Omron SCARA Robots YRCX Series User manual

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CONTENTS PROFINET
User’s Manual
T- 1
Important information before reading this manual 1
Introduction 1
Safety Precautions (Always read before starting use) 2
Warranty 4
1. Overview of functions 5
2. Controller status transitions 6
3. Input/output assignments 7
4. Part names and functions 9
5. Flow until operation begins 10
6. Connection 11
6.1 Network structure 11
6.2 Cabling 13
6.3 Noise countermeasures 13
7. GSDles 14
8. Settings 15
8.1 Communication parameter settings 15
9. Monitoring communication data 16
9.1 Using the programming box 16
9.1.1 Switching the port number 17
9.1.2 Input/output list display 18
9.1.3 Input/output details display 18
9.1.4 Switching the output status 19
9.2 Using SCARA-YRCX Studio support software 20

CONTENTS PROFINET
User’s Manual
T- 2
10. Disabling an option unit 23
10.1 Making settings 24
10.1.1 Using the programming box 24
10.1.2 Using SCARA-YRCX Studio support software 25
11. Actions to take if communication is not established 27
11.1 Reconsider the startup steps 27
11.2 Viewing the alarm codes in the 7-segment LED 28
11.3 Diagnostics by alarm message 28
11.3.1 Alarms related to network unit connections and settings 28
11.3.2 AlarmsrelatedtoI/Oon/ostatus 29
11.3.3 Alarms that the customer cannot resolve 29
11.3.4 Checking alarm codes in the programming box 30
11.3.5 Checking alarm codes in SCARA-YRCX Studio support software 30
11.4 Detailed diagnostics using the indicators 31
11.4.1 Common situations and LED illumination patterns 32
12.Specications 33
12.1 Networkspecications 33
12.2 Input/outputspecications 34
13. Reserved word list 35

Important information before reading this manual
1
Important information before reading this manual
Introduction
The OMRON network interface unit documentation consists of a User's Manual that is specific to each network
unit that describes the specifications and communication settings of that unit, and a Remote I/O Manual
describing the remote I/O specifications that are common to all network units.
OMRON network interface unit manuals
Content specific to each network unit
(network communication settings, etc.)
PROFINET user’s manual
(this document) Remote I/O Manual
Content common to all networks
(remote I/O and remote command specifications etc.)
For details on network unit specifications and communication settings, refer to this User's Manual.
For details on communication functions between the controller and the host control device, such as remote I/O
and remote commands, refer to the Remote I/O Manual.
For details on the functions of the robot controller unit, refer to the following manuals.
YRCX Operator’s Manual ..................... for operation of the controller unit
YRCX User’s Manual............................ for specifications and settings of the controller unit
YRCX Programming Manual ................. for the programming language used by OMRON robot controllers

Important information before reading this manual
2
Safety Precautions (Always read before starting use)
Before using this product, be sure to read this manual carefully as well as the robot controller user's manual
and programming manual. Take sufficient precautions to ensure safety and handle the product correctly.
The cautions given in this manual are related to this product. Refer to the robot controller user's manual for
details on the cautions to be taken with the robot controller system using this product.
The safety precautions are ranked as "WARNING" and "CAUTION" in this manual.
WARNING
FAILURE TO FOLLOW WARNING INSTRUCTIONS COULD RESULT IN SERIOUS INJURY OR DEATH TO THE OPERATOR OR
PERSON SERVICING THE PRODUCT.
CAUTION
Failure to follow CAUTION instructions may result in injury to the operator or person servicing product, or damage
to the product or peripheral equipment.
NOTE
The key points in the operation are explained simply and clearly.
Note that some items described as "CAUTION" may lead to serious results depending on the situation. In any
case, important information that must be observed is explained.
Store this manual where it can be easily referred to, and make sure that it is delivered to the end user.
■Precautions for design
WARNING
•FOR INFORMATION ABOUT THE STATUS OF THE NETWORK SYSTEM AND ROBOT CONTROLLER IN THE EVENT THAT A
COMMUNICATION PROBLEM OCCURS IN THE NETWORK SYSTEM, REFER TO THE MANUAL OF THE HOST CONTROL
DEVICE AS WELL AS TO THIS DOCUMENT. CONFIGURE AN INTERLOCK CIRCUIT IN THE SEQUENCE PROGRAM SO
THAT THE SYSTEM, INCLUDING THE ROBOT CONTROLLER, WILL WORK SAFELY WITH USING THE COMMUNICATION
STATUS INFORMATION.
•THE SAFETY CONNECTOR HAS AN EMERGENCY STOP TERMINAL TO TRIGGER EMERGENCY STOP OF THE ROBOT
CONTROLLER. BY USING THIS TERMINAL, PREPARE A PHYSICAL INTERLOCK CIRCUIT SO THAT THE SYSTEM INCLUDING
THE ROBOT CONTROLLER WILL WORK SAFELY.
CAUTION
The control line and communication cable must not be bound with or placed near the main circuit or power line.
Separate these by at least 100mm. Failure to observe this could lead to communication error or declining
throughput caused by noise.

