE to set the offline mode or L AL k 11 logout CONT press F2 ONLINE to set the online mode E EE A 13 MAC address 00 04 C6 00 00 C2 14 unit version i 08 a a 6 To end the setting press Esc To continue setting another parameter use the f J keys to select the parameter W NOTE The ETH mode parameter can also be changed by the ONLINE or OFFLINE statement of the robot language For details on ONLINE and OFFLINE statements see the programming man
22. e Ethemet nit ane snien anne iiwtek peas hank 9 2 422 Setting the IP address ssc sosveecasepeiiuresvivasses E EAE i E AAR 10 2 4 3 Setting the subnet mask arerio ie a E E R E E E 12 24 A Setting the gateway oniran a a a A E A ATE EN 13 2 4 5 Setting the communication Mode s ssssssssssisisesstsesisesessrisisestrnesisisensrinesenesresesenet 14 2 5 Making the PC settings client sccssscsscsssessseesseccseessssscsecesssesssssssessessseesees 15 2 5 1 Setting the TCP IP protocol ss c ic sccsecie deacveai sheta cust sad es cpevestaceses i 15 2 6 Checking the connection with ping csscscccsscsssccssecessscssessessssesseeeseeesseeeoes 17 2 7 Using TELNET scsceiesesenvessctocsensesesssssectoscssuasascesassesodeteasevesvdacouscvesodsssedsdetvabendbedeceusssesss 18 2 7 1 Difference between TELNET and RS 232C communications sssseeeseeeeesreerserereerseeere 18 2 8 TELNET dedicated parameters scssscsssscsscsssecssscessscessscssscssssecssssssesseeesseeeoes 19 2 8 1 Parameter descriptio erreca ai i o a a a Ea 19 2 8 2 Setting the parameters i oenina ee a Ta E E E E 22 2 9 TELENET communication COMMANAG essessessersessessesseesessessessessensenseesensenseesees 23 2 9 1 Communication command specifications ssssssssssessssssisesssetsisisessrtsisestssninisesensesent 23 2 9 2 Ethernet unit control Command ser sn anana a R aa 24 229 3 Rob t n trolcommandS ees ri E A A AE AA N a 2
23. e 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 W NOTE The Ethernet unit for RCX series is not usable with IP address auto acquisition functions such as DHCP and BOOTP You must set the IP address manually yup Puy 11 2 4 Making system settings for the controller server Ethernet Uni 12 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 BAP ARAM Robot YK250X M1 AYk250X M5 no axis M2 BJYK 250X M6 no axis M3 BYK250X M4 BJYK 250X 3 Select the number for E_Net with the REMI ARAMDOP BRD 2 3 4
24. equired Required Other than control codes Required Required Robot control commands Control codes Not required Not required E One line must be within 80 characters except for the terminal code CR 0Dh code or CRLF 0Dh OAh code E A communication command is basically composed of an lt online command gt and an lt _command option gt Depending on the command statement no lt _command option gt is used or multiple lt _command options gt are used E The character codes used are the JIS8 unit system codes ASCII codes with katakana characters added See the controller user s manual for the character code tables E One or more space must be inserted between lt online command gt and lt _command option gt E Items in lt _command option gt should be specified by the user Check the description of each communication command and enter the appropriate data 23 2 9 TELENET communication commands 2 9 2 Ethernet unit control commands Ethernet Uni 24 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 40H at the beginning of the command 1 LOGOUT 2 3 4 BYE This command terminates TELNET communication The LOGOUT and the BYE commands have the same results Always issue one of these commands when terminating communication Cutting off
25. ere 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 plus JoOUAIY A 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 CONT 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 29 2 12 Message List 2 12 2 Telnet message list login Meaning Request for entry of login user name Action Enter user name J Meaning Request for entry of login password 5 Action Enter login password D ie p betel 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 con nection was disconnected automatically Action Enter the correct user name and password TELNET is disconnected Meaning TELNET has already been connected Action Limit the number o
26. f simultaneous logins to 1 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 30 2 13 Troubleshooting 2 13 Troubleshooting When problems occur then troubleshoot as needed by using the following information as a 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 YAMAHA 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 e 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 through 6 yup Puy If a replay comes bac
27. h 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 a olig R Ay A UTP STP straight through cable Ei F 8 g ex OP2 OP4 r 3 i 6 T YAMAHA RCX series controller A CAUTION 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 A CAUTION 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 device used by the other party and peripheral equipment such as the HUB If the HUB communication mode can be set ma
28. i RCM A 3 2 O z f z 3 z Z YAMAHA RCX series controller The 1OBASE 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 39 2 15 Supplement E Example 4 In this example a controller in a remote location is centrally managed over the Internet C Internet Factory 2 Factory 1 Ethernet Uni Head office Router f IEE in fad H o 8 bead
