Instruction/ maintenance manual of the product ERCX Yamaha
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User ’ s Manual ENGLISH E YA MAHA NETWORK BOARD E74-V er . 3.07 Ether net SRCD/SRCP ERCX/SRCX/DRCX.
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INTRODUCTION Thank you for purchasing the Ethernet unit for the Y AMAHA single-axis/dual-axis ro- bot controllers SRCP/SRCD/ERCX/SRCX/DRCX series. This is an optional unit to allo w connecting Y AMAHA.
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Contents Contents Chapter 1 Cautions T o Ensure Safety ................................... 1 1-1 Basic safety points ............................................................................. 2 1-2 System design safety points ......................
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CHAPTER 1 1 Cautions T o Ensure Safety.
2 CHAPTER1 Cautions T o Ensure Saf ety 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 suff icient a ttention to safety . Points regarding safety in this instr uction manual only list items in volving this product.
3 CHAPTER1 Cautions T o Ensure Saf ety 1-3 Installation and wiring safety points ! CAUTION Always cut off all power to the contr oller and the overall system bef ore attempting installation or wiring jobs. This will pre vent possible electrical shocks.
4 CHAPTER1 Cautions T o Ensure Saf ety 1-4 Start-up and maintenance safety points ! CAUTION Nev er attempt to disassemble the robot or contr oller . When a robot or contr oller component must be re paired or replaced, contact us for details on how to perf orm the servicing .
5 CHAPTER1 Cautions T o Ensure Safety 1-6 W arranty The Y AMAHA robot and/or related product you hav e purchased are warranted against the defects or malfunctions as described belo w .
6 CHAPTER1 Cautions T o Ensure Safety Y AMAHA MOT OR CO., L TD. MAKES NO O THER EXPRESS OR IMPLIED W AR- RANTIES, INCLUDING ANY IMPLIED W ARRANTY OF MERCHANT ABILITY OR FITNESS FOR ANY P AR TICULAR PURPOSE.
CHAPTER 2 2 Ethernet Unit.
8 CHAPTER2 Ethernet Unit 2-1 Ethernet unit features Ethernet is the network most commonly used by of fice equipment today . This Ethernet unit is an optional device for connecting to controllers o ver the Ethernet.
9 CHAPTER2 Ethernet Unit 2-2 How data is exchanged The follo wing is a brief explanation to help understand ho w information is exchanged ov er 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.
10 CHAPTER2 Ethernet Unit 2-3 How to connect to Ethernet The Ethernet unit employs 10B ASE-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.
11 CHAPTER2 Ethernet Unit 2-4 Making system settings for the controller (server) A minimum of IP address, subnet mask and gatew ay settings must be made so that the controller will be correctly identified and ackno wledged on Ethernet. These settings are made from the TPB and enabled after the contr oller is restarted.
12 CHAPTER2 Ethernet Unit 2-4-2 Setting the IP address This follo wing explains how to set the IP address. The IP address is a number unique to each device and identif ies that device from among many other de vices connected on the network.
13 CHAPTER2 Ethernet Unit ! CAUTION When connecting the contr oller on an already existing network, always check with the network super visor before making IP ad dress, subnet mask and gateway set- tings. MEMO MEMO The IP address is separated into network address and host address sections.
14 CHAPTER2 Ethernet Unit 2-4-3 Setting the subnet mask This follo wing explains how to set the subnet mask. The subnet mask is a numerical address used to subdivide the netw ork into smaller parts. 1) Press F3 (SYS) on the initial menu screen. 2) Press F4 (next) to switch the function display and then press F2 (OPT).
15 CHAPTER2 Ethernet Unit 2-4-4 Setting the gateway The follo wing explains how to set the g ateway . Basically this is specifying the router IP address. The router is a de vice relaying information from a certain network to a dif ferent network when two or mor e networks are present.
