YASKAWA MOTOMAN DX200 Instructions Manual
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YASKAWA MOTOMAN DX200 Instructions Manual

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See also: Operator's Manual , Instruction Manual
DX200 OPTIONS
INSTRUCTIONS
EtherNet/IP COMMUNICATION FUNCTION
(FOR AB3607 MADE BY HMS)
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
187430-1CD
0
MANUAL NO.
HW1486011
1/61

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Summary of Contents for YASKAWA MOTOMAN DX200

  • Page 1 DX200 OPTIONS INSTRUCTIONS EtherNet/IP COMMUNICATION FUNCTION (FOR AB3607 MADE BY HMS) 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 187430-1CD MANUAL NO.
  • Page 2 If such modification is made, the manual number will also be revised. • If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover.
  • Page 3 HW1486011 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 a imminent hazardous DANGER situation which, if not avoided, could result in death or serious injury to personnel.
  • Page 4 HW1486011 WARNING • Before operating the manipulator, check that servo power is turned OFF when the emergency stop buttons on the front door of the DX200 and programming pendant are pressed. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.
  • Page 5 HW1486011 WARNING • Do not touch the inside of the panel for 5 minutes after the power is turned OFF. The remaining charged voltage in the capacitor may cause an electric shock or an injury. • Be sure to close the door and install the protection cover while the power is turned ON.
  • Page 6 HW1486011 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. In this manual, the equipment is designated as follows:...
  • Page 7 HW1486011 Descriptions of the programming pendant keys, buttons, and displays are shown as follows: Equipment Manual Designation Programming Character Keys The keys which have characters or symbols Pendant /Symbol Keys printed on them are denoted with [ ]. e.g. [ENTER] Axis Keys [Axis Key] and [Numeric Key] are generic /Numeric Keys...
  • Page 8 HW1486011 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 [SELECT] is pressed, or that the item is directly selected by touching the screen. Registered Trademark In this manual, names of companies, corporations, or products are trademarks, registered trademarks, or brand names for each company or...

  • Page 9: Table Of Contents

    HW1486011 Contents 1 Outline ............................1-1 1.1 System Configuration ......................1-1 2 Hardware Specification ........................2-1 2.1 Board Diagram........................2-1 2.2 Board Specification......................2-2 2.3 Communication Specification .................... 2-2 2.4 Connector Specification..................... 2-2 3 Settings and Installation of the Board ..................... 3-1 3.1 Mounting the Board ......................
  • Page 10 HW1486011 Contents 4.7 Convenient Function ......................4-40 4.7.1 ListIdentity Function.................... 4-40 5 Error Indication..........................5-1 5.1 LED Indication........................5-1 HW1486011 10/61...

  • Page 11: Outline

    HW1486011 Outline System Configuration Outline This instruction explains the necessary setting methods for using EtherNet/IP boards (AB3607 made by HMS) in the DX200 and the relevant information. These boards enable the DX200 to communicate general I/O data with other EtherNet/IP devices. The AB3607 is used as a master.

  • Page 12: Hardware Specification

    HW1486011 Hardware Specification Board Diagram Hardware Specification Board Diagram  AB3607 HW1486011 12/61...

  • Page 13: Board Specification

    HW1486011 Hardware Specification Board Specification Board Specification Items Specifications Interface to the external devices EtherNet/IP Scanner Board location PCI slot in the DX200 controller Maximum number of I/O points Input: 506 Byte Output: 506 Byte The maximum number of I/O points (Input: 506 Byte / Out- put: 506 Byte) is used when the attached optional I/O mod- NOTE ule is only this board.

  • Page 14: Settings And Installation Of The Board

    HW1486011 Settings and Installation of the Board Settings and Installation of the Board 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 15: Mounting The Board

    HW1486011 Settings and Installation of the Board Mounting the Board Mounting the Board Mount the AB3607 board in the following manner. 3.1.1 Opening the DX200 Front Door 1. Open the front door of the DX200. (1) Turn the door lock on the front face of the DX200 clockwise for 90° with a flat-head screwdriver.

  • Page 16: Mounting The Ab3607 Board To The Dx200

    HW1486011 Settings and Installation of the Board Mounting the Board 3.1.2 Mounting the AB3607 Board to the DX200 1. Uninstall the riser card (JANCD-YBB02-E) from the CPU rack. 2. Insert the AB3607 board to the PCI slot on the riser card, then fix it with the supporting clamp.

  • Page 17: Closing The Dx200 Front Door

    HW1486011 Settings and Installation of the Board Mounting the Board 3.1.4 Closing the DX200 Front Door 1. Close the front door of the DX200. (1) Close the door slowly. (2) Turn the door lock on the front face of the DX200 counterclock- wise for 90 °.

