YASKAWA Motoman MLX200 User manual

Part Number: 168542-1CD
Revision: 5
MLX200
SOFTWARE AND OPERATION
USERS MANUAL
VERSION 2.0
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
MLX200 HARDWARE INSTALLATION AND SOFTWARE UPGRADE
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CONFIDENTIAL AND PROPRIETARY. Copyright ©2009, 2015 Yaskawa
and its licensor's. This software code contains proprietary trade secrets of
Yaskawa Innovation Inc. and its licensor’s and is also protected by U.S.
and other copyright laws and applicable international treaties. Any use
compilation, modification, distribution, reproduction, performance, display,
or disclosure (“Use”) of this software CD is subject to the terms and
conditions of your written agreement with Agile Planet. If you do not have
such an agreement, then any Use of this material is strictly prohibited.
Unauthorized Use of this software code, or any portion of it, will result in
civil liability and/or criminal penalties.
The information herein is subject to change without notice and should not
be construed as a commitment by Yasakwa Motoman Robotics. This
manual is periodically reviewed and revised. Yaskawa Motoman Robotics,
assumes no responsibility for any errors or omissions in this document.
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MANDATORY
This manual explains the various components of the MLX200
application system and general operations. Read this manual carefully
and be sure to understand its contents before operating the MLX200
application.
CAUTION
• Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating this product.
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications. If such modification is made, the manual number will
also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your
product’s warranty.
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We suggest that you obtain and review a copy of the ANSI/RIA National
Safety Standard for Industrial Robots and Robot Systems (ANSI/RIA
R15.06-2012). You can obtain this document from the Robotic Industries
Association (RIA) at the following address:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: [phone]
FAX: [phone]
www.roboticsonline.com
Ultimately, well-trained personnel are the best safeguard against
accidents and damage that can result from improper operation of the
equipment. The customer is responsible for providing adequately trained
personnel to operate, program, and maintain the equipment. NEVER
ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM, OR
REPAIR THE EQUIPMENT!
We recommend approved Yaskawa training courses for all personnel
involved with the operation, programming, or repair of the equipment.
This equipment has been tested and found to comply with the limits for a
Class A digital device, pursuant to part 15 of the FCC rules. These limits
are designed to provide reasonable protection against harmful
interference when the equipment is operated in a commercial
environment. This equipment generates, uses, and can radiate radio
frequency energy and, if not installed and used in accordance with the
instruction manual, may cause harmful interference to radio
communications.
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Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or
inspection of the MLX200.
In this manual, the Notes for Safe Operation are classified as
“WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.
Even items described as “CAUTION” may result in a serious accident in
some situations.
At any rate, be sure to follow these important items.
WARNING
Indicates a potentially hazardous
situation which, if not avoided, could
result in death or serious injury to
personnel.
CAUTION
Indicates a potentially hazardous
situation which, if not avoided, could
result in minor or moderate injury to
personnel and damage to equipment.
It may also be used to alert against
unsafe practices.
MANDATORY
Always be sure to follow explicitly the
items listed under this heading.
PROHIBITED
Must never be performed.
NOTE
To ensure safe and efficient operation at all times, be sure
to follow all instructions, even if not designated as
“CAUTION” and “WARNING”.
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WARNING
• Confirm that no person is present in the P-point maximum envelope
of the manipulator and that you are in a safe location before:
- Turning ON the MLX200 Control Module power
- Moving the manipulator with programming pendant or MLX200
Control Module HMI
- Running the system in the check mode
- Performing automatic operations
Injury may result if anyone enters the P-point maximum envelope of the
manipulator during operation. Always press the [EMERGENCY STOP]
button immediately if there are problems. The [EMERGENCY STOP]
button is located on the right of the programming pendant.
• Observe the following precautions when performing teaching
operations within the P-point maximum envelope of the
manipulator:
- View the manipulator from the front whenever possible.
- Always follow the predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
• Before operating the manipulator, check that servo power is turned
OFF when the [EMERGENCY STOP] button on programming
pendant is pressed.
When the servo power is turned OFF, the SERVO ON INDICATOR
on the programming pendant or MLX200 Control Module HMI is
turned OFF.
Injury or damage to machinery may result if the Emergency Stop circuit
cannot stop the positioner during an emergency. The positioner should
not be used if the [EMERGENCY STOP] buttons do not function.
Fig. 1: EMERGENCY STOP Button
• Release the [EMERGENCY STOP] button (refer to Fig. 2). Once
this button is released, clear the cell of all items which could
interfere with the operation of the positioner. Then turn servo power
ON.
