YASKAWA Electric Corporation High Speed Ethernet Server Driver 1 System Configuration....................................................................................................... 3 2 External Device Selection ................................................................................................ 4 3 Communication Settings .................................................................................................. 5 4 Setup Items .............................................
High Speed Ethernet Server Driver Introduction This manual describes how to connect the Display and the External Device (target robot). In this manual, the connection procedure will be described in the sections identified below: 1 System Configuration This section lists the types of External Devices and SIO that you can connect. "1 System Configuration" (page 3) 2 External Device Selection Select a model (series) of the External Device and its connection method.
High Speed Ethernet Server Driver 1 System Configuration The system configuration in the case when the External Device of Yaskawa Electric Corporation and the Display are connected is shown.
High Speed Ethernet Server Driver 2 External Device Selection Select the External Device to be connected to the Display. Setup Items Setup Description Number of Devices/PLCs Use an integer from 1 to 4 to enter the number of Devices/PLCs to connect to the display. Manufacturer Select the manufacturer of the External Device to be connected. Select "YASKAWA Electric Corporation". Series Select a model (series) of the External Device to be connected and connection method.
High Speed Ethernet Server Driver 3 Communication Settings Examples of communication settings of the Display and the External Device, recommended by Pro-face, are shown. 3.1 Setting Example 1 Settings of GP-Pro EX Communication Settings To display the setup screen, from the [Project] menu, point to [System Settings] and select [Device/PLC]. • Because it may take some time for file operation processing, "20" (sec.) is specified for a default of "Timeout.
High Speed Ethernet Server Driver Device Setting To display the [Individual Device Settings] dialog box, from [Device-Specific Settings] in the [Device/PLC] window, select the External Device and click [Settings] . To connect multiple External Devices, from [Device-Specific Settings] in the [Device/PLC] window, click [Add Device] to add another External Device. • Default IP address of the External Device is as follows. DX100 series: 192.168.255.1 FS100 series: 10.0.0.
High Speed Ethernet Server Driver 4 Setup Items Set up the Display’s communication settings in GP Pro-EX or in the Display’s off-line mode. The setting of each parameter must match that of the External Device. "3 Communication Settings" (page 5) • Set the Display’s IP address in off-line mode. Cf. 4.
High Speed Ethernet Server Driver Device Setting To display the [Individual Device Settings] dialog box, from [Device-Specific Settings] in the [Device/PLC] window, select the External Device and click [Settings] . To connect multiple External Devices, from [Device-Specific Settings] in the [Device/PLC] window, click [Add Device] to add another External Device. Setup Items Setup Description Set IP address of the External Device. IP Address • Check with a network administrator about IP address.
High Speed Ethernet Server Driver Class ID Class Name Before the change (Single Read / Write) Attribute After the change (Multiple Read / Write) Instance Before the change After the change Bit Before the change D 0x07C 0x304 No change 00 - 63 0 No change R 0x07D 0x305 No change 00 - 63 0 No change 0 1 1-4 No change S 0x07E 0x306 No change No change More than 5 undefined P BP EX 0x07F 0x080 0x081 0x307 0x308 0x309 No change No change No change GP-Pro EX Device/PL
High Speed Ethernet Server Driver 4.2 Setup Items in Offline Mode • Please refer to Maintenance/Troubleshooting Guide for more information on how to enter offline mode or about operation. Cf. Maintenance/Troubleshooting Guide "Offline Mode" • The number of the setup items to be displayed for 1 page in the offline mode depends on the Display in use. Please refer to the Reference manual for details.
High Speed Ethernet Server Driver Device Setting To display the setting screen, touch [Device/PLC Settings] from [Peripheral Settings]. Touch the External Device you want to set from the displayed list, and touch [Device]. Setup Items Setup Description Set IP address of the External Device. IP Address • Check with a network administrator about IP address. Do not set the duplicate IP address. Port No. Enter a port number of the External Device, using 1024 to 65534.
High Speed Ethernet Server Driver 5 Supported Devices Range of supported device address is shown in the table below. Please note that the actually supported range of the devices varies depending on the External Device to be used. Please check the actual range in the manual of your connecting equipment. Enter the External Device address in the dialog box below. • For word addresses Class (Command number) Select the class of the object to send messages.
High Speed Ethernet Server Driver • For bit addresses Class (Command number) Select the class of the object to send messages. If [Direct Input] is selected, input a class code of "0000 - FFFF" (hexadecimal). Instance (Data array number) Input the instance number (a decimal from 00000 - 16383) that defines which class instance receives the message. Attribute (Data element number) Input the value (a decimal from 00 - 63) that defines which attribute of the instance is accessed.
High Speed Ethernet Server Driver Device Class Instance Attribute Control Bit Bit address Word address Class: 0000h - FFFFh Instance: 00000 - 16383 Attribute: 00 - 63 Control address: 0000 - 4095 Bit: 0 - 31 32 bits Class: 0000h - FFFFh Instance: 00000 - 16383 Attribute: 00 - 63 Control address: 0000 - 4095 or Comments *2 *1 *1 The high and low relationship of the stored data varies depending on the External Device. Refer to your External Device manual for details.
High Speed Ethernet Server Driver • For bit addresses (0070,00001,01,0000)/0 Bit position Control address*1 Attribute Instance Class *1 Not used if the command type is robot control (Class other than 0x04C0 to 0x04C3).
High Speed Ethernet Server Driver File Control Commands File control command are commands for sending and receiving with a robot controller in file units. Designate the following classes and execute. Process Class Data direction File read 0x4C0 External Device Display File write 0x4C1 Display External Device File list 0x4C2 External Device Display File delete 0x4C3 Display External Device • Class 0x4C0 to 0x4C3 is Virtual Class. The class of corresponding External Device is 0x0.