  • Page 18: Allocating I/O Signals

    HW1486011 Allocating I/O Signals Optional Board and I/O Module Settings Allocating I/O Signals Optional Board and I/O Module Settings Before executing additional settings in the management mode, install the AB3607 board. NOTE The setting operation cannot be executed without the board or in the operation mode/editing mode.
  • Page 19 HW1486011 Allocating I/O Signals Optional Board and I/O Module Settings A) When setting with only the maintenance mode B) When setting with the PC tool and the maintenance mode HW1486011 19/61...

  • Page 20: When Setting With Only The Maintenance Mode

    HW1486011 Allocating I/O Signals When Setting with Only the Maintenance Mode When Setting with Only the Maintenance Mode 4.2.1 AB3607 Setting Window Display the setting window in the following procedures. 1. Turn ON the power supply while pressing [MAIN MENU] simultaneously.
  • Page 21 HW1486011 Allocating I/O Signals When Setting with Only the Maintenance Mode 5. Select {OPTION BOARD} – The OPTION BOARD window appears. 6. Select {AB3607}. – The AB3607 setting window appears. HW1486011 21/61...

  • Page 22: Device Information List Setting

    HW1486011 Allocating I/O Signals When Setting with Only the Maintenance Mode 4.2.2 Device Information List Setting When using the AB3607, it is necessary to set the network information of the lower tool, etc. in advance. The chapter describes the procedure to register such information into the device information list.
  • Page 23 HW1486011 Allocating I/O Signals When Setting with Only the Maintenance Mode CONNECTION RPI (T → O) Set the data updating period (RPI) to be sent from the target to the originator. Set the RPI to 2 msec or more. CONNECTION TIMEOUT Set the connection timeout.
  • Page 24 HW1486011 Allocating I/O Signals When Setting with Only the Maintenance Mode 4. Press [ENTER]. – The confirmation dialog box appears. 5. Select “YES”. – Return to the DEVICE INFORMATION LIST window. – On the example window, the device information named “TEST” registered.

  • Page 25: Ab3607 Setting

    HW1486011 Allocating I/O Signals When Setting with Only the Maintenance Mode 4.2.3 AB3607 Setting Execute the AB3607 setting. For the detail, set on the window displayed when selecting the DETAIL of each item on this window. 1. Select {DETAIL} of the AB3607. –...
  • Page 26 HW1486011 Allocating I/O Signals When Setting with Only the Maintenance Mode TERMINAL OUTPUT SETTING This item is displayed when enabling the above mentioned “ TERMINAL OUTPUT FUNCTION”. Set ENABLE / DISABLE of this function. For details of this function, refer to chapter 4.2.7 “Terminal Output Set- ting”...

  • Page 27: Ethernet Setting

    HW1486011 Allocating I/O Signals When Setting with Only the Maintenance Mode 4.2.4 Ethernet Setting The IP address setting, etc. for Ethernet communications is required for EtherNet/IP communications. Execute settings in this chapter. 1. Select {DETAIL} of the AB3607 setting window. –...
  • Page 28 HW1486011 Allocating I/O Signals When Setting with Only the Maintenance Mode DEFAULT GATEWAY When executing TCP/IP communications with the terminal on the differ- ent network or the different subnet, it is necessary to set the default gateway. Input the default gateway formed as “xx.xx.xx.xx” (xx: decimal) for the AB3607 with a half-width numeric number and period (.).

  • Page 29: Scanner Setting

    HW1486011 Allocating I/O Signals When Setting with Only the Maintenance Mode 4.2.5 Scanner Setting To send and receive I/O with the adapter (which is a communication slave like tools) in I/O communications for the EtherNet/IP, scanner setting must be executed. Execute settings in this chapter.
  • Page 30 HW1486011 Allocating I/O Signals When Setting with Only the Maintenance Mode – (Details of each setting item) INSERT A new setting is added to the current No. When the current No. has already registered, the registered setting is changed to the next No. MODIFY The targeted registration name is modified.
  • Page 31 HW1486011 Allocating I/O Signals When Setting with Only the Maintenance Mode 4. Select the device to be used. – Selected device information is set on the scanner setting window. 5. Input an IP address. – The IP address is input. 6.
  • Page 32 HW1486011 Allocating I/O Signals When Setting with Only the Maintenance Mode 8. Select {YES}. – After transferring the setting data to the AB3607 board, the I/O module window appears. While transferring the setting data, the message “Transferring data to Option Board. Don’t turn the power off.” appears. Data transferring time differs depending on setting details.
  • Page 33 HW1486011 Allocating I/O Signals When Setting with Only the Maintenance Mode 11. Select {YES}. – Select {YES} if the mounting status of the I/O modules is right. The I/O module setting is updated and the display changes to the external I/O setup window. 12.
  • Page 34 HW1486011 Allocating I/O Signals When Setting with Only the Maintenance Mode 14. Select the allocation mode to be set. – When allocating the I/O signal automatically, select "AUTO". When allocating the I/O signal manually, select "MANUAL". – The selected allocation mode will be set. 15.
  • Page 35 HW1486011 Allocating I/O Signals When Setting with Only the Maintenance Mode 17. Select "MODIFY" and enter the desired external input signal number to replace the original. (‘20300’is entered in the setting example.) – The external input signal number will be changed. 18.
  • Page 36 HW1486011 Allocating I/O Signals When Setting with Only the Maintenance Mode 21. Press [ENTER]. – The confirmation dialog box is displayed. 22. Select "Yes". – Return to the setting window after the setting contents are confirmed. HW1486011 36/61 4-19...