Injury may result from unintentional or unexpected positioner motion.
Fig. 2: Release of EMERGENCY STOP Button
TURN
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Definition of Terms Used Often in This Manual
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, a control module, a
programming pendant, and supply cables.
In this manual, the equipment is designated as follows.
Descriptions of the programming pendant keys, buttons, and displays are
shown as follows:
CAUTION
• Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately, and be sure that all other necessary processing has
been performed.
-Check for problems in manipulator movement.
-Check for damage to insulation and sheathing of external wires.
The optional programming pendant can be damaged if it is left in the
P-point maximum envelope of the manipulator’s work area, on the floor,
or near fixtures.
• Read and understand the Explanation of the Warning Labels before
operating the manipulator.
Equipment Manual Designation
MLX200 Control Module MLX200
MLX200 Programming Pendant Programming pendant
Equipment Manual Designation
Programming
Pendant
Character
Keys/ Symbol
Keys
The keys which have characters or its
symbol printed on them are denoted with [].
ex. [ENTER]
Axis Keys /
Numeric Keys
[Axis Key] and [Numeric Key] are generic
names for the keys for axis operation and
number input.
Keys pressed
simultaneously
When two keys are to be pressed
simultaneously, the keys are shown with a
“+” sign between them,
ex. [SHIFT]+[COORD]
Displays The menu displayed in the programming
pendant is denoted with {}.
ex. {JOB}
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Description of the Operation Procedure
In the explanation of the operation procedure, the expression “Select • • • “
mns that the cursor is moved to the object item and the SELECT key is
pressed, or that the item is directly selected by touching the screen.
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and TM are omitted.
Explanation of Warning Labels
The following warning labels are attached to the manipulator.
Fully comply with the precautions on the warning labels.
WARNING
• The label described below is attached to the manipulator. Observe
the precautions on the warning labels.
• Failure to observe this caution may result in injury or damage to
equipment.
Refer to the manipulator manual for the warning label location.
WARNING
Do not enter
robot
work area.
WARNING
Moving parts
may cause
injury
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Table of Contents
Table of Contents
1 Introduction ..................................................................................................................................... 1-1
1.1 Requirements .................................................................................................................... 1-1
1.1.1 Rockwell Automation PAC/PLC requirements for the MLX200: ........................... 1-1
1.1.2 RSLogix 5000 files included with the MLX200 Control Module:........................... 1-2
1.2 System Layout for the MLX200 Control Module ................................................................ 1-2
1.3 Customer Support Information........................................................................................... 1-3
2 System Configuration...................................................................................................................... 2-5
2.1 MLX200 Control Module .................................................................................................... 2-5
2.2 Configuring RSLogix Project.............................................................................................. 2-7
2.2.1 Pre-Configured RSLogix Projects......................................................................... 2-7
2.2.1.1 Configuring the Logix Controller.............................................................. 2-7
2.2.1.2 Configuring an MLX200 Control Module Communication ....................... 2-8
2.2.2 Importing MLX200 into Existing Project................................................................ 2-9
2.2.2.1 Import MLX200 AOIS AND UDTS........................................................... 2-9
2.2.2.2 Creating the MLX200 Communications Task........................................ 2-10
2.2.2.3 Adding an MLX200 Control Module to the I/O Configuration ................ 2-11
3 Developing with MLX200 ................................................................................................................ 3-1
3.1 MLX200 Tag Structures.....................................................................................................3-2
3.1.1 MLx-Level Tag Structure ...................................................................................... 3-2
3.1.2 Robot-Level Tag Structure ................................................................................... 3-3
3.1.3 Axis-level Tag Structure ....................................................................................... 3-4
3.1.4 Application Data Tag Structure............................................................................. 3-5
3.2 Instruction Overview .......................................................................................................... 3-7
3.2.1 System Commands .............................................................................................. 3-7
3.2.2 Robot Commands................................................................................................. 3-8
3.3 Programming Introduction ................................................................................................. 3-9
3.3.1 Task Scheduling................................................................................................... 3-9
3.3.2 Instruction Execution and Status Bits ................................................................... 3-9
3.3.3 State Management and Configuration Instructions ............................................ 3-10
3.3.4 Motion Instructions ............................................................................................. 3-11
3.3.4.1 Speed, Acceleration, Jerk Parameters.................................................. 3-12
3.3.4.2 Trajectory Shape ................................................................................... 3-12
