SRCD/SRCP YAMAHA NETWORK BOARD ERCX/SRCX/DRCX DeviceNet User’s Manual ENGLISH E YAMAHA MOTOR CO., LTD. IM Operations 882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.Japan URL http://www.yamaha-motor.jp/robot/index.html E73-Ver. 3.
INTRODUCTION Thank you for purchasing the DeviceNet 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 DeviceNet which is a de facto standard for FA (factory automation) field network.
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Contents 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.............................................
2-13 Error message .................................................................................. 64 2-14 Troubleshooting................................................................................ 65 2-15 Specifications ................................................................................... 67 2-15-1 2-15-2 Unit basic specifications ........................................................................... 67 DeviceNet specifications ...................................................
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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 For information on the warranty period and terms, please contact our distributor where you purchased the product. This warranty does not cover any failure caused by: 1. Installation, wiring, connection to other control devices, operating methods, inspection or maintenance that does not comply with industry standards or instructions specified in the YAMAHA manual; 2. Usage that exceeded the specifications or standard performance shown in the YAMAHA manual; 3.
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CHAPTER2 DeviceNet Unit 2-1 DeviceNet unit features DeviceNet is an FA field network developed by the Allen-Bradley Corporation in the USA. Technical rights to DeviceNet were later transferred to the ODVA (organization dedicated to the worldwide spread of DeviceNet). Use of DeviceNet specifications is now completely open to everyone and manufacturers both at home and overseas are developing products conforming to DeviceNet specifications.
CHAPTER2 DeviceNet Unit 2-2 How the DeviceNet system works This brief description of how data is exchanged will help to understand how the controller and sequencer (PLC) operate via the DeviceNet system. Devices connected to the DeviceNet system are broadly grouped into master stations and slave stations according to their functions. The master station controls the centralized routing of data, much like the master unit of a PLC.
CHAPTER2 DeviceNet Unit 2-3 DeviceNet cable connections Wire the DeviceNet cable to the accessory DeviceNet plug. Make the wiring connections by referring to the drawing below or the marks on the plug. Make sure the connections are correct! When finished wiring the cable to the plug, connect it to the DeviceNet connector as shown below. 1. V- (black) 2. CAN_L (blue) 3. Shield 4. CAN_H (white) 5.
CHAPTER2 DeviceNet Unit 2-4 Parallel I/O connector The I/O connector must be wired into the controller so install as shown below even if not using the controller's parallel I/O. ■ When the ERCX/SRCX/DRCX series controllers are used: 1. Short Pin No. A-24 (EMG 1) and B-24 (EMG 2). 2. Short Pin No. B-4 (LOCK) and A-15, to B-15 (0V). 3. Connect an external 24 volts to Pin No. A-13, B-13 (+IN COM).
CHAPTER2 DeviceNet Unit ■ When the SRCP/SRCD series is used: 1. Short Pin No. 1 (EMG 1) and Pin No. 2 (EMG 2) of the EXT.CN connector. 2. Short Pin No. B-4 (LOCK) of the I/O.CN connector and Pin No. 4 (24G) of the EXT.CN connector. (This wiring can be eliminated by disabling bit 6 (Interlock function setting) of PRM34 (System mode selection).) 3. Connect Pin No. 3 (24V) and Pin No. 4 (24G) of the EXT.CN connector to an external 24 volt supply. If Step 1 is not completed, an emergency stop will occur.
CHAPTER2 DeviceNet Unit 2-5 Controller system settings (Slave station) The MAC ID and the communication speed must be set so that the controller can be correctly identified as a slave station on the DeviceNet system. The MAC ID settings and communication speed settings are made with DIP switches on the board. These settings are enabled after the controller is restarted.
CHAPTER2 DeviceNet Unit 2-5-2 Setting MAC ID and communication speed ! CAUTION Always be sure to turn off power to the controller before attempting to make these settings to prevent possible electrical shock. When making the settings, also be sure not to touch any parts other than the DIP switch.
