Mitsubishi Electric CR800 Series Parts list manual

CR800 series controller
CR750/CR751 series controller
Ethernet Function Instruction Manual
Mitsubishi Electric Industrial Robot
BFP-A3379-C

Revision History
Print Date
Instruction Manual No.
Revision Content
2015-03-18 BFP-A3379 First print
2017-04-28 BFP-A3379-A Descriptions about the CR800 controller have been added.
2017-11-10 BFP-A3379-B
Descriptions about FR Series CC-Link IE Filed Network Basic function have
been added.
2018-02-01 BFP-A3379-C The CR800-Q controller was added.

Safety Precautions
Always read the following precautions and the separate "Safety
Manual" before starting use of the robot to learn the required
measures to be taken.
CAUTION All teaching work must be carried out by an operator who has received special
training.
(This also applies to maintenance work with the power source turned ON.)
→Enforcement of safety training
CAUTION For teaching work, prepare a work plan related to the methods and procedures
of operating the robot, and to the measures to be taken when an error occurs
or when restarting. Carry out work following this plan.
(This also applies to maintenance work with the power source turned ON.)
→Preparation of work plan
WARNING Prepare a device that allows operation to be stopped immediately during
teaching work.
(This also applies to maintenance work with the power source turned ON.)
→Setting of emergency stop switch
CAUTION During teaching work, place a sign indicating that teaching work is in progress
on the start switch, etc.
(This also applies to maintenance work with the power source turned ON.)
→Indication of teaching work in progress
DANGER Provide a fence or enclosure during operation to prevent contact of the operator
and robot.
→Installation of safety fence
CAUTION Establish a set signaling method to the related operators for starting work,
and follow this method.
→Signaling of operation start
CAUTION As a principle turn the power OFF during maintenance work. Place a sign
indicating that maintenance work is in progress on the start switch, etc.
→Indication of maintenance work in progress
CAUTION Before starting work, inspect the robot, emergency stop switch and other
related devices, etc., and confirm that there are no errors.
→Inspection before starting work

The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
DANGER When automatic operation of the robot is performed using multiple control
devices (GOT, programmable controller, push-button switch), the interlocking
of operation rights of the devices, etc. must be designed by the customer.
CAUTION Use the robot within the environment given in the specifications. Failure to do
so could lead to faults or a drop of reliability.
(Temperature, humidity, atmosphere, noise environment, etc.)
CAUTION Transport the robot with the designated transportation posture. Transporting
the robot in a non-designated posture could lead to personal injuries or faults
from dropping.
CAUTION Always use the robot installed on a secure table. Use in an instable posture
could lead to positional deviation and vibration.
CAUTION Wire the cable as far away from noise sources as possible. If placed near a
noise source, positional deviation or malfunction could occur.
CAUTION Do not apply excessive force on the connector or excessively bend the cable.
Failure to observe this could lead to contact defects or wire breakage.
CAUTION Make sure that the workpiece weight, including the hand, does not exceed the
rated load or tolerable torque. Exceeding these values could lead to alarms or
faults.
WARNING Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or
flies off during operation.
WARNING Securely ground the robot and controller. Failure to observe this could lead to
malfunctioning by noise or to electric shock accidents.
CAUTION Indicate the operation state during robot operation. Failure to indicate the state
could lead to operators approaching the robot or to incorrect operation.
WARNING When carrying out teaching work in the robot's movement range, always secure
the priority right for the robot control. Failure to observe this could lead to
personal injuries or damage if the robot is started with external commands.
CAUTION Keep the jog speed as low as possible, and always watch the robot. Failure to do
so could lead to interference with the workpiece or peripheral devices.

