IAI X-SEL Operation Manual
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IAI X-SEL Operation Manual

Ethernet
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Ethernet
Operation Manual
Third Edition

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  • Page 1 Ethernet Operation Manual Third Edition...
  • Page 3 Information contained in this Operation Manual is subject to change without notice for the purpose of product improvement. If you have any question or comment regarding the content of this manual, please contact the IAI sales office near you. Using or copying all or part of this Operation Manual without permission is prohibited.

  • Page 5: Table Of Contents

    Remote I/O (Modbus/TCP EtherNet/IP) Setup of Ethernet Environment Remote I/O Setup Procedure Setup Procedure for Exception Status Support Correspondence of Modbus/TCP Address and X-SEL I/O Installation to a Modbus/TCP System Installation to an EtherNet/IP System IAI Protocol B/TCP Setup of Ethernet Environment...

  • Page 7: Safety Guide

    Safety Guide When designing and manufacturing a robot system, ensure safety by following the safety Guidess provided below and taking the necessary measures. Regulations and Standards Governing Industrial Robots Safety measures on mechanical devices are generally classified into four categories under the International Industrial Standard ISO/DIS 12100, “Safety of machinery,”...
  • Page 8 Requirements for Industrial Robots under Ordinance on Industrial Safety and Health Work area Work condition Cutoff of drive source Measure Article Signs for starting operation Article 104 Outside During movement automatic Not cut off Installation of railings, enclosures, Article 150-4 range operation etc.
  • Page 9 Applicable Models of IAI’s Industrial Robots Machines meeting the following conditions are not classified as industrial robots according to Notice of Ministry of Labor No. 51 and Notice of Ministry of Labor/Labor Standards Office Director (Ki-Hatsu No. 340): (1) Single-axis robot with a motor wattage of 80 W or less...
  • Page 10 Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. Operation Description Description Model Selection This product has not been planned and designed for the application where high level of safety is required, so the guarantee of the protection of human life is impossible.
  • Page 11 Operation Description Description Storage and The storage and preservation environment conforms to the installation Preservation environment. However, especially give consideration to the prevention of condensation. Store the products with a consideration not to fall them over or drop due to an act of God such as earthquake.
  • Page 12 Operation Description Description Installation and (4) Safety Measures Start When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
  • Page 13 Operation Description Description Trial Operation When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.
  • Page 14 Operation Description Description Modification and Do not modify, disassemble, assemble or use of maintenance parts not specified Dismantle based at your own discretion. Disposal When the product becomes no longer usable or necessary, dispose of it properly as an industrial waste. When removing the actuator for disposal, pay attention to drop of components when detaching screws.
  • Page 15 Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Operation Manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the product is not Danger Danger handled correctly, will result in death or serious injury.
  • Page 16 -10-...

  • Page 17: Overview

    Overview This option allows the X-SEL controller to perform control in an open network environment using the Ethernet infrastructure, the de-facto standard and most common form of communication media for linking PCs and host computers. (1) Remote I/O control (Modbus/TCP EtherNet/IP) The X-SEL controller supports remote I/O control (a maximum of 256 input points and 256 output points) via Modbus/TCP.
  • Page 18 A hierarchy of the functions provided by the X-SEL Ethernet option is shown below. Functions are selected by parameters. Additionally, the network environment parameters must be set. Ethernet option Remote I/O Modbus/TCP Server (slave unit) EXCEPTION status invalid EXCEPTION status (upper two digits of the error number) valid...

  • Page 19: Interface Specifications

    10/100 Mbps (Auto-negotiation) speed Protocol Remote I/O TCP/IP message communication Open Modbus/TCP EtherNet/IP Class 1 Cyclic 1. IAI protocol B/TCP Class 1 Read Coil communication 2. Transmission by Class 1 Read Input Discretes Class 3 Connection type SEL program UCMM Non-connection...

