Yamaha RCX series User manual

User’s Manual ENGLISH E
Ethernet
YAMAHA NETWORK BOARD
IM Operations
882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.Japan
URL http://www.yamaha-motor.jp/robot/index.html
YAMAHA MOTOR CO., LTD.
RCX series
E94-Ver. 1.06

INTRODUCTION
Our thanks for your purchase of this Ethernet unit for use withYAMAHA RCX series robot control-
lers.
This is an optional unit to allow connecting YAMAHA RCX series robot controllers to the widely
used Ethernet which is a de facto standard for office equipment network.
This manual describes typical examples for taking safety measures, installing wiring, making ma-
chine settings and operating the machine to ensure that the Ethernet unit is used safely and effec-
tively. Be sure to read this manual before use. Even after reading this manual, keep it in a safe, easily
accessible location so it can be referred to whenever needed. When moving this unit, always make
sure this manual accompanies it, and make sure that the person who will actually use this Ethernet
unit reads this manual thoroughly.
This manual only contains information involving the Ethernet unit. Please refer to the controller
user's manual and programming manual for information on basic robot controller operation and
programming.
NOTE
• The contents of this manual may be changed in advance without prior notice.
• Every effort was made to ensure the contents of this manual are complete,
however please contact us if errors, ambiguities or possible trouble points are
found.
• This manual does not constitute a warranty of industrial rights or other rights nor
a concession of utility rights. Further, no responsibility whatsoever is accepted for
problems arising from use of the information contents listed in this manual.

MEMO

i
General Contents
Chapter 1 Cautions To Ensure Safety ........................................................................... 1
1-1 Basic safety points ...................................................................................................... 2
1-2 System design safety points ........................................................................................ 2
1-3 Installation and wiring safety points ........................................................................... 3
1-4 Start-up and maintenance safety points ...................................................................... 4
1-5 Precautions when disposing of the unit ...................................................................... 4
1-6 Warranty .................................................................................................................... 4
Chapter 2 Ethernet Unit .............................................................................................. 5
2-1 Ethernet unit features ................................................................................................. 6
2-2 How data is exchanged............................................................................................... 7
2-3 How to connect to Ethernet ....................................................................................... 8
2-4 Making system settings for the controller (server) ...................................................... 9
2-4-1 Validating the Ethernet unit .......................................................................................... 9
2-4-2 Setting the IP address ................................................................................................. 10
2-4-3 Setting the subnet mask .............................................................................................. 12
2-4-4 Setting the gateway .................................................................................................... 13
2-4-5 Setting the communication mode ............................................................................... 14
2-5 Making the PC settings (client) ................................................................................. 15
2-5-1 Setting the TCP/IP protocol ......................................................................................... 15
2-6 Checking the connection with "ping" ........................................................................ 17
2-7 Using TELNET ........................................................................................................... 18
2-7-1 Difference between TELNET and RS-232C communications ....................................... 18
2-8 TELNET dedicated parameters .................................................................................. 19
2-8-1 Parameter description ................................................................................................. 19
2-8-2 Setting the parameters ................................................................................................ 22
2-9 TELENET communication commands........................................................................ 23
2-9-1 Communication command specifications .................................................................. 23
2-9-2 Ethernet unit control commands ................................................................................ 24
2-9-3 Robot control commands ........................................................................................... 24
2-10 Making a connection with TELNET.EXE..................................................................... 25
2-11 Other operating tasks ............................................................................................... 27
2-11-1 Displaying the MAC address ...................................................................................... 27
2-11-2 Displaying the version of the Ethernet unit ................................................................. 28
2-12 Message List .............................................................................................................. 29
2-12-1 Error messages ........................................................................................................... 29
2-12-2 Telnet message list ..................................................................................................... 30
2-13 Troubleshooting ........................................................................................................ 31
2-14 Specifications ........................................................................................................... 34
2-14-1 Ethernet unit specifications ........................................................................................ 34
2-14-2 Modular connector .................................................................................................... 35
2-14-3 UTP (STP) cable ......................................................................................................... 36
2-15 Supplement ............................................................................................................... 37
2-15-1 Typical network systems ............................................................................................. 37
2-15-2 Description of terminology ........................................................................................ 41