CHAPTER2 DeviceNet Unit 2-5-3 How to check MAC ID and communication speed MAC ID and communication speed settings made with a DIP switch on the board can be checked on the HPB. When the DIP switch settings are changed, always check that the new settings are correct. 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 ID.
CHAPTER2 DeviceNet Unit 2-6 Sequencer (master station) settings The master station sequencer (or PLC) in the DeviceNet system can make line tests on the remote station. Use this function to check whether or not the controller is identified as a slave station on the DeviceNet system before starting any actual work. Refer to the instruction manual for the master station sequencer (PLC) for detailed information.
CHAPTER2 DeviceNet Unit 2-7 I/O information On/off (I/O) information handled by the DeviceNet unit consists of 16 custom inputs, 16 general-purpose I/O inputs, 16 custom outputs and 16 general-purpose outputs. Functions assigned to custom inputs are sub-grouped into 13 dedicated command inputs, interlock, Service mode and emergency stop input. * Some ports are currently reserved for future use and not available for dedicated command input and custom outputs.
CHAPTER2 DeviceNet Unit ! CAUTION • The above profile is for cases where the I/O assignment selection parameter is set to "Type 0: Conventional type" when the controller has an I/O assignment function. For information on the profile when the I/O assignment selection parameter is set to another type, refer to "2-9-2 I/O assignment list". • The zone output is supported by the following controller versions: ERCX, SRCX : Ver. 13.50 or later DRCX : Ver. 18.50 or later SRCP, SRCD : Ver. 24.
CHAPTER2 DeviceNet Unit ■ Point movement command with absolute (ABS-PT) When origin point coordinates are set at 0, this command moves the robot to a position specified in data by point No. (See "2-7-3 General-purpose inputs") specified by SI200 through SI209, and at a speed specified by SI210 and SI211. On dual-axis controllers, the axis to be moved can be specified with SI213, SI214 by making PRM10 varid.
CHAPTER2 DeviceNet Unit ■ Origin return command (ORG-S) This command performs origin return when the search method was selected as the origin detection method, or checks the origin return status if the mark method was selected. On dual-axis controllers, you can specify the axis for origin return with SI213, SI214 by making PRM10 varid.
CHAPTER2 DeviceNet Unit ■ Reset command (RESET) This command returns the program step to the first step of the lead program, and turns DO0 - DO12*1, SO200 - SO231, and the memory I/O all off. The point variable "P" is also cleared to 0. (Does not clear the counter variables "C" and "D". * The output from a parallel I/O port used for emulated serialization does not change even if reset with the RESET command.
CHAPTER2 DeviceNet Unit 2-7-3 General-purpose inputs (SI200 - SI215) General-purpose inputs are inputs freely available to the user for handling as data in the program. As a special usage method, SI200 - SI209 can specify point numbers, and SI210 - SI211 can specify movement speed during running of ABS-PT or INC-PT point movement commands. As shown in the table below, a binary code should be entered in SI200 SI209 to specify the point numbers P0 - P999.
CHAPTER2 DeviceNet Unit 2-7-4 Interlock (LOCK) These are inputs to temporarily stop robot movement. Robot operation can be stopped by setting this input to OFF during running of dedicated commands from the I/O, during running of a program by HPB (or personal computer), or during return to origin. (Of course, the program operation also stops.
CHAPTER2 DeviceNet Unit 2-7-6 Service mode (SVCE) This input is enabled only when the controller unit has itself been set to service mode. The SVCE (service) mode input is for notifying the controller of whether or not it is in service mode. Set this input to off (contacts open) when in service mode. MEMO Operation stops if the service mode input changes during robot operation. MEMO When the service mode function is enabled, the DI15* on the parallel I/O also functions as a service mode input.