29. ifications 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 8 TELNET dedicated parameters 2 8 TELNET dedicated parameters To ensure reliable TELNET communications that match customer system settings the Ethernet unit for RCX series can be used with TELNET dedicated parameters explained 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 E TCP port No Use this parameter to set the TCP port No of the robot controller yup Puy The port No set here is specified along with the IP address when the client connects to the robot controller Programming box display 5 port No Input range 0 to 65535 Default value 23 TELNET port Tf 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 Af
30. ights reserved No part of this publication may be reproduced in any form without the permission of YAMAHA MOTOR CO LTD Information furnished by YAMAHA in this manual is believed to be reliable However no responsibility is assumed for possible inaccuracies or omissions If you find any part unclear in this manual please contact your distributor
31. igned a network allowing connection of up to 65533 devices However unless changes are made this network cannot efficiently perform the required managing and 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 yup Puy E 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 manufac turing 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 E HUB A HUB is a device used for connecting devices such as PCs by way of a OBASE T network The HUB has multiple ports that allow connecting modular jacks and twisted pair cables fitted with these modular jacks connect to
32. 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 ad dress as shown below uses the first through the Nth bits as the network address and the N 1 bit through 32nd bit as the host address The value of N is determined by the subnet mask 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 Maxim f Maxi f 192 168 0 100 254 devices Amp 192 168 1 100 254 devices connected by 192 168 0 254 rouge 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
33. k 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 e Insert in firmly until a click noise is heard e Correct the wiring if a miswire is found Replace the cable if a break in the wiring is found e Use a straight through cable between the HUB and controller Use a crossover cable if connecting directly to the other party s device e 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 1OMbps Half Duplex Try another HUB e 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 e 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 e Redo the router settings e If operation returns to normal then the router is defective so replace the router 4
34. le name input dialog box Enter telnet in the edit box and then press the OK button The telnet exe now starts up Enter open XXX XXX XXX XXX following the prompt gt and then press the Enter key In the xxx xxx xxx xxx portion enter the IP address of the robot controller Connection is made to the robot controller and a login check begins Enter the user name here and then press the Enter key Tf the login check is disabled by the robot parameter then this user name request message and the subsequent password message do not appear Next enter the password At this point the password characters you entered are displayed as asterisks on the screen After entering the password press the Enter key 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 T aixi gt Type the name of a program folder document or Oo Internet resource and Windows will open it For you Open xl z mha A Cancel Browse Cc o mha ro ee 2x Type the name of a program folder document or Internet resource and Windows will open it For you Open telnet xl Cancel Browse olf CA WINDOWS system32 telnet exe Welcome to Microsoft Telnet Client Escape Character is CTRL Microsoft Telnet gt open 192 168 0 2 login USER 25 2 10 Making a connection with TELNET EXE 7 When the
35. lid Valid Ethernet Uni Default value E LOGIN user name Valid 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 Programming box display 9 login user Input range 1 to 8 characters lt Usable characters gt Alphabets AtoZ 0to9 I GS amp 2 3 8 Pa Numbers Symbols Default value m LOGIN password USER 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 Programming box display 10 login password Input range 1 to 8 characters lt Usable characters gt Alphabets AtoZ 0to9 I amp SSE ae Numbers Symbols 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 Programming box display 11 logout Input range CONT Continues robot operation Stop Stops robot operation Default value Stop If TELNET connection is cut off due to an error the robot operation stops automatically regardless of the above setting 20 2 8 TELNET dedicated parameters E No response timeout If no response has come back from the client packets kee
36. n the right shows an example that C Windous gt ping 192 168 8 2 normal communication is not established If this ee fy eee happens recheck the network device and tined out settings and eliminate the trouble Mero raeas Sent 4 Received Lost 4 108x los IC Windows gt 17 2 7 Using TELNET Ethernet Uni 18 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 Commands are easy to understand because they are identical to RS 232C communication commands 2 7 1 Difference between TELNET and RS 232C communications TELNET and RS 232C both perform the same processing However they use different communica tion formats This means that one format might not match your own particular system needs or objectives so you should get a good understanding of their different features before incorporating them into your system TELNET e Easily connects to different types of systems Can handle one versus multiple device commu nications e Allows remote communications since it connects between separate systems e Basically not usable for real time processing since real time operation is not guaranteed RS 232C e Basically handles one party to one party or device communications e Designed for communications between devices in close proximity e Operates largely to real time spec
