Yamaha RCX340 User Manual Download Page 36

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Reserved wor

d list

13. Reserved word list

Because the following names are reserved for the robot language, they cannot be used as I/O names.

DEF

IDIST

ABS

DEGRAD

NAME

ABSADJ

DELAY

IMP

ABSRPOS

INCH

NOT

ACC

DIM

INCHT

ACCEL

DIR

INCHXY

OFF

ACCESS

DIST

INIT

OFFLINE

ACO

INPUT

ALL

DPM

INT

ONLINE

ALM

DRIVE

ION

OPEN

ALMRST

DRIVEI

OPT

AND

DRV

ARCHP1

JOG

ORD

ARCHP2

DSPEED

JOGT

ORGORD

ARM

JOGXY

ORGRTN

ARMCND

ELSE

JTOXY

ORIGIN

ARMSEL

ELSEIF

OUT

ARMTYP

EMG

LEFT

OUTPOS

ARP

END

LEFTY

ARY

ENDIF

LEN

ASPEED

EOF

LET

PATH

ATN

EQV

LINEMODE

ATN2

ERA

LOAD

PCM

ATTR

ERL

LOC1

PDEF

AXWGHT

ERR

LOC2

PGM

ERROR

LOC3

PGMTSK

BIN

ETH

LOC4

PGN

BREAK

ETHSTS

LOC5

PLS

EXIT

LOC6

PLT

CALL

EXITTASK

LOCF

PMOVE

CASE

LOG

PNM

CFG

LSHIFT

PNT

CHANGE

FOR

PPNT

CHGPRI

FREE

MAINPG

CHR

MCHREF

PRM

GEP

MEM

PSHFRC

CMU

GEPSTS

MID

PSHJGSP

CNT

MNS

PSHMTD

CONT

GOSUB

MOD

PSHRSLT

COPY

GOTO

MODE

PSHSPD

COS

MOTOR

PSHTIME

CURTQST

HALT

MOVE

PUSH

CURTRQ

HALTALL

MOVEI

PWR

CUT

HAND

MOVET

HEX

MRF

RADDEG

DATE

HND

MRKSET

RBT

DBP

HOLD

MSG

READ

DEC

HOLDALL

MSGCLR

REF

DECEL

MSPEED

REM

Summary of Contents for RCX340

Page 1: ...EtherCAT EUSH18A101 E138 Ver 1 01 User s Manual RCX340 YAMAHA NETWORK BOARD ...

Page 2: ......

Page 3: ...6 Connection 11 6 1 Network structure 11 6 2 Cabling 12 6 3 Noise countermeasures 12 7 ESI Files 13 8 Parameter Settings 14 9 Monitoring communication data 15 9 1 Using the programming box 15 9 1 1 Switching the port number 16 9 1 2 Input output list display 17 9 1 3 Input output details display 17 9 1 4 Switching the output status 18 9 2 Using RCX Studio PC support software 19 10 Disabling an opt...

Page 4: ...larm message 27 11 3 1 Alarms related to network unit connections and settings 27 11 3 2 Alarms related to I O on off status 28 11 3 3 Alarms that the customer cannot resolve 28 11 3 4 Checking alarm codes in the programming box 29 11 3 5 Checking alarm codes in RCX Studio PC support software 29 12 Speciﬁcations 30 12 1 Network speciﬁcations 30 12 2 Input output speciﬁcations 31 13 Reserved word l...

Page 5: ...etc EtherCAT 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 For...

Page 6: ...sults 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 EtherCAT is a registered trademark and patented technology licensed from Germany Beckhoff Automation GmbH Precautions for design w WARNING For information about the status of the network system ...

Page 7: ...s 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 connect...

Page 8: ...s other than the above that are not the fault or responsibility of YAMAHA The following cases are not covered under the warranty 1 Products whose serial number or production date month year cannot be verified 2 Changes in software or internal data such as programs points calibration or registered models that were created or changed by the customer 3 Products whose trouble cannot be reproduced or i...

Page 9: ...at 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 status queries v...

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: ... 18 SOW 9 m 19 m 20 SOW 10 SOD 10 m 21 m 22 SOW 11 m 23 m 24 SOW 12 SOD 12 m 25 m 26 SOW 13 m 27 m 28 SOW 14 SOD 14 m 29 m 30 SOW 15 m 31 m 32 SO07 SO00 Bit output Status output area m 33 SO17 SO10 m 34 SO27 SO20 Bit output Byte output General purpose output area m 35 SO37 SO30 m 36 SO47 SO40 m 37 SO57 SO50 m 38 SO67 SO60 m 39 SO77 SO70 m 40 SO107 SO100 m 41 SO117 SO110 m 42 SO127 SO120 m 43 SO137...

Page 12: ...Command input area n 33 SI17 SI10 n 34 SI27 SI20 But input Byte input General purpose input area n 35 SI37 SI30 n 36 SI47 SI40 n 37 SI57 SI50 n 38 SI67 SI60 n 39 SI77 SI70 n 40 SI107 SI100 n 41 SI117 SI110 n 42 SI127 SI120 n 43 SI137 SI130 n 44 SI147 SI140 n 45 SI157 SI150 n 46 SI167 SI160 Reserved area Use is prohibited n 47 SI177 SI170 n Starting address of the output data area for the target co...

Page 13: ...D indicates the status of the CoE CANopen over EtherCAT communication LED status Explanation OFF CoE is in the INIT status or power is OFF Green lit CoE is in the OPERATIONAL status Green flashing CoE is in the PRE OPERATIONAL status Green flashing once CoE is in the SAFE OPERATIONAL status Red lit Crucial situation When the either of LED is lit in red something critical is happening The bus inter...

