Original instructions

YAMAHA NETWORK BOARD

EtherCAT User’s Manual

RCX340/RCX320

EUSH205111

Ver. 1.11 E138

CONTENTS EtherCAT
User’s Manual

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

3.1 I/O assignments (default) 7

3.2 I/O assignments (extension) 9

3.3 How to extend I/O size 11

4. Part names and functions 12

5. Flow until operation begins 13

6. Connection 14

6.1 Network structure 14

6.2 Cabling 15

6.3 Noise countermeasures 15

7. ESI File 16

8. Parameter Settings 17

9. Monitoring communication data 18

9.1 Using the programming box 18

9.1.1 Switching the port number 19
9.1.2 Input/output list display 20
9.1.3 Input/output details display 20
9.1.4 Switching the output status 21

9.2 Using RCX-Studio PC support software 22

T-1
 CONTENTS EtherCAT
User’s Manual

10. Disabling an option unit 25

10.1 Making settings 26

10.1.1 Using the programming box 26
10.1.2 Using RCX-Studio PC support software 27

11. Countermeasure against communication failure 29

11.1 Review of start-up work 29

11.2 Viewing the alarm codes in the 7-segment LED 30

11.3 Diagnostics by alarm message 30

11.3.1 Alarms related to network unit connections and settings 30
11.3.2 Alarms related to I/O on/off status 31
11.3.3 Alarms that the customer cannot resolve 31
11.3.4 Checking alarm codes in the programming box 32
11.3.5 Checking alarm codes in RCX-Studio PC support software 32

12. Specifications 33

12.1 Network specifications 33

12.2 Input/output specifications 34

12.3 Input/output specifications (extension) 35

13. Reserved word list 36

T-2
Impor tant information before reading this manual

Important information before reading this manual

Introduction
The Yamaha network interface unit documentation consists of a 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.

Yamaha network interface unit manuals

Content specific to each network unit Content common to all networks

(network communication settings, etc.) (remote I/O and remote command specifications etc.)

EtherCAT user’s manual Remote I/O Manual

(this document)

For details on network unit specifications and communication settings, refer to this 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.
RCX 3 Series Operator’s Manual. . .......... for operation of the controller unit
RCX 3 Series User’s Manual.................. for specifications and settings of the controller unit
RCX 3 Series Programming Manual.. ...... for the programming language used by Yamaha robot controllers

1
 Safety Precautions (Always read before starting use)
Before using this product, be sure to read this manual carefully as well as the robot controller user's manual
Important information before reading this 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.

w WARNING
Failure to follow WARNING instructions could result in serious injury or death to the operator or person servicing
the product.

c 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.

n NOTE
This indicates a supplementary explanation in the operation.

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.

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 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.

c 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

w WARNING

Important information before reading this manual

• 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.

c 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.

w 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.

c 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.

■ ■ Precautions for starting and maintenance

w 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.

c 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

c CAUTION
Dispose of this product as industrial waste.

3
 Warranty
For information on the warranty period and terms, please contact our distributor where you purchased the
Important information before reading this manual

product.

■ ■ This warranty does not cover any failure caused by:

1. Installation, wiring, connection to other control devices, operating methods, inspection or maintenance that does not
comply with industry standards or instructions specified in the YAMAHA manual;
2. Usage that exceeded the specifications or standard performance shown in the YAMAHA manual;
3. Product usage other than intended by YAMAHA;
4. Storage, operating conditions and utilities that are outside the range specified in the manual;
5. Damage due to improper shipping or shipping methods;
6. Accident or collision damage;
7. Installation of other than genuine YAMAHA parts and/or accessories;
8. Modification to original parts or modifications not conforming to standard specifications designated by YAMAHA,
including customizing performed by YAMAHA in compliance with distributor or customer requests;
9. Pollution, salt damage, condensation;
10. Fires or natural disasters such as earthquakes, tsunamis, lightning strikes, wind and flood damage, etc;
11. Breakdown due to causes 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 identified by YAMAHA.
4. Products utilized, for example, in radiological equipment, biological test equipment applications or for other purposes
whose warranty repairs are judged as hazardous by YAMAHA.

THE WARRANTY STATED HEREIN PROVIDED BY YAMAHA ONLY COVERS DEFECTS IN PRODUCTS
AND PARTS SOLD BY YAMAHA TO DISTRIBUTORS UNDER THIS AGREEMENT. ANY AND ALL OTHER
WARRANTIES OR LIABILITIES, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY IMPLIED
WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE ARE HEREBY EXPRESSLY
DISCLAIMED BY YAMAHA. MOREOVER, YAMAHA SHALL NOT BE HELD RESPONSIBLE FOR CONSEQUENT
OR INDIRECT DAMAGES IN ANY MANNER RELATING TO THE PRODUCT.

This manual does not serve as a guarantee of any industrial property rights or any other rights and
does not grant a license in any form. Please acknowledge that we bear no liability whatsoever for
any problems involving industrial property rights which may arise from the contents of this manual.

Ver.1.03_201802

4
1. Over view of functions

1
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 (CC-Link, DeviceNet, PROFIBUS, etc.) or industrial
Ethernet (EtherNet/IP, PROFINET, EtherCAT, etc.).
In any of these networks, the robot controller (slave device) operates in accordance with commands via I/O

Overview of functions
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.

Host control device Robot controller

(robot, I/O control)

Network unit Network unit

(Master) (Slave)

←Status output
Input Output
m, m+1, ..., m+x SO, SOW

Conversion ←General-purpose I/O→ Conversion

Output Input
n, n+1, ..., n+y SI, SIW

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.

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 control the robot controller directly with advanced instructions and
status queries without programming.
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 RCX 3 Series Programming Manual.

5
 2. Controller status transitions
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

2 to the emergency stop state regardless of the I/O status. In order to resume operation, I/O processing is
required, such as reestablishing communication, cancelling the emergency stop state, and resetting any error.

Startup Startup
Controller status transitions

Host control device Robot controller

Power on, controller starts

in emergency stop state.

Host control device Establish communication Robot controller

After both the host control

device and the controller
have started up and
established communication,
cyclic communication begins.