Important information before reading this manual
3
■Precautions for installation
WARNING
•ALWAYS CRIMP, PRESS-FIT OR SOLDER THE CONNECTOR WIRING WITH THE MAKER-DESIGNATED TOOL, AND
SECURELY FIX THE CONNECTOR TO THE MODULE.
•ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE STARTING INSTALLATION OR WIRING
WORK.
FAILURE TO SHUT OFF ALL PHASES COULD LEAD TO ELECTRIC SHOCKS OR PRODUCT DAMAGE.
CAUTION
•Use the robot controller in the environmental conditions specified in this manual. Operation outside the
specified environmental range may cause electric shocks, fire, malfunction or product damage or
deterioration.
•Do not directly touch the conductive portions or electronic components of a network module.
•Never directly touch the controller's interior areas.
•Accurately connect each cable connector to the mounting section.
Failure to observe this could lead to malfunctions caused by a connection fault.
WARNING
ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE STARTING INSTALLATION OR WIRING
WORK. FAILURE TO SHUT OFF ALL PHASES COULD LEAD TO ELECTRIC SHOCKS OR PRODUCT DAMAGE.
CAUTION
•Make sure that foreign matter, such as cutting chips or wire scraps, does not enter the robot controller.
•Communication cables that contact network modules must be kept inside a duct or secured by clamps. Failure
to place the cable in a duct or secure it by a clamp could damage the cable or module by shifting, movement
or unintentional pulling the cable, or cause malfunction by poor contact condition.
•When disconnecting a connector from the network module, grasp the connector rather than pulling on the
cable. Pulling on the cable could damage the cable and module, possibly causing a poor contact condition
which could result in malfunctions.
■Precautions for starting and maintenance
WARNING
•DO NOT TOUCH THE TERMINALS WHILE THE POWER IS ON. FAILURE TO OBSERVE THIS COULD LEAD TO
MALFUNCTIONS.
•ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE PERFORMING CLEANING OR WIRING
WORK. FAILURE TO SHUT OFF ALL PHASES COULD LEAD TO ELECTRIC SHOCKS, PRODUCT DAMAGE OR
MALFUNCTIONS.
•NEVER DISASSEMBLE OR MODIFY ANY OF THE ROBOT CONTROLLER MODULES.
FAILURE TO OBSERVE THIS COULD LEAD TO TROUBLE, MALFUNCTIONS, INJURIES OR FIRES.
CAUTION
Power must be supplied to the robot controller only after supplying power to the host control device. The robot
controller will enter an error state if communication is not established within a certain length of time after the
controller starts.
■Precautions for disposal
CAUTION
Dispose of this product as industrial waste.

