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Yamaha RCX series User Manual

Manual is about: ethernet

Summary of RCX series

  • Page 1

    User’s manual english e ethernet yamaha network board im operations 882 soude, naka-ku, hamamatsu, shizuoka 435-0054.Japan url http://www.Yamaha-motor.Jp/robot/index.Html yamaha motor co., ltd. Rcx series e94-ver. 1.06.

  • Page 3: Introduction

    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 desc...

  • Page 4: Memo

    Memo.

  • Page 5: General Contents

    I general contents chapter 1 cautions to ensure safety ........................................................................... 1 1-1 basic safety points ...................................................................................................... 2 1-2 system design safety points .........

  • Page 6: Memo

    Ii memo.

  • Page 7: Chapter 1

    1 1 cautions t o ensure safety chapter 1 cautions to ensure safety.

  • Page 8: 1-1

    2 1 cautions t o 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...

  • Page 9: 1-3

    3 1 cautions t o ensure safety 1-3 installation and wiring safety points c 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 ...

  • Page 10: 1-4

    4 1 cautions t o ensure safety 1-4 start-up and maintenance safety points c 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. C caution always cut off all power to t...

  • Page 11: Chapter 2

    5 2 ethernet unit chapter 2 ethernet unit.

  • Page 12: 2-1

    6 2 ethernet unit 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 ...

  • Page 13: 2-2

    7 2 ethernet unit 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...

  • Page 14: 2-3

    8 2 ethernet unit 2-3 how to connect to ethernet the ethernet unit for rcx series employs 10base-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 strai...

  • Page 15: 2-4

    9 2 ethernet unit 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 setti...

  • Page 16

    10 2 ethernet unit 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 ...

  • Page 17

    11 2 ethernet unit 2-4 making system settings for the controller (server) n 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 ...

  • Page 18

    12 2 ethernet unit 2-4 making system settings for the controller (server) 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>pa...

  • Page 19

    13 2 ethernet unit 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...

  • Page 20

    14 2 ethernet unit 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/offline) of the communication with the computer. The online commands can be run only in the online mode. N note the communication mode set...

  • Page 21: 2-5

    15 2 ethernet unit 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 ...

  • Page 22

    16 2 ethernet unit 2-5 making the pc settings (client) 6) in the "internet protocol (tcp/ip) properties" dialog box, set the pc's ip address, subnet mask, and gateway to match the status of use. Also set the dns server to match the status of use. 7) click ok to close the setup screen..

  • Page 23: 2-6

    17 2 ethernet unit 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...

  • Page 24: 2-7

    18 2 ethernet unit 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-...

  • Page 25: 2-8

    19 2 ethernet unit 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...

  • Page 26

    20 2 ethernet unit 2-8 telnet dedicated parameters ■ 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 con...

  • Page 27

    21 2 ethernet unit 2-8 telnet dedicated parameters ■ 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 packet...

  • Page 28

    22 2 ethernet unit 2-8 telnet dedicated parameters 2-8-2 setting the parameters 1) press f1 (param) in "system" mode to enter "system>param" mode. 2) press f5 (op. Brd). ＳＹＳＴＭ ＞ＰＡＲＡＭ Ｖ８．０１ Ｒｏｂｏｔ ＝ ＹＫ２５０Ｘ Ｍ１＝ ａ ＹＫ２５０Ｘ Ｍ５＝ ｎｏ ａｘｉｓ Ｍ２＝ ａ ＹＫ２５０Ｘ Ｍ６＝ ｎｏ ａｘｉｓ Ｍ３＝ ａ ＹＫ２５０Ｘ Ｍ４＝ ａ ＹＫ２５０Ｘ ＲＯＢＯＴ ＡＸＩＳ ＯＴＨＥＲＳ ＯＰ...

  • Page 29: 2-9

    23 2 ethernet unit 2-9 telenet communication commands 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...

  • Page 30

    24 2 ethernet unit 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 '@' (=40h) at the beg...

  • Page 31

    25 2 ethernet unit 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...

  • Page 32

    26 2 ethernet unit 2-10 making a connection with telnet.Exe 7) when the 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 sc...

  • Page 33: 2-11

    27 2 ethernet unit 2-11 other operating tasks 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 rcx series robot controllers. 1) press f1 (param) in "system" mode to enter "system>param" mode. 2) press f5 (op....

