YASKAWA DX200 Instructions Manual
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YASKAWA DX200 Instructions Manual

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See also: Operator's Manual , Instruction Manual
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.
Part Number:
165984-1CD
Revision:
0
MANUAL NO.
HW1481823
1/60
0

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Summary of Contents for YASKAWA DX200

  • Page 1 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. Part Number: 165984-1CD Revision: MANUAL NO. HW1481823...
  • Page 2 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.
  • Page 3 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”. Indicates a potentially hazardous...
  • Page 4 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. HW1481823...
  • Page 5 – 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.
  • Page 6 165984-1CD Adavanced Ethernet Function Descriptions of the programming pendant, buttons, and displays are shown as follows: Equipment Manual Designation Programming Character The keys which have characters printed on Pendant Keys them are denoted with [ ]. ex. [ENTER] Symbol The keys which have a symbol printed on them Keys are not denoted with [ ] but depicted with a small picture.

  • Page 7: Table Of Contents

    165984-1CD 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........................
  • Page 8 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......................

  • Page 9: 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.

  • Page 10: System Outline

    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.

  • Page 11: System Configuration

    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.
  • Page 12 165984-1CD Adavanced Ethernet System Configuration 2.3 Setting of Transmission Parameters 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: Timer for monitoring the sequence. Controls the response waiting time for the invalid responses or nonresponses.

  • Page 13: Transmission Procedure

    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.

  • Page 14: Socket Connection

    Adavanced Ethernet Transmission Procedure 3.1 Outline 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>".

  • Page 15: Response To Command

    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>"...

  • Page 16: Command Details

    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...
  • Page 17 165984-1CD Adavanced Ethernet Transmission Procedure Function 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...
  • Page 18 165984-1CD Adavanced Ethernet Transmission Procedure 3.2 Command Details 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...
  • Page 19 165984-1CD Adavanced Ethernet Transmission Procedure Function 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. D4 D3 D2 D1 D0 0 : Flip 1 : No flip...
  • Page 20 165984-1CD Adavanced Ethernet Transmission Procedure 3.2 Command Details 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 D6 D5 D4 D3 D2 D1 D0 Step...
  • Page 21 Data-1 = Read job name Data-2 = Read line No. (0 to 9999) Data-3 = Read step No. (1 to 9998) JWAIT The Ethernet server function does not support the JWAIT command. NOTE Use the command: JWAIT in the DX200 Ethernet function. HW1481823 21/60...
  • Page 22 165984-1CD Adavanced Ethernet Transmission Procedure 3.2 Command Details Function RGROUP Reads the current control group set by the CGROUP command or CTASK command, and the task selection status. Command format: RGROUP Command data: None Answer format: Data-1, Data-2, Data-3 Data-1 = Robot control group information •...

  • Page 23: Read/Data Access System Command

    165984-1CD Adavanced Ethernet Transmission Procedure Function 3.2 Command Details Data-3 = Task information In a system where independent control group is not allowed, "0" is returned. 0: Master task 1: Sub 1 task 2: Sub 2 task    15: Sub 15 task 3.2.1.2 Read/Data Access System Command RJDIR...
  • Page 24 165984-1CD Adavanced Ethernet Transmission Procedure 3.2 Command Details Function RUFRAME Reads a specified user coordinate data. Command format: RUFRAME Command data: Data-1 Data-1 = User coordinate No. 2: User coordinate 1    65: User coordinate 64 Answer format: Data-1, Data-2, , Data-28 Data-1 = ORG X coordinate value (unit: mm, significant 3 decimal points) Data-2 = ORG Y coordinate value (unit: mm, significant 3 decimal points) Data-3 = ORG Z coordinate value (unit: mm, significant 3 decimal points)
  • Page 25 165984-1CD Adavanced Ethernet Transmission Procedure Function 3.2 Command Details Data-20 = XY wrist angle Rz coordinate value (unit: degree (), significant 4 decimal points) Data-21 = XY type Data-22 = Tool No. (0 to 63) Data-23 = Number of 7th axis pulses (for travel axis, unit: mm) Data-24 = Number of 8th axis pulses (for travel axis, unit: mm) Data-25 = Number of 9th axis pulses (for travel axis, unit: mm) Data-26 = Number of 10th axis pulses...
  • Page 26 4, 5, or 6) Answer: Data-1, Data-2, , Data-10 (When all the robots controlled by DX200 have 6 axes or less) Data-1 = Position data type (0: Pulse type, 1: Cartesian type) (When the position data type is "0")
  • Page 27 Data-9 = Not exist Data-10 = Not exist • When the robots controlled by DX200 include a 7-axis robot, the number of pulses of robot's E-axis is inserted between Data-7 (Number of robot T-axis pulses) and Data-8 (Tool No). Therefore, the tool number is Data-9.
  • Page 28 1 : S>=180 Data-10 = Tool No. (0 to 63) • When the robots controlled by DX200 include a 7-axis robot, the elbow angle posture Re is inserted between Data-8 (Wrist angle Rz coordinate value) and Data-9 (Type). Therefore, the numbers of Data-9 and later are increased by 1 and the final data is Data-11.

