YASKAWA Motoman DX200 User manual

MANUAL NO.
0
HW1481823
Part Number: 165984-1CD
Revision: 0
DX200 OPTIONS
INSTRUCTIONS
FOR ETHERNET SERVER FUNCTION:
ADVANCED FEATURE OF DX200 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.
1/60

ii
165984-1CD
HW1481823
Adavanced Ethernet
Function
MANDATORY
• This manual explains the Ethernet Server function of the DX200
system. 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.
2/60

iii
165984-1CD
HW1481823
Adavanced Ethernet
Function
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".
3/60

iv
165984-1CD
HW1481823
Adavanced Ethernet
Function
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 the front door of the DX200 and the programming
pendant.
4/60

v
165984-1CD
HW1481823
Adavanced Ethernet
Function
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 DX200
cabinet 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 ans the
controller Manipulator cable
5/60

vi
165984-1CD
HW1481823
Adavanced Ethernet
Function
Descriptions of the programming pendant, 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 bland names for each company or
corporation. The indications of (R) and
TM
are omitted.
Equipment Manual Designation
Programming
Pendant Character Keys The keys which have characters printed on them are denoted with [ ].
ex. [ENTER]
Symbol
Keys The keys which have a symbol printed on them are not denoted with [ ] but depicted with a small
picture.
ex. page key
The cursor key is an exception, and a picture is
not shown.
Axis Keys
Number Keys “Axis Keys” and “Number Keys” 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}
PAGE
GO BACK
PAGE
GO BACK
6/60

vii
165984-1CD
HW1481823
Adavanced Ethernet
Function
Table of Contents
1 Introduction.....................................................................................................................................1-1
1.1 Features ............................................................................................................................ 1-1
1.1.1 Request of Multiple Processes.............................................................................1-1
1.1.2 Simplification of Communication Procedure.........................................................1-1
1.1.3 Communication with Other Than MOTOCOM...................................................... 1-1
1.2 System Outline ..................................................................................................................1-2
2 System Configuration......................................................................................................................2-1
2.1 Setting of Ethernet Function..............................................................................................2-1
2.2 Setting of Ethernet Server Function...................................................................................2-1
2.3 Setting of Transmission Parameters..................................................................................2-1
3 Transmission Procedure.................................................................................................................3-1
3.1 Outline ...............................................................................................................................3-1
3.1.1 Socket Connection ...............................................................................................3-2
3.1.2 START Request ................................................................................................... 3-2
3.1.3 Response to START Request..............................................................................3-2
3.1.4 Command.............................................................................................................3-2
3.1.4.1 Command................................................................................................3-2
3.1.4.2 Size ......................................................................................................... 3-2
3.1.5 Response to Command........................................................................................3-3
3.1.6 Command Data ....................................................................................................3-3
3.1.7 Answer .................................................................................................................3-3
3.1.8 Closing of a Socket ..............................................................................................3-3
3.2 Command Details..............................................................................................................3-4
3.2.1 Status Read Function...........................................................................................3-4
3.2.1.1 Read/Monitor Command.........................................................................3-4
3.2.1.2 Read/Data Access System Command..................................................3-11
3.2.2 System Control Function....................................................................................3-17
3.2.2.1 Operation System Command................................................................3-17
3.2.2.2 Start-Up System Command ..................................................................3-22
3.2.2.3 Editing System Commands...................................................................3-30
3.2.2.4 Job Selection System Command..........................................................3-37
3.2.3 I/O Read/Write Function.....................................................................................3-38
3.2.3.1 Read-Out of I/O Signal Status...............................................................3-38
3.2.3.2 Write-in of I/O Signal Status..................................................................3-39
7/60