CAUTION After editing the program, always confirm the operation with step operation before
starting automatic operation. Failure to do so could lead to interference with
peripheral devices because of programming mistakes, etc.
CAUTION Make sure that if the safety fence entrance door is opened during automatic
operation, the door is locked or that the robot will automatically stop. Failure to do
so could lead to personal injuries.
CAUTION Never carry out modifications based on personal judgments, non-designated
maintenance parts. Failure to observe this could lead to faults or failures.
WARNING When the robot arm has to be moved by hand from an external area, do not place
hands or fingers in the openings. Failure to observe this could lead to hands or
fingers catching depending on the posture.
CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's
main power OFF. If the robot controller main power is turned OFF during automatic
operation, the robot accuracy could be adversely affected. Also a dropped or
coasted robot arm could collide with peripheral devices.
CAUTION Do not turn OFF the robot controller's main power while rewriting the robot
controller's internal information, such as a program and parameter. Turning OFF
the robot controller's main power during automatic operation or program/parameter
writing could break the internal information of the robot controller.
DANGER Do not connect the Handy GOT when using the GOT direct connection function of
this product. Failure to observe this may result in property damage or bodily injury
because the Handy GOT can automatically operate the robot regardless of whether
the operation rights are enabled or not.
DANGER Do not connect the Handy GOT to a programmable controller when using an iQ
Platform compatible product with the CR750-Q/CR751-Q/CR800-R/CR800-Q
controller. Failure to observe this may result in property damage or bodily injury
because the Handy GOT can automatically operate the robot regardless of whether
the operation rights are enabled or not.
DANGER Do not remove the SSCNET III cable while power is supplied to the multiple CPU
system or the servo amplifier when using an iQ Platform compatible product with the
CR750-Q/CR751-Q/CR800-R/CR800-Q controller. Do not look directly at light emitted
from the tip of SSCNET III connectors or SSCNET III cables of the Motion CPU or the
servo amplifier. Eye discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as
specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)
DANGER Do not remove the SSCNET III cable while power is supplied to the controller.
Do not look directly at light emitted from the tip of SSCNET III connectors or
SSCNET III cables. Eye discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as
specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)

DANGER Attach the cap to the SSCNET III connector after disconnecting the SSCNET III cable.
If the cap is not attached, dirt or dust may adhere to the connector pins, resulting in
deterioration connector properties, and leading to malfunction.
CAUTION Make sure there are no mistakes in the wiring. Connecting differently to the way
specified in the manual can result in errors, such as the emergency stop not
being released. In order to prevent errors occurring, please be sure to check
that all functions (such as the teaching box emergency stop, customer
emergency stop, and door switch) are working properly after the wiring setup
is completed.
CAUTION Use the network equipments (personal computer, USB hub, LAN hub, etc.)
confirmed by manufacturer. The thing unsuitable for the FA environment
(related with conformity, temperature or noise) exists in the equipments connected
to USB. When using network equipment, measures against the noise, such as
measures against EMI and the addition of the ferrite core, may be necessary.
Please fully confirm the operation by customer. Guarantee and maintenance
of the equipment on the market (usual office automation equipment) cannot
be performed.
CAUTION To maintain the safety of the robot system against unauthorized access from external
devices via the network, take appropriate measures. To maintain the safety against
unauthorized access via the Internet, take measures such as installing a firewall.

