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.
4

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.
5

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.
6

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).
7

5．Applicable Devices and Support Software
Additional Information
It may not be possible to reproduce the same operation with different devices or versions.
Check the configuration, model and version. If they are different from your configuration,
contact your OMRON representative.
Additional Information
The system configuration in this document uses USB for the connection between the
personal computer and PLC. For information on how to install the USB driver, refer to A-5
Installing the USB Driver in the CJ2 CPU Unit Hardware User's Manual (Cat. No. W472).
8

6．Ethernet Communications Settings
6. Ethernet Communications Settings
This section provides the specifications of the communications parameters that are set in this
document and outlines the operation.
Additional Information
To perform communications without using the settings specified in this section, you need to
modify the program. For details on the program, refer to 9. Program.
6.1. Ethernet Communications Settings
The settings required for Ethernet communications are as follows:
6.1.1. Communications Settings between the PLC and the Robot Controller
The setting example below is used to explain the procedure for connecting the PLC to the
Robot Controller.
Setting item PLC (Ethernet Unit) Robot Controller
Unit number 0 (Default) -
Node address 01 (Default) -
IP address 192.168.250.1 192.168.250.2
Subnet mask 255.255.255.0 255.255.255.0 (Default)
Gateway ---.---.---.--- 192.168.0.1 (Default)
Port number Automatic allocation
(Set by the program.)
23 (Default)
Board condition - Valid
Echoback - Invalid
Login check - Invalid
Logout - Continues
Keep-alive [sec] - 0
*In this document, the gateway setting is unnecessary because the connection is made in
the same segment.
Precautions for Correct Use
This document describes the setting procedure with the CJ1W-ETN21 Ethernet Unit, unit
number 0 and node address 01. For the system with other configuration, please change the
control word of the CIO area used in the ladder program. Refer to 9. Program for details.
9

6．Ethernet Communications Settings
6.2. Example of Connection Check
This document uses an example of the ladder program in which the PLC executes TCP
socket open, send/receive, and socket close processing on the Robot Controller.
The PLC and Robot Controller send and receive the message of “Acquire version information”.
The following figure outlines the operation.
PLC
CPU Unit Ethernet Unit Ethernet Robot Controller
Project file
Socket
communications
function
TCP socket open
Receive data
Send data
D10000 onwards
Receive data
storage area
Send data
setting area
D9000 onwards
Socket close
＠SET
Ladder program
Sending/Receiving Ethernet
command
Aquiring version information
Executing Ethernet
communications
command
10

7．Connection Procedure
11
7. Connection Procedure
This section explains the procedure for connecting the Robot Controller to the PLC via
Ethernet.
This document explains the procedures for setting up the PLC and Robot Controller from the
factory default setting. For the initialization, refer to Section 8 Initialization Method.
7.1. Work Flow
Take the following steps to connect the Robot Controller to the PLC via Ethernet.
7.2. Setting Up the YAMAHA MOTOR
Robot Controller
Set up the YAMAHA MORTOR Robot Controller.
↓
7.2.1. Parameter Setting Set the parameters for the Robot Controller.
↓
7.3. Setting Up the PLC Set up the PLC.
↓
7.3.1. Hardware Setting Set the hardware switches on the Ethernet Unit.
↓
7.3.2. Opening the Project File and
Connecting Online with the
PLC
Start the CX-Programmer, open the project file, and
connect online with the PLC.
↓
7.3.3. Creating the I/O Table Create the I/O table for the PLC.
↓
7.3.4. Parameter Setting Set the parameters for the Ethernet Unit.
↓
7.3.5. Transferring the Project Data Transfer the project data to the PLC.
↓
7.4. Checking the Ethernet
Communications
Execute the program and confirm that Ethernet
communications are normally performed.
↓
7.4.1. Executing the Program and
Confirming Receive Data
Execute the program and confirm that correct data are
written to the I/O memory of the PLC.

7．Connection Procedure
7.2. Setting Up the YAMAHA MOTOR Robot Controller
Set up YAMAHA MOTOR Robot Controller.
7.2.1. Parameter Setting
Set the parameters for the Robot Controller.
It is assumed that the YAMAHA network board RCX series Ethernet is already mounted on the
optional port OP.1 at the time of shipment.
Precautions for Correct Use
Make sure that the power supply is OFF when you perform the setting up.
1
Connect the robot cable.
*For information on how to
connect the robot cables, refer
to 4. Connecting the robot
cables under Chapter 3
Installation in the YAMAHA
4-AXIS ROBOT
CONTROLLER RCX240 User's
Manual (E123).
(YAMAHA MORTOR Robot Controller front panel)
2
Connect the programming box
to the RPB connector on the
front panel of the Robot
Controller.
Connect the LAN cable to the
RJ45 connector of optional port
OP.1.
12

7．Connection Procedure
3
Press the MODE Key on the
programming box to switch to
SYSTEM mode.
*The controller as 4 highest
hierarchy modes: AUTO,
PROGRAM, MANUAL, and
SYSTEM.
4
Press F4 Key (SYSTEM).
*Refer to the figure on the right
for allocations of the Fn Keys
(F1 to F5) located in the lower
section of the screen.
[F1] [F2] [F3] [F4] [F5]
5
Press F1 Key (PARAM).
6
Press F5 Key (OP BRD).
7
Select E_NET with the cursor
(↑/↓) keys.
Press F1 Key (SELECT).
SYSTEM>PARAM V10.57
Robot = FXYx_A
M1=aFx-F14-20 M5= no axis
M2=aFy-T6-12 M6= no axis
M3=aZT6-12V
M4=aR5
ROBOT
A
XIS OTHERS OP.BRD
SYSTEM>PARAMETER>OP.BRD V10.57
1.E_Net INVALID
2.D_Net(M1/500k) INVALID
3.---
4.---
SELECT
SYSTEM V10.57
Robot= FXYx_A
Axes= XYZR
Standard= SRAM/364kB,DIO_N
Opt_i/f=
D_Net(M1/500k),E_Net
PARAM CMU OPTION INIT DIAGNOS
13

