Omron SCARA Robots YRCX Series User Manual
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Omron SCARA Robots YRCX Series User Manual

Omron SCARA Robots YRCX Series User Manual

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Summary of Contents for Omron SCARA Robots YRCX Series

  • Page 3: Table Of Contents

    CONTENTS PROFINET User’s Manual Important information before reading this manual Introduction Safety Precautions (Always read before starting use) Warranty 1. Overview of functions 2. Controller status transitions 3. Input/output assignments 4. Part names and functions 5. Flow until operation begins 6.
  • Page 4 CONTENTS PROFINET User’s Manual 10. Disabling an option unit 10.1 Making settings 10.1.1 Using the programming box 10.1.2 Using SCARA-YRCX Studio support software 11. Actions to take if communication is not established 11.1 Reconsider the startup steps 11.2 Viewing the alarm codes in the 7-segment LED 11.3 Diagnostics by alarm message 11.3.1 Alarms related to network unit connections and settings 11.3.2 Alarms related to I/O on/off status...

  • Page 5: Important Information Before Reading This Manual

    Impor tant information before reading this manual Introduction The OMRON network interface unit documentation consists of a User's Manual that is specific to each network unit that describes the specifications and communication settings of that unit, and a Remote I/O Manual describing the remote I/O specifications that are common to all network units.

  • Page 6: Safety Precautions (Always Read Before Starting Use)

    Safety Precautions (Always read before starting use) Before using this product, be sure to read this manual carefully as well as the robot controller user's manual and programming manual. Take sufficient precautions to ensure safety and handle the product correctly. The cautions given in this manual are related to this product.
  • Page 7 Precautions for installation ■ WARNING • ALWAYS CRIMP , PRESS-FIT OR SOLDER THE CONNECTOR WIRING WITH THE MAKER-DESIGNATED TOOL, AND SECURELY FIX THE CONNECTOR TO THE MODULE. • ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE STARTING INSTALLATION OR WIRING WORK.

  • Page 8: Warranty

    PROFITS OR COMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY. In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted.

  • Page 9: Overview Of Functions

    Over view of functions A network interface unit is a device that transmits and receives I/O information via a communication protocol between a controller and a host control device. We provide a lineup of products that support fieldbus (DeviceNet, PROFIBUS, etc.) or industrial Ethernet (EtherNet/IP, PROFINET, etc.).

  • Page 10: Controller Status Transitions

    Controller status transitions Here we explain the status transitions of a robot controller equipped with a network interface unit. A controller equipped with a network interface unit will initially start up in the emergency stop state. In order for robot operation to be possible, communication must be established with the host control device, and a sign that cancels the emergency stop state must be input.

  • Page 11: Input/Output Assignments

    Input/output assignments Here we show the correspondence between the robot controller's serial input/output data and the input/ output data on the network. Output from the controller, input to the host device ■ Host control device Controller Address (READ) Address (WRITE) Input/output type I (n) SOW(0)
  • Page 12 Output from the host control device, input to the controller ■ Host control device Controller Address (WRITE) Address (READ) Input/output type SIW(0) Remote command area Q m+1 Word input Q m+2 SIW(1) Command data area Q m+3 Q m+4 SIW(2) Q m+5 SID(2) Q m+6...

  • Page 13: Part Names And Functions

    Par t names and functions Here we explain the part names and functions of the network interface unit. Part names • Pin configuration and connector specifications Number Name Network status LED TXD+ Module status LED TXD- Port 1 RXD+ Link/activity LED Port 1 RJ45 modular jack RXD-...

  • Page 14: Flow Until Operation Begins

    Flow until operation begins Here we explain the flow from startup until operation begins. Proceed with the flow shown in the illustration below, and consult the appropriate manuals as necessary for each step. Work steps Refer to: 6.1 Network structure •...

  • Page 15: Connection

    Connection Here we provide an overview of the steps for connecting the robot controller to the network. Network structure and cable specifications should be designed according to the materials provided by the network interest group (PI: PROFIBUS & PROFINET International). Network structure PROFINET is an industrial multi-vendor network system based on Ethernet technology that is open and promoted by PI (PROFIBUS &...
  • Page 16 Example of a cable-saving layout that combines PROFINET with a general-purpose Ethernet ■ network General-purpose computer Host unit (PROFINET I/O controller) YRCX YRCX YRCX YRCX General-purpose Ethernet port General-purpose Ethernet port built into the robot controller built into the robot controller CAUTION The general-purpose Ethernet ports built into the controller unit do not support the PROFINET communication protocol.

