YASKAWA DX100 Instructions Manual
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YASKAWA DX100 Instructions Manual

Options, for data transmission function
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See also: Instruction Manual
DX100 OPTIONS
INSTRUCTIONS
FOR DATA TRANSMISSION FUNCTION
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR'S MANUAL
DX100 MAINTENANCE MANUAL
The DX100 Operator's Manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Part Number:
157449-1CD
Revision:
1
RE-CKI-A456
MANUAL NO.
1 of 125
3

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  • 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 DX100 INSTRUCTIONS DX100 OPERATOR’S MANUAL DX100 MAINTENANCE MANUAL The DX100 Operator’s Manual above corresponds to specific usage. Be sure to use the appropriate manual. Part Number: 157449-1CD Revision: 1 of 125 RE-CKI-A456...
  • Page 2 157449-1CD Data Transmission Function Copyright © 2014, Yaskawa America, Inc. All Rights Reserved. 2 of 125 RE-CKI-A456...
  • Page 3 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 4 Data Transmission Function Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the DX100. In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”. Indicates an imminent hazardous...
  • Page 5 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 DX100. – Moving the manipulator with the programming pendant. – Running the system in the check mode.
  • Page 6 Read and understand the Explanation of Warning Labels in the DX100 Instructions before operating the manipulator. 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.
  • Page 7 157449-1CD Data Transmission 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 8: Table Of Contents

    2.1.3 Display in Command Remote Mode ..............2-4 2.2 Serial I/F Port Assignment ....................2-5 2.3 Parallel Operation of DX100 ....................2-6 2.3.1 No Multiple-operation of DCI, Stand-alone, and Host Control Functions ..... 2-6 2.3.2 File Access and Editing for a Single Target............2-6 2.4 Transmission Specifications ....................
  • Page 9 157449-1CD Data Transmission Table of Contents Function 3.2.2 SAVEJ ........................3-3 3.2.2.1 Function ....................3-3 3.2.2.2 Configuration ................... 3-3 3.2.3 DELETEJ......................3-4 3.2.3.1 Function ....................3-4 3.2.3.2 Configuration ................... 3-4 3.2.4 SWAIT ........................3-4 3.2.4.1 Function ....................3-4 3.2.4.2 Configuration ................... 3-4 3.3 Commands for Variable Transmission................
  • Page 10 4.3.5 Selecting Job and Data File................4-13 4.3.5.1 EACH Selection..................4-13 4.3.5.2 BATCH Selection................... 4-13 4.4 Transmission Procedure ....................4-13 5 Host Control Function of DX100 ..................... 5-1 5.1 File Data Transmission Function ..................5-1 5.1.1 Transmission Procedure..................5-2 5.1.1.1 Load ......................5-2 5.1.1.2 Save ......................
  • Page 11 157449-1CD Data Transmission Table of Contents Function 6 Data List............................6-1 6.1 Header Number List......................6-1 6.2 Parameter List ........................6-3 7 Comparison of Data Transmission Functions ................. 7-1 8 Remote Function Setting ........................ 8-1 11 of 125 RE-CKI-A456...

  • Page 12: Outline

    The data transmission function is divided into the following three functions. • DCI (Data Communication by Instruction) • Stand-alone function • Host control function DX100 Host computer (personal computer, etc.) Data transmission 12 of 125 RE-CKI-A456...

  • Page 13: Dci Function

    1.1 DCI Function DCI Function The DCI function executes instructions described in a job to perform data transmission with a host computer. This function loads and saves jobs and variables. DX100 Host computer (personal computer, etc.) Execute Table 1-1: DCI Function Load Job can be transmitted in either mode.

  • Page 14: Stand-Alone Function

    1.2 Stand-alone Function Stand-alone Function The stand-alone function is for data transmission with host computer by operation on the programming pendant. This function loads and saves jobs and condition data. DX100 Host computer Operation (personal computer, etc.) Table 1-2: Stand-alone Function...

  • Page 15: Host Control Function

    1.3 Host Control Function Host Control Function The host control function is for loading and saving jobs, reading robot status, and controlling the system by sending a command from a host computer. DX100 Host computer (personal computer, etc.) Operation 15 of 125...
  • Page 16 157449-1CD Data Transmission Outline Function 1.3 Host Control Function Table 1-3: Host Control Function File Data Load Jobs can be transmitted in either Transmission Transmission mode: Save Function • Single job • Related job Condition Load • Tool data Data/ •...