37. ns 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 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 yup Puy E 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 as IEE802 3 The Ethernet physically consists of cable types such as LOBASE 2 10BASE 5 and 1OBASE T 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 RCX series uses cables conforming to 10BASE T specifications Besides TCP IP the protocols most commonly used on the Internet are NetBEUI and IPX SPX etc Another feature of the Ethernet is the use of CSMA CD as a data transmission method see below E 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 therefo
38. nually then set to 1OMbps Half Duplex W 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 control ler will be correctly identified and acknowledged on Ethernet These settings are made from the programming box 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 yup Puy 2 Press F5 OP BRD BE ARAM Robot YK250X M1 AYK250X M5 no axis M2 AYK250X M6 no axis M3 BJYK250X M4 BJYK250X Om Las Mag M OD 3 Select the number for E_Net with the EMEIS ARAMSOP BRD keys and press F1 SELECT SS a a ee ee 4 The current Ethernet unit identity status appears RRSP ARAM gt OP BRD V8 01 on the display i we i With the cursor positioned on the 1 board 2 IP address 192 168 0 2 condition 1 board functi
39. on for RCX221 eee ist oe a 222 press F1 EDIT Seger Ns a a a a 5 Press F2 VALID to make the Ethernet EERE ARAMSOP BRD TAT identifiable from the controller If making it unidentified from the controller J IP address 192 168 0 2 press F1 INVALID Ton i ie ie a 1 aaa T ONE a a 6 To end the setting press ESC To continue setting another parameter use the f keys to select the parameter 2 4 Making system settings for the controller server Ethernet Uni 10 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 1 Press F1 PARAM in SYSTEM mode to enter SYSTEM gt PARAM mode 2 Press F5 OP BRD BA ARAM Robot YK250X M1 YkK250X M5 no axis M2 AYkK250X M6 no axis M3 BYK250X M4 BJYK 250X Sa 3 Select the number for E_Net with the E gt ARAM gt OP BRD J keys and press F1 SELECT 2 4 amie 4 SS e a ee 4 Press the key once to select 2 IP address BRB ARAWDOP BRD and press F1 EDIT 1 board condition VALID 3 subnet mask 255 255 255 0 4 gateway 192 168 0 1 5 port No 23 D a a a 5 The currently set IP
40. onforms to Ethernet IEEE802 3 Baud rate 10Mbps 10BASE T Connector RJ 45 connector octal modular connector 1 port UTP unshielded twisted pair cable for category 3 or higher Cable or STP shielded twisted pair cable Ethernet Uni Maximum cable length 100 meters between HUB and controller Communication mode Half Duplex Application layer TELNET Transport layer TCP Network protocol Network layer IP ICMP ARP Data link layer CSMA CD Physical layer LOBASE T Number of simultaneous logins 1 IP address setting Setting is made from the programming box 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 A CAUTION 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 34 2 14 Specifications 2 14 2 Modular connector The pin layout for the modular connector used in the Ethernet unit for RCX series is shown below Signal name
41. orming to standard specifications designated by YAMAHA including customizing performed by YAMAHA in compliance with distributor or customer requests 9 Pollution salt damage condensation 10 Fires or natural disasters such as earthquakes tsunamis lightning strikes wind and flood damage etc 11 Breakdown due to causes other than the above that are not the fault or responsibility of YAMAHA The following cases are not covered under the warranty 1 Products whose serial number or production date month amp year cannot be verified 2 Changes in software or internal data such as programs or points that were created or changed by the customer 3 Products whose trouble cannot be reproduced or identified by YAMAHA 4 Products utilized for example in radiological equipment biological test equipment applications or for other purposes whose warranty repairs are judged as hazardous by YAMAHA THE WARRANTY STATED HEREIN PROVIDED BY YAMAHA ONLY COVERS DEFECTS IN PRODUCTS AND PARTS SOLD BY YAMAHA TO DISTRIBUTORS UNDER THIS AGREEMENT ANY AND ALL OTHER WARRANTIES OR LIABILITIES EXPRESS OR IMPLIED INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE ARE HEREBY EXPRESSLY DISCLAIMED BY YAMAHA MOREOVER YAMAHA SHALL NOT BE HELD RESPONSIBLE FOR CONSEQUENT OR INDIRECT DAMAGES IN ANY MANNER RELATING TO THE PRODUCT Ver 1 00_201205 Ethernet Unit 2 1 Ethernet unit features E
42. otocol TCP IP Install Description Show icon in notification area when connected 5 Select Internet Protocol TCP IP and press o AEA SS ai the Properties button General Authentication Advanced Connect using E9 Intel R PRO 100 VE Network Connection Configure This connection uses the following items v E cient for Microsoft Networks wy Brie and Printer Sharing for Microsoft Networks wy Boos Packet Scheduler ie g Internet Protocol TCP IP Description Transmission Control Protocol Internet Protocol The default wide area network protocol that provides communication across diverse interconnected networks Show icon in notification area when connected OK l Cancel 2 5 Making the PC settings client 6 In the Internet Protocol TCP IP Properties Internet Protocol TCP IP Properties dialog box set the PC s IP address subnet mask ceneri and gateway to match the status of use Also You can get IP settings assigned automatically if your network supports this capability Otherwise you need to ask your network administrator for the set the DNS server to match the status of use FEAE ie EA O Obtain an IP address automatically Use the following IP address IP address Subnet mask Default gateway Use the following DNS server addres Preferred DNS server Alternate DNS server Ethernet Uni OK Cancel