Important information before reading this manual
4
Warranty
The OMRON 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 constituting this
OMRON robot and/or related product within the warranty period, then OMRON shall supply free of charge the necessary
replacement/repair parts.
■Warranty period
The warranty period ends 24 months after the date of manufacturing as shown on the products.
■Exceptions to the warranty
This warranty will not apply in the following cases:
1. Fatigue arising due to the passage of time, natural wear and tear occurring during operation (natural fading of painted
or planted surfaces, deterioration of parts subject to wear, etc.)
2. Minor natural phenomena that do not affect the capabilities of the robot and/or related product (noise from computers,
motors, etc.)
3. Programs, point data and other internal data were changed or created by the user.
Failures resulting from the following causes are not covered by warranty.
1. Damage due to earthquakes, storms, floods, thunderbolt, fire or any other natural or man-made disaster.
2. Troubles caused by procedures prohibited in this manual.
3. Modifications to the robot and/or related product not approved by OMRON or OMRON sales representative.
4. Use of any other than genuine parts and specified grease and lubricant.
5. Incorrect or inadequate maintenance and inspection.
6. Repairs by other than authorized dealers.
WARRANTY
OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a
period of one year (or other period if specified) from date of sale by OMRON.
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING
NONINFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS.
ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUERIMENTS OF THEIR INTENDED USE. OMRON DISCLAIMS ALL
OTHER WARRANTIES, EXPRESS OR IMPLIED.
LIMITATIONS OF LIABILITY
OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES, LOSS OF
PROFITS OR COMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WETHER SUCH CLAIM
IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
In no event shall the responsibility of OMRON for any act exceed the individual price of the product on
which liability is asserted.
IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR OR OTHER CLAIMS REGARDING
THE PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY
HANDLED, STORED, INSTALLED AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION, ABUSE,
MISUSE OR INAPPROPIATE MODIFICATION OR REPAIR.

5
1
Overview of functions
1. Overview of functions
A network interface unit is a device that transmits and receives I/O information via a communication protocol
between a controller and a host control device.
We provide a lineup of products that support fieldbus (DeviceNet, PROFIBUS, etc.) or industrial Ethernet
(EtherNet/IP, PROFINET, etc.).
In any of these networks, the robot controller (slave device) operates in accordance with commands via I/O
control from a host (master device).
While acting as distributed I/O for the host control device, the network interface unit simultaneously shares
I/O information with the controller. The I/O update cycle time between the controller and the network
interface unit is 5 ms.
The I/O update cycle time between the network interface unit and the host control device will vary depending
on the structure of the applicable network.
←Status output
Host control device
Network unit
(master / I/O controller)
Input
m, m+1, ..., m+x
Output
n, n+1, ..., n+y
Output
SO, SOW
Input
SI, SIW
Network unit
(slave / distributed I/O device)
Robot controller
(robot, I/O control)
←General-purpose I/O→ConversionConversion
Command input→
I/O consists of a general-purpose input/output area, and a dedicated input/output area that has specific
significance such command input and status output that is optimized for control of robot controllers. Using
these, the robot controller can be controlled from the host control device.
The following methods can be used for control via I/O. Combining these methods makes it possible to control
the robot.
1. Controlling the robot controller directly using simple commands and status queries via remote
I/O's dedicated input/output.
Example) Dedicated input: cancel emergency stop, servo on, reset, start program execution, etc.
Dedicated output: CPU_OK, return-to-origin complete, etc.
2. Using remote commands to programlessly control the robot controller directly with advanced
instructions and status queries.
Example) < Transmission >
SIW0 = 0x1031 (absolute reset command for robot no.1)
SIW2 = 0x0015 (axis designation: axis 1 through axis 4)
< Reception >
SOW = 0x0100 (executing command)
↓
SOW = 0x0200 (normal end)
3. Using remote I/O's general-purpose input/output to exchange desired information with an
external peripheral device, and load it into a robot program or sequence program for execution.
Example) WAIT SI(20)=1, 1000 ; Wait until SI(20) turns on; stop command if it does not turn on after 1 second
OUT SO2(), 200 ; SO(27--20) turns on, and turns off after 200 ms
* For details on remote I/O and remote commands, refer to the Remote I/O Manual. For details on robot programs, refer
to the YRCX Programming Manual.

