The TPB screen displays in this manual are for the DRCX series dual-axis robot control- ler screens and so may differ somewhat from the SRCP/SRCD/ERCX/SRCX series sin- gle-axis robot controller screens.
CHAPTER1 Cautions To Ensure Safety Basic safety points Besides reading this instruction manual and the controller user’s manual, also be sure to handle the equipment correctly while paying sufficient attention to safety. Points regarding safety in this instruction manual only list items involving this product. Please refer to the controller instruction manual for information regarding safety when using this unit with the controller.
Installation and wiring safety points CAUTION Always cut off all power to the controller and the overall system before attempting installation or wiring jobs. This will prevent possible electrical shocks. After the controller has been on for a while, some points in the controller may be extremely hot or remain at high voltages.
CHAPTER1 Cautions To Ensure Safety Start-up and maintenance safety points CAUTION Never attempt to disassemble the robot or controller. When a robot or controller component must be repaired or replaced, contact us for details on how to perform the servicing. CAUTION Always cut off all power to the controller and the overall system before attempting maintenance or servicing.
2) Troubles caused by procedures prohibited in this manual. 3) Modifications to the robot and/or related product not approved by YAMAHA or YAMAHA sales representatives. 4) Use of any other than genuine parts and specified grease and lubricants.
OF DEALING OR USAGE OF TRADE. YAMAHA MOTOR CO., LTD. SOLE LIABILITY SHALL BE FOR THE DELIVERY OF THE EQUIPMENT AND YAMAHA MOTOR CO., LTD. SHALL NOT BE LI- ABLE FOR ANY CONSEQUENTIAL DAMAGES (WHETHER ARISING FROM CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY). YAMAHA MOTOR CO., LTD.
If information such as network settings on the PC or for detailed information on other equipment is needed, refer to that particular user’s manual or product instruction manual. For information on operating the YAMAHA controller or robot programming, refer to the controller user’s manual.
How data is exchanged The following is a brief explanation to help understand how information is exchanged over the Ethernet with the other devices, such as between the controller and PC. In the communications method called TCP/IP, an IP address is assigned to each device connected on the network.
CHAPTER2 Ethernet Unit How to connect to Ethernet The Ethernet unit employs 10BASE-T specifications, so the controller connects by a cable to the HUB. Use UTP cables (unshielded twisted-pair cables) or STP cables (shielded twisted-pair cables) for category 3 or higher, with straight-through wiring specifications. To connect to the Ethernet, insert the cable with modular jack into the modular connector on the controller until you hear a click.
Making system settings for the controller (server) A minimum of IP address, subnet mask and gateway settings must be made so that the controller will be correctly identified and acknowledged on Ethernet. These settings are made from the TPB and enabled after the controller is restarted. 2-4-1 Validating the Ethernet unit Before the Ethernet unit can be used, it must first be set as follows, to allow it to be...
CHAPTER2 Ethernet Unit 2-4-2 Setting the IP address This following explains how to set the IP address. The IP address is a number unique to each device and identifies that device from among many other devices connected on the network. The IP address of one device must not be the same number as another device so use caution when setting the IP address.
CAUTION When connecting the controller on an already existing network, always check with the network supervisor before making IP address, subnet mask and gateway set- tings. M E M O M E M O The IP address is separated into network address and host address sections. The network address section is extracted from the IP address by AND processing with the subnet mask.
CHAPTER2 Ethernet Unit 2-4-3 Setting the subnet mask This following explains how to set the subnet mask. The subnet mask is a numerical address used to subdivide the network into smaller parts. Press screen. Press display and then press Press The currently set subnet mask is now dis- played.
2-4-4 Setting the gateway The following explains how to set the gateway. Basically this is specifying the router IP address. The router is a device relaying information from a certain network to a different network when two or more networks are present. Press (SYS) on the initial menu screen.
CHAPTER2 Ethernet Unit CAUTION Any appropriate gateway address can be used as long as the network is not con- nected to other networks. (However, use an IP address that has not yet been as- signed to other devices.) When connecting the controller on an already existing network, always check with the network supervisor before making IP address, subnet mask and gateway set- tings.
