YASKAWA Motoman DX200 User manual

MANUAL NO.
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DX200 OPTIONS
INSTRUCTIONS
EtherNet/IP COMMUNICATION FUNCTION
(FOR AB3607 MADE BY HMS)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR’S MANUAL (for each purpose)
DX200 MAINTENANCE MANUAL
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187430-1CD
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MANDATORY
• This manual explains the EtherNet/IP communication function (for
AB3607 made by HMS) of the DX200. Read this manual carefully
and be sure to understand its contents before handling the DX200.
• General items related to safety are listed in Chapter 1: Safety of the
DX200 Instructions. To ensure correct and safe operation, carefully
read the DX200 Instruction before reading this manual.
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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Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or
inspection of the DX200.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“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
DANGER
Indicates a imminent hazardous
situation which, if not avoided, could
result in death or serious injury to
personnel.
WARNING
Indicates a potentially hazardous
situation which, if not avoided, could
result in death or serious injury to
personnel.
CAUTION
Indicates a potentially hazardous situ-
ation which, if not avoided, could
result in minor or moderate injury to
personnel and damage to equip-
ment. 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 “DAN-
GER”, “WARNING” and “CAUTION”.
PROHIBITED
• Do not use or keep the board in the following environmental
conditions.
– Where exposed to direct sunshine
– Where vibration or impact occurs
– Where high humidity exists
– Where a strong magnetic field exists
– Where much dust exists
– Where a sudden change in the temperature occurs
– Where corrosive gases occur
– Where condensation occurs
Improper usage of the board may damage the board.
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WARNING
• Before operating the manipulator, check that servo power is turned
OFF when the emergency stop buttons on the front door of the
DX200 and programming pendant are pressed.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop buttons do not function.
Fig. : Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Fig. : Release of Emergency Stop
TURN
• Observe the following precautions when performing teaching
operations within the P-point maximum envelope of the manipulator
– Be sure to use a lockout device to the safeguarding when going
inside. Also, display the sign that the operation is being
performed inside the safeguarding and make sure no one closes
the safeguarding.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no persons are present in the P-point maximum
envelope of the manipulator and that you are in a safe location
before:
– Turning ON the DX200 power
– Moving the manipulator with the programming pendant
– 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 an emergency stop button
immediately if there are problems. The emergency stop buttons are
located on the right of the front door of the DX200 and the programming
pendant.
• Before wiring, be sure to turn OFF the power supply and put up a
warning sign, such as “DO NOT TURN ON THE POWER.”
Failure to observe this warning may result in an electric shock or an
injury.
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WARNING
• Do not touch the inside of the panel for 5 minutes after the power is
turned OFF.
The remaining charged voltage in the capacitor may cause an electric
shock or an injury.
• Be sure to close the door and install the protection cover while the
power is turned ON.
Failure to observe this warning may result in a fire or an electric shock.
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.
• Always return the programming pendant to the hook on the cabinet
of the DX200 after use.
The programming pendant can be damaged if it is left in the
manipulator's work area, on the floor, or near fixtures.
Read and understand the Explanation of Warning Labels in the DX200
Instructions before operating the manipulator:
• The wiring and mounting must be performed by authorized and
qualified personnel.
Failure to observe this caution may result in a fire or an electric shock.
• Make sure that there is no foreign matter such as metal chips on the
board.
In case of malfunction, etc. it may result in an injury or damage the
board.
• Make sure that there is no damage or deflection of parts on the
board.
In case of malfunction, etc. it may result in an injury or damage the
board.
• Correctly connect each cable and connector.
Failure to observe this caution may result in a fire or damage the board.
• Set the switches, etc. correctly.
Malfunction, caused by an incorrect setting, may result in an injury or
damage the board.
• Never touch the mounting surfaces of the board parts directly with
fingers.
The generated static electricity may damage the IC.
• Never touch the soldered surfaces of the board directly with fingers.
Protrusions on the soldered surface may result in an injury.