  • Page 20: Interface Board

    (Note) The DIP switches are used to set the least significant byte of the IP address. With the X-SEL system, however, the IP address is set by a controller parameter without the use of DIP switches. Set all switches to OFF. (Setting the switches in any other pattern will have no effect.)

  • Page 21: Monitor Led Indications

    Packet detected TCP/IP packets are being transmitted. Unlit No power supply Power is not supplied to the board from the X-SEL system. Interface board initialization is not complete. The interface board is being reset. The UTP cable is not connected.

  • Page 22: Remote I/O (Modbus/Tcp Ethernet/Ip)

    Establishing a connection without setting the parameters may disable normal communication to and from other devices on the network. * EtherNet/IP is supported only by X-SEL controllers of P/Q/PX/QX types (Refer to 1. Overview for the applicable versions.). Also note that to use EtherNet/IP, you need an interface board compatible with EtherNet/IP.

  • Page 23: Remote I/O Setup Procedure

    Remote I/O Setup Procedure The system is configured only with the remote I/Os of Modbus/TCP EtherNet/IP, with the I/O port numbers being specified according to fixed port assignment. 4.2.1 Configuration with Modbus/TCP or EtherNet/IP Only (No expansion I/O board) The following settings are applicable when the system is configured only with the remote I/Os of Modbus/TCP EtherNet/IP and the standard I/O ports are mapped on Modbus/TCP EtherNet/IP without connections to any external devices via I/O boards.
  • Page 24 [I/O parameters: XSEL-P/Q/PX/QX] Parameter name Setting Input range Remarks 0: Fixed assignment I/O port assignment type I/O port numbers are specified by parameters. 0~20 1: Automatic assignment (priority sequence: slot 1~) Standard I/O input-port start 0 + (Multiple of 8) (A negative value is invalid.) number based on fixed -1~599 assignment (I/O1)
  • Page 25 4.2.2 Combined Use of Expansion I/O Board (Modbus/TCP EtherNet/IP + Expanded I/O) The following settings are applicable when the standard I/O ports are mapped on Modbus/TCP EtherNet/IP (input-port start No. 0 and output-port start No. 300), while the I/O boards are used with port assignments starting with input-port start No.
  • Page 26 [I/O parameters: XSEL-P/Q/PX/QX] Parameter name Setting Input range Remarks 0: Fixed assignment I/O port assignment type I/O port numbers are specified by parameters. 0~20 1: Automatic assignment (priority sequence: slot 1~) Standard I/O input-port start 0 + (Multiple of 8) (A negative value is invalid.) number based on fixed -1~599 assignment (I/O1)

  • Page 27: Setup Procedure For Exception Status Support

    X-SEL controller using an exception code stored in Modbus/TCP. By setting bits 0 to 3 of I/O parameter No. 129 to “2” (HEX), any error occurring in the X-SEL controller can be indicated to the host controller via Modbus/TCP.

  • Page 28: Correspondence Of Modbus/Tcp Address And X-Sel I/O

    Modbus/TCP can address the same object using either bit addressing or word addressing. The DI area (bit numbers from No. 0 up to No. 299 can be defined) of the X-SEL controller is mapped in the word address 0x400 (1024) (coil and holding register as viewed from the PC side) under Modbus/TCP.
  • Page 29 In the little endian mode, the remote I/O field accessed via word operation with an IN, INB, OUT or OUTB command of the X-SEL controller will have its upper and lower bytes reversed in relation to the X-SEL data if the same field is word-accessed via Modbus/TCP.
  • Page 30 [Modbus/TCP output areas (assignment of X-SEL DI area 300 onward), FMIO = 0] BIT7 Address (MSB) (LSB) X-SEL DI Modbus/TCP bit address 16384 16385 16386 16387 16388 16389 16390 16391 Modbus/TCP word address 1024 Lower byte Modbus output coil Modbus hold register...
  • Page 31 X-SEL task. With this setting the remote I/O field accessed via word operation with an IN, INB, OUT or OUTB command of the X-SEL controller can be handled as the same data when the same field is word-accessed via Modbus/TCP.
  • Page 32 [Modbus/TCP output areas (assignment of X-SEL DI area 300 onward), FMIO = 0] BIT7 Address (MSB) (LSB) X-SEL DI Modbus/TCP bit address 16384 16385 16386 16387 16388 16389 16390 16391 Modbus/TCP word address 1024 Upper byte Modbus output coil Modbus hold register...