  • Page 17: For Using Data Transmission Function

    2.1 Remote Mode For Using Data Transmission Function Remote Mode The data transmission function can be used with DX100 in remote mode. 2.1.1 Remote Mode To use the data transmission function, set DX100 to remote mode. In remote mode, the operation is ordered from a host computer ; whereas in local mode, teach mode, and play mode, the programming pendant is used for operating the system.
  • Page 18 157449-1CD Data Transmission For Using Data Transmission Function Function 2.1 Remote Mode Operation-site Operation-site Condition to Enable the Operation Mode Local Mode Programming The remote lamp is OFF, or “INHIBIT PP/ pendant PANEL” in the pseudo input display is set to invalid.

  • Page 19: Command Remote Valid/Invalid

    157449-1CD Data Transmission For Using Data Transmission Function Function 2.1 Remote Mode 2.1.2 Command Remote Valid/Invalid Availability of each function of data transmission differs depending on the command remote setting (Enabled / Disabled). When the command remote is set invalid, the read/monitor system commands (hereinafter called read-only function) in the host control function in addition to the DCI function and stand-alone function can be used.

  • Page 20: Display In Command Remote Mode

    2.1.3 Display in Command Remote Mode Even in command remote enabled submode, it is not necessary to call the command remote display because operations from DX100 is available. To call the command remote display, select “REMOTE” from “I/O” under the top menu.

  • Page 21: Serial I/F Port Assignment

    2.2 Serial I/F Port Assignment Serial I/F Port Assignment The DX100 has one serial interface port (RS-232CI/F). The FC1 protocol and the BSC complying protocol (for data transmission function: option) can be assigned to the port to communicate with external devices.

  • Page 22: Parallel Operation Of Dx100

    Function 2.3 Parallel Operation of DX100 Parallel Operation of DX100 The DX100 is capable of parallel processing. For instance, it can check signals with programming pendant while saving files to YASNAC FC2, or can edit files with the programming pendant while monitoring operation status by the host control function.

  • Page 23: Transmission Specifications

    157449-1CD Data Transmission For Using Data Transmission Function Function 2.4 Transmission Specifications Transmission Specifications This section explains the transmission specifications for the data transmission. 2.4.1 Basic Specifications Interface Complies to RS-232C (RS/CS method) Transmission Speed 9600 bps Transmission Mode Half-duplex transmission system (point-to-point) Synchronization Asynchronous (stop bit 1) system...

  • Page 24: Transmission Format

    157449-1CD Data Transmission For Using Data Transmission Function Function 2.4 Transmission Specifications 2.4.3 Transmission Format The transmission format is as follows. HEADING TEXT HEADING TEXT TEXT TEXT ACK0 ACK1 24 of 125 RE-CKI-A456...

  • Page 25: Error Control System

    157449-1CD Data Transmission For Using Data Transmission Function Function 2.4 Transmission Specifications 2.4.4 Error Control System The error control is performed by a check sum of all the characters from SOH or STX to ETB or ETX. The check sum is calculated as shown below. <Example>...

  • Page 26: Data Link Establishment

    • Timer A: Sequence monitoring timer. Serves as protection against invalid or no response. Recommended value is 3 sec. • Timer B: Text reception monitoring timer. Serves as protection against no response of text end character. Recommended value is 20 sec. DX100 DX100 Host computer Host computer...

  • Page 27: Transmission Control Resending Sequence

    157449-1CD Data Transmission For Using Data Transmission Function Function 2.4 Transmission Specifications 2.4.8.2 Transmission Control Resending Sequence Two constants below are related to the transmission control resending sequence. Both are transmission parameters like the transmission control monitoring timers, whose settings can be changed for each system. •...

  • Page 28: Connection Of D-Sub Connector Pins

    Fig. 2-3: YCP01 board Host Computer DX100 • Connect “RS” of the DX100 to “CS” of a host computer. This prevents data overrun when reception processing speed of the DX100 cannot catch up with data sending from the host computer.

  • Page 29: Dci Function

    The DCI function is classified as follows. • Job load, save and delete functions • Variable load and save functions DX100 Host computer (personal computer, etc.) Execute 29 of 125...

  • Page 30: Commands For Job Transmission

    JBI, JBR NWAIT IF statement • If the DX100 memory already contains a job having the same name as the job to be loaded, the existing job is deleted and the new job is loaded. However, if the job to be loaded is as follows, an alarm occurs.