16 CHAPTER2 Ethernet Unit ! CAUTION Any appropr ia te gateway addr ess can be used as long as the network is not con- nected to other networks. (How ever , use an IP address that has not yet been as- signed to other devices.
17 CHAPTER2 Ethernet Unit 2-5 Making the PC settings (client) The settings for the device (PC) are also essential f or correctly exchanging information with the controller . A basic method for setting a computer using W indows 98 is de- scribed below .
18 CHAPTER2 Ethernet Unit 6) Set the gatew ay under the “Gatew ay” tab screen. Enter the IP address of the router serving as the gate way and then click the “ Add” button. When finished making the settings, click the “OK” button a fe w times and a message appears asking if it is okay to restart the PC.
19 CHAPTER2 Ethernet Unit 2-6 Checking the connection with “ping” Once you are finished with the netw ork settings, make a check with “ping” to confirm that you can send and receiv e data normally . Here, “ping” is a network diagnostic tool incorporated into the OS as a standard feature.
20 CHAPTER2 Ethernet Unit 2-7 Using TELNET Communicating by TELNET (r emote operation) allo ws 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 communica- tion commands.
21 CHAPTER2 Ethernet Unit 2-8 TELNET dedicated parameters T o ensure reliable TELNET communications that match customer system settings, the Ethernet unit can be used with TELNET dedicated parameters e xplained in this section. 2-8-1 TELNET dedicated parameters: Setup method 1 T o set up TELNET dedicated parameters, use the procedure below .
22 CHAPTER2 Ethernet Unit 2-8-2 TELNET dedicated parameters: Setup method 2 T o 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.
23 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 w hen the client connects to the controller .
24 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 alw ays make the user name and the password check when connected to the controller .
25 CHAPTER2 Ethernet Unit 2-9 TELENET communication commands 2-9-1 Communication command specifications TELNET communication commands are broadly classified into tw o types. One type is commands that instruct the Ethernet unit to process the command task.
26 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.
27 CHAPTER2 Ethernet Unit 2-10 Making a connection with TELNET .EXE A typical W indows PC has a TELNET ter minal called TELNET .EXE as standard equip- ment. The follo wing briefly explains ho w to make a connection using TELNET .EXE. Preconditions are a controller IP address of 192.
28 CHAPTER2 Ethernet Unit 6) An OK message appears on the screen when the login check ends normally . From no w on, commands and messages can be e xc hanged with the robot. 7) When the task or job is complete, enter the LOGOUT or BYE command to can- cel the connection with the controller and press the Enter ke y .
29 CHAPTER2 Ethernet Unit 2-1 1 Other operating tasks 2-1 1-1 Displaying the MAC address Use the follo wing procedure to display the MA C address of the Ethernet unit. 1) Press F3 (SYS) on the initial menu screen. 2) Press F4 (next) to switch the function display and then press F2 (OPT).
30 CHAPTER2 Ethernet Unit 2-1 1-2 Displaying the version of the Ethernet unit 1) Press F3 (SYS) on the initial screen. 2) Press F4 (next) to switch the function display and then press F2 (OPT). 3) Press F3 (VER). 4) The version of the Ethernet unit no w ap- pears on the screen.
31 CHAPTER2 Ethernet Unit 2-12 Message List 2-12-1 Error messages The follo wing error messages in volving the Ethernet system ha ve been added. 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.
32 CHAPTER2 Ethernet Unit 2-13 T roubleshooting When problems occur , then troubleshoot as needed by using the following information as a guide. Be sure to always also refer to sections on “T rouble.
33 CHAPTER2 Ethernet Unit Checkpoints • Check the settings after referring to “2- 4-2 Setting the IP address” p. 10, “2-4- 3 Setting the subnet mask” p. 12, and “2-4-4 Setting the gateway” p. 13. • Try substituting the Ethernet unit. • Check that the IP address of the controller you are attempting to connect with is correct.
