YASKAWA Motoman DX200 Instructions Manual
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YASKAWA Motoman DX200 Instructions Manual

Options ethernet/ip communication function (for standard lan port)
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See also: Operator's Manual , Instruction Manual
DX200 OPTIONS
INSTRUCTIONS
EtherNet/IP COMMUNICATION FUNCTION
(FOR STANDARD LAN PORT)
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 (for each purpose)
DX200 MAINTENANCE MANUAL
The DX200 operator's manual above corresponds to specific usage. Be sure to use the appropriate manual.
Part Number:
165838-1CD
Revision:
2
MANUAL NO.
HW1481985
3
1 of 91

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  • Page 1 DX200 OPTIONS INSTRUCTIONS EtherNet/IP COMMUNICATION FUNCTION (FOR STANDARD LAN PORT) 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 (for each purpose) DX200 MAINTENANCE MANUAL The DX200 operator’s manual above corresponds to specific usage.
  • Page 2 YASKAWA customers to assist in the operation of Motoman robots, related equipment and software This manual is copyrighted property of YASKAWA and may not be sold or redistributed in any way. You are welcome to copy this document to your computer or mobile device for...
  • 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 ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM, OR REPAIR THE EQUIPMENT! We recommend approved YASKAWA training courses for all personnel involved with the operation, programming, or repair of the equipment. This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC rules.
  • Page 5 165838-1CD Notes for Safe Operation EtherNet/IP Communication 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 “DANGER”, “WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”. Indicates an imminent hazardous situation which, if not avoided, could DANGER...
  • Page 6 165838-1CD Notes for Safe Operation EtherNet/IP Communication WARNING • Before operating the manipulator, check that servo power is turned OFF pressing the emergency stop buttons on the front door of the DX200 and the programming pendant. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.
  • Page 7 Read and understand the Explanation of Warning Labels in the DX200 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 8 165838-1CD Description of the Operation Procedure EtherNet/IP Communication Description of the Operation Procedure In the explanation of the operation procedure, the expression "Select • • • " means that the cursor is moved to the object item and the [SELECT] is pressed, or that the item is directly selected by touching the screen.
  • Page 9 Do not make any modifications to the controller unit. Making any changes without the written permission from YASKAWA will void the warranty. • Some operations require a standard passwords and some require special passwords.
  • Page 10 It is important that users operate the equipment in accordance with this instruction manual and any additional information which may be provided by YASKAWA. Address any questions regarding the safe and proper operation of the equipment to YASKAWA Customer Support.
  • Page 11 Communication system, please contact YASKAWA Customer Support at the following 24-hour telephone number: (937) 847-3200 For routine technical inquiries, you can also contact YASKAWA Customer Support at the following e-mail address: techsupport@motoman.com When using e-mail to contact YASKAWA Customer Support, please provide a detailed description of your issue, along with complete contact information.

  • Page 12: Table Of Contents

    165838-1CD Table of Contents EtherNet/IP Communication Table of Contents 1 Introductions............................ 1-1 1.1 System Configuration......................1-1 1.1.1 System Configuration Example ................1-1 1.1.2 Adaptor ......................... 1-1 1.1.3 Scanner ........................ 1-1 1.1.4 Message Communication ..................1-2 1.1.5 IO Communication by InputOnly................1-2 1.1.6 Message Communication Using CIP ..............
  • Page 13 165838-1CD Table of Contents EtherNet/IP Communication 4.4 Communication Data ....................... 4-29 4.4.1 DX200 IO Data Allocation (For the Handling Purpose) ........4-31 4.4.2 DX200 IO Data Allocation (For other than Handling Purpose) ......4-35 4.5 Communication Status..................... 4-39 4.6 Managing Setting Data ....................4-44 4.6.1 How to Save Data ....................

  • Page 14: Introductions

    165838-1CD Introductions EtherNet/IP 1.1 System Configuration Communication Introductions In the DX200 system, the EtherNet/IP communication function (hereinafter referred to as EtherNet/IP (CPU board)) to which a standard LAN port of the YPC21 board (CN104 connector) is used can be employed. The Ethernet communication function of the DX200 provides the following features: an IO transmission/reception function that enables to exchange external input/output signals between the DX200 and other EtherNet/IP...