  • Page 31: Savej

    Function 3.2 Commands for Job Transmission 3.2.2 SAVEJ 3.2.2.1 Function Saves a specified job as single or related jobs, from the memory of the DX100 to the external memory unit. 3.2.2.2 Configuration JOB:<Job name> Unit of IG#<Input group No.> saving SAVEJ B<Variable No.>...

  • Page 32: Deletej

    DCI Function Function 3.2 Commands for Job Transmission 3.2.3 DELETEJ 3.2.3.1 Function Deletes all jobs except its own job or specified jobs as single or related jobs, from the memory of the DX100. 3.2.3.2 Configuration Unit of deleting statement JBI, JBR •...

  • Page 33: Commands For Variable Transmission

    Position type (robot axis) global variable Position type (base axis) global variable Position type (station axis) global variable 3.3.2 SAVEV 3.3.2.1 Function Saves the specified global variables from the DX100 memory to a external memory unit. 3.3.2.2 Configuration Byte type global variable SAVEV...

  • Page 34: Registering Dci Instruction

    157449-1CD Data Transmission DCI Function Function 3.4 Registering DCI Instruction Registering DCI Instruction 1. Move the cursor to the address area. 2. Move the cursor to the line where an instruction is to be registered in the job content display. –...
  • Page 35 157449-1CD Data Transmission DCI Function Function 3.4 Registering DCI Instruction – The cursor moves to the instruction list dialog while the cursor in the address area changed to an underline. The instruction where the cursor is positioned is displayed with the previously registered additional items in the input buffer line.
  • Page 36 157449-1CD Data Transmission DCI Function Function 3.4 Registering DCI Instruction • Adding, changing, or deleting the additional items – To add, change or delete the additional items, select an instruction in the input buffer line to display the detail edit display. •...
  • Page 37 157449-1CD Data Transmission DCI Function Function 3.4 Registering DCI Instruction 6. Press [INSERT] and [ENTER]. – The instruction displayed in the input buffer line is registered. – To register an instruction just before an END instruction, it is not necessary to press [INSERT]. 37 of 125 RE-CKI-A456...

  • Page 38: Concurrent Tasks From Multiple Jobs

    • Multiplexing of DCI transmission function is not supported. Therefore, it is impossible to manipulate files on two or more external memory units (such as personal computer) connected to the DX100. • If two or more commands related to DCI function are issued concurrently, the execution starts after completion of processing of the currently executing command.

  • Page 39: Dci Parallel Execution

    157449-1CD Data Transmission DCI Function Function 3.6 DCI Parallel Execution DCI Parallel Execution By using the function described below, the DCI instruction can be executed in parallel with general instructions such as a move instruction and operating instruction. When this function is used, the robot can be moved or the calculation is executed during data transmission;...

  • Page 40: Parallel Execution Using Pstart (Optional)

    “R1”. The job “ABC” is loaded by the command  during execution of the job “S1”; when loading is completed, the DX100 waits for the job “S1” to be completed by the command . When the execution of job “S1” is completed, the job “ABC” is executed by the command .

  • Page 41: Transmission Procedure

    Transmission Procedure 3.7.1 Job Transmission 3.7.1.1 Saving Procedure The transmission from the DX100 to a host computer proceeds as follows. DX100 → Host computer 1. The ENQ code is sent out to establish a data link. 2. After the data link is established, data are sent out to the host computer.

  • Page 42: Loading Procedure

    Function 3.7 Transmission Procedure 3.7.1.2 Loading Procedure The transmission from a host computer to the DX100 proceeds as follows. Host computer → DX100 1. The ENQ code is sent out to establish a data link. 2. After the data link is established, a request to send is sent out to the host computer.

  • Page 43: Variable Transmission

    157449-1CD Data Transmission DCI Function Function 3.7 Transmission Procedure 3.7.2 Variable Transmission The variable transmission is performed in the same way as for the data as shown below. 3.7.2.1 Saving Procedure ACK0 03,001 Data ACK1 ACK0 90,000 Data ACK1 3.7.2.2 Loading Procedure ACK0 03,051 ACK1...
  • Page 44 157449-1CD Data Transmission DCI Function Function 3.7 Transmission Procedure Byte type global  (0 to 255) variable: Integer type ±  (-32768 to +32767) global variable: Double precision ±  (-2147483648 to 2137383647) type global variable: Real number type 7 significant digits (-1.70141E+38 to +1.70141E+38) global variable: •...
  • Page 45 157449-1CD Data Transmission DCI Function Function 3.7 Transmission Procedure Position type Pulse type (station axis) 1, 2, 3, 4, 5, 6 (Unit : pulse) global variable : (-999999999 to 999999999) String type global String (16 halfwidth characters) variable *2 0000 or error code The response is as follows when an error occurs in response.

