YASKAWA DX100 Instructions Manual
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YASKAWA DX100 Instructions Manual

Options; for high-speed ethernet server function
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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- INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR'S MANUAL
DX100 MAINTENANCE MANUAL
The DX100 Operator's manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Part Number:
162529-1CD
Revision:
5
MANUAL NO.
HW1480958
1 of 119
6
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Summary of Contents for YASKAWA DX100

  • Page 1 Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS DX100 INSTRUCTIONS DX100 OPERATOR’S MANUAL DX100 MAINTENANCE MANUAL The DX100 Operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual. Part Number: 162529-1CD Revision: 1 of 119 MANUAL NO.
  • Page 2 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 is copyrighted property of Yaskawa and may not be sold or redistributed in any way.
  • Page 3 If such modification is made, the manual number will also be revised. • If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover.
  • Page 4 ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM, OR REPAIR THE EQUIPMENT! We recommend approved Yaskawa training courses for all personnel involved with the operation, programming, or repair of the equipment. This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC rules.
  • Page 5 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” or ”PROHIBITED”. Indicates an imminent hazardous...
  • Page 6 Confirm that no person is present in the P-point maximum envelope of the manipulator and that you are in a safe location before: – Turning ON the power for the DX100. – Moving the manipulator with the programming pendant. – Running the system in the check mode.
  • Page 7 Read and understand the Explanation of Warning Labels in the DX100 Instructions before operating the manipulator: 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.
  • Page 8 162529-1CD DX100 Description of the Operation Procedure Descriptions of the programming pendant, buttons, and displays are shown as follows: Equipment Manual Designation Programming Character The keys which have characters printed on Pendant Keys them are denoted with [ ]. ex. [ENTER]...
  • Page 9 162529-1CD 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 potential dangers of operation. General safeguarding tips are as follows: •...
  • Page 10 Do not make any modifications to the controller unit. Making any changes without the written permission from Yaskawa will void the warranty. • Some operations require standard passwords and some require special passwords.
  • Page 11 Turn the power OFF and disconnect and lockout/tagout all electrical circuits before making any modifications or connections. Perform only the maintenance described in this manual. Maintenance other than specified in this manual should be performed only by Yaskawa- trained, qualified personnel. Summary of Warning Information This manual is provided to help users establish safe conditions for operating the equipment.
  • Page 12 162529-1CD DX100 Customer Support Information 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: (937) 847-3200 For routine technical inquiries, you can also contact YASKAWA Customer Support at the following e-mail address: [email protected]...

  • Page 13: Table Of Contents

    162529-1CD DX100 Table of Contents Table of Contents 1 Introductions ........................... 1-1 1.1 Preparation ........................1-1 1.2 Restriction.......................... 1-1 2 System Setting..........................2-1 2.1 Before using the System....................2-1 2.2 Parameter Setting......................2-1 2.3 Setting of Relevant Parameter................... 2-1 2.4 Setting of Command Remote .................... 2-2 2.5 Setting of a Batch Data Backup Function ................
  • Page 14 162529-1CD DX100 Table of Contents 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) Reading / Writing Command ....... 3-43 3.3.17 Base Position Type Variable (Bp) Reading / Writing Command....... 3-46 3.3.18 External Axis Type Variable (Ex) Reading / Writing Command......
  • Page 15 162529-1CD DX100 Table of Contents 4 Error Code ............................4-1 5 Added Status Code......................... 5-1 15 of 119 HW1480958...

  • Page 16: Introductions

    Ethernet server function are still available. Preparation This high-speed Ethernet server function is an expansion option to the DX100 Ethernet function. In this reason, when using this function, the PC should be ready to use the DX100 Ethernet function. Restriction •...

  • Page 17: System Setting

    Before using the System The high-speed Ethernet server function is designed as an expansion option to the DX100 Ethernet function. Before using this function, it is required to make the DX100 Ethernet host control function available. For more details, see chapter 3 “Ethernet Function Settings” in the “DX100 OPTIONS INSTRUCTIONS FOR ETHERNET FUNCTION”.