  • Page 15: Message Communication

    165838-1CD Introductions EtherNet/IP 1.1 System Configuration Communication 1.1.4 Message Communication Message communication can be carried out in parallel with IO transmission and reception. In the system configuration example, message communication with a PC is carried out. The DX200 Ethernet function, the FTP function, and the EtherNet server function (the latter two are extended functions) can be used for this message communication.

  • Page 16: Board Specifications

    165838-1CD Board Specifications EtherNet/IP Communication Board Specifications Items Specifications Interface to external devices EtherNet/IP Transmission I/O points (max.) Input: 4040 points/Output: 4040 points Processing capacity 3000 packets/sec (max. number of packets) Connection type Star (Connection by HUB) Communication speed 10 Mbps/100 Mbps (Detected automatically during startup) Communication media Use category 5 or higher shielded Ethernet...
  • Page 17 165838-1CD Board Specifications EtherNet/IP Communication Fig. 2-1: Description of the Processing Capacity Ethernet Switching HUB The total number of sending/receiving packets should be less than 3000 packets/sec at this position. Use the packet capture tool, such as Wireshark, to confirm the packet number.
  • Page 18 165838-1CD Board Specifications EtherNet/IP Communication (2) Change the packet transmission method Change the packet transmission method of communication station from broadcast/ multicast to the unicast (point-to-point transmission from one device to another). Refer to a guide book of each device for setup procedures. Fig.

  • Page 19: How To Connect Communication Cable

    165838-1CD How to Connect Communication Cable EtherNet/IP Communication How to Connect Communication Cable WARNING • Before wiring, be sure to turn OFF the power supply and put up a warning sign, such as “DO NOT TURN ON THE POWER.” Failure to observe this warning may result in an electric shock or an injury.

  • Page 20: Operating The Front Door Of The Dx200 (Controller)

    165838-1CD How to Connect Communication Cable EtherNet/IP 3.1 Operating the Front Door of the DX200 (Controller) Communication Operating the Front Door of the DX200 (Controller) Take the following procedure to mount the EtherNet/IP (CPU board). 1. Using a coin or a flathead screwdriver, rotate the door locks on the front of the DX200 (two places) 90 degrees to clockwise.

  • Page 21: Mounting The Ethernet/Ip (Cpu Board) To Dx200

    For LAN When a switching hub is used for conneting commnunication cables, it is highly recommended to use an industrial switching hub which is recommended by NOTE YASKAWA. Recommended switching hub Type: EDS-205 (MOXA Inc. made) HW1481985 21 of 91...

  • Page 22: Closing The Front Door Of The Dx200

    165838-1CD How to Connect Communication Cable EtherNet/IP 3.3 Closing the Front Door of the DX200 Communication Closing the Front Door of the DX200 1. Close the door gently. 2. Using a coin or a flathead screwdriver, rotate the door locks on the front of the DX200 (two places) 90 degrees to counterclockwise.

  • Page 23: Ethernet/Ip Function Setting

    I/O module are required. Customer cannot alternate the usage of the EtherNet/IP (CPU board) function between use and not use, please contact YASKAWA representative. NOTE Set the mode to the management mode before performing the following settings.

  • Page 24: Window Composition

    165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.1 Outline Communication 4.1.1 Window Composition Select the maintenance mode to set up the EtherNet/IP (CPU board) function. The composition of the SETUP window is as follows. Window Composition Explanation OPTION FUNCTION Select EtherNet/IP (CPU board) from the list on the OPTIONFUNCTION window.

  • Page 25: Setup Procedure

    165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.2 Setup Procedure Communication Setup Procedure Followings are the procedures for setting up the EtherNet/IP (CPU board). 4.2.1 Calling the SETUP Window for the EtherNet/IP (CPU board) First, take the following procedure to display the SETUP window for the EtherNet/IP (CPU board).
  • Page 26 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.2 Setup Procedure Communication 4. Select [SETUP]. – The SETUP window appears. 5. Select {OPTION FUNCTION}. – The OPTION FUNCTION window appears. 6. Select {DETAIL} on the EtherNet/IP(CPU Board) window. – The EtherNet/IP(CPU board) DETAIL window appears. HW1481985 26 of 91...