  • Page 17: Cabling

    Cabling WARNING SHUT OFF THE POWER SUPPLY INPUT TO THE ROBOT CONTROLLER BEFORE PERFORMING THIS WORK. Insert the LAN cable's modular plug into the controller's modular jack until you hear it click into place. Cable specifications ■ Use LAN cables that meet the following specifications. Category 5e (CAT 5e) or higher Shielded Twisted Pair (STP: Shielded Twist Pair) Double-shielded...

  • Page 18: Gsd Files

    GSD files GSD (General Station Description) is a type of network setting file. It contains settings for a device that supports PROFIBUS or PROFINET. The network settings file contains information necessary for connecting to a host device, such as I/O size and communication settings, in a prescribed format.

  • Page 19: Settings

    Settings Here we explain the parameters that must be set and the settings files that are required in order to begin communication between the host control device and the robot controller. Communication parameter settings The robot controller does not have parameters related to PROFINET unit communication. Communication with the host control device (IO controller) requires network parameter settings such as IP address, subnet mask, and station name.

  • Page 20: Monitoring Communication Data

    Monitoring communication data On/off data for the host controller device and controller I/O can be monitored via the programming box or the SCARA-YRCX Studio support software. This can be used to check the input/output addresses during setup or for debugging. CAUTION Since the display update interval of the programming box and of SCARA-YRCX Studio is longer than the data update interval of I/O information, there may be cases in which accurate information is not shown if the on/off...

  • Page 21: Switching The Port Number

    9.1.1 Switching the port number Monitor screen ■ By switching the monitor number the displayed port number can be changed. The following table shows the correspondence between monitor number and port number. Port name Monitor number Display range Display format 00-77 : ON SI,SO...

  • Page 22: Input/Output List Display

    9.1.2 Input/output list display Step1 At the initial screen, select "SI MONITOR 1" screen [MONITOR] → [I/O]. The "DI Monitor 1" screen then displays. Step2 Select the input/output monitor to be displayed. Pressing the F2 key (DI)--F10 key (SOW) displays the input/output monitor corresponding to the key.

  • Page 23: Switching The Output Status

    9.1.4 Switching the output status In the "Input/output detail view" screen, DO, MO, LO, TO, and SO output can be switched on/off by individual bits. CAUTION • In order to switch the output on/off, the programming box must have control authority. •...

  • Page 24: Using Scara-Yrcx Studio Support Software

    Using SCARA-YRCX Studio support software From the window tree, choose [Monitor] and then double-click a port name DI through SOW to monitor. The monitor screen appears. The monitor screen contains a list screen and a detail screen. When starting SCARA-YRCX Studio, the monitor screen that appears first will always be the "Detail screen."...
  • Page 25 SI monitor ■ If the name is hidden Name on/off Save name Reload name I/O name entry field Name on/off Check name Function Name on/off Shows/hides the name. Save name Sends the name that is entered in the name entry field to the controller. Reload name Loads the name from the controller, updating the indication of the name entry field.
  • Page 26 SO monitor ■ If the name is hidden Name on/off ON/OFF button Save name Reload name Name on/off ON/OFF button I/O name entry field Check name Function Name on/off Shows/hides the name. Save name Sends the name that is entered in the name entry field to the controller. Reload name Loads the name from the controller, updating the indication of the name entry field.

  • Page 27: Disabling An Option Unit

    10. Disabling an option unit If the controller is equipped with a field network option unit, it normally communicates with the host control device and controls the robot in accordance with the communicated content, so a ladder program is required for the host device.

  • Page 28: Making Settings

    10.1 Making settings An option board can be disabled either from the programming box or from SCARA-YRCX Studio support software. 10.1.1 Using the programming box Step1 Open the Parameter Edit screen. At the initial screen, select [Edit], press [Enter], then select [Parameter]. Step2 Press the [F6] (OPTION) key to display the Option Parameters screen.

