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Yamaha SRCP User Manual

Other manuals for SRCP: User Manual, User Manual
Manual is about: Single-axis Robot Controller

Summary of SRCP

  • Page 1

    User’s manual english e yamaha network board e74-ver. 3.07 ethernet srcd/srcp ercx/srcx/drcx.

  • Page 3: Introduction

    Introduction thank you for purchasing the ethernet unit for the yamaha single-axis/dual-axis ro- bot controllers srcp/srcd/ercx/srcx/drcx series. This is an optional unit to allow connecting yamaha single-axis/dual-axis robot con- trollers srcp/srcd/ercx/srcx/drcx series (hereafter called "controlle...

  • Page 4: Memo

    Memo.

  • Page 5: C O N T E N T S

    C o n t e n t s c o n t e n t s chapter 1 cautions to ensure safety ................................... 1 1-1 basic safety points ............................................................................. 2 1-2 system design safety points .............................................................

  • Page 6: Memo

    Memo.

  • Page 7: Chapter

    Chapter 1234567890123456789012345678901212345678901234567890123456789012123456789012345678901234567890 1234567890123456789012345678901212345678901234567890123456789012123456789012345678901234567890 1234567890123456789012345678901212345678901234567890123456789012123456789012345678901234567890 1234567...

  • Page 8: 1-1

    2 chapter1 cautions to ensure safety 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 sufficient attention to safety. Points regarding safety in this instruction manual only list items involv...

  • Page 9: 1-3

    3 chapter1 cautions to ensure safety 1-3 installation and wiring safety points ! 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 p...

  • Page 10: 1-4

    4 chapter1 cautions to ensure safety 1-4 start-up and maintenance safety points ! Caution never attempt to disassemble the robot or controller. When a robot or controller component must be repaired or replaced, contact us for details on how to perform the servicing. ! Caution always cut off all powe...

  • Page 11: 1-6

    5 chapter1 cautions to ensure safety 1-6 warranty the yamaha robot and/or related product you have purchased are warranted against the defects or malfunctions as described below. Warranty description : if a failure or breakdown occurs due to defects in materials or workmanship in the genuine parts c...

  • Page 12

    6 chapter1 cautions to ensure safety yamaha motor co., ltd. Makes no other express or implied war- ranties, including any implied warranty of merchantability or fitness for any particular purpose. The warranty set forth above is exclusive and is in lieu of all expressed or implied warranties, includ...

  • Page 13: Chapter

    Chapter 1234567890123456789012345678901212345678901234567890123456789012123456789012345678901234567890 1234567890123456789012345678901212345678901234567890123456789012123456789012345678901234567890 1234567890123456789012345678901212345678901234567890123456789012123456789012345678901234567890 1234567...

  • Page 14: 2-1

    8 chapter2 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 controllers over the ethernet. The communications protocol utilizes tcp/ip which is a standard internet protocol so pcs...

  • Page 15: 2-2

    9 chapter2 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 controller and pc. In the communications method called tcp/ip, an ip address is assigned to each devic...

  • Page 16: 2-3

    10 chapter2 ethernet unit 2-3 how to connect to ethernet the ethernet unit employs 10base-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 w...

  • Page 17: 2-4

    11 chapter2 ethernet unit 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 controller will be correctly identified and acknowledged on ethernet. These settings are made from the tpb and enabled after the control...

  • Page 18

    12 chapter2 ethernet unit 2-4-2 setting the ip address this 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 an...

  • Page 19

    13 chapter2 ethernet unit ! Caution when connecting the controller on an already existing network, always check with the network supervisor before making ip address, subnet mask and gateway set- tings. M e m o m e m o the ip address is separated into network address and host address sections. The ne...

  • Page 20

    14 chapter2 ethernet unit 2-4-3 setting the subnet mask this 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 f3 (sys) on the initial menu screen. 2) press f4 (next) to switch the function display and the...

  • Page 21

    15 chapter2 ethernet unit 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 f3 (sys) on...

  • Page 22

    16 chapter2 ethernet unit ! Caution any appropriate gateway address can be used as long as the network is not con- nected to other networks. (however, use an ip address that has not yet been as- signed to other devices.) when connecting the controller on an already existing network, always check wit...

  • Page 23: 2-5

    17 chapter2 ethernet unit 2-5 making the pc settings (client) the settings for the device (pc) are also essential for correctly exchanging information with the controller. A basic method for setting a computer using windows 98 is de- scribed below. If using a device having a different os (operating ...

