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YAMAHA NETWORK BOARD
User's Manual
YAMAHA MOTOR CO., LTD.
IM Operations
882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.Japan
URL http://www.yamaha-motor.jp/robot/index.html
RCX series
E
ENGLISH
E94-Ver. 1.06

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   Summary of Contents for Yamaha RCX series

  • Page 1

    RCX series YAMAHA NETWORK BOARD User’s Manual ENGLISH YAMAHA MOTOR CO., LTD. IM Operations 882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.Japan E94-Ver. 1.06 URL http://www.yamaha-motor.jp/robot/index.html...

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    INTRODUCTION Our thanks for your purchase of this Ethernet unit for use with YAMAHA RCX series robot control- lers. This is an optional unit to allow connecting YAMAHA RCX series robot controllers to the widely used Ethernet which is a de facto standard for office equipment network.

  • Page 4

    MEMO...

  • Page 5: Table Of Contents

    General Contents Chapter 1 Cautions To Ensure Safety ................1 1-1 Basic safety points ...................... 2 1-2 System design safety points ..................2 1-3 Installation and wiring safety points ................3 1-4 Start-up and maintenance safety points ..............4 1-5 Precautions when disposing of the unit ..............4 1-6 Warranty ........................

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    MEMO...

  • Page 7: Chapter 1 Cautions To Ensure Safety

    Chapter 1 Cautions To Ensure Safety...

  • Page 8: Basic Safety Points

    1-1 Basic safety points Basic safety points Besides reading this 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 manual only list items involving this product. Please refer to the controller user's manual for information regarding safety when using this unit with the controller.

  • Page 9: Installation And Wiring Safety Points

    1-3 Installation and wiring safety points 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.

  • Page 10: Start-up And Maintenance Safety Points

    1-4 Start-up and maintenance safety points 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.

  • Page 11: Chapter 2 Ethernet Unit

    Chapter 2 Ethernet Unit...

  • Page 12: Ethernet Unit Features

    Main features of this Ethernet unit for RCX series robot controllers are as follows: ■ The RCX series robot controllers can be connected to the Ethernet system using this unit. The unit fits directly inside the controller and so does not require any extra installation space.

  • Page 13: How Data Is Exchanged

    After making the connection, the actual data is exchanged between the devices and when finished the connection is terminated. The RCX series robot controllers equipped with the Ethernet unit operate as a server and constantly await a connection request from the client (other party's device such as a PC). Specific actions are then carried out when a request arrives from a client.

  • Page 14: How To Connect To Ethernet

    2-3 How to connect to Ethernet How to connect to Ethernet The Ethernet unit for RCX series employs 10BASE-T specifications, so the robot 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.

  • Page 15: Making System Settings For The Controller (server)

    2-4 Making system settings for the controller (server) Making system settings for the controller (server) A minimum of IP address, subnet mask and gateway settings must be made so that the robot control- ler will be correctly identified and acknowledged on Ethernet. These settings are made from the programming box.

  • Page 16: Setting The Ip Address

    2-4 Making system settings for the controller (server) 2-4-2 Setting the IP address The 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.

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    IP addresses from among 192.168.0.1 to 192.168.0.9 and 192.168.0.11 to 192.168.0.254. NOTE The Ethernet unit for RCX series is not usable with IP address auto acquisition functions such as DHCP and BOOTP. You must set the IP address manually.

  • Page 18: Setting The Subnet Mask

    2-4 Making system settings for the controller (server) 2-4-3 Setting the subnet mask The following explains how to set the subnet mask. The subnet mask is a numerical address used to subdivide the network into smaller parts. 1) Press (PARAM) in "SYSTEM" mode to enter "SYSTEM>PARAM" mode. 2) Press (OP.

  • Page 19: Setting The Gateway

    IP address, subnet mask and gateway settings. The Ethernet unit for RCX series uses a private address as the IP address default setting. This default value cannot be used as is on the Internet. So when connecting to the Internet, always be sure to change the IP...