Table of Contents
viii
165984-1CD
HW1481823
Adavanced Ethernet
Function
3.3 Transmission Examples...................................................................................................3-40
3.3.1 Read-Out of Status for Mode, Cycle, etc............................................................3-40
3.3.2 Read-Out of I/O Signals for the DX200 ..............................................................3-40
3.3.3 Write-In of I/O Signals for the DX200 .................................................................3-41
3.3.4 Continuous Execution of Multiple Commands....................................................3-42
4 Function Checkout Procedure.........................................................................................................4-1
4.1 Cable Connection Check...................................................................................................4-1
4.2 Connection Check with Lower Protocol.............................................................................4-2
4.3 Connection Check with telnet ............................................................................................4-3
5 Restrictions .....................................................................................................................................5-1
5.1 Automatic Close of Socket.................................................................................................5-1
5.2 Unavailable Command/Function........................................................................................5-1
5.3 Restrictions on the Number of Sockets..............................................................................5-2
5.4 Restrictions on Text Length...............................................................................................5-2
5.5 Restrictions on Access from Multiple Host Computers......................................................5-2
8/60

1-1
165984-1CD
HW1481823
Adavanced Ethernet
Function 1 Introduction
1.1 Features
1 Introduction
The Ethernet server function enables communication using more simple
protocols instead of using conventional protocols such as BSC protocols,
in the host control of the DX200 Ethernet function.
The Ethernet server function is an option function: advanced feature of the
DX200 Ethernet function.
This manual explains settings and related information which are
necessary for the use of this function.
1.1 Features
1.1.1 Request of Multiple Processes
The Ethernet server function manages multiple connections, which allows
to perform sequential processing after receiving a multiple-processing
request.
1.1.2 Simplification of Communication Procedure
The Ethernet server function uses TCP for the lower layer communication
protocol. Using of the connection control function of TCP simplifies
connection control processing in the upper layer and communication
procedure.
1.1.3 Communication with Other Than MOTOCOM
The communication procedure for the Ethernet server function is
simplified, which enables users to prepare for all communication
programs.
NOTE
The Ethernet server function performs sequential
processing every time it receives a request. This function
cannot handle a simultaneous parallel processing of
multiple requests.
NOTE
The communication procedure with the conventional DX200
Ethernet function was complicated; the procedure had not
been disclosed. For this reason, the application
"Motocom.dll" that mainly preforms communication
procedure had been a must for the personal computer.
NOTE
The latest MOTOCOM allows the Ethernet server function
to communicate in the system.
9/60

1 Introduction
1.2 System Outline
1-2
165984-1CD
HW1481823
Adavanced Ethernet
Function
1.2 System Outline
The Ethernet server function is an option function: advanced feature of the
host control function for the DX200 Ethernet function. When the Ethernet
server function is used, the system needs to be preliminary kept in such a
state that the DX200 Enthernet function can be used.
10/60

2-1
165984-1CD
HW1481823
Adavanced Ethernet
Function 2 System Configuration
2.1 Setting of Ethernet Function
2 System Configuration
Configure the following for the use of Ethernet server function.
2.1 Setting of Ethernet Function
The Ethernet server function is designed as an option function: advanced
feature of the host control function for the DX200 Ethernet function.
Therefore users need to configure the system in such a state that the
DX200 Ethernet host control function can be used.
For details, refer to Chapter 3 “Ethernet Function Settings" of "DX200
OPTIONS INSTRUCTIONS FOR ETHERNET FUNCTION".
2.2 Setting of Ethernet Server Function
Set the parameters to enable the Ethernet server function.
(Users should not change the parameter settings themselves: contact
your Yaskawa representative.)
2.3 Setting of Transmission Parameters
The parameters related to transmissions with the Ethernet server function
are listed in the following tables.
For details, refer to "DX200 OPTIONS INSTRUCTIONS FOR DATA
TRANSMISSION FUNCTION".
Make sure to change the value of the following parameter.
Set the following parameters to their default values.
Parameter No. Contents Set Value Default
RS000 Specifies the protocol for the standard port. 2 (BSC) 3 (FC1)
Parameter No. Contents Default
RS029 Loading of job/variable during playback 1: Enable
RS030 Specifies the data bits. 8: 8 bits
RS031 Specifies the stop bits. 0: 1 bit
RS032 Specifies the parity. 2: Even parity
RS033 Specifies the baud rate. 7: 9600 bauds
RS036 Specifies the enquiry character retry count for invalid responses or
nonresponses. 10: 10 counts
RS037 Specifies the text data transmission retry count for block check error
(NAK reception) 3: 3 counts
RS038 Specifies the block check method. 0: Checksum
11/60