  • Page 27: Setting The Device Information List

    165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.2 Setup Procedure Communication 4.2.2 Setting the Device Information List To use the EtherNet/IP (CPU board) as a scanner, advanced settings of the network information such as lower tools is required. This chapter describes how to register such information into the device information list. If registration in the device information list is not necessary, move to the next chapter.
  • Page 28 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.2 Setup Procedure Communication (4) CONNECTION RPI (T->O) Set the revision processing interval (RPI) for data to be sent from the target to the originator. When setting RPI, set 4 msec or more. (5) CONNECTION TYPE Set the connection type for connection.
  • Page 29 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.2 Setup Procedure Communication 4. Press [ENTER]. – The confirmation dialog box appears. 5. Select “Yes”. – The DEVICE INFORMATION LIST window appears again. – In the window example, the device information named “TEST” has been registered.

  • Page 30: General Setup For The Ethernet/Ip (Cpu Board)

    165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.2 Setup Procedure Communication 4.2.3 General Setup for the EtherNet/IP (CPU board) Indicate the window general setup for the EtherNet/IP (CPU board). 1. Select {EtherNet/IP (CPU board)} in the EtherNet/IP (CPU board) SETUP window. – The EtherNet/IP (CPU board) SETUP window appears. –...
  • Page 31 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.2 Setup Procedure Communication 2. Set the host name and the domain name. – Set the host name and the domain name as needed. 3. Select [DETAIL]. – The HOST SETUP window appears. – For details on each setting item, see the last part of this sub-chapter. 4.
  • Page 32 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.2 Setup Procedure Communication  Domain name (Network function setting window) NOTE The domain name is used when DNS is enabled. Set the name of the domain the DX200 belongs to. For entry, use single-byte alphanumeric, dash “-”, underscore “_”, and dot “.”...
  • Page 33 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.2 Setup Procedure Communication Subnet mask Using single-byte numeric characters and dots “.”, enter the subnet mask to set to the DX200 in the format “xx.xx.xx.xx” (xx being a decimal number). Note that when “DHCP SETTING” is selected in “IP ADDRESS SETTING”, this setting will not be used.
  • Page 34 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.2 Setup Procedure Communication  Server (Host PC) (Host setting window) Specify the server (host PC) when standalone or DCI is used for the data transmission function. Using single-byte numeric characters and dots “.”, enter the IP address of the server in the format “xx.xx.xx.xx” (xx being a decimal number).

  • Page 35: Adaptor Setting

    165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.2 Setup Procedure Communication 4.2.5 Adaptor Setting The settings for adaptor are required for IO transmission and reception to and from the scanner (communication master such as PLC) during EtherNet/IP IO communication. This chapter describes the adaptor setting procedure.
  • Page 36 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.2 Setup Procedure Communication 2. Enter the desired values. – An input example is shown below. (Configure the settings that suits the actual communication target.) 3. Press [ENTER]. – The EtherNet/IP (CPU board) general setup window appears again. HW1481985 4-14 36 of 91...

  • Page 37: Scanner Setting

    165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.2 Setup Procedure Communication 4.2.6 Scanner Setting The settings for scanner are required for IO transmission and reception to and from the adaptor (communication slave such as tool) during EtherNet/ IP IO communication. This chapter describes how to configure such settings.
  • Page 38 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.2 Setup Procedure Communication (1) Insert Add new settings to the current number. If settings have been already registered into the current number, such registered settings shift to the next number. (2) Modify Change the target registered name (if there is no registered name, register a new name).
  • Page 39 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.2 Setup Procedure Communication 4. Select a device to be used. – Information on the selected device appears in the Scanner setting window. 5. Enter the IP address. – Enter the IP address. 6. Press [ENTER]. –...
  • Page 40 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.2 Setup Procedure Communication 8. Select “Yes”. – The IO module window appears. The EtherNet/IP (CPU board) setting ends here. Then, re-configuration of the IO module according to the settings for the board is required. Move on to the next setting procedure.