  • Page 18: Setting Of Command Remote

    [SELECT] to select [ON]. Setting of a Batch Data Backup Function With the batch data backup function, the data saved in the DX100 such as system setting or operational condition are collectively backed up by using the command from High Speed Ethernet Server Function. Set the following procedures in advance to use this function.
  • Page 19 2.5 Setting of a Batch Data Backup Function • 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 section 9.4 “Loading the Backup Data from the CompactFlash”...

  • Page 20: Transmission Procedure

    (32 byte) + data part (changeable: 479 byte at max.) The transmission packet consists of “request”, which transmits the data from the PC to the DX100, and “answer”, which transmits the data from the DX100 to the PC. The sub-header setting composition of “request” and “answer” are different.
  • Page 21 162529-1CD DX100 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 Data part size (fixed to 0x20)
  • Page 22 162529-1CD DX100 Transmission Procedure 3.1 Packet Format 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”...
  • Page 23 162529-1CD DX100 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: Added status: size:...

  • Page 24: Outline

    162529-1CD DX100 Transmission Procedure 3.2 Outline 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 commands (request/answer) and section 3.4 “File Control Command” for the details of respective file control commands.

  • Page 25: Robot Control/Data Writing To Register

    162529-1CD DX100 Transmission Procedure 3.2 Outline [Ex. When Writing] 3.2.2 Robot Control/Data Writing to Register UDP: optional UDP:10040 DX100 Socket opened Request (request of data writing to register) Answer (writing result) Socket closed Request “YERC” Identifier 0x0020 0x0002 Header part size...

  • Page 26: File Control

    162529-1CD DX100 Transmission Procedure 3.2 Outline 3.2.3 File Control UDP: optional UDP:10040 DX100 Socket opened Request 1 (request saving) Data 1 (file data 1) ACK 1 (reply of receiving) Data 2 (file data 2) ACK 2 (reply of receiving) The last data (file data N: the last file data)
  • Page 27 162529-1CD DX100 Transmission Procedure 3.2 Outline Data 1 “YERC” Identifier 0x0020 0x01d f Header part size Data part size 0x03 0x02 0x01 0x02 Reserve 1 Processing Request ID division 0x0000_0001 Block No. “99999999” Reserve 2 0x96 0x00 0x00 0x00...
  • Page 28 162529-1CD DX100 Transmission Procedure 3.2 Outline ACK2 “YERC” Identifier 0x0020 0x0000 Header part size Data part size 0x03 0x02 0x01 0x02 Reserve 1 Processing Request ID division 0x0000_0002 Block No. “99999999” Reserve 2 0x00 0x0000 Command No. Instance 0x00...

  • Page 29: File Control (File Loading)

    162529-1CD DX100 Transmission Procedure 3.2 Outline 3.2.4 File Control (File Loading) UDP: optional UDP:10040 DX100 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)
  • Page 30 162529-1CD DX100 Transmission Procedure 3.2 Outline Data 1 “YERC” Identifier 0x0020 0x01d? Header part size Data part size 0x03 0x02 0x01 0x03 Reserve 1 Processing Request ID division 0x0000_0001 Block No. “99999999” Reserve 2 0x00 0x0000 Command No. Instance...
  • Page 31 162529-1CD DX100 Transmission Procedure 3.2 Outline The last ACK (N) “YERC” Identifier 0x0020 0x0000 Header part size Data part size 0x03 0x02 0x01 0x03 Reserve 1 Processing Request ID division 0x8000_000N Block No. “99999999” Reserve 2 0x95 0x00 0x00...