  • Page 46: Axis Data Transmission Format

    Function 3.8 Axis Data Transmission Format Axis Data Transmission Format The DX100 data transmission function has the following restrictions on transmission of the DX100 internal data. The robot axes are fixed to a 6-axis set. A base axis and a station axis are recognized as an external axis.

  • Page 47: Alarm Codes

    157449-1CD Data Transmission DCI Function Function 3.9 Alarm Codes Alarm Codes Code Message Data 4104 WRONG EXECUTION OF LOAD INST Refer to the table below 4105 WRONG EXECUTION OF SAVE INST 4106 WRONG EXECUTION OF DELETE INST Data Contents Insufficient memory capacity Job editing prohibited Attempted to load or delete a job being executed.
  • Page 48 157449-1CD Data Transmission DCI Function Function 3.9 Alarm Codes Data Contents Receiving error (Header number error) Receiving error (Text length exceeds 256 bytes) Receiving error (Receiving other than ENQ while waiting ENQ, receiving other than control code while waiting control code, receiving other than STX, SOH, ENQ, EOT while waiting text) Software error Hardware error (Overrun)

  • Page 49: Stand-Alone Function

    In stand-alone mode, the file data transmission function is available. By the operations on the DX100 programming pendant, file data can be sent from the DX100 to a host computer such as personal computer to be saved, and from a host computer to the DX100 memory to be loaded.

  • Page 50: Operation Flow

    157449-1CD Data Transmission Stand-alone Function Function 4.2 Operation Flow Operation Flow Transmission of file data is performed in the following manner. <Main menu> {EX. MEMORY} Sub menu {LOAD} {SAVE} {VERIFY} {DEVICE} Select a device Select a data group Select a data Press "EXECUTE"...

  • Page 51: Operation

    157449-1CD Data Transmission Stand-alone Function Function 4.3 Operation Operation 4.3.1 Selecting External Memory Unit 1. Select {EX. MEMORY} under the main menu. 2. Select {DEVICE}. – The device selection display is shown. 3. Select “DEVICE”. – The selection dialog is shown. 4.

  • Page 52: Save

    Data Transmission Stand-alone Function Function 4.3 Operation 4.3.2 Save The operation to transmit data from the DX100 to the external memory unit is explained in the following. 4.3.2.1 Saving Job 1. Select {EX. MEMORY} under the main menu. 2. Select {SAVE}.
  • Page 53 157449-1CD Data Transmission Stand-alone Function Function 4.3 Operation 4. Select the job to be saved. – The select job is marked with ““. 5. Press [ENTER]. – The confirmation dialog is shown. 6. Select “YES”. – The job starts to be saved, and the transmission display is shown. –...

  • Page 54: Saving File

    157449-1CD Data Transmission Stand-alone Function Function 4.3 Operation 4.3.2.2 Saving File 1. Select {EX. MEMORY} under the main menu. 2. Select {SAVE}. – The external memory menu display is shown. 3. Select the file group to be saved. – The file selection display is shown. 54 of 125 RE-CKI-A456...
  • Page 55 157449-1CD Data Transmission Stand-alone Function Function 4.3 Operation 4. Select the file to be saved. – The select file is marked with “”. 5. Press [ENTER]. – The confirmation dialog is shown. 6. Select “YES”. – The file starts to be saved, and the transmission display is shown. –...

  • Page 56: Load

    Function 4.3 Operation 4.3.3 Load The operation to transmit data from the external memory unit to the DX100 is explained in the following. 4.3.3.1 Loading Job 1. Select {EX. MEMORY} under the main menu. 2. Select {LOAD}. – The external memory menu display is shown.

  • Page 57: Loading File

    157449-1CD Data Transmission Stand-alone Function Function 4.3 Operation 4.3.3.2 Loading File 1. Select {EX. MEMORY} under the main menu. 2. Select {LOAD}. – The external memory menu display is shown. 3. Select the file group to be loaded. – The file selection display is shown. 57 of 125 RE-CKI-A456...
  • Page 58 157449-1CD Data Transmission Stand-alone Function Function 4.3 Operation 4. Select the file to be loaded. – The selected file is marked with ““. 5. Press [ENTER]. – The confirmation dialog is shown. 6. Select “YES”. – The file is starts to be loaded, and the transmission display is shown. –...