  • Page 41: Io Module Re-Configuration

    165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.2 Setup Procedure Communication 4.2.7 IO Module Re-configuration When changes are made to the settings for the EtherNet/IP (CPU board), re-configuration of the IO module is also required. Take the following procedure to reconfigure the IO module. 1.
  • Page 42 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.2 Setup Procedure Communication 3. Press [ENTER]. – The confirmation dialog box appears. 4. Select “Yes”. – When the I/O module is appropriately set, select “Yes”. The settings are updated and the EXTERNAL IO SETUP window appears again. HW1481985 4-20 42 of 91...

  • Page 43: External I/O Setup

    165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.2 Setup Procedure Communication 4.2.8 External I/O Setup 1. The EXTERNAL IO SETUP window appears. 2. Select “AUTO” or “MANUAL” at {ALLOCATION MODE}. – A selection menu appears when select either “AUTO” or “MANUAL”. When “MANUAL” at {ALLOCATION MODE} is changed to “AUTO”, the already -specified allocation data is deleted and allocation at the auto mode starts.
  • Page 44 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.2 Setup Procedure Communication 3. Select an allocation mode. – Select “AUTO” when performing the automatic allocation. – Select “MANUAL” when performing the manual allocation. – The selected allocation mode is specified. 4. Select “DETAIL” at {EXTERNAL IO ALLOCATION}. –...
  • Page 45 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.2 Setup Procedure Communication 5. Select a number of an external I/O signal (original) to which modification is to be performed ({#20060} is used in this explanation as an example.). – A selection menu appears. 6.
  • Page 46 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.2 Setup Procedure Communication 8. Press [ENTER] – The EXTERNAL IO ALLOCATION(OUTPUT) window appears. 9. Press [SELECT] and “MODIFY” for the external output signal following the same manners as performed for the external input signal. –...

  • Page 47: Reset Safety Circuit Board Flash Data

    165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.2 Setup Procedure Communication 4.2.9 Reset Safety Circuit Board FLASH Data If the functional safety function (charged option) is valid, when the setting of the EtherNet/IP (CPU board) is modified, the message “Select 'Functional Safety Board FLASH Reset'” is shown. For this case, after setting the EtherNet/IP, perform the following procedures to reset the safety circuit board FLASH data.
  • Page 48 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.2 Setup Procedure Communication 4. Select “Functional Safety Board FLASH Reset”. – The confirmation dialog is shown. 5. Select {YES}. – The functional safety board FLASH reset is performed and the INITIALIZE window is shown again. HW1481985 4-26 48 of 91...

  • Page 49: Io Assignment Example

    165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.3 IO Assignment Example Communication IO Assignment Example 4.3.1 Setting ExclusiveOwner Communication  Adaptor setting An example of settings for ExclusiveOwner connection is as follows: Scanner (PLC etc.) Adaptor (DX200) IP Address 192.168.255.1 IP Address 192.168.255.2 Connection RPI (O->T) 8 msec...
  • Page 50 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.3 IO Assignment Example Communication  Scanner setting An example of settings as a scanner (the DX200 is the data receiving side) for InputOnly connection is as follows: Adaptor (PLC etc.) Scanner (DX200) IP Address 192.168.255.1 IP Address 192.168.255.2...

  • Page 51: Communication Data

    165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.4 Communication Data Communication Communication Data As IO data transferred into the DX200 from the EtherNet/IP (CPU board), besides input/output data transmitted from external EtherNet/IP-supported equipment, the status of the EtherNet/IP (CPU board) is also transferred. Thus, in addition to the contact data area, an eight-point-worth (1 Byte) area, for input and output each, for the status of the EtherNet/IP (CPU board) is secured inside the DX200 (the output area cannot be used).
  • Page 52 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.4 Communication Data Communication (5) Number of bytes set for the I/O areas (5), (5)', and (5)" of the sta- tions (devices) managed by scanner. The number of bytes is to be set using ‘Input size’ or ‘Output size’ in section 4.2.2 “Setting the Device Information List”.