Host control device Input signals Robot controller

Signals are input to cancel

emergency stop or errors,
putting the robot in an
operable state.

Host control device Exchange I/O information Robot controller

The robot is controlled via

remote commands or
programs.

Host control device Robot controller

When communication
Cease communication
ceases, the robot transitions
to the emergency stop state,
robot power is shut down,
and the program also stops.

6
3. Input/output assignments
3.1 I/O assignments (default)
The following describes the correspondence between the robot controller's serial input/output data and the
input/output data on network.

■ ■ Output from the controller, input to the host control device

Host control device Controller
Address (READ) Address (WRITE) Input/output type Use
m
SOW(0) Command status area

3
m+1
- Word output
m+2
SOW(1) Remote command error code area
m+3
m+4
SOW(2)
m+5
SOD(2)

Input/output assignments
m+6
SOW(3)
m+7
m+8
SOW(4)
m+9
SOD(4)
m + 10
SOW(5)
m + 11
m + 12
SOW(6)
m + 13
SOD(6)
m + 14
SOW(7)
m + 15
m + 16
SOW(8)
m + 17 Word output / Remote command response area /
SOD(8)
m + 18 Double word output General-purpose output area
SOW(9)
m + 19
m + 20
SOW(10)
m + 21
SOD(10)
m + 22
SOW(11)
m + 23
m + 24
SOW(12)
m + 25
SOD(12)
m + 26
SOW(13)
m + 27
m + 28
SOW(14)
m + 29
SOD(14)
m + 30
SOW(15)
m + 31
m + 32 SO07 - SO00
Bit output Status output area
m + 33 SO17 - SO10
m + 34 SO27 - SO20
m + 35 SO37 - SO30
m + 36 SO47 - SO40
m + 37 SO57 - SO50
m + 38 SO67 - SO60
m + 39 SO77 - SO70 Bit output /
General-purpose output area
m + 40 SO107 - SO100 Byte output
m + 41 SO117 - SO110
m + 42 SO127 - SO120
m + 43 SO137 - SO130
m + 44 SO147 - SO140
m + 45 SO157 - SO150
m + 46 SO167 - SO160
Reserved area Prohibited to use
m + 47 SO177 - SO170
m: Starting address of the input data area for the target host control device
• Each address is 8 bit data.
• SOn() is handled as unsigned 8-bit integer data.
• SOW(n) is handled as unsigned 16-bit integer data.
• SOD(n) is handled as signed 32-bit integer data.
• The upper word and lower word of SOD(n) correspond to SOW(n+1) and SOW(n), respectively.

7
 ■ ■ Output from the host control device, input to the controller
Host control device Controller
Address (WRITE) Address (READ) Input/output type Use
n
SIW(0) Remote command area
n+1
- Word input
n+2
SIW(1) Remote command data area
n+3
n+4
SIW(2)
n+5
SID(2)
n+6
SIW(3)
n+7
n+8
SIW(4)
n+9

3
SID(4)
n + 10
SIW(5)
n + 11
n + 12
SIW(6)
n + 13
SID(6)
n + 14
Input/output assignments

SIW(7)
n + 15
n + 16
SIW(8)
n + 17 Word input / Command data area /
SID(8)
n + 18 Double word input General-purpose input area
SIW(9)
n + 19
n + 20
SIW(10)
n + 21
SID(10)
n + 22
SIW(11)
n + 23
n + 24
SIW(12)
n + 25
SID(12)
n + 26
SIW(13)
n + 27
n + 28
SIW(14)
n + 29
SID(14)
n + 30
SIW(15)
n + 31
n + 32 SI07 - SI00
Bit input Command input area
n + 33 SI17 - SI10
n + 34 SI27 - SI20
n + 35 SI37 - SI30
n + 36 SI47 - SI40
n + 37 SI57 - SI50
n + 38 SI67 - SI60
n + 39 SI77 - SI70 Bit input /
General-purpose input area
n + 40 SI107 - SI100 Byte input
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 Prohibited to use
n + 47 SI177 - SI170
n: Starting address of the output data area for the target host control device
• Each address is 8 bit data.
• SIn() is handled as unsigned 8-bit integer data.
• SIW(n) is handled as unsigned 16-bit integer data.
• SID(n) is handled as signed 32-bit integer data
• The upper word and lower word of SID(n) correspond to SIW(n+1) and SIW(n), respectively.

8
3.2 I/O assignments (extension)
The following describes the correspondence between the serial input/output data on robot controller and the
input/output data on network when the serial input/output word is extended (Option board related parameters
"SIOW extension": VALID).
For details about the parameter, refer to RCX 3 user's/operator’s manual "Option board related parameters"

■ ■ Output from the controller, input to the host control device

Host control device Controller
Address (READ) Address (WRITE) Input/output type Use
m
SOW(0) Command status area
m+1
- Word output
m+2
SOW(1) Remote command error code area
m+3

3
m+4
SOW(2)
m+5
SOD(2)
m+6
SOW(3)
m+7
m+8
SOW(4)
m+9
SOD(4)
m + 10
SOW(5)

Input/output assignments
m + 11
m + 12
SOW(6)
m + 13
SOD(6)
m + 14
SOW(7)
m + 15
m + 16
SOW(8) Word output / Remote command response area /
m + 17
SOD(8)
m + 18 Double word output General-purpose output area
SOW(9)
m + 19
m + 20
SOW(10)
m + 21
SOD(10)
m + 22
SOW(11)
m + 23
m + 24
SOW(12)
m + 25
SOD(12)
m + 26
SOW(13)
m + 27
m + 28
SOW(14)
m + 29
SOD(14)
m + 30
SOW(15)
m + 31
m + 32 SO07 - SO00
Bit output Status output area
m + 33 SO17 - SO10
m + 34 SO27 - SO20
m + 35 SO37 - SO30
m + 36 SO47 - SO40
m + 37 SO57 - SO50
m + 38 SO67 - SO60
m + 39 SO77 - SO70 Bit output /
General-purpose output area
m + 40 SO107 - SO100 Byte output
m + 41 SO117 - SO110
m + 42 SO127 - SO120
m + 43 SO137 - SO130
m + 44 SO147 - SO140
m + 45 SO157 - SO150
m + 46 SO167 - SO160
Reserved area Prohibited to use
m + 47 SO177 - SO170

m + 48
SOW(24)
m + 49
SOD(24)
m + 50
SOW(25)
m + 51
m + 52 General-purpose output area
SOW(26)
m + 53 Word output /
SOD(26)
m + 54 or
SOW(27) Double word output
m + 55
: : : Real time output area*
m + 252
SOW(126)
m + 253
SOD(126)
m + 254
SOW(127)
m + 255
m: Starting address of the input data area for the target host control device
• Each address is 8 bit data.
• SOn() is handled as unsigned 8-bit integer data.
• SOW(n) is handled as unsigned 16-bit integer data.
• SOD(n) is handled as signed 32-bit integer data.
• The upper word and lower word of SOD(n) correspond to SOW(n+1) and SOW(n), respectively.

