YASKAWA Motoman DX200 User manual

MANUAL NO.
0
HW1481821
Part Number: 165303-1CD
Revision: 0
DX200 OPTIONS
INSTRUCTIONS
FOR ETHERNET FUNCTION
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
DX200 MAINTENANCE MANUAL
The DX200 Operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.
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MANDATORY
• This manual explains the Ethernet function of the DX200 system
and general operations. 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 Instructions 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
“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
• Before operating the manipulator, check that servo power is turned
OFF pressing the emergency stop buttons on the front door of the
DX200 and the programming pendant.
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.
Figure 1: 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.
Figure 2: Release of Emergency Stop
TURN
• 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.
– 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 person is present in the P-point maximum envelope
of the manipulator and that you are in a safe location before:
– Turning ON the power for the DX200.
– 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 is a problem.
The emergency stop buttons are located on the right of front door of the
DX200 and the programming pendant.
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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:
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:
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:
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 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.
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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Table of Contents
1 Outline ............................................................................................................................................1-1
1.1 Features ............................................................................................................................1-1
1.1.1 High-Speed Transmission....................................................................................1-1
1.1.2 Communication Station Switchable with Software ...............................................1-1
1.1.3 Easy Setup...........................................................................................................1-1
2 Ethernet Cable Connections...........................................................................................................2-1
3 Ethernet Function Settings..............................................................................................................3-1
3.1 Transmission Function Settings.........................................................................................3-1
3.2 Ethernet Function Settings ................................................................................................3-1
3.3 Ethernet Communication Settings.....................................................................................3-2
3.3.1 Setting Procedure.................................................................................................3-2
3.3.2 Description of setting items (Network function setting window)...........................3-7
3.3.2.1 HOST NAME...........................................................................................3-7
3.3.2.2 DOMAIN NAME.......................................................................................3-7
3.3.3 Description of setting items (Ethernet communication setting window)...............3-8
3.3.3.1 IP ADDRESS SETTING..........................................................................3-8
3.3.3.2 DNS SETTING......................................................................................3-10
3.3.3.3 SERVER (HOST PC)............................................................................3-11
3.3.3.4 SNTP SETTING....................................................................................3-11
3.4 Settings confirmation.......................................................................................................3-13
3.5 Command Remote Settings.............................................................................................3-13
4 Specifications.................................................................................................................................. 4-1
4.1 Ethernet Specifications......................................................................................................4-1
4.1.1 Ethernet Specifications.........................................................................................4-1
4.1.2 Protocol Version................................................................................................... 4-1
4.1.3 Connector Specifications...................................................................................... 4-1
4.1.3.1 Pin Assignment .......................................................................................4-1
4.1.3.2 LED Specifications..................................................................................4-1
4.1.4 Cable Specifications.............................................................................................4-2
4.2 Restrictions........................................................................................................................4-3
4.2.1 Restrictions on the Data Transmission Function..................................................4-3
4.2.1.1 Operation with the External Memory Devices.........................................4-3
4.2.1.2 Remote Mode..........................................................................................4-3
4.2.1.3 Concurrent Communication.....................................................................4-3
4.2.2 Restrictions on Setting the IP Address.................................................................4-3
4.2.3 Restrictions on Communication Port....................................................................4-3
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5 Troubleshooting ..............................................................................................................................5-1
5.1 Cable Connection Check...................................................................................................5-1
5.2 Connection Check with Lower Protocol.............................................................................5-2
5.3 Connection Check with MOTOCOM..................................................................................5-3
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Ethernet Function 1 Outline
1.1 Features
1 Outline
Data transmission function of the DX200 is achieved by data exchange
between the data transmission function which is the DX200 application,
and the MOTOCOM32 which is the application of the personal computer.
For the data transmission, Ethernet can be optionally used as a medium
instead of RS-232C which is used as a standard. The DX200 data
transmission function in case of using Ethernet for the transmission
medium is peculiarly called the Ethernet function.
This instruction manual explains the settings and relevant information
required in use of the Ethernet function.
Also, the Ethernet function is used only to maintain compatibility with
existing system.
When creating the additional system for the data transmission, please use
the high-speed Ethernet server function.
The customer who purchased the Ethernet function can use the high-
speed Ethernet server function.
The high-speed Ethernet server function enables to simplify and speed up
the communication procedures for the host control function (makes a
request to send or receive the data and command to the DX200 from the
PC) of the Ethernet function, and also it adds the command.
As for the high-speed Ethernet server function, refer to the "DX200
OPTIONS INSTRUCTIONS FOR HIGH-SPEED ETHERNET SERVER
FUNCTION(165304-1CD)" for more details.
1.1 Features
1.1.1 High-Speed Transmission
The Ethernet function with Ethernet (10/100 Mbps) for the transmission
medium enables a faster transmission compared to RS-232C (max. 9600
bps).