  • Page 53: Dx200 Io Data Allocation (For The Handling Purpose)

    165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.4 Communication Data Communication 4.4.1 DX200 IO Data Allocation (For the Handling Purpose) Note1: Following is an example when a standard settings are executed. This allocation is subject to change according to the modification of the external input/output signal allocations or concurrent ladder programs.
  • Page 54 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.4 Communication Data Communication Table 4-1: Example of I/O Data Allocation (For the Handling Purpose) EtherNet/IP 20190 ～ 20197 00160 ～ 00167 (IN00121 ～ IN0128) Adapter area (Standard Input input data (13) LAN port) 20200 ～...
  • Page 55 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.4 Communication Data Communication Table 4-1: Example of I/O Data Allocation (For the Handling Purpose) EtherNet/IP 20380 ～ 20387 00350 ～ 00357 (IN00273 ～ IN0280) Scanner second (Standard Input area input data LAN port) EtherNet/IP External Output Signal User Output Signal Meaning (Standard...
  • Page 56 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.4 Communication Data Communication Table 4-1: Example of I/O Data Allocation (For the Handling Purpose) EtherNet/IP 30280 ～ 30287 10250 ～ 10257 (OT0193 ～ OT0200) Scanner first (Standard Output area output data LAN port) 30290 ～...

  • Page 57: Dx200 Io Data Allocation (For Other Than Handling Purpose)

    165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.4 Communication Data Communication 4.4.2 DX200 IO Data Allocation (For other than Handling Purpose) Note1: Following is an example when a standard settings are executed. This allocation is subject to change according to the modification of the external input/output signal allocations or concurrent ladder programs.
  • Page 58 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.4 Communication Data Communication Table 4-2: Example of I/O Data Allocation (For other than Handling Purpose) EtherNet/IP 20180 20187 00160 ～ 00167 (IN00121 ～ IN0128) Adapter area ～ (Standard Input input data (12) LAN port) 20190 20197 00170 ～...
  • Page 59 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.4 Communication Data Communication Table 4-2: Example of I/O Data Allocation (For other than Handling Purpose) EtherNet/IP 20380 20387 00360 ～ 00367 (IN00281 ～ IN0288) Scanner ～ (Standard Input second area LAN port) input data (8) EtherNet/IP External Output Signal User Output Signal...
  • Page 60 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.4 Communication Data Communication Table 4-2: Example of I/O Data Allocation (For other than Handling Purpose) EtherNet/IP 30280 30287 10260 ～ 10267 (OT0201 ～ OT0208) Scanner first ～ (Standard Output area output LAN port) data (6) 30290 30297 10270 ～...

  • Page 61: Communication Status

    165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.5 Communication Status Communication Communication Status To the one byte at the head of EtherNet/IP(CPU board) input data which is allocated to an external input signal (20060 to 20067 in the above mentioned example) indicates the communication status of EtherNet/IP (CPU board).
  • Page 62 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.5 Communication Status Communication  Register an universal alarm 1. Change the mode to the management mode. 2. Select {I/O ALARM} from {IN/OUT} under the main menu. 3. The I/O ALARM(SYSTEM) window appers. 4. Press [PAGE]. –...
  • Page 63 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.5 Communication Status Communication 5. Move the cursor to characters of the registering alarm name and press [SELECT]. – A window for inputting characters appears. 6. Input the I/O alarm name. 7. Press [ENTER]. – The alarm name is registered. HW1481985 4-41 63 of 91...
  • Page 64 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.5 Communication Status Communication 8. Register other alarm names. – Register other alarm names in the same mannners.  IO allocation and ladder program Create a ladder program to generate an alarm when the EtherNet/IP detects an error using the following signals.
  • Page 65 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.5 Communication Status Communication Ladder program (figure) By creating the following ladder program, alarms can be generated in accordance with the status error signal of the EtherNet/IP(CPU board). HW1481985 4-43 65 of 91...