CHAPTER2 DeviceNet Unit 2-7-7 Custom outputs Custom outputs inform the sequencer (PLC) of controller status. ■ "Preparation completed" output (READY) The custom output is ON while the controller system is operating normally. However the output turns OFF under any of the following conditions and the motor becomes "free". • During emergency stop The READY output turns ON again when emergency stop is canceled.
CHAPTER2 DeviceNet Unit ■ "Servo status" output (SRV-O) Displays the robot servo status. This turns ON when all axes are at servo-ON. However, this output is OFF if even just one axis is in servo-OFF status. * This servo status output is always enabled, even if the "servo status output selection" parameter (single-axis controllers: PRM46, dual-axis controllers: PRM21) does not have to be changed. ■ "Origin return status" output (ORG-O) This outputs the robot origin return status.
CHAPTER2 DeviceNet Unit 2-8 Timing chart Typical timing charts are shown below, so refer to them when creating the PLC program. 2-8-1 Right after controller power turns on Normal startup Power supply 10s or less END When alarm has occurred Power supply END ■ After power is turned on, the END output turns on when the controller has started up normally and communication is allowed. So first check that the END output is on before inputting commands.
CHAPTER2 DeviceNet Unit 2-8-2 Custom input command execution ■ The BUSY output turns ON when a dedicated command input is received. Whether or not the received command ended normally is checked by the END output at the point when the BUSY output turns OFF. In other words, the END output that is ON at this time, shows the command ended normally. However the command did not end normally if the END output is OFF. ■ Always input the dedicated command input as a pulse signal.
CHAPTER2 DeviceNet Unit (2) When a short execution time command runs and ends normally (In the following cases, when the dedicated command input is turned OFF (contact opens), the command has already ended, and END has turned ON.) • When running a movement command (ABS-PT, INC-PT) with an extremely short movement distance. • When RESET was run. • When running steps of a command having an extremely short processing time such as L or DO statements.
CHAPTER2 DeviceNet Unit Dedicated command execution completion Dedicated command Even after dedicated command execution is completed, the END signal does not turn ON until the dedicated command input turns OFF. BUSY END 30ms or less 1ms or less 1ms or less 1ms or less (3) When running a command was impossible from the start (In the following cases, END will not turn ON, when running of command was impossible from the start.
CHAPTER2 DeviceNet Unit (4) When an on-going command becomes impossible to run (In the following cases, END will not turn ON, when running of an on-going command becomes impossible.) • When an interlock or emergency stop was triggered during running of a dedicated command. • When a jump to an unregistered program was made during automatic operation, a move to an unregistered point was made or some kind of error occurred.
CHAPTER2 DeviceNet Unit 2-8-3 When interlock signal is input Interlock LOCK Dedicated command BUSY END Differs according to execution command ■ The BUSY output turns OFF when an interlock signal is input during running of a dedicated command. The READY output and the END output remain unchanged.
CHAPTER2 DeviceNet Unit 2-8-4 When emergency stop signal is input Emergency stop EMG Dedicated command BUSY END READY 5ms or less 1ms or less ■ The READY output turns OFF. The BUSY output turns OFF during running of a dedicated command. The END output is unchanged. ■ To resume robot operation, after canceling emergency stop and checking that the READY output is ON, input the SERVO command.
CHAPTER2 DeviceNet Unit 2-8-5 When an alarm is issued Alarm Dedicated command BUSY END READY 5ms or less 1ms or less ■ The READY, BUSY and END outputs all turn off. ■ To troubleshoot an alarm that occurred on the controller, refer to "Alarm and Countermeasures" in the controller instruction manual.
CHAPTER2 DeviceNet Unit 2-8-6 When point movement commands are run ■ When executing a point movement command (ABS-PT, INC-PT), the point data and speed data must be input before inputting the dedicated command. When specifying the moving axis, the axis selection data must be input. The point data and speed data inputs are designated with SI200 to SI211. The axis selection data input is designated with SI213 to SI214. (Refer to "2-7-3 Generalpurpose input (SI200 to SI215)".
