Omron SCARA Robots YRCX User Manual
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CONTENTS
Important information before reading this manual 1
Introduction 1
Safety Precautions (Always read before starting use) 2
Warranty 4
1. Overview of functions 5
2. Controller status transitions 6
3. Input/output assignments 7
4. Part names and functions 9
5. Flow until operation begins 10
PROFINET
User’s Manual
6. Connection 11
6.1 Network structure 11
6.2 Cabling 13
6.3 Noise countermeasures 13
7. GSDles 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 the output status 19
9.2 Using SCARA-YRCX Studio support software 20
T- 1
CONTENTS
10. Disabling an option unit 23
10.1 Making settings 24
10.1.1 Using the programming box 24
10.1.2 Using SCARA-YRCX Studio support software 25
11. Actions to take if communication is not established 27
11.1 Reconsider the startup steps 27
11.2 Viewing the alarm codes in the 7-segment LED 28
11.3 Diagnostics by alarm message 28
11.3.1 Alarms related to network unit connections and settings 28
11.3.2 AlarmsrelatedtoI/Oon/ostatus 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
PROFINET
User’s Manual
11.4 Detailed diagnostics using the indicators 31
11.4.1 Common situations and LED illumination patterns 32
12.Specications 33
12.1 Networkspecications 33
12.2 Input/outputspecications 34
13. Reserved word list 35
T- 2
Important information before reading this manual
Introduction
The OMRON network interface unit documentation consists of a User's Manual that is specific to each network
unit that describes the specifications and communication settings of that unit, and a Remote I/O Manual
describing the remote I/O specifications that are common to all network units.
OMRON network interface unit manuals
Content specific to each network unit
(network communication settings, etc.)
(remote I/O and remote command specifications etc.)
Content common to all networks
Important information before reading this manual
PROFINET user’s manual
(this document)
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 details on the functions of the robot controller unit, refer to the following manuals.
YRCX Operator’s Manual ..................... for operation of the controller unit
YRCX User’s Manual ............................ for specifications and settings of the controller unit
YRCX Programming Manual ................. for the programming language used by OMRON robot controllers
Remote I/O Manual
1
Safety Precautions (Always read before starting use)
Important information before reading this manual
Before using this product, be sure to read this manual carefully as well as the robot controller user's manual
and programming manual. Take sufficient precautions to ensure safety and handle the product correctly.
The cautions given in this manual are related to this product. Refer to the robot controller user's manual for
details on the cautions to be taken with the robot controller system using this product.
The safety precautions are ranked as "WARNING" and "CAUTION" in this manual.
WARNING
FAILURE TO FOLLOW WARNING INSTRUCTIONS COULD RESULT IN SERIOUS INJURY OR DEATH TO THE OPERATOR OR
PERSON SERVICING THE PRODUCT.
CAUTION
Failure to follow CAUTION instructions may result in injury to the operator or person servicing product, or damage
to the product or peripheral equipment.
NOTE
The key points in the operation are explained simply and clearly.
Note that 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 PROBLEM OCCURS IN THE NETWORK SYSTEM, REFER TO THE MANUAL OF THE HOST CONTROL
DEVICE AS WELL AS TO THIS DOCUMENT. CONFIGURE AN INTERLOCK CIRCUIT IN THE SEQUENCE PROGRAM SO
THAT THE SYSTEM, INCLUDING THE ROBOT CONTROLLER, WILL WORK SAFELY WITH USING THE COMMUNICATION
STATUS INFORMATION.
• THE SAFETY CONNECTOR HAS AN EMERGENCY STOP TERMINAL TO TRIGGER EMERGENCY STOP OF THE ROBOT
CONTROLLER. BY USING THIS TERMINAL, PREPARE A PHYSICAL INTERLOCK CIRCUIT SO THAT THE SYSTEM INCLUDING
THE ROBOT CONTROLLER WILL WORK SAFELY.
CAUTION
The control line and communication cable must not be bound with or placed near the main circuit or power line.
Separate these by at least 100mm. Failure to observe this could lead to communication error or declining
throughput caused by noise.
2
■Precautions for installation
WARNING
• ALWAYS CRIMP, PRESS-FIT OR SOLDER THE CONNECTOR WIRING WITH THE MAKER-DESIGNATED TOOL, AND
SECURELY FIX THE CONNECTOR TO THE MODULE.
• ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE STARTING INSTALLATION OR WIRING
WORK.
FAILURE TO SHUT OFF ALL PHASES COULD LEAD TO ELECTRIC SHOCKS OR PRODUCT DAMAGE.
CAUTION
• Use the robot controller in the environmental conditions specified in this manual. Operation outside the
specified environmental range may cause electric shocks, fire, malfunction or product damage or
deterioration.
• Do not directly touch the conductive portions or electronic components of a network module.
• Never directly touch the controller's interior areas.
• Accurately connect each cable connector to the mounting section.
Failure to observe this could lead to malfunctions caused by a connection fault.
WARNING
ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE STARTING INSTALLATION OR WIRING
WORK. FAILURE TO SHUT OFF ALL PHASES COULD LEAD TO ELECTRIC SHOCKS OR PRODUCT DAMAGE.
CAUTION
• Make sure that foreign matter, such as cutting chips or wire scraps, does 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 connector rather than pulling on the
cable. Pulling on the cable could damage the cable and module, possibly causing a poor contact condition
which could result in malfunctions.
Important information before reading this manual
■Precautions for starting and maintenance
WARNING
• DO NOT TOUCH THE TERMINALS WHILE THE POWER IS ON. FAILURE TO OBSERVE THIS COULD LEAD TO
MALFUNCTIONS.
• ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE PERFORMING CLEANING OR WIRING
WORK. FAILURE TO SHUT OFF ALL PHASES COULD LEAD TO ELECTRIC SHOCKS, PRODUCT DAMAGE OR
MALFUNCTIONS.
• NEVER DISASSEMBLE OR MODIFY ANY OF THE ROBOT CONTROLLER MODULES.
FAILURE TO OBSERVE THIS COULD LEAD TO TROUBLE, MALFUNCTIONS, INJURIES OR FIRES.
CAUTION
Power must be supplied to the robot controller only after supplying power to the host control device. The robot
controller will enter an error state if communication is not established within a certain length of time after the
controller starts.
■Precautions for disposal
CAUTION
Dispose of this product as industrial waste.
3
Warranty
Important information before reading this manual
The OMRON robot and/or related product you have purchased are warranted against the defects or
malfunctions as described below.
■Warranty description
If a failure or breakdown occurs due to defects in materials or workmanship in the genuine parts constituting this
OMRON robot and/or related product within the warranty period, then OMRON shall supply free of charge the necessary
replacement/repair parts.
■Warranty period
The warranty period ends 24 months after the date of manufacturing as shown on the products.
■Exceptions to the warranty
This warranty will not apply in the following cases:
1. Fatigue arising due to the passage of time, natural wear and tear occurring during operation (natural fading of painted
or planted surfaces, deterioration of parts subject to wear, etc.)
2. Minor natural phenomena that do not affect the capabilities of the robot and/or related product (noise from computers,
motors, etc.)
3. Programs, point data and other internal data were changed or created by the user.
Failures resulting from the following causes are not covered by warranty.
1. Damage due to earthquakes, storms, floods, thunderbolt, fire or any other natural or man-made disaster.
2. Troubles caused by procedures prohibited in this manual.
3. Modifications 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 other period if specified) from date of sale by OMRON.
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING
NONINFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS.
ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUERIMENTS OF THEIR INTENDED USE. OMRON DISCLAIMS ALL
OTHER WARRANTIES, EXPRESS OR IMPLIED.
LIMITATIONS OF LIABILITY
OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES, LOSS OF
PROFITS OR COMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WETHER SUCH CLAIM
IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
In no event shall the responsibility of OMRON for any act exceed the individual price of the product on
which liability is asserted.
IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR OR OTHER CLAIMS REGARDING
THE PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY
HANDLED, STORED, INSTALLED AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION, ABUSE,
MISUSE OR INAPPROPIATE MODIFICATION OR REPAIR.
4
1. Overview of functions
A network interface unit is a device that transmits and receives I/O information via a communication protocol
between a controller and a host control device.
We provide a lineup of products that support fieldbus (DeviceNet, PROFIBUS, etc.) or industrial Ethernet
(EtherNet/IP, PROFINET, etc.).
In any of these networks, the robot controller (slave device) operates in accordance with commands via I/O
control from a host (master device).