  • Page 66: Managing Setting Data

    165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.6 Managing Setting Data Communication Managing Setting Data EtherNet/IP (CPU board) setting information can be saved and loaded using an external storage device. The procedure is shown below. For general instructions on how to operate an external storage device, see chapter 7 “External memory device”...
  • Page 67 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.6 Managing Setting Data Communication 5. Select [ETHERNET/IP CONFIG DATA]. – “ ” is marked to the selected system data. 6. Press [ENTER]. – The confirmation dialog box appears. 7. Select “Yes”. – The file saving process will start and the transmission window appears.

  • Page 68: How To Load Data

    165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.6 Managing Setting Data Communication 4.6.2 How to Load Data 1. Turn on the DX200 power supply. 2. The security mode is changed to the Management mode. 3. Select [EXTERNAL MEMORY DEVICE] under the Main Menu. 4.
  • Page 69 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.6 Managing Setting Data Communication 7. Press [ENTER]. – The confirmation dialog box appears. 8. Select “Yes”. – The file loading process will start and the transmission window appears. – When the loading process is complete, the file selection window appears again.

  • Page 70: Creating An Eds File

    165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.7 Creating an EDS File Communication Creating an EDS File Performing the communication settings of EtherNet/IP Safety needs an EDS file (Electronic Data Sheet). Use the EDS file created by the following procedures. For the details of the configurator and EDS file, refer to the Ethernet/IP specifications.
  • Page 71 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.7 Creating an EDS File Communication 3. Select "EDS FILE SAVE". – The EDS FILE LIST window appears. 4. Select “Ethernet/IP CPU (Safety)”. – " " appears to the selected board. HW1481985 4-49 71 of 91...
  • Page 72 165838-1CD EtherNet/IP Function Setting EtherNet/IP 4.7 Creating an EDS File Communication 5. Press [Enter]. – The confirmation dialog box appears. 6. Select {YES}. – An EDS file is created in the valid device (CompactFlash or USB memory). HW1481985 4-50 72 of 91...

  • Page 73: Message Communication

    165838-1CD Message Communication EtherNet/IP 5.1 Conventional Message Communication Communication Message Communication Conventional Message Communication In the EtherNet/IP (CPU board) message communication, it is possible to achieve the same level of data transmission/reception as the level achieved by the DX200 Ethernet function. For details, see the following manuals: •...