  • Page 33: Installation To A Modbus/Tcp System

    Installation to a Modbus/TCP System No special tools are required for operation of the X-SEL controller via Modbus/TCP on Ethernet. Simply set the controller parameters, connect the Ethernet cable and turn on the power. The Modbus/TCP server in the controller will be started, enabling remote I/O control.

  • Page 34: Iai Protocol B/Tcp

    IAI Protocol B/TCP This protocol uses TCP packets embedded with the message format of IAI protocol B for serial communication. The controller supports the slaves under this protocol, regardless of the connection method (client or server). (The connected device always becomes the protocol master.)
  • Page 35 * Note: Number of clients that can be connected to one server-port channel simultaneously = 1 Bits 0 to 3: IAI protocol B/TCP (MANU mode) * PC software connection is enabled in the client mode only. Bits 4 to 7:...
  • Page 36 (Only the IP address is checked.) * In the client mode “0” cannot be set. (Note) 1. To connect the controller to IAI’s PC software, set the parameter to “1: Client (Assign own port number automatically.” 2. IAI’s PC software will detect “Error No. ECF: Socket error (PC)” if the controller-side port is disabled due to a mode change on the controller side, reception of an IAI protocol serial-communication message or other reason while the controller is connected to the PC software.
  • Page 37 Set the port number for the host computer and utilize the telnet tool included with your windows operating system to communicate to the host controller. Also, set the port on the X-SEL controller side to match by setting I/O parameter #144 (MANU mode) or No. 159 (AUTO mode). Then perform data transfer in accordance with the format defined in the Serial Communication in order to test communication.

  • Page 38: Ethernet Connection Of X-Sel Pc Software

    Ethernet Connection of X-SEL PC Software 5.2.1 Software Versions Supporting This Function (1) PC software V2.1.0.0 or later (Japanese version) V2.1.0.0E or later (English version) 5.2.2 Function (1) Connection confirmation a. Selecting the communication port Select “Ethernet” in the port name list on the Connection Confirmation screen.
  • Page 39 c. Selecting the controller Entering the port number and clicking the [OK] button switches the display to the Select Controller screen. Figure 3 Each time a connection is established from a controller, the IP address of the connecting controller is added to the list. Select the IP address of the controller with which you want to communicate, and then click the [OK] button.
  • Page 40 (2) Connection destination change Select “Controller (C)” “Request Release Pause (L)” from the menu. * This menu item will be added only when connections have been established from two or more controllers. Figure 4 Select the IP address of the controller with which you want to communicate, and then click the [OK] button.
  • Page 41 5.2.3 Items to Note (1) When connecting via Ethernet, the IP address parameter must be set via serial connection beforehand in accordance with the applicable environment. (2) If a firewall (including the firewall function of virus protection software) is installed in the PC, etc., the port block must be canceled or the firewall function disabled before a connection can be made.

  • Page 42: Transmission By Sel Program

    Transmission by SEL Program Four channels of ASCII-based, delimiter-controlled communication (CH31 through CH34) are supported, using a set of transmission commands in a system roughly equivalent to that used in the X-SEL controller’s serial communication. (The specification of each SEL command may vary slightly from the corresponding command specification in serial communication, so exercise due caution.)
  • Page 43 00***300H connected to one server-port channel (Channel 31) simultaneously = 1 00**3*00H Bits 0 to 3: IAI protocol B/TCP (MANU mode) (Channel 32) * PC software connection is enabled in the client mode only. 00*3**00H Bits 4 to 7: IAI protocol B/TCP (AUTO mode)
  • Page 44 Own IP address (L) * Setting of “0” and “255” is prohibited. 1~254 Subnet mask (H) 0~255 Subnet mask (MH) 0~255 Subnet mask (ML) 0~255 Subnet mask (L) 0~255 Default gateway (H) 0~255 Default gateway (MH) 0~255 Default gateway (ML) 0~255 Default gateway (L) 0~255...