While acting as distributed I/O for the host control device, the network interface unit simultaneously shares
I/O information with the controller. The I/O update cycle time between the controller and the network
interface unit is 5 ms.
The I/O update cycle time between the network interface unit and the host control device will vary depending
on the structure of the applicable network.
1
Overview of functions
Host control device
Network unit
(master / I/O controller)
←Status output
Input
m, m+1, ..., m+x
←General-purpose I/O→ ConversionConversion
Output
n, n+1, ..., n+y
Command input→
I/O consists of a general-purpose input/output area, and a dedicated input/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.
(slave / distributed I/O device)
Robot controller
(robot, I/O control)
Network unit
Output
SO, SOW
Input
SI, SIW
1. Controlling the robot controller directly using simple commands and status queries via remote
I/O's dedicated input/output.
Example) Dedicated input: cancel emergency stop, servo on, reset, start program execution, etc.
Dedicated output: CPU_OK, return-to-origin complete, etc.
2. Using remote commands to programlessly control the robot controller directly with advanced
instructions and status queries.
Example) < Transmission >
SIW0 = 0x1031 (absolute reset command for robot no.1)
SIW2 = 0x0015 (axis designation: axis 1 through axis 4)
< Reception >
SOW = 0x0100 (executing command)
SOW = 0x0200 (normal end)
↓
3. Using remote I/O's general-purpose input/output to exchange desired information with an
external peripheral device, and load it into a robot program or sequence program for execution.
Example) WAIT SI(20)=1, 1000 ; Wait until SI(20) turns on; stop command if it does not turn on after 1 second
OUT SO2(), 200 ; SO(27--20) turns on, and turns off after 200 ms
* For details on remote I/O and remote commands, refer to the Remote I/O Manual. For details on robot programs, refer
to the YRCX Programming Manual.
5
2. Controller status transitions
Power on, controller starts
StartupStartup
Here we explain the status transitions of a robot controller equipped with a network interface unit. A
controller equipped with a network interface unit will initially start up in the emergency stop state. In order
for robot operation to be possible, communication must be established with the host control device, and a
sign that cancels the emergency stop state must be input.
If communication with the host control device is interrupted for any reason, the controller will again transition
to the emergency stop state regardless of the I/O status. In order to resume operation, I/O processing is
2
Controller status transitions
required, such as reestablishing communication, cancelling the emergency stop state, and resetting any error.
Robot controllerHost control device
in emergency stop state
Host control device
Host control device
Host control device
Host control device
Establish communication
Input signals
Exchange I/O information
Robot controller
After both the host control
device and the controller
have started up and
established communication,
cyclic communication begins.
Robot controller
Signals are input to cancel
emergency stop or errors,
putting the robot in an
operable state.
Robot controller
The robot is controlled via
remote commands or
programs
Robot controller
6
Cease communication
When communication
ceases, the robot transitions
to the emergency stop state,
robot power is shut down,
and the program also stops.
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)
I (n+1)
I (n+2)
I (n+3)
I (n+4)
I (n+5)
I (n+6)
I (n+7)
I (n+8)
I (n+9)
I (n+10)
I (n+11)
I (n+12)
I (n+13)
I (n+14)
I (n+15)
I (n+16)
I (n+17)
I (n+18)
I (n+19)
I (n+20)
I (n+21)
I (n+22)
I (n+23)
I (n+24)
I (n+25)
I (n+26)
I (n+27)
I (n+28)
I (n+29)
I (n+30)
I (n+31)
I (n+32) SO07 - SO00
I (n+33) SO17 - SO10
I (n+34) SO27 - SO20
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)
I (n+47) (Reserve)
• 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.
