YASKAWA DX100 Instructions Manual

Instructions Manual for YASKAWA DX100 Computer Hardware, Controller (119 pages)

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1333/1333156-dx100.pdf file (20 Dec 2023)
  • Manufacturer: YASKAWA
  • Category of Device: Computer Hardware, Controller
  • Document: DX100, File Type: PDF Instructions Manual
  • Updated: 20-12-2023
  • Count of Pages: 119
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Data: UPD 20th December 2023

YASKAWA DX100 Computer Hardware, Controller PDF Instructions Manual (Updated: Wednesday 20th of December 2023 04:39:58 AM)

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Compatible devices: MOTOMAN MPL80 II, MP2300S, VIPA IM 053EC, MOTOMAN-NX100, PROFIBUS-DP, mp2500, Motoman ArcWorld IV-6200 XHD DR2C, iQpump Series.

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Text Version of YASKAWA DX100 Instructions Manual (Summary of Contents)

(Ocr-Read of the YASKAWA DX100 Document (Main Content), UPD: 20 December 2023)
  • 57, YASKAWA DX100 3-38 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.11 Byte Variable (B) Reading / Writing Command Request Sub header part Data part (Data exists during the writing operation only) Answer Sub header part Data part (Data exists during the writing…

  • 7, vii 162529-1CD HW1480958 DX100 Definition of Terms Used In this Manual Definition of Terms Used In this Manual The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the controller, the programming pendant, and the manipulator cables. In this manual, the e…

  • 29, YASKAWA DX100 3-10 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.2 Outline 3.2.4 File Control (File Loading) PC DX100 UDP: optional UDP:10040 Socket opened Request 1 (request loading) ACK (to command) Data 1 (file data 1) ACK 1 (reply 1) The last data (data N) The last ACK (reply N) Socket closed Request 1 <…

  • 68, 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-49 162529-1CD HW1480958 DX100 Answer Sub header part Data part (Data exists during the writing operation only) <Details> Status Respond by one in the followings • 0x00 : respond normally • Other than 0x00 …

  • 83, 3-64 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.30 Plural Integer Type Variable (I) Reading / Writing Command Request Sub header part Data part Answer Sub header part Data part (Data exists during the writing operation only) <Detail…

  • 51, 3-32 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control Data part No data part Detail of data Please refer section 3.9.5 “Flip/ No flip” in the “DX100 OPERATOR’S MANUAL” prepared for each application. Answer Sub header part Form bit0 0: Front 1:…

  • 48, YASKAWA DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-29 162529-1CD HW1480958 DX100 3.3.5 Axis Configuration Information Reading Command Request Sub he ader part Data part No data part Answer Sub header part <Details> Command No. 0x74 Instance Specify one out of followings • 1 …

  • 71, YASKAWA DX100 3-52 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.21 Step / Cycle / Continuous Switching Command Request Sub header part Data part (Data exists during the writing operation only) Answer Sub header part Data part No data part <Details> Command No.…

  • 76, 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-57 162529-1CD HW1480958 DX100 3.3.25 Management Time Acquiring Command Request Sub he ader part Answer Sub header part Data part <Details> Command No. 0x88 Instance Specify one out of followings • 1 • 10 • 11 …

  • 67, 3-48 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.18 External Axis Type Variable (Ex) Reading / Writing Command Request Sub header part Data part (Data exists during the writing operation only) <Details> Command No. 0x81 Instance Specify one ou…

  • 45, 3-26 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.3 Status Information Reading Command Request Sub header part Data part No data part Answer Sub header part Data part Details of data <Details> Command No. 0x72 Instance Fixed to “1”…

  • 66, 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-47 162529-1CD HW1480958 DX100 Answer Sub header part Data part (Data exists during the writing operation only) <Details> Status Respond by one in the followings • 0x00 : respond normally • Other than 0x00 …

