SRCD/SRCP YAMAHA NETWORK BOARD ERCX/SRCX/DRCX Ethernet User’s Manual ENGLISH E E74-Ver. 3.
INTRODUCTION Thank you for purchasing the Ethernet unit for the YAMAHA single-axis/dual-axis robot controllers SRCP/SRCD/ERCX/SRCX/DRCX series. This is an optional unit to allow connecting YAMAHA single-axis/dual-axis robot controllers SRCP/SRCD/ERCX/SRCX/DRCX series (hereafter called "controller") to the widely used Ethernet which is a de facto standard for office equipment network.
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Contents Chapter Chapter 1 Cautions To Ensure Safety ................................... 1 1-1 1-2 1-3 1-4 1-5 1-6 Basic safety points ............................................................................. 2 System design safety points .............................................................. 2 Installation and wiring safety points ................................................... 3 Start-up and maintenance safety points.............................................
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CHAPTER1 Cautions To Ensure Safety 1-1 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.
CHAPTER1 Cautions To Ensure Safety 1-3 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. After cutting off the power when installing or removing the unit, wait at least 5 minutes before starting work.
CHAPTER1 Cautions To Ensure Safety 1-4 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. This will prevent possible electrical shocks.
CHAPTER1 Cautions To Ensure Safety 1-6 Warranty The YAMAHA robot and/or related product you have purchased are warranted against the defects or malfunctions as described below. Warranty description : If a failure or breakdown occurs due to defects in materials or workmanship in the genuine parts constituting this YAMAHA robot and/or related product within the warranty period, then YAMAHA will repair or replace those parts free of charge (hereafter called "warranty repair").
CHAPTER1 Cautions To Ensure Safety YAMAHA MOTOR CO., LTD. MAKES NO OTHER EXPRESS OR IMPLIED WARRANTIES, INCLUDING ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE. THE WARRANTY SET FORTH ABOVE IS EXCLUSIVE AND IS IN LIEU OF ALL EXPRESSED OR IMPLIED WARRANTIES, INCLUDING WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR WARRANTIES ARISING FROM A COURSE OF DEALING OR USAGE OF TRADE. YAMAHA MOTOR CO., LTD.
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CHAPTER2 Ethernet Unit 2-1 Ethernet unit features Ethernet is the network most commonly used by office equipment today. This Ethernet unit is an optional device for connecting to controllers over the Ethernet. The communications protocol utilizes TCP/IP which is a standard Internet protocol so PCs and business computers with Internet access or equipment incorporating TCP/IP protocols can easily exchange data with the controller.
CHAPTER2 Ethernet Unit 2-2 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. The IP address is a number unique to each device and serves to identify that device.
CHAPTER2 Ethernet Unit 2-3 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.
CHAPTER2 Ethernet Unit 2-4 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 identified by the controller.
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. 1) Press F3 (SYS) on the initial menu screen.
CHAPTER2 Ethernet Unit ! CAUTION When connecting the controller on an already existing network, always check with the network supervisor before making IP address, subnet mask and gateway settings. MEMO 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. The remaining portion is the host address section.
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. 1) Press F3 (SYS) on the initial menu screen. [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Press F4 (next) to switch the function display and then press F2 (OPT). [SYS] select menu 1SAFE2OPT 3UTL 4next 3) Press F4 (next) again and then press F2 [SYS-OPT] (MASK).
CHAPTER2 Ethernet Unit 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. 1) Press F3 (SYS) on the initial menu screen. [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Press F4 (next) to switch the function display and then press F2 (OPT).
CHAPTER2 Ethernet Unit ! CAUTION Any appropriate gateway address can be used as long as the network is not connected to other networks. (However, use an IP address that has not yet been assigned 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 settings. The Ethernet unit uses a private address as the IP address default setting. This default value cannot be used as is on the Internet.
CHAPTER2 Ethernet Unit 2-5 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 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. * Windows is a registered trademark of the Microsoft Corporation (USA).