  • Page 20: Setting The Communication Mode

    2-4 Making system settings for the controller (server) 2-4-5 Setting the communication mode The following explains how to set the mode (online/offline) of the communication with the computer. The online commands can be run only in the online mode. NOTE The communication mode setting ("ETH mode"...

  • Page 21: Making The Pc Settings (client)

    2-5 Making the PC settings (client) Making the PC settings (client) The settings for the device (PC) are also essential for correctly exchanging information with the robot controller. A basic method for setting a computer using Windows XP is described 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.

  • Page 22

    2-5 Making the PC settings (client) 6) In the "Internet Protocol (TCP/IP) Properties" dialog box, set the PC's IP address, subnet mask, and gateway to match the status of use. Also set the DNS server to match the status of use. 7) Click OK to close the setup screen.

  • Page 23: Checking The Connection With "ping

    2-6 Checking the connection with "ping" 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.

  • Page 24: Using Telnet

    2-7 Using TELNET 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 communication commands. 2-7-1 Difference between TELNET and RS-232C communications TELNET and RS-232C both perform the same processing.

  • Page 25: Telnet Dedicated Parameters

    TELNET dedicated parameters To ensure reliable TELNET communications that match customer system settings, the Ethernet unit for RCX series can be used with TELNET dedicated parameters explained in this section. 2-8-1 Parameter description To use TELNET communications, the following parameters should be set as needed.

  • Page 26: Login Password

    2-8 TELNET dedicated parameters ■ LOGIN check Use this parameter to set whether or not to perform a login check when a client attempts to connect to the robot controller. When the login check is enabled, the user name and password are always checked when the client attempts to connect to the robot controller.

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    2-8 TELNET dedicated parameters ■ No-response timeout If no-response has come back from the client, packets (keep-alive packets) can be sent at fixed time intervals to verify if the other party is present. This parameter sets the time interval between transmissions of these packets.

  • Page 28: Setting The Parameters

    2-8 TELNET dedicated parameters 2-8-2 Setting the parameters 1) Press (PARAM) in "SYSTEM" mode to enter "SYSTEM>PARAM" mode. 2) Press (OP. BRD). 3) Select the number for "E_Net" with the keys and press (SELECT). 4) Use the keys to select the parameter to be changed, and press (EDIT).

  • Page 29: Telenet Communication Commands

    2-9 TELENET communication commands 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 robot controller and perform sophisticated processing. These robot control commands are further subdivided into the following 5 categories.

  • Page 30: Ethernet Unit Control Commands

    2-9 TELENET communication commands 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 do not require a start code '@' (=40H) at the beginning of the command.

  • Page 31: Making A Connection With Telnet.exe

    2-10 Making a connection with TELNET.EXE 2-10 Making a connection with TELNET.EXE The following briefly explains how to make a connection using TELNET.EXE. (For details on how to install TELNET into PCs, see the relevant instruction manual.) Preconditions are a robot controller IP address of 192.168.0.2, a port No. of 23, and all other dedicated TELNET parameters at their default values.

  • Page 32

    2-10 Making a connection with TELNET.EXE 7) When the task or job is complete, enter "LOGOUT" or "BYE" to cancel the connection with the robot controller and press the Enter key. 8) A message appears indicating the connection has been disconnected. Click any key to return to the screen in step 3.

  • Page 33: Other Operating Tasks

    2-11 Other operating tasks 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 for RCX series robot controllers. 1) Press (PARAM) in "SYSTEM" mode to enter "SYSTEM>PARAM" mode.

  • Page 34: Displaying The Version Of The Ethernet Unit

    2-11 Other operating tasks 2-11-2 Displaying the version of the Ethernet unit 1) Press (PARAM) in "SYSTEM" mode to enter "SYSTEM>PARAM" mode. 2) Press (OP. BRD). 3) Select the number for "E_Net" with the keys and press (SELECT). 4) Select "14. unit version" with the the keys and press (EDIT).

  • Page 35: Message List

    2-12 Message List 2-12 Message List 2-12-1 Error messages The following error messages involving the Ethernet system have been added. 12.41 : EtherNet link error Code : &H0C29 Meaning/Cause : TELNET connection is disconnected. a. Cable is broken or connector is disconnected. b.

