b-CAP Protocol (TCP) Driver

DENSO WAVE INCORPORATED
b-CAP Protocol
(TCP) Driver
1 System Configuration....................................................................................................... 3
2 External Device Selection ................................................................................................ 4
3 Communication Settings .................................................................................................. 5
4 Setup Items ...................................................................................................................... 9
5 Supported Device Addresses......................................................................................... 13
6 Device Code and Address Code.................................................................................... 40
7 Error Messages.............................................................................................................. 44
1
b-CAP Protocol (TCP) Driver
Introduction
This manual describes how to connect the Display and the External Device (target RC).
In this manual, the connection procedure will be described in the sections identified below:
1 System Configuration
) "1 System Configuration" (page 3)
This section lists the types of External
Devices and SIO that you can connect.
2 External Device Selection

) "2 External Device Selection" (page 4)
Select a model (series) of the External
Device and its connection method.
3 Communication Settings
)"3 Communication Settings" (page 5)
This section shows setting examples for
communicating between the Display and
the External Device.
4 Setup Items
)"4 Setup Items" (page 9)
This section describes communication
setup items on the Display. Set the
Display’s communication settings in GP
Pro-EX or in off-line mode.
Operation
GP-Pro EX Device/PLC Connection Manual 2

1 System Configuration
The system configuration for connecting DENSO WAVE INCORPORATED's External Device and the Display is
shown below.
Series Controller Link I/F SIO Type Setting Example

*1
RC7M RC7M Ethernet port on Controller Ethernet (TCP) "Setting Example 1" (page 5)
RC8 RC8 Ethernet port on Controller Ethernet (TCP) "Setting Example 2" (page 7)
*1 Supports robot controller version 2.8 or later.
Connection Configuration
• 1:1 Connection
• 1:n Connection
• If you want to power down the system, end the communication first. You can end
communication using one of the following methods.
• View the offline mode screen on the Display.
• Set the HMI system variable (#H_ScanOffControl) to ON.

2 External Device Selection
Select the External Device to be connected to the Display.
Setup Items Setup Description

Use an integer from 1 to 4 to enter the number of Devices/PLCs to connect to the
Number of Devices/PLCs
display.
Select the manufacturer of the External Device to be connected. Select "DENSO
Manufacturer
WAVE INCORPORATED".
Select a model (series) of the External Device to be connected and connection
method. Select "b-CAP Protocol(TCP)".
Series Use the system configuration to check which External Devices you can connect with
"b-CAP Protocol(TCP)".
) "1 System Configuration" (page 3)
Select the Display port to be connected to the External Device. Select "Ethernet
Port
(TCP)".
Use System Area Not available in this driver.

3 Communication Settings
Examples of communication settings of the Display and the External Device, recommended by Pro-face, are
shown.
3.1 Setting Example 1

GP-Pro EX Settings
Communication Settings
To display the setup screen, from the [Project] menu, point to [System Settings] and select [Device/PLC].
Device Setting
To display the [Individual Device Settings] dialog box, from [Device-Specific Settings] in the [Device/PLC]
window, select the External Device and click [Settings] . To connect multiple External Devices, from
[Device-Specific Settings] in the [Device/PLC] window, click [Add Device] to add another External Device.
• Check with a network administrator about IP address.

• Do not set the duplicate IP address in the same network.
• Set IP address and Port Number on the External Device in the [Individual Device Settings]
dialog box.
• You need to set IP address on the Display in offline mode.

Settings of External Device

Use the Teaching Pendant for communication settings.
For details on communication settings, please refer to the manual of the External Device.
1 Change the External Device to manual mode.

2 On the main screen, press [Set F6].
3 Press [Options. F7]-[Extnsion F8]. Type "1214" to enable the ORiN option.
4 Press [Set Com. F5]-[Permit. F1].
5 Select "Ethernet", and press [Change. F5].
6 Select "Read/write". Press [OK] to return to the Communications Setting Menu.
7 Press [Ext. Run F6].
8 Select "Ethernet", and press [IP Set].
• To start a robot from the Display, set the startup authority to "Ethernet". When this setting is
made, however, startup from other devices than the Display become disabled.
9 Set the IP address (192.168.0.2) of the Display. Press [OK] to return to the Communications Setting Menu.
10 Press [Address F4].
11 Set the IP address of the External Device.