  • Page 32: File Control (File List)

    162529-1CD DX100 Transmission Procedure 3.2 Outline 3.2.5 File Control (File list) UDP: optional UDP:10041 DX100 Socket opened Request 1 (request of llist) Data 1 (file list 1) ACK 1 (reply of confirmation) Data 2 (file list 2) ACK 2 (reply of confirmation)
  • Page 33 162529-1CD DX100 Transmission Procedure 3.2 Outline ACK1 “YERC” Identifier 0x0020 0x0000 Header part size Data part size 0x03 0x02 0x01 0x04 Reserve 1 Processing Request ID division 0x0000_0001 Block No. “99999999” Reserve 2 0x00 0x0000 Command No. Instance 0x00...
  • Page 34 162529-1CD DX100 Transmission Procedure 3.2 Outline The last data (N) “YERC”“YERC” Identifier 0x0020 0x0008 Header part size Data part size 0x03 0x02 0x01 0x04 Reserve 1 Processing Request ID division 0x8000_000N Block No. “99999999” Reserve 2 0xB2 0x00 0x00...
  • Page 35 162529-1CD DX100 Transmission Procedure 3.2 Outline Detail of data Not specified JBI list JBI list *.JBI JBI list *.DAT DAT file list *.CND CND file list *.PRM PRM file list *.SYS SYS file list *.LST LST file list Output form of the list The list is described in the form of “file name”...

  • Page 36: File Control (Deleting Of File)

    162529-1CD DX100 Transmission Procedure 3.2 Outline 3.2.6 File Control (Deleting of file) UDP: optional UDP:10041 DX100 Socket opened Request 1 (request of llist) ACK 1 (reply of confirmation) Socket closed Request 1 “YERC” Identifier 0x0020 0x000B Header part size...

  • Page 37: Respective Commands For Robot Control

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 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 Name Reference chapter...
  • Page 38 162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control Table 3-1: List of Robot Control Command No. Command Name Reference chapter 0x308 Plural base position type variable (BP) reading / writing Refer to section 3.3.35. command 0x309 Plural external axis type variable (EX) reading / writing Refer to section 3.3.36.

  • Page 39: Alarm Data Reading Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.1 Alarm Data Reading Command Request Sub header part
    Command No. 0x70 Instance Specify one out of followings Up to four alarms are displayed on the P.P display at 1: The latest alarm the same time.
  • Page 40 162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control Data part 32bit integer Byte 0 Byte 1 Byte 2 Byte3
    Alarm code Range is from 0x0001 to 0x270F(decimal value: 9999) Alarm data Setting values vary in accordance with the contents of the alarm type.
  • Page 41 NOTE Use the same language code as the DX100, or the characters corrupt in case the client side dose not correspond to its language code. 3-22...

  • Page 42: Alarm History Reading Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.2 Alarm History Reading Command Request Sub header part
    Command No. 0x71 Instance Specify one out of followings Specify the alarm number 1 to 100 1 to 100 : Major failure •...
  • Page 43 162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control Data part 32bit Integer Byte 0 Byte 1 Byte 2 Byte3
    Alarm code Range is from 0x0001 to 0x270F(decimal value: 9999) Alarm data Setting values vary in accordance with the contents of the alarm type.
  • Page 44 NOTE Use the same language code as the DX100, or the characters corrupt in case the client side dose not correspond to its language code. 3-25...

  • Page 45: Status Information Reading Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.3 Status Information Reading Command Request Sub header part
    Command No. 0x72 Instance Fixed to “1”. Specify “1”. Attribute Specify one out of followings Specify the status data number.

  • Page 46: Executing Job Information Reading Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.4 Executing Job Information Reading Command Request Sub header part
    Command No. 0x73 Instance Specify one out of followings 1: Master task 2: Sub task 1 3: Sub task 2...
  • Page 47 NOTE Use the same language code as the DX100, or the characters corrupt in case the client side dose not correspond to its language code. 3-28...

  • Page 48: Axis Configuration Information Reading Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.5 Axis Configuration Information Reading Command Request Sub header part
    Command No. 0x74 Instance Specify one out of followings Specify the control group 1 to 8 : R1 to 8 : R8 …Robot (pulse value)
  • Page 49 162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control Data part 32bit integer Byte 0 Byte 1 Byte 2 Byte3
    First coordinate name “S” (R*: pulse)/“X” (R*/B*: cartesian value)/ “1” (B*/S*: pulse) Second coordinate name “L” (R*: pulse)/“Y” (R*/B*: cartesian value)/ “2”...