2 System Configuration
2.3 Setting of Transmission Parameters
2-2
165984-1CD
HW1481823
Adavanced Ethernet
Function
Adjust the following parameters to stabilize the transmissions with the
Ethernet server function as required.
Parameter No. Contents Set Value Default
RS034 Timer A:
Units:
Timer for monitoring the sequence.
Controls the response waiting time for the
invalid responses or nonresponses.
0.1 sec (setting range: 0 to 100)
200 30
RS035 Timer B:
Units:
Timer for monitoring text reception.
Controls the monitoring time to wait for the text
termination character.
0.1 sec (setting range: 0 to 255)
200 200
12/60

3-1
165984-1CD
HW1481823
Adavanced Ethernet
Function 3 Transmission Procedure
3.1 Outline
3 Transmission Procedure
This chapter shows the transmission procedure in the Ethernet server
function.
3.1 Outline
The command transmission with the DX200 Ethernet server function
proceeds as follows.
1. Connects a socket on the TCP port 80 of the DX200 from the host
computer.
2. The host computer sends a START request.
3. After the START request is accepted, the DX200 sends the response
to the START request.
4. The host computer sends a command.
5. The DX200 sends the response to the command sent from the host
computer.
6. The host computer sends command data if required.
7. The DX200 sends an answer.
8. Closes a TCP socket from the host computer.
For more information on the procedures, refer to the descriptions in the
next and later paragraphs.
Fig. 3-1: Outline of Command Transmission by Ethernet Server Function
NOTE
In the Ethernet server function, processings other than
socket connection are performed by the transmission of
ASCII character string. The processings are not correctly
performed if the ASCII character string is not in accordance
with the ASCII code. Use case-sensitive ASCII character
string.
DX200
Host computer
Command
Response to the command
Answer
Response to the START request
START request
Connect a socket (TCP: port80)
Close a socket
(Command data)
1.
2.
3.
4.
6.
8.
5.
7.
13/60

3 Transmission Procedure
3.1 Outline
3-2
165984-1CD
HW1481823
Adavanced Ethernet
Function
3.1.1 Socket Connection
Connects a socket on the TCP port 80 of the DX200 from the host
computer.
3.1.2 START Request
The host computer sends a character string of a START request:
"CONNECT Robot_access<CR><LF>".
This character string allows for a single command processing.
If multiple commands need to be processed in a row, the host computer
sends a character string: "CONNECT Robot_access Keep-Alive:n
<CR><LF>". The following integer values can be specified in n.
3.1.3 Response to START Request
After receiving a START request from the host computer, the DX200
sends back a character string for the response to the request.
If the DX200 normally receives a START request, it sends a character
string: "OK: DX Information Server(Ver).<CR><LF>" for a single command
processing and "OK: DX Information Server(Ver) Keep-
Alive:n.<CR><LF>" for processing of multiple commands. In each case
the DX200 waits for reception of "3.1.4 Command" after sending back a
character string.
If the DX200 cannot normally receive a START request, it sends back a
character string: "NG: HTTP Error Response<CR><LF>", and closes a
socket.
3.1.4 Command
The host computer sends a character string: "HOSTCTRL_REQUEST
Command Size<CR><LF>".
3.1.4.1 Command
Use the character strings listed in "3.2 Command Details" for Command.
3.1.4.2 Size
For Size, use the ASCII character string which represents the byte
number in decimal form, of character string that is sent in "3.1.6 Command
Data". This byte number is calculated including the linefeed code <CR> at
the end of the character string. If no command data are sent, writes "0" in
Size.
2 to 32767 : Executes as many commands as the number specified in n.
-1 : Executes infinite number of commands.
14/60