  • 34, YASKAWA DX100 3 Transmission Procedure 3.2 Outline 3-15 162529-1CD HW1480958 DX100 The last data (N) <Format> “YERC”“YERC” Identifier 0x0020 0x0008 Header part size Data part size 0x03 0x02 0x01 0x04 Reserve 1 Processing division ACK Request ID 0x8000_000N Block No. “99999999” Reserve 2 0xB2 0x0…

  • 94, 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-75 162529-1CD HW1480958 DX100 3.3.37 Alarm Data Reading Command (for Applying the Sub Code Character Strings) Request Sub he ader part Data part No data part Answer <Details> Command No. 0x30A Instance Specify one out of followi…

  • 86, 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-67 162529-1CD HW1480958 DX100 3.3.33 Plural Character Type Variable (S) Reading / Writing Command Request Sub he ader part Data part Answer Sub header part <Details> Command No. 0x306 Instance Specify one out of followings • 0 to …

  • 101, 3-82 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control Data part 32bit integer Byte 0 Byte 1 Byte 2 Byte3 <Details> 1 Specifying control group (Robot) 1 to 8 (Robot No.) 2 Specifying control group (Station) 1 to 24 (Station No.) 3 Specifying the cla…

  • 112, 3 Transmission Procedure 3.4 File Control Command 3-93 162529-1CD HW1480958 DX100 3.4.5 File Saving Command (The Batch Data Backup) Request Sub he ader part Data part Answer Sub header part Data part No data part <Details> Command No. 0x0 Instance 0x0 Attribute 0x0 Service 0x16 File sav…

  • 106, YASKAWA DX100 3 Transmission Procedure 3.4 File Control Command 3-87 162529-1CD HW1480958 DX100 3.4 File Control Command Followings are respective commands used in the high-speed Ethernet communication. Table 3-2: List of File Control Command No. Command No. Instance Attribute Service Command name Reference 1 0x0 0x…

  • 49, YASKAWA DX100 3-30 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control Data part *: Each control group number. R: Robot (R1 to R8) S: Station (S1 to s24) B: Base (B1 to b8) 32bit integer Byte 0 Byte 1 Byte 2 Byte3 <Details> 1 First coordinate name “S” (R*: pulse)/“X”…

  • 35, YASKAWA DX100 3-16 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.2 Outline Detail of data Output form of the list The list is described in the form of “file name” + <CR> + <LF> consecutively Not specified JBI list *.* JBI list *.JBI JBI list *.DAT DAT file list *.CND CND file list *.PRM PRM …

  • 65, 3-46 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.17 Base Position Type Variable (Bp) Reading / Writing Command Request Sub header part Data part (Data exists during the writing operation only) <Details> Command No. 0x80 Instance Specify one ou…

  • 41, 3-22 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control NOTE For the alarm character strings name, it is transmitted in the form of the character strings whose language code was selected by the programming pendant. Use the same language code as the D…

  • 72, 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-53 162529-1CD HW1480958 DX100 3.3.22 Character String Display Command To The Programming Pendant Request Sub he ader part Data part (Data exists during the writing operation only) Answer Sub header part Data part No data part <…

  • 14, Table of Contents xiv 162529-1CD HW1480958 DX100 3.3.14 Real Type Variable (R) Reading / Writing Command....................................... 3-41 3.3.15 Character Type Variable (S) Reading Writing Command................................. 3-42 3.3.16 Robot Position Type Variable (P) Re…

  • 77, 3-58 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.26 System Information Acquiring Command Request Sub header part Answer Sub header part Data part <Details> Command No. 0x89 Instance Specify one out of followings • 11 to 18 • 21 to 44 • 101…

  • 105, YASKAWA DX100 3-86 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control Answer Sub header part Data part No data part NOTE To move the base axis, specify the robot No. at the specifying control group, and input the each axis value. • Robot 1st axis pulse value �…