  • Page 50: Robot Position Data Reading Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.6 Robot Position Data Reading Command Cartesian value can select the base coordinate only. (It cannot select the robot, user and tool coordinates.) Request Sub header part
    Command No.
  • Page 51 DX100 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. ө ө ≥ Form bit0 0: Front...
  • Page 52 Third axis data Fourth axis data Fifth axis data Sixth axis data Seventh axis data Eighth axis data Details of data Please refer “3.9.5 Flip/ No flip” in “DX100 OPERATOR’S MANUAL” prepared for each application. ө ө ≥ Form bit0 0: Front...

  • Page 53: Position Error Reading Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.7 Position Error Reading Command Request Sub header part
    Command No. 0x76 Instance Specify one out of followings Specify the control group 1 to 8 : R1 to 8 : R8 …...

  • Page 54: Torque Data Reading Data

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.8 Torque Data Reading Data Request Sub header part
    Command No. 0x77 Instance Specify one out of followings Specify the control group 1 to 8 : R1 to 8 : R8 …...

  • Page 55: I/O Data Reading / Writing Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.9 I/O Data Reading / Writing Command Request Sub header part
    Command No. 0x78 Instance Specify one out of followings Specify logical number /10 1 to 256 1 to 256 : Robot user input •...

  • Page 56: Register Data Reading / Writing Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.10 Register Data Reading / Writing Command Request Sub header part
    Command No. 0x79 Instance Specify one out of followings Specify the register number 0 to 999 0 to 999 (writable register: 0 to 559) •...

  • Page 57: Byte Variable (B) Reading / Writing Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.11 Byte Variable (B) Reading / Writing Command Request Sub header part
    Command No. 0x7A Instance Specify one out of followings Specify the variable number. 0 to 99 (for standard setting) Since the extended variable is an optional function, •...

  • Page 58: Integer Type Variable (I) Reading / Writing Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.12 Integer Type Variable (I) Reading / Writing Command Request Sub header part
    Command No. 0x7B Instance Specify one out of followings Specify the variable number. 0 to 99 (for standard setting) Since the extended variable is an optional function, •...

  • Page 59: Double Precision Integer Type Variable (B) Reading / Writing Command

    162529-1CD DX100 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
    Command No. 0x7C Instance Specify one out of followings Specify the variable number. 0 to 99 (for standard setting) Since the extended variable is an optional function, •...

  • Page 60: Real Type Variable (R) Reading / Writing Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.14 Real Type Variable (R) Reading / Writing Command Request Sub header part
    Command No. 0x7D Instance Specify one out of followings Specify the variable number. 0 to 99 (for standard setting) Since the extended variable is an optional function, •...

  • Page 61: Character Type Variable (S) Reading Writing Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.15 Character Type Variable (S) Reading Writing Command Request Sub header part
    Command No. 0x7E Instance Specify one out of followings Specify the variable number. 0 to 99 (for standard setting) Since the extended variable is an optional function, •...

  • Page 62: Robot Position Type Variable (P) Reading / Writing Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.16 Robot Position Type Variable (P) Reading / Writing Command Request Sub header part
    Command No. 0x7F Instance Specify one out of followings Specify the variable number. 0 to 127 (for standard setting) Since the extended variable is an optional •...
  • Page 63 162529-1CD DX100 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. ө ө ≥ Form bit0 0: Front 1: Back Extended bit0 L<180, form ө...
  • Page 64 Fourth coordinate data Fifth coordinate data Sixth coordinate data Seventh coordinate data Eighth coordinate data Details of data Please refer to section 3.9.5 “Flip/ No flip” in “DX100 OPERATOR’S MANUAL” prepared for each application. ө ө ≥ Form bit0 0: Front...

  • Page 65: Base Position Type Variable (Bp) Reading / Writing Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.17 Base Position Type Variable (Bp) Reading / Writing Command Request Sub header part
    Command No. 0x80 Instance Specify one out of followings Specify the variable number. 0 to 127 (for standard setting) Since the extended variable is an optional •...
  • Page 66 162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control Answer Sub header part
    Status Respond by one in the followings 0x00 : respond normally • Other than 0x00 • : respond abnormally Added status 0: no added status “1”...