3-3
165984-1CD
HW1481823
Adavanced Ethernet
Function 3 Transmission Procedure
3.1 Outline
3.1.5 Response to Command
After receiving a command from the host computer, the DX200 sends
back a character string for the response to the command.
The DX200 normally sends back a character string: "OK:
Command<CR><LF>". Furthermore, if the Size specified in "3.1.4
Command" is "0", the DX200 responses according to "3.1.7 Response". If
the Size is other than "0", the DX200 waits for "3.1.6 Command Data".
At an error, the DX200 sends back a character string: "NG:
Message<CR><LF>" and closes a socket.
3.1.6 Command Data
If a command is accompanied by data, the host computer sends a
character string of the command data. The command data differ from
Command to Command. (Command is not always accompanied by
command data.) Make sure to add the linefeed code <CR> to the end of
the command data character string.
The description method of command data differs with each Command.
Refer to "3.2 Command Details" for details on the description method.
3.1.7 Answer
The DX200 sends back an answer in the following format according to a
request from the host computer.
The linefeed code of when
data are sent back as normal answer is
different from the one of the case other than normal answer with
data sent
back.
The linefeed code of the normal answer with
data sent back: <CR>
The linefeed code of the case other than above: <CR><LF>
The format when
data are sent back as normal answer varies from each
command. For details in the format, refer to Section 3.2 “Command
Details”. For interpreter message, refer to "DX200 OPTIONS
INSTRUCTIONS FOR DATA TRANSMISSION FUNCTION".
3.1.8 Closing of a Socket
A socket is closed.
Classification Subclassification Format
At normal answer In case that the DX200 sends back
data Data<CR> (Refer to "3.2 Command Details).
In case that the DX200 answers
normally
(In the absence of data)
0000<CR><LF>
At abnormal answer In case that the DX200 sends back
an error answer ERROR:[
Command ] is not successful
(
xxxx ).<CR><LF>
*
xxxx indicates an interpreter message.
At socket error In case that an error occurs at
socket processing ERROR:
Message <CR><LF>
15/60

3 Transmission Procedure
3.2 Command Details
3-4
165984-1CD
HW1481823
Adavanced Ethernet
Function
3.2 Command Details
The following show how to use each command.
The answer for each command is the one at normal answer.
For details on robot control function, commands for multi-control group
and independent control functions, and interpreter message list, refer to
"DX200 OPTIONS INSTRUCTIONS FOR DATA TRANSMISSION
FUNCTION".
3.2.1 Status Read Function
3.2.1.1 Read/Monitor Command
RALARM
Reads the error alarm code.
Command format: RALARM
Command data: None
Answer format: Data-1, Data-2, Data-3, Data-4, , Data-10
Data-1 = Error code (0 to 9999)
Data-2 = Error data (0 to 256)
Data-3 = Alarm code (0 to 9999)
Data-4 = Alarm data (0 to 256)
Data-5 = Alarm code (0 to 9999)
Data-6 = Alarm data (0 to 256)
Data-7 = Alarm code (0 to 9999)
Data-8 = Alarm data (0 to 256)
Data-9 = Alarm code (0 to 9999)
Data-10 = Alarm data (0 to 256)
16/60