ii
MEMO

1
1
Cautions To Ensure Safety
Chapter 1 Cautions To Ensure Safety

2
1
Cautions To Ensure Safety
1-1 Basic safety points
Besides reading this manual and the controller user's manual, also be sure to handle the equipment
correctly while paying sufficient attention to safety.
Points regarding safety in this manual only list items involving this product. Please refer to the controller
user's manual for information regarding safety when using this unit with the controller.
It is not possible to detail all safety items within the limited space of this manual. So it is essential that
the user have a full knowledge of basic safety rules and also that the operator makes correct judg-
ments on safety procedures during operation.
Industrial robots are highly programmable, mechanical devices that provide a large degree of free-
dom when performing various manipulative tasks. Failure to take necessary safety measures or mis-
handling due to not following the instruction in this manual may result in trouble or damage to the
robot and injury to personnel (robot operator or service personnel) including fatal accidents.
Important caution points in this manual are from hereon indicated by the term:
cCAUTION
1-2 System design safety points
cCAUTION
Ethernet communications protocol specifications do not guarantee real-time operation. So relying only on the
Ethernet in situations such as robot emergency stop can be extremely dangerous. Install safety interlock circuits
using the emergency stop terminal in the SAFETY connector of the robot controller to ensure quick and
effective emergency stops.
cCAUTION
To find the current status of the network system and robot controller when communication errors occur on the
Ethernet system, refer beforehand to this manual and the instruction manual for equipment used by the other
party. Also install safety interlock circuit so that systems including a robot controller will function reliably and
safely when communication errors occur.
cCAUTION
Do not bundle control lines or communication cables together or in close contact with main circuit or motor/
actuator lines. As a general rule, maintain a gap of at least 100mm. Noise in signal lines may cause faulty
operation.
1-1 Basic safety points

3
1
Cautions To Ensure Safety
1-3 Installation and wiring safety points
cCAUTION
Always cut off all power to the controller and the overall system before attempting installation or wiring jobs.
This will prevent possible electrical shocks.
After the controller has been on for a while, some points in the controller may be extremely hot or remain at
high voltages. After cutting off the power when installing or removing the unit, wait at least 5 minutes before
starting work.
cCAUTION
Always uses the system specifications as listed in the controller user's manual during installation or wiring work
on the robot controller. Attempting to use other than these system specifications might cause electrical shocks,
fire, faulty operation, product damage or deteriorated performance.
cCAUTION
Securely install the connectors into the unit, and when wiring the connectors, make the crimp, contact or solder
connections correctly, using the tool specified by the manufacturer. Poor connections will cause faulty operation.
cCAUTION
When installing the unit, be careful not to directly touch any electronic components (except DIP switches) or
parts conducting electrical current.
cCAUTION
Make sure that foreign matter such as wiring debris or dust does not penetrate into the robot controller.
cCAUTION
Always store network cable inside cable ducts or clamp them securely in place. Otherwise, excessive play or
movement, or mistakenly pulling on the cable may damage the unit or cables, or poor cable contact may lead to
faulty operation.
cCAUTION
When detaching the cable, remove by holding the connector itself and not by tugging on the cable. Otherwise,
removing by pulling on the cable itself may damage the unit or cables, or poor cable contact may lead to faulty
operation.
1-3 Installation and wiring safety points

4
1
Cautions To Ensure Safety
1-4 Start-up and maintenance safety points
cCAUTION
Never attempt to disassemble the robot or controller. When a robot or controller component must be repaired or
replaced, contact us for details on how to perform the servicing.
cCAUTION
Always cut off all power to the controller and the overall system before attempting maintenance or servicing.
This will prevent possible electrical shocks.
After the controller has been on for a while, some points in the controller may be extremely hot or remain at
high voltages. After cutting off the power when installing or removing the unit, wait at least 5 minutes before
starting work.
cCAUTION
Do not touch the terminals (or pins) while power is still applied to the unit. This may cause electrical shocks or
faulty operation.
1-5 Precautions when disposing of the unit
cCAUTION
This product must be properly handled as industrial waste when its disposal is required.
1-6 Warranty
For information on the product warranty, please contact your local agent where you purchased your
product.
1-4 Start-up and maintenance safety points