  • Page 59: Job Selection Mode

    157449-1CD Data Transmission Stand-alone Function Function 4.3 Operation 4.3.4 Job Selection Mode To select a job to save, load, or verify, the following selection modes are available. 4.3.4.1 Single Selection Mode Only the selected job is loaded, saved, or verified. 4.3.4.2 Related Selection Mode The selected job and the related jobs and data files are loaded, saved, or verified.

  • Page 60: Switching Selection Mode

    157449-1CD Data Transmission Stand-alone Function Function 4.3 Operation 4.3.4.3 Switching Selection Mode 1. Press the page key in the external memory job list display. – Each time the page key is pressed, the displays in “single selection mode” and in “related selection mode” appears alternately. 4-12 60 of 125 RE-CKI-A456...

  • Page 61: Selecting Job And Data File

    157449-1CD Data Transmission Stand-alone Function Function 4.4 Transmission Procedure 4.3.5 Selecting Job and Data File There are two ways to select a job and various data files to be loaded, saved, verified, or deleted. 4.3.5.1 EACH Selection Selects job and data file one by one. 4.3.5.2 BATCH Selection Selects all the jobs and data files at once.

  • Page 62: Host Control Function Of Dx100

    File Data Transmission Function According to commands from a host computer, the host control function sends the stored data of user memory of the DX100 to the host computer or receives data from the host computer. The following data can be transmitted between the DX100 and a host computer.

  • Page 63: Transmission Procedure

    Function 5.1.1 Transmission Procedure 5.1.1.1 Load The transmission from a host computer to the DX100 proceeds as follows. Host computer → DX100 1. The ENQ code is sent from the host computer to establish a data link. 2. After the data link is established, the data is sent from the host computer.

  • Page 64: Save

    5.1 File Data Transmission Function Function 5.1.1.2 Save The transmission from the DX100 to a host computer proceeds as follows. DX100 → Host computer 1. The ENQ is sent from the host computer to establish a data link. 2. After the data link is established, a request to send is sent from the host computer.

  • Page 65: Data Management

    Function 5.1.2 Data Management The jobs for the DX100 may refer to another job or condition data according to instructions. When saving a single job or condition data to the host computer, the correspondence between job and files should be controlled.

  • Page 66: Robot Control Function

    The DX100 sends the ENQ code to establish a data link. 4. After the data link is established, the DX100 sends the response for the command and terminates the transmission. The command format and the response format are explained in the following.
  • Page 67 Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function If the DX100 cannot execute the sent command, the DX100 returns an interpreter message. An example of DELETE command (delete a job) is shown. Fig. 5-3: Sending Command from Host Computer...

  • Page 68: List Of Interlock For Commands Of Host Control Function

    5.2 Robot Control Function Function 5.2.2 List of Interlock for Commands of Host Control Function The executability of each command differs depending on the status of the DX100 as shown in the following table. Command Name Read/Write Enabled Only Read Enabled...
  • Page 69 157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function <Interpreter message>  : Possible to execute A : Alarm/error occurring 2060 M : Incorrect mode 2080 H : Hold 2020 to 2050 MOVE : Manipulator moving...

  • Page 70: Command That Handle Axis Data

    5.2 Robot Control Function Function 5.2.3 Command that Handle Axis Data The data transmission function of the DX100 has restrictions on handling control axis data.  For the following commands, the order of response data varies whether the number of robot's axes is 6 or 7.