  • Page 74: Details On Commands For Message Communication Using Cip

    165838-1CD Message Communication EtherNet/IP 5.2 Message Communication Using CIP Communication 5.2.1 Details on Commands for Message Communication Using CIP  Read a currently occurring alarm Table 5-1(a): Required Format Division Outline Size Data Explanation Header Class 2 Byte 0x70 Vendor-specific Instance 2 Byte Specify the read data Specify the alarm division...
  • Page 75 165838-1CD Message Communication EtherNet/IP 5.2 Message Communication Using CIP Communication  Read an alarm history Table 5-2(a): Required Format Division Outline Size Data Explanation Header Class 2 Byte 0x71 Vendor-specific Instance 2 Byte Specify the read data Specify the alarm division division 1 to 100...
  • Page 76 165838-1CD Message Communication EtherNet/IP 5.2 Message Communication Using CIP Communication  Read the current status Table 5-3(a): Required Format Division Outline Size Data Explanation Header Class 2 Byte 0x72 Vendor-specific Instance 2 Byte Specify “1” Attribute 1 Byte Specify the read data type 1: Data 1 1 to 2 2: Data 2...
  • Page 77 165838-1CD Message Communication EtherNet/IP 5.2 Message Communication Using CIP Communication  Read the current active job information Table 5-4(a): Required Format Division Outline Size Data Explanation Header Class 2 Byte 0x73 Vendor-specific Instance 2 Byte Specify the read task Specify the serial number series of the task to read 1 to 16...
  • Page 78 165838-1CD Message Communication EtherNet/IP 5.2 Message Communication Using CIP Communication  Read the current axis configuration Table 5-5(a): Required Format Division Outline Size Data Explanation Header Class 2 Byte 0x74 Vendor-specific Instance 2 Byte Specify the control group Specify the control to read group and the 1 to 8...
  • Page 79 165838-1CD Message Communication EtherNet/IP 5.2 Message Communication Using CIP Communication  Read the current robot position Table 5-6(a): Required Format Division Outline Size Data Explanation Header Class 2 Byte 0x75 Vendor-specific Instance 2 Byte Specify the control Specify the control group to read group and the 1 to 8...
  • Page 80 165838-1CD Message Communication EtherNet/IP 5.2 Message Communication Using CIP Communication  Read the deviation of each axis position Table 5-7(a): Required Format Division Outline Size Data Explanation Header Class 2 Byte 0x76 Vendor-specific Instance 2 Byte Specify the control Specify the control group to read group 1 to 8...
  • Page 81 165838-1CD Message Communication EtherNet/IP 5.2 Message Communication Using CIP Communication  Read the torque of each axis Table 5-8(a): Required Format Division Outline Size Data Explanation Header Class 2 Byte 0x77 Vendor-specific Instance 2 Byte Specify the control Specify the control group to read group 1 to 8...
  • Page 82 165838-1CD Message Communication EtherNet/IP 5.2 Message Communication Using CIP Communication  Read and write IO data Table 5-9(a): Required Format/Data Omitted When Writing Division Outline Size Data Explanation Header Class 2 Byte 0x78 Vendor-specific Instance 2 Byte Specify the signal to read/ Specify the value write obtained by dividing...
  • Page 83 165838-1CD Message Communication EtherNet/IP 5.2 Message Communication Using CIP Communication  Read and write register data Table 5-10(a): Required Format/Data Omitted When Writing Division Outline Size Data Explanation Header Class 2 Byte 0x79 Vendor-specific Instance 2 Byte Specify the register to Specify the register read/write number...
  • Page 84 165838-1CD Message Communication EtherNet/IP 5.2 Message Communication Using CIP Communication  Read and write an integer-type variable (I) Table 5-12(a): Required Format/Data Omitted When Writing Division Outline Size Data Explanation Header Class 2 Byte 0x7B Vendor-specific Instance 2 Byte Specify the variable I to Specify the variable I read/write number...
  • Page 85 165838-1CD Message Communication EtherNet/IP 5.2 Message Communication Using CIP Communication  Read and write a real-type variable (R) Table 5-14(a): Required Format/Data Omitted When Writing Division Outline Size Data Explanation Header Class 2 Byte 0x7D Vendor-specific Instance 2 Byte Specify the variable D to Specify the variable R read/write number...
  • Page 86 165838-1CD Message Communication EtherNet/IP 5.2 Message Communication Using CIP Communication  Read and write a robot position-type variable (P) Table 5-16(a): Required Format Division Outline Size Data Explanation Header Class 2 Byte 0x7F Vendor-specific Instance 2 Byte Specify the variable P to Specify the variable P read/write number...
  • Page 87 165838-1CD Message Communication EtherNet/IP 5.2 Message Communication Using CIP Communication Table 5-16(b): Response Format (When Reading All Attributes/Omitting Headers) Division Outline Size Explanation Data Data type 4 Byte The position data type will be output 0: Pulse 16: Base 17: Robot 18: Tool 19: User coordinates Configuration...
  • Page 88 165838-1CD Message Communication EtherNet/IP 5.2 Message Communication Using CIP Communication  Read and write a base position-type variable (BP) Table 5-17(a): Required Format Division Outline Size Data Explanation Header Class 2 Byte 0x80 Vendor-specific Instance 2 Byte Specify the variable BP Specify the variable BP to read/write number...
  • Page 89 165838-1CD Message Communication EtherNet/IP 5.2 Message Communication Using CIP Communication  Read and write an external axis position-type variable (EX) Table 5-18(a): Required Format Division Outline Size Data Explanation Header Class 2 Byte 0x81 Vendor-specific Instance 2 Byte Specify the variable BP Specify the variable EX to read/write number...

  • Page 90: Related Parameters

    165838-1CD Message Communication EtherNet/IP 5.3 Related Parameters Communication Related Parameters For CIP message communication, according to the function of the communication target, set the following parameters: Parameter No. Description Set Value Initial Value RS022 Specify permission of Instance 0 Some equipment capable of CIP message communication treats instance 0 as a regular instance number.
  • Page 91 EtherNet/IP COMMUNICATION 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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