CHAPTER2 Ethernet Unit 6) 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. Click the “OK” button to restart. The settings you made are enabled once the PC restarts.
CHAPTER2 Ethernet Unit 2-6 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 2-7 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. However, they use different communication formats.
CHAPTER2 Ethernet Unit 2-8 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.) 1) Press F3 (SYS) on the initial menu screen.
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. 1) Perform step 1 through step 3 in “2-8-1 TELNET dedicated parameters: Setup method 1”. 2) Select F1 (LIN) to display the submenu. Press F1 (CHEK) to set whether or not to make the LOGIN check. Press F2 (USER) to set the user name. Press F3 (PASS) to set the password.
CHAPTER2 Ethernet Unit 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. Input range Default value : 0 to 65535 : 23 (TELNET port) * If any value other than 23 (TELNET port) is specified then negotiation with the TELNET protocol is impossible. (Switches to ordinary socket communication.) * Using a port No.
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. In this case, the client cannot connect to the controller if data stored within the controller does not match data sent from the client.
CHAPTER2 Ethernet Unit 2-9 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. These robot control commands are further subdivided into the following four categories. • Ethernet unit control commands • Robot control commands 1.
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 BYE This command terminates TELNET communication. The LOGOUT and the BYE commands have the same results. Always issue one of these commands when terminating communication.
CHAPTER2 Ethernet Unit 2-10 Making a connection with TELNET.EXE A typical Windows PC has a TELNET terminal called TELNET.EXE as standard equipment. 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. 1) Click the “Start” button and select “Run” to open the file name input window. Enter “telnet” here and then press the “OK” button.
CHAPTER2 Ethernet Unit 6) 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. 7) When the task or job is complete, enter the LOGOUT or BYE command to cancel the connection with the controller and press the Enter key. 8) A message appears announcing the connection has been terminated. Click the “OK” button and the screen returns to that in step 2.
CHAPTER2 Ethernet Unit 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. 1) Press F3 (SYS) on the initial menu screen. [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Press F4 (next) to switch the function [SYS] display and then press F2 (OPT). select menu 1SAFE2OPT 3UTL 4next 3) Press F2 (MAC). [SYS-OPT] select menu 1DEV 2MAC 3VER 4next 4) The MAC address appears on the screen.
CHAPTER2 Ethernet Unit 2-11-2 Displaying the version of the Ethernet unit 1) Press F3 (SYS) on the initial screen. [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Press F4 (next) to switch the function display and then press F2 (OPT). [SYS] select menu 1SAFE2OPT 3UTL 4next 3) Press F3 (VER). [SYS-OPT] select menu 1DEV 2MAC 3VER 4next 4) The version of the Ethernet unit now appears on the screen. Press ESC to return to the previous screen. 30 [SYS-OPT-VER] unit version = 1.
CHAPTER2 Ethernet Unit 2-12 Message List 2-12-1 Error messages The following error messages involving the Ethernet system have been added. ERROR MESSAGE No. 38 2-12-2 Message net link error Cause • TELNET connection terminated due to error. • A TELNET dedicated parameter is set so as to stop operation during logout processing. Solution • To end the TELNET communication use a LOGOUT or BYE command.
CHAPTER2 Ethernet Unit 2-13 Troubleshooting When problems occur, then troubleshoot as needed by using the following information as a guide. Be sure to always also refer to sections on “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. No.
CHAPTER2 Ethernet Unit No. Symptom Probable causes 7) Wrong IP address, subnet mask or gateway settings on controller. 8) Ethernet unit is defective 2 Cannot make 1) Wrong IP TELNET address used connection or during Telnet cannot connection terminate the 2) Wrong Port No. TELNET used during connection TELNET right away. connection. (ping reply is 3) The controller is normal). already logged in with another TELNET terminal. 4) Alarm issued to controller.
