Yamaha ERCX manual

User ’ s Manual ENGLISH E YA MAHA NETWORK BOARD E74-V er . 3.07 Ether net SRCD/SRCP ERCX/SRCX/DRCX[...]

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INTRODUCTION Thank you for purchasing the Ethernet unit for the Y AMAHA single-axis/dual-axis ro- bot controllers SRCP/SRCD/ERCX/SRCX/DRCX series. This is an optional unit to allo w connecting Y AMAHA single-axis/dual-axis robot con- trollers SRCP/SRCD/ERCX/SRCX/DRCX series (hereafter called "controller") to the widely used Ethernet which[...]

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Contents Contents Chapter 1 Cautions T o Ensure Safety ................................... 1 1-1 Basic safety points ............................................................................. 2 1-2 System design safety points .............................................................. 2 1-3 Installation and wiring safety points ..............[...]

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CHAPTER 1 1 Cautions T o Ensure Safety[...]

2 CHAPTER1 Cautions T o Ensure Saf ety 1-1 Basic safety points Besides reading this instruction manual and the controller user’ s manual, also be sure to handle the equipment correctly while paying suff icient a ttention to safety . Points regarding safety in this instr uction manual only list items in volving this product. Please refer to the co[...]

3 CHAPTER1 Cautions T o Ensure Saf ety 1-3 Installation and wiring safety points ! CAUTION Always cut off all power to the contr oller and the overall system bef ore attempting installation or wiring jobs. This will pre vent possible electrical shocks. After the controller has been on f or a while, some points in the controller may be e xtremely ho[...]

4 CHAPTER1 Cautions T o Ensure Saf ety 1-4 Start-up and maintenance safety points ! CAUTION Nev er attempt to disassemble the robot or contr oller . When a robot or contr oller component must be re paired or replaced, contact us for details on how to perf orm the servicing . ! CAUTION Always cut off all power to the contr oller and the overall syst[...]

5 CHAPTER1 Cautions T o Ensure Safety 1-6 W arranty The Y AMAHA robot and/or related product you hav e purchased are warranted against the defects or malfunctions as described belo w . W arranty description : If a failure or breakdown occurs due to defects in materials or workmanship in the genuine parts con- stituting this Y AMAHA robot and/or rel[...]

6 CHAPTER1 Cautions T o Ensure Safety Y AMAHA MOT OR CO., L TD. MAKES NO O THER EXPRESS OR IMPLIED W AR- RANTIES, INCLUDING ANY IMPLIED W ARRANTY OF MERCHANT ABILITY OR FITNESS FOR ANY P AR TICULAR PURPOSE. THE W ARRANTY SET FOR TH ABO VE IS EXCLUSIVE AND IS IN LIEU OF ALL EXPRESSED OR IMPLIED W ARRANTIES, INCLUDING W ARRANTIES OF MERCHANT ABILITY [...]

CHAPTER 2 2 Ethernet Unit[...]

8 CHAPTER2 Ethernet Unit 2-1 Ethernet unit features Ethernet is the network most commonly used by of fice equipment today . This Ethernet unit is an optional device for connecting to controllers o ver the Ethernet. The communications protocol utilizes TCP/IP which is a standard Internet protocol so PCs and business computers with Internet access or[...]

9 CHAPTER2 Ethernet Unit 2-2 How data is exchanged The follo wing is a brief explanation to help understand ho w information is exchanged ov er the Ethernet with the other devices, such as between the controller and PC. In the communications method called TCP/IP , an IP address is assigned to each device connected on the network. The IP addr ess is[...]

10 CHAPTER2 Ethernet Unit 2-3 How to connect to Ethernet The Ethernet unit employs 10B ASE-T specifications, so the 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. T o connect to the Etherne[...]

11 CHAPTER2 Ethernet Unit 2-4 Making system settings for the controller (server) A minimum of IP address, subnet mask and gatew ay settings must be made so that the controller will be correctly identified and ackno wledged on Ethernet. These settings are made from the TPB and enabled after the contr oller is restarted. 2-4-1 V alidating the Etherne[...]

12 CHAPTER2 Ethernet Unit 2-4-2 Setting the IP address This follo wing explains how to set the IP address. The IP address is a number unique to each device and identif ies that device from among many other de vices connected on the network. The IP addr ess of one de vice must not be the same number as another device so use caution when setting the [...]

13 CHAPTER2 Ethernet Unit ! CAUTION When connecting the contr oller on an already existing network, always check with the network super visor before making IP ad dress, subnet mask and gateway set- tings. MEMO MEMO The IP address is separated into network address and host address sections. The network address section is extracted from the IP addres[...]

14 CHAPTER2 Ethernet Unit 2-4-3 Setting the subnet mask This follo wing explains how to set the subnet mask. The subnet mask is a numerical address used to subdivide the netw ork into smaller parts. 1) Press F3 (SYS) on the initial menu screen. 2) Press F4 (next) to switch the function display and then press F2 (OPT). 3) Press F4 (next) again and t[...]