*W
 hen the real time output parameter is enabled, the extended serial output area is used for real time output.
For details about the parameter, refer to RCX 3 user's/operator’s manual "I/O parameters".

9
 ■ ■ Output from the host control device, input to the controller
Host control device Controller
Address (WRITE) Address (READ) Input/output type Use
n
SIW(0) Remote command area
n+1
- Word input
n+2
SIW(1) Remote command data area
n+3
n+4
SIW(2)
n+5
SID(2)
n+6
SIW(3)
n+7
n+8
SIW(4)
n+9
SID(4)
n + 10
SIW(5)

3
n + 11
n + 12
SIW(6)
n + 13
SID(6)
n + 14
SIW(7)
n + 15
n + 16
SIW(8)
Input/output assignments

n + 17 Word input / Command data area /

SID(8)
n + 18 Double word input General-purpose input area
SIW(9)
n + 19
n + 20
SIW(10)
n + 21
SID(10)
n + 22
SIW(11)
n + 23
n + 24
SIW(12)
n + 25
SID(12)
n + 26
SIW(13)
n + 27
n + 28
SIW(14)
n + 29
SID(14)
n + 30
SIW(15)
n + 31
n + 32 SI07 - SI00
Bit input Command input area
n + 33 SI17 - SI10
n + 34 SI27 - SI20
n + 35 SI37 - SI30
n + 36 SI47 - SI40
n + 37 SI57 - SI50
n + 38 SI67 - SI60
n + 39 SI77 - SI70 Bit input /
General-purpose input area
n + 40 SI107 - SI100 Byte input
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 Prohibited to use
n + 47 SI177 - SI170

n + 48
SIW(24)
n + 49
SID(24)
n + 50
SIW(25)
n + 51
n + 52
SIW(26)
n + 53
SID(26) Word input /
n + 54 General-purpose input area
SIW(27) Double word input
n + 55
: : :
n + 252
SIW(126)
n + 253
SID(126)
n + 254
SIW(127)
n + 255
n: Starting address of the output data area for the target host control device
• Each address is 8 bit data.
• SIn() is handled as unsigned 8-bit integer data.
• SIW(n) is handled as unsigned 16-bit integer data.
• SID(n) is handled as signed 32-bit integer data
• The upper word and lower word of SID(n) correspond to SIW(n+1) and SIW(n), respectively.

10
 3.3 How to extend I/O size

■ ■ Setting master unit

1 Prepare a configuration file (ESI: EtherCat Slave Information)

The latest ESI file is required to use the real time output function.
After installing the latest ESI file in your PC,
Replace the ESI file with the new one on the setting screen of your master unit.

The latest configuration file can be downloaded from the YAMAHA website:
https://global.yamaha-motor.com/business/robot/download/fieldbus/

3
2 Change I/O size for the master unit to that for the controller.
Set the I/O size to 256 bytes; to match the
communication I/O size for RCX340/320 on

Input/output assignments
the setting screen of your master unit.
Not to extend the I/O size (SIOW extension
parameter: Invalid), set to 48 bytes.

Transporting the setting to the master unit extends the I/O size of master unit as shown in right.

SIOW(0)-SIOW(15)
(16 WORD)

SIO0(0)-SIO17(7)
(8 WORD)

SIOW(16)-SIOW(119)
(104 WORD)
拡張

n NOTE
The description above shows an example for setting. Set the I/O size according to your master unit.

■ ■ Setting RCX 3 controller

Each user must set by entering the SIOW extension manually.

3 Enable "SIOW extension" among the option board related parameters.

4 Turn on the controller power again.

After restarting the power, the SIOW area will get extended.

11
 4. Par t 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

1 TXD+
ERROR LED 8
2 TXD-
Port 1
3 RXD+ 1
Link/activity LED
Port 1 4 -
RJ45 modular jack
5 -
Link/activity LED 6 RXD- 8
RJ45 modular jack Port 2 Port 2
7 -

4
1
8 -

* An RJ45 modular plug is not included.

RUN LED

Connector: RJ45 modular jack

Part names and functions

ERR0R LED
This LED indicates the EtherCAT communication error.

LED status Explanation

OFF No error occurs (or power is OFF)

Invalid settings
Red flashing It is disabled to change the status to that sent by the master device as the setting or the register /
object is invalid.
Application watchdog timeout
Red flashing twice
The sync manager watchdog has timed out.
Application controller malfunction
Red lit*
The module is in the “EXCEPTION” status.

RUN LED
This LED 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

*: W
 hen the either of LED is lit in red, something critical is happening.
The bus interface becomes physically passive in this case.

Link/activity LED: Port 1 / Port 2

This LED indicates the link status and activity of EtherCAT.

LED status Explanation

OFF A link is not established, and communication is not occurring.

Green lit An Ethernet link is established, but communication is not occurring.

Green flashing An Ethernet link is established, and communication is occurring.