2
Controller status transitions
6
2. Controller status transitions
Here we explain the status transitions of a robot controller equipped with a network interface unit. A
controller equipped with a network interface unit will initially start up in the emergency stop state. In order
for robot operation to be possible, communication must be established with the host control device, and a
sign that cancels the emergency stop state must be input.
If communication with the host control device is interrupted for any reason, the controller will again transition
to the emergency stop state regardless of the I/O status. In order to resume operation, I/O processing is
required, such as reestablishing communication, cancelling the emergency stop state, and resetting any error.
Power on, controller starts
in emergency stop state
When communication
ceases, the robot transitions
to the emergency stop state,
robot power is shut down,
and the program also stops.
The robot is controlled via
remote commands or
programs
Signals are input to cancel
emergency stop or errors,
putting the robot in an
operable state.
After both the host control
device and the controller
have started up and
established communication,
cyclic communication begins.
Host control device
Host control device
Host control device
Host control device
Robot controller
Robot controller
Robot controller
Robot controller
Robot controllerHost control device
Cease communication
Exchange I/O information
Input signals
Establish communication
StartupStartup

3
Input/output assignments
7
3. Input/output assignments
Here we show the correspondence between the robot controller's serial input/output data and the input/
output data on the network.
■Output from the controller, input to the host device
Host control device Controller
Address (READ) Address (WRITE) Input/output type Use
I (n) SOW(0)
-Word output
Command status area
I (n+1)
I (n+2) SOW(1) Remote command error code area
I (n+3)
I (n+4) SOW(2)
SOD(2)
Word output /
Double word output
Command response area /
General-purpose output area
I (n+5)
I (n+6) SOW(3)
I (n+7)
I (n+8) SOW(4)
SOD(4)
I (n+9)
I (n+10) SOW(5)
I (n+11)
I (n+12) SOW(6)
SOD(6)
I (n+13)
I (n+14) SOW(7)
I (n+15)
I (n+16) SOW(8)
SOD(8)
I (n+17)
I (n+18) SOW(9)
I (n+19)
I (n+20) SOW(10)
SOD(10)
I (n+21)
I (n+22) SOW(11)
I (n+23)
I (n+24) SOW(12)
SOD(12)
I (n+25)
I (n+26) SOW(13)
I (n+27)
I (n+28) SOW(14)
SOD(14)
I (n+29)
I (n+30) SOW(15)
I (n+31)
I (n+32) SO07 - SO00 Bit output Status output area
I (n+33) SO17 - SO10
I (n+34) SO27 - SO20
Bit output /
Byte output General-purpose output area
I (n+35) SO37 - SO30
I (n+36) SO47 - SO40
I (n+37) SO57 - SO50
I (n+38) SO67 - SO60
I (n+39) SO77 - SO70
I (n+40) SO107 - SO100
I (n+41) SO117 - SO110
I (n+42) SO127 - SO120
I (n+43) SO137 - SO130
I (n+44) SO147 - SO140
I (n+45) SO157 - SO150
I (n+46) (Reserve) Reserved area Use is prohibited
I (n+47) (Reserve)
I(n) : Starting address of the input data area for the target controller
• I(n), I(n+1), ..., (n+47) assume data memory that is divided at each byte (8-bits).
• SOx() is handled as unsigned 8-bit integer data. (x=2-7, 10-17)
• SOW(y) is handled as unsigned 16-bit integer data. (y=0 - 15)
• The upper byte and lower byte of SOW(y) correspond to I(2y+1) and I(2y) respectively.
• SOD(z) is handled as signed 32-bit integer data. (z=2, 4, ..., 14)
• The upper word and lower word of SOD(z) correspond to SIW(z+1) and SIW(n), respectively.