3.3.4.3 Blend Factor.......................................................................................... 3-13
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3.3.5 Coordinate Frames Relevant to Robotics........................................................... 3-14
3.3.6 Jogging Motions.................................................................................................. 3-16
3.3.7 Error Messages .................................................................................................. 3-17
3.3.8 Stopping and Recovering Robot Motion ............................................................. 3-17
3.3.8.1 Aborted Motions .................................................................................... 3-18
3.3.8.2 Stopped Motions ................................................................................... 3-18
3.3.9 Using Global Speed Scale.................................................................................. 3-19
3.4 MLX-HMI.......................................................................................................................... 3-20
3.4.1 Setting Up the HMI ............................................................................................. 3-20
3.4.1.1 Importing the MLx-HMI Task ................................................................. 3-21
3.4.1.2 Importing MLxApplicationData............................................................... 3-22
3.4.1.3 Running the FTVIEW HMI Application .................................................. 3-22
3.4.2 Main Screen........................................................................................................ 3-23
3.4.3 HMI Menu Selection ........................................................................................... 3-25
3.4.4 Login and Security Settings ................................................................................ 3-27
3.4.5 Alarm Screen ...................................................................................................... 3-30
3.4.6 Teach Screen ..................................................................................................... 3-31
3.4.7 Tool and User Frame Screens............................................................................ 3-32
3.4.8 Cubic Interference Zones ................................................................................... 3-33
3.4.9 Robot Configuration............................................................................................ 3-34
3.4.10 Robot Info ......................................................................................................... 3-35
3.4.11 Brake Release Screen...................................................................................... 3-35
3.4.12 Interference Zone Status Screen...................................................................... 3-36
3.4.13 Information Screen ........................................................................................... 3-36
4 MLX200 Programming Guide.......................................................................................................... 4-1
4.1 Developing a Simple Application ....................................................................................... 4-1
4.1.1 Teaching Points with MLX-MHI ............................................................................ 4-1
4.1.2 Accessing Taught Points From a Program ........................................................... 4-2
4.1.3 OPERATING A USER APPLICATION FROM HMI .............................................. 4-4
4.1.4 Teaching Points in User Frames .......................................................................... 4-5
4.1.5 USING REFERENCE POSITION VALUES.......................................................... 4-6
4.1.5.1 Example 1: 6-Axis Robot ......................................................................... 4-7
4.1.5.2 Example 2: 4-Axis Palletizing Robot...................................................... 4-10
4.1.5.3 Summary ............................................................................................... 4-11
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4.2 Configuration Instructions ................................................................................................4-12
4.2.1 Using Configuration Instructions......................................................................... 4-12
4.2.2 Setting Multiple Configuration Instructions ......................................................... 4-12
4.2.3 Using Configuration Instructions with Motions.................................................... 4-13
4.3 Using Blend Factors ........................................................................................................ 4-15
4.3.1 PC Bit Triggering ................................................................................................ 4-15
4.3.2 Sequential Motion Instructions ........................................................................... 4-15
4.4 Programming Pitfalls and Best Practices......................................................................... 4-18
4.4.1 Incomplete AOI Executions ................................................................................ 4-18
4.4.2 DN BIT Checking................................................................................................ 4-20
4.4.3 Reused Control Variables................................................................................... 4-21
4.4.4 Task Overlaps and CPU Load............................................................................ 4-22
5 Collision Detection .......................................................................................................................... 5-1
5.1 Collision Detection Overview ............................................................................................. 5-1
5.2 Configuring Collision Detection from the HMI.................................................................... 5-3
5.3 Using the MLxRobotCollisionDetection Instruction........................................................... 5-9
5.3.1 Initializing Collision Detection from Application ................................................. 5-10
5.3.2 Measuring Collision Detection from Application ................................................. 5-11