12
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:

Connection • Connect connectors and cables 6.1 Network structure

and 6.2 Cabling
cabling 6.3 Noise countermeasures

Controller 8 Parameter settings

Communication • No setting items
settings
Host control device
• Register the network settings file (ESI)
• Set the communication parameters

• Begin cyclic communication RCX 3 Series User’s Manual

Trial operation • Check remote I/O and remote command input/output Remote I/O Manual

5
• Debug the program

Start operation RCX 3 Series User’s Manual

Operation Remote I/O Manual

Flow until operation begins

13
 6. Connection
Here we provide an overview of the procedures for connecting the robot controller to the network.
Network structure and cable specifications should be designed according to the materials provided by
the network interest group (ETG: EtherCAT Technology Group).

6.1 Network structure

EtherCAT is an open network that has been developed by German Beckhoff Automation 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.

Host control device

(EtherCAT Master) Max. 100m

6
Connection

RCX340 RCX340

c CAUTION
Network equipment such as switches can be used if it satisfies the requirements of the EtherCAT network.
However if the equipment is to be used in an environment where noise is a concern, such as a factory,
equipment that meets EMC industrial standards should be selected.

14
6.2 Cabling

w WARNING
SHUT off the power supply input to the robot controller before performing this work.

Insert the LAN cable's modular plug into the controller's modular jack until you hear it click into place.

■ ■ Cable specifications
Use LAN cables that meet the following specifications.
Category 5e (CAT 5e) or higher
Shielded Twisted Pair (STP: Shielded Twist Pair)
Double-shielded
100 m or shorter (solid-core cable is recommended if it is over 10 m)

(Example selections) SIEMENS AG

Connector plug IE FC RJ45 Plug 180 6GK1 901-1BB10-2AOO
Cable material IE FC TP standard cable 6XV1 840-2AH10
Tool Stripping tool for IE FC cable 6GK1 901-1GA00

* OO indicates the number of metal housings (A0: 1 / B0: 10 / E0: 50).

* The cable length can be specified in 1-meter units from a minimum of 20 m to a maximum of 100 m.

6.3 Noise countermeasures

Although the robot controller unit complies with EMC standards and has a certain amount of resistance to
6
external noise, there may be cases 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

Connection
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 countermeasures.

1. Equipment and cable selection

As the equipment to be connected to the network, select units that conform to EMC directives. Be sure to use cable of
the prescribed specifications.

2. Equipment and cable placement and grounding

If the noise source is nearby, create an appropriate distance between the noise source and the network environment
including the cable. For the robot controller unit and equipment connected to it, be sure to attach an appropriate ground
as directed by the manual of each unit.

3. Adding anti-noise components

Apply the following measures to the robot controller.
• Install a ferrite core on both ends of the cable immediately adjacent to the connector of the device.
• Install a ferrite core or noise filter on the power supply input of the controller.

15
 7. ESI File
ESI (EtherCAT Slave Information) is a type of network setting file. It contains settings for a device that
supports EtherCAT.

The network setting file contains information necessary for connecting to a host control device, such as I/
O size and communication settings, in a prescribed format. When constructing a network, the settings
information of all connected network devices must be loaded into the host 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.

When the serial input/output word is extended (option board related parameter "SIOW extension" is valid),
Change the I/O size in host control device to accord with communication I/O size in robot controller.
=>For details about the setting method, refer to Chapter 6 "3.3 How to extend I/O size"

In order to use the real time output function, after enabling the option board related parameter "SIOW
extension", enable the I/O parameter "Real time output".
=>For details about the real time output function, refer to the remote I/O manual.

ESI file is available via Yamaha robot website.

7 URL: https://global.yamaha-motor.com/business/robot/download/fieldbus/
ESI File

16
 8. Parameter Settings
Here are the indispensable parameters for communication between the host control device and the robot
controller.

Parameter Setting Range Initial Value Description

Option board enable 0: INVALID 1: VALID Enables / disables the option board.
1: VALID Set to VALID in order to use the EtherCAT system.
It is required to turn OFF and ON the power after changing the parameter
setting.
EtherCAT Device ID 0 to 65535 0 Set this parameter to communicate with the host control device using the
device ID.
0: No device is set.
1 to 65535: Valid network address
SIOW extension 0: INVALID 0: INVALID Enables/disables the SIOW extension.
1: VALID * After setting the parameter, the power cycling is required.
* For details about the parameter, refer to RCX 3 user's/operator’s manual
"Option board related parameters".

n NOTE
It is required to set the device ID or node address (e.g. station alias) for communication between the host device
and robot controller.

■ ■ Setting Method

n NOTE
Save the data inside the controller to external storage device through support software before changing the
controller settings.

1 Open the Parameter Edit screen.

At the initial screen, select [EDIT], press [Enter], and then select [PARAMETER].

2 Press the [F5] (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.
8
4 Edit the parameter.

Parameter Settings
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 EtherCAT compatible module is installed.

5 Press the [ESC] key to end the editing operation.

c CAUTION
• Do not touch the conductive areas and the electronic components of the EtherCAT compatible module.
• Do not subject the EtherCAT compatible module to impact shocks.
• Use care to keep moisture and conductive materials away from the EtherCAT compatible module in order to
prevent module failure.
• The "12.591: EtherCAT link error" alarm will be displayed at the programming box when the robot controller power
is turned ON if there is no connection to the EtherCAT system, or if an EtherCAT system error status exists. Even if
this occurs, the setting check described above can be performed.

c CAUTION
Data of the robot controller other than network parameters is not passed on automatically.
Be sure to back up from the controller before replacing it, download this data to the controller following
replacement, and then connect the controller to the network.

17
 9. Monitoring communication data

9
On/off data for the host controller device and controller I/O can be monitored via the programming box or
the RCX-Studio PC support software. This can be used to check the input/output addresses during setup or
for debugging.

c CAUTION
Monitoring communication data

Since the display update interval of the programming box and of RCX-Studio is longer than the data update
interval of I/O information, there may be cases in which accurate information is not shown if the on/off interval of
the I/O information is short.

9.1 Using the 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 SI monitor.

SO Displays the SO monitor.

SIW Displays the SIW monitor.

SOW Displays the SOW monitor.

Switches the monitor number.

It is possible to change the port number display by switching the monitor number.
For details on the monitor number, refer to "9.1.1 Switching the port number."

n NOTE
Four types of I/O data can be transmitted and received via the network: SI, SO, SIW, and SOW.