  • Page 29: System Control Function

    165984-1CD Adavanced Ethernet Transmission Procedure Function 3.2 Command Details 3.2.2 System Control Function 3.2.2.1 Operation System Command HOLD Turns HOLD ON/OFF. Command format: HOLD Command data: Data Data = Specification of HOLD ON/OFF status 0: OFF 1: ON Answer format: 0000 at normal answer RESET Resets an alarm of manipulator.
  • Page 30 165984-1CD Adavanced Ethernet Transmission Procedure 3.2 Command Details Function MODE Selects a mode. Command format: MODE Command data: Mode-No Mode-No = Mode specification No. 1: Teach mode 2: Play mode Answer format: 0000 at normal answer The MODE command can be used when the external mode NOTE switch is enabled on the OPERATING CONDITION window.
  • Page 31 165984-1CD Adavanced Ethernet Transmission Procedure Function 3.2 Command Details HLOCK Sets an interlock between the programming pendant and I/O operation signals. While the interlock is ON, all operations except the following are prohibited. • Emergency stop from the programming pendant •...
  • Page 32 CGROUP Changes an objective control group of various commands used in the host control function. The DX200 can support multiple number of manipulators and stations. In this case, CGROUP is used when any control group for commands such as RPOSJ is to be changed.
  • Page 33 165984-1CD Adavanced Ethernet Transmission Procedure Function 3.2 Command Details Data-2 = Station control group specification A control group can be specified according to the following data. However, the following settings cannot be made. • Selection of control axis which does not exist •...