• No shock to the board.
The shock may damage the board.
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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, the controller, the
programming pendant, and supply cables.
In this manual, the equipment is designated as follows:
Equipment Manual Designation
DX200 controller DX200
DX200 programming pendant Programming pendant
Cable between the manipulator and the
controller
Manipulator cable
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Descriptions of the programming pendant keys, buttons, and displays are
shown as follows:
Equipment Manual Designation
Programming
Pendant
Character Keys
/Symbol Keys
The keys which have characters or symbols
printed on them are denoted with [ ].
e.g. [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, e.g. [SHIFT]+[COORD].
Mode Switch Mode Switch can select three kinds of modes
that are denoted as follows: REMOTE, PLAY or
TEACH.
Button The three buttons on the upper side of the
programming pendant are denoted as follows:
START, HOLD, or EMERGENCY STOP.
Displays The menu displayed in the programming
pendant is denoted with { }.
e.g. {JOB}
S-
SELECT
X-
S+
X+
L-
Y-
L+
Y+
U-
Z-
U+
Z+
R-
X-
R+
X+
B-
Y-
B+
Y+
T-
Z-
T+
Z+
TEACH
PLAY
REMOTE
START HOLD
SLOW
8- 8+
.
2
FAST
TEST
START
HIGH
SPEED
BWD FWD
INTER
LOCK
WELD
ON/OFF
ASSIST
SERVO ON
CANCEL
SERVO
ON
READY
MAIN
MENU
AREA
PAGE
GO BACK
DIRECT
OPEN
TOOLSEL
COORD
Multi
LAYOUT
Multi
MANUAL SPEED
TOOL SEL
LAYOUT
ENTRYENTRY
DELETE
MODIFY
SHIFT
ENTER
INSERT
9
6
3
-
.
2
5
8
7
4
1
0
MOTION
TYPE
INFORM
LIST
ROBOT
EX.AXIS
AUX
MAIN
MENU SIMPLE
MENU
SIMPLE
MENU
COORD
SERVO
ON
READY
PAG E AREA
CANCEL
DIRECT
OPEN
GO BACK
SERVO ON
SHIFT
REMOTE
PLAY
TEACH
Numeric keys
Axis keys
Enter key
Mode switch Start button Hold button
Emergency stop button
Shift key
Page key
Coordinate key
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Description of the Operation Procedure
In the explanation of the operation procedure, the expression "Select • • • "
means that the cursor is moved to the object item and [SELECT] 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.
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Contents
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1 Outline ............................................................................................................................................ 1-1
1.1 System Configuration ........................................................................................................ 1-1
2 Hardware Specification ................................................................................................................... 2-1
2.1 Board Diagram................................................................................................................... 2-1
2.2 Board Specification............................................................................................................ 2-2
2.3 Communication Specification ............................................................................................ 2-2
2.4 Connector Specification..................................................................................................... 2-2
3 Settings and Installation of the Board ............................................................................................. 3-1
3.1 Mounting the Board ........................................................................................................... 3-2
3.1.1 Opening the DX200 Front Door............................................................................ 3-2
3.1.2 Mounting the AB3607 Board to the DX200 .......................................................... 3-3
3.1.3 Connecting Cable................................................................................................. 3-3
3.1.4 Closing the DX200 Front Door ............................................................................. 3-4
4 Allocating I/O Signals...................................................................................................................... 4-1
4.1 Optional Board and I/O Module Settings ........................................................................... 4-1
4.2 When Setting with Only the Maintenance Mode................................................................ 4-3
4.2.1 AB3607 Setting Window....................................................................................... 4-3
4.2.2 Device Information List Setting............................................................................. 4-5
4.2.3 AB3607 Setting .................................................................................................... 4-8
4.2.4 Ethernet Setting.................................................................................................. 4-10
4.2.5 Scanner Setting.................................................................................................. 4-12
4.2.6 Terminal Output Function................................................................................... 4-20
4.2.7 Terminal Output Setting...................................................................................... 4-21