5.3.3 Changing Collision Detection Behavior during Application................................. 5-12
6 Conveyor Tracking.......................................................................................................................... 6-1
6.1 Conveyor Tracking Overview............................................................................................. 6-1
6.2 Conveyor Tracking Requirements ..................................................................................... 6-3
6.3 Configuring Conveyor Tracking ......................................................................................... 6-4
6.4 1756-HSC Counter Card Configuration ............................................................................. 6-6
6.4.1 Wiring the 1756-HSC............................................................................................ 6-6
6.4.2 Configuring the 1756-HSC in RSLOGIX............................................................... 6-6
6.4.3 Linking the Conveyor Tags for a 1756-HSC......................................................... 6-7
6.5 Conveyor Parameter Configuration for MLX200................................................................ 6-8
6.6 Conveyor Tracking Setup Procedure............................................................................... 6-10
6.6.1 Verify Counter Card is Functional....................................................................... 6-10
6.6.2 Calculate Conveyor Resolution .......................................................................... 6-10
6.6.3 Teach a User Frame........................................................................................... 6-10
6.6.4 Teach Point and Setup Tracking Parameters..................................................... 6-11
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6.6.5 Debugging Pickup Position Errors ...................................................................... 6-12
6.6.5.1 Part is Gripped at Different Locations on Part ....................................... 6-12
6.6.5.2 Part is Gripped Consistently at the Wrong Location on the Part ........... 6-13
6.7 Developing a Conveyor Tracking Application .................................................................. 6-14
6.7.1 Conveyor Tracking Instructions .......................................................................... 6-14
6.7.1.1 MLxRobotConvSyncStart Instruction..................................................... 6-14
6.7.1.2 MLxRobotConvSyncStop Instruction..................................................... 6-15
6.7.1.3 MLxRobotConvSyncStopWithLinearMot Instruction.............................. 6-16
6.7.1.4 MLxRobotConvSyncStopWithAxisMot Instruction................................. 6-16
6.7.2 Programming Structure for a Conveyor Tracking Application in Ladder............. 6-17
6.7.2.1 Program Structure Overview ................................................................. 6-17
6.7.2.2 Program Structure Details ..................................................................... 6-18
6.7.2.3 Advanced Application Options............................................................... 6-21
6.7.2.4 Conveyor Tracking Programming Pitfalls .............................................. 6-24
7 Configuration and Maintenance of MLX200 Control Module .......................................................... 7-1
7.1 MLX200 Control Module Status Display ............................................................................ 7-1
7.1.1 Connecting to MLX200 Control Module Display Remotely................................... 7-2
7.2 Maintenance and Configuration Operations ...................................................................... 7-5
7.2.1 Logging in to Perform Maintenance Operations ................................................... 7-5
7.2.2 Changing the Password of the MLX200 Control Module...................................... 7-6
7.2.3 Changing the IP Address of the MLX200 Control Module .................................... 7-7
7.2.4 Rebooting the MLX200 Control Module................................................................ 7-8
7.2.5 Retrieving Log Files .............................................................................................. 7-9
7.2.6 Updating Configuration and License Files .......................................................... 7-10
7.2.7 BACKUP AND RESTORE OPERATIONS ......................................................... 7-12
7.2.8 Performing Firmware Update.............................................................................. 7-14
7.2.9 Advanced Operations to Assist with Maintenance and Troubleshooting............ 7-16
7.2.9.1 Disabling Automatic Restart of MLX-R.exe ........................................... 7-16
7.2.9.2 Manually Starting MLX-R.exe After Auto-start is Disabled .................... 7-18
Appendix A ........................................................................................................................................A-1
A.1 MLX200 Add-on Instructions .............................................................................................A-1
A.1.1 MLxAbort..............................................................................................................A-1
A.1.2 MLxEnable ...........................................................................................................A-2
A.1.3 MLxHold ...............................................................................................................A-3
A.1.4 MLxReset .............................................................................................................A-4
A.1.5 MLxResetAndHold ...............................................................................................A-5
A.1.6 MLxRestart...........................................................................................................A-6
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Table of Contents
A.1.7 MLxStop ...............................................................................................................A-7
A.1.8 MLxRobotMoveAxisAbsolute ...............................................................................A-8
A.1.9 MLxRobotMoveAxisRelative ..............................................................................A-10
