Omron SCARA Robots YRCX Series User Manual Download Page 11 | Manualshive

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3

Input/output assignments

7

3. Input/output assignments

Here we show the correspondence between the robot controller's serial input/output data and the input/
output data on the network.

■

Output from the controller, input to the host device

Host control device

Controller

Address (READ)

Address (WRITE)

Input/output type

Use

I (n)

SOW(0)

-

Word output

Command status area

I (n+1)
I (n+2)

SOW(1)

Remote command error code area

I (n+3)
I (n+4)

SOW(2)

SOD(2)

Word output /

Double word output

Command response area /

General-purpose output area

I (n+5)
I (n+6)

SOW(3)

I (n+7)
I (n+8)

SOW(4)

SOD(4)

I (n+9)

I (n+10)

SOW(5)

I (n+11)
I (n+12)

SOW(6)

SOD(6)

I (n+13)
I (n+14)

SOW(7)

I (n+15)
I (n+16)

SOW(8)

SOD(8)

I (n+17)
I (n+18)

SOW(9)

I (n+19)
I (n+20)

SOW(10)

SOD(10)

I (n+21)
I (n+22)

SOW(11)

I (n+23)
I (n+24)

SOW(12)

SOD(12)

I (n+25)
I (n+26)

SOW(13)

I (n+27)
I (n+28)

SOW(14)

SOD(14)

I (n+29)
I (n+30)

SOW(15)

I (n+31)
I (n+32)

SO07 - SO00

Bit output

Status output area

I (n+33)

SO17 - SO10

I (n+34)

SO27 - SO20

Bit output /

Byte output

General-purpose output area

I (n+35)

SO37 - SO30

I (n+36)

SO47 - SO40

I (n+37)

SO57 - SO50

I (n+38)

SO67 - SO60

I (n+39)

SO77 - SO70

I (n+40)

SO107 - SO100

I (n+41)

SO117 - SO110

I (n+42)

SO127 - SO120

I (n+43)

SO137 - SO130

I (n+44)

SO147 - SO140

I (n+45)

SO157 - SO150

I (n+46)

(Reserve)

Reserved area

Use is prohibited

I (n+47)

(Reserve)

I(n) : Starting address of the input data area for the target controller

• I(n), I(n+1), ..., (n+47) assume data memory that is divided at each byte (8-bits).
• SOx() is handled as unsigned 8-bit integer data. (x=2-7, 10-17)
• SOW(y) is handled as unsigned 16-bit integer data. (y=0 - 15)
• The upper byte and lower byte of SOW(y) correspond to I(2y+1) and I(2y) respectively.
• SOD(z) is handled as signed 32-bit integer data. (z=2, 4, ..., 14)
• The upper word and lower word of SOD(z) correspond to SIW(z+1) and SIW(n), respectively.

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Summary of Contents for SCARA Robots YRCX Series

Page 1: ... 7 6HULHV DW 1R 1 352 1 7 86 5 6 0 18 6 5 5RERWV 5 6HULHV ...

Page 2: ......

Page 3: ...es and functions 9 5 Flow until operation begins 10 6 Connection 11 6 1 Network structure 11 6 2 Cabling 13 6 3 Noise countermeasures 13 7 GSD files 14 8 Settings 15 8 1 Communication parameter settings 15 9 Monitoring communication data 16 9 1 Using the programming box 16 9 1 1 Switching the port number 17 9 1 2 Input output list display 18 9 1 3 Input output details display 18 9 1 4 Switching th...

Page 4: ...agnostics by alarm message 28 11 3 1 Alarms related to network unit connections and settings 28 11 3 2 Alarms related to I O on off status 29 11 3 3 Alarms that the customer cannot resolve 29 11 3 4 Checking alarm codes in the programming box 30 11 3 5 Checking alarm codes in SCARA YRCX Studio support software 30 11 4 Detailed diagnostics using the indicators 31 11 4 1 Common situations and LED il...

Page 5: ...gs etc PROFINET user s manual this document Remote I O Manual Content common to all networks remote I O and remote command specifications etc For details on network unit specifications and communication settings refer to this User s Manual For details on communication functions between the controller and the host control device such as remote I O and remote commands refer to the Remote I O Manual ...