  • 98, YASKAWA DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-79 162529-1CD HW1480958 DX100 Data part 32bit integer Byte 0 Byte 1 Byte 2 Byte3 <Details> 1 Alarm code Range is from 0x0001 to 0x270F(decimal value: 9999) 2 Alarm data Setting values vary in accordance with the contents …

  • 55, 3-36 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.9 I/O Data Reading / Writing Command Request Sub header part Data part (Data exists during the writing operation only) Answer Sub header part Data part (Data exists during the writing operation only) &l…

  • 4, iv 162529-1CD HW1480958 DX100 We suggest that you obtain and review a copy of the ANSI/RIA National Safety Standard for Industrial Robots and Robot Systems (ANSI/RIA R15.06-2012). You can obtain this document from the Robotic Industries Association (RIA) at the following address: Robotic Industries Ass…

  • 110, YASKAWA DX100 3 Transmission Procedure 3.4 File Control Command 3-91 162529-1CD HW1480958 DX100 3.4.4 File List Acquiring Command Request Sub he ader part Data part Details of data Answer Sub header part <Details> Command No. 0x0 Instance 0x0 Attribute 0x0 Service 0x32 File list accruing process 32bit i…

  • 109, 3-90 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.4 File Control Command 3.4.3 File Saving Command Request Sub header part Data part Answer Sub header part Data part No data part <Details> Command No. 0x0 Instance 0x0 Attribute 0x0 Service 0x16 File saving process 32bit integer Byte 0 Byte …

  • 62, YASKAWA DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-43 162529-1CD HW1480958 DX100 3.3.16 Robot Position Type Variable (P) Reading / Writing Command Request Sub he ader part Data part (Data exists during the writing operation only) <Details> Command No. 0x7F Instance Sp…

  • 6, YASKAWA DX100 Notes for Safe Operation vi 162529-1CD HW1480958 DX100 WARNING • Before operating the manipulator, check that servo power is turned OFF pressing the emergency stop buttons on the programming pendant. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned O…

  • 22, 3 Transmission Procedure 3.1 Packet Format 3-3 162529-1CD HW1480958 DX100 Item Data size Settings Identifier 4byte Fixed to “YERC” Header part size 2byte Size of header part (fixed to 0x20) Data part size 2byte Size of data part (variable) Reserve 1 1byte Fixed to “3” Processing division 1byte …

  • 23, YASKAWA DX100 3-4 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.1 Packet Format Details of sub-header • Sub header (request) Sub header (request) Command No. Instance Attribute Service (request) Padding • Sub header (answer/ no added status) Sub header (request) Service (answer) Status: normal: 0x00 …

  • 52, 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-33 162529-1CD HW1480958 DX100 Data part Details of data Please refer “3.9.5 Flip/ No flip” in “DX100 OPERATOR’S MANUAL” prepared for each application. 32bit integer Byte 0 Byte 1 Byte 2 Byte3 <Details> 1 Data type 0: Pulse va…

  • 8, YASKAWA DX100 Description of the Operation Procedure viii 162529-1CD HW1480958 DX100 Descriptions of the programming pendant, buttons, and displays are shown as follows: Description of the Operation Procedure In the explanation of the operation procedure, the expression [Select • • •]” means that the cursor is …

  • 39, YASKAWA DX100 3-20 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.1 Alarm Data Reading Command Request Sub header part Data part No data part Answer Sub header part <Details> Command No. 0x70 Instance Specify one out of followings 1: The latest alarm 2: The se…

  • 17, YASKAWA DX100 2-1 162529-1CD HW1480958 DX100 2 System Setting 2.1 Before using the System 2 System Setting To use the high-speed Ethernet server function, configuration of the following settings are required. 2.1 Before using the System The high-speed Ethernet server function is designed as an expansion option to th…

  • 47, YASKAWA DX100 3-28 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control Data part 32bit integer Byte 0 Byte 1 Byte 2 Byte3 <Details> 1Job name (character strings: 32 letters) Job name Half-width character: 32 characters Full-width character: 16 characters 2 3 4 5…