5
2
Ethernet Unit
Chapter 2 Ethernet Unit

6
2
Ethernet Unit
2-1 Ethernet unit features
Ethernet is the network most commonly used by office equipment today. This Ethernet unit is an
optional device for connecting to YAMAHA robot controllers over the Ethernet.
The communications protocol utilizes TCP/IP which is a standard Internet protocol so PCs and busi-
ness computers with Internet access or equipment incorporating TCP/IP protocols can easily ex-
change data with the robot controller.
Main features of this Ethernet unit for RCX series robot controllers are as follows:
■The RCX series robot controllers can be connected to the Ethernet system using this unit. The
unit fits directly inside the controller and so does not require any extra installation space.
■The Ethernet unit uses 10BASE-T specifications, so UTP cables (unshielded twisted-pair cables)
or STP cables (shielded twisted-pair cables) can be used. This makes cable and wiring instal-
lation really easy.
■Several controllers can be connected on the same network so information can be processed in
one batch from a designated PC.
■Utilizing a HUB having 10BASE-2 or 10BASE-5 connectors, robot controllers can be ac-
cessed even from offices located away from the factory. Using the Internet allows accessing
even robot controllers in remote locations.
■The robot controller operates as a TELNET (socket) server, which can easily be accessed from
PCs used as TELNET terminals. (For details on how to install TELNET into PCs, see the
relevant instruction manual.)
Ethernet unit commands are the same as those handled through RS-232C, so even first-time
users will find it easy to use.
If information such as network settings on the PC or for detailed information on other equipment is
needed, refer to that particular user's manual or product instruction manual.
For information on operating the YAMAHA robot controller and robot programming, refer to the
controller user's manual and programming manual.
* Ethernet is a registered trademark of the Xerox Corporation (USA).
2-1 Ethernet unit features

7
2
Ethernet Unit
2-2 How data is exchanged
The following is a brief explanation to help understand how information is exchanged over the Ethernet
with the other devices, such as between the robot controller and PC.
In the communications method called TCP/IP, an IP address is assigned to each device connected on
the network. The IP address is a number unique to each device and serves to identify that device. In
the communications process, the IP address of the robot controller must first be specified to make
connection.After making the connection, the actual data is exchanged between the devices and when
finished the connection is terminated.
The RCX series robot controllers equipped with the Ethernet unit operate as a server and constantly
await a connection request from the client (other party's device such as a PC). Specific actions are
then carried out when a request arrives from a client. So the robot controller does not connect to
another server on its own.
Server
Client Client Client
IP address
192.168.0.3
192.168.0.5
192.168.0.10 192.168.0.11 192.168.0.12
RCX series
robot controller
+
Ethernet Unit
q
w
Functions as a server.
Performs specified
actions upon receiving
request from client.
Device such as PC is the client, connects to server and issues commands to perform
specified actions.
Ethernet
qSpecify the IP address of robot controller to exchange data with and make the connection.
(Above example shows the client 192.168.0.10 has specified the robot controller 192.168.0.5
and made a connection.)
wAfter making the connection, the robot controller runs a specific series of actions according to
instructions from the client.
nNOTE
During multitasking by the client, several robots can be simultaneously connected to one client unit.
Only one client can make a simultaneous connection to one robot controller unit.
Settings such as the IP address and subnet are made from the programming box.
2-2 How data is exchanged

