Omron CJ Series Instruction Manual

No.

FST-ZTH130053

Yamaha Motor Co., Ltd.

RCX-series Robot Controller

CJ Series

General-purpose Ethernet Connection Guide

(TCP/IP)

P553-E1-01

About Intellectual Property Right and Trademarks

Microsoft product screen shots reprinted with permission from Microsoft Corporation.

Ethernet is a registered trademark of Xerox Corporation.

Company names and product names in this document are the trademarks or registered

trademarks of their respective companies.

Table of Contents

1. Related Manuals........................................................................................ 1

2. Terms and Definitions............................................................................... 2

3. Remarks..................................................................................................... 3

4. Overview .................................................................................................... 5

5. Applicable Devices and Support Software.............................................. 6

5.1. Applicable Devices............................................................................. 6

5.2. Device Configuration.......................................................................... 7

6. Ethernet Communications Settings......................................................... 9

6.1. Ethernet Communications Settings.................................................... 9

6.2. Example of Connection Check......................................................... 10

7. Connection Procedure.............................................................................11

7.1. Work Flow .........................................................................................11

7.2. Setting Up the YAMAHA MOTOR Robot Controller ......................... 12

7.3. Setting Up the PLC .......................................................................... 16

7.4. Checking the Ethernet Communications .......................................... 28

8. Initialization Method................................................................................ 32

8.1. Initializing the PLC ........................................................................... 32

8.2. YAMAHA MORTOR Robot Controller............................................... 33

9. Program.................................................................................................... 34

9.1. Overview .......................................................................................... 34

9.2. Destination Device Command.......................................................... 39

9.3. Error Detection Processing .............................................................. 41

9.4. Memory Maps .................................................................................. 45

9.5. Ladder Program ............................................................................... 54

9.6. Timing Charts................................................................................... 81

9.7. Error Process ................................................................................... 87

10. Revision History...................................................................................... 92

1．Related Manuals

1. Related Manuals

The table below lists the manuals related to this document.

To ensure system safety, make sure to always read and heed the information provided in all

Safety Precautions, Precautions for Safe Use, and Precaution for Correct Use of manuals for

each device which is used in the system.

Cat. No. Model Manual name

W472 CJ2H-CPU6[]-EIP

CJ2H-CPU6[]

CJ2M-CPU[][]

CJ-series CJ2 CPU Unit Hardware User's Manual

W473 CJ2H-CPU6[]-EIP

CJ2H-CPU6[]

CJ2M-CPU[][]

CJ-series CJ2 CPU Unit Software User's Manual

W420 CJ1W-ETN21 CJ-series Ethernet Units Operation Manual

Construction of Networks

W421 CJ1W-ETN21 CJ-series Ethernet Units Operation Manual

Construction of Applications

W446 - CX-Programmer Operation Manual

W474 CJ2[]-CPU[][] CJ-series Instructions Reference Manual

E94 RCX series YAMAHA NETWORK BOARD RCX series

Ethernet User's Manual

E76 RCX series YAMAHA ROBOT CONTROLLER

RCX series Programming Manual

E123 RCX240 YAMAHA 4-AXIS ROBOT CONTROLLER

RCX240 User's Manual

E124 RCX240 YAMAHA 4-AXIS ROBOT CONTROLLER

RCX240 Operator's Manual

E100 RCX221 YAMAHA 2-AXIS ROBOT CONTROLLER

RCX221 User's Manual

E99 RCX222 YAMAHA 2-AXIS ROBOT CONTROLLER

RCX222 User's Manual

2．Terms and Definitions

2. Terms and Definitions

Term Explanation and Definition

IP address Ethernet uses an IP address to perform communications.

The IP address (Internet Protocol address) is an address that is used to

identify a node (host computer or controller, etc.) on the Ethernet.

IP addresses must be set and managed so that they do not overlap.

Socket A socket is an interface that enables the use of the TCP or UDP function

directly from the user program. The socket services enable data

exchange with destination nodes. The CJ-series Programmable

Controller can use the socket services in the following ways:

•Manipulation of a dedicated control bit allocated in the CIO area for

the Ethernet Unit

•Issuing a FINS command (CMND instruction) to an Ethernet Unit

Active open/

Passive open

Open processing is executed on each node to connect the TCP socket.

The open method depends on whether the node is opened as a server or

client.

In this document, the method used to open a node as a server is called

"passive open" and the method used to open a node as a client is called

"active open" or "open processing (active)".

Keep-alive function When the keep-alive function is used with TCP/IP socket services, the

keep-alive communications frame is used to check the status of the

connection with the destination node (either a server or client) if there are

no communications during the specified time interval.

Checks are executed at a certain interval, and if there is no response to

any of them then the connection is terminated.

Linger function This is an option for the TCP socket that enables immediate open

processing using the same port number without waiting until the port

number opens after RST data is sent when the TCP socket closes.

If the linger option is not specified, FIN data will be sent when a TCP

socket is closed, and then approximately 1 minute will be required to

confirm the transmission and perform other closing management with the

destination node. Therefore, it may not be possible to immediately use

TCP sockets with the same port number.

3．Remarks

3. Remarks

(1) Understand the specifications of devices which are used in the system. Allow some

margin for ratings and performance. Provide safety measures, such as installing safety

circuit in order to ensure safety and minimize risks of abnormal occurrence.

(2) To ensure system safety, always read and heed the information provided in all Safety

Precautions, Precautions for Safe Use, and Precaution for Correct Use of manuals for

each device used in the system.