  • Page 34: Start-Up System Command

    165984-1CD Adavanced Ethernet Transmission Procedure 3.2 Command Details Function CTASK (OPTIONAL) Changes the task for control in the host control function. When the power supply is started up or in a system where an independent control is not allowed, CTASK is to be used as follows. •...
  • Page 35 165984-1CD Adavanced Ethernet Transmission Procedure Function 3.2 Command Details MOVJ Moves a manipulator to a specified coordinate position in joint motion. Command format: MOVJ Command data: Data-1, Data-2, , Data-16 (For robots with 6 axes or less) Data-1 = Motion speed (0.01 to 100.0 %) Data-2 = Coordinate specification 0: Base coordinate 1: Robot coordinate...
  • Page 36 165984-1CD Adavanced Ethernet Transmission Procedure 3.2 Command Details Function Data-14 = Number of 10th axis pulses Data-15 = Number of 11th axis pulses Data-16 = Number of 12th axis pulses • In a system without external axis, Data-11 to Data-16 should be set to "0".
  • Page 37 165984-1CD Adavanced Ethernet Transmission Procedure Function 3.2 Command Details MOVL Moves a manipulator to a specified coordinate position in linear motion. Command format: MOVL Command data: Data-1, Data-2, , Data-17 (For robots with 6 axes or less) Data-1 = Motion speed selection 0: V (speed) 1: VR (posture speed) ...
  • Page 38 165984-1CD Adavanced Ethernet Transmission Procedure 3.2 Command Details Function Data-11 = Tool No. (0 to 63) Data-12 = Number of 7th axis pulses (for travel axis, unit: mm) Data-13 = Number of 8th axis pulses (for travel axis, unit: mm) Data-14 = Number of 9th axis pulses (for travel axis, unit: mm) Data-15 = Number of 10th axis pulses Data-16 = Number of 11th axis pulses...
  • Page 39 165984-1CD Adavanced Ethernet Transmission Procedure Function 3.2 Command Details Data-5 = Y coordinate incremental value (unit: mm, significant 3 decimal points) Data-6 = Z coordinate incremental value (unit: mm, significant 3 decimal points) Data-7 = Wrist angle Rx coordinate incremental value (unit: degree (), significant 4 decimal points) Data-8 = Wrist angle Ry coordinate incremental value (unit: degree (), significant 4 decimal points)
  • Page 40 165984-1CD Adavanced Ethernet Transmission Procedure 3.2 Command Details Function PMOVJ Moves a manipulator to a specified pulse position in joint motion. Command format: PMOVJ Command data: Data-1, Data-2, , Data-14 (For robots with 6 axes or less) Data-1 = Motion speed (0.01 to 100.0 %) Data-2 = Number of S-axis pulses Data-3 = Number of L-axis pulses Data-4 = Number of U-axis pulses...
  • Page 41 165984-1CD Adavanced Ethernet Transmission Procedure Function 3.2 Command Details PMOVL Moves a manipulator to a specified pulse position in linear motion. Command format: PMOVL Command data: Data-1, Data-2, , Data-15 (For robots with 6 axes or less) Data-1 = Motion speed selection 0: V (speed) 1: VR (posture speed) ...

  • Page 42: Editing System Commands

    165984-1CD Adavanced Ethernet Transmission Procedure 3.2 Command Details Function 3.2.2.3 Editing System Commands DELETE Deletes a specified job. Command format: DELETE Command data: Job-Name Job-Name = * = Job name to be deleted If Job-Name is specified with "*", the command DELETE deletes all jobs which are currently registered.
  • Page 43 165984-1CD Adavanced Ethernet Transmission Procedure Function 3.2 Command Details CVTSJ (Optional) Converts a specified job to a standard job (pulse job) in a specified converting method. Command format: CVTSJ Command data: Data-1, Data-2, Data-3 Data-1 = Name of job to be converted Data-2 = Converting method specification 0: Previous step regarded (B-axis sign same) 1: Type regarded...
  • Page 44 165984-1CD Adavanced Ethernet Transmission Procedure 3.2 Command Details Function Data-6 = ORG wrist angle Ry coordinate value (unit: degree (), significant 4 decimal points) Data-7 = ORG wrist angle Rz coordinate value (unit: degree (), significant 4 decimal points) Data-8 = ORG type Data-9 = XX X coordinate value (unit: mm, significant 3 decimal points) Data-10 = XX Y coordinate value (unit: mm, significant 3 decimal points) Data-11 = XX Z coordinate value (unit: mm, significant 3 decimal points)
  • Page 45 165984-1CD Adavanced Ethernet Transmission Procedure Function 3.2 Command Details D4 D3 D2 D1 D0 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...
  • Page 46 Command data format 2: (When the type of variables specified with the command data is 4, 5, or 6) Command data: Data-1, Data-2, , Data-12 (When all the robots controlled by DX200 have 6 axes or less) Data-1 = Type of variables 4: Robot axis position type variables...
  • Page 47 Data-11 = Not exist Data-12 = Not exist • When the robots controlled by DX200 include a 7-axis robot, the number of pulses of robot's E-axis is inserted between Data-9 (Number of T-axis pulses ) and Data-10 (Tool No.). Therefore, the tool number is Data-11.
  • Page 48 1 : S>=180 Data-12 = Tool No. (0 to 63) • When the robots controlled by DX200 include a 7-axis robot, the elbow angle posture Re is inserted between Data-10 (Wrist angle Rz coordinate value) and Data-11 (Type). Therefore, the numbers of Data-11 and later are increased by 1 and the final data is Data-13.