  • 74, YASKAWA DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-55 162529-1CD HW1480958 DX100 3.3.24 Job Select Command Request Sub he ader part Data part <Details> Command No. 0x87 Instance Specify one out of followings 1: Set the executing job 10: Set the master job (task 0) 11: Set the master …

  • 78, 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-59 162529-1CD HW1480958 DX100 3.3.27 Plural I/o Data Reading / Writing Command Request Sub he ader part Data part Answer Sub header part <Details> Command No. 0x300 Instance Specify one out of followings • 1 to 256 • …

  • 24, 3 Transmission Procedure 3.2 Outline 3-5 162529-1CD HW1480958 DX100 3.2 Outline The transmission/receiving flow of the transmission packet is divided into robot control and file control. Please refer to section 3.3 “Respective Commands for Robot Control” for the details of respective robot control com…

  • 12, YASKAWA DX100 Customer Support Information xii 162529-1CD HW1480958 DX100 Customer Support Information If you need assistance with any aspect of your DX100 system, please contact YASKAWA Customer Support at the following 24-hour telephone number: For routine technical inquiries, you can also contact YASKAWA …

  • 93, YASKAWA DX100 3-74 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control Answer Sub header part Data part (Data exists during the writing operation only) <Details> Status Respond by one in the followings • 0x00 : respond normally • Other than 0x00 : respond a…

  • 118, YASKAWA DX100 5 Added Status Code 5-5 162529-1CD HW1480958 DX100 NOTE When the DX100 returning the system error, perform the following procedures. 1: Reset the alarm. 2: Save the CMOS.BIN, and report the occurrence of the alarm to YASKAWA service representative. 118 of 119 …

  • 10, YASKAWA DX100 Programming, Operation, and Maintenance Safety x 162529-1CD HW1480958 DX100 Programming, Operation, and Maintenance Safety All operators, programmers, maintenance personnel, supervisors, and anyone working near the system must become familiar with the operation of this equipment. Improper opera…

  • 70, 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-51 162529-1CD HW1480958 DX100 3.3.20 Hold / Servo On/off Command Request Sub he ader part Data part (Data exists during the writing operation only) Details of data  HLOC K This data interlocks the P.P and I/O operation system signals. O…

  • 69, 3-50 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.19 Alarm Reset / Error Cancel Command Request Sub header part Data part (Data exists during the writing operation only) Answer Sub header part Data part No data part <Details> Co…

  • 56, 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-37 162529-1CD HW1480958 DX100 3.3.10 Register Data Reading / Writing Command Request Sub he ader part Data part (Data exists during the writing operation only) Answer Sub header part Data part (Data exists during the writing o…

  • 63, 3-44 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control Details of data Please refer “3.9.5 Flip/ No flip” in “DX100 OPERATOR’S MANUAL” prepared for each application. Answer Sub header part Form bit0 0: Front 1: Back Extended form bit0 0:өL<1…

  • 9, YASKAWA DX100 ix 162529-1CD HW1480958 DX100 Safeguarding Tips Safeguarding Tips All operators, programmers, maintenance personnel, supervisors, and anyone working near the system must become familiar with the operation of this equipment. All personnel involved with the operation of the equipment must understand pot…

  • 102, 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-83 162529-1CD HW1480958 DX100 Details of data Please refer to section 3.9.5 “Flip/ No flip” in “DX100 OPERATOR’S MANUAL” prepared for each application. Answer Sub header part Data part No data part Form bit0 0: Front 1: B…

  • 40, YASKAWA DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-21 162529-1CD HW1480958 DX100 Data part 32bit integer Byte 0 Byte 1 Byte 2 Byte3 <Details> 1 Alarm code Range is from 0x0001 to 0x270F(decimal value: 9999) 2 Alarm data Setting values vary in accordance with the contents of the alarm …

  • 97, YASKAWA DX100 3-78 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.38 Alarm History Reading Command (for Applying the Sub Code Character Strings) Request Sub header part Data part No data part Answer <Details> Command No. 0x30B Instance Specify one …