  • Page 29: Using Scara-Yrcx Studio Support Software

    Step4 Edit the parameter. Change the setting for the target slot, and press the enter key. YRCX NOTE The values of the option board enable parameter correspond to slots 1 through 4 starting from the left. Verify the slot in which the network unit is installed, and change the value only for the target slot number. Step5 Press the [ESC] key to end the editing operation.
  • Page 30 Step2 Select the option slot "Value" column, and choose either "VALID" or "INVALID." C101 through C104 in the chart correspond to option slots 1 through 4 of controller 1. If controllers are linked to each other in a YC-Link/E network, the option slots of controller 2 and following are shown in C201 through C204.

  • Page 31: Actions To Take If Communication Is Not Established

    11. Actions to take if communication is not established If communication is not established, diagnose the situation by referring to the alarm codes or alarm messages of the controller unit and to the network unit's LED illumination pattern, and take the appropriate actions. 7-segment LED Network unit YRCX...

  • Page 32: Viewing The Alarm Codes In The 7-Segment Led

    11.2 Viewing the alarm codes in the 7-segment LED Normal state • The "PWR" LED on the front of the controller is lit, and the 7-segment LED shows the following. (Servo off, return-to-origin incomplete, emergency stop cancelled) S O E Abnormal state •...

  • Page 33: Alarms Related To I/O On/Off Status

    11.3.2 Alarms related to I/O on/off status These errors occur depending on the state of the dedicated input/output. If the robot controller is equipped with a network unit, the robot cannot be operated unless an emergency stop or STOP signal is input from the host device, even if the robot is being controlled from somewhere other than the host control device.

  • Page 34: Checking Alarm Codes In The Programming Box

    11.3.4 Checking alarm codes in the programming box Step1 Open the Parameter Edit screen. At the initial screen, select [Edit], press [Enter], then select [Parameter]. Step2 Check the alarm code that is occurring. Press the F1 key (RELOAD) to update the display to the current state. In the illustration, alarm code 10.900 is occurring.

  • Page 35: Detailed Diagnostics Using The Indicators

    11.4 Detailed diagnostics using the indicators Details of the situation can be obtained from the illumination pattern of the network unit indicators. Network unit indicators and illumination patterns ■ Part names Illumination patterns lit green Network status LED green (single color) LED Module status LED green/red (two-color) LED flashing green lit red...

  • Page 36: Common Situations And Led Illumination Patterns

    11.4.1 Common situations and LED illumination patterns Illumination patterns when connection exists ■ PROFINET IO controller in RUN state, I/O control possible Presumed state ■ Network Status Connection with the host control device (IO controller) is Module Status established, and I/O control via cyclic communication is possible.

  • Page 37: Specifications

    12. Specifications 12.1 Network specifications Spec. Item Contents YRCX : V1.21 or later Supported software versions PBEX : V1.08 or later SCARA-YRCX Studio : V1.0.1 or later Network specification PROFINET IO V2.2 conformance Conformance class Conformance Class B / IO Device Product revision 1.00 GSD file name...

  • Page 38: Input/Output Specifications

    12.2 Input/output specifications Controller ⇒ Host control device Host control device ⇒ Controller Address (WRITE) I/O function Address (READ) I/O function SOW(0) Command status area SIW(0) Remote command area SOW(1) Command response area SIW(1) Command data area SOW(2) SIW(2) SOD(2) SID(2) SOW(3) SIW(3)

  • Page 39: Reserved Word List

    13. Reser ved word list Because the following names are reserved for the robot language, they cannot be used as I/O names. IDIST DEGRAD NAME ABSADJ DELAY NEXT ABSRPOS INCH INCHT ACCEL INCHXY ACCESS DIST INIT OFFLINE INPUT ONLINE DRIVE OPEN ALMRST DRIVEI...
  • Page 40 RESET SYNCHK RESTART SHARED RESUME SHIFT WAIT RETURN WEIGHT RIGHT TASKS WEND RIGHTY TCHXY WHERE RSHIFT TCOUNTER WHILE SKIP TEACH WHRXY RUNTO SKIPTO THEN WHRXYEX WRITE TIME TIMER SELECT SPEED SEND TOLE XYTOJ SEQCMPL START TORQUE SEQUENCE STEP TSKECD SERVO STOP TSKMON STOPON...
  • Page 42 Revision histor y A manual revision code appears as a suffix to the catalog number on the front cover manual. Cat. No. I247E-EN-01 Revision code The following table outlines the changes made to the manual during each revision. Revision code Date Description July 2016...

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