Contents
1. Before use...............................................................................................................................................................1-1
1.1. How to use the instruction manual...............................................................................................................1-1
1.1.1. Content of instruction manual ..........................................................................................................1-1
1.2. Terms used in the instruction manual..........................................................................................................1-1
1.3. Confirmation of product ...............................................................................................................................1-2
1.4. Ethernet function..........................................................................................................................................1-2
1.4.1. Function of Ethernet.........................................................................................................................1-2
2. Preparation before use............................................................................................................................................2-1
2.1. Connection of Ethernet cable.......................................................................................................................2-1
2.2. Parameter setting ........................................................................................................................................2-3
2.2.1. Parameter list...................................................................................................................................2-3
2.2.2. Details of parameters.......................................................................................................................2-5
2.2.3. Parameter setting example 1 (When the Support Software is used)................................................2-8
2.2.4. Parameter setting example 2-1 (When the data link function is used: When the controller is the server)
...................................................................................................................................................................2-9
2.2.5. Parameter setting example 2-2 (When the data link function is used: When the controller is the client)
.................................................................................................................................................................2-10
2.2.6. Parameter setting example 3 (for using the real-time external control function) ............................2-11
2.3. Connection confirmation ............................................................................................................................2-12
2.3.1. Checking the connection with the Windows ping command ..........................................................2-12
3. Description of functions...........................................................................................................................................3-1
3.1. Controller communication function...............................................................................................................3-2
3.1.1. Connecting the controller and personal computer............................................................................3-2
3.1.2. Setting the personal computer network............................................................................................3-2
3.1.3. Setting the controller parameters.....................................................................................................3-2
3.1.4. Setting the personal computer support software communication.....................................................3-3
3.1.5. Communication................................................................................................................................3-4
3.2. Data link function .........................................................................................................................................3-5
3.2.1. MELFA-BASIC V/VI Commands......................................................................................................3-5
3.2.2. Using data link function....................................................................................................................3-9
3.2.3. Ending............................................................................................................................................3-12
3.3. Real-time external control function ............................................................................................................3-13
3.3.1. Explanation of command ...............................................................................................................3-15
3.3.2. Explanation of communication data packet....................................................................................3-17
3.3.3. Using real-time external control function........................................................................................3-21
3.3.4. Ending............................................................................................................................................3-23
3.4. Real-time monitor function .........................................................................................................................3-24
3.4.1. Overview........................................................................................................................................3-24

3.4.2. Supported version..........................................................................................................................3-25
3.4.3. Setup .............................................................................................................................................3-26
3.4.4. Start of monitor / End of monitor ....................................................................................................3-28
3.4.5. Explanation of communication data packet....................................................................................3-29
3.4.6. Data type ID...................................................................................................................................3-32
3.4.7. Parameters ....................................................................................................................................3-33
3.4.8. Error...............................................................................................................................................3-33
3.5. SLMP Connection......................................................................................................................................3-34
3.5.1. Function Overview .........................................................................................................................3-34
3.5.2. Supported version..........................................................................................................................3-34
3.5.3. Specifications.................................................................................................................................3-34
3.5.4. Parameters ....................................................................................................................................3-34
3.5.5. SLMP Communication Procedure..................................................................................................3-35
3.5.6. Message Format............................................................................................................................3-37
3.5.7. Commands.....................................................................................................................................3-45
3.5.8. End Code.......................................................................................................................................3-80
3.6. CC-Link IE Field Network Basic function ...................................................................................................3-81
3.6.1. Overview........................................................................................................................................3-81
3.6.2. Supported version..........................................................................................................................3-82
3.6.3. Specifications.................................................................................................................................3-82
3.6.4. Parameters ....................................................................................................................................3-83
3.6.5. Support of robot I/O signals and link devices.................................................................................3-84
3.6.6. Setup procedure ............................................................................................................................3-85
4. Appendix .................................................................................................................................................................4-1
4.1. Error list .......................................................................................................................................................4-1
4.2. Sample program ..........................................................................................................................................4-2
4.2.1. Sample program of data link ............................................................................................................4-2
4.2.2. Sample program for real-time external control function .................................................................4-14

1 Before use
1-1
1. Before use
This chapter describes the confirmation items and cautionary items which must be read before practical use of the
Ethernet.
1.1. How to use the instruction manual
1.1.1. Content of instruction manual
Through the following configuration, this document introduces the Ethernet function. As for the functions available in the
standard robot controller and the operation method, please refer to the "Instruction Manual" provided with the robot
controller.
Table 1.1 Content of the instruction manual
Chapter
Title
Content
1 Before use
In addition to the using method of the instruction manual, the confirmation items
and cautionary items are introduced to use the Ethernet function.
2 Preparation before use
The preparatory work is introduced to use the Ethernet function. Referring to the
chapter, apply the cabling and wiring and confirm the other setting items.
3 Description of functions
Using the system configured in "2. Preparation before use" in this manual, it
introduces a series of the operating methods from the start-up to the stop.
Referring to each introduction, understand the basic operating method.
The following items will be introduced.
•Controller communication function (connection with computer support software
RT ToolBox2/3)
•Data link function (transmit values/text strings with the robot commands
Open/Print/Input)
•Real-time external control function (operation control using motion control cycles
from a computer)
•Real-time monitoring function (monitor the current position and more in real time
via a computer)
•SLMP connection (read from and write to a robot controller device by using
SLMP)
•CC-Link IE Field Network Basic function (send and receive transmissions by
using FA network)
4 Appendix
Since the added errors when indexing the terms or using the Ethernet function are
herein described, refer to this chapter as necessary.
1.2. Terms used in the instruction manual
The following terms are used in this document.
(1) Ethernet function
The robot controller has various network functions that use the Ethernet.
(2) Network personal computer
The personal computer is a commercially available one which provides the network function, integrating the Ethernet
interface card. Windows XP / Windows 7 / Windows 8 / Windows10 are applicable as the operating system.
(3) MELFA-BASIC V/VI command
This is a type of robot language.