  • 46, YASKAWA DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-27 162529-1CD HW1480958 DX100 3.3.4 Executing Job Information Reading Command Request Sub he ader part Data part No data part Answer Sub header part <Details> Command No. 0x73 Instance Specify one out of followings 1: Maste…

  • 73, YASKAWA DX100 3-54 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.23 Start-up (Job Start) Command Request Sub header part Data part (Data exists during the writing operation only) Answer Sub header part Data part No data part <Details> Command No. 0x86 Instance…

  • 60, 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-41 162529-1CD HW1480958 DX100 3.3.14 Real Type Variable (R) Reading / Writing Command Request Sub he ader part Data part (Data exists during the writing operation only) Answer Sub header part Data part (Data exists during the…

  • 114, 5 Added Status Code 5-1 162529-1CD HW1480958 DX100 5 Added Status Code The following table is the message list of the added status. Added status code Details 1010 Command error 1011 Error in number of command operands 1012 Command operand value range over 1013 Command operand length error 1020 Disk ful…

  • 33, 3-14 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.2 Outline ACK1 <Format> “YERC” Identifier 0x0020 0x0000 Header part size Data part size 0x03 0x02 0x01 0x04 Reserve 1 Processing division ACK Request ID 0x0000_0001 Block No. “99999999” Reserve 2 0x00 0x0000 Command No. Insta…

  • 108, 3 Transmission Procedure 3.4 File Control Command 3-89 162529-1CD HW1480958 DX100 3.4.2 File Loading Command Request Sub he ader part Data part Answer Sub header part Data part No data part <Details> Command No. 0x0 Instance 0x0 Attribute 0x0 Service 0x15 File loading process 32bit integer…

  • 13, xiii 162529-1CD HW1480958 DX100 Table of Contents Table of Contents 1 Introductions ................................................................................................................................... 1-1 1.1 Preparation .................................................................…

  • 15, YASKAWA DX100 xv 162529-1CD HW1480958 DX100 Table of Contents 4 Error Code ...................................................................................................................................... 4-1 5 Added Status Code.......................................................................…

  • 31, 3-12 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.2 Outline The last ACK (N) <Format> “YERC” Identifier 0x0020 0x0000 Header part size Data part size 0x03 0x02 0x01 0x03 Reserve 1 Processing division ACK Request ID 0x8000_000N Block No. “99999999” Reserve 2 0x95 0x00 0x00 0x00 Service …

  • 26, 3 Transmission Procedure 3.2 Outline 3-7 162529-1CD HW1480958 DX100 3.2.3 File Control PC DX100 UDP: optional UDP:10040 Socket opened Request 1 (request saving) Data 1 (file data 1) The last data (file data N: the last file data) Data 2 (file data 2) ACK 1 (reply of receiving) ACK 2 (reply of receiving) ACK N …

  • 38, 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-19 162529-1CD HW1480958 DX100 35 0x308 Plural base position type variable (BP) reading / writing command Refer to section 3.3.35. 36 0x309 Plural external axis type variable (EX) reading / writing command Refer to section 3.…

  • 16, 1 Introductions 1.1 Preparation 1-1 162529-1CD HW1480958 DX100 1 Introductions The high-speed Ethernet server function is a new communication protocol to enable high-speed Ethernet communication between the DX100 and external devices such as PC, etc. Followings are the characteristics of this funct…

  • 1, YASKAWA DX100 MANUAL NO. 6 HW1480958 Part Number: 162529-1CD Revision: 5 DX100 OPTIONS INSTRUCTIONS FOR HIGH-SPEED ETHERNET SERVER FUNCTION Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIO…

  • 53, 3-34 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.7 Position Error Reading Command Request Sub header part Data part No data part Answer Sub header part Data part <Details> Command No. 0x76 Instance Specify one out of followings • 1 …