Making the PC settings (client) The settings for the device (PC) are also essential for correctly exchanging information with the controller. A basic method for setting a computer using Windows 98 is de- scribed below. If using a device having a different OS (operating system) or TCP/IP protocols, refer to the user’s manual for that device for information on how to make the settings.
CHAPTER2 Ethernet Unit Set the gateway under the “Gateway” tab screen. Enter the IP address of the router serving as the gateway and then click the “Add” button. When finished making the settings, click the “OK” button a few times and a message appears asking if it is okay to restart the PC.
Checking the connection with “ping” Once you are finished with the network settings, make a check with “ping” to confirm that you can send and receive data normally. Here, “ping” is a network diagnostic tool incorporated into the OS as a standard feature. A simple description of how to use “ping” incorporated into Windows 98 is described below so refer to it when needed.
CHAPTER2 Ethernet Unit Using TELNET Communicating by TELNET (remote operation) allows loading and editing point or program data and operating the robot just the same if connected through an RS-232C port. Commands are easy to understand because they are identical to RS-232C communica- tion commands.
TELNET dedicated parameters To ensure reliable TELNET communications that match customer system settings, the Ethernet unit can be used with TELNET dedicated parameters explained in this section. 2-8-1 TELNET dedicated parameters: Setup method 1 To set up TELNET dedicated parameters, use the procedure below. (User name and password settings are not included.) Press (SYS) on the initial menu...
CHAPTER2 Ethernet Unit 2-8-2 TELNET dedicated parameters: Setup method 2 To set the user name and password for login, use the procedure below. Perform step 1 through step 3 in “2-8-1 TELNET dedicated parameters: Setup method 1”. Select Press to make the LOGIN check. Press (USER) to set the user name.
2-8-3 Description of TELNET dedicated parameters ■ PORT (TCP port No.) Use this parameter to set the TCP port No. of the controller. The port No. set here is specified along the IP address when the client connects to the controller.
CHAPTER2 Ethernet Unit ■ LIN-CHEK (Login check) Use this parameter to set whether or not to check the connection while the client is connected to the controller. If making a login check is selected here, then always make the user name and the password check when connected to the controller.
TELENET communication commands 2-9-1 Communication command specifications TELNET communication commands are broadly classified into two types. One type is commands that instruct the Ethernet unit to process the command task. The other type is robot control commands to access the controller and perform sophisticated processing.
CHAPTER2 Ethernet Unit 2-9-2 Ethernet unit control commands These commands instruct the Ethernet unit to process the command task. Unlike the robot control commands described later on, the Ethernet unit control commands may not require a start code ‘@’ (=40H) at the beginning of the command. (1) LOGOUT This command terminates TELNET communication.
2-10 Making a connection with TELNET.EXE A typical Windows PC has a TELNET terminal called TELNET.EXE as standard equip- ment. The following briefly explains how to make a connection using TELNET.EXE. Preconditions are a controller IP address of 192.168.0.2, a port No. of 23, and all other dedicated TELNET parameters at their default values.
CHAPTER2 Ethernet Unit An OK message appears on the screen when the login check ends normally. From now on, commands and messages can be exchanged with the robot. When the task or job is complete, enter the LOGOUT or BYE command to can- cel the connection with the controller and press the Enter key.
2-11 Other operating tasks 2-11-1 Displaying the MAC address Use the following procedure to display the MAC address of the Ethernet unit. Press screen. Press (next) to switch the function display and then press Press (MAC). The MAC address appears on the screen. Press screen.
CHAPTER2 Ethernet Unit 2-11-2 Displaying the version of the Ethernet unit Press Press display and then press Press The version of the Ethernet unit now ap- pears on the screen. Press screen. (SYS) on the initial screen. (next) to switch the function (OPT).
2-12 Message List 2-12-1 Error messages The following error messages involving the Ethernet system have been added. Message net link error • TELNET connection terminated due to error. Cause • A TELNET dedicated parameter is set so as to stop operation during ERROR logout processing.