1 Before use
1-2
1.3. Confirmation of product
The standard configuration of the product supplied by the customer is as follows. Confirm the configuration.
In addition to the standard robot system configuration, the following is necessary. These devices are separately procured
by the customer.
No.
Part name
Type
Qty.
1) Network personal computer
(Network interface is necessary.)
Personal computer operated by Windows
XP / Windows 7 / Windows 8 /
Windows10.
Computer with TCP/IP network functions,
such as Linux OS (Operation is not
verified.)
1 or more
2) Ethernet cable
(Select the straight cable or cross cable depending on the
connection system.)
Cable 1 or more
Prepare the following as necessary.
3)
Hub (Necessary if it is used in the LAN environment.)
(Goods on the market)
1
4) Robot controller programming aiding tool corresponding to
Windows for Robot controller of our company
(An optional) Personal computer Support
Software
1
5) Application for network communication program production
corresponding to Windows
(Goods on the market) Microsoft.
Visual Studio etc.
1
1.4. Ethernet function
1.4.1. Function of Ethernet
The Ethernet installed as a standard on the robot controller has the following functions.
(1) The connections with 100BASE-TX (for CR750/CR751/CR800-R/CR800-Q) and with 1000BASE-T (for CR800-D) are
supported.
(2) TCP/IP protocol is used to allow the communication with the personal computer on the Ethernet.
(3) The sampling program (corresponding to Microsoft Visual Basic Express 2008/Visual C++ Express 2008) of the
personal computer is equipped.
The following is provided as the samples. (Refer to Chapter 4 Appendix.)
• The data link function is used to transmit and receive the variables of personal computer and robot (characters and
numerical values). (OPEN/INPUT#/PRINT#)
Here, approve that the result of the operation of the application which the customer produces on the basis of the
sample is out of the responsibility with our company.

1 Before use
1-3
(4) The Ethernet functions are described below.
Refer to the section "3. Description of functions" for details on each function.
No.
Outline of function
Remarks
Reference page
1) Controller communication function
Data can be communicated with the robot controller via
Ethernet. (Program upload/download, status monitor, etc.)
Personal computer support software (optional) is available as
an application.
* Communication with up to
16 clients is possible.
Chapter 1 General
Chapter 2 General
Chapter 3.1
Chapter 4.1
2) Data link function
The value and position data can be linked between the
robot program and personal computer using MELFA-BASIC
V/VI language (OPEN/PRINT/INPUT command).
* By changing the
communication open
destination COM No.,
communication with
applications in up to 8 clients
is possible.
Chapter 1 General
Chapter 2 General
Chapter 3.2
Chapter 4.1
Chapter 4.2.1
3) Real-time external control function
The position command data can be retrieved and operated at
the robot motion control cycle unit. Joint, XYZ or motor pulse
can be designated for the position data. It is also possible to
monitor the input/output signals or output the signals
simultaneously.
Control is started with the MXT command (MELFA-BASIC
V/VI language).
* The user must create an
application program on the
personal computer side to
control the robot.
* Communication is carried
out one-on-one.
* UDP communication is
used.
Chapter 1 General
Chapter 2 General
Chapter 3.3
Chapter 4.1
Chapter 4.2.2
4) Real-time monitoring function
The current position, speed at the tip of the arm, and other
measurements can be monitored by a PLC or computer in
real time at the robot motion control cycle unit.
* Use UDP. Chapter 1 General
Chapter 2 General
Chapter 3.4
Chapter 4.1
5) SLMP connection
The server functions of SLMP communications can be used
from the robot controller. Data can be read from and written
to a robot controller device from a PLC or computer via the
Ethernet.
* Supported by CR800
series only. Not supported
by CR750/CR751 series.
Chapter 1 General
Chapter 2 General
Chapter 3.5
Chapter 4.1
6) CC-Link IE Field Network Basic function
CC-Link IE Field Network Basic slave stations are supported,
and the signals and registers of robot controllers can be input
and output via regular communications (cyclic
correspondence) with a PLC, computer, or other master
station.
* Supported by CR800
series only. Not supported
by CR750/CR751 series.
Chapter 1 General
Chapter 2 General
Chapter 3.6
Chapter 4.1
CAUTION These functions can all be used simultaneously, but be aware that when the network handles
large loads, communications slow down and may not reflect real-time information.