8
2
Ethernet Unit
2-3 How to connect to Ethernet
The Ethernet unit for RCX series employs 10BASE-T specifications, so the robot controller connects
by a cable to the HUB.
Use UTP cables (unshielded twisted-pair cables) or STP cables (shielded twisted-pair cables) for
category 3 or higher, with straight-through wiring specifications.
To connect to the Ethernet, insert the cable with modular jack into the modular connector on the
controller until you hear a click. Insert the other end of the cable into the modular connector on the
HUB.
Fig. 2-1 Connecting to Ethernet
RCX series controller
RPB
MOTOR
XM
YM
ZM
RM
PWR
SRV
SAFETY
RPB
COM
STD.DIO
ROB
I/O
ZR
OP.1 OP.3
OP.2 OP.4 RGEN
ACIN
N
P
N1
L1
L
N
SEL
BATT
ZR
XY
BATT
ROB
XY
I/O
ＰＩＮ13−14
EXT.E-STOP
ERR
RCX240
12345678
HUB
UTP (STP)
straight-through cable
cCAUTION
We use an FL HUB (made by Phoenix Contact) to check operation. Using this HUB is recommended if
constructing your own system.
HUBs generally available on the market are not designed for use in locations such as factories, so some HUBs
are vulnerable to external noise. Please acknowledge beforehand that operation cannot be guaranteed if other
types of HUBs are used.
Always be sure to use a HUB with high noise resistance when connecting to the controller.
cCAUTION
The maximum cable length between the HUB and controller is 100 meters.
Before connecting the HUB and controller always refer to the instruction manuals for the device used by the
other party and peripheral equipment such as the HUB.
If the HUB communication mode can be set manually, then set to 10Mbps/Half Duplex.
nNOTE
Using a straight-through cable is recommended when connecting to the other party's device by way of the HUB.
You can connect directly to the other party's device without the HUB by using a crossover cable but communication
may sometimes not be possible due to the type of LAN adapter used by other party's device.
2-3 How to connect to Ethernet

9
2
Ethernet Unit
2-4 Making system settings for the controller (server)
2-4 Making system settings for the controller (server)
A minimum of IP address, subnet mask and gateway settings must be made so that the robot control-
ler will be correctly identified and acknowledged on Ethernet.
These settings are made from the programming box.
The settings will be enabled after restarting the controller.
2-4-1 Validating the Ethernet unit
To use the Ethernet, the Ethernet board must first be enabled by setting the parameter.
1) Press
F1
(PARAM) in "SYSTEM" mode to enter "SYSTEM>PARAM" mode.
2) Press
F5
(OP. BRD).
ＳＹＳＴＭ＞ＰＡＲＡＭ Ｖ８．０１
Ｒｏｂｏｔ ＝ ＹＫ２５０Ｘ
Ｍ１＝ａＹＫ２５０Ｘ Ｍ５＝ ｎｏ ａｘｉｓ
Ｍ２＝ａＹＫ２５０Ｘ Ｍ６＝ ｎｏ ａｘｉｓ
Ｍ３＝ａＹＫ２５０Ｘ
Ｍ４＝ａＹＫ２５０Ｘ
ＲＯＢＯＴ ＡＸＩＳ ＯＴＨＥＲＳ ＯＰ．ＢＲＤ
3) Select the number for "E_Net" with the
keys and press
F1
(SELECT).
ＳＹＳＴＭ＞ＰＡＲＡＭ＞ＯＰ．ＢＲＤ Ｖ８．０１
１．Ｅ＿Ｎｅｔ
２． ーーー
３． ーーー
４． ーーー
ＳＥＬＥＣＴ
ＳＹＳＴＭ＞ＰＡＲＡＭ＞ＯＰ．ＢＲＤ Ｖ８．０１
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
ＥＤＩＴ ＪＵＭＰ
4) The current Ethernet unit identity status appears
on the display.
With the cursor positioned on the "1. board
condition" ("1. board function" for RCX221/
222), press
F1
(EDIT).
5) Press
F2
(VALID) to make the Ethernet
identifiable from the controller.
If making it unidentified from the controller,
press
F1
(INVALID).
ＳＹＳＴＭ＞ＰＡＲＡＭ＞ＯＰ．ＢＲＤ Ｖ８．０１
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
ＩＮＶＡＬＩＤ ＶＡＬＩＤ
6) To end the setting, press
ESC
. To continue setting another parameter, use the keys to
select the parameter.