3
Input/output assignments
8
■Output from the host control device, input to the controller
Host control device Controller
Address (WRITE) Address (READ) Input/output type Use
Q m SIW(0)
-Word input
Remote command area
Q m+1
Q m+2 SIW(1) Command data area
Q m+3
Q m+4 SIW(2)
SID(2)
Word input /
Double word input
Command data area /
General-purpose input area
Q m+5
Q m+6 SIW(3)
Q m+7
Q m+8 SIW(4)
SID(4)
Q m+9
Q m+10 SIW(5)
Q m+11
Q m+12 SIW(6)
SID(6)
Q m+13
Q m+14 SIW(7)
Q m+15
Q m+16 SIW(8)
SID(8)
Q m+17
Q m+18 SIW(9)
Q m+19
Q m+20 SIW(10)
SID(10)
Q m+21
Q m+22 SIW(11)
Q m+23
Q m+24 SIW(12)
SID(12)
Q m+25
Q m+26 SIW(13)
Q m+27
Q m+28 SIW(14)
SID(14)
Q m+29
Q m+30 SIW(15)
Q m+31
Q m+32 SI07 - SI00 Bit input Command input area
Q m+33 SI17 - SI10
Q m+34 SI27 - SI20
But input /
Byte input General-purpose input area
Q m+35 SI37 - SI30
Q m+36 SI47 - SI40
Q m+37 SI57 - SI50
Q m+38 SI67 - SI60
Q m+39 SI77 - SI70
Q m+40 SI107 - SI100
Q m+41 SI117 - SI110
Q m+42 SI127 - SI120
Q m+43 SI137 - SI130
Q m+44 SI147 - SI140
Q m+45 SI157 - SI150
Q m+46 (Reserve) Reserved area Use is prohibited
Q m+47 (Reserve)
Q(m) : Starting address of the output data area for the target controller
• Q(m), Q(m+1), ..., Q(m+47) assume data memory that is divided at each byte (8-bits).
• SIx() is handled as unsigned 8-bit integer data. (x=2-7, 10-17)
• SIW(y) is handled as unsigned 16-bit integer data. (y=0 - 15)
• The upper byte and lower byte of SIW(y) correspond to Q(2y+1) and Q(2y) respectively.
• SID(z) is handled as signed 32-bit integer data. (z=2, 4, ..., 14)
• The upper word and lower word of SID(z) correspond to SIW(z+1) and SIW(n), respectively.
* For details on the functions that are assigned to each serial input/output data, refer to the separate Remote
I/O Manual.
* The reserved area cannot be used.

4
Part names and functions
9
4. Part names and functions
Here we explain the part names and functions of the network interface unit.
Part names
RJ45 modular jack
RJ45 modular jack
Link/activity LED
Link/activity LED
Port 1
Network status LED
Module status LED
Connector: RJ45 modular jack
Port 2
Connect a CAT 5e or higher STP (Shielded Twisted Pair) cable to the connector. From the standpoint of
durability and noise rejection, double-shielded LAN cable for industrial use is recommended.
Network status (NS) LED
LED status Explanation Comment
OFF Offline Power is off
IO controller is not connected
Green Online (RUN) Connection with IO controller is not established
IO controller is in RUN state
Flashing green Online (STOP) Connection with IO controller is not established
IO controller is in STOP state
Module status (MS) LED
LED status Explanation Comment
OFF Not initialized Power is off, or module is in SETUP or "NW_INIT" state
Green Normal operation Module has transitioned from "NW_INIT" state
Flash green once Diagnostic event Diagnostic event is occurring
Flash green at 1 Hz DCP flashing An engineering tool is being used to identify a node on the network
Red Exception error Module is in the "EXCEPTION" state
Flash red once Setting error Expected ID differs from actual ID
Flash red twice IP address error IP address is not set
Flash red three times Station name error Station name is not set
Flash red four times Internal error A serious error occurred inside the module
Link/activity LED: Port 1 / Port 2
LED status Explanation Comment
OFF No link A link is not established, and communication is not occurring
Green Link detected An Ethernet link is established, but communication is not occurring
Flashing green Activity An Ethernet link is established, and communication is occurring
• Pin configuration and connector specifications
Number Name
1TXD+
2TXD-
3RXD+
4 -
5 -
6RXD-
7 -
8 -
* An RJ45 modular plug is not included.
8
Port 1
Port 2
1
8
1