  • Page 71: Status Read Function

     RALARM Reads the error alarm code. Although the DX100 has the subcode to error code, it cannot read by RALARM because the command has no argument of the subcode. Command format : RALARM Response format : Data-1, Data-2, , Data-10 or Error code...
  • Page 72 157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function  RPOSJ Reads the current position in joint coordinate system. Command format : RPOSJ Response format : Data-1, Data-2, , Data-12 or Error code Data-1 = Number of S-axis pulses...
  • Page 73 157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function  RPOSC Reads the current position in a specified coordinate system. Whether there is an external axis or not can be specified. Command format : RPOSC Data-1, Data-2...
  • Page 74 157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function 0 : Flip 1 : No flip 0 : Upper arm 1 : Lower arm 0 : Front 1 : Back 0 : R<180 1 : R180 0 : T<180...
  • Page 75 157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function  RSTATS Reads the status of mode, cycle, operation, alarm error, and servo. Command format : RSTATS Response format : Data-1, Data-2 or Error code Data-1 Step...
  • Page 76 157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function  RJSEQ Reads the current job name, line No. and step No. Command format : RJSEQ Response format : Data-1, Data-2, Data-3 or Error code Data-1 = Read job name Data-2 = Read line No.
  • Page 77 157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function  JWAIT JWAIT is for checking operations (job) of the manipulator. If a response is returned immediately after the job is started, in such a case with START command, completion of the job cannot be known.
  • Page 78 157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function  RGROUP Reads the current control group set by CGROUP command or CTASK command, and the task selection status. Command format : RGOUP Response format : Data-1, Data-2, Data-3 or Error code Data-1 = Robot control group information.
  • Page 79 157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function Data-3 = Task information : Master task : Sub 1 task : Sub 2 task : Sub 3 task : Sub 4 task : Sub 5 task...

  • Page 80: Read/Data Access System Commands

    157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function 5.2.5.2 Read/Data Access System Commands RJDIR  Reads all job names, or the names of jobs related to the parent job. Command format : RJDIR Job-Name Job-Name = All the job names currently registered...
  • Page 81 157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function  RUFRAME Reads a specified user coordinate data. Command format : RUFRAME Data-1 Data-1 = User coordinate No. 0 : Reserved 1 : Reserved 2 : User coordinate 1 65 : User coordinate 64 Response format : Data-1, Data-2, ...
  • Page 82 157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function Data-25 = Number of 9th axis pulses (for travel axis, mm) Data-26 = Number of 10th axis pulses Data-27 = Number of 11th axis pulses Data-28 = Number of 12th axis pulses •...
  • Page 83 157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function  SAVEV Sends variable data to a host computer. Command format : SAVEV Data-1, Data-2 Data-1 : Type of variables 0 : Byte type variables 1 : Integer type variables...
  • Page 84 157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function (When the position data type is “1”) Data-2 = Coordinate data 0 : Base coordinate 1 : Robot coordinate 2 : User coordinate 1 3 : User coordinate 2...
  • Page 85 157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function Data of the form is a value obtained by converting the following bit data to decimal notation. 0 : Flip 1 : No flip 0 : Upper arm...

  • Page 86: System Control Function

    157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function 5.2.6 System Control Function 5.2.6.1 Operation System Commands  HOLD Turns HOLD ON/OFF. Command format : HOLD [Data] Data = Specification of HOLD ON/OFF status (0 : OFF, 1 : ON) Response format : 0000 or Error code <Example>...
  • Page 87 157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function  MODE Selects a mode. Command format : MODE Mode-No Mode-No. = 1 or 2 1 : Teach mode 2 : Play mode Response format : 0000 or Error code <Example>...
  • Page 88 157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function  HLOCK Sets an interlock between the programming pendant and I/O operation signals. While the interlock is ON, all operations except the followings are prohibited. • Emergency stop from the programming pendant •...
  • Page 89 157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function  MDSP Receives message data and displays the message in the remote display of the programming pendant. If the currently shown display is not the remote display, it is changed forcibly to the remote display to display the MDSP command message.
  • Page 90 Changes an objective control group of various commands used in the host control function. The DX100 can support multiple number of manipulators and stations. In this case, CGROUP is used when any control group for commands such as RPOSC is to be changed.
  • Page 91 157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function 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 92 157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function 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, this command is to be used as follows.