10
2
Ethernet Unit
2-4 Making system settings for the controller (server)
2-4-2 Setting the IP address
The following explains how to set the IP address.
The IP address is a number unique to each device and identifies that device from among many other
devices connected on the network. The IP address of one device must not be the same number as
another device so use caution when setting the IP address.
1) Press
F1
(PARAM) in "SYSTEM" mode to enter "SYSTEM>PARAM" mode.
2) Press
F5
(OP. BRD).
ＳＹＳＴＭ＞ＰＡＲＡＭ Ｖ８．０１
Ｒｏｂｏｔ ＝ ＹＫ２５０Ｘ
Ｍ１＝ａＹＫ２５０Ｘ Ｍ５＝ ｎｏ ａｘｉｓ
Ｍ２＝ａＹＫ２５０Ｘ Ｍ６＝ ｎｏ ａｘｉｓ
Ｍ３＝ａＹＫ２５０Ｘ
Ｍ４＝ａＹＫ２５０Ｘ
ＲＯＢＯＴ ＡＸＩＳ ＯＴＨＥＲＳ ＯＰ．ＢＲＤ
3) Select the number for "E_Net" with the
keys and press
F1
(SELECT).
ＳＹＳＴＭ＞ＰＡＲＡＭ＞ＯＰ．ＢＲＤ Ｖ８．０１
１．Ｅ＿Ｎｅｔ
２． ーーー
３． ーーー
４． ーーー
ＳＥＬＥＣＴ
4) Press the key once to select "2. IP address"
and press
F1
(EDIT).
ＳＹＳＴＭ＞ＰＡＲＡＭ＞ＯＰ．ＢＲＤ Ｖ８．０１
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
ＥＤＩＴ ＪＵＭＰ
ＳＹＳＴＭ＞ＰＡＲＡＭ＞ＯＰ．ＢＲＤ Ｖ８．０１
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
Ｅｎｔｅｒ ＩＰ ａｄｄｒｅｓｓ ＞１９２．１６８． ０． ２
5) The currently set IP address appears.
To change it, enter the new IP address with the
0
to
9
keys. Enter the exact number
including periods (.).
After changing the setting, press .
6) To end the setting, press
ESC
. To continue setting another parameter, use the keys to
select the parameter.
cCAUTION
All changes to the IP address, subnet mask and gateway settings will be enabled after restarting the robot
controller. When connecting the robot controller on an already existing network, always check with the network
supervisor before making IP address, subnet mask and gateway settings.

11
2
Ethernet Unit
2-4 Making system settings for the controller (server)
nNOTE
The IP address is separated into network address and host address sections. The network address section is
extracted from the IP address by AND processing with the subnet mask. The remaining portion is the host address
section. Devices belonging to the same network must all be set to have the same network address. The host address,
however, should be different for every device and set so that no two devices have the same number. The first and the
last host address numbers are reserved for the system so be sure not to set these as the IP address.
When the IP address for example is 192.168.0.10 and the subnet mask is 255.255.255.0, the network address
section is found to be 192.168.0 and the host address section to be 10 by means of AND processing with the subnet
mask. In this case, the network address section of all other devices belonging to that network must all be 192.168.0.
The host address section of those other devices on the other hand, must be set to a number other than 10. The
number 0 and 255 are reserved, so do not use them for setting the host address.
So when a device having an IP address of 192.168.0.10 and a subnet mask of 255.255.255.0 belongs to a particular
network and you want to add another device to that network, then you would assign IP addresses from among
192.168.0.1 to 192.168.0.9 and 192.168.0.11 to 192.168.0.254.
nNOTE
The Ethernet unit for RCX series is not usable with IP address auto acquisition functions such as DHCP and
BOOTP. You must set the IP address manually.