1 Before use
1-4
* The personal computer used to communicate with the robot controller must be located on the same network.
Communication cannot be carried out over firewalls (from internet) or over gateways (from different adjacent network, etc.).
Consider operation with a method that communicates via a server (i.e., HTTP server, etc.) connected to the same network
as the robot controller. Pay special attention to safety and response in this case.
Ethernet
3) Real-time external control function
Transmission/reception of real-time
position data at control cycle
1) Controller communication function
Program creation, editing
Debugging startup support, maintenance
2) Data link function
Transmission/reception of
value and position data
Personal
computer
program
Personal
computer
program
Personal computer support software
(Mitsubishi option)
Data link application
(Customer-created)
Real-time external control application
(Customer-created)
Ethernet
3) Real-time external control function
Transmission/reception of real-time
position data at control cycle
1) Controller communication function
Program creation, editing
Debugging startup support,
maintenance
2) Data link function
Transmission/reception of
value and position data
Personal
computer
program
Personal
computer
program
Personal computer support software
(Mitsubishi option)
Data link application
(Customer-created)
Real-time external control application
(Customer-created)

2 Preparation before use
2-1
2. Preparation before use
What is done before use is described.
Connection of Ethernet cable
… Refer to 2.1.
↓
Parameter setting
… Refer to 2.2.
2.1. Connection of Ethernet cable
As shown below, connect the Ethernet cable to the connector.
When the hub is used, use the straight cable. Or when the personal computer and controller are connected to each other
one to one, use the cross cable.
<CR800-Q controller>
Robot CPU unit front
PERIPHERAL I/F connect
<CR800-R controller>
Robot CPU unit front
LAN connect
<CR800-D controller>
CR800-D controller front
LAN connect

2 Preparation before use
2-2
<CR750-Q/CR751-Q controller>
Robot CPU unit front
LAN connect
<CR750 controller>
CR750 controller back
LAN connect
<CR751 controller>
CR751 controller front
LAN connect