  • Page 93: Start-Up System Commands

    157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function 5.2.6.2 Start-up System Commands  START Starts a job. If a job name is specified for an operand, the relation between the job and the master job is checked and the execution is started from the beginning of the job.
  • Page 94 157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function  MOVJ Moves a manipulator to a specified coordinate position in joint motion. Command format : MOVJ Data-1, Data-2, , Data-17 Data-1 = Motion speed (0.01 to 100.0%)
  • Page 95 157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function  MOVL Moves a manipulator to a specified coordinate position in linear motion. Command format : MOVL Data-1, Data-2, , Data-18 Data-1 = Motion speed selection (0 : V (speed), 1 : VR (posture speed)) Data-2 = Motion speed (0.1 to ....
  • Page 96 157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function <Example> Command MOVL 0, 500.0, 2, 123.1, 50.34, 10.8, 180.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 Response 0000  IMOV Moves a manipulator from the current position for a specified coordinate incremental value in linear motion.
  • Page 97 157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function 6-axis robot 7-axis robot Data-17 Number of 12th axis pulses Number of 11th axis pulses Data-18 Number of 12th axis pulses • In a system without external axis, Data-12 to Data-17 (for 7-axis robots, Data-13 to Data-18) should be set to “0”.
  • Page 98 157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function  PMOVJ Moves a manipulator to a specified pulse position in joint motion. Command format : PMOVJ Data-1, Data-2, , Data-15 * The order varies depending on the number of robot's axes.
  • Page 99 157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function  PMOVL Moves a manipulator to a specified pulse position in linear motion. Command format : PMOVL Data-1, Data-2, , Data-16 Data-1 = Motion speed selection (0 : V (speed), 1 : VR (posture speed)) Data-2 = Motion speed (0.1 to ....

  • Page 100: Editing System Commands

    If the specified user coordinate is not defined, an error occurs. Response format : 0000 or Error code <Example> Command CVTRJ TESTJOB, 2 Response 0000 NOTE This function requires the relative job function of the DX100. 5-39 100 of 125 RE-CKI-A456...
  • Page 101 In the above example, P000 is to be the reference point and the job “SAMPLE01” is converted to a standard job with the form regarded. NOTE This function required the relative job function of the DX100. 5-40 101 of 125...
  • Page 102 157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function  WUFRAME Writes a user coordinate data to a specified user coordinate system. Command format : WUFRAME Data-1, Data-2, , Data-29 Data-1 = User coordinate No. 0 : Reserved...
  • Page 103 157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function Data-28 = Number of 11th axis pulses Data-29 = Number of 12th axis pulses Response format : 0000 or Error code • ORG, XX, and XY coordinate are written in the base coordinate system.
  • Page 104 157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function  LOADV Receives variable data from a host computer and write it in a specified variable. Command format : LOADV Data-1, Data-2, , Data-13 Data-1 = Type of variables...
  • Page 105 157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function (When the position data type is 1) Data-4 = Coordinate data Coordinate data = 0 : Base coordinate 1 : Robot coordinate 2 : User coordinate 1...
  • Page 106 Data Transmission 5.2 Robot Control Function Function Response format : 0000 or Error code <Example> Command LOADV 0, 0, 123 Response 0000 In the above example, 123 is stored in the DX100 byte type variable B000. 5-45 106 of 125 RE-CKI-A456...

  • Page 107: Job Selection System Commands

    157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function 5.2.6.4 Job Selection System Commands  SETMJ Sets a specified job as a master job. At the same time, the specified job is set as a execution job.

  • Page 108: I/O Read/Write Function

    The DX100 sends the ENQ code to establish the data link. 4. After the data link is established, the data sent from the DX100 is received to terminate the transmission at completion of receipt. The read/write function can be distinguished by the header number.

  • Page 109: Read-Out Of I/O Signal Status

    157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function 5.2.7.2 Read-out of I/O Signal Status ACK0 04,051 DATA-1 ACK1 ACK0 90,001 DATA-2 ACK1 DATA-1 Command format : Data-1, Data-2 Data-1 = Start No. Data-2 = Number of data points DATA-2 Response format (at normal completion) : Data-1, Data-2, , Data-256...

  • Page 110: Write-In Of I/O Signal Status

    157449-1CD Host Control Function of DX100 Data Transmission 5.2 Robot Control Function Function 5.2.7.3 Write-in of I/O Signal Status ACK0 04,001 DATA-3 ACK1 ACK0 90,000 DATA-4 ACK1 DATA-3 Command format : Data-1, Data-2, Data-3, Data-4, , Data-258 Data-1 = Start No.

  • Page 111: Commands For Multi-Control Group And Independent Control Functions

    Commands for Multi-control Group and Independent Control Functions 5.3.1 Commands for Multi-control Group The DX100 can control more than one manipulator or station simultaneously. The following commands are available for this multi-control function. • CGROUP : Changing the control group •...

  • Page 112: Commands For Independent Control Function

    5.3 Commands for Multi-control Group and Independent Control Function Functions 5.3.2 Commands for Independent Control Function The DX100 supports the independent control function which can execute more than one job simultaneously. For this independent function, the following commands are available. • CTASK : Changing the tasks •...