5
Flow until operation begins
10
5. Flow until operation begins
Here we explain the flow from startup until operation begins. Proceed with the flow shown in the illustration
below, and consult the appropriate manuals as necessary for each step.
• Connect connectors and cables
Start operation
• Begin cyclic communication
• Check remote I/O and remote command input/output
• Debug the program
Controller
• No setting items
Host device
• Register the network settings file (GSD)
• Set the communication parameters
Connection
and
cabling
Communication
settings
Communication
settings
Trial operation
Operation
6.1 Network structure
6.2 Cabling
6.3 Noise countermeasures
8.1 Communication parameter settings
YRCX user’s manual
Remote I/O Manual
YRCX user’s manual
Remote I/O Manual
Work steps Refer to:

6
Connection
11
6. Connection
Here we provide an overview of the steps for connecting the robot controller to the network.
Network structure and cable specifications should be designed according to the materials provided by the
network interest group (PI: PROFIBUS & PROFINET International).
6.1 Network structure
PROFINET is an industrial multi-vendor network system based on Ethernet technology that is open and
promoted by PI (PROFIBUS & PROFINET International).
Since it uses standard Ethernet as its lower-level protocol, the network can coexist with general-purpose
Ethernet equipment.
A PROFINET network is typically constructed in a star topology via a switch, but since the robot controller's
PROFINET unit contains a two-port switch, a cable-saving linear network can also be constructed by daisy-
chained connection.
CAUTION
The two Ethernet ports of a PROFINET unit are for the purpose of allowing a versatile network topology within a
single subnet without using a switch. It is not possible for the two ports to be connected to different subnets.
■Example of a cable-saving linear network using daisy-chaining
YRCX YRCX
Host unit
(PROFINET I/O controller)
YRCX YRCX
Max. 100m
CAUTION
Network equipment such as switches can be used if it satisfies the requirements of the PROFINET network.
However if the equipment is to be used in an environment where noise is a concern, such as a factory, equipment
that meets EMC industrial standards should be selected.

6
Connection
12
■Example of a cable-saving layout that combines PROFINET with a general-purpose Ethernet
network
YRCX YRCX
Host unit
(PROFINET I/O controller)
YRCX
General-purpose Ethernet port
built into the robot controller
YRCX
General-purpose Ethernet port
built into the robot controller
General-purpose computer
CAUTION
The general-purpose Ethernet ports built into the controller unit do not support the PROFINET communication
protocol. Also, communication settings are made separately from the PROFINET unit.
For details on settings for the general-purpose Ethernet ports, refer to the user's manual of the controller unit.
When cabling via option boards as shown above, do not set the option board setting parameter to "disable."
As setting the option board setting parameter to "disable" causes the option board's internal switch to stop
functioning, the general-purpose Ethernet communication pathway to the controller will be shut off.

6
Connection
13
6.2 Cabling
WARNING
SHUT OFF THE POWER SUPPLY INPUT TO THE ROBOT CONTROLLER BEFORE PERFORMING THIS WORK.
Insert the LAN cable's modular plug into the controller's modular jack until you hear it click into place.
■Cable specifications
Use LAN cables that meet the following specifications.
Category 5e (CAT 5e) or higher
Shielded Twisted Pair (STP: Shielded Twist Pair)
Double-shielded
100 m or shorter (solid-core cable is recommended if it is over 10 m)
(Example selections) SIEMENS AG
Connector plug IE FC RJ45 Plug 180 6GK1 901-1BB10-2AOO
Cable material IE FC TP standard cable 6XV1 840-2AH10
Tool Stripping tool for IE FC cable 6GK1 901-1GA00
* OO indicates the number of metal housings (A0: 1 / B0: 10 / E0: 50).
* The cable length can be specified in 1-meter units from a minimum of 20 m to a maximum of 1,000 m.
6.3 Noise countermeasures
Although the robot controller unit complies with EMC standards and has a certain amount of resistance to
external noise, there may be cases in which communication is affected by noise depending on the environment
in which the equipment and cable are located.
If communication is affected by noise, a communication error occurs, possibly causing the robot to enter an
emergency stop state, or causing throughput to decline. If there is a source of noise, and this noise is suspected
of affecting communication, please take the following countermeasures.
1. Equipment and cable selection
As the equipment to be connected to the network, select units that conform to EMC directives. Be sure to use cable of the
prescribed specifications.
2. Equipment and cable placement and grounding
If the noise source is nearby, create an appropriate distance between the noise source and the network environment
including the cable. For the robot controller unit and equipment connected to it, be sure to attach an appropriate ground
as directed by the manual of each unit.
3. Adding anti-noise components
Apply the following measures to the robot controller.
• Install a ferrite core on both ends of the cable immediately adjacent to the connector of the device.
• Install a ferrite core or noise filter on the power supply input of the controller.