3-5
165984-1CD
HW1481823
Adavanced Ethernet
Function 3 Transmission Procedure
3.2 Command Details
RPOSJ
Reads the current position in joint coordinate system.
Command format: RPOSJ
Command data: None
Answer format: Data-1, Data-2, Data-3, Data-4, , Data-12 (For robots
with 6 axes or less)
Data-1 = Number of S-axis pulses
Data-2 = Number of L-axis pulses
Data-3 = Number of U-axis pulses
Data-4 = Number of R-axis pulses
Data-5 = Number of B-axis pulses
Data-6 = Number of T-axis pulses
Data-7 = Number of 7th axis pulses
Data-8 = Number of 8th axis pulses
Data-9 = Number of 9th axis pulses
Data-10 = Number of 10th axis pulses
Data-11 = Number of 11th axis pulses
Data-12 = Number of 12th axis pulses
• For 7-axis robots, Data-7 (number of pulses of the 7th axis) is the
number of pulses of the E-axis and Data-13 (number of pulses of the
13th axis) is added.
17/60

3 Transmission Procedure
3.2 Command Details
3-6
165984-1CD
HW1481823
Adavanced Ethernet
Function
RPOSC
Reads the current position in a specified coordinate system. The
specification with or without external axis can be made.
Command format: RPOSC
Command data: Data-1, Data-2
Data-1 = Specification of coordinate system
0: Base coordinate
1: Robot coordinate
2: User coordinate 1



65: User coordinate 64
Data-2 = With or Without external axis
0: Without external axis
1: With external axis
Answer format: Data-1, Data-2, Data-3, Data-4, , Data-14 (For robots
with 6 axes or less)
Data-1 = X coordinate value (unit: mm, significant 3 decimal points)
Data-2 = Y coordinate value (unit: mm, significant 3 decimal points)
Data-3 = Z coordinate value (unit: mm, significant 3 decimal points)
Data-4 = Wrist angle Rx coordinate value (unit: degree (), significant 4
decimal point)
Data-5 = Wrist angle Ry coordinate value (unit: degree (), significant 4
decimal point)
Data-6 =Wrist angle Rz coordinate value (unit: degree (), significant 4
decimal point)
Data-7 =Type
Data-8 = Tool number (0 to 63)
Data-9 = Numter of 7th axis pulses (for travel axis, mm)
Data-10 = Number of 8th axis pulses (for travel axis, mm)
Data-11 = Number of 9th axis pulses (for travel axis, mm)
Data-12 = Number of 10th axis pulses
Data-13 = Number of 11th axis pulses
Data-14 = Number of 12th axis pulses
• Data-9 to Data-14 are added only when "With external axis" is
specified.
18/60

3-7
165984-1CD
HW1481823
Adavanced Ethernet
Function 3 Transmission Procedure
3.2 Command Details
• If the specified user coordinate system is undefined, an error
answer is sent back.
• Data of the type are represented by the following bit data coded
into a decimal number.
• For 7-axis robots, the elbow angle posture Re is inserted between
Data-6 (Wrist angle Rz coordinate value) and Data-7 (Type).
Therefore, the numbers of Data-7 and later are increased by 1 and
the final data is Data-15.
D5
0 : Flip 1 : No flip
0 : Upper arm 1 : Lower arm
0 : Front 1 : Back
0 : R<180 1 : R>=180
0 : T<180 1 : T>=180
0 : S<180 1 : S>=180
D4 D3 D2 D1 D0
19/60

3 Transmission Procedure
3.2 Command Details
3-8
165984-1CD
HW1481823
Adavanced Ethernet
Function
RSTATS
Reads the status of mode, cycle, operation, alarm error, and servo.
Command format: RSTATS
Command data: None
Answer format: Data-1, Data-2,
Data-1 = Represented by the following bit data coded into a decimal
number
Data-2 = Represented by the following bit data coded into a decimal
number
D7
Step
1 cycle
Auto
Running
Safety speed operation
Teach
Play
Command remote
D6 D5 D4 D3 D2 D1 D0
D6
Hold (programming pendant)
Hold (external)
Hold (command)
Alarm occuring
Error occuring
Servo ON
D5 D4 D3 D2 D1
20/60