  • Page 113: Alarm Codes

    157449-1CD Host Control Function of DX100 Data Transmission 5.4 Alarm Codes Function Alarm Codes Code Contents Remarks 4112 Data sending error The EOT code is sent out and the data 1 : NAK retry over link is canceled. 2 : Timer A timeup retry over...

  • Page 114: Interpreter Message List

    157449-1CD Host Control Function of DX100 Data Transmission 5.5 Interpreter Message List Function Interpreter Message List The interpreter messages are classified into the following categories. • 1xxx : Command text general error • 2xxx : Command execution mode error • 3xxx : Command execution error •...
  • Page 115 157449-1CD Host Control Function of DX100 Data Transmission 5.5 Interpreter Message List Function Table 5-1: Interpreter Message List Code Content 4010 Insufficient memory capacity (job registered memory) 4012 Insufficient memory capacity (position data registered memory) 4020 Job editing prohibit 4030...
  • Page 116 157449-1CD Host Control Function of DX100 Data Transmission 5.5 Interpreter Message List Function * Code 2150: Coordinates Conversion Function Execution This error occurs when the “RPOSC”, “CVTRJ”, “CVTSJ”, “RUFRAME”, or “WUFRAME” command is executed while each of the following window is indicated.

  • Page 117: Data List

    157449-1CD Data List Data Transmission 6.1 Header Number List Function Data List Header Number List Contents File Name 01, 000 Command from a external computer 02, 001 Single job data xxxxxxxx. JBI Related job data xxxxxxxx. JBR 02, 051 Request for single job data Request for related job data 02, 200 Tool data...
  • Page 118 157449-1CD Data List Data Transmission 6.1 Header Number List Function Contents File Name Request for clearance setting data CLEARNCE.DAT Request for system information SYSTEM.SYS Request for alarm history data ALMHIST.DAT 03, 001 Byte type variable Integer type variable Double precision type variable Real number type variable Robot axis position type variable (pulse type) Robot axis position type variable (XYZ type)

  • Page 119: Parameter List

    157449-1CD Data List Data Transmission 6.2 Parameter List Function Parameter List Table 6-1: Parameter for Transmission Parameter Contents and Set Value Initial Value S2C230 Programming pendant operation (in remote) specification 0 : Invalid 1 : Valid D7 D6 Programming pendant servo ON ([SERVO ON READY] key) Programming pendant servo ON (Enable Switch)
  • Page 120 157449-1CD Data List Data Transmission 6.2 Parameter List Function Table 6-2: Parameter for Transmission (for BSC protocol) Parameter Contents and Set Value Initial Value RS035 Timer B : Text reception monitoring timer Serves as protection against no response of text end character Unit : 0.1 sec.

  • Page 121: Comparison Of Data Transmission Functions

    Data Transmission Function Comparison of Data Transmission Functions Table 7-1: Comparison of Functions Related to Controller Basic Functionality Function DX100 NX100 / XRC Multipart Function Setup Not supported Not supported Table 7-2: Comparison of Functions Related to Data Transmission (DCI)
  • Page 122 157449-1CD Comparison of Data Transmission Functions Data Transmission Function Table 7-4: Comparison of Functions Related to Data Transmission (Host Control) Function DX100 NX100 / XRC RUFRAME Supported Supported Note that it cannot be Note that it cannot be used for manipulators used for manipulators with 7 axes or more.
  • Page 123 157449-1CD Comparison of Data Transmission Functions Data Transmission Function Table 7-4: Comparison of Functions Related to Data Transmission (Host Control) Function DX100 NX100 / XRC CVTSJ Supported Supported SAVEV Supported Supported Note that the format of the Cartesian value for...
  • Page 124 157449-1CD Remote Function Setting Data Transmission Function Remote Function Setting Whether I/O remote control or command remote control should be enabled can be set in the pseudo input display when selecting the remote mode in the management mode. 1. Select {IN/OUT} under the main menu. 2.
  • Page 125 FOR DATA TRANSMISSION FUNCTION HEAD OFFICE 2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan Phone +81-93-645-7703 Fax +81-93-645-7802 YASKAWA America Inc. (Motoman Robotics Division) 100 Automation Way, Miamisburg, OH 45342, U.S.A. Phone +1-937-847-6200 Fax +1-937-847-6277 YASKAWA Europe GmbH Robotics Divsion ) Yaskawastrasse 1, 85391 Allershausen, Germany...

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