IP address 192.168.0.1
Subnet mask 255.255.255.0
12 Press [OK].

3.2 Setting Example 2

GP-Pro EX Settings
Device Setting
• Check with a network administrator about IP address.

• Do not set the duplicate IP address in the same network.
• Set IP address and Port Number on the External Device in the [Individual Device Settings]
dialog box.
• You need to set IP address on the Display in offline mode.

Settings of External Device

Use the Teaching Pendant for communication settings.
For details on communication settings, please refer to the manual of the External Device.
1 Change the External Device to manual mode.

2 On the main screen, press [Setting].
3 Press [Communication and Token F5]-[Network and Permission F2].
4 Select "Ethernet", and press [Edit].
5 Set the following, and press [OK].

Permission Read/Write
DHCP Disable
IP address 192.168.0.1
Subnet mask 255.255.255.0
6 Press [Executable Token F1].

7 Select "Ethernet", and press [Edit].
• To start a robot from the Display, set the startup authority to "Ethernet". When this setting is
made, however, startup from other devices than the Display become disabled.
8 Set the IP address (192.168.0.2) to Display, and press [OK].

4 Setup Items
Set up the Display’s communication settings in GP Pro-EX or in the Display’s off-line mode.
The setting of each parameter must match the External Device.
)"3 Communication Settings" (page 5)
• Set the Display’s IP address in off-line mode.
Cf. Maintenance/Troubleshooting Guide "Ethernet Settings"
4.1 Setup Items in GP-Pro EX


Enter the Display's port number, from 1024 to 65535.
Port No.
Select the [Auto] check box to set the port number automatically.
Use an integer from 1 to 127 to enter the time (seconds) the Display waits for a response
Timeout
from the External Device.
When there is no response from the External Device, use an integer from 0 to 255 to enter
Retry
how many times the Display retransmits the command.
Use an integer from 0 to 255 to enter how much time (ms) the Display waits after receiving
Wait To Send
packets until it transmits the next command.
• Refer to the GP-Pro EX Reference Manual for information about Indirect Devices.
Cf. GP-Pro EX Reference Manual "Changing the Device/PLC at Runtime (Indirect
Device)"

Device Setting

Series Select the series of the External Device.
Set the IP address of the External Device.
IP Address
• Check with a network administrator about IP address. Do not set the duplicate IP
address.
Enter a port number of the External Device, from 1 to 65535. For this driver, however, set
Port No.
the default setting of "5007".

4.2 Setup Items in Offline Mode
• Please refer to the Maintenance/Troubleshooting Guide for more information on how to enter
offline mode or about operations.
Cf. Maintenance/Troubleshooting Guide "Offline Mode"
• The number of setup items that can display on one page in offline mode depends on the
Display in use. Please refer to the Reference manual for details.
To display the setting screen, in offline mode's [Peripheral Settings] touch [Device/PLC Settings]. Touch the
External Device you want to set from the displayed list.

Set the Port No. of the Display.
Select either of [Fixed] or [Auto]. When you select [Fixed], use an integer from "1024 to
Port No.
65535" to enter the port number of the Display.When you select [Auto], the port number
will be automatically assigned regardless of the entered value.
Use an integer from 1 to 127 to enter the time (seconds) the Display waits for a response
Timeout
from the External Device.
When there is no response from the External Device, use an integer from 0 to 255 to enter
Retry
how many times the Display retransmits the command.
Use an integer from 0 to 255 to enter how much time (ms) the Display waits after receiving
Wait To Send
packets until it transmits the next command.

Device Setting
To display the setting screen, from [Peripheral Settings] touch [Device/PLC Settings]. Touch the External Device
you want to set from the displayed list, and touch [Device].

Series Select the series of the External Device.
Set the IP address of the External Device.
IP Address
• Check with a network administrator about IP address. Do not set the duplicate IP
address.
Enter a port number of the External Device, from 1 to 65535. For this driver, however, set
Port No.
the default setting of "5007".