  • Page 67: External Axis Type Variable (Ex) Reading / Writing Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.18 External Axis Type Variable (Ex) Reading / Writing Command Request Sub header part
    Command No. 0x81 Instance Specify one out of followings Specify the variable number. 0 to 127 (for standard setting) Since the extended variable is an optional •...
  • Page 68 162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control Answer Sub header part
    Status Respond by one in the followings 0x00 : respond normally • Other than 0x00 • : respond abnormally Added status 0: no added status “1”...

  • Page 69: Alarm Reset / Error Cancel Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.19 Alarm Reset / Error Cancel Command Request Sub header part
    Command No. 0x82 Instance Specify one out of followings Specify the type of reset/cancel 1: Resetting of alarm...

  • Page 70: Hold / Servo On/Off Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.20 Hold / Servo On/off Command Request Sub header part
    Command No. 0x83 Instance Specify one out of followings Specify the type of OFF/ON command 1: HOLD 1: HOLD...

  • Page 71: Step / Cycle / Continuous Switching Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.21 Step / Cycle / Continuous Switching Command Request Sub header part
    Command No. 0x84 Instance Specify the following Specify the type of status switch command 2: CYCLE (switching of STEP/CYCLE/CONTINUE) •...

  • Page 72: Character String Display Command To The Programming Pendant

    NOTE Use the same language code as the DX100, or the characters corrupt in case the client side dose not correspond to its language code. 3-53...

  • Page 73: Start-Up (Job Start) Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.23 Start-up (Job Start) Command Request Sub header part
    Command No. 0x86 Instance Fixed to “1”. Specify “1”. Attribute Fixed to “1”. Specify “1”. Service Set_Attribute_Single: 0x10 Specify the accessing method to the data.

  • Page 74: Job Select Command

    NOTE Use the same language code as the DX100, or the characters corrupt in case the client side dose not correspond to its language code. 3-55...
  • Page 75 162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control Answer Sub header part
    Status Respond by one in the followings 0x00 : respond normally • Other than 0x00 • : respond abnormally Added status size 0: no added status “1”...

  • Page 76: Management Time Acquiring Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.25 Management Time Acquiring Command Request Sub header part
    Command No. 0x88 Instance Specify one out of followings Specify the type of the management time :Control power ON time •...

  • Page 77: System Information Acquiring Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.26 System Information Acquiring Command Request Sub header part
    Command No. 0x89 Instance Specify one out of followings Specify the type of system type. 11 to 18 11 to 18: Type information (R1 to R8) •...

  • Page 78: Plural I/O Data Reading / Writing Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.27 Plural I/o Data Reading / Writing Command Request Sub header part
    Command No. 0x300 Instance Specify one out of followings Specify logical number /10 1 to 256 1 to 256 : Robot user input •...
  • Page 79 162529-1CD DX100 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
    Number Maximum: 474 *It can specify by a multiple of 2 only.

  • Page 80: Plural Register Data Reading / Writing Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.28 Plural Register Data Reading / Writing Command Request Sub header part
    Command No. 0x301 Instance Specify one out of followings Specify the variable number (the first number with which...

  • Page 81: Plural Byte Type Variable (B) Reading / Writing Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.29 Plural Byte Type Variable (B) Reading / Writing Command Request Sub header part
    Command No. 0x302 Instance Specify one out of followings Specify the variable number (the first number with which...
  • Page 82 162529-1CD DX100 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
    Number Maximum: 474 *It can specify by a multiple of 2 only.

  • Page 83: Plural Integer Type Variable (I) Reading / Writing Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.30 Plural Integer Type Variable (I) Reading / Writing Command Request Sub header part
    Command No. 0x303 Instance Specify one out of followings Specify the variable number (the first number with which...

  • Page 84: Plural Double Precision Integer Type Variable (B) Reading / Writing Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.31 Plural Double Precision Integer Type Variable (B) Reading / Writing Command Request Sub header part
    Command No. 0x304 Instance Specify one out of followings Specify the variable number (the first number with which...

  • Page 85: Plural Real Type Variable (R) Reading / Writing Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.32 Plural Real Type Variable (R) Reading / Writing Command Request Sub header part
    Command No. 0x305 Instance Specify one out of followings Specify the variable number (the first number with which...