A.1.10 MLxRobotMoveLinearAbsolute ........................................................................A-12
A.1.11 MLxRobotMoveLinearRelative .........................................................................A-14
A.1.12 MLxRobotMoveCircular....................................................................................A-16
A.1.13 MLxRobotJogAxes ...........................................................................................A-18
A.1.14 MLxRobotJogAxesToPoint...............................................................................A-19
A.1.15 MLXRobotJogTCP ...........................................................................................A-20
A.1.16 MLxRobotJogTCPToPoint ...............................................................................A-22
A.1.17 MLxRobotCoordinateTransform.......................................................................A-23
A.1.18 MLxRobotSetBasePose ................................................................................... A-24
A.1.19 MLxRobotSetCubicIZByCenterPoint................................................................A-25
A.1.20 MLxRobotSetCubicIZByTwoCorners ...............................................................A-26
A.1.21 MLxRobotSetFrameShift..................................................................................A-27
A.1.22 MLxRobotSetToolProperties ............................................................................A-28
A.1.23 MLxRobotSetUserFrame .................................................................................A-29
A.1.24 MLxRobotCollisionDetection ............................................................................ A-30
A.1.25 MLxRobotConvSyncStart.................................................................................A-32
A.1.26 MLxRobotConvSyncStop .................................................................................A-33
A.1.27 MLxRobotConvSyncStopWithAxisMot .............................................................A-34
A.1.28 MLxRobotConvSyncStopWithLinearMot..........................................................A-36
A.1.29 MLxGetErrorDetail ...........................................................................................A-38
A.1.30 MLxGetModuleInfo...........................................................................................A-39
A.1.31 MLxReadDigitalInputs......................................................................................A-40
A.1.32 MLxWriteDigitalOutputs ...................................................................................A-41
A.1.33 MLxRobotGetHomeOffsets ..............................................................................A-42
A.1.34 MLxRobotSetHomeOffsets ..............................................................................A-43
A.1.35 MLxRobotGetProperties...................................................................................A-44
A.1.36 MLxRobotSetProperties ...................................................................................A-45
A.1.37 MLxSetGlobalParameter..................................................................................A-46
Appendix B .......................................................................................................................................B-1
B.1 MLX200 Control Module Performance Results and Memory Usage.................................B-1
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Appendix C ....................................................................................................................................... C-1
C.1 MLX200 Control Module Error Code List ........................................................................ C-1
Appendix D ....................................................................................................................................... D-1
D.1 3rd Party Software Licenses Usage................................................................................ D-1
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1 Introduction
1.1 Requirements
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1 Introduction
The MLX200 Control Module from Yaskawa provides an easy way to
develop PLC-based robotic solutions. Programming of the MLX200 is
performed entirely using RSLogix 5000 from Rockwell Automation
through the use of a set of RSLogix 5000 Add-on Instructions (AOIs) for
Robot Motion and Configuration. These instructions are compatible with
the ControlLogix, CompactLogix and GuardLogix families of
Programmable Automation Controllers (PAC) from Rockwell Automation.
This guide will provide a step-by-step description of how to configure,
develop, deploy, and maintain applications using MLX200 Control Module.
Table 1-1 "MLX200 Control Panel Components and Terminology" shows
the various components that are contained within the MLX200 package.
1.1 Requirements
1.1.1 Rockwell Automation PAC/PLC requirements for the MLX200:
• Hardware Requirements
– 1756 ControlLogix Chassis and Power supply
– 1756 ControlLogix/GuardLogix safety controller with 1756-ENBT
EtherNet/IP module
– 1769 CompactLogix controller with built-in Ethernet/IP.
– 1 MB of available memory on PLC
• Development PC Requirements
– Windows XP or 7 32/64 bit on a PC with 4 GB RAM
• Software Requirements
– RSLogix 5000 V20
– FTView ME Station version 6.1, 30 Display Activation
(note: MLX-HMI has 30 screens - a larger activation may be
necessary if integrating into a larger HMI)
– Fuji's V-SFT development environment (version 5.4.33.0) for
optional MLX-HMI for Fuji Monitouch panels.
Table 1-1: MLX200 Control Panel Components and Terminology
MLX200 Control
Module Development
Software (MLX-D)
Add on instructions, data types, HMI screens
(referred to as MLX-HMI), examples, etc. for
RSLogix 5000 and FTView. An MLX200 user
programs their application using the MLX-D
functionality within the RSLogix 5000
environment.
MLX200 Control
Module PLC
Interface Software
(MLX-R)
Robot control firmware that is resident on the
MLX200.
MLX200 Drive Panel Hardware Drive Panel containing Servo Drives
and Safety Circuit for a given Robot Model.
MLX200 Control
Module
Stand-alone module that contains the MLX-R
firmware. This module will be mounted on the
MLX200 Drive Panel.