5 Supported Device Addresses
The following section shows the range of supported device addresses. Please note that the actual supported range
of the devices vary depending on the External Device to be used. Please check the actual range in the manual of
your External Device.
5.1 RC7M Series

This address can be specified as system data area.
Device Bit Address Word Address 32bits Notes

Variable I - I00000 - I32765
Variable F - F00000 - F32765
*1 *2
Variable V - V00000.0 - V32765.2
*1 *3
Variable P - P00000.0 - P32765.6
Variable J - J00000.0 - J32765.5 *1 *4
Variable T - T00000.0 - T32765.9 *1 *5
*6
Variable S - S00000 - S32765
Variable IO - IO00000 - IO00511 *7
TOOL settings - TOOL00.0 - TOOL63.5 *1 *8
*1 *9
WORK settings - WORK0.0 - WORK7.5
AREA00.00 - *1 *10
AREA settings -
AREA31.12
SPDCNF0000 -
Using condition parameter -
SPDCNF0474
Special register 1 *11 *12
- CREG0 - CREG4
Controller
Error code - CODE0 *11 *13
Error message - ERR0 *11 *14
*11 *15
Version string - VER0
*16 *17
Auto mode - AUTO0
Error clear - ERRCLR0 *16 *18
*11
Number of programs - PMAX0
PNAME001 - *11
Program name -
PNAME256
*11 *19
Current robot position - CPOS0 - CPOS6
Current robot position *11 *20
- CANG0 - CANG7
(each axis value)
Current robot position *11 *21
- CTRN0 - CTRN9
expressed (T type)
*11 *22
Special register 2 Robot - RREG0 - RREG9
Change the Tool *16 *23
- TOOLN0
coordinates


Change the Work *16 *23
- WORKN0
coordinates
PREG001.0 - *11 *24
Special register 3 Program -
PREG256.3
*16 *25
Program start - PSTR001 - PSTR256
*16 *26
Program stop - PSTP001 - PSTP256
*16 *27
Motor ON/OFF - MTON0
*16 *28
Reboot REBOOT - -
PNAMED001 - *11 *29
Directory name -
PNAMED256
PNAMEN001 - *11 *30
File name -
PNAMEN256
Program refresh PREFRESH - - *16 *31
*1 Read / write in word units.

Writing data to the External Device involves defined structural units. The Display reads the structural unit from
the External Device, changes the targeted word data only, then writes the data back to the External Device.
When the write operation occurs on the External Device to the word address during the read/write process, the
resulting data may be incorrect.
*2 The address structure of Variable V is as follows.
V00000.0
Element
Address (00000 to 32765)
Element Register Size Attribute Type

0 X 32 Read/Write Float
1 Y 32 Read/Write Float
2 Z 32 Read/Write Float

*3 The address structure of Variable P is as follows.

P00000.0
Element
Address (00000 to 32765)
6-Axis
3 RX 32 Read/Write Float
4 RY 32 Read/Write Float
5 RZ 32 Read/Write Float
6 Fig 32 Read/Write Int
4-Axis
3 T 32 Read/Write Float
4 unused 32 Read/Write Float
*4 The address structure of Variable J is as follows.

J 00000.0
Element
Address (00000 to 32765)

0 J1 32 Read/Write Float

*5 The address structure of Variable T is as follows.

T 00000.0
Element
Address (00000 to 32765)

3 Ox 32 Read/Write Float
4 Oy 32 Read/Write Float
5 Oz 32 Read/Write Float
6 Ax 32 Read/Write Float
7 Ay 32 Read/Write Float
8 Az 32 Read/Write Float
*6 You can write up to 254 single-byte characters to the S device.

*7 The IO device range is the range normally accessible by the External Device.
When you add an expansion board to the External Device, add the number of points on the expansion board to
the accessible range.
Read takes place when the IO status is either 0 (OFF) or 1 (ON). IO changes when you write either 0 (OFF) or
1 (ON) to IO. When you write a value other than 0 or 1, uses the value written to the least significant bit.
*8 The address structure of TOOL settings is as follows.
TOOL00.0
Element
Tool No. (00 to 63)


*9 The address structure of WORK settings is as follows.

WORK0.0
Element
Work No. (0 to 7)

*10 The address structure of AREA settings is as follows.