15 CHAPTER2 Ethernet Unit 2-4-4 Setting the gateway The follo wing explains how to set the g ateway . Basically this is specifying the router IP address. The router is a de vice relaying information from a certain network to a dif ferent network when two or mor e networks are present. 1 ) Press F3 (SYS) on the initial menu screen. 2) Press F4 (ne x[...]

16 CHAPTER2 Ethernet Unit ! CAUTION Any appropr ia te gateway addr ess can be used as long as the network is not con- nected to other networks. (How ever , use an IP address that has not yet been as- signed to other devices.) When connecting the contr oller on an already existing network, always check with the network super visor before making IP a[...]

17 CHAPTER2 Ethernet Unit 2-5 Making the PC settings (client) The settings for the device (PC) are also essential f or correctly exchanging information with the controller . A basic method for setting a computer using W indows 98 is de- scribed below . If using a device ha ving a different OS (operating system) or TCP/IP protocols, refer to the use[...]

18 CHAPTER2 Ethernet Unit 6) Set the gatew ay under the “Gatew ay” tab screen. Enter the IP address of the router serving as the gate way and then click the “ Add” button. When finished making the settings, click the “OK” button a fe w times and a message appears asking if it is okay to restart the PC. Click the “OK” button to resta[...]

19 CHAPTER2 Ethernet Unit 2-6 Checking the connection with “ping” Once you are finished with the netw ork settings, make a check with “ping” to confirm that you can send and receiv e 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” inc[...]

20 CHAPTER2 Ethernet Unit 2-7 Using TELNET Communicating by TELNET (r emote operation) allo ws 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 communica- tion commands. 2-7-1 Difference between TELNET and RS-23[...]

21 CHAPTER2 Ethernet Unit 2-8 TELNET dedicated parameters T o ensure reliable TELNET communications that match customer system settings, the Ethernet unit can be used with TELNET dedicated parameters e xplained in this section. 2-8-1 TELNET dedicated parameters: Setup method 1 T o set up TELNET dedicated parameters, use the procedure below . (User [...]

22 CHAPTER2 Ethernet Unit 2-8-2 TELNET dedicated parameters: Setup method 2 T o set the user name and password for login, use the procedure below . 1) Perform step 1 through step 3 in “2-8-1 TELNET dedicated parameters: Setup method 1”. 2) Select F1 (LIN) to display the submenu. Press F1 (CHEK) to set whether or not to make the LOGIN check. Pre[...]

23 CHAPTER2 Ethernet Unit 2-8-3 Description of TELNET dedicated parameters ■ PORT (TCP port No.) Use this parameter to set the TCP port No. of the controller . The port No. set here is specified along the IP address w hen the client connects to the controller . Input range : 0 to 65535 Default v alue : 23 (TELNET port) * If any v alue other than [...]

24 CHAPTER2 Ethernet Unit ■ LIN-CHEK (Login check) Use this parameter to set whether or not to check the connection while the client is connected to the controller . If making a login check is selected here, then alw ays make the user name and the password check when connected to the controller . In this case, the client cannot con- nect to the c[...]

25 CHAPTER2 Ethernet Unit 2-9 TELENET communication commands 2-9-1 Communication command specifications TELNET communication commands are broadly classified into tw o 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 controller and perform sophisticated pr[...]

26 CHAPTER2 Ethernet Unit 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 may not require a start code ‘@’ (=40H) at the beginning of the command. (1) LOGOUT BYE This command terminates TELNET comm[...]

27 CHAPTER2 Ethernet Unit 2-10 Making a connection with TELNET .EXE A typical W indows PC has a TELNET ter minal called TELNET .EXE as standard equip- ment. The follo wing briefly explains ho w to make a connection using TELNET .EXE. Preconditions are a controller IP address of 192.168.0.2, a port No. of 23, and all other dedicated TELNET parameter[...]

28 CHAPTER2 Ethernet Unit 6) An OK message appears on the screen when the login check ends normally . From no w on, commands and messages can be e xc hanged with the robot. 7) When the task or job is complete, enter the LOGOUT or BYE command to can- cel the connection with the controller and press the Enter ke y . 8) A message appears announcing th[...]

29 CHAPTER2 Ethernet Unit 2-1 1 Other operating tasks 2-1 1-1 Displaying the MAC address Use the follo wing procedure to display the MA C address of the Ethernet unit. 1) Press F3 (SYS) on the initial menu screen. 2) Press F4 (next) to switch the function display and then press F2 (OPT). 3) Press F2 (MA C). 4) The MA C address appears on the screen[...]

30 CHAPTER2 Ethernet Unit 2-1 1-2 Displaying the version of the Ethernet unit 1) Press F3 (SYS) on the initial screen. 2) Press F4 (next) to switch the function display and then press F2 (OPT). 3) Press F3 (VER). 4) The version of the Ethernet unit no w ap- pears on the screen. Press ESC to return to the pre vious screen. [MENU] select menu 1EDIT2O[...]

31 CHAPTER2 Ethernet Unit 2-12 Message List 2-12-1 Error messages The follo wing error messages in volving the Ethernet system ha ve been added. Message net link error Cause • TELNET connection terminated due to error . • A TELNET dedicated parameter is set so as to stop operation during logout processing. Solution • T o end the TELNET commun[...]