7．Connection Procedure
8
The figure on the right is
displayed. Select board
condition with the cursor (↑/↓)
keys.
Press F1 Key (EDIT).
Press F2 Key (VALID).
Press the cursor (↓) key once.
Press the cursor (↓) key once.
9
The cursor moves to EDIT of IP
address.
The display on the bottom line
changes as shown on the right.
Press F1 Key (EDIT).
Use the numeric keys to enter
192.168.250.002.
Press the ESC Key.
SYSTEM>PARAM>OP.BRD>SELECT V10.57
1.board condition INVALID
2.IP address 192.168.0.2
3.subnet mask 255.255.255.0
4.gateway 192.168.0.1
5.port No 23
6.echo back VALID
7.timeout[min] 10
8.login check VALID
9.login user USER
10.login password PASSWORD
11.logout STOP
12.keep-alive[sec] 5
EDIT JUMP
SYSTEM>PARAM>OP.BRD>SELECT V10.57
1.board condition VALID
2.IP address 192.168.0.2
3.subnet mask 255.255.255.0
4.gateway 192.168.0.1
5.port No 23
6.echo back VALID
7.timeout[min] 10
8.login check VALID
9.login user USER
10.login password PASSWORD
11.logout STOP
12.keep-alive[sec] 5
EDIT JUMP
INVALID VALID
Enter IP address >192.168. 0. 2
Enter IP address >192.168.250.002
14

7．Connection Procedure
10
Set the following values by using
the keys of the programing box
in the same way as steps 8 and
9.
1.board condition：VALID
2.IP address：192.168.250.2
6.Echo back：INVALID
8.login check：INVALID
11.logout：CONT
12.keep-alive[sec]：0
*For other setting items, use the
default values.
11
Cycle the power supply to the
Robot Controller.
*The new parameters take effect
after cycling.
SYSTEM>PARAM>OP.BRD>SELECT V10.57
1.board condition VALID
2.IP address 192.168.250.2
3.subnet mask 255.255.255.0
4.gateway 192.168.0.1
5.port No 23
6.echo back INVALID
7.timeout [min] 10
8.login check INVALID
9.login user USER
10.login password PASSWORD
11.logout CONT.
12.keep-alive [sec] 0
EDIT JUMP
15

7．Connection Procedure
7.3. Setting Up the PLC
Set up the PLC.
7.3.1. Hardware Setting
Set the hardware switches on the Ethernet Unit.
Precautions for Correct Use
Make sure that the power supply is OFF when you perform the setting up.
1
Make sure that the power supply
to the PLC is OFF when you
perform the settings.
*If the power supply is turned
ON, settings may not be
applicable in the following
procedure.
Refer to the right figure and
check the hardware switches
located on the front panel of the
Ethernet Unit.
2Set the Unit No. Switch to 0. Setting the Unit Number
The unit number is used to identify individual CPU Bus Units when more than
one CPU Bus Unit is mounted to the same PLC. Use a small screwdriver to
make the setting, taking care not to damage the rotary switch. The unit
number is factory-set to 0.
3Set the node address switches to
the following default settings:
NODE No.x161: 0
NODE No.x160: 1
*Set the IP address to
192.168.250.1.
*By default, the first to third
octets of the local IP address
are fixed to 192.168.250. The
fourth octet is the value that is
set with the node address
switches.
Setting the Node Address
With the FINS communications service, when there are multiple Ethernet
Units connected to the Ethernet network, the Ethernet Units are identified by
node addresses. Use the node address switches to set the node address
between 01 and FE hexadecimal (1 to 254 decimal). Do not set a number
that has already been set for another node on the same network.
•Unit Version 1.5 or Later
The node address is factory-set to 01.
4
Connect the Ethernet Unit and
the End Cover to the PLC.
Connect the personal computer,
Robot Controller and PLC using
the LAN cable and USB cable as
shown in 5.2 Device Configura
tion.
Turn ON the power supply to the
PLC.
CJ2M-CPU12 CJ1W-ETN21
USB Cable
End Cover
Power Unit
LAN Cable
16

7．Connection Procedure
7.3.2. Opening the Project File and Connecting Online with the PLC
Start the CX-Programmer, open the project file, and connect online with the PLC.
Install the CX-Programmer and USB driver in the personal computer beforehand.
1
Confirm that the PC and PLC
are connected using the USB
cable and turn ON the power to
the PLC.
Start the CX-Programmer.
*If a confirmation dialog for an
access right is displayed at
start, select to start.
2
Select Open from the File Menu.
3
On the Open CX-Programmer
Project Dialog Box, select the
YAMAHA_RCX_ETN(TCP)_EV
100.cxp and click the Open
Button.
*Obtain the project file from
OMRON.
4
After opening the project file,
select Programs in the project
workspace.
(Project workspace)
17