SOW(0)
- Word output
SOW(1) Remote command error code area
SOW(2)
SOD(2)
SOW(3)
SOW(4)
SOD(4)
SOW(5)
SOW(6)
SOD(6)
SOW(7)
SOW(8)
SOD(8)
SOW(9)
SOW(10)
SOD(10)
SOW(11)
SOW(12)
SOD(12)
SOW(13)
SOW(14)
SOD(14)
SOW(15)
Word output /
Double word output
Bit output Status output area
Bit output /
Byte output
Reserved area Use is prohibited
I(n) : Starting address of the input data area for the target controller
Command status area
Command response area /
General-purpose output area
General-purpose output area
3
Input/output assignments
7
■Output from the host control device, input to the controller
Host control device Controller
Address (WRITE) Address (READ) Input/output type Use
Q m
Q m+1
Q m+2
Q m+3
Q m+4
Q m+5
Q m+6
Q m+7
Q m+8
Q m+9
3
Input/output assignments
Q m+10
Q m+11
Q m+12
Q m+13
Q m+14
Q m+15
Q m+16
Q m+17
Q m+18
Q m+19
Q m+20
Q m+21
Q m+22
Q m+23
Q m+24
Q m+25
Q m+26
Q m+27
Q m+28
Q m+29
Q m+30
Q m+31
Q m+32 SI07 - SI00
Q m+33 SI17 - SI10
Q m+34 SI27 - SI20
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)
Q m+47 (Reserve)
• Q(m), Q(m+1), ..., Q(m+47) assume data memory that is divided at each byte (8-bits).
• SIx() is handled as unsigned 8-bit integer data. (x=2-7, 10-17)
• SIW(y) is handled as unsigned 16-bit integer data. (y=0 - 15)
• The upper byte and lower byte of SIW(y) correspond to Q(2y+1) and Q(2y) respectively.
• SID(z) is handled as signed 32-bit integer data. (z=2, 4, ..., 14)
• The upper word and lower word of SID(z) correspond to SIW(z+1) and SIW(n), respectively.
SIW(0)
SIW(1) Command data area
SIW(2)
SIW(3)
SIW(4)
SIW(5)
SIW(6)
SIW(7)
SIW(8)
SIW(9)
SIW(10)
SIW(11)
SIW(12)
SIW(13)
SIW(14)
SIW(15)
- Word input
SID(2)
SID(4)
SID(6)
SID(8)
SID(10)
SID(12)
SID(14)
Q(m) : Starting address of the output data area for the target controller
Word input /
Double word input
Bit input Command input area
But input /
Byte input
Reserved area Use is prohibited
Remote command area
Command data area /
General-purpose input area
General-purpose input area
* For details on the functions that are assigned to each serial input/output data, refer to the separate Remote
I/O Manual.
* The reserved area cannot be used.
8
4. Part names and functions
Here we explain the part names and functions of the network interface unit.
Part names
• Pin configuration and connector specifications
Number Name
Network status LED
Module status LED
Link/activity LED
RJ45 modular jack
Link/activity LED
RJ45 modular jack
Port 1
Port 2
1 TXD+
2 TXD-
3 RXD+
4 -
5 -
6 RXD-
7 -
8 -
* An RJ45 modular plug is not included.
8
Port 1
1
8
Port 2
1
4
Connector: RJ45 modular jack
Connect a CAT 5e or higher STP (Shielded Twisted Pair) cable to the connector. From the standpoint of
durability and noise rejection, double-shielded LAN cable for industrial use is recommended.
Network status (NS) LED
LED status Explanation Comment
OFF Offline
Green Online (RUN)
Flashing green Online (STOP)
Power is off
IO controller is not connected
Connection with IO controller is not established
IO controller is in RUN state
Connection with IO controller is not established
IO controller is 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 in the "EXCEPTION" state
Part names and functions
Flash red once Setting error Expected ID differs from actual ID
Flash red twice IP address error IP address is not set
Flash red three times Station name error Station name is not set
Flash red four times Internal error A serious error occurred inside the module
Link/activity LED: Port 1 / Port 2
LED status Explanation Comment
OFF No link A link is not established, and communication is not occurring
Green Link detected An Ethernet link is established, but communication is not occurring
Flashing green Activity An Ethernet link is established, and communication is occurring
9
5. Flow until operation begins
Here we explain the flow from startup until operation begins. Proceed with the flow shown in the illustration
below, and consult the appropriate manuals as necessary for each step.
Work steps Refer to:
5
Flow until operation begins
Connection
and
cabling
Communication
Communication
settings
settings
Trial operation
Operation
• Connect connectors and cables
Controller
• No setting items
Host device
• Register the network settings file (GSD)
• Set the communication parameters
• Begin cyclic communication
• Check remote I/O and remote command input/output
• Debug the program
Start operation
6.1 Network structure
6.2 Cabling
6.3 Noise countermeasures
8.1 Communication parameter settings
YRCX user’s manual
Remote I/O Manual
YRCX user’s manual
Remote I/O Manual
10
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