7
GSD files
14
7. GSD files
GSD (General Station Description) is a type of network setting file. It contains settings for a device that
supports PROFIBUS or PROFINET.
The network settings file contains information necessary for connecting to a host device, such as I/O size and
communication settings, in a prescribed format. When constructing a network, the settings information of all
connected network devices must be loaded into the host control device.
The appropriate engineering or configuration tool is used to make settings for and write to the host control
device, and during this process it will be necessary to load each device's network settings file into the tool.
The steps for loading the file will depend on the host device used, and on the tool that supports it. Refer to the
manual for the device and tool.

8
Settings
15
8. Settings
Here we explain the parameters that must be set and the settings files that are required in order to begin
communication between the host control device and the robot controller.
8.1 Communication parameter settings
The robot controller does not have parameters related to PROFINET unit communication.
Communication with the host control device (IO controller) requires network parameter settings such as IP
address, subnet mask, and station name.
All of these are set by the corresponding engineering tool (IO Supervisor).
Tasks such as viewing the network parameters and performing "Reset to factory setting" are also all performed
from the engineering tool. For details on how to use the engineering tool, refer to the manual of the device and
software you're using.
■Network settings flow
If there is no topology setting for the host control device (IO controller), such as when the facility is being
started up:
With the robot controller and the engineering tool in a state where they can communicate with each other, specify the
IP address, subnet mask, gateway, and station name individually.
Also make the same settings for the host control device.
If you are replacing only one device within the network, such as when replacing a controller, and topology
settings have been made for the host control device (IO controller):
The network parameters that had been specified for the device before replacement can be automatically assigned by
PROFINET to the replacement device based on the address information of the peripheral device.
This means that in this case, there is no need to make communication settings.
CAUTION
Data of the robot controller other than network parameters is not passed on automatically.
Be sure to back up from the controller before replacing it, download this data to the controller following
replacement, and then connect the controller to the network.

16
9
Monitoring communication data
9. Monitoring communication data
On/off data for the host controller device and controller I/O can be monitored via the programming box or
the SCARA-YRCX Studio support software. This can be used to check the input/output addresses during setup
or for debugging.
CAUTION
Since the display update interval of the programming box and of SCARA-YRCX Studio is longer than the data
update interval of I/O information, there may be cases in which accurate information is not shown if the on/off
interval of the I/O information is short.
9.1 Using the programming box
At the initial screen, select [Monitor]-[I/O] to access the monitor screen.
Valid keys and submenu descriptions in the MANUAL mode are shown below.
Valid keys Menu Function
DETAIL Switches between the input/output list and detail displays.
DI Displays the DI monitor.
DO Displays the DO monitor.
MO Displays the MO monitor.
LO Displays the LO monitor.
TO Displays the TO monitor.
SI Displays the SI monitor.
SO Displays the SO monitor.
SIW Displays the SIW monitor.
SOW Displays the SOW monitor.
Switches the monitor number.
It is possible to change the port number display by switching the monitor number.
For details on the monitor number, refer to "9.1.1 Switching the port number."
NOTE
Four types of I/O data can be transmitted and received via the network: SI, SO, SIW, and SOW.