AREA00.0
Element
Area No. (00 to 31)

6 DX 32 Read/Write Float
7 DY 32 Read/Write Float
8 DZ 32 Read/Write Float
9 IO 32 Read/Write Int
10 POS 32 Read/Write Int
11 Err 32 Read/Write Int
12 Enable 32 Read/Write Int
*11 Write disabled.

*12 The address structure of Special register 1 Controller is as follows.

CREG0
Element

Short
0 Operation mode 16 Read 1: manual, 2: teach check,
3: auto, 4: external auto
Short
1 Emergency stop 16 Read
1:ON, 0:OFF
Short
2 Auto enable status 16 Read
1:ON, 0:OFF
Short
3 Protective stop 16 Read
1:ON, 0:OFF
Short
4 Deadman switch status 16 Read
1:ON, 0:OFF
*13 Stores the error code of the External Device's latest error.
*14 Stores the error message of the External Device's latest error.
*15 Stores the version of the External Device.
*16 Read disabled.
*17 Writes 1 for internal auto mode, writes 2 for external auto mode.
*18 You can clear errors on the External Device by writing a value.
*19 The address structure of Current robot position is as follows.
CPOS0
Element
0 X 32 Read Float
1 Y 32 Read Float
2 Z 32 Read Float
3 RX 32 Read Float
4 RY 32 Read Float
5 RZ 32 Read Float
6 Fig 32 Read Int

*20 The address structure of Current robot position (each axis value) is as follows.
CANG0
Element
0 J1 32 Read Float
1 J2 32 Read Float
2 J3 32 Read Float
3 J4 32 Read Float
4 J5 32 Read Float
5 J6 32 Read Float
6 J7 32 Read Float
7 J8 32 Read Float
*21 The address structure of Current robot position expressed(T type) is as follows.
CTRN0
Element
0 X 32 Read Float
1 Y 32 Read Float
2 Z 32 Read Float
3 Ox 32 Read Float
4 Oy 32 Read Float
5 Oz 32 Read Float
6 Ax 32 Read Float
7 Ay 32 Read Float
8 Az 32 Read Float
9 Fig 32 Read Int
*22 The address structure of Special register 2 Robot is as follows.

RREG0
Element
0 Currently used tool number 32 Read Int
1 Currently used work number 32 Read Int
2 Internal speed 32 Read Float
3 Internal acceleration 32 Read Float
4 Internal deceleration 32 Read Float
5 External speed 32 Read Float
6 External acceleration 32 Read Float
7 External deceleration 32 Read Float
8 Servo status 32 Read Int 1:ON, 0:OFF
9 Robot type data 32 Read Int*1
*1 Robot controller version 2.9 or later is required to use RREG9.

*23 To run this device, run the RoboSlave.pac.

*24 The address structure of Special register 3 Program is as follows.
PREG000.0
Element
Program No. (001 to 256)

Int
1:DORMANT, 2:READY, 3:RUN,
0 Status of task 32 Read
4:WAIT, 6:SUSPEND,
0:NON_EXISTENT
1 Priority of task 32 Read Int
Line number of currently
2 32 Read Int
running main program
One cycle execution time of
3 32 Read Int 0...9999999 (ms)
task
*25 This driver executes only tasks without arguments. Before executing tasks, perform the following operations.
1.Transfer RoboSlave.pac, RoboSlave.h and userextension.pac to the External Device.
2. Use the Teaching Pendent to set communication and startup settings.
3. Set 2 to the AUTO device.
While executing tasks on the External Device, if you run PSTR the Teaching Pendant will display the message,
"The same program is running." To prevent running two instances of PSTR, use PREG***.0 to check the task
status, and then run PSTR.
Write values and operations are as follows.
1. Run 1 cycle
2. Run continuously
3. 1 Step
4. Not supported
5. Retry (available when continue stopped)
Other than above: Not supported (error will display.)
*26 Before executing tasks, use the Teaching Pendant to change the External Device to Auto Mode.
0: Stop (default)
1: Pause
2: Step stop
3. Cycle Stop
4: Reset
5: Continue stopped
*27 Adjust the timeout value to use this command. The External Device will not respond until motor operation is
complete.
*28 This device restarts the Display.
When you restart the Display from the External Device, do not use the Special Switch's Reset operation. If you
do, you will not be able to reconnect to the External Device.
Communication is not possible as this is an internal device.
When executed, connections with all devices are terminated and the Display restarts. To shut down only the
Display, do so only after entering the offline menu or after off-scanning all devices.
*29 Gets the program name (full path) string, minus the file name.
*30 Gets the program name (full path) string, minus the folder name.
*31 To refresh the task name, execute the task after setting up the task name in the PNAME device.

