Omron CJ Series Instruction Manual

No. FST-ZTH130053
Yamaha Motor Co., Ltd.
RCX-series Robot Controller
CJ Series
General-purpose Ethernet Connection Guide
(TCP/IP)
P553-E1-01

About Intellectual Property Right and Trademarks
Microsoft product screen shots reprinted with permission from Microsoft Corporation.
Ethernet is a registered trademark of Xerox Corporation.
Company names and product names in this document are the trademarks or registered
trademarks of their respective companies.

Table of Contents
1. Related Manuals........................................................................................ 1
2. Terms and Definitions............................................................................... 2
3. Remarks..................................................................................................... 3
4. Overview .................................................................................................... 5
5. Applicable Devices and Support Software.............................................. 6
5.1. Applicable Devices............................................................................. 6
5.2. Device Configuration.......................................................................... 7
6. Ethernet Communications Settings......................................................... 9
6.1. Ethernet Communications Settings.................................................... 9
6.2. Example of Connection Check......................................................... 10
7. Connection Procedure.............................................................................11
7.1. Work Flow .........................................................................................11
7.2. Setting Up the YAMAHA MOTOR Robot Controller ......................... 12
7.3. Setting Up the PLC .......................................................................... 16
7.4. Checking the Ethernet Communications .......................................... 28
8. Initialization Method................................................................................ 32
8.1. Initializing the PLC ........................................................................... 32
8.2. YAMAHA MORTOR Robot Controller............................................... 33
9. Program.................................................................................................... 34
9.1. Overview .......................................................................................... 34
9.2. Destination Device Command.......................................................... 39
9.3. Error Detection Processing .............................................................. 41
9.4. Memory Maps .................................................................................. 45
9.5. Ladder Program ............................................................................... 54
9.6. Timing Charts................................................................................... 81
9.7. Error Process ................................................................................... 87
10. Revision History...................................................................................... 92

1．Related Manuals
1
1. Related Manuals
The table below lists the manuals related to this document.
To ensure system safety, make sure to always read and heed the information provided in all
Safety Precautions, Precautions for Safe Use, and Precaution for Correct Use of manuals for
each device which is used in the system.
Cat. No. Model Manual name
W472 CJ2H-CPU6[]-EIP
CJ2H-CPU6[]
CJ2M-CPU[][]
CJ-series CJ2 CPU Unit Hardware User's Manual
W473 CJ2H-CPU6[]-EIP
CJ2H-CPU6[]
CJ2M-CPU[][]
CJ-series CJ2 CPU Unit Software User's Manual
W420 CJ1W-ETN21 CJ-series Ethernet Units Operation Manual
Construction of Networks
W421 CJ1W-ETN21 CJ-series Ethernet Units Operation Manual
Construction of Applications
W446 - CX-Programmer Operation Manual
W474 CJ2[]-CPU[][] CJ-series Instructions Reference Manual
E94 RCX series YAMAHA NETWORK BOARD RCX series
Ethernet User's Manual
E76 RCX series YAMAHA ROBOT CONTROLLER
RCX series Programming Manual
E123 RCX240 YAMAHA 4-AXIS ROBOT CONTROLLER
RCX240 User's Manual
E124 RCX240 YAMAHA 4-AXIS ROBOT CONTROLLER
RCX240 Operator's Manual
E100 RCX221 YAMAHA 2-AXIS ROBOT CONTROLLER
RCX221 User's Manual
E99 RCX222 YAMAHA 2-AXIS ROBOT CONTROLLER
RCX222 User's Manual

2．Terms and Definitions
2
2. Terms and Definitions
Term Explanation and Definition
IP address Ethernet uses an IP address to perform communications.
The IP address (Internet Protocol address) is an address that is used to
identify a node (host computer or controller, etc.) on the Ethernet.
IP addresses must be set and managed so that they do not overlap.
Socket A socket is an interface that enables the use of the TCP or UDP function
directly from the user program. The socket services enable data
exchange with destination nodes. The CJ-series Programmable
Controller can use the socket services in the following ways:
•Manipulation of a dedicated control bit allocated in the CIO area for
the Ethernet Unit
•Issuing a FINS command (CMND instruction) to an Ethernet Unit
Active open/
Passive open
Open processing is executed on each node to connect the TCP socket.
The open method depends on whether the node is opened as a server or
client.
In this document, the method used to open a node as a server is called
"passive open" and the method used to open a node as a client is called
"active open" or "open processing (active)".
Keep-alive function When the keep-alive function is used with TCP/IP socket services, the
keep-alive communications frame is used to check the status of the
connection with the destination node (either a server or client) if there are
no communications during the specified time interval.
Checks are executed at a certain interval, and if there is no response to
any of them then the connection is terminated.
Linger function This is an option for the TCP socket that enables immediate open
processing using the same port number without waiting until the port
number opens after RST data is sent when the TCP socket closes.
If the linger option is not specified, FIN data will be sent when a TCP
socket is closed, and then approximately 1 minute will be required to
confirm the transmission and perform other closing management with the
destination node. Therefore, it may not be possible to immediately use
TCP sockets with the same port number.

3．Remarks
3
3. Remarks
(1) Understand the specifications of devices which are used in the system. Allow some
margin for ratings and performance. Provide safety measures, such as installing safety
circuit in order to ensure safety and minimize risks of abnormal occurrence.
(2) To ensure system safety, always read and heed the information provided in all Safety
Precautions, Precautions for Safe Use, and Precaution for Correct Use of manuals for
each device used in the system.
(3) The users are encouraged to confirm the standards and regulations that the system must
conform to.
(4) It is prohibited to copy, to reproduce, and to distribute a part of or whole part of this
document without the permission of OMRON Corporation.
(5) This document provides the latest information as of April 2013. The information on this
manual is subject to change without notice for improvement.