PCs or HUB peripheral devices. If taking the troubleshooting steps listed there does not eliminate the problem, then quickly contact your local YAMAHA sales dealer. Symptom...
Symptom Probable causes Wrong IP address, subnet mask or gateway settings on controller. Ethernet unit is defective Cannot make Wrong IP TELNET address used connection or during Telnet cannot connection terminate the Wrong Port No. TELNET used during connection TELNET right away.
CHAPTER2 Ethernet Unit Symptom Probable causes Program TELNET stops by itself communication during cuts off by itself automatic without a operation. LOGOUT or BYE command being issued. TELNET parameter was set to stop operation during logout. Communication status continues for a fixed period and then cuts off automatically at timeout.
Always be sure to use a HUB with high noise resistance when connecting to the controller. Model Ethernet unit SRCP/SRCD/ERCX/SRCX/DRCX series controllers Conforms to Ethernet (IEEE802.3) 10Mbps (10BASE-T) RJ-45 connector (octal modular connector) 1 port UTP (unshielded twisted-pair) cable for category 3 or higher,...
2-14-3 UTP (STP) cable The Ethernet cables are standardized by ANSI/TIA/EIA568A. To avoid miswiring and malfunction, we recommend using cables conforming to this standard. When using 10BASE-T cables, it must have transmission characteristics of category 3 or higher. ■ Straight-through cable Use this cable to connect the HUB to the controller and other party’s device.
CHAPTER2 Ethernet Unit 2-15 Supplement 2-15-1 Typical network systems How a particular user builds up a network system depends on factors such as the scale of the network. ■ Example 1 In this example, several controllers are operated from one PC using one HUB. 10BASE-T cable System setup example Controller 1...
■ Example 2 In this example, many controllers are operated with the HUBs connected in cascade. Straight-through cable Cascade port (UPLINK port, MDI port) HUB with cascade port * The cascade port, also sometimes called an UPLINK port or MDI port is used when connecting multiple HUBs in cascade.
CHAPTER2 Ethernet Unit ■ Example 3 In this example, the control PC and the controllers are separated from each other. Terminator Transceiver (MAU) Transceiver cable (AUI cable) HUB with 10BASE-5 connector * The 10BASE-5 cable has a maximum length of 500 meters. However, this distance can be extended to a maximum of 2.5 kilometers by connecting cables together and using repeaters, etc.
■ Example 4 In this example, a dial-up router is used to operate a controller in a remote location over an ISDN line. [[Page 39]] ISDN public telephone line Head office ISDN dial-up router ISDN dial-up router System setup example (Head office network: 192.168.0.0/24, Factory network 192.168.1.0/24) IP address Head office router...
CHAPTER2 Ethernet Unit ■ Example 5 In this example, a controller in a remote location is centrally managed over the Internet. Internet Internet Internet Head office Use of a firewall (defense mechanism to keep out intruders) is recommended to maintain security.
2-15-2 Description of terminology ■ TCP/IP (Transmission Control Protocol/Internet Protocol) TCP/IP is a general term for a group of standard protocols for carrying out communi- cations over the Internet centering around TCP and IP protocols. Computers and PCs capable of accessing the Internet all use TCP/IP protocols. The Ethernet unit contains TCP, IP, ICMP, ARP and TELNET protocols.
CHAPTER2 Ethernet Unit ■ IP address The IP address is a unique number assigned to each device to identify that device on the network and prevent the same number from being used by different devices. (More accurately, an IP address is assigned to each network interface, since once PC may sometimes be installed with multiple network interfaces.) In a TCP/IP protocol, the data transmit source and destination are specified by this IP address.
■ Subnet mask The subnet mask is used to separate the IP address into a network address section and a host address section. The network address bit is set to 1, and the host address bit is set to 0. The subnet mask, just like the IP address is expressed as a decimal number of 32 bits (4 bytes) with each byte separated by a period (or four sets of numbers separated by periods).
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