• Please refer to the GP-Pro EX Reference Manual for system data area.
Cf. GP-Pro EX Reference Manual "LS Area (Direct Access Method Area)"
• Please refer to the precautions on manual notation for icons in the table.
) "Manual Symbols and Terminology"

5.2 RC8 Series

This address can be specified as system data area.

Variable I - I00000 - I32765
Variable F - F00000 - F32765
*1 *2
Variable V - V00000.0 - V32765.2
*1 *3
Variable P - P00000.0 - P32765.6
*1 *4
Variable J - J00000.0 - J32765.7
*1 *5
Variable T - T00000.0 - T32765.9
*6
Variable S - S00000 - S32765
*7
Variable IO - IO00000 - IO00511
TOOL settings - TOOL00.0 - TOOL63.5 *1 *8 *9
WORK settings - WORK0.0 - WORK7.6 *1 *8 *10
AREA00.00 - *1 *8 *11
AREA settings -
AREA31.33
Special register 1 *12 *13
- CREG0 - CREG5
Controller
Error code - CODE0 *12 *14
Error message - ERR0 *12 *15
*12 *16
Version string - VER0
Error clear - ERRCLR0 *17 *18
Number of programs - PMAX0 *12
PNAME001 - *12
Program name - -
PNAME256
Current robot position - CPOS0 - CPOS6 - *8 *12 *19
Current robot position *8 *12 *20

- CANG0 - CANG7 -
(each axis value)
Current robot position *8 *12 *21
- CTRN0 - CTRN9 -
expressed (T type)
*22
Special register 2 Robot - RREG00 - RREG10 -
Change the Tool *17
- TOOLN0 -
coordinates
Change the Work *17
- WORKN0 -
coordinates
PREG001.0 - *23
Special register 3 Program - -
PREG256.5
*17 *24
Program start - PSTR001 - PSTR256 -
*17 *25
Program stop - PSTP001 - PSTP256 -
*17 *26
Motor ON/OFF - MTON0 -


PNAMED001 - *12 *27
Directory name -
PNAMED256
PNAMEN001 - *12 *28
File name -
PNAMEN256
Request to get control TAKEARM00 - *17 *29
- -
authority TAKEARM31
Release robot control *17
GIVEARM - -
priority
Calculates destination
*8 *30 *31
coordinates TOOL - DEVH000 - DEVH299 -
coordinates
Motion skip - MSKIP00 - MSKIP31 - *17 *32
Move specified *31 *33

- MOVE000 - MOVE199 -
coordinates
Relative movement *31 *34
- DRAW000 - DRAW199 -
WORK coordinate
DRIVEEX000 - *31 *35
Absolute motion each axis - -
DRIVEEX199
Select area interference *17 *36
- SETAREA0 -
check is performed
Initializes interference *17 *36
- RSTAREA0 -
check
*17 *37
Program refresh PREFRESH - -
File read - FILEREAD0 - *17 *38
File write - FILEWRITE0 - *17 *38 *39
*17 *38
File list - FILELIST0 -
VARLEN - VARLEN0 - VARLEN7 *12 *40
RBTNAME - RBTNAME0 *12 *41
*1 Read / write in word units.

Writing data to the External Device involves defined structural units. The Display reads the structural unit from
the External Device, changes the targeted word data only, then writes the data back to the External Device.
When the write operation occurs on the External Device to the word address during the read/write process, the
resulting data may be incorrect.
*2 The address structure of Variable V is as follows.
V00000.0
Element
Address (00000 to 32765)


*3 The address structure of Variable P is as follows.