32 CHAPTER2 Ethernet Unit 2-13 T roubleshooting When problems occur , then troubleshoot as needed by using the following information as a guide. Be sure to always also refer to sections on “T roubleshooting” in the controller user’ s manual as well as the instruction manual for the other par ty’ s equipment such as PCs or HUB peripheral dev[...]

33 CHAPTER2 Ethernet Unit Checkpoints • Check the settings after referring to “2- 4-2 Setting the IP address” p. 10, “2-4- 3 Setting the subnet mask” p. 12, and “2-4-4 Setting the gateway” p. 13. • Try substituting the Ethernet unit. • Check that the IP address of the controller you are attempting to connect with is correct. • C[...]

34 CHAPTER2 Ethernet Unit Checkpoints • Check the TELNET parameter to find if it was set to stop operation during logout. • Check the TELNET parameter to find if communication status is longer than the time set for timeout. • Check if a cable is detached or power supply for the HUB or other equipment is off. • Check if operating problems ar[...]

35 CHAPTER2 Ethernet Unit 2-14 Specifications 2-14-1 Ethernet unit specifications ! CAUTION W e use an FL HUB (made b y Phoenix Contact) to check operation. Using this HUB is r ecommended if constr ucting y our own system. HUBs generally a vailable on the market ar e not designed for use in locations suc h as factories, so some HUBs are vulnerab le[...]

36 CHAPTER2 Ethernet Unit 2-14-2 Modular connector The pin layout for the modular connector used in the Ethernet unit is sho wn below . 12345678 Pin No Signal name 1 TD+ 2 TD- 3 RD+ 4 N.C 5 N.C 6 RD- 7 N.C 8 N.C *Pins 4, 5, 7, 8 are not used.[...]

37 CHAPTER2 Ethernet Unit 2-14-3 UTP (STP) cable The Ethernet cables are standardized by ANSI/TIA/EIA568A. T o av oid miswiring and malfunction, we recommend using cables conforming to this standard. When using 10B ASE-T cables, it must hav e transmission characteristics of category 3 or higher . ■ Straight-through cable Use this cable to connect[...]

38 CHAPTER2 Ethernet Unit 2-15 Supplement 2-15-1 T ypical network systems How a particular user builds up a network system depends on factors such as the scale of the network. ■ Example 1 In this example, se veral controllers are operated from one PC using one HUB. 10BASE-T cable 10BASE-T cable PC Controller HUB PC Controller 1 Controller 2 Contr[...]

39 CHAPTER2 Ethernet Unit ■ Example 2 In this e xample, many controllers are operated with the HUBs connected in cascade. * 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 . Howe ver , crossover c[...]

40 CHAPTER2 Ethernet Unit ■ Example 3 In this example, the control PC and the controllers are separated from each other . * The 10B ASE-5 cable has a maximum length of 500 meters. Ho wever , this distance can be extended to a maximum of 2.5 kilometers by connecting cables together and using repeaters, etc. PC Controller T er minator T er minator [...]

41 CHAPTER2 Ethernet Unit ■ Example 4 In this example, a dial-up router is used to oper ate a controller in a remote location ov er an ISDN line. [[Page 39]] Controller Controller ISDN public telephone line Head office F actor y DSU DSU ISDN dial-up router ISDN dial-up router HUB HUB PC PC ISDN dial-up router ISDN dial-up router ISDN dial-up rout[...]

42 CHAPTER2 Ethernet Unit ■ Example 5 In this example, a controller in a remote location is centr all y managed ov er the Internet. Use of a fire wall (defense mechanism to keep out intruders) is recommended to maintain security . F actor y 2 Controller Controller Internet F actor y 2 F actor y 1 Router Router Head office Router Router HUB HUB PC[...]

43 CHAPTER2 Ethernet Unit 2-15-2 Description of terminology ■ TCP/IP (T ransmission Control Protocol/Internet Protocol) TCP/IP is a general term for a group of standard protocols for carrying out communi- cations ov er the Internet centering around TCP and IP protocols. Computers and PCs capable of accessing the Internet all use TCP/IP pr otocols[...]

44 CHAPTER2 Ethernet Unit ■ IP address The IP address is a unique number assigned to each device to identify that de vice on the network and pre vent the same number from being used by dif ferent de vices. (Mor e accurately , an IP addr ess is assigned to each network interface, since once PC may sometimes be installed with multiple network inter[...]

45 CHAPTER2 Ethernet Unit ■ Subnet mask The subnet mask is used to separate the IP address into a network address section and a host address section. The netw ork 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 b[...]

Dec. 2007 Ve r. 3.07 This manual is based on V er. 3.07 of Japanese manual. © Y AMAHA MOTOR CO., L TD. IM Company All rights reserved. No part of this publication may be reproduced in any form without the permission of Y AMAHA MOTOR CO., L TD. Information furnished by Y AMAHA in this manual is believed to be reliable. Howe ver, no responsibility i[...]