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1 Introduction
1.2 System Layout for the MLX200 Control Module
1.1.2 RSLogix 5000 files included with the MLX200 Control Module:
• MLX200_ControlLogix.ACD - preconfigured project for use with
ControlLogix systems
• MLX200_CompactLogix.ACD - preconfigured project for use with
CompactLogix systems
• MLX200_Import.L5X - skeleton application for importing MLX200
AOIs and User Defined Types (UDTs)
• MLX200Communications_[0-3].L5X - RSLogix task for MLX200
communications
• MLX200HMI.APA - MLX200 HMI Project File
• MLX200Conveyor_[0-3].L5X - conveyor update task (used only for
conveyor tracking)
• HMIUpdates.L5X - a RSLogix task that is needed to communicate
with the MLX200 HMI
1.2 System Layout for the MLX200 Control Module
Fig. 1-1 "MLX200 Connection System Layout" on page 1-3 shows an
overall diagram of how the system should be connected. Ethernet port 1
on the MLX200 Control Module should be connected directly to the servo
drive panel. Ethernet port 2 should be connected through an Ethernet
switch to the PC running RSLogix as well as the CompactLogix or
ControlLogix system.
CAUTION
• The Ethernet cable between the MLX Control Module and Drive
Panel must be a Shielded Twisted Pair Cat 5E cable to prevent
noise-related issues that can vary greatly due to location and
system setup. All other cables can be standard Ethernet.
• The Ethernet Switch should not be used to handle any other
network communications besides those shown in the layout. Other
network traffic could cause poor performance or loss of
communications.
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1 Introduction
1.3 Customer Support Information
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Fig. 1-1: MLX200 Connection System Layout
1.3 Customer Support Information
If you need assistance with any aspect of your MLX200 Software and
Operations please contact Yaskawa Motoman Customer Support at the
following 24-hour telephone number:
For routine technical inquiries, you can also contact Yaskawa Motoman
Customer Support at the following e-mail address:
When using e-mail to contact Yaskawa Motoman Customer Support,
please provide a detailed description of your issue, along with complete
contact information. Please allow approximately 24 to 36 hours for a
response to your inquiry.
NOTE
Multiple MLX200 Control Modules can be connected to a
single Logix PLC. Fig.1-1 "MLX200 Connection System
Layout" shows a single MLX200 Control Module layout.
[e-mail]
NOTE
Please use e-mail for routine inquiries only. If you have an
urgent or emergency need for service, replacement parts,
or information, you must contact Yaskawa Customer
Support at the telephone number shown above.
[phone]
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1 Introduction
1.3 Customer Support Information
Please have the following information ready before you call:
• System MLX200
• Robots
• Positioner
• Primary Application
• Software Version Access this information on the Status
Display screen of the MLX200
Control Module. Refer to
Fig. 7-1
"Status Display of MLX200 Control
Module" on page 7-1
for information
on connecting to the Status Display
screen
• Robot Serial Number Located on the robot data plate
• Robot Sales Order Number Located on the Control Module data
plate
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2 System Configuration
2.1 MLX200 Control Module
2-5
168542-1CD
168542-1CD
MLX200 Software and
Operations
2 System Configuration
This section of the guide will provide simple steps for connecting and
configuring each component in the MLX200 system.
2.1 MLX200 Control Module
The MLX200 Control Module will come attached to the MLX200 Drive
Panel. The module comes with two RJ-45 ports (Fig.2-1 "Ethernet Ports")
that are used for EtherCAT and Ethernet communications. The module
can be powered on by turning on power to the Drive Panel (Fig.2-2
"Power Indicators"). Table 2-1 "MLX200 Control Module LED Indicators"
on page 2-6 shows the LED indicators on the MLX Control Module.
Fig. 2-1: Ethernet Ports
Fig. 2-2: Power Indicators
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2-6
168542-1CD
168542-1CD
MLX200 Software and
Operations
2 System Configuration
2.1 MLX200 Control Module
Table 2-1: MLX200 Control Module LED Indicators
LED Color State Meaning
Power
Button
None Off Power not connected to MLX200 Control
Module
Red Solid Power connected, but MLX200 Control
Module is turned off.
Blue Solid Power connected MLX200 Control Module
running.
PWR None Off Power not connected to MLX200 Control
Module
Green Solid Power connected and MLX200 Control
Module running
HDD Orange Blinking Indicates Hard Disk activity
Ethernet 1
(EtherCAT)
Green Off Link Inactive
Solid Link Active
Orange Off Link Inactive
Blinking Link Active and data being transmitted.
Ethernet 2
(Ethernet/IP)
(TCP/IP)
Green Off Link Inactive
Solid Link Active
Orange Off Link Inactive
Blinking Link Active and data being transmitted.
NOTE
The Ethernet LEDs will show “Link Inactive” if the device
they are connected to is not powered on.
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