4.3 When Setting with the PC Tool and the Maintenance Mode ........................................... 4-22
4.3.1 Setting with the Maintenance Mode ................................................................... 4-22
4.3.2 Communication Setting of the AB3607............................................................... 4-29
4.4 Transmitting Data ............................................................................................................ 4-30
4.5 Communication Status..................................................................................................... 4-31
4.5.1 The Alarm when Communications Error of the AB3607 Board Occurs Using
the Board Status................................................................................................. 4-31
4.6 I/O Allocation ................................................................................................................... 4-36
4.6.1 I/O Allocation Examples of the AB3607 for DX200 (For Handling) .................... 4-36
4.6.2 I/O Allocation Examples of the AB3607 for DX200 (Except for Handling).......... 4-38
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4.7 Convenient Function........................................................................................................ 4-40
4.7.1 ListIdentity Function............................................................................................ 4-40
5 Error Indication................................................................................................................................ 5-1
5.1 LED Indication.................................................................................................................... 5-1
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1 Outline
1.1 System Configuration
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1 Outline
This instruction explains the necessary setting methods for using
EtherNet/IP boards (AB3607 made by HMS) in the DX200 and the
relevant information.
These boards enable the DX200 to communicate general I/O data with
other EtherNet/IP devices.
1.1 System Configuration
System Configuration Example: AB3607
NOTE
The AB3607 is used as a master. Settings of the communi-
cation between the DX200 and this board are executed in
the maintenance mode.
The network as EtherNet/IP is set with either the mainte-
nance mode or the setting tool made by HMS.
DX200
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2 Hardware Specification
2.1 Board Diagram
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2 Hardware Specification
2.1 Board Diagram
AB3607
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2 Hardware Specification
2.2 Board Specification
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2.2 Board Specification
2.3 Communication Specification
2.4 Connector Specification
LAN Connector
Items Specifications
Interface to the external devices EtherNet/IP
Scanner
Board location PCI slot in the DX200 controller
Maximum number of I/O points Input: 506 Byte
Output: 506 Byte
NOTE
The maximum number of I/O points (Input: 506 Byte / Out-
put: 506 Byte) is used when the attached optional I/O mod-
ule is only this board.
On the other hand, the points cannot be used if other
optional I/O modules than this board are attached.
Items Specifications
Connection type Star (Connection by HUB)
Communication speed 10 Mbps/100 Mbps (Detected automatically during startup)
Communication media Use category 5 or higher shielded Ethernet cables.
Pin RJ45(Female) Signal
1TD+
2TD-
3 RD+
4 Termination
5 Termination
6 RD-
7 Termination
8 Termination
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3 Settings and Installation of the Board
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3 Settings and Installation of the Board
WARNING
• Before wiring, be sure to turn OFF the power supply and put up a
warning sign, such as “DO NOT TURN ON THE POWER”.
Failure to observe this warning may result in an electric shock or an
injury.
• Do not touch the inside of the panel for 5 minutes after the power is
turned OFF.
The remaining charged voltage in the capacitor may cause an electric
shock or an injury.
• Be sure to close the door and install the protection cover while the
power is turned ON.
Failure to observe this warning may result in a fire or an electric shock.
CAUTION
• The wiring and mounting must be performed by authorized and
qualified personnel.
Failure to observe this caution may result in a fire or an electric shock.
• Make sure that there is no foreign matter such as metal chips on the
board.
In case of malfunction, etc. it may result in an injury or damage the
board.
• Make sure that there is no damage or deflection of parts on the
board.
In case of malfunction, etc. it may result in an injury or damage the
board.
• Correctly connect each cable and connector.
Failure to observe this caution may result in a fire or damage the board.
• Set the switches, etc. correctly.
Malfunction, caused by an incorrect setting, may result in an injury or
damage the board.
• Never touch the mounting surfaces of the board parts directly with
fingers.
The generated static electricity may damage the IC.