(3) The users are encouraged to confirm the standards and regulations that the system must

conform to.

(4) It is prohibited to copy, to reproduce, and to distribute a part of or whole part of this

document without the permission of OMRON Corporation.

(5) This document provides the latest information as of April 2013. The information on this

manual is subject to change without notice for improvement.

3．Remarks

The following notation is used in this document.

Precautions for Safe Use

Precautions on what to do and what not to do to ensure safe usage of the product.

Precautions for Correct Use

Precautions on what to do and what not to do to ensure proper operation and performance.

Additional Information

Additional information to read as required.

This information is provided to increase understanding or make operation easier.

4．Overview

4. Overview

This document describes the procedure for connecting the Robot Controller (RCX series,

hereinafter referred to as the Robot Controller) of Yamaha Motor Co., Ltd. (hereinafter referred

to as YAMAHA MOTOR) to CJ-series Programmable Controller + Ethernet Unit (hereinafter

referred to as the PLC), and provides the procedure for checking their connection.

Refer to Ethernet communications settings described in 6. Ethernet Communications Settings

and 7. Connection Procedure to understand the setting method and key points to connect the

devices via Ethernet.

The user program in the prepared CX-Programmer project file is used to check the Ethernet

connection by sending/receiving the message of “Acquire version information” to/from the

destination device.

Prepare the latest CX-Programmer project file beforehand. To obtain the file, contact your

OMRON representative.

Name File name Version

CX-Programmer project file

(extension: cxp)

YAMAHA_RCX_ETN(TCP)_EV100.cxp Ver.1.00

*Hereinafter, the CX-Programmer project file is referred to as the “project file”.

The user program in the project file is referred to as the “ladder program” or “program”.

This document aims to explain the wiring method and communications settings

necessary to connect the corresponding devices and provide the setting

procedure. The program used in this document is designed to check if the

connection was properly established, and is not designed to be constantly used

at a site. Therefore, functionality and performances are not sufficiently taken into

consideration. When you construct an actual system, please use the wiring

method, communications settings and setting procedure described in this

document as a reference and design a new program according to your

application needs.

5．Applicable Devices and Support Software

5. Applicable Devices and Support Software

5.1. Applicable Devices

The applicable devices are as follows:

Manufacturer Name Model

OMRON Ethernet Unit CJ1W-ETN21

OMRON CJ2 CPU Unit CJ2[]-CPU[][]

YAMAHA

MOTOR

Robot Controller

(4-axis controller)

(2-axis controller)

RCX240/RCX240S

RCX222/RCX222HP

RCX221/RCX221HP

YAMAHA

MOTOR

Robot

Single-axis robot

Linear single-axis robot

Cartesian robots

SCARA robot

Pick & place robot

•FLIP-X series

•PHASER series

(Excluding RCX222)

•XY-X series

•YK-XG series

(Excluding RCX221/222)

•YP-X series

Precautions for Correct Use

As applicable devices above, the devices with the models and versions listed in Section 5.2.

are actually used in this document to describe the procedure for connecting devices and

checking the connection.

You cannot use devices with versions lower than the versions listed in Section 5.2.

To use the above devices with versions not listed in Section 5.2 or versions higher than those

listed in Section 5.2, check the differences in the specifications by referring to the manuals

before operating the devices.

Additional Information

This document describes the procedure to establish the network connection. Except for the

connection procedure, it does not provide information on operation, installation or wiring

method. It also does not describe the function or operation of the devices. Refer to the

manuals or contact the device manufacturer.

(Yamaha Motor Co., Ltd. http://www.yamaha-motor.co.jp/global/industrial/robot/)

This URL is the latest address at the time of the document creation. Contact each device

manufacturer for the latest information.

5．Applicable Devices and Support Software

5.2. Device Configuration

The hardware components to reproduce the connection procedure of this document are as

follows:

RCX240

RPB-000

LAN cable

FXYx_A

Personal computer

(CX-One installed

OS: Windows 7)

CJ2M-CPU12

CJ1W-ETN21

USB cable

Switching Hub

(W4S1-05C)

LAN cable

Manufacturer Name Model Version

OMRON Ethernet Unit CJ1W-ETN21 Ver.1.5

OMRON Switching Hub W4S1-05C Ver.1.0

OMRON CPU Unit CJ2M-CPU12 Ver.2.0

OMRON Power Supply Unit CJ1W-PA202

OMRON CX-One CXONE-AL[][]C-V4

/AL[][]D-V4

Ver.4.[][]

OMRON CX-Programmer (Included in CX-One) Ver.9.41

OMRON CX-Programmer project file

(ladder program)

YAMAHA_RCX_ETN(TCP)

_EV100.cxp

Ver.1.00

- Personal computer

(OS: Windows 7)

- USB cable

(USB 2.0 type B connector)

- LAN cable (Ethernet STP

(Shielded twisted-pair) cable of

category 5 or higher)

YAMAHA

MOTOR

Robot Controller RCX240 Ver.10.57

YAMAHA

MOTOR

Programming box RPB-000 Ver.5.13

YAMAHA

MOTOR

Cartesian robot FXYx_A

Precautions for Correct Use

Prepare the latest ladder program beforehand.

(To obtain the files, contact your OMRON representative.)

Precautions for Correct Use

Update the CX-Programmer to the version specified in this section or higher version using the

auto update function. If a version not specified in this section is used, the procedures

described in Section 7 and subsequent sections may not be applicable. In that case, use the

equivalent procedures described in the CX-Programmer Operation Manual (Cat. No. W446).

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