  • Page 45: Ethernet Option Sel Commands

    * The “Ethernet Option SEL Commands” are supported in the following versions: X-SEL (Cartesian) Main Application V0.79 or later X-SEL (IX SCARA) Main Application V0.29 or later X-SEL PC Software Ver. 2.1.1.0 or later OPEN (Channel open) [* When the Ethernet option is used]...
  • Page 46 (Note 8) The diagram below explains the mechanism of “socket interface.” * Bear in mind that “socket,” “connect,” “write,” “read,” “close,” “bind,” “listen” and “accept” are not SEL language commands (SEL commands). (1) Client open (OPEN command) socket Generation of socket connect Establishment of connection Decide whether to...
  • Page 47 [Example] IP address of connection destination (H) = 192 IP address of connection destination (MH) = 168 IP address of connection destination (ML) = 72 IP address of connection destination (L) = 101 64514 Port number of connection destination = 64514 IPCN Declare the IP address/port number storage area for the connection destination of channel 31 = Local integer...
  • Page 48 50~: Device error information Invalid Message ID Invalid Message Type Invalid Command Invalid Data Size Invalid Frame Count Invalid Frame Number Invalid Offset Invalid Address Invalid Response Flash Config Error 60~64 Invalid To Be Defined 1-7 Invalid IP-address or Subnet mask Invalid socket type No free socket Invalid socket...
  • Page 49 CLOS (Channel close) [* When the Ethernet option is used] Command, declaration Extension Input condition Output condition Command, (I/O, flag) (Output, flag) Operand 1 Operand 2 (LD, A, O, AB, OB) declaration Channel Optional Optional CLOS Prohibited number [Function] Close the channel specified in operand 1. Transmission via the specified channel will hereafter be disabled.
  • Page 50 READ (Read) [* When the Ethernet option is used] Command, declaration Extension Input condition Output condition Command, (I/O, flag) (Output, flag) Operand 1 Operand 2 (LD, A, O, AB, OB) declaration Channel Column Optional Optional READ number number [Function] Read a character string from the channel specified in operand 1 to the column specified in operand 2.
  • Page 51 WRIT (Write) [* When the Ethernet option is used] Command, declaration Extension Input condition Output condition Command, (I/O, flag) (Output, flag) Operand 1 Operand 2 (LD, A, O, AB, OB) declaration Channel Column Optional Optional WRIT number number [Function] Write a character string from the column specified in operand 2 to the channel specified in operand 1.
  • Page 52 IPCN (IP address/port number settings of connection destination) [* When the Ethernet option is used] Command, declaration Extension Input condition Output condition Command, (I/O, flag) (Output, flag) Operand 1 Operand 2 (LD, A, O, AB, OB) declaration Channel Integer variable Optional Optional IPCN...

  • Page 53: Common Items To Note (Be Sure To Read This Section.)

    IP level of TCP/IP using an MS-DOS prompt (or command prompt in Windows NT/2000)) or similar command. * For details on the parameters, refer to “Appendix: “X-SEL (Cartesian/IX SCARA) Ethernet Option Parameters.” Build the system by ensuring a sufficient period so that the port opening order of the connected device and controller will satisfy “server port open...
  • Page 54 ROM and then reset the software. (15) If you are contacting IAI to inquire about the encountered problem, please have the following information ready so that we can better assist in a quick recovery and prevent any recurrence of the problem.
  • Page 64 SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China TEL 021-6448-4753 FAX 021-6448-3992 website: www.iai-robot.com The information contained in this document is subject to change without notice for purposes of product improvement. Copyright © 2013. Mar. IAI Corporation. All rights reserved. 13.03.000...

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