1.1.2 Communication Station Switchable with Software
unlike RS-232C which requires a device to physically switch the stations,
the Ethernet function can switch the communication station easily by
changing the destination for connection with a software. (Note, however,
that it is unable to communicate with one or more station simultaneously.)
1.1.3 Easy Setup
The DX200 is provided with the Ethernet connector RJ-45 for deta
transmission as standard equipment. Therefore, the Ethernet function
can be used without adding any extra hardware.
NOTE
The high-speed Ethernet server function is a standard
specification of the data transmittion for the DX200 or later.
The other data transmission functions, such as the Ethernet
function and the Ethernet server function, are used only to
maintain compatibility with existing system.
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2 Ethernet Cable Connections
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2 Ethernet Cable Connections
Connect the Ethernet cable (shielded cable; category 5 or more) to the
CN104 RJ-45 LAN connector which is located on the front face of the
YCP21 board inside the CPU rack.
Fig. 2-1: Front Face
NOTE
There are two RJ-45 connectors at the front face of the
YCP21 board, and CN104 on the bottom side is the one for
the Ethernet function. Do not touch CN105 on the upper
side since it is exclusively used for the programming
pendant.
LED
(CN107)
(CN106)
USB
Grounding
connecton terminal
Robot I/F circuit board
JANCD-YIF01-2E Machine safety
CPU circuit board
JANCD-YSF21-E
CPU circuit board
JANCD-YCP21-E
Specified PCI slot for
the sensor circuit board X1
(CN113) Drive I/F
(communication with major axes control board)
(CN114) IO I/F
(communication with the optional I/O)
(CN103)
Serial Port (RS232C)
(CN203)
I/O I/F (communication with
the machine safety circuit board)
(CN202) I/O I/F
(communication with the
machine safety I/O logic
circuit board: 2ch side)
(CN201) I/O I/F
(communication with the
machine safety I/O logic
circuit board: 1ch side)
(CN104)
For LAN
(CN105)
For programming pendant
PCI Slot X2
CompactFlash
CPU unit
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Ethernet Function 3 Ethernet Function Settings
3.1 Transmission Function Settings
3 Ethernet Function Settings
Perform the setting procedures below to make the DX200 Ethernet
function available.
3.1 Transmission Function Settings
Set the parameters to enable the transmission function.
(The customers should not change the parameter settings themselves:
contact your Yaskawa representative. )
3.2 Ethernet Function Settings
Set the parameters to enable the Ethernet function.
(The customers should not change the parameter settings themselves:
contact your Yaskawa representative. )
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3 Ethernet Function Settings
3.3 Ethernet Communication Settings
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3.3 Ethernet Communication Settings
3.3.1 Setting Procedure
Perform the following procedures for Ethernet communications.
1. Turn ON the power supply again while pressing [MAIN MENU]
simultaneously.
– The maintenance mode window appears.
2. Select {SYSTEM} under the main menu.
– The sub menu appears.
NOTE
• Perform the Ethernet communication settings in the
management mode.
• In the operation mode and the editing mode, the settings
are for reference only.
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Ethernet Function 3 Ethernet Function Settings
3.3 Ethernet Communication Settings
3. Select {Security}.
– The Security setting window appears.
4. Set the security mode to the “MANAGEMENT MODE”.
– Security mode is set to “MANAGEMENT MODE”.
5. Select {SYSTEM} under the main menu.
– The sub menu appears.
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3 Ethernet Function Settings
3.3 Ethernet Communication Settings
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6. Select {SETUP}.
– The SETUP window appears.
7. Select {OPTION FUNCTION}.
– The function selection window appears.
8. Select {DETAIL} of {NETWORK}.
– The network function setting window appears.
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Ethernet Function 3 Ethernet Function Settings
3.3 Ethernet Communication Settings
9. Set host name/domain name.
– Set host name/domain name as appropriate.
– Refer to Section 3.3.2 “Description of setting items (Network
function setting window)” on page 3-7 for further details of each
item.
10.Select {DETAIL}.
– The Ethernet communication setting window appears.
11. Select the communication parameter to be changed.
– When pull-down menu is used, items become selectable.
– When direct entering, virtual keyboard is enabled for entry.
12.Input the new communication parameter value.
– When pull-down menu is used, select an appropriate item.
– When directly entering, use virtual keyboard or numeric keys for
entry.
– Refer to Section 3.3.3 “Description of setting items (Ethernet
communication setting window)” on page 3-8 for further details of
each item.
13.Press [ENTER].
– The network function setting window appears.
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3 Ethernet Function Settings
3.3 Ethernet Communication Settings
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14.Press [ENTER].
– The confirmation dialog box appears.
15.Select {YES}.
– If the Ethernet communication settings are correct, select {YES}.
– The function selection window appears.
16.Turn ON the power supply again.
– The normal operation mode starts.