2 Preparation before use
2-3
2.2. Parameter setting
Before use, it is necessary to set the following parameters. The parameters which are set on the robot controller are shown
in the following list. For the method to set the parameter, refer to the instruction manual of the controller.
CAUTION After changing the parameters, turn the power supply of the controller from OFF to ON. Unless
this is done, the changed parameters will not become valid.
2.2.1. Parameter list
The parameters are listed below. For details of the parameters, refer to "2.2.2. Details of parameters".
O ... Setting is necessary
- ... Setting is unnecessary
Parameter list
Parameter
name Details Number of elements Default value
Controller
communication
function
Data link
function
Real-time
control
function
Real-time
monitoring
function
SLMP CC-Link
IEF Basic
NETIP
IP address of robot controller
Character
string 1
“192.168.0.20”
O O O O O -
NETMSK
Sub-net-mask
Character
string 1
“255.255.255.0”
O O O O O -
NETPORT
Port No. Range 0 to 32767
For function expansion (reserved), ----------
Correspond to OPT 11-19 of COMDEV
(OPT11)
(OPT12)
(OPT13)
(OPT14)
(OPT15)
(OPT16)
(OPT17)
(OPT18)
(OPT19)
Numerical
value 10
10000,
10001,
10002,
10003,
10004,
10005,
10006,
10007,
10008,
10009
O O O - - -
CPRCE11
CPRCE12
CPRCE13
CPRCE14
CPRCE15
CPRCE16
CPRCE17
CPRCE18
CPRCE19
Protocol 0: No-procedure
1: Procedure, 2: Data link
(1: Procedure has currently no function.)
Correspond to OPT 11-19 of COMDEV
(OPT11)
(OPT12)
(OPT13)
(OPT14)
(OPT15)
(OPT16)
(OPT17)
(OPT18)
(OPT19)
Numerical
value 9
0
0
0
0
0
0
0
0
0
- O - - - -

2 Preparation before use
2-4
Parameter
name Details Number of elements Default value
Controller
communication
function
Data link
function
Real-time
control
function
Real-time
monitoring
function
SLMP CC-Link
IEF Basic
COMDEV
Definition of device corresponding to COM1: to 8
Definition of device corresponding to COM1:,
Definition of device corresponding to COM2:,
Definition of device corresponding to COM3:,
Definition of device corresponding to COM4:,
Definition of device corresponding to COM5:,
Definition of device corresponding to COM6:,
Definition of device corresponding to COM7:,
Definition of device corresponding to COM8: .
When the data link is applied, setting is
necessary.
OPT11 to OPT19 are allocated.
Character
string 8 ,
,
,
,
,
,
,
- O - - - -
NETMODE
Server designation
(1: Server, 0: Client)
(OPT11)
(OPT12)
(OPT13)
(OPT14)
(OPT15)
(OPT16)
(OPT17)
(OPT18)
(OPT19)
Numerical
value 9
1 ,
1 ,
1 ,
1 ,
1 ,
1 ,
1 ,
1 ,
1
- O - - - -
NETHSTIP
The IP address of the data communication
destination server.
* It is valid if specified as the client by
NETMODE only.
(OPT11)
(OPT12)
(OPT13)
(OPT14)
(OPT15)
(OPT16)
(OPT17)
(OPT18)
(OPT19)
Character
string 9 .
192.168.0.2 ,
192.168.0.3 ,
192.168.0.4 ,
192.168.0.5 ,
192.168.0.6 ,
192.168.0.7 ,
192.168.0.8 ,
192.168.0.9 ,
192.168.0.10
- O - - - -
MXTTOUT
Timeout time for executing real-time
external control command
(CR750/CR751 series: 7.11 msec, CR800
series: 3.5 msec (*If user mechanical is set,
approx. 7.11 msec), Set -1 to disable
timeout)
Value 1
(0-32767)
-1
- - O - - -
NETGW
Gateway address
Character
string 1
192.168.0.254
O O O O O -
MONMODE
Real-time monitoring function,
enable/disable
Numerical
value 1
1
- - - O - -
MONPORT
Real-time monitoring function, port number
(Inbound, outbound)
Numerical
value 2
12000, 0
- - - O - -