18
9.1.1 Switching the port number

■ ■ Monitor screen
By switching the monitor number the displayed port number can be changed.
The following table shows the correspondence between monitor number and port number. 9
Port name Monitor number Display range Display format

1 00-77

Monitoring communication data

: ON
SI,SO 2 100-177
: OFF

3 200-277

1 0-7
SIW
4-digit hexadecimal
SOW
2 8-15

* 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 changed by using the cursor keys to select [ ] or [ ] and pressing the enter key.

Changing the ones digit of the port number

For details on operation, refer to "9.1.3 Input/output detail view."

19
 9.1.2 Input/output list display

1 At the initial screen, select

9
[MONITOR] → [I/O]. "SI MONITOR 1" screen
The "DI Monitor 1" screen then displays.

2 Select the input/output monitor to

be displayed.
Monitoring communication data

Pressing the F2 key (DI)--F10 key (SOW)

displays the input/output monitor
corresponding to the key.
Pressing the MONITOR key changes the port
number.

Key Input/output
F2 DI
F3 DO
F4 MO
F5 LO
F6 TO
F7 SI
F8 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. "SI MONITOR 1 DETAIL" screen

The "Input/Output Details" screen then
displays.

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.
■ Changing the ones digit of port number
Use the cursor key to select [ ] or [ ],
then press the [enter] key. The port
number can then be changed.

Press the [ESC] key to end the monitor

display.

* There are no displays for SIW and SOW details.

20
 9.1.4 Switching the output status
In the "Input/output detail view" screen, DO, MO, LO, TO, and SO output can be switched on/off by individual
bits.

c CAUTION
• In order to switch the output on/off, the programming box must have control authority.
9
• SO00-07, SO10-17, and DO00-07 and DO10-17 cannot be changed, since they are dedicated bit outputs that
indicate the status of the controller.

Monitoring communication data

1 Display the output port "Monitor"
screen.
Press the F3 key (DO)--F6 key (TO) or F8 key
(SO) to display the "Monitor" screen.

Example of the output monitor detail screen:

2 Display the "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 [ ] or [ ],
then press the [enter] key. The port
number can then be changed.

4 Switch the output status.

Use the cursor keys to select the ON or OFF
setting for the bit number which changes
the output status, then press the [enter] key
to switch that output status.

Press the [ESC] key to end the monitor

display.

21
 9.2 Using RCX-Studio PC support software
From the window tree, choose [Monitor] and then double-click a port name DI through SOW to monitor, then

9
the monitor 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.
Monitoring communication data

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

22
■ ■ SI monitor

Name on/off If the name is hidden

Save name Reload name I/O name entry field Name on/off

9
Check name

Monitoring communication data

Function

Name on/off Shows/hides the name.

Save name Sends the name that is entered in the name entry field to the controller.

Reload name Loads the name from the controller, updating the indication of the name entry field.

Checks whether the entered I/O name conforms to the prescribed rules. For details on the naming
Check name
rules for an I/O name, see "I/O name entry field" below.
Enters the I/O name. Observe the following naming rules when entering the name.
• The maximum 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.
I/O name entry field
• 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 SI00-07 and SI10-17 are dedicated bit inputs, the I/O name cannot be input. Similarly, I/O
name input is not possible for DI inputs (DI00-07 and DI10-17).

* For a list of reserved words and system variables, and for usage examples of variable names, refer to "13. Reserved word list."

■ ■ SIW monitor

Display unit

Function

Display unit Displays port values in hexadecimal or decimal.

23
 ■ ■ SO monitor
If the name is hidden
Name on/off ON/OFF button
Save name Reload name Name on/off ON/OFF button

9
I/O name entry field
Check name
Monitoring communication data

Function

Name on/off Shows/hides the name.

Save name Sends the name that is entered in the name entry field to the controller.

Reload name Loads the name from the controller, updating the indication of the name entry field.

Check name Checks whether the entered I/O name conforms to the prescribed rules.

Switches the bit output on/off.

ON/OFF button However since SO00-07 and SO10-17 are dedicated bit outputs that indicate the status of the controller,
they cannot be switched on/off. Similarly, DO output (DO00-07 and DO10-17) cannot be switched on/off.
Enters the I/O name.
However since SO00-07 and SO10-17 are dedicated bit outputs that indicate the status of the controller,
Name entry field 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, SO10-17, DO00-07, and DO10-17 are dedicated bit outputs that indicate the status of the controller,
and therefore cannot be changed.

■ ■ SOW monitor

Display unit

Function

Display unit Displays port values in hexadecimal or decimal.

Tip
The SOW2-15 output values can be updated to desired values by rewriting the numerical value in the text box
during communication with the controller.
As SOW0 and 1 are dedicated outputs, their values cannot be changed.
As SIW is an external input value, it cannot be changed to an arbitrary value.

24
10. Disabling an option unit
If the controller is equipped with a field network option unit, it normally communicates with the host control
device and controls the robot in accordance with the communicated content, so a ladder program is required
for the host control device.

When performing teaching or trial operation of the robot by itself in a state in which the host control device's
ladder program has not been provided, the robot can be operated without communicating with the host
control device by setting the option board to "disabled". 10
c CAUTION
When shipped from the factory, all functions of the option unit are set to "enabled." In the "enabled" state, the robot

Disabling an option unit

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

Slot 1

Slot 2
Option board enabled 0 : INVALID, 1 : VALID 1 : VALID
Slot 3

Slot 4

c CAUTION
The "Option board enable" parameter is set individually for option slots 1 through 4. When changing the settings of
an option board, be sure to verify the location in which the target option board is installed, and change the setting
only for the target slot number.
The illustration below shows the correspondence between the location of each option slot and the actual
installation location.

1 2

3 4

25
 10.1 Making settings
An option board can be disabled either from the programming box or from RCX-Studio PC support 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].

10
Disabling an option unit

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.

26
4 Edit the parameter.
Change the setting for the target slot, and press the enter key.

1 2

10
3 4

Disabling an option unit

n NOTE
The values of the option board enable parameter correspond to slots 1 through 4 starting from the left.
Verify the slot in which the network unit is installed, 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 the network unit is installed, and change the value only for the target slot
number.