43. p 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 Programming box display 12 keep alive sec Input range 0 to 255 seconds Default setting 5 yup Puy Depending on the network response time may be longer and an apparent no response error detected If this 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 21 2 8 TELNET dedicated parameters 2 8 2 Setting the parameters 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 J keys and press F1 SELECT Ethernet Uni 4 Use the f 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 lt Setting method 1 gt Enter the number with the O lto 9 keys
44. re 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 network 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 41 2 15 Supplement Ethernet Uni 42 E 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 ad dress is assigned to each network interface since once PC may sometimes be installed with mul tiple network interfaces In a TCP IP protocol the data transmit source and destination are speci fied 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 0xCOA80002 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
45. s 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 e Ethernet unit control commands e Robot control commands 1 Key operation yup Puy 2 Utilities 3 Data handling 4 Robot language 5 Control codes Communication command format for robot control commands except control codes is as follows lt online command gt lt _command option gt lt termination code gt Items in brackets can be omitted Gann start code 40h eireag si blank lt online command gt Refer to programming manual lt _command option gt Refer to programming manual lt termination code gt CR 0Dh code or CRLF 0Dh OAh code E 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 OAh 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 r
46. set the parameter so operation continues during logout 3 Communication status continues for a fixed period and then cuts off automatically at timeout e 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 yup Puy period or disable the timeout function 4 No response status continues for a fixed period versus the keep alive packet and then cuts off automatically at timeout e Check if a cable is detached or power supply for the HUB or other equipment is off e 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 e Check the network and repair restore any problem locations e Replace a device having operating errors with another device e Set the no response timeout period to match the network structure and traffic conditions Or disable the timeout function 5 Ethernet unit is defective e Try substituting with another Ethernet unit e If operation returns to normal then the Ethernet unit is defective so replace it 33 2 14 Specifications 2 14 Specifications 2 14 1 Ethernet unit specifications speen Meee Ememetunt O Applicable controllers RCX series controllers Network specs C
47. t So the robot controller does not connect to another server on its own yup Puy 192 168 0 5 IP address RCX series Functions as a server 192 168 0 3 robot controller Performs specified actions upon receiving Server Ethernet Unit request from client 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 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 After making the connection the robot controller runs a specific series of actions according to instructions from the client Q 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 the IP address and subnet are made from the programming box 2 3 How to connect to Ethernet Ethernet Uni 2 3 How to connect to Ethernet The Ethernet unit for RCX series employs 1OBASE T specifications so the robot controller connects by a cable to the HUB Use UTP cables unshielded 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 wit
48. t 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 A CAUTION Do not touch the terminals or pins while power is still applied to the unit This may cause electrical shocks or faulty operation 1 5 Precautions when disposing of the unit N caution This product must be properly handled as industrial waste when its disposal is required 1 6 Warranty Cautions To Ensure Safety 1 6 Warranty For information on the warranty period and terms please contact our distributor where you purchased the product This warranty does not cover any failure caused by 1 Installation wiring connection to other control devices operating methods inspection or maintenance that does not comply with industry standards or instructions specified in the YAMAHA manual Usage that exceeded the specifications or standard performance shown in the YAMAHA manual Product usage other than intended by YAMAHA Storage operating conditions and utilities that are outside the range specified in the manual Damage due to improper shipping or shipping methods Accident or collision damage Installation of other than genuine YAMAHA parts and or accessories ONAN AHAN FW WN Modification to original parts or modifications not conf