Page 14: ...t operation Begin cyclic communication Check remote I O and remote command input output Debug the program Controller No setting items Host control device Register the network settings file ESI Set the communication parameters Connection and cabling Trial operation Operation 6 1 Network structure 6 2 Cabling 6 3 Noise countermeasures 8 Parameter settings RCX340 User s Manual Remote I O Manual RCX34...

Page 15: ...tion GmbH and managed by ETG EtherCAT Technology Group The network corresponds to topologies with a lot of flexibility such as Star type Line type and Ring type and it is recommended to construct the network by Daisy chained connection among them RCX340 RCX340 Host control device EtherCAT Master Max 100m c CAUTION Network equipment such as switches can be used if it satisfies the requirements of t...

Page 16: ...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 17: ...st control device The appropriate engineering tool or configuration tool is used to make settings for and write to the host control device and during this process it will be required to load each device s network setting file into the tools The steps for loading the file will depend on the host control device to use and on the tool that supports it Refer to the manuals for the devices and tools Th...

Page 18: ...rs screen 3 Select the desired parameter Use the cursor up down keys to select the parameter to be edited then press the F1 EDIT key 4 Edit the parameter Enter the desired set value then press Enter The Option board enable parameter set values display in the order of the option slot numbers 1 Upper left 2 Lower left 3 Upper right 4 Lower right Specify a setting for the slot number where the EtherC...

Page 19: ...gramming 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 SI m...

Page 20: ...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 21: ... SO F9 SIW F10 SOW Press the ESC key to end the monitor display 9 1 3 Input output details display 1 Open the Input Output Monitor screen 2 Press the F1 Details key The Input Output Details screen then displays SI MONITOR 1 DETAIL screen 3 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 10 20 Chang...

Page 22: ...O to display the Monitor screen 2 Display the Detail screen Example of the output monitor detail screen SO MONITOR1 DETAIL Press the F1 key Detail to display the Detail screen 3 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 select ...

Page 23: ...itor screen appears The monitor screen contains a list screen and a detail screen When starting RCX 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 24: ...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 25: ...puts 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 c 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 SO...

Page 26: ...e factory all functions 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 c ...

Page 27: ...pport software 10 1 1 Using the programming box 1 Open the Parameter Edit screen At the initial screen select Edit press Enter and then select Parameter 2 Press the F6 OPTION key to display the Option Parameters screen 3 Select the desired parameter Use the cursor up down keys to select the parameter to be edited then press the F1 EDIT key ...

Page 28: ...talled and change the value only for the target slot number 5 Press the ESC key to end the editing operation The specified content is applied after the controller is restarted 10 1 2 Using RCX Studio PC support software 1 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 in which...

Page 29: ... 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 3 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 rest...

Page 30: ...onnect cables Noise countermeasures only if necessary Communication is established and cyclic communication begins Settings Settings for the host control device EtherCAT Master Use ESI file to register device information Network parameter settings for the robot controller Node address or Device ID After settings put the system in the RUN state Settings on the robot controller EtherCAT Slave Networ...

Page 31: ...rom 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 12 591 EtherCAT link error Code H000C H024F Meaning Cause a Error occurred in cable for EtherCAT system b The communication setting of the EtherC...

Page 32: ...n was pressed b The emergency stop terminal on the SAFETY connector is open emergency stop status c The programming box or terminator is not connected to the PB connector d The SAFETY connector is not connected Action a Release the emergency stop button on the programming box b Close the emergency stop terminal on SAFETY connector c Connect the programming box or terminator to the PB connector d A...

Page 33: ...ct Edit press Enter then select Parameter 2 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 RCX Studio PC support software Alarm codes and alarm messages are shown in the Controller Monitor located in the lower left of the screen ...

Page 34: ... connector 2 ports Conforming cable specifications CAT 5e or higher STP cable double shield Max cable length 100 m Monitor LEDs RUN ERROR 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 112 bits 14 bytes Output 48bytes Dedicated word output 2 wo...

Page 35: ...d 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 status ...

Page 36: ...IN ARMSEL ELSEIF L OUT ARMTYP EMG LEFT OUTPOS ARP END LEFTY P ARY ENDIF LEN P ASPEED EOF LET PATH ATN EQV LINEMODE PC ATN2 ERA LOAD PCM ATTR ERL LOC1 PDEF AXWGHT ERR LOC2 PGM B ERROR LOC3 PGMTSK BIN ETH LOC4 PGN BREAK ETHSTS LOC5 PLS C EXIT LOC6 PLT CALL EXITTASK LOCF PMOVE CASE F LOG PNM CFG FN LSHIFT PNT CHANGE FOR M PPNT CHGPRI FREE MAINPG PRINT CHR G MCHREF PRM CLOSE GEP MEM PSHFRC CMU GEPSTS ...

Page 37: ...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 38: ...ior notice Information furnished by YAMAHA in this manual is believed to be reliable However no responsibility is assumed for possible inaccuracies or omissions If you find any part unclear in this manual please contact your distributor YAMAHA MOTOR CO LTD Robotics Operations Revision Record Manual version Issue date Description Ver 1 00 Aug 2018 First edition Ver 1 01 Oct 2018 Clerical error corr...

Page 39: ......

Page 40: ...t Robot manuals can be downloaded from our company website Please use the following for more detailed information YAMAHA MOTOR CO LTD Robotics Operations 127 Toyooka Kitaku Hamamatsu Shizuoka 433 8103 Japan Tel 81 53 525 8250 Fax 81 53 525 8378 ...

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