• Never touch the soldered surfaces of the board directly with fingers.
Protrusions on the soldered surface may result in an injury.
• No shock to the board.
The shock may damage the board.
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3 Settings and Installation of the Board
3.1 Mounting the Board
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3.1 Mounting the Board
Mount the AB3607 board in the following manner.
3.1.1 Opening the DX200 Front Door
1. Open the front door of the DX200.
(1) Turn the door lock on the front face of the DX200 clockwise for 90°
with a flat-head screwdriver.
Fig. 3-1: Unlock the Door
(2) With the door lock turned clockwise for 90°, turn the main switch
handle to the “OFF” position, and slowly open the door.
Fig. 3-2: Open the Door "OFF" Position (Horizontal)
Clockwise
Flat-head screwdriver
Door lock
DX200
Main power supply switch
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3 Settings and Installation of the Board
3.1 Mounting the Board
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3.1.2 Mounting the AB3607 Board to the DX200
1. Uninstall the riser card (JANCD-YBB02-E) from the CPU rack.
2. Insert the AB3607 board to the PCI slot on the riser card, then fix it
with the supporting clamp.
3. Reinstall the riser card to the CPU rack.
3.1.3 Connecting Cable
1. Connect the Ethernet cable to the LAN connector on the AB3607.
Fix with a screw
CN1: CPU optional slot1 CN2: CPU optional slot2
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3 Settings and Installation of the Board
3.1 Mounting the Board
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3.1.4 Closing the DX200 Front Door
1. Close the front door of the DX200.
(1) Close the door slowly.
(2) Turn the door lock on the front face of the DX200 counterclock-
wise for 90 °.
Fig. 3-3: Lock the Door
CAUTION
• Please always keep the DX200 front door closed except
maintenance time.
• Never fail to shut all the door tightly.
• If dust, dirt or water goes inside the DX200, it may result in a failure,
a fire or an electric shock.
Counter
Clockwise
Door Lock
Flat-head Screwdriver
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4 Allocating I/O Signals
4.1 Optional Board and I/O Module Settings
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4 Allocating I/O Signals
4.1 Optional Board and I/O Module Settings
When using the AB3607 board in the DX200, it is necessary to set the
optional board and the I/O module.
There are two following methods to set the optional board.
A) Set with only the maintenance mode.
B) Set with the PC tool and the maintenance mode.
If the following all conditions apply, follow the procedures in chapter 4.2
“When Setting with Only the Maintenance Mode” to set.
• The firmware version of the AB3607 board is 1.19 or later.
• The system software version of the DX200 is DN2.80.00A-00 or later.
• The parameter is set to S2C1432=1.
For any other cases above conditions, follow the procedures in chapter 4.3
“When Setting with the PC Tool and the Maintenance Mode” to set.
The firmware version of the board can be confirmed in the item of ”BOARD:”
of the AB3607 setting window.
To show the confirmation window:
Turn ON the power supply while pressing [MAIN MENU].
{SYSTEM} - {SETUP} - {OPTION BOAD} - {AB3607}
If “AB3607: DETAIL” is shown in the window after this operation, select
{DETAIL}.
NOTE
Before executing additional settings in the management
mode, install the AB3607 board.
The setting operation cannot be executed without the board
or in the operation mode/editing mode.
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4 Allocating I/O Signals
4.1 Optional Board and I/O Module Settings
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A) When setting with only the maintenance mode
B) When setting with the PC tool and the maintenance mode
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4 Allocating I/O Signals
4.2 When Setting with Only the Maintenance Mode
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4.2 When Setting with Only the Maintenance Mode
4.2.1 AB3607 Setting Window
Display the setting window in the following procedures.
1. Turn ON the power supply while pressing [MAIN MENU]
simultaneously.
– The maintenance mode starts up.
2. Change the security mode to the management mode.
3. Select {SYSTEM} under the main menu.
– The sub menu appears.
4. Select {SETUP}.
– The SETUP window appears.
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