CHAPTER2 DeviceNet Unit 2-9 I/O assignment change function 2-9-1 Changing the I/O assignment The I/O assignment change function changes the function assigned to each input/output (I/O) signal. I/O assignment can be changed by setting the I/O assignment selection parameter (singleaxis controllers: PRM59, dual-axis controller: PRM26). For the contents of I/O assignment, refer to "2-9-2 I/O assignment list".
CHAPTER2 DeviceNet Unit 2-9-2 I/O assignment list The table below shows the function assigned to each input/output (I/O) signal by setting the I/O assignment selection parameter. For details on the I/O assignment selection parameter, refer to "2-9-3 I/O assignment selection parameter description". For details on each I/O signal, refer to "2-9-4 I/O signal description".
CHAPTER2 DeviceNet Unit bit0 SRV-O SRV-O SRV-O SRV-O SRV-O bit1 (ZONE0) (ZONE0) (ZONE0) (ZONE0) (ZONE0) bit2 (ZONE1) (ZONE1) (ZONE1) (ZONE1) (ZONE1) bit3 (ZONE2) (ZONE2) (ZONE2) (ZONE2) (ZONE2) bit4 (ZONE3) (ZONE3) (ZONE3) (ZONE3) (ZONE3) ORG-O ORG-O ORG-O ORG-O ORG-O bit5 bit6 Output (Remote → Master) n bit7 bit8 bit9 bit10 bit11 n+1 bit12 Cannot bit13 END be used.
CHAPTER2 DeviceNet Unit 2-9-3 I/O assignment selection parameter description The I/O assignment selection parameter (single-axis controllers: PRM59, dual-axis controllers: PRM26) selects the function to be assigned to each I/O signal. This parameter setting allows changing the function assigned to each I/O signal. This makes it possible to output the destination point number and perform jog movement. After changing the I/O assignment, the controller must be restarted to enable the changes.
CHAPTER2 DeviceNet Unit e Point zone judgment method selection The position judgment parameter is selected when the point output selection is "2" (point zone output) or "3" (movement point zone output). Value Description 0 OUT valid position 1 Positioning-completed pulse MEMO • The Point zone judgment method selection is supported by the following controller versions: ERCX, SRCX : Ver. 13.64 or later DRCX : Ver. 18.64 or later SRCP, SRCD : Ver. 24.21 or later SRCP30 : Ver. 24.
CHAPTER2 DeviceNet Unit 2-9-4 I/O signal descripion The meaning of each signal is explained below. For the meaning of signals not described here, refer to "2-7-2 Dedicated command input" and the following sections. ■ Point number designation inputs 200 to 205 (PI200 to PI205) These inputs designate the point number of the target position where the robot moves with a point movement command (ABS-PT, INC-PT).
CHAPTER2 DeviceNet Unit Axis selection example SI214 SI213 OFF OFF ON ON OFF ON OFF ON JOG+, JOGSelected axis X-axis X-axis Y-axis X-axis ! CAUTION • If the CHG (mode switch input) signal is switched during jog movement, the robot comes to an error stop. • When selecting the axis of a dual-axis controller, the status of SI213 and SI214 must first be determined. (Refer to "Jog movement (JOG+, JOG-)" in "2-9-5 Timing chart".
CHAPTER2 DeviceNet Unit ■ Point data write command (PSET) Writes the current position data in the specified point number. To use this command, the point number for writing the current position data must first be specified using a PI (point number designation input) input. The PSET is enabled only when return-to-origin has been completed.
CHAPTER2 DeviceNet Unit Target position point numbers for point movement commands (ABS-PT, INC-PT) are output as binary values. The same applies to point numbers which correspond to the point zone output function and the movement point zone output function. The PO output format is specified in the "hundreds" place of the I/O assignment selection parameter setting (single-axis controllers: PRM59, dual-axis controllers: PRM26) 0: PO output occurs at normal movement completion.