12
2
Ethernet Unit
2-4 Making system settings for the controller (server)
2-4-3 Setting the subnet mask
The following explains how to set the subnet mask.
The subnet mask is a numerical address used to subdivide the network into smaller parts.
1) Press
F1
(PARAM) in "SYSTEM" mode to enter "SYSTEM>PARAM" mode.
2) Press
F5
(OP. BRD).
ＳＹＳＴＭ＞ＰＡＲＡＭ Ｖ８．０１
Ｒｏｂｏｔ ＝ ＹＫ２５０Ｘ
Ｍ１＝ａＹＫ２５０Ｘ Ｍ５＝ ｎｏ ａｘｉｓ
Ｍ２＝ａＹＫ２５０Ｘ Ｍ６＝ ｎｏ ａｘｉｓ
Ｍ３＝ａＹＫ２５０Ｘ
Ｍ４＝ａＹＫ２５０Ｘ
ＲＯＢＯＴ ＡＸＩＳ ＯＴＨＥＲＳ ＯＰ．ＢＲＤ
3) Select the number for "E_Net" with the
keys and press
F1
(SELECT).
ＳＹＳＴＭ＞ＰＡＲＡＭ＞ＯＰ．ＢＲＤ Ｖ８．０１
１．Ｅ＿Ｎｅｔ
２． ーーー
３． ーーー
４． ーーー
ＳＥＬＥＣＴ
4) Press the key twice to select "3. subnet
mask" and then press
F1
(EDIT).
ＳＹＳＴＭ＞ＰＡＲＡＭ＞ＯＰ．ＢＲＤ Ｖ８．０１
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
ＥＤＩＴ ＪＵＭＰ
ＳＹＳＴＭ＞ＰＡＲＡＭ＞ＯＰ．ＢＲＤ Ｖ８．０１
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
Ｅｎｔｅｒ ｓｕｂｎｅｔ ｍａｓｋ ＞２５５．２５５．２５５． ０
5) The currently set subnet mask appears.
To change it, enter the new subnet mask with
the
0
to
9
keys. Enter the exact
number including periods (.).
After changing the setting, press .
6) To end the setting, press
ESC
. To continue setting another parameter, use the keys to
select the parameter.

13
2
Ethernet Unit
2-4 Making system settings for the controller (server)
2-4-4 Setting the gateway
The following explains how to set the gateway. Basically this is specifying the router IP address. The
router is a device relaying information from a certain network to a different network when two or
more networks are present.
1) Press
F1
(PARAM) in "SYSTEM" mode to enter "SYSTEM>PARAM" mode.
2) Press
F5
(OP. BRD).
ＳＹＳＴＭ＞ＰＡＲＡＭ Ｖ８．０１
Ｒｏｂｏｔ ＝ ＹＫ２５０Ｘ
Ｍ１＝ａＹＫ２５０Ｘ Ｍ５＝ ｎｏ ａｘｉｓ
Ｍ２＝ａＹＫ２５０Ｘ Ｍ６＝ ｎｏ ａｘｉｓ
Ｍ３＝ａＹＫ２５０Ｘ
Ｍ４＝ａＹＫ２５０Ｘ
ＲＯＢＯＴ ＡＸＩＳ ＯＴＨＥＲＳ ＯＰ．ＢＲＤ
3) Select the number for "E_Net" with the
keys and press
F1
(SELECT).
ＳＹＳＴＭ＞ＰＡＲＡＭ＞ＯＰ．ＢＲＤ Ｖ８．０１
１．Ｅ＿Ｎｅｔ
２． ーーー
３． ーーー
４． ーーー
ＳＥＬＥＣＴ
4) Press the key three times to select "4. gate-
way " and then press
F1
(EDIT).
ＳＹＳＴＭ＞ＰＡＲＡＭ＞ＯＰ．ＢＲＤ Ｖ８．０１
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
ＥＤＩＴ ＪＵＭＰ
ＳＹＳＴＭ＞ＰＡＲＡＭ＞ＯＰ．ＢＲＤ Ｖ８．０１
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
Ｅｎｔｅｒ ｇａｔｅｗａｙ ＞１９２．１６８． ０． １
5) The currently set gateway appears.
To change it, enter the new gateway with the
0
to
9
keys. Enter the exact number
including periods (.).
After changing the setting, press .
6) To end the setting, press
ESC
. To continue setting another parameter, use the keys to
select the parameter.
cCAUTION
Any appropriate gateway address can be used as long as the network is not connected to other networks.
(However, use an IP address that has not yet been assigned to other devices.)
When connecting the robot controller on an already existing network, always check with the network supervisor
before making IP address, subnet mask and gateway settings.
The Ethernet unit for RCX series uses a private address as the IP address default setting. This default value
cannot be used as is on the Internet. So when connecting to the Internet, always be sure to change the IP
address of the robot controller to a global address.