Page 6: ...some items described as CAUTION may lead to serious results depending on the situation In any case important information that must be observed is explained Store this manual where it can be easily referred to and make sure that it is delivered to the end user Precautions for design WARNING FOR INFORMATION ABOUT THE STATUS OF THE NETWORK SYSTEM AND ROBOT CONTROLLER IN THE EVENT THAT A COMMUNICATION...

Page 7: ... not enter the robot controller Communication cables that contact network modules must be kept inside a duct or secured by clamps Failure to place the cable in a duct or secure it by a clamp could damage the cable or module by shifting movement or unintentional pulling the cable or cause malfunction by poor contact condition When disconnecting a connector from the network module grasp the connecto...

Page 8: ...cations to the robot and or related product not approved by OMRON or OMRON sales representative 4 Use of any other than genuine parts and specified grease and lubricant 5 Incorrect or inadequate maintenance and inspection 6 Repairs by other than authorized dealers WARRANTY OMRON s exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year or...

Page 9: ... output area that has specific significance such command input and status output that is optimized for control of robot controllers Using these the robot controller can be controlled from the host control device The following methods can be used for control via I O Combining these methods makes it possible to control the robot 1 Controlling the robot controller directly using simple commands and s...

Page 10: ...ing is required such as reestablishing communication cancelling the emergency stop state and resetting any error Power on controller starts in emergency stop state When communication ceases the robot transitions to the emergency stop state robot power is shut down and the program also stops The robot is controlled via remote commands or programs Signals are input to cancel emergency stop or errors...

Page 11: ...I n 25 I n 26 SOW 13 I n 27 I n 28 SOW 14 SOD 14 I n 29 I n 30 SOW 15 I n 31 I n 32 SO07 SO00 Bit output Status output area I n 33 SO17 SO10 I n 34 SO27 SO20 Bit output Byte output General purpose output area I n 35 SO37 SO30 I n 36 SO47 SO40 I n 37 SO57 SO50 I n 38 SO67 SO60 I n 39 SO77 SO70 I n 40 SO107 SO100 I n 41 SO117 SO110 I n 42 SO127 SO120 I n 43 SO137 SO130 I n 44 SO147 SO140 I n 45 SO15...

Page 12: ...input Byte input General purpose input area Q m 35 SI37 SI30 Q m 36 SI47 SI40 Q m 37 SI57 SI50 Q m 38 SI67 SI60 Q m 39 SI77 SI70 Q m 40 SI107 SI100 Q m 41 SI117 SI110 Q m 42 SI127 SI120 Q m 43 SI137 SI130 Q m 44 SI147 SI140 Q m 45 SI157 SI150 Q m 46 Reserve Reserved area Use is prohibited Q m 47 Reserve Q m Starting address of the output data area for the target controller Q m Q m 1 Q m 47 assume ...

Page 13: ...ized Power is off or module is in SETUP or NW_INIT state Green Normal operation Module has transitioned from NW_INIT state Flash green once Diagnostic event Diagnostic event is occurring Flash green at 1 Hz DCP flashing An engineering tool is being used to identify a node on the network Red Exception error Module is in the EXCEPTION state Flash red once Setting error Expected ID differs from actua...

Page 14: ...egin cyclic communication Check remote I O and remote command input output Debug the program Controller No setting items Host device Register the network settings file GSD Set the communication parameters Connection and cabling Communication settings Communication settings Trial operation Operation 6 1 Network structure 6 2 Cabling 6 3 Noise countermeasures 8 1 Communication parameter settings YRC...

Page 15: ... in a star topology via a switch but since the robot controller s PROFINET unit contains a two port switch a cable saving linear network can also be constructed by daisy chained connection CAUTION The two Ethernet ports of a PROFINET unit are for the purpose of allowing a versatile network topology within a single subnet without using a switch It is not possible for the two ports to be connected t...

Page 16: ...nto the controller unit do not support the PROFINET communication protocol Also communication settings are made separately from the PROFINET unit For details on settings for the general purpose Ethernet ports refer to the user s manual of the controller unit When cabling via option boards as shown above do not set the option board setting parameter to disable As setting the option board setting pa...

Page 17: ...s in which communication is affected by noise depending on the environment in which the equipment and cable are located If communication is affected by noise a communication error occurs possibly causing the robot to enter an emergency stop state or causing throughput to decline If there is a source of noise and this noise is suspected of affecting communication please take the following counterme...