CHAPTER2 DeviceNet Unit MEMO When using PO as an output signal that indicates the target position's point number for point movement commands (ABS-PT, INC-PT): • When a point movement is received through a parallel I/O, the target position's point number is output to the corresponding parallel I/O (PO0 to PO5). When received through a serial I/O such as a CC-Link, the target position's point number is output to the corresponding serial I/O (PO200 to PO205).
CHAPTER2 DeviceNet Unit 2-9-5 Timing chart This section shows timing charts for the operations that are added by changing the I/O assignment. ■ Jog movement (JOG+, JOG-) CHG (Mode switch input) Data retention Axis designation data * SI213, SI214 JOG+/JOG (JOG movement command) END BUSY READY Robot movement Robot movement 30ms or more 30ms or less 1ms or less 30ms or less 1ms or less * For dual-axis controllers only.
CHAPTER2 DeviceNet Unit ■ Point data write (PSET) CHG （Mode switch input） PSET （Point data write command） PI200 to 205 * （Point number designation inputs 200 to 205) Data retention END BUSY READY Point data write Point data writing 30ms or more 30ms or less 1ms or less 30ms or less * The number of point number outputs that can be used depends on the I/O assignment type. Precondition: The CHG signal is on before and during point data writing (until the following procedure is complete).
CHAPTER2 DeviceNet Unit ■ Target position's point number output (PO) (1) Outputting the point number at the timing that movement is normally completed Data retention q Axis designation data *1 SI213, SI214 ABS-PT/INC-PT (Point movement command) Data retention w Command q PO200 to 205 *2 (Target position's point number outputs 200 to 205) Command w Point number output q Point number output w END BUSY Movement q Robot movement 30ms or more 30ms or less 1ms or less Movement w 30ms or more 1ms o
CHAPTER2 DeviceNet Unit [Point movement command execution w] (8) Execute the next point movement command. (9) Point movement ends. (10) The END signal turns on. The previous target position's point number being output from the specified point number (PO200 to PO205) is cleared and the current target position's point number is then output.
CHAPTER2 DeviceNet Unit (2) Outputting the point number at the timing that a movement command is received Data retention q Axis designation data *1 SI213, SI214 ABS-PT/INC-PT ĦPoint movement commandħ Data retention w Command q PO200 to 205 *2 ĦTarget position's point number outputs 200 to 205ħ Command w Point number output q Point number output w END BUSY Movement q Robot movement 30ms or more 30ms or less 1ms or less Movement w 30ms or more 1ms or less 30ms or less 1ms or less 1ms or less
CHAPTER2 DeviceNet Unit [Point movement command execution w] (8) Execute the next point movement command. (9) When the controller received the point movement command and the BUSY signal turned on, the previous target position's point number being output from the specified point number (PO200 to PO205) is cleared and the current target position's point number is then output.
CHAPTER2 DeviceNet Unit (3) Outputting the corresponding point number by the point zone output function Zone outputs (ZONE 0, ZONE 1) are also explained here. PO 203 (23) PO 202 (22) PO 201 (21) PO 200 (20) m-No. is output as binary value PO200 to 203 (Target position's point number outputs 200 to 203) PO 203 (23) PO 202 (22) PO 201 (21) PO 200 (20) OFF OFF OFF OFF Point output (point m) PO 203 (23) PO 202 (22) PO 201 (21) PO 200 (20) n-No.
CHAPTER2 DeviceNet Unit (2) (3) (4) (5) Outputs the corresponding point number through PO200 to PO203 since the current robot position is within the point zone output range (Pm ± OUT valid position range). ZONE 0 and ZONE 1 output signals are still off since the robot does not yet enter the zone output range. As with (1), all the target position's point number outputs PO200 to PO203, ZONE 0 signal and ZONE 1 output signal are off.
CHAPTER2 DeviceNet Unit (4) Outputting the corresponding point number by the movement point zone output function Zone outputs (ZONE 0) are also explained here.