27
 2 Select the option slot "Value" column, and choose either "VALID" or "INVALID."
C101 through C104 in the chart correspond to option slots 1 through 4 of controller 1.
If controllers are linked 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"

10
Disabling an option unit

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 restarted.

[Save] button

28
11. Countermeasure against communication failure
If communication is not established, diagnose the situation by referring to the alarm codes or alarm messages
of the controller unit and to the network unit's LED illumination pattern, and take the appropriate actions.

7-segment LED Network unit

11

Countermeasure against communication failure

11.1 Review of start-up work
The following steps must be taken when starting up the network system.
If communication cannot be established after the cabling and settings have been completed, it is possible that
one of the steps was not performed correctly.

■ ■ Procedure

Connection
• Determine the network configuration
• Connect cables
• Noise countermeasures (only if necessary)

Setting
• Setting for the host control device (EtherCAT Master)
- Use ESI file to register device information
- Network parameter setting for the robot controller (Node address or Device ID)
- I/O size setting for the host control device (EtherCAT Master)
→After setting, put the system in the RUN state

• Setting on the robot controller (EtherCAT Slave)

- Network parameter setting (Device ID)
* This setting is not necessary for communication with the node address.
- I/O size setting for the robot controller

Communication is established, and cyclic communication begins

If communication is not established, check the following points.

• Connections : Do the cables meet the network specifications, and are they securely connected?
• Parameter setting :A
 re the node address / device ID on the host control device (Master) and the device ID on the
controller specified correctly?
• ESI file : The I/O size
• I/O size setting :A
 re I/O sizes of the host control device (master) and robot controller matched?
For details, refer to Chapter 3 "3.3 How to extend I/O size"

29
 11.2 Viewing the alarm codes in the 7-segment LED

Normal state
• The "PWR" LED on the front of the controller is lit, and the 7-segment LED shows the following.
(Servo off, return-to-origin incomplete, emergency stop cancelled)

S O E

Abnormal state

11
• The "PWR" LED on the front of the controller is lit, and the 7-segment LED shows an alarm code.
• Note the alarm message on the programming box, and take the actions prescribed by the troubleshooting guidelines.
(Example) Display when an alarm occurs
"E + alarm group number" and "alarm type number" are displayed alternately.
Countermeasure against communication failure

* In the example above, alarm code "17.403" is indicated.

* For details on the alarm messages and content corresponding to each alarm code, refer to "11.3 Diagnostics by alarm
message," or the troubleshooting section of the RCX 3 series user's manual.

11.3 Diagnostics by alarm message

Alarm messages related to the network unit are shown below.
Alarm messages not listed in this document may 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.

12.591 : EtherCAT link error

Code : &H000C &H024F

a. Error occurred in cable for EtherCAT system.

b. The communication setting of the EtherCAT system incorrect.
Meaning/Cause
c. The master module power is turned off, or the PLC has stopped operating, or is broken.
d. The EtherCAT compatible module is breakdown.
a. Check for a break disconnection, wiring error, short circuit on the EtherCAT cable or
the specifications (cable length, etc.).
Action b. Check the communication setting.
c. Check that the master module operates correctly.
d. Replace the EtherCAT compatible module.

12.592 : EtherCAT overtime error

Code : &H000C &H0250

a. Communication error occurred by noise, etc. in the EtherCAT system.

Meaning/Cause b. Master module power is turned OFF or has stopped operating.
c. The cable is broken or unconnected.
a. Take the noise preventive actions for the cable and controller of the EtherCAT system.
Action b. Check that the master module operates correctly.
c. Check the EtherCAT cable connectio

30
11.3.2 Alarms related to I/O on/off status
These errors occur depending on the state of the dedicated input/output.
If the robot controller is equipped with a network unit, the robot cannot be operated unless an emergency stop
or STOP signal is input from the host control device, even if the robot is being controlled from somewhere
other than the host control device.
For details on I/O functions, refer to "Remote I/O Manual."

12.400 : Stop input on

Code : &H000C &H0190

a. Program execution or axis movement was attempted in the stop status.

b. The robot was put in the stop status during program execution or axis movement.
Meaning/Cause
c. 24V-power for I/O is not supplied to the DIO connector.

11
d. The DIO connector is not connected.
a, b. Cancel the stop status, and then execute the program or move the axis.
c. Supply 24V-power for I/O.
Action
d. Connect the DIO connector.
* Set the "Option board enable" parameter INVALID when DIO is not used.

Countermeasure against communication failure

12.600 : Emergency stop on
Code : &H000C &H0258

a. The programming box emergency stop button was pressed.

b. The emergency stop terminal on the SAFETY connector is open (emergency stop status).
Meaning/Cause
c. The programming box or terminator is not connected to the PB connector.
d. The SAFETY connector is not connected.
a. Release the emergency stop button on the programming box.
b. Close the emergency stop terminal on SAFETY connector.
Action
c. Connect the programming box or terminator to the PB connector.
d. Attach the SAFETY connector.

11.3.3 Alarms that the customer cannot resolve

These are error messages that are not expected to occur in the field.
If one of these errors occurs, please contact your distributor with details of the situation.

12.767 : EtherCAT initialize error

Code : &H000C &H02FF

Meaning/Cause Initializing the EtherCAT option board failed.

Action Contact your distributor.

12.900 : Incorrect option setting

Code : &H000C &H0384

a. Error occurred in ID setting on the option module.

Meaning/Cause b. Option modules that cannot be mixed were installed.
c. The installed option module cannot be identified.
a. Check the ID setting of the option module.
b. Install the correct option modules.
Action
c. Replace the option module.
• Replace the controller.

12.904 : SIO option board initialize error

Code : &H000C &H0338

Meaning/Cause Initializing the SIO option board failed.

Action Contact your distributor.

31
 11.3.4 Checking alarm codes in the programming box

1 Open the Parameter Edit screen.

At the initial screen, select [Edit], press [Enter], then select [Parameter].

11
Countermeasure against communication failure

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.