Page 18: ...cribed format When constructing a network the settings information of all connected network devices must be loaded into the host control device The appropriate engineering or configuration tool is used to make settings for and write to the host control device and during this process it will be necessary to load each device s network settings file into the tool The steps for loading the file will d...

Page 19: ...r the host control device IO controller such as when the facility is being started up With the robot controller and the engineering tool in a state where they can communicate with each other specify the IP address subnet mask gateway and station name individually Also make the same settings for the host control device If you are replacing only one device within the network such as when replacing a...

Page 20: ...e programming box At the initial screen select Monitor I O to access the monitor screen Valid keys and submenu descriptions in the MANUAL mode are shown below Valid keys Menu Function DETAIL Switches between the input output list and detail displays DI Displays the DI monitor DO Displays the DO monitor MO Displays the MO monitor LO Displays the LO monitor TO Displays the TO monitor SI Displays the...

Page 21: ...The port name is shown in For example if DO monitor 2 monitor number 2 of the DO port is shown DO100 DO177 is shown The monitor number is shown in the upper left of the screen Press the MONITOR key to switch the monitor number Monitor number Monitor number Monitor Detail screen By switching the monitor number it is possible to change the tens digit in the order of 0 10 20 The ones digit can be cha...

Page 22: ...O F9 SIW F10 SOW Press the ESC key to end the monitor display 9 1 3 Input output details display Step1 Open the Input Output Monitor screen Step2 Press the F1 Details key The Input Output Details screen then displays SI MONITOR 1 DETAIL screen Step3 Changing the port number Changing the tens digit of port number Pressing the MONITOR key changes the tens digit of the port number in the order of 0 1...

Page 23: ...display the Monitor screen Step2 Display the Detail screen Example of the output monitor detail screen SO MONITOR1 DETAIL Press the F1 key Detail to display the Detail screen Step3 Specify the port number Changing the tens digit of port number Pressing the MONITOR key changes the tens digit of the port number in the order of 0 10 20 Changing the ones digit of port number Use the cursor key to sele...

Page 24: ... screen appears The monitor screen contains a list screen and a detail screen When starting SCARA YRCX Studio the monitor screen that appears first will always be the Detail screen The explanation here uses the example of SI SO SIW and SOW Tip Once you open a monitor screen it is shown as a tab at the bottom of the screen The monitor screen can be displayed by switching tabs Tab display ...

Page 25: ...aximum is 16 characters Single byte alphanumeric characters and _ underscore can be used Uppercase and lowercase alphabetical characters are distinguished A numeral cannot be used as the first character It is not possible to assign an I O name that is identical to a reserved word or that starts with a system variable name It is not possible to assign the same I O name to more than one I O Since SI...

Page 26: ...tputs that indicate the status of the controller name entry is not possible Similarly DO output DO00 07 and DO10 17 does not allow name entry For details on the rules for I O names refer to I O name entry field in the preceding n SI monitor Detail screen CAUTION In order to switch SO or DO on off the programming box must release control authority and the controller must be in auto mode SO00 07 SO1...

Page 27: ...unctions of the option unit are set to enabled In the enabled state the robot first becomes operable when an emergency stop or stop signal is input from the host control device For details on I O functionality refer to the separate Remote I O Manual Option board setting parameters Item Values Default value Option board enabled Slot 1 0 INVALID 1 VALID 1 VALID Slot 2 Slot 3 Slot 4 CAUTION The Optio...

Page 28: ...ort software 10 1 1 Using the programming box Step1 Open the Parameter Edit screen At the initial screen select Edit press Enter then select Parameter Step2 Press the F6 OPTION key to display the Option Parameters screen Step3 Select the desired parameter Use the cursor up down keys to select the parameter to be edited then press the F1 EDIT key ...

Page 29: ...led and change the value only for the target slot number Step5 Press the ESC key to end the editing operation The specified content is applied after the controller is restarted 10 1 2 Using SCARA YRCX Studio support software Step1 In the window tree select the board parameters In the window tree select Parameter Option and double click Board Enable C101 C104 correspond to slots 1 4 Verify the slot...

Page 30: ... to each other in a YC Link E network the option slots of controller 2 and following are shown in C201 through C204 Option slots 1 through 4 Choose VALID or INVALID Tip If a cell s value is changed its background color turns red Step3 Click the Save button to save the settings When saving is complete the cell color changes from red to white The specified content is applied after the controller is ...