  • 21, 3-2 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.1 Packet Format Answer (the DX100 to the PC) 4 Byte Type Byte 0 Byte 1 Byte 2 Byte 3 Identifier Fixed character strings for identification (YERC) Data size Header part size (fixed to 0x20) Data part size (variable value) Header part (fixed …

  • 95, 3-76 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control Data part 32bit integer Byte 0 Byte 1 Byte 2 Byte3 <Details> 1 Alarm code Range is from 0x0001 to 0x270F(decimal value: 9999) 2 Alarm data Setting values vary in accordance with the contents…

  • 64, 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-45 162529-1CD HW1480958 DX100 Data part (Data exists during the writing operation only) Details of data Please refer to section 3.9.5 “Flip/ No flip” in “DX100 OPERATOR’S MANUAL” prepared for each application. 32bit integer B…

  • 84, YASKAWA DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-65 162529-1CD HW1480958 DX100 3.3.31 Plural Double Precision Integer Type Variable (B) Reading / Writing Command Request Sub he ader part Data part Answer Sub header part Data part (Data exists during the writing operation only) <Det…

  • 82, 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-63 162529-1CD HW1480958 DX100 Data part (Data exists during the writing operation only) 32bit integer Byte 0 Byte 1 Byte 2 Byte3 <Details> 1 Number Maximum: 474 *It can specify by a multiple of 2 only. (invalid if specified by ot…

  • 100, 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-81 162529-1CD HW1480958 DX100 3.3.39 Move instruction command (Type Cartesian coordinates) Request Sub he ader part <Details> Command No. 0x8A Instance Specify one out of followings 1:Link absolute position operation 2:Straight…

  • 19, YASKAWA DX100 2-3 162529-1CD HW1480958 DX100 2 System Setting 2.5 Setting of a Batch Data Backup Function NOTE • A batch data backup function is available for software version DS3.00 or higher. • Refer to DX100 Instruction section 9.3 “Auto Backup Function” for more details. • Refer to DX100 Instruction sec…

  • 81, YASKAWA DX100 3-62 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.29 Plural Byte Type Variable (B) Reading / Writing Command Request Sub header part Data part Answer Sub header part <Details> Command No. 0x302 Instance Specify one out of followings • 0 …

  • 43, 3-24 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control Data part 32bit Integer Byte 0 Byte 1 Byte 2 Byte3 <Details> 1 Alarm code Range is from 0x0001 to 0x270F(decimal value: 9999) 2 Alarm data Setting values vary in accordance with the contents of the…

  • 91, 3-72 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control Answer Sub header part Data part (Data exists during the writing operation only) <Details> Status Respond by one in the followings • 0x00 : respond normally • Other than 0x00 : respon…

  • 119, Specifications are subject to change without notice for ongoing product modifications and improvements. MANUAL NO. 6 HW1480958 HEAD OFFICE 2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan Phone +81-93-645-7703 Fax +81-93-645-7802 100 Automation Way, Miamisburg, OH 45342, U.S.A. Phone …

  • 90, 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-71 162529-1CD HW1480958 DX100 3.3.35 Plural Base Position Type Variable (Bp) Reading / Writing Command Request Sub he ader part Data part <Details> Command No. 0x308 Instance Specify one out of followings • 0 to 127 (for standard s…

  • 75, 3-56 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control Answer Sub header part Data part No data part <Details> Status Respond by one in the followings • 0x00 : respond normally • Other than 0x00 : respond abnormally Added stat…

  • 59, 3-40 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.13 Double Precision Integer Type Variable (B) Reading / Writing Command Request Sub header part Data part (Data exists during the writing operation only) Answer Sub header part Data part (Dat…

  • 111, 3-92 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.4 File Control Command Data part 32bit integer Byte 0 Byte 1 Byte 2 Byte3 <Details> 1 . J B File name + <CR><LF> to input consecutively I <CR> <LF> 2 2.JB I <CR> <LF> 3 33.J B I <CR> <LF…