32
12. Specifications
12.1 Network specifications
Spec. Item Contents

RCX340: V1.62 or later RCX320: all versions are supported

Supported software versions PBX/PBX-E: V1.08 or later

RCX-Studio Pro: V2.1.9 or later RCX-Studio 2020: all versions are supported

Available via:
ESI file
https://global.yamaha-motor.com/business/robot/download/fieldbus/

Transmission speed 100Mbps (Auto-negotiation)

Connector specifications RJ-45 connector (8-pole modular connector) 2 ports

Conforming cable specifications CAT 5e or higher STP cable (double shield)

12
Max. cable length 100 m

Monitor LEDs RUN, ERROR, Link/Activity:Port1-2

Specifications
Input/output points byte 0-3 Dedicated word input : 2 words
(I n parentheses shows when byte 4-31 General purpose word input : 14 words
SIOW are extended.*) Input
48 bytes in total byte 32-33 Dedicated bit input : 16 points
(256 bytes in total) byte 34-45 General-purpose bit input : 96 points
byte 46-47 Reserved area
(byte 48-255) (General-purpose word input : 104 words

byte 0-3 Dedicated word output : 2 words

byte 4-31 General-purpose word output : 14 words

Output Dedicated bit output : 16 points

48 bytes in total byte 32-33 General-purpose bit output : 96 points
(256 bytes in total) byte 34-45 Reserved area
byte 46-47 (G eneral-purpose word output
(byte 48-255) or
Real time output area : 104 words)

* When the serial Input/Output word is extended (Option board related parameters "SIOW extension": VALID),
the input/output points become as the table above.
For details about the parameter, refer to RCX 3 user's/operator’s manual "Option board related parameters".

33
 12.2 Input/output specifications
Controller ⇒ Host control device Host control device ⇒ Controller
Address (WRITE) I/O function Address (READ) I/O function
SOW(0) Remote command status area SIW(0) Remote command area
– Remote command response –
SOW(1) SIW(1) Remote command data area
area
SOW(2) SIW(2)
SOD(2) SID(2)
SOW(3) SIW(3)
SOW(4) SIW(4)
SOD(4) SID(4)
SOW(5) SIW(5)
SOW(6) SIW(6)
SOD(6) SID(6)
SOW(7) SIW(7)
Remote command response
SOW(8) SIW(8) Remote command data area /
SOD(8) area / SID(8)
SOW(9) SIW(9) General-purpose input area
General-purpose output area
SOW(10) SIW(10)
SOD(10) SID(10)
SOW(11) SIW(11)

12 SOW(12)
SOW(13)
SOW(14)
SOD(12)
SIW(12)
SIW(13)
SIW(14)
SID(12)

SOD(14) SID(14)
SOW(15) SIW(15)
SO00 Emergency stop status output SI00 Emergency stop input
Specifications

SO01 CPU_OK status output SI01 Servo on input

SO02 Servo on status output SI02
SO03 Alarm status output SI03
SO07 - SO00 SI07 - SI00 Reserved area (do not use)
SO04 MPRDY status output SI04
SO05 SI05
SO06 Reserved area (do not use) SI06 Stop input
SO07 SI07 Reserved area (do not use)
SO10 Auto mode status output SI10 Sequence control input
Return-to-origin complete
SO11 SI11 Reserved area (do not use)
status output
Sequence program execution
SO12 SI12 Automatic operation start
status output
Robot program operating
SO13 SI13 Reserved area (do not use)
SO17 - SO10 output SI17 - SI10
Return-to-origin input
SO14 Program reset status output SI14
(incremental type axis)
SO15 Warning output SI15 Program reset input
SO16 SI16 Alarm reset input
Reserved area (do not use) Return-to-origin input
SO17 SI17
(absolute type axis)
SO27 - SO20 SI27 - SI20
SO37 - SO30 SI37 - SI30
SO47 - SO40 SI47 - SI40
SO57 - SO50 SI57 - SI50
SO67 - SO60 SI67 - SI60
SO77 - SO70 SI77 - SI70
General-purpose output area General-purpose input area
SO107 - SO100 SI107 - SI100
SO117 - SO110 SI117 - SI110
SO127 - SO120 SI127 - SI120
SO137 - SO130 SI137 - SI130
SO147 - SO140 SI147 - SI140
SO157 - SO150 SI157 - SI150
SO167 - SO160 SI167 - SI160
Reserved area (do not use) Reserved area (do not use)
SO177 - SO170 SI177 - SI170

For details on each I/O function, refer to the separate "Remote I/O Manual".

34
12.3 Input/output specifications (extension)
Controller ⇒ Host control device Host control device ⇒ Controller
Address (WRITE) I/O function Address (READ) I/O function
SOW(0) Remote command status area SIW(0) Remote command area
– –
SOW(1) Remote command response area SIW(1) Remote command data area
SOW(2) SIW(2)
SOD(2) SID(2)
SOW(3) SIW(3)
SOW(4) SIW(4)
SOD(4) SID(4)
SOW(5) SIW(5)
SOW(6) SIW(6)
SOD(6) SID(6)
SOW(7) SIW(7)
Remote command response area
SOW(8) SIW(8) Remote command data area /
SOD(8) / SID(8)
SOW(9) SIW(9) General-purpose input area
General-purpose output area
SOW(10) SIW(10)
SOD(10) SID(10)
SOW(11) SIW(11)
SOW(12) SIW(12)
SOD(12) SID(12)
SOW(13) SIW(13)

12
SOW(14) SIW(14)
SOD(14) SID(14)
SOW(15) SIW(15)
SO00 Emergency stop status output SI00 Emergency stop input
SO01 CPU_OK status output SI01 Servo on input
SO02 Servo on status output SI02
SO07 SO03 Alarm status output SI03