  • Page 49: Job Selection System Command

    165984-1CD Adavanced Ethernet Transmission Procedure Function 3.2 Command Details 3.2.2.4 Job Selection System Command SETMJ Sets a specified job as a master job. At the same time, the specified job is set as an execution job. Command format: SETMJ Command data: Job-Name Job-Name = Job name to be set Answer format: 0000 at normal answer JSEQ...

  • Page 50: I/O Read/Write Function

    165984-1CD Adavanced Ethernet Transmission Procedure 3.2 Command Details Function 3.2.3 I/O Read/Write Function 3.2.3.1 Read-Out of I/O Signal Status Reads out I/O signals. Command format: IOREAD Command data: Data-1, Data-2 Data-1 = Contact point No. to start read-out Data-2 = The number of contact points to be read out •...

  • Page 51: Write-In Of I/O Signal Status

    165984-1CD Adavanced Ethernet Transmission Procedure Function 3.2 Command Details 3.2.3.2 Write-in of I/O Signal Status Writes in I/O signals. Command format: IOWRITE Command data: Data-1, Data-2, , Data-N Data-1 = Contact point No. to start write-in Data-2 = The number of contact points to be written in Data-3 = Write-in data for the first eight contact points Data-4 = Write-in data for the next eight contact points ...

  • Page 52: Transmission Examples

    OK: DX Information Server (1.00).<CR><LF> HOSTCTRL_REQUEST RSTATS 0<CR><LF> OK: RSTATS<CR><LF> 162,0<CR> Close a socket 3.3.2 Read-Out of I/O Signals for the DX200 See and follow the figure below to read out three bytes (24 bits) from #50010. Connect a socket CONNECT Robot_access<CR><LF>...

  • Page 53: Write-In Of I/O Signals For The Dx200

    165984-1CD Adavanced Ethernet Transmission Procedure Function 3.3 Transmission Examples 3.3.3 Write-In of I/O Signals for the DX200 See and follow the figure below to write in three bytes (24 bits) from #27010. Connect a socket CONNECT Robot_access<CR><LF> OK: DX Information Server (1.00).<CR><LF>...

  • Page 54: Continuous Execution Of Multiple Commands

    165984-1CD Adavanced Ethernet Transmission Procedure 3.3 Transmission Examples Function 3.3.4 Continuous Execution of Multiple Commands See and follow the figure below to read out three bytes (24 bits) from #50010, following the "Read-Out of Status for Mode, Cycle, etc". Connect a socket CONNECT Robot_access Keep-Alive:2.<CR><LF>...

  • Page 55: Function Checkout Procedure

    – In case of connecting the cable to the hub which cannot auto-detect MDI/MDI-X connection, check if the cable used is a straight cable. – In case of directly connecting the DX200 and host computer, check if the cable used is a crossing cable.

  • Page 56: Connection Check With Lower Protocol

    C:\> In case of communication failure, the window displays as shown below. In this case, check the cable connections, network settings of the host computer, and the Ethernet communication settings of the DX200 once again. C:\>ping 192.168.255.1 Pinging 192.168.255.1 with 32 bytes of data: Request timed out.

  • Page 57: Connection Check With Telnet

    165984-1CD Adavanced Ethernet Function Checkout Procedure Function 4.3 Connection Check with telnet Connection Check with telnet Since the Ethernet server function uses the TCP port 80, it can be checked by the telnet command from the host computer whether the Ethernet server function operates normally.

  • Page 58: Restrictions

    • JWAIT • Load/Save of Files Use the DX200 Ethernet function to enable these commands/files. The FTP function (paid option) which is an advanced feature of the DX200 Ethernet function, can be used for load/save of files. HW1481823 58/60...

  • Page 59: Restrictions On The Number Of Sockets

    If command data are transmitted from the host computer to the DX200, the message exceeding 256 bytes cannot be sent. If an answer is sent back to the host computer from the DX200, the message exceeding 256 bytes are split into several packets and sent back.

  • Page 60: Hw1481823

    DX200 OPTIONS INSTRUCTIONS FOR ETHERNET SERVER FUNCTION: ADVANCED FEATURE OF DX200 ETHERNET FUNCTION Specifications are subject to change without notice for ongoing product modifications and improvements. MANUAL NO. HW1481823 60/60...

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