  • 58, 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-39 162529-1CD HW1480958 DX100 3.3.12 Integer Type Variable (I) Reading / Writing Command Request Sub he ader part Data part (Data exists during the writing operation only) Answer Sub header part Data part (Data exists during the w…

  • 113, YASKAWA DX100 4-1 162529-1CD HW1480958 DX100 4 Error Code 4 Error Code The following table is the message list of the status. Added status code Details 0x08 Requested command is not defined 0x09 The element number of the invalid data is detected 0x1f An error inherent in vendor occurred (CIP communication …

  • 107, 3-88 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.4 File Control Command 3.4.1 File Deleting Command Request Sub header part Data part Answer Sub header part Data part No data part <Details> Command No. 0x0 Instance 0x0 Attribute 0x0 Service 0x09 File deleting process 32bit i…

  • 3, iii 162529-1CD HW1480958 DX100 MANDATORY • This manual explains the high-speed Ethernet server function of the DX100 system and general operations. Read this manual carefully and be sure to understand its contents before handling the DX100. • General items related to safety are listed in Chapter …

  • 32, YASKAWA DX100 3 Transmission Procedure 3.2 Outline 3-13 162529-1CD HW1480958 DX100 3.2.5 File Control (File list) PC DX100 UDP: optional UDP:10041 Socket opened Request 1 (request of llist) Data 1 (file list 1) Data 2 (file list 2) ACK 1 (reply of confirmation) ACK N (reply of confirmation) ACK 2 (reply of confirmati…

  • 99, 3-80 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control NOTE For the alarm character strings name, it is transmitted in the form of the character strings whose language code was selected by the programming pendant. Use the same language code as the DX…

  • 89, 3-70 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control Answer Sub header part Data part (Data exists during the writing operation only) <Details> Status Respond by one in the followings • 0x00 : respond normally • Other than 0x00 : respon…

  • 28, 3 Transmission Procedure 3.2 Outline 3-9 162529-1CD HW1480958 DX100 ACK2 <Format> “YERC” Identifier 0x0020 0x0000 Header part size Data part size 0x03 0x02 0x01 0x02 Reserve 1 Processing division ACK Request ID 0x0000_0002 Block No. “99999999” Reserve 2 0x00 0x0000 Command No. Instance 0x00 0x…

  • 103, 3-84 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.40 Move Instruction Command (Type Pulse) Request Sub header part <Details> Command No. 0x8B Instance Specify one out of followings 1:Link absolute position operation 2:Straight absolute positi…

  • 92, YASKAWA DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-73 162529-1CD HW1480958 DX100 3.3.36 Plural External Axis Type Variable (Ex) Reading / Writing Command Request Sub he ader part Data part <Details> Command No. 0x309 Instance Specify one out of followings • 0 to 127 (for standard se…

  • 42, 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-23 162529-1CD HW1480958 DX100 3.3.2 Alarm History Reading Command Request Sub he ader part Data part No data part Answer Sub header part <Details> Command No. 0x71 Instance Specify one out of followings • 1 to 100 • …

  • 79, 3-60 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control Data part (Data exists during the writing operation only) 32bit integer Byte 0 Byte 1 Byte 2 Byte3 <Details> 1 Number Maximum: 474 *It can specify by a multiple of 2 only. 2 I/O data 1 I/O data 2 I/O data 3 I/…

  • 96, YASKAWA DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-77 162529-1CD HW1480958 DX100 NOTE For the alarm character strings name, it is transmitted in the form of the character strings whose language code was selected by the programming pendant. Use the same language code as the DX100, or the c…

  • 54, 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-35 162529-1CD HW1480958 DX100 3.3.8 Torque Data Reading Data Request Sub he ader part Data part No data part Answer Sub header part Data part <Details> Command No. 0x77 Instance Specify one out of followings • 1 to …