  • Page 34

    28 2 ethernet unit 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>param" mode. 2) press f5 (op. Brd). ＳＹＳＴＭ ＞ＰＡＲＡＭ Ｖ８．０１ Ｒｏｂｏｔ ＝ ＹＫ２５０Ｘ Ｍ１＝ ａ ＹＫ２５０Ｘ Ｍ５＝ ｎｏ ａｘｉｓ Ｍ２＝ ａ ＹＫ２５０Ｘ Ｍ６＝ ｎｏ ａｘｉｓ Ｍ３＝ ａ ＹＫ２５０Ｘ Ｍ４＝ ａ ＹＫ２５０Ｘ ＲＯＢ...

  • Page 35: 2-12 Message List

    29 2 ethernet unit 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 : &h0c29 meaning/cause : telnet connection is disconnected. A. Cable is broken or connector is disconnected. B. Co...

  • Page 36

    30 2 ethernet unit 2-12 message list 2-12-2 telnet message list l o g i n : meaning : request for entry of login user name. Action : enter user name. P a s s w o r d : meaning : request for entry of login password. Action : enter login password. L o g i n i n c o r r e c t : meaning : error was foun...

  • Page 37: 2-13 Troubleshooting

    31 2 ethernet unit 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 p...

  • Page 38

    32 2 ethernet unit 2-13 troubleshooting no. 2 3 symptom cannot make telnet connection or cannot terminate the telnet connection right away. (ping reply is normal). 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...

  • Page 39

    33 2 ethernet unit 2-13 troubleshooting no. 4 symptom program stops by itself during automatic operation. Probable causes 1) telnet communication cuts off by itself without a logout or bye command being issued. 2) telnet parameter was set to stop operation during logout. 3) communication status cont...

  • Page 40: 2-14 Specifications

    34 2 ethernet unit 2-14 specifications 2-14 specifications 2-14-1 ethernet unit specifications ethernet unit network specs maximum cable length applicable controllers baud rate connector cable monitor led number of simultaneous logins 1 ip address setting setting is made from the programming box. Sp...

  • Page 41

    35 2 ethernet unit 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. 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. 1 2 3 4 5 6 7 8 rpb motor xm ym zm rm p...

  • Page 42

    36 2 ethernet unit 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 10base-t cables, it must have transmission characteristics of category 3 or hi...

  • Page 43: 2-15 Supplement

    37 2 ethernet unit 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. ■ example 1 in this example, several controllers are operated from one pc using one hub. Pc hub 1 2 3 4 5 6 7 8 rcx ...

  • Page 44

    38 2 ethernet unit 2-15 supplement ■ example 2 in this example, many controllers are operated with the hubs connected in cascade. Pc hub 1 2 3 4 5 6 7 8 x hub with cascade port cascade port (uplink port, mdi port) 1 2 3 4 5 6 7 8 hub 1 2 3 4 5 6 7 8 crossover cable straight-through cable • • • rcx s...

  • Page 45

    39 2 ethernet unit 2-15 supplement ■ example 3 in this example, the control pc and the controllers are separated from each other. Rpb motor xm ym zm rm pwr srv safety rpb com std.Dio rob i/o zr op.1 op.3 op.2 op.4 rgen acin n p n1 l1 l n sel batt zr xy batt rob xy i/o ＰＩＮ 13 − 14 ext.E-stop err rcx2...

  • Page 46

    40 2 ethernet unit 2-15 supplement ■ example 4 in this example, a controller in a remote location is centrally managed over the internet. Rpb motor xm ym zm rm pwr srv safety rpb com std.Dio rob i/o zr op.1 op.3 op.2 op.4 rgen acin n p n1 l1 l n sel batt zr xy batt rob xy i/o ＰＩＮ 13 − 14 ext.E-stop ...

  • Page 47

    41 2 ethernet unit 2-15 supplement 2-15-2 description of terminology ■ 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 capabl...

  • Page 48

    42 2 ethernet unit 2-15 supplement ■ 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 ma...

  • Page 49

    43 2 ethernet unit 2-15 supplement ■ 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 decima...

  • Page 50: Ethernet

    Robot controller user’s manual all rights 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...