34 CHAPTER2 Ethernet Unit Checkpoints • Check the TELNET parameter to find if it was set to stop operation during logout. • Check the TELNET parameter to find if communication status is longer than the time set for timeout. • Check if a cable is detached or power supply for the HUB or other equipment is off.
35 CHAPTER2 Ethernet Unit 2-14 Specifications 2-14-1 Ethernet unit specifications ! CAUTION W e use an FL HUB (made b y Phoenix Contact) to check operation.
36 CHAPTER2 Ethernet Unit 2-14-2 Modular connector The pin layout for the modular connector used in the Ethernet unit is sho wn below . 12345678 Pin No Signal name 1 TD+ 2 TD- 3 RD+ 4 N.
37 CHAPTER2 Ethernet Unit 2-14-3 UTP (STP) cable The Ethernet cables are standardized by ANSI/TIA/EIA568A. T o av oid miswiring and malfunction, we recommend using cables conforming to this standard. When using 10B ASE-T cables, it must hav e transmission characteristics of category 3 or higher .
38 CHAPTER2 Ethernet Unit 2-15 Supplement 2-15-1 T ypical 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, se veral controllers are operated from one PC using one HUB.
39 CHAPTER2 Ethernet Unit ■ Example 2 In this e xample, many controllers are operated with the HUBs connected in cascade. * 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 .
40 CHAPTER2 Ethernet Unit ■ Example 3 In this example, the control PC and the controllers are separated from each other . * The 10B ASE-5 cable has a maximum length of 500 meters. Ho wever , this distance can be extended to a maximum of 2.5 kilometers by connecting cables together and using repeaters, etc.
41 CHAPTER2 Ethernet Unit ■ Example 4 In this example, a dial-up router is used to oper ate a controller in a remote location ov er an ISDN line. [[Page 39]] Controller Controller ISDN public teleph.
42 CHAPTER2 Ethernet Unit ■ Example 5 In this example, a controller in a remote location is centr all y managed ov er the Internet. Use of a fire wall (defense mechanism to keep out intruders) is recommended to maintain security .
43 CHAPTER2 Ethernet Unit 2-15-2 Description of terminology ■ TCP/IP (T ransmission Control Protocol/Internet Protocol) TCP/IP is a general term for a group of standard protocols for carrying out communi- cations ov er the Internet centering around TCP and IP protocols.
44 CHAPTER2 Ethernet Unit ■ IP address The IP address is a unique number assigned to each device to identify that de vice on the network and pre vent the same number from being used by dif ferent de vices.
45 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.
Dec. 2007 Ve r. 3.07 This manual is based on V er. 3.07 of Japanese manual. © Y AMAHA MOTOR CO., L TD. IM Company All rights reserved. No part of this publication may be reproduced in any form without the permission of Y AMAHA MOTOR CO., L TD. Information furnished by Y AMAHA in this manual is believed to be reliable.
An important point after buying a device Yamaha ERCX (or even before the purchase) is to read its user manual. We should do this for several simple reasons:
If you have not bought Yamaha ERCX yet, this is a good time to familiarize yourself with the basic data on the product. First of all view first pages of the manual, you can find above. You should find there the most important technical data Yamaha ERCX - thus you can check whether the hardware meets your expectations. When delving into next pages of the user manual, Yamaha ERCX you will learn all the available features of the product, as well as information on its operation. The information that you get Yamaha ERCX will certainly help you make a decision on the purchase.
If you already are a holder of Yamaha ERCX, but have not read the manual yet, you should do it for the reasons described above. You will learn then if you properly used the available features, and whether you have not made any mistakes, which can shorten the lifetime Yamaha ERCX.
However, one of the most important roles played by the user manual is to help in solving problems with Yamaha ERCX. Almost always you will find there Troubleshooting, which are the most frequently occurring failures and malfunctions of the device Yamaha ERCX along with tips on how to solve them. Even if you fail to solve the problem, the manual will show you a further procedure – contact to the customer service center or the nearest service center