2 Preparation before use
2-5
2.2.2. Details of parameters
The parameters are herein described in details.
(1) NETIP (IP address of robot controller)
The IP address of the robot controller is set. IP address is like the address of the mail.
The format of IP address is composed of 4 numbers of 0 to 255 and the dot (.) between the numbers.
For example, it is set as 192.168.0.1 or 10.97.11.31.
If the controller and network personal computer are directly connected to each other one-to-one, it is allowed to set default
value (a random value) but if it is connected to the local area network (LAN), IP address must be set as instructed by the
manager of customer's LAN system.
If any IP addresses are overlapped, the function will not properly operate. Therefore, take care to prevent it from being
overlapped with another during setting.
The personal computer used for communication with the robot controller.
(2) NETMSK (sub-net-mask )
Set the sub-net-mask of the robot controller. Among the IP addresses, the sub-net-mask is set to define the sub-net-work.
The format of the sub-net-mask is composed of 4 numbers of 0 to 255 and the dot (.) between the numbers.
For example, it is set as 255.255.255.0 or 255.255.0.0.
As usual, it is allowed to set default value. If it is connected to the local area network (LAN), the sub-net-mask must be set
as instructed by the manager of customer's LAN system.
(3) NETPORT (port No.)
The port No. of the robot controller is set. The port No. is like the name of the mail.
For the nine elements, the port numbers are each expressed with a value.
The first element (element No. 1) is used for real-time control.
The second to ninth elements (elements No. 2 to 9) are used for the support software or data link.
Normally, the default value does not need to be changed. Make sure that the port numbers are not duplicated.
(4) CRRCE11 to 19 (protocol)
When using the data link function, the setup is necessary.
Sets the protocol (procedure) for communication. The protocol has three kinds of no-procedure, procedure and data link.
0... No-procedure: The protocol is applied to use the personal computer Support Software .
1... Procedure: Reserved. (Since it is not any function, don't set it by mistake.)
2... Data link: The protocol is used to use OPEN/INPUT/PRINT commands for communication.

2 Preparation before use
2-6
(5) COMDEV (Definition of devices corresponding to COM1: to 8)
When using the data link function, the setup is necessary.
Definition of device corresponding to COM1: to 8 is set. COM1: to 8 is used for OPEN command of the robot program.
Be sure to set it only when the data link is specified on setting of the protocol (CPRCE11 to 19).
The setting values of the Ethernet function correspond to the port Nos. which are set at the parameter NETPORT.
* In the following parameters NETOPORT (n) and COMDEV(n), n indicates the element No. of that parameter.
n
The device name set
up by COMDEV(n)
1OPT11
2OPT12
3OPT13
4OPT14
5OPT15
6OPT16
7OPT17
8OPT18
9OPT19
The port number specified by NETPORT(2)
Port number
The port number specified by NETPORT(3)
The port number specified by NETPORT(4)
The port number specified by NETPORT(9)
The port number specified by NETPORT(10)
The port number specified by NETPORT(5)
The port number specified by NETPORT(6)
The port number specified by NETPORT(7)
The port number specified by NETPORT(8)
For example, if the port No. specified at NETPORT(3) is allocated to the data link of COM:3, the following will be applied.
COMDEV(3) = OPT13 * OPT13 is set at 3rd element of COMDEV.
CPRCE13 = 2 * Set up as a data link.
(6) NETMODE (server specification)
Set up, when using the data link function.
Set the TCP/IP communication in the data link function of the robot controller as the server or the client.
It is necessary to change with the application of the equipment connected to the robot controller.
(7) NETHSTIP (The IP address of the server of the data communication point)
Set up, when using the robot controller as a client by the data link function.
Specify the IP address of the partner server which the robot controller connects by the data link function.
Set up, when only set the robot controller to the client by server specification of NETMODE.
(8) MXTTOUT (Timeout setting for executing real-time external control command)
This is changed when using real-time external control command and setting the timeout time for communication with the
robot controller.
Set a multiple of the control cycle (refer to the following).
Controller
Control cycle
CR750/CR751 series
Approx. 7.11 msec
CR800 series
Approx. 3.5 msec (*If user mechanical is set, approx. 7.11 msec)
When the real-time external control command is executed, the timeout time during which no communication data is
received by the robot controller from the personal computer is counted up. If the count reaches the value set in MXTTOUT,
the operation will stop with the error (#7820). For example, to generate an error when there is no communication for
approx. 7 seconds, set 1000 for the CR750/CR751 series, and 2000 for the CR800 series (1000 when user mechanical is
set).
This setting is set to -1 (timeout disabled) as the default.
(9) NETGW (Gateway address)
Specify the gateway address to communicate with the PC of on other network.