  • Page 37: Terminal Output Function

    HW1486011 Allocating I/O Signals When Setting with Only the Maintenance Mode 4.2.6 Terminal Output Function This function allows numbers for non-communicating adapters to be output to the M register when the AB3607 is used. To utilize this function, set “ENABLE” to the “TERMINAL OUTPUT FUNCTION”...

  • Page 38: Terminal Output Setting

    HW1486011 Allocating I/O Signals When Setting with Only the Maintenance Mode 4.2.7 Terminal Output Setting This function allows numbers for non-communicating adapters to be specified to the M register when the TERMINAL OUTPUT FUNCTION is used. To utilize this function, set “ENABLE” to the “TERMINAL OUTPUT FUNCTION”...

  • Page 39: When Setting With The Pc Tool And The Maintenance Mode

    HW1486011 Allocating I/O Signals When Setting with the PC Tool and the Maintenance Mode When Setting with the PC Tool and the Maintenance Mode 4.3.1 Setting with the Maintenance Mode Set the DX200 in the following procedures. 1. Turn ON the power supply while pressing [MAIN MENU] simultaneously.
  • Page 40 HW1486011 Allocating I/O Signals When Setting with the PC Tool and the Maintenance Mode 5. Select {OPTION BOARD} – The OPTION BOARD window appears. 6. Select {AB3607}. – The AB3607 setting window appears. – (Details of each setting item) AB3607 Determine the usage of this board.
  • Page 41 HW1486011 Allocating I/O Signals When Setting with the PC Tool and the Maintenance Mode 7. Input the desired value to each item. 8. Press [ENTER]. – The confirmation dialog box appears. 9. Select [YES]. – The I/O module window appears. 10.
  • Page 42 HW1486011 Allocating I/O Signals When Setting with the PC Tool and the Maintenance Mode 11. Press [ENTER]. – The confirmation dialog box appears. 12. Select [YES]. – Select {YES} if the mounting status of the I/O modules is right. The I/O module setting is updated and the display changes to the external I/O setup window.
  • Page 43 HW1486011 Allocating I/O Signals When Setting with the PC Tool and the Maintenance Mode 14. Select "AUTO" or "MANUAL" for the allocation mode. – After "AUTO"/"MANUAL" is selected, the selection menu is displayed. If the allocation mode is changed from "MANUAL" to "AUTO", the allocation data that has been set will be lost, NOTE and re-allocating will be executed in the auto mode.
  • Page 44 HW1486011 Allocating I/O Signals When Setting with the PC Tool and the Maintenance Mode 16. Select “DETAIL” of {EXTERNAL IO ALLOCATION}. – When selecting “AUTO” for the allocation mode, the following steps 17 to19 are not necessary. Perform the operation from step 20. –...
  • Page 45 HW1486011 Allocating I/O Signals When Setting with the PC Tool and the Maintenance Mode 19. Select and change the external input signal number with the same steps. – Repeat the selecting and changing operation for the desired allocation. 20. Press [ENTER]. –...

  • Page 46: Communication Setting Of The Ab3607

    HW1486011 Allocating I/O Signals When Setting with the PC Tool and the Maintenance Mode 23. Select “Yes”. – Return to the setting window after the setting contents are confirmed. 4.3.2 Communication Setting of the AB3607 The communication setting for the EtherNet/IP master is performed for the AB3607.

  • Page 47: Transmitting Data

    HW1486011 Allocating I/O Signals Transmitting Data Transmitting Data The data to be transmitted from the AB3607 to the DX200 is not only the I/O data from the external EtherNet/IP adapter devices, but the status of the AB3607 board is also included. Therefore, in the DX200, 8 points (1 byte) each for input and output are reserved for the AB3607 board status area beside the area for the I\O data.