High Speed Ethernet Server Driver File Read Command Inputs commands directly from D script. [w:[PLC1](04C0,00000,00,0000)] Control address Attribute: Designate 0 (reserved) Instance: Designate 0 (reserved) Class: 0x4C0 Control address Address Item Details +0000 Status 0: Initial value, 1: Run instruction, 16: In-process, 256: Normal completion, 4096: Error +0001 Line count Number of lines in the obtained file Protocol is updated after send is complete.
High Speed Ethernet Server Driver *3 Starting line: Designate the file starting line number (0 - ) when storing in GP internal memory. * The CRLF in the file is used as the line delimiter. However, the line numbers when Tool info is selected in [Type] are as follows.
High Speed Ethernet Server Driver Tool info file (memory) Address Item Details +0000 Status 0: Initial value, 1: Run instruction, 16: In-process, 256: Normal completion, 4096: Error +0001 Line count Number of lines in the obtained file Protocol is updated after send is complete.
High Speed Ethernet Server Driver IO comment file (Memory) Address Item Details +0000 Status 0: Initial value, 1: Run instruction, 16: In-process, 256: Normal completion, 4096: Error +0001 Line count Number of lines in the obtained file Protocol is updated after send is complete. +0002 Save location 0: Memory +0003 File type 3: IO comment file +0004 Starting address USER area address for the output destination Starting line Comment number 0 - (4bit/1unit) (Ex: IN#1 is in Line No.
High Speed Ethernet Server Driver Binary file (memory) Address Item Details +0000 Status 0: Initial value, 1: Run instruction, 16: In-process, 256: Normal completion, 4096: Error +0001 Line count Number of lines in the obtained file Protocol is updated after send is complete.
High Speed Ethernet Server Driver One time data backup (CF/SD/USB) Address Item Details +0000 Status 0: Initial value, 1: Run instruction, 16: In-process, 256: Normal completion, 4096: Error +0001 Line count File Size in kBytes (Max 64MB) +0002 Save location 1: CF/SD, 3: USB +0003 File type 6: One Time Data Backup +0004 Starting address Ignored (0 reserved) +0005 Starting line Ignored (0 reserved) +0006 Character count Ignored (0 reserved) +0007 Number of output lines Ignored (0 re
High Speed Ethernet Server Driver Example of D script execution Read Job file (ABC.JBI) from controller and save to the root folder of CF card [w:[#INTERNAL]USR01002]=1 [w:[#INTERNAL]USR01003]=1 // Save location : CF // File type : JOB program [w:[#INTERNAL]USR01008]=0x4241 [w:[#INTERNAL]USR01009]=0x2E43 [w:[#INTERNAL]USR01010]=0x424A [w:[#INTERNAL]USR01011]=0x0049 // File name // AB // C.
High Speed Ethernet Server Driver • File Write Writes the designated file to the robotic controller. Designates the file data to be written and the file being stored in the CF card. File Write command Inputs commands directly from D script.
High Speed Ethernet Server Driver • File List Loads a list of files stored in the robotic controller. The loaded file list is stored in the designated address. File List command Inputs commands directly from D script.
High Speed Ethernet Server Driver When the file present is one of the following ABC.JBI ABCDE.JBI ABCDEF.JBI ABCDEFG.JBI ABCDEFGH.JBI ABCDEFGHI.JBI 123456.JBI AA.JBI Execution results Address (USR) 0 1 2 3 4 5 10000 2 1 4 3 6 5 J . I B 0x0 0x0 10006 A A J . I B 0x0 0x0 0x0 0x0 0x0 0x0 10012 0x0 0x0 0x0 0x0 0x0 0x0 0x0 0x0 0x0 0x0 0x0 0x0 • Data with a "0x" is a numerical value, and without is ASCII.
High Speed Ethernet Server Driver • File Delete Deletes the file stored in the robotic controller. File Delete command Inputs commands directly from D script. [w:[PLC1](04C3,00000,00,0000)] Control address Attribute: Designate 0 (reserved) Instance: Designate 0 (reserved) Class: 0x4C3 Control address Address +0000 +0001 +0018 Item Details Status 0: Initial value, 1: Run instruction, 16: In-process, 256: Normal completion, 4096: Error File name File name (Max.
High Speed Ethernet Server Driver 6 Device Code and Address Code Use device code and address code when you select "Device Type & Address" for the address type in data displays.
High Speed Ethernet Server Driver Device Character type variable (S) reading /writing (16 bytes) *4 *5 *6 Character type variable (S) reading /writing (32 bytes) *4 *5 *7 Robot position type variable (P) reading / writing*4 *8 Base position type variable (BP) reading / writing*4 *8 External axis type variable (EX) reading / writing*4 *8 Device Name Single Read / Write 0x7E Multiple Read / Write 0x306 Single Read / Write 0x8C Multiple Read / Write 0x30C Single Read / Write 0x7F Multiple Read
High Speed Ethernet Server Driver *2 When entering a check in the box of [Use Multiple Read/Write Command] in the [Individual Device Settings], it corresponds to the device monitor. Other classes and cases where a check has not been entered do not correspond to the device monitor. *3 The Display is 32 bit data, but the External Device is 16 bit data. Therefore, only low 16 bit data is valid. In the case that data is read from the External Device, data except for low 16 bits becomes zero.
High Speed Ethernet Server Driver 7 Error Messages Error messages are displayed on the screen of Display as follows: "No. : Device Name: Error Message (Error Occurrence Area)". Each description is shown below. Item Description No. Error No. Device Name Name of External Device where error occurs. Device name is a title of External Device set with GP-Pro EX. (Initial value [PLC1]) Error Message Displays messages related to the error which occurs.