P00000.0
Element
Address (00000 to 32765)
6-Axis
4-Axis
3 T 32 Read/Write Float
*4 The address structure of Variable J is as follows.

J 00000.0
Element
Address (00000 to 32765)


*5 The address structure of Variable T is as follows.

T 00000.0
Element
Address (00000 to 32765)

3 Ox 32 Read/Write Float
4 Oy 32 Read/Write Float
5 Oz 32 Read/Write Float
6 Ax 32 Read/Write Float
7 Ay 32 Read/Write Float
8 Az 32 Read/Write Float
*6 You can write up to 254 single-byte characters to the S device.

*7 The IO device range is the range normally accessible by the External Device.
When you add an expansion board to the External Device, add the number of points on the expansion board to
the accessible range.
Read takes place when the IO status is either 0 (OFF) or -1 (ON). IO changes when you write either 0 (OFF) or
1 (ON) to IO. When you write a value other than 0 or 1, uses the value written to the least significant bit.
*8 This device is treated as a 64-bit double-precision floating-point number on the External Device. However, the
Display processes this device as a 32-bit single-precision floating-point number.
*9 The address structure of TOOL settings is as follows.
TOOL00.0
Element
Tool No. (00 to 63)


*10 The address structure of WORK settings is as follows.

WORK0.0
Element
Work No. (0 to 7)

6 Attribute 32 Read/Write Float

*11 The address structure of AREA settings is as follows.

AREA00.0
Element
Area No. (00 to 31)

6 DX 32 Read/Write Float
7 DY 32 Read/Write Float
8 DZ 32 Read/Write Float
9 IO 32 Read/Write Int
10 POS 32 Read/Write Int
11 Err 32 Read/Write Int
12 Time 32 Read/Write Int
13 DRX 32 Read/Write Float
14 DRY 32 Read/Write Float
15 DRZ 32 Read/Write Float
16 Margin 32 Read/Write Float
17 Position1 32 Read/Write Float
18 Margin1 32 Read/Write Float
33 Enable 32 Read/Write Int
*12 Write disabled.

*13 The address structure of Special register 1 Controller is as follows.

CREG0
Element

Short
0 Operation mode 16 Read 1: manual, 2: Teach check
3: auto, 4: external auto
Short
1 Emergency stop 16 Read
-1:ON, 0:OFF
Short
2 Auto enable status 16 Read
-1:ON, 0:OFF
Short
3 Protective stop 16 Read
-1:ON, 0:OFF
Short
4 Deadman switch status 16 Read
-1:ON, 0:OFF
Short
5 Busy status 16 Read -1: Program running,
0: Program stopped
*14 Stores the error code of the External Device's latest error.
*15 Stores the error message of the External Device's latest error.
*16 Stores the version of the External Device.
*17 Read disabled.
*18 You can clear errors on the External Device by writing a value.
*19 The address structure of Current robot position is as follows.
CPOS0
Element
0 X 32 Read Float
1 Y 32 Read Float
2 Z 32 Read Float
3 RX 32 Read Float
4 RY 32 Read Float
5 RZ 32 Read Float
6 Fig 32 Read Int

*20 The address structure of Current robot position (each axis value) is as follows.
CANG0
Element
0 J1 32 Read Float
1 J2 32 Read Float
2 J3 32 Read Float
3 J4 32 Read Float
4 J5 32 Read Float
5 J6 32 Read Float
6 J7 32 Read Float
7 J8 32 Read Float
*21 The address structure of Current robot position expressed (T type) is as follows.
CTRN0
Element
0 X 32 Read Float
1 Y 32 Read Float
2 Z 32 Read Float
3 Ox 32 Read Float
4 Oy 32 Read Float
5 Oz 32 Read Float
6 Ax 32 Read Float
7 Ay 32 Read Float
8 Az 32 Read Float
9 Fig 32 Read Int

*22 The address structure of Special register 2 Robot is as follows.

RREG0
Element
0 Currently used tool number 32 Read/Write Int
1 Currently used work number 32 Read/Write Int
2 Internal speed 32 Read/Write Float
3 Internal acceleration 32 Read/Write Float
4 Internal deceleration 32 Read/Write Float
5 External speed 32 Read/Write Float
6 External acceleration 32 Read/Write Float
7 External deceleration 32 Read/Write Float
8 Servo status 32 Read Int -1:ON, 0:OFF
9 Robot type data 32 Read Int
Int
10 Busy status 32 Read -1: Arm moving,
0: Arm stopped
*23 The address structure of Special register 3 Program is as follows.