  • Page 24

    18 chapter2 ethernet unit 6) set the gateway under the “gateway” tab screen. Enter the ip address of the router serving as the gateway and then click the “add” button. When finished making the settings, click the “ok” button a few times and a message appears asking if it is okay to restart the pc. C...

  • Page 25: 2-6

    19 chapter2 ethernet unit 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 descr...

  • Page 26: 2-7

    20 chapter2 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 communica- tion com...

  • Page 27: 2-8

    21 chapter2 ethernet unit 2-8 telnet dedicated parameters to ensure reliable telnet communications that match customer system settings, the ethernet unit can be used with telnet dedicated parameters explained in this section. 2-8-1 telnet dedicated parameters: setup method 1 to set up telnet dedicat...

  • Page 28

    22 chapter2 ethernet unit 2-8-2 telnet dedicated parameters: setup method 2 to 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...

  • Page 29

    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 when the client connects to the controller. Input range : 0 to 65535 default value : ...

  • Page 30

    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 always make the user name and the password check when connected to the controller. In th...

  • Page 31: 2-9

    25 chapter2 ethernet unit 2-9 telenet communication commands 2-9-1 communication command specifications telnet communication commands are broadly classified into two types. One type is commands that instruct the ethernet unit to process the command task. The other type is robot control commands to a...

  • Page 32

    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) ...

  • Page 33: 2-10

    27 chapter2 ethernet unit 2-10 making a connection with telnet.Exe a typical windows pc has a telnet terminal called telnet.Exe as standard equip- ment. The following briefly explains how to make a connection using telnet.Exe. Preconditions are a controller ip address of 192.168.0.2, a port no. Of 2...

  • Page 34

    28 chapter2 ethernet unit 6) an ok message appears on the screen when the login check ends normally. From now on, commands and messages can be exchanged with the robot. 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 e...

  • Page 35: 2-11

    29 chapter2 ethernet unit 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. 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...

  • Page 36

    30 chapter2 ethernet unit 2-11-2 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 now ap- pears on the screen. Press esc to return to ...

  • Page 37: 2-12

    31 chapter2 ethernet unit 2-12 message list 2-12-1 error messages the following error messages involving the ethernet system have 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 processi...

  • Page 38: 2-13

    32 chapter2 ethernet unit 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 equipme...

  • Page 39

    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 t...

  • Page 40

    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 equipmen...

  • Page 41: 2-14

    35 chapter2 ethernet unit 2-14 specifications 2-14-1 ethernet unit specifications ! 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 ...

  • Page 42

    36 chapter2 ethernet unit 2-14-2 modular connector the pin layout for the modular connector used in the ethernet unit is shown below. 1 2 3 4 5 6 7 8 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..

  • Page 43

    37 chapter2 ethernet unit 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 higher. ■ strai...

  • Page 44: 2-15

    38 chapter2 ethernet unit 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. 10base-t cable 10base-t cable pc con...

  • Page 45

    39 chapter2 ethernet unit ■ example 2 in this example, 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 port...

  • Page 46

    40 chapter2 ethernet unit ■ example 3 in this example, the control pc and the controllers are separated from each other. * the 10base-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, e...

  • Page 47

    41 chapter2 ethernet unit ■ example 4 in this example, a dial-up router is used to operate a controller in a remote location over an isdn line. [[page 39]] controller controller isdn public telephone line head office factory dsu dsu isdn dial-up router isdn dial-up router hub hub pc pc isdn dial-up ...

  • Page 48

    42 chapter2 ethernet unit ■ example 5 in this example, a controller in a remote location is centrally managed over the internet. Use of a firewall (defense mechanism to keep out intruders) is recommended to maintain security. Factory 2 controller controller internet factory 2 factory 1 router router...

  • Page 49

    43 chapter2 ethernet unit 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 communi- cations over the internet centering around tcp and ip protocols. Computers and pcs capable of ac...

  • Page 50

    44 chapter2 ethernet unit ■ ip address the ip address is a unique number assigned to each device to identify that device on the network and prevent the same number from being used by different devices. (more accurately, an ip address is assigned to each network interface, since once pc may sometimes...

  • Page 51

    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 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 ...

  • Page 52

    Dec. 2007 ver. 3.07 this manual is based on ver. 3.07 of japanese manual. © yamaha motor co., ltd. Im company 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 ...