14
2
Ethernet Unit
2-4 Making system settings for the controller (server)
2-4-5 Setting the communication mode
The following explains how to set the mode (online/offline) of the communication with the computer.
The online commands can be run only in the online mode.
nNOTE
The communication mode setting ("ETH mode" parameter) is valid only when the software version is as follows.
RCX240 Ver. 10.20 or higher
RCX221/222 Ver. 9.27 or higher
1) Press
F1
(PARAM) in "SYSTEM" mode to enter "SYSTEM>PARAM" mode.
2) Press
F5
(OP. BRD).
ＳＹＳＴＭ＞ＰＡＲＡＭ Ｖ１０．２０
Ｒｏｂｏｔ ＝ ＹＫ２５０Ｘ
Ｍ１＝ａＹＫ２５０Ｘ Ｍ５＝ ｎｏ ａｘｉｓ
Ｍ２＝ａＹＫ２５０Ｘ Ｍ６＝ ｎｏ ａｘｉｓ
Ｍ３＝ａＹＫ２５０Ｘ
Ｍ４＝ａＹＫ２５０Ｘ
ＲＯＢＯＴ ＡＸＩＳ ＯＴＨＥＲＳ ＯＰ．ＢＲＤ
3) Select the number for "E_Net" with the
keys and press
F1
(SELECT).
ＳＹＳＴＭ＞ＰＡＲＡＭ＞ＯＰ．ＢＲＤ Ｖ１０．２０
１．Ｅ＿Ｎｅｔ
２． ーーー
３． ーーー
４． ーーー
ＳＥＬＥＣＴ
4) Press to select "15. ETH mode" and press
F1
(EDIT).
ＳＹＳＴＭ＞ＰＡＲＡＭ＞ＯＰ．ＢＲＤ Ｖ１０．２０
１１．ｌｏｇｏｕｔ ＣＯＮＴ．
１２．ｋｅｅｐ−ａｌｉｖｅ［ｓｅｃ］ ０
１３．ＭＡＣ ａｄｄｒｅｓｓ ００−０４−Ｃ６−００−００−Ｃ２
１４．ｕｎｉｔ ｖｅｒｓｉｏｎ １．０３
１５．ＥＴＨ ｍｏｄｅ ＯＮＬＩＮＥ
ＥＤＩＴ ＪＵＭＰ
ＳＹＳＴＭ＞ＰＡＲＡＭ＞ＯＰ．ＢＲＤ Ｖ１０．２０
１１．ｌｏｇｏｕｔ ＣＯＮＴ．
１２．ｋｅｅｐ−ａｌｉｖｅ［ｓｅｃ］ ０
１３．ＭＡＣ ａｄｄｒｅｓｓ ００−０４−Ｃ６−００−００−Ｃ２
１４．ｕｎｉｔ ｖｅｒｓｉｏｎ １．０３
１５．ＥＴＨ ｍｏｄｅ ＯＮＬＩＮＥ
ＯＦＦＬＩＮＥ ＯＮＬＩＮＥ
5) When changing the communication mode, press
F1
(OFFLINE) to set the offline mode or
press
F2
(ONLINE) to set the online mode.
6) To end the setting, press
ESC
. To continue
setting another parameter, use the
keys to select the parameter.
nNOTE
The "ETH mode" parameter can also be changed by the ONLINE or OFFLINE statement of the robot language.
For details on ONLINE and OFFLINE statements, see the programming manual.