CHAPTER2 DeviceNet Unit (3) (4) The corresponding point number P6 is output to PO200 through PO203 (P201, P202 are on; P200, P203 are off) because the robot is within the P6 ± OUT valid position range (point zone output range), and because P6 is the movement point. ZONE 0 remains off at this time because the robot is not within the specified zone output range. The ZONE 0 output turns on because the robot is within the specified zone output range (P900 to P901).
CHAPTER2 DeviceNet Unit 2-10 Robot language The robot language expanded by using in the DeviceNet unit. 2-10-1 MOVF Function: Format: Example: Moves until the specified DI or SI No. is input. MOVF MOVF 1,2,1 This command moves the robot towards P1, ends movement when D12 turns ON, and proceeds to the next step. Explanation: MOVF is used when searching for the target position with sensors, etc.
CHAPTER2 DeviceNet Unit 2-10-2 JMPF Function: Jumps to the specified label of the specified program when the jump condition input matches the value that was set. Format: JMPF
CHAPTER2 DeviceNet Unit 2-10-3 JMPB Function: Jumps to the specified label when the specified general-purpose input or memory input or serial general-purpose input is on (or off). Format: JMPB
CHAPTER2 DeviceNet Unit 2-10-5 WAIT Function: Waits until the specified general-purpose input or memory input or serial general-purpose input sets to the specified status. Format: WAIT Example: WAIT 5,1 Waits until DI5 sets to "ON". Explanation: The WAIT command adjusts the timing according to the status of the general-purpose input or memory input or serial general-purpose input.
CHAPTER2 DeviceNet Unit 2-11 Emulated Serialization on parallel DIO This is a function to directly send the input from the master sequencer (PLC) to the external parallel I/O, or to directly send an external parallel I/O input to a master sequencer (PLC). An I/O port set for this function, can be controlled by the master sequencer (PLC), independently of the robot program so outputs can be handled as if from a separate Slave station. This function is selected on the HPB, and can be set for any I/O.
CHAPTER2 DeviceNet Unit 1) Press F3 (SYS) on the initial screen. [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Press F4 (next) to switch to the function display. When the function display [SYS] appears, then press F2 (OPT). select menu 1SAFE2OPT 3UTL 4next 3) Press F4 (next) to switch the function display. To directly send the external parallel I/O input to the master sequencer (PLC) press F1 (D→SO).
CHAPTER2 DeviceNet Unit 2-12 Other operations 2-12-1 Serial I/O display Serial I/O (input/output) status can be displayed on the screen. 1) Press F2 (OPRT) on the initial screen. [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press F2 (STEP) or F3 (AUTO). The step operation screen is explained in the subsequent steps. [OPRT] select menu 1ORG 2STEP3AUTO 3) Press F4 (next) 2 times to switch to the [OPRT-STEP] 100 0: 0 function table, and then press F2 (SIO). 001:MOVA 254,100 [ 0.
CHAPTER2 DeviceNet Unit 2-12-2 Manual control of general-purpose output The serial general-purpose output can be manually controlled from HPB. 1) Press F1 (EDIT) on the initial screen. [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Press F2 (PNT). [MENU] select menu 1PGM 2PNT 3UTL 3) Press F2 (TCH) or F3 (DTCH). The teaching play back screen is explained in the subsequent steps.
CHAPTER2 DeviceNet Unit 2-13 Error message The following error message was added to the DeviceNet system. Error No. 38 Message (English) net link error Cause A network connection error occurred so the connection was canceled. Remedy Correct the network problem and then rerun.
CHAPTER2 DeviceNet Unit 2-14 Troubleshooting Check the following items if any problems occur during operation. Also, refer to "Troubleshooting" in the controller instruction manual and always refer to the section on troubleshooting in the master station sequencer (PLC) instruction manual. If the following items do not eliminate the problem, promptly contact your Yamaha dealer or Yamaha for assistance. No.