CHAPTER2 Ethernet Unit No. 4 Symptom Probable causes 1) TELNET Program stops by itself communication during cuts off by itself automatic without a operation. LOGOUT or BYE command being issued. 2) TELNET parameter was set to stop operation during logout. 3) Communication status continues for a fixed period and then cuts off automatically at timeout. 4) No-response status continues for a fixed period versus the keepalive packet and then cuts off automatically at timeout. 5) Ethernet unit is defective.
CHAPTER2 Ethernet Unit 2-14 Specifications 2-14-1 Ethernet unit specifications Model Spec item Ethernet unit Applicable controllers SRCP/SRCD/ERCX/SRCX/DRCX series controllers Network specs Conforms to Ethernet (IEEE802.
CHAPTER2 Ethernet Unit 2-14-2 Modular connector The pin layout for the modular connector used in the Ethernet unit is shown below. 12345678 Pin No Signal name 1 TD+ 2 TD- 3 RD+ 4 N.C 5 N.C 6 RD- 7 N.C 8 N.C *Pins 4, 5, 7, 8 are not used.
CHAPTER2 Ethernet Unit 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. HUB 10BASE-T cable 10BASE-T cable Controller PC System setup example IP address Subnet mask Gateway PC 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.
CHAPTER2 Ethernet Unit ■ Example 2 In this example, many controllers are operated with the HUBs connected in cascade. HUB Crossover cable Straight-through cable HUB Cascade port (UPLINK port, MDI port) HUB with cascade port PC Controller * The cascade port, also sometimes called an UPLINK port or MDI port is used when connecting multiple HUBs in cascade. Straight-through cables are used to connect the cascade ports of the HUBs together.
CHAPTER2 Ethernet Unit ■ Example 3 In this example, the control PC and the controllers are separated from each other. Terminator Terminator 10BASE-5 cable Transceiver (MAU) Transceiver (MAU) Transceiver cable (AUI cable) HUB with 10BASE-5 connector Transceiver cable (AUI cable) HUB with 10BASE-5 connector PC Controller * The 10BASE-5 cable has a maximum length of 500 meters. However, this distance can be extended to a maximum of 2.
CHAPTER2 Ethernet Unit ■ 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 Factory DSU ISDN dial-up router Head office DSU ISDN dial-up router HUB PC Controller System setup example (Head office network: 192.168.0.0/24, Factory network 192.168.1.0/24) Gateway IP address Subnet mask Head office router 192.168.0.1 255.255.255.0 PC 192.168.0.2 255.255.255.0 Factory router 192.168.1.
CHAPTER2 Ethernet Unit ■ Example 5 In this example, a controller in a remote location is centrally managed over the Internet. Factory 2 Internet Factory 1 Internet Router Head office Router HUB HUB PC Controller Use of a firewall (defense mechanism to keep out intruders) is recommended to maintain security. System setup example IP address Subnet mask Head office router 133.215.0.1 255.255.255.0 PC 133.215.0.2 255.255.255.0 Factory 1 router 133.215.1.1 255.255.255.0 Controller 1 133.
CHAPTER2 Ethernet Unit 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 communications 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.
CHAPTER2 Ethernet Unit ■ 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). So if the subnet mask is 255.255.255.0, then the network address section is 24 bits.
Revision record Manual version Issue date Description Ver. 3.01 Ver. 3.02 Ver. 3.03 Ver. 3.04 Ver. 3.05 Ver. 3.06 Ver. 3.07 Nov. 2003 Dec. 2005 Feb. 2006 Aug. 2006 May 2007 Sep. 2007 Dec. 2007 English manual Ver. 3.01 is based on Japanese manual Ver. 3.01. English manual Ver. 3.02 is based on Japanese manual Ver. 3.02. English manual Ver. 3.03 is based on Japanese manual Ver. 3.04. English manual Ver. 3.04 is based on Japanese manual Ver. 3.05. English manual Ver. 3.05 is based on Japanese manual Ver.