3．Remarks
The following notation is used in this document.
Precautions for Safe Use
Precautions on what to do and what not to do to ensure safe usage of the product.
Precautions for Correct Use
Precautions on what to do and what not to do to ensure proper operation and performance.
Additional Information
Additional information to read as required.
This information is provided to increase understanding or make operation easier.
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4．Overview
4. Overview
This document describes the procedure for connecting the Robot Controller (RCX series,
hereinafter referred to as the Robot Controller) of Yamaha Motor Co., Ltd. (hereinafter referred
to as YAMAHA MOTOR) to CJ-series Programmable Controller + Ethernet Unit (hereinafter
referred to as the PLC), and provides the procedure for checking their connection.
Refer to Ethernet communications settings described in 6. Ethernet Communications Settings
and 7. Connection Procedure to understand the setting method and key points to connect the
devices via Ethernet.
The user program in the prepared CX-Programmer project file is used to check the Ethernet
connection by sending/receiving the message of “Acquire version information” to/from the
destination device.
Prepare the latest CX-Programmer project file beforehand. To obtain the file, contact your
OMRON representative.
Name File name Version
CX-Programmer project file
(extension: cxp)
YAMAHA_RCX_ETN(TCP)_EV100.cxp Ver.1.00
*Hereinafter, the CX-Programmer project file is referred to as the “project file”.
The user program in the project file is referred to as the “ladder program” or “program”.
This document aims to explain the wiring method and communications settings
necessary to connect the corresponding devices and provide the setting
procedure. The program used in this document is designed to check if the
connection was properly established, and is not designed to be constantly used
at a site. Therefore, functionality and performances are not sufficiently taken into
consideration. When you construct an actual system, please use the wiring
method, communications settings and setting procedure described in this
document as a reference and design a new program according to your
application needs.
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5．Applicable Devices and Support Software
5. Applicable Devices and Support Software
5.1. Applicable Devices
The applicable devices are as follows:
Manufacturer Name Model
OMRON Ethernet Unit CJ1W-ETN21
OMRON CJ2 CPU Unit CJ2[]-CPU[][]
YAMAHA
MOTOR
Robot Controller
(4-axis controller)
(2-axis controller)
RCX240/RCX240S
RCX222/RCX222HP
RCX221/RCX221HP
YAMAHA
MOTOR
Robot
Single-axis robot
Linear single-axis robot
Cartesian robots
SCARA robot
Pick & place robot
•FLIP-X series
•PHASER series
(Excluding RCX222)
•XY-X series
•YK-XG series
(Excluding RCX221/222)
•YP-X series
Precautions for Correct Use
As applicable devices above, the devices with the models and versions listed in Section 5.2.
are actually used in this document to describe the procedure for connecting devices and
checking the connection.
You cannot use devices with versions lower than the versions listed in Section 5.2.
To use the above devices with versions not listed in Section 5.2 or versions higher than those
listed in Section 5.2, check the differences in the specifications by referring to the manuals
before operating the devices.
Additional Information
This document describes the procedure to establish the network connection. Except for the
connection procedure, it does not provide information on operation, installation or wiring
method. It also does not describe the function or operation of the devices. Refer to the
manuals or contact the device manufacturer.
(Yamaha Motor Co., Ltd. http://www.yamaha-motor.co.jp/global/industrial/robot/)
This URL is the latest address at the time of the document creation. Contact each device
manufacturer for the latest information.
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5．Applicable Devices and Support Software
5.2. Device Configuration
The hardware components to reproduce the connection procedure of this document are as
follows:
RCX240
RPB-000
LAN cable
FXYx_A
Personal computer
(CX-One installed
OS: Windows 7)
CJ2M-CPU12
CJ1W-ETN21
USB cable
Switching Hub
(W4S1-05C)
LAN cable
Manufacturer Name Model Version
OMRON Ethernet Unit CJ1W-ETN21 Ver.1.5
OMRON Switching Hub W4S1-05C Ver.1.0
OMRON CPU Unit CJ2M-CPU12 Ver.2.0
OMRON Power Supply Unit CJ1W-PA202
OMRON CX-One CXONE-AL[][]C-V4
/AL[][]D-V4
Ver.4.[][]
OMRON CX-Programmer (Included in CX-One) Ver.9.41
OMRON CX-Programmer project file
(ladder program)
YAMAHA_RCX_ETN(TCP)
_EV100.cxp
Ver.1.00
- Personal computer
(OS: Windows 7)
-
- USB cable
(USB 2.0 type B connector)
-
- LAN cable (Ethernet STP
(Shielded twisted-pair) cable of
category 5 or higher)
-
YAMAHA
MOTOR
Robot Controller RCX240 Ver.10.57
YAMAHA
MOTOR
Programming box RPB-000 Ver.5.13
YAMAHA
MOTOR
Cartesian robot FXYx_A
Precautions for Correct Use
Prepare the latest ladder program beforehand.
(To obtain the files, contact your OMRON representative.)
Precautions for Correct Use
Update the CX-Programmer to the version specified in this section or higher version using the
auto update function. If a version not specified in this section is used, the procedures
described in Section 7 and subsequent sections may not be applicable. In that case, use the
equivalent procedures described in the CX-Programmer Operation Manual (Cat. No. W446).
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