  • Page 86: Plural Character Type Variable (S) Reading / Writing Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.33 Plural Character Type Variable (S) Reading / Writing Command Request Sub header part
    Command No. 0x306 Instance Specify one out of followings Specify the variable number (the first number with which...
  • Page 87 162529-1CD DX100 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
    Number Maximum: 29 S variable 1 S variable 29 3-68 87 of 119...

  • Page 88: Plural Robot Position Type Variable (P) Reading / Writing Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.34 Plural Robot Position Type Variable (P) Reading / Writing Command Request Sub header part
    Command No. 0x307 Instance Specify one out of followings Specify the variable number (the first number with which...
  • Page 89 162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control Answer Sub header part
    Status Respond by one in the followings 0x00 : respond normally • Other than 0x00 • : respond abnormally Added status size 0: no added status “1”...

  • Page 90: Plural Base Position Type Variable (Bp) Reading / Writing Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.35 Plural Base Position Type Variable (Bp) Reading / Writing Command Request Sub header part
    Command No. 0x308 Instance Specify one out of followings Specify the variable number (the first number with which...
  • Page 91 162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control Answer Sub header part
    Status Respond by one in the followings 0x00 : respond normally • Other than 0x00 • : respond abnormally Added status size 0: no added status “1”...

  • Page 92: Plural External Axis Type Variable (Ex) Reading / Writing Command

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.36 Plural External Axis Type Variable (Ex) Reading / Writing Command Request Sub header part
    Command No. 0x309 Instance Specify one out of followings Specify the variable number (the first number with which...
  • Page 93 162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control Answer Sub header part
    Status Respond by one in the followings 0x00 : respond normally • Other than 0x00 • : respond abnormally Added status size 0: no added status “1”...

  • Page 94: Alarm Data Reading Command (For Applying The Sub Code Character Strings)

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.37 Alarm Data Reading Command (for Applying the Sub Code Character Strings) Request Sub header part
    Command No. 0x30A Instance Specify one out of followings Up to four alarms are displayed on the P.P display at 1: The latest alarm the same time.
  • Page 95 162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control Data part 32bit integer Byte 0 Byte 1 Byte 2 Byte3
    Alarm code Range is from 0x0001 to 0x270F(decimal value: 9999) Alarm data Setting values vary in accordance with the contents of the alarm type.
  • Page 96 NOTE Use the same language code as the DX100, or the characters corrupt in case the client side dose not correspond to its language code. 3-77...

  • Page 97: Alarm History Reading Command (For Applying The Sub Code Character Strings)

    162529-1CD DX100 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
    Command No. 0x30B Instance Specify one out of followings Specify the alarm number...
  • Page 98 162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control Data part 32bit integer Byte 0 Byte 1 Byte 2 Byte3
    Alarm code Range is from 0x0001 to 0x270F(decimal value: 9999) Alarm data Setting values vary in accordance with the contents of the alarm type.
  • Page 99 NOTE Use the same language code as the DX100, or the characters corrupt in case the client side dose not correspond to its language code. 3-80...

  • Page 100: Move Instruction Command (Type Cartesian Coordinates)

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.39 Move instruction command (Type Cartesian coordinates) Request Sub header part
    Command No. 0x8A Instance Specify one out of followings Specify the operation number from one to three. 1:Link absolute position operation...
  • Page 101 162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control Data part 32bit integer Byte 0 Byte 1 Byte 2 Byte3
    Specifying control group (Robot) 1 to 8 (Robot No.) Specifying control group (Station) 1 to 24 (Station No.)
  • Page 102 162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control Details of data Please refer to section 3.9.5 “Flip/ No flip” in “DX100 OPERATOR’S MANUAL” prepared for each application. ө ө ≥ Form bit0 0: Front 1: Back Extended bit0 L<180,...