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Ethernet Function 3 Ethernet Function Settings
3.3 Ethernet Communication Settings
3.3.2 Description of setting items (Network function setting window)
3.3.2.1 HOST NAME
Set the host name assigned for the DX200.
Enter using one-byte alphanumeric characters, hyphen (-) and underscore
(_).
Then, be sure to include at least an alphabetic character.
3.3.2.2 DOMAIN NAME
Set the domain name to which DX200 belongs to.
Enter using one-byte alphanumeric characters, hyphen (-), underscore
(_), and period (.).
NOTE
Host name is not used in communication.
NOTE
Domain name is used when DNS is enabled.
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3 Ethernet Function Settings
3.3 Ethernet Communication Settings
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3.3.3 Description of setting items (Ethernet communication setting
window)
3.3.3.1 IP ADDRESS SETTING
In “IP ADDRESS SETTING”, specify a method to set DX200 IP address.
Select either “MANUAL SETTING” or “DHCP SETTING” from the pull-
down menu.
When “MANUAL SETTING” is selected, be sure also to set “IP
ADDRESS” and “SUBNET MASK”.
NOTE
“MANUAL SETTING” cannot be selected in “IP ADDRESS
SETTING” if “DHCP SETTING” is selected in “DNS
SETTING” or “SNTP SETTING”.
(Selecting “MANUAL SETTING” causes an error “DHCP is
already set to use for another item” to occur.)
Select other than “DHCP SETTING” in “DNS SETTING”
and “SNTP SETTING” beforehand when selecting
“MANUAL SETTING” in “IP ADDRESS SETTING”.
NOTE
DX200 does not support NetBIOS, WINS (Windows Internet
Name Service) and Dynamic DNS etc.
Consequently, obtaining DX200 IP address via DHCP can
cause external access to become difficult.
In order to enable easy external access even while
obtaining IP address via DHCP, take action on the DHCP
server side as appropriate such as making the same IP
address be leased.
NOTE
DX200 only supports IPv4.
IPv6 is not supported.
NOTE
DX200 does not support [10.0.0.xx] (xx is adecimal number
from 0-255) among local IP addresses.
Therefore, don't use [10.0.0.xx] for IP address.
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Ethernet Function 3 Ethernet Function Settings
3.3 Ethernet Communication Settings
IP ADDRESS
Enter the IP address to set for DX200 in the format [xx.xx.xx.xx] (xx is a
decimal number from 0 to 255) using one-byte numeric characters and
period (.).
If “DHCP SETTING” is selected in “IP ADDRESS SETTING”, the setting
made here is neglected.
SUBNET MASK
Enter the subnet mask to set for DX200 in the format [xx.xx.xx.xx] (xx is a
decimal number from 0 to 255) using one-byte numeric characters and
period (.).
If “DHCP SETTING” is selected in “IP ADDRESS SETTING”, the setting
made here is neglected.
DEFAULT GATEWAY
When communicating with TCP/IP with a terminal on different network (or
different subnet), setting a default gateway is required.
Enter the default gateway to set for DX200 in the format [xx.xx.xx.xx] (xx is
a decimal number from 0 to 255) using one-byte numeric characters and
period (.).
Set the value at "0.0.0.0" if the default gateway will not be used.
If “DHCP SETTING” is selected in “IP ADDRESS SETTING”, the setting
made here is neglected.
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3.3 Ethernet Communication Settings
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3.3.3.2 DNS SETTING
In “DNS SETTING”, specify whether or not to use DNS (Domain Name
System) client function and the DNS server setting method when using
the DNS client function.
Select either “NOT USED”, “MANUAL SETTING” or “DHCP SETTING”
from the pull-down menu.
When “MANUAL SETTING” is selected, be sure also to set “DNS
SERVER”.
DNS SERVER
Enter the IP address to set for DNS server in the format [xx.xx.xx.xx] (xx is
a decimal number from 0 to 255) using one-byte numeric characters and
period (.).
If “DHCP SETTING” or “NOT USED” is selected in “DNS SETTING”, the
setting made here is neglected.
NOTE
“DHCP SETTING” cannot be selected in “DNS SETTING” if
“MANUAL SETTING” is selected in “IP ADDRESS
SETTING”.
(Selecting “DHCP SETTING” causes an error “DHCP is not
set to use” to occur.)
When selecting “DHCP SETTING” in “DNS SETTING”,
select “DHCP SETTING” beforehand in “IP ADDRESS
SETTING”.
NOTE
When “MANUAL SETTING” is selected in “SNTP
SETTING” and “SNTP SERVER” is set by a host name,
“NOT USED” cannot be selected in “DNS SETTING”.
(Selecting “NOT USED” causes an error “DNS is already
set to use for another item” to occur.)
When selecting “NOT USED” in “DNS SETTING”, confirm
beforehand that there is no item set by host name.
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