  • Page 48: Communication Status

    HW1486011 Allocating I/O Signals Communication Status Communication Status The first 1 Byte of the input data for the AB3607 allocated to external input signal, (which is 20060 to 20067 in the above allocation example), indicates the board status of the AB3607. Signal Contents 2xxx0 to 2xxx4...
  • Page 49 HW1486011 Allocating I/O Signals Communication Status 4. Move the cursor over the desired No. to register, and press [SELECT]. – The window changes to the character string entry window. 5. Enter the I/O alarm name. 6. Press [ENTER]. – The entered alarm is registered. HW1486011 49/61 4-32...
  • Page 50 HW1486011 Allocating I/O Signals Communication Status 7. Register the other alarms. – Repeat the same procedures to register the alarm to use. HW1486011 50/61 4-33...
  • Page 51 HW1486011 Allocating I/O Signals Communication Status  IO Allocation and the Ladder Program Create the ladder program to occur the alarm by using the following signals when the optional board detects an error. External input Signal Description 20065 Existence of un-communicating station 20066 AB3607 communication status System input signal...
  • Page 52 HW1486011 Allocating I/O Signals Communication Status The ladder program (the figure of the ladder) Creating the following ladder allows to occur the alarm according to the status error signals of the optional board. HW1486011 52/61 4-35...

  • Page 53: I/O Allocation

    HW1486011 Allocating I/O Signals I/O Allocation I/O Allocation Followings are the examples of allocations to external I/O signals. 4.6.1 I/O Allocation Examples of the AB3607 for DX200 (For Handling) Note 1) The following allocation examples are in case of the standard setting. If the external input/output signal allocation or concurrent ladder program is changed, the allocation will be changed according to the content changed.
  • Page 54 HW1486011 Allocating I/O Signals I/O Allocation AB3607 I/O Output External Output Signal General Output Signal Description (EtherNet/IP) 30060 - 30067 10030 - 10037 (OT0017 - OT0024) System Reservation IO allocation is invalid. 30070 - 30077 10040 - 10047 (OT0025 - OT0032) Output Data (1) 30080 - 30087 10050 - 10057 (OT0033 - OT0040)

  • Page 55: I/O Allocation Examples Of The Ab3607 For Dx200 (Except For Handling)

    HW1486011 Allocating I/O Signals I/O Allocation 4.6.2 I/O Allocation Examples of the AB3607 for DX200 (Except for Handling) Note 1) The following allocation examples are in case of the standard setting. If the external input/output signal allocation or concurrent ladder program is changed, the allocation will be changed according to the content changed. Note 2) Regarding the detail of input data/output data on JANCD-YIO21-E (Standard I/O Board), refer to DX200 Instructions.
  • Page 56 HW1486011 Allocating I/O Signals I/O Allocation AB3607 I/O Output External Output Signal General Output Signal Description (EtherNet/IP) 30060 - 30067 10040 - 10047 (OT0025 - OT0032) System Reservation IO allocation is invalid. 30070 - 30077 10050 - 10057 (OT0033 - OT0040) Output Data (1) 30080 - 30087 10060 - 10067 (OT0041 - OT0048)

  • Page 57: Convenient Function

    HW1486011 Allocating I/O Signals Convenient Function Convenient Function 4.7.1 ListIdentity Function This function can be used when the board firmware version NOTE of the AB3607 is 1.19 or later and the system software ver- sion of the DX200 is DN2.80.00-00 or later. This function allows the user to check if the EtherNet/IP station for the IP address exists on the network connected with the AB3607.
  • Page 58 HW1486011 Allocating I/O Signals Convenient Function 4. Select {ListIdentity}. – The execution window of ListIdentity appears. 5. Input the IP address to confirm its existence, and then select [EXECUTE]. When receiving the normal response, “OK” is displayed on {Result}, and also the received “Vendor ID”, “Device Type”, and “Product Name”...

  • Page 59: Error Indication

    HW1486011 Error Indication LED Indication Error Indication LED Indication The AB3607 is provided with 6 LEDs for board status indication. No. Indication State Meaning Appl.connected Green Controlled by application Standalone I/O ACCESS Green, flashing I/O access OK Red, flashing I/O access failure (recoverable) No activity Not used...
  • Page 60 HW1486011 Error Indication LED Indication No. Indication State Meaning Network status Green Connected The module has at least one established EtherNet/ IP connection. (target or originated) Green, flashing No connections There are no EtherNet/IP connections established to the module. (class 1 or class 3, target or originated) Duplicate IP...
  • Page 61 (FOR AB3607 MADE BY HMS) 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 )

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