  • Page 103: Move Instruction Command (Type Pulse)

    162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 3.3.40 Move Instruction Command (Type Pulse) Request Sub header part
    Command No. 0x8B Instance Specify one out of followings Specify the operation number from one to three. 1:Link absolute position operation...
  • Page 104 162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control Data part 32bit integer Byte 0 Byte 1 Byte 2 Byte3
    Specifying control group (Robot) 1 to 8 (Robot No.) Specifying control group (Station) 1 to 24 (Station No.)
  • Page 105 162529-1CD DX100 Transmission Procedure 3.3 Respective Commands for Robot Control 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 • Robot 2ndt axis pulse value •...

  • Page 106: File Control Command

    Service Command name Reference 0x09 File delete Refer to section 3.4.1. 0x15 File loading command Refer to (the PC to the DX100) section 3.4.2. 0x16 File saving command Refer to (the DX100 to the PC) section 3.4.3. 0x32 File list acquiring...

  • Page 107: File Deleting Command

    162529-1CD DX100 Transmission Procedure 3.4 File Control Command 3.4.1 File Deleting Command Request Sub header part
    Command No. 0x0 Instance Attribute Service 0x09 File deleting process Data part 32bit integer Byte 0 Byte 1 Byte 2 Byte3
    Specify the job name to be deleted...

  • Page 108: File Loading Command

    162529-1CD DX100 Transmission Procedure 3.4 File Control Command 3.4.2 File Loading Command Request Sub header part
    Command No. 0x0 Instance Attribute Service 0x15 File loading process Data part 32bit integer Byte 0 Byte 1 Byte 2 Byte3
    Specify the job name to be loaded...

  • Page 109: File Saving Command

    162529-1CD DX100 Transmission Procedure 3.4 File Control Command 3.4.3 File Saving Command Request Sub header part
    Command No. 0x0 Instance Attribute Service 0x16 File saving process Data part 32bit integer Byte 0 Byte 1 Byte 2 Byte3
    Specify the job names to be saved.

  • Page 110: File List Acquiring Command

    162529-1CD DX100 Transmission Procedure 3.4 File Control Command 3.4.4 File List Acquiring Command Request Sub header part
    Command No. 0x0 Instance Attribute Service 0x32 File list accruing process Data part 32bit integer Byte 0 Byte 1 Byte 2 Byte3
    ...
  • Page 111 162529-1CD DX100 Transmission Procedure 3.4 File Control Command Data part 32bit integer Byte 0 Byte 1 Byte 2 Byte3
    File name + to input consecutively 3-92 111 of 119 HW1480958...

  • Page 112: File Saving Command (The Batch Data Backup)

    162529-1CD DX100 Transmission Procedure 3.4 File Control Command 3.4.5 File Saving Command (The Batch Data Backup) Request Sub header part
    Command No. 0x0 Instance Attribute Service 0x16 File saving process Data part 32bit integer Byte 0 Byte 1 Byte 2 Byte3
    ...
  • Page 113 162529-1CD DX100 Error Code 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...
  • Page 114 162529-1CD DX100 Added Status Code 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...
  • Page 115 162529-1CD DX100 Added Status Code Added status code Details 4040 No specified job 4060 Set an execution job 4120 Position data is destroyed 4130 Position data not exist 4140 Incorrect position variable type 4150 END instruction for job which is not master job...
  • Page 116 162529-1CD DX100 Added Status Code Added status code Details 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...
  • Page 117 162529-1CD DX100 Added Status Code Added status code Details E4A3 Format error (processing category error) E4A4 Format error (access level error) E4A5 Format error (header size error) E4A6 Format error (identifier error) E4A7 Format error (the size of the requested command and...
  • Page 118 162529-1CD DX100 Added Status Code When the DX100 returning the system error, perform the following procedures. NOTE 1: Reset the alarm. 2: Save the CMOS.BIN, and report the occurrence of the alarm to YASKAWA service representative. 118 of 119 HW1480958...
  • Page 119 FOR HIGH-SPEED ETHERNET SERVER FUNCTION HEAD OFFICE 2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan Phone +81-93-645-7703 Fax +81-93-645-7802 YASKAWA America Inc. (Motoman Robotics Division) 100 Automation Way, Miamisburg, OH 45342, U.S.A. Phone +1-937-847-6200 Fax +1-937-847-6277 YASKAWA Europe GmbH Robotics Divsion )

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