49. task or job is complete enter LOGOUT or BYE to cancel the connection with the robot controller and press the Enter key 8 A message appears indicating the connection has been disconnected Click any key to return to the screen in step 3 Ethernet Uni 9 To end the telnet exe enter QUIT following the prompt gt and press the Enter key NOTE 30008 30000 Connection to host lost Press any key to continue m of Telnet Welcome to Microsoft Telnet Client Escape Character is CTRL Microsoft Telnet gt open 192 168 0 2 Connecting To 192 168 0 2 Microsoft Telnet gt quit If you want to simultaneously control two or more robot controllers start up TELNET EXE as many times as needed 26 2 11 Other operating tasks 2 11 Other operating tasks 2 11 1 Displaying the MAC address 2 Use the following procedure to display the MAC address of the Ethernet unit for RCX series robot controllers Pm gt 1 Press F1 PARAM in SYSTEM mode to enter SYSTEM gt PARAM mode 2 gt oO _ a 2 Press F5 OP BRD BAP ARAM E prg Robot YK250X M1 BYK250X M5 no axis M2 BJYK 250X M6 no axis M3 BYK250X M4 BJYK250X a 3 Select the number for E_Net with the RRSP ARAM gt OP BRD keys and press F1 SELECT 2 3 4 SS u ee 4 Select 13 MAC address with the the f keys and press F1 EDIT
50. ter changing the setting restart the controller to enable the change E 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 Programming box display 6 echoback Input range shies Valid Default value Valid E 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 disconnect the TELNET connection Programming box display 7 timeout min Input range 0 to 255 minutes Default value 10 19 2 8 TELNET dedicated parameters E 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 Programming box display check and communication is possible right away 8 login check Input range Inva
51. the HUB from each device The HUB may have different type connectors depending on whether the HUB is for 1 OBASE 2 or 10BASE 5 Various types of networks can be constructed by means of these HUBs E 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 43 Revision record Manual version Issue date Description 3rd Edition May 2007 Warranty description was added Some modifications were made to support RCX22 series Some clerical errors were corrected etc Communication mode parameter was added to Ethernet option board parameter to enable switching between online and offline modes The address and other information were added to the front cover Ver 1 07 Jul 2012 The description regarding Warranty was changed User s Manual RCX series YAMAHA Ethernet Robot Controller network board Jul 2012 Ver 1 07 This manual is based on Ver 1 07 of Japanese manual YAMAHA MOTOR CO LTD IM Operations All r
52. 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 network 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 15 Supplement E 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 ass
53. thernet 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 YAMAHA robot controllers over the Ethernet The communications protocol utilizes TCP IP which is a standard Internet protocol so PCs and busi ness computers with Internet access or equipment incorporating TCP IP protocols can easily ex change data with the robot controller Main features of this Ethernet unit for RCX series robot controllers are as follows E The RCX 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 E The Ethernet unit uses LOBASE T specifications so UTP cables unshielded twisted pair cables or STP cables shielded twisted pair cables can be used This makes cable and wiring instal lation really easy E Several controllers can be connected on the same network so information can be processed in one batch from a designated PC E Utilizing a HUB having 1OBASE 2 or 1OBASE 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 E The robot controller operates as a TELNET socket server which can easily be accessed from PCs used as TELNET terminals For details on how to install TELNET into PCs see the
54. ty points Cautions To Ensure Safety 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 judg ments on safety procedures during operation Industrial robots are highly programmable mechanical devices that provide a large degree of free dom when performing various manipulative tasks Failure to take necessary safety measures or mis handling 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 N caution 1 2 System design safety points A CAUTION 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
55. ual 14 2 5 Making the PC settings client 2 5 Making the PC settings client The settings for the device PC are also essential for correctly exchanging information with the robot controller 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 yup Puy 1 Open Control Panel 2 Double click Network connections icon in Network and Internet Control Panel connections 3 In the Network connection window right R ieeaiarexCoemestion click on Local Area Connection to open wat Tee Properties 4 Check that Client for Microsoft Networks and Internet Protocol TCP IP are listed on the General tab 4 Local Area Connection Properties General Authentication Advanced Connect using B Intel R PRO 100 VE Network Connection This connection uses the following items a Bkienor M File and Printer Sharing for Microsoft Networks A Zoos Packet Scheduler M Internet Pr
56. y operation product damage or deteriorated performance CAUTION 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 aansuq Of suonnep 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 a a e CAUTION 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 gt 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 damage the unit or cables or poor cable contact may lead to faulty operation 1 4 Start up and maintenance safety points A 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 A CAUTION Always cut off all power to the controller and the overall system before attempting maintenance or servicing This will preven
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