Iai-america XSEL Ethernet Manuel d'utilisateur

Ethernet Operation Manual Third Edition

-4- Notes on Safety of Our Products Common items you should note when performing each task on any IAI robot are explained below. No. Task Note 1 M

-5- (2) Wiring the cables  Use IAI’s genuine cables to connect the actuator and controller or connect a teaching tool, etc.  Do not damage, forcibly

-6- 6 Confirmation operation  After teaching or programming, carry out step-by-step confirmation operation before switching to automatic operation. 

-7- Indication of Cautionary Information The operation manual for each model denotes safety Guides under “Danger,” “Warning,” “Caution” and “Note,”

-8-

- 9 - 1. Overview This option allows the X-SEL controller to perform control in an open network environment using the Ethernet infrastructure, the d

- 10 - A hierarchy of the functions provided by the X-SEL Ethernet option is shown below. Functions are selected by parameters. Additionally, the ne

- 11 - 2. Interface Specifications Item Specification Network specification 10BASE-T/100BASE-T (Auto-negotiation) Communication standard IEEE802.3 C

- 12 - 3. Interface Board 3.1 Name of Each Part (Note) The DIP switches are used to set the least signif

- 13 - 3.2 Monitor LED Indications The operating condition of the interface board and its connection status to Ethernet can be checked via the four

- 14 - 4. Remote I/O (Modbus/TCP  EtherNet/IP) 4.1 Setup of Ethernet Environment The X-SEL controller provides IP addresses and other network-de

- 15 - 4.2 Remote I/O Setup Procedure The system is configured only with the remote I/Os of Modbus/TCP  EtherNet/IP, with the I/O port numbers bein

- 16 - 4.2.2 Combined Use of Expansion I/O Board (Modbus/TCP  EtherNet/IP + Expanded I/O) The following settings are applicable when the standard

- 17 - 4.3 Setup Procedure for Exception Status Support The X-SEL Ethernet option supports the function that notifies the host of an error conditio

- 18 - 4.4 Correspondence of Modbus/TCP Address and X-SEL I/O Modbus/TCP can address the same object using either bit addressing or word addressing

- 19 - 4.4.1 Little Endian Operation The default endian mode of DI/DO operation commands of the X-SEL controller is the little endian. In the littl

- 20 - [Modbus/TCP output areas (assignment of X-SEL DI area 300 onward), FMIO = 0] Address BIT7 (MSB) 6 5 4 3 2 1 0 (LSB)X-SEL DI 7 6 5 4 3 2 1 0

- 21 - 4.4.2 Big Endian Operation To align the word handling between Modbus/TCP and the X-SEL controller, the I/O operation mode must be set to the

- 22 - [Modbus/TCP output areas (assignment of X-SEL DI area 300 onward), FMIO = 0] Address BIT7 (MSB) 6 5 4 3 2 1 0 (LSB)X-SEL DI 7 6 5 4 3 2 1 0

- 23 - 4.5 Installation to a Modbus/TCP System No special tools are required for operation of the X-SEL controller via Modbus/TCP on Ethernet. Simpl

Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of t

- 24 - 5. IAI Protocol B/TCP This protocol uses TCP packets embedded with the message format of IAI protocol B for serial communication. The contro

- 25 - [I/O parameters] No. Parameter name Setting Input range Remarks 124 Network attribute 5 (MANU mode) 1H or 3H (AUTO mode) 10H or 30H

- 26 - 138 Subnet mask (ML) 255 0~255 139 Subnet mask (L) 0 0~255 140 Default gateway (H) 0 0~255 141 Default gateway (MH) 0 0~255 142 D

- 27 - 4. One of the two ports will be used for connection, depending on the MANU/AUTO mode. 5. The port will be enabled at the following interv

- 28 - 5.2 Ethernet Connection of X-SEL PC Software 5.2.1 Software Versions Supporting This Function (1) PC software V2.1.0.0 or later (Japanese

- 29 - c. Selecting the controller Entering the port number and clicking the [OK] button switches the display to the Select Controller screen. Fig

- 30 - (2) Connection destination change Select “Controller (C)”  “Request Release Pause (L)” from the menu. * This menu item will be added only wh

- 31 - 5.2.3 Items to Note (1) When connecting via Ethernet, the IP address parameter must be set via serial connection beforehand in accordance w

- 32 - 6. Transmission by SEL Program Four channels of ASCII-based, delimiter-controlled communication (CH31 through CH34) are supported, using a s

- 33 - [I/O parameters] No. Parameter name Setting Input range Remarks 124 Network attribute 5 00***100H (Channel 31) 00**1*00H (Channel 32) 00

- 34 - 134 Own IP address (ML) 0 0~255 135 Own IP address (L) 1 1~254 * Setting of “0” and “255” is prohibited. 136 Subnet mask (H) 255 0~255 137

- 35 - 6.2 Ethernet Option SEL Commands  OPEN (Channel open) [* When the Ethernet option is used] Command, declaration Extension conditio

- 36 - (Note 8) The diagram below explains the mechanism of “socket interface.” * Bear in mind that “socket,” “connect,” “write,” “read,” “close,” “

- 37 - [Example] LET 90 192 IP address of connection destination (H) = 192 LET 91 168 IP address of connection destination (MH) = 168 LE

- 38 - 50~: Device error information 50 Invalid Message ID 51 Invalid Message Type 52 Invalid Command 53 Invalid Data Size 54 Invalid Frame Count

- 39 -  CLOS (Channel close) [* When the Ethernet option is used] Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/

- 40 -  READ (Read) [* When the Ethernet option is used] Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag)

- 41 -  WRIT (Write) [* When the Ethernet option is used] Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag)

- 42 -  IPCN (IP address/port number settings of connection destination) [* When the Ethernet option is used] Command, declaration Extension cond

- 43 - 7. Common Items to Note (Be Sure to Read This Section.) (1) The Ethernet option will be enabled when a reset is executed on the controller

Table of Contents Safety Guide 1 1. Overview 9 2. Interface Specifications 11 3. Interface Board 12 3.1 Name of Each Part 12 3.2 Monitor

- 44 - (9) If a firewall (including the firewall function of virus protection software) is installed in the PC, etc., the port block must be cancel

- 45 - Appendix: X-SEL (Cartesian/IX SCARA) Ethernet Option Parameters [I/O parameters] Setting requirement A: Required (function selection) B: R

- 46 - Setting requirement A: Required (function selection) B: Required (network environment, etc.) C: Checked (As a rule, the default value on t

- 47 - Setting requirement A: Required (function selection) B: Required (network environment, etc.) C: Checked (As a rule, the default value on t

- 48 - Setting requirement A: Required (function selection) B: Required (network environment, etc.) C: Checked (As a rule, the default value on th

- 49 - Setting requirement A: Required (function selection) B: Required (network environment, etc.) C: Checked (As a rule, the default value on th

- 50 - Setting requirement A: Required (function selection) B: Required (network environment, etc.) C: Checked (As a rule, the default value on th

- 51 - Setting requirement A: Required (function selection) B: Required (network environment, etc.) C: Checked (As a rule, the default value on t

Catalog No.: ME0140-3A Head Office: 2690 W. 237th Street, Torrance, CA 90505 TEL (310) 891-6015 FAX (310) 891-0815 Chica

-1- Safety Guide When designing and manufacturing a robot system, ensure safety by following the safety Guidess provided below and taking the neces

-2- Requirements for Industrial Robots under Ordinance on Industrial Safety and Health Work area Work condition Cutoff of drive source Measure Ar

-3- Applicable Models of IAI’s Industrial Robots Machines meeting the following conditions are not classified as industrial robots according to Noti