PREG000.0
Element
Program No. (001 to 256)

Int
1:DORMANT, 2:READY, 3:RUN,
0 State of task 32 Read
4:WAIT, 6:SUSPEND,
0:NON_EXISTENT
1 Priority of task 32 Read/Write Int
Line number of currently
2 32 Read Int
running main program
One cycle execution time of
3 32 Read Int 0-9999999 (ms)
task
File ID of currently running
4 32 Read Int
main program
Int
1:TASK_SUSPEND,
2:TASK_READY,
3:TASK_RUN,
Detail task status
5 32 Read 4:TASK_STEPSTOP,
information
5:TASK_CNTSTP,
6:TASK_PEND,
7:TASK_DELAY,
0:TASK_NON_EXISTENT

*24 This driver executes only tasks without arguments. Before executing tasks, perform the following operations.
1. Use the Teaching Pendent to set communication and startup settings.
2. Use the Teaching Pendent to change to Auto Mode.
While executing tasks on the External Device, if you run PSTR the Teaching Pendant will display the message,
"The same program is running." To prevent running two instances of PSTR, use PREG***.0 to check the task
status, and then run PSTR.
1. Run 1 cycle
2. Run continuously
3. 1 Step
4. Not supported
5. Retry (available when continue stopped)
0: Stop (default)
1: Pause
2: Step stop
3. Cycle stop
4: Reset
5: Continue stopped
*26 Adjust the timeout value to use this command. The External Device will not respond until the motor operation
is complete.
*27 Gets the program name (full path) string, minus the file name.
*28 Gets the program name (full path) string, minus the folder name.
*29 Using the Request to get control authority device
Device address for the arm group number. Use the device address associated with the arm group you want to
set up, and run a word-write operation to initialize its value.
If another device has control authority, you cannot get access to the device.
If a timeout occurs while the Display has control authority, you need to restart the External Device as the
connection is terminated without control authority.

*30 The address structure of Calculates destination coordinates TOOL coordinates is as follows.
The address where coordinates are stored depends on the DEVH100 and DEVH109 settings.
DEVH000
Element
000 Command trigger 32 Write Int 2:Read, 4:Clear
001-099 Reserved 32 Read/Write
100 Pn1 argument setting 32 Read/Write Int 0: Variable type, 1: Element
101 Variable number 32 Read/Write Int
102 Pn1X 32 Read/Write Float
103 Pn1Y 32 Read/Write Float
104 Pn1Z 32 Read/Write Float
105 Pn1RX 32 Read/Write Float
106 Pn1RY 32 Read/Write Float
107 Pn1RZ 32 Read/Write Float
108 Pn1FIG 32 Read/Write Int
109 Pn2 argument setting 32 Read/Write Int 0: Variable type, 1: Element
110 Variable number 32 Read/Write Int
111 Pn2X 32 Read/Write Float
112 Pn2Y 32 Read/Write Float
113 Pn2Z 32 Read/Write Float
114 Pn2RX 32 Read/Write Float
115 Pn2RY 32 Read/Write Float
116 Pn2RZ 32 Read/Write Float
117 Pn2FIG 32 Read/Write Int
P type X element calculate
200 32 Read/Write Float
result
P type Y element calculate
result
P type Z element calculate
result
P type RX element calculate
result
P type RY element calculate
result
P type RZ element calculate
result
P type FIG element calculate
206 32 Read/Write Int
result
*32 Using Motion skip:
The device address shows the arm group number. Write the Motion skip algorithm setting to the same device
address as the arm group you want to set up.

*33 The address structure of Move specified coordinates is as follows.