Specifications
SI07 - SI00 Reserved area (do not use)
- SO00 SO04 MPRDY status output SI04
SO05 SI05
SO06 Reserved area (do not use) SI06 Stop input
SO07 SI07 Reserved area (do not use)
SO10 Auto mode status output SI10 Sequence control input
Return-to-origin complete status
SO11 SI11 Reserved area (do not use)
output
Sequence program execution
SO12 SI12 Automatic operation start
status output
SO17 SO13 Robot program operating output SI13 Reserved area (do not use)
SI17 - SI10
- SO10 Return-to-origin input
SO14 Program reset status output SI14
(incremental type axis)
SO15 Warning output SI15 Program reset input
SO16 SI16 Alarm reset input
Reserved area (do not use) Return-to-origin input
SO17 SI17
(absolute type axis)
SO27 - SO20 SI27 - SI20
SO37 - SO30 SI37 - SI30
SO47 - SO40 SI47 - SI40
SO57 - SO50 SI57 - SI50
SO67 - SO60 SI67 - SI60
SO77 - SO70 SI77 - SI70
General-purpose output area General-purpose input area
SO107 - SO100 SI107 - SI100
SO117 - SO110 SI117 - SI110
SO127 - SO120 SI127 - SI120
SO137 - SO130 SI137 - SI130
SO147 - SO140 SI147 - SI140
SO157 - SO150 SI157 - SI150
SO167 - SO160 SI167 - SI160
Reserved area (do not use) Reserved area (do not use)
SO177 - SO170 SI177 - SI170

SOW(24) SIW(24)
SOD(24) SID(24)
SOW(25) SIW(25)
General-purpose output area
SOW(26) SIW(26)
SOD(26) SID(26)
SOW(27) or SIW(27) General-purpose input area
: : : :
Real time output area*
SOW(126) SIW(126)
SOD(126) SID(126)
SOW(127) SIW(127)

For details on each I/O function, refer to the separate "Remote I/O Manual".
* W hen "real time output" parameter is valid, the extended serial output area is used for real time output.
For details, refer to RCX 3 user's/operator’s manual "I/O parameters".

35
 13. Reser ved word list
Because the following names are reserved for the robot language, they cannot be used as I/O names.

A D HOLDALL MRKSET
ABS DATE I MSG
ABSADJ DBP IDIST MSGCLR
ABSRPOS DECEL IF MSPEED
ACCEL DEF IMP MTRDUTY
ACCESS DEGRAD INCH N
ACO DELAY INCHT NAME
ALL DI INCHXY NEXT
ALM DIM INIT NOT
ALMRST DIR INPUT O
AND DIST INROFST OFFLINE
ARCHP1 DO INT ON
ARCHP2 DPM ION ONLINE
ARM DRIVE J OPEN
ARMCND DRIVEI JOG OPT

13 ARMSEL
ARMTYP
DRV
E
JOGT
JOGXY
OR
ORD
ARP ELSE JTOXY ORGORD
ARY ELSEIF L ORGRTN
Reserved word list

ASPEED EMG LEFT ORIGIN

ATN END LEFTY OUT
ATN2 ENDIF LEN OUTPOS
ATTR EOF LET P
AXWGHT EQV LINEMODE P
B ERA LO PATH
BIN ERL LOAD PCM
BREAK ERR LOC1 PDEF
C ERROR LOC2 PGM
CALL ETH LOC3 PGMTSK
CASE ETHSTS LOC4 PGN
CFG EXIT LOC5 PLT
CHANGE EXITTASK LOC6 PMOVE
CHGPRI F LOCF PNM
CHGWRK FN LOG PNT
CHR FOR LSHIFT PPNT
CLOSE G M PRINT
CMU GEP MAINPG PRM
CNT GEPSTS MCHREF PSHFRC
CORRECTXY GO MEM PSHJGSP
CONTPLS GOSUB MID PSHMTD
COPY GOTO MO PSHRSLT
COS H MOD PSHSPD
CREWRK HALT MODE PSHTIME
CURPNT HALTALL MOTOR PUSH
CURTQST HAND MOVE R
CURTRQ HEX MOVEI RADDEG
CUT HND MOVET RBT
HOLD MRF RBTWRK

36
 READ SGI TCHXY WHRXY
REF SGR TCOUNTER WHRXYEX
REM SHARED TEACH WRITE
REN SHIFT THEN WRKDEF
RESET SI TIME X
RESTART SID TIMER XOR
RESUME SIN TO XYTOJ
RETURN SIW TOLE
RIGHT SKIP TORQUE
RIGHTY SKIPTO TSKECD
RSHIFT SO TSKMON
RTO SOD TSKPGM
RUN SOW V
RUNTO SPEED VAL
S SQR VAR
S START VER
SCK STEP VMCDEF
SCRINR STOP VMCPNO
SELECT STR VMCORRECT

13
SEND SUB VMCSTS
SEQCMPL SUSPEND W
SEQUENCE SWI WAIT
SERVO SYNCHK WEIGHT
SET T WEIGHTG

Reserved word list

SETGEP TAG WEND
SETPW TAN WHERE
SFT TASKS WHILE

■ ■ List of system variables

Because the following names are used as system variable names, they cannot be used at the beginning of other
variable names (n: numeric value).

ACn GPn PNn SOn

DIn Hn SGIn SONMn
DINMn LOn SGRn TOn
DOn MOn SIn
DONMn PCn SINMn
FN Pn Sn n: numeric value

■ ■ 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 characters are added to them.

Example: "ABS" cannot be used, but "ABS1" or "ABSX" can be used.

• Keywords reserved as system variables cannot be used at the beginning of other variable names, even if alphanumeric
characters are added to them.

Example: "FN" cannot be used. "FNA" and "FN123" also cannot be used.

37
Revision Record

Manual version Issue date Description

Ver. 1.00 Aug. 2018 First edition
Ver. 1.02 Aug. 2019 WEIGHTG was added to the reserved words.
Ver. 1.10 Dec. 2019 Controller RCX320 was added.
Ver. 1.11 May 2020 Extended serial input/output word area was added.

User’s Manual
Network Board

EtherCAT
May 2020
Ver. 1.11

YAMAHA MOTOR CO., LTD. Robotics Operations

All rights reserved. No part of this publication may be reproduced in any
form without the permission of YAMAHA MOTOR CO., LTD.
The contents of this manual are subject to change without prior 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.
Robotics Operations
127 Toyooka, Kitaku, Hamamatsu, Shizuoka, 433-8103, Japan
Tel. 81-53-525-8250 Fax. 81-53-525-8378

Robot manuals can be downloaded from our company website.

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