CHAPTER2 DeviceNet Unit No. 3 Symptom Causes Checkpoints 1) Error occurred on • Check if an error has occurred by Program the DeviceNet monitoring the network status stops by itself system during information on master PLC. during communication. automatic operation. • Referring to "2-5-1 Validating the 2) Controller is defective. DeviceNet unit", invalidate the DeviceNet unit and try operating the robot separately with the controller.
CHAPTER2 DeviceNet Unit 2-15 Specifications 2-15-1 Unit basic specifications Model DeviceNet Unit Spec. Item Controller models SRCP/SRCD/ERCX/SRCX/DRCX series controller Conforms to DeviceNet Volume 1 Release2.0 Specification Volume 2 Release2.
CHAPTER2 DeviceNet Unit 2-15-2 DeviceNet specifications ■ General Device Data Conforms to DeviceNet Specification Volume 1 Release2.0 Volume 2 Release2.0 Vendor Name YAMAHA MOTOR CO.,LTD.(Vendor ID 636) Device Profile Name Generic Device(Device Type Number 0) Product Code 1 Product Revision 1.
CHAPTER2 DeviceNet Unit ■ DeviceNet Required Object Implementation ● Identity Object(0x01) Object Class Attributes None Supported Services None Supported Object Instance Attributes Set Value Limit Description 1 Vender 636 2 Product type 0 3 Product code 1 4 Revision 1.
CHAPTER2 DeviceNet Unit ● DeviceNet Object (0x03) Object Class Attributes Services ID Description 1 Revision Get Set Value Limit 02H DeviceNet Services Parameter Options 0EH Get_Attribute_Single none ID Description Get 1 MAC ID 2 Baud rate 3 BOI 4 Bus-off counter 5 Allocation information 6 MAC ID switch changed 7 Baud rate switch changed 8 MAC ID switch value 9 Baud rate switch value Object Instance Attributes Services Set Value Limit 00H DeviceNet Services Parameter
CHAPTER2 DeviceNet Unit ● Connection Object(0x05) Object Class Attributes None Supported Services None Supported Total Active Connections 1 Possible Object Instance 1 Description Information Explicit Message Instance Type Section Attributes Cyclic Transport Type Server Transport Class 3 Get Set ID Description 1 State 2 Instance type 00H 3 Transport class trigger 83H 4 Produced connection ID 5 Consumed connection ID 6 Initial comm.
CHAPTER2 DeviceNet Unit Object Instance 2 Description Information Polled I/O Instance Type Section Attributes Cyclic Transport Type Server Transport Class 2 Get Set ID Description 1 State 2 Instance type 01H 3 Transport class trigger 82H 4 Produced connection ID 5 Consumed connection ID 6 Initial comm.
CHAPTER2 DeviceNet Unit Object Instance 3 Description Information Bit Strobed I/O Instance Type Section Attributes Cyclic Transport Type Server Transport Class 2 Get Set ID Description 1 State 2 Instance type 01H 3 Transport class trigger 82H 4 Produced connection ID 5 Consumed connection ID 6 Initial comm.
CHAPTER2 DeviceNet Unit 2-16 Supplement 2-16-1 EDS files The contents of EDS file 1 are shown below just for your reference. $ DeviceNet Configurator Generated Electronic Data Sheet [File] DescText CreateDate CreateTime Revision = "YAMAHA ROBOT EDS File"; = 09-19-2000; = 12:00:00; = 1.
MEMO
Revision record Manual version Issue date Description Ver. 3.00 Oct. 2009 Addition of I/O assignment function. Addition of customize function for END output timing in execution of dedicated I/O command. Clerical error corrections, etc. Ver. 3.01 May 2011 The description regarding "Warranty" was changed. Ver. 3.02 Jul. 2012 The description regarding "Warranty" was changed. User's Manual SRCD/SRCP ERCX/SRCX/DRCX Single-axis/Dual-axis Robot Controllers Jul. 2011 Ver. 3.