Page 31: ...etermine the network configuration Connect cables Noise countermeasures only if necessary Communication is established and cyclic communication begins Settings Settings for the host control device PROFINET IO controller Use GSD file to register device information Network parameter settings for the robot controller station name IP address etc After settings put the system in the RUN state Settings ...

Page 32: ...be alarms resulting from the robot controller unit Refer to the troubleshooting section of the robot controller user s manual 11 3 1 Alarms related to network unit connections and settings These errors occur if communication is not established or if communication is unstable 12 571 PROFINET link error Code H000C H023B Meaning Cause a There is a problem in the network cable b The communication sett...

Page 33: ...e SAFETY connector is open or the connector is not connected d The emergency stop button of the programming box is pressed or a terminator is not connected to the PB connector Action 1 Establish communication with the host control device and set SI00 1 cancel emergency stop 2 Close the emergency stop terminals on SAFETY connector 3 Cancel the emergency stop button of the programming box or connect...

Page 34: ... Edit press Enter then select Parameter Step2 Check the alarm code that is occurring Press the F1 key RELOAD to update the display to the current state In the illustration alarm code 10 900 is occurring 11 3 5 Checking alarm codes in SCARA YRCX Studio support software Alarm codes and alarm messages are shown in the Controller Monitor located in the lower left of the screen ...

Page 35: ... in STOP state Module status MS LED LED status Explanation Comment OFF Not initialized Power is off or module is in SETUP or NW_INIT state Green Normal operation Module has transitioned from NW_INIT state Flash green once Diagnostic event Diagnostic event is occurring Flash green at 1 Hz DCP flashing An engineering tool is being used to identify a node on the network Red Exception error Module is ...

Page 36: ...ashing red twice IP address is not set MS flashing red three times Station name is not set Presumed state Parameters such as the IP address or station name have not been set from the IO supervisor e g engineering tool for the host control device Network topology has not been specified and neighbor detection via LLDP is not functioning Action to take From the IO supervisor manually specify the IP a...

Page 37: ...5 connector 8 pole modular connector 2 ports Conforming cable specifications CAT 5e or higher STP cable double shield Max cable length 100m Monitor LEDs Module Status MS Network Status NS Link Activity Port1 2 Input output data size Input 48bytes Dedicated word input 2 words 4 bytes General purpose word input 14 words 28 bytes Dedicated bit input 16 bits 2 bytes General purpose bit input 96 bits 1...

Page 38: ... Reserved area do not use SI05 SO06 SI06 Stop input SO07 SI07 Reserved area do not use SO17 SO10 SO10 Auto mode status output SI17 SI10 SI10 Sequence control input SO11 Return to origin complete status output SI11 Reserved area do not use SO12 Sequence program execution status output SI12 Automatic operation start SO13 Robot program operating output SI13 Reserved area do not use SO14 Program reset...

Page 39: ...DSPEED E ELSE ELSEIF EMG END ENDIF EOF EQV ERA ERL ERR ERROR ETH ETHSTS EXIT EXITTASK F FN FOR FREE G GEP GEPSTS GO GOSUB GOTO H HALT HALTALL HAND HEX HND HOLD HOLDALL I IDIST IF IMP INCH INCHT INCHXY INIT INPUT INT ION J JL JOG JOGT JOGXY JTOXY L LEFT LEFTY LEN LET LINEMODE LOAD LOC1 LOC2 LOC3 LOC4 LOC5 LOC6 LOCF LOG LSHIFT M MAINPG MCHREF MEM MID MNS MOD MODE MOTOR MOVE MOVEI MOVET MRF MRKSET MS...

Page 40: ...e the following names are used as system variable names they cannot be used at the beginning of other variable names n numeric value A FN MOn Sn Acn G P Son D GPn PCn SONMn DIn H Pn T DINMn Hn PNn TOn DOn L S DONMn LOn SIn F M SINMn Variable name usage examples Although keywords which are reserved as robot language words cannot be used as they are they can be used as variable names if alphanumeric...

Page 41: ......

Page 42: ...pears as a suffix to the catalog number on the front cover manual Cat No I247E EN 01 Revision code The following table outlines the changes made to the manual during each revision Revision code Date Description 01 July 2016 Original production ...

Page 43: ......

Page 44: ... DW 1R 1 XWKRUL HG LVWULEXWRU 3ULQWHG LQ XURSH ...

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