  • Page 36: Telnet Message List

    2-12 Message List 2-12-2 Telnet message list l o g i n : Meaning : Request for entry of login user name. Action : Enter user name. P a s s w o r d : Meaning : Request for entry of login password. Action : Enter login password.

  • Page 37: Troubleshooting

    "Troubleshooting" in the controller user's manual as well as the instruction manual for the other party's equipment such as 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 Probable causes...

  • Page 38

    2-13 Troubleshooting Symptom Probable causes Checkpoints Action 7) Wrong IP address, • Check the settings by • Redo the IP address, subnet mask and subnet mask or referring to "2-4-2 Setting the gateway settings correctly. Then turn on gateway settings on IP address", "2-4-3 Setting the controller power again.

  • Page 39

    2-13 Troubleshooting Symptom Probable causes Checkpoints Action Program stops by 1) TELNET • Always use a LOGOUT or BYE itself during communication cuts command to terminate a TELNET automatic operation. off by itself without communication. a LOGOUT or BYE command being issued.

  • Page 40: Specifications

    2-14 Specifications 2-14 Specifications 2-14-1 Ethernet unit specifications Model Ethernet unit Spec item Applicable controllers RCX series controllers Network specs Conforms to Ethernet (IEEE802.3) Baud rate 10Mbps (10BASE-T) Connector RJ-45 connector (octal modular connector) 1 port UTP (unshielded twisted-pair) cable for category 3 or higher,...

  • Page 41: Modular Connector

    2-14 Specifications 2-14-2 Modular connector The pin layout for the modular connector used in the Ethernet unit for RCX series is shown below. Pin No Signal name 1 2 3 4 5 6 7 8 * Pins 4, 5, 7, 8 are not used.

  • Page 42: Utp (stp) Cable

    2-14 Specifications 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. ■...

  • Page 43: Supplement

    10BASE-T cable RCX240 MOTOR OP.1 OP.3 BATT OP.2 OP.4 RGEN BATT STD.DIO SAFETY ACIN EXT.E-STOP 13 14 RCX series controller System setup example IP address Subnet mask Gateway 192.168.0.2 255.255.255.0 192.168.0.1 Controller 1 192.168.0.3 255.255.255.0 192.168.0.1 Controller 2 192.168.0.4 255.255.255.0 192.168.0.1...

  • Page 44

    EXT.E-STOP 13 14 13 14 RCX series controller * The cascade port, also sometimes called an UPLINK port or MDI port is used when connect- ing multiple HUBs in cascade. Straight-through cables are used to connect the cascade ports of the HUBs together.

  • Page 45

    SAFETY ACIN EXT.E-STOP 13 14 RCX series controller * 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. System setup example...

  • Page 46

    OP.4 RGEN BATT STD.DIO SAFETY ACIN EXT.E-STOP 13 14 RCX series controller Use of a firewall (defense mechanism to keep out intruders) is recommended to maintain security. System setup example IP address Subnet mask Gateway Head office router 133.215.0.1 255.255.255.0 133.215.0.2...

  • Page 47: Description Of Terminology

    Internet centering around TCP and IP protocols. Computers and PCs capable of accessing the Internet all use TCP/IP protocols. The Ethernet unit for RCX series contains TCP, IP, ICMP, ARP and TELNET protocols among TCP/IP protocols. The protocols making up...

  • Page 48

    2-15 Supplement ■ 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 ad- dress is assigned to each network interface, since once PC may sometimes be installed with mul- tiple network interfaces.) In a TCP/IP protocol, the data transmit source and destination are speci- fied by this IP address.

  • Page 49

    2-15 Supplement ■ 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).

  • Page 50

    All rights reserved. No part of this publication may be reproduced in any form without the permission of YAMAHA MOTOR CO., LTD. Information furnished by YAMAHA in this manual is believed to be reliable. However, no responsibility is assumed for possible inaccuracies or omissions.

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