  • 116, YASKAWA DX100 5 Added Status Code 5-3 162529-1CD HW1480958 DX100 B002 Data use prohibited B003 Requiring data size error B004 Outside the data B005 Data undefined B006 Specified application unregistered B007 Specified type unregistered B008 Control group setting error B009 Speed setting error B00A Operating speed …

  • 61, YASKAWA DX100 3-42 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.15 Character Type Variable (S) Reading Writing Command Request Sub header part Data part (Data exists during the writing operation only) Answer Sub header part Data part (Data exists dur…

  • 36, 3 Transmission Procedure 3.2 Outline 3-17 162529-1CD HW1480958 DX100 3.2.6 File Control (Deleting of file) PC DX100 UDP: optional UDP:10041 Socket opened Request 1 (request of llist) ACK 1 (reply of confirmation) Socket closed Request 1 <Format> “YERC” Identifier 0x0020 0x000B Header part size…

  • 18, 2 System Setting 2.4 Setting of Command Remote 2-2 162529-1CD HW1480958 DX100 2.4 Setting of Command Remote Set Management mode as Security mode, and select {IN/OUT} – {PSEUDO INPUT SIGNAL} to appear the following display. Move the cursor to the #82015 CMD REMOTE SEL, and press [INTER LOCK] + [SELECT] to s…

  • 104, YASKAWA DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-85 162529-1CD HW1480958 DX100 Data part 32bit integer Byte 0 Byte 1 Byte 2 Byte3 <Details> 1 Specifying control group (Robot) 1 to 8 (Robot No.) 2 Specifying control group (Station) 1 to 24 (Station No.) 3 Specifying the c…

  • 44, YASKAWA DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-25 162529-1CD HW1480958 DX100 NOTE For the alarm character strings name, it is transmitted in the form of the character strings whose language code was selected by the programming pendant. Use the same language code as the DX100, or …

  • 37, YASKAWA DX100 3-18 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3 Respective Commands for Robot Control Follows are robot controlling commands which can use in the high-speed Ethernet communication. Table 3-1: List of Robot Control Command No. Command No. Nam…

  • 30, 3 Transmission Procedure 3.2 Outline 3-11 162529-1CD HW1480958 DX100 Data 1 <Format> “YERC” Identifier 0x0020 0x01d? Header part size Data part size 0x03 0x02 0x01 0x03 Reserve 1 Processing division ACK Request ID 0x0000_0001 Block No. “99999999” Reserve 2 0x00 0x0000 Command No…

  • 50, YASKAWA DX100 3 Transmission Procedure 3.3 Respective Commands for Robot Control 3-31 162529-1CD HW1480958 DX100 3.3.6 Robot Position Data Reading Command Cartesian value can select the base coo rdinate only. (It cannot select the robot, user and tool coordinates.) Request Sub header part <Details> Command No. …

  • 27, YASKAWA DX100 3-8 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.2 Outline Data 1 <Format> “YERC” Identifier 0x0020 0x01d f Header part size Data part size 0x03 0x02 0x01 0x02 Reserve 1 Processing division ACK Request ID 0x0000_0001 Block No. “99999999” Reserve 2 0x96 0x00 0x00 0x00 Service Status…

  • 5, v 162529-1CD HW1480958 DX100 Notes for Safe Operation Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the DX100. In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING”, “CAUTION”, “MANDATORY…

  • 25, YASKAWA DX100 3-6 162529-1CD HW1480958 DX100 3 Transmission Procedure 3.2 Outline [Ex. When Writing] 3.2.2 Robot Control/Data Writing to Register PC DX100 Socket opened Socket closed Answer (writing result) Request (request of data writing to register) UDP: optional UDP:10040 Request <Format> “YERC” Identifier 0x…

  • 2, ii 162529-1CD HW1480958 DX100 Copyright © 2018, 2017, 2014, 2012 Yaskawa America, Inc. Terms of Use and Copyright Notice All rights reserved. This manual is freely available as a service to Yaskawa customers to assist in the operation of Motoman robots, related equipment and software This manual…

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