The address where coordinates are stored depends on the MOVE101 and MOVE104 settings.
Adjust the timeout value to use this device. The External Device will not respond until the move operation is
complete.
MOVE000
Element
000 Command trigger 32 Write Int 1:Write, 4:Clear
Int
100 Interpolation 32 Read/Write
1:MOVE P, 2:MOVE L
101 Pose 1 argument setting 32 Read/Write Int 0: Variable type, 1: Element
102 Reserved 32 Read/Write
103 Pass start displacement 32 Read/Write Int 0: omitted, 1:@P, 2:@E, 3:@0
Int
104 Variable type 32 Read/Write 0: omitted, 1:P type,
2:T type, 3:J type
105 Pose 1 variable number 32 Read/Write Int
Int
108 NEXT option 32 Read/Write
0:Not exist, 1:Exist
109 Pose 1 P type X element 32 Read/Write Float
110 Pose 1 P type Y element 32 Read/Write Float
111 Pose 1 P type Z element 32 Read/Write Float
112 Pose 1 P type RX element 32 Read/Write Float
113 Pose 1 P type RY element 32 Read/Write Float
114 Pose 1 P type RZ element 32 Read/Write Float
115 Pose 1 P type FIG element 32 Read/Write Int
116 Pose 1 J type J1 element 32 Read/Write Float
124 Pose 1 T type X element 32 Read/Write Float
125 Pose 1 T type Y element 32 Read/Write Float
126 Pose 1 T type Z element 32 Read/Write Float
127 Pose 1 T type OX element 32 Read/Write Float
128 Pose 1 T type OY element 32 Read/Write Float
129 Pose 1 T type OZ element 32 Read/Write Float
130 Pose 1 T type AX element 32 Read/Write Float
131 Pose 1 T type AY element 32 Read/Write Float
132 Pose 1 T type AZ element 32 Read/Write Float
133 Pose 1 T type FIG element 32 Read/Write Int

*34 The address structure of Relative movement WORK coordinate is as follows.

The address where coordinates are stored depends on the DRAW101 settings.
complete.
DRAW000
Element
Int
100 Interpolation 32 Read/Write
1:PTP motion, 2:CP motion
101 Argument setting 32 Read/Write Int 0: Variable type, 1: Element
103 Parallel movement distance 32 Read/Write Int
104 V type X element 32 Read/Write Float
105 V type Y element 32 Read/Write Float
106 V type Z element 32 Read/Write Float
Int

*35 The address structure of Absolute motion each axis is as follows.

To set "Exist" for DRIVEEX109–DRIVEEX111, write values to the associated address in DRIVEEX113 –115.
complete.
DRIVEEX000
Element
101 Axis 1 distance 32 Read/Write Float
Int
109 SPEED option 32 Read/Write
Int
110 ACCEL option 32 Read/Write
Int
111 DECEL option 32 Read/Write
Int
113 SPEED 32 Read/Write Float
114 ACCEL 32 Read/Write Float
115 DECEL 32 Read/Write Float
*36 Using Select area interference check is performed and Initializes interference check:
Set the area number as the data, then run word write operation.
*37 To refresh the task name, execute the task after setting up the task name in the PNAME device.
*38 Using File read (FILEREAD), File write (FILEWRITE) and File list (FILELIST):
Set the control address number as the data, then run word write operation.
You can define the control address as USR memory only. (USR00000...USR29000)
*39 In automatic mode, External Device operation will stop when you run a write program file operation. Check
whether the CREG0 (Operation mode) device is writable, and design the system to prevent unintentional file
writes.

*40 The VARLEN device address structure is as follows.

VARLEN0
Element
Element Size Attribute Type
0 32 Read Number of Variable I
1 32 Read Number of Variable F
2 32 Read Number of Variable V
3 32 Read Number of Variable J
4 32 Read Number of Variable P
5 32 Read Number of Variable T
6 32 Read Number of Variable S
7 32 Read Number of Variable IO
*41 The robot name device address structure is as follows. If more than 256 chracters are stored, the Display shows
up to the 256th character.
RBTNAME0
Element
Element Size Attribute Number of Word Type
String
0 16 Read 128
Robot model
• Please refer to the GP-Pro EX Reference Manual for system data area.
Cf. GP-Pro EX Reference Manual "LS Area (Direct Access Method Area)"
• Please refer to the precautions on manual notation for icons in the table.
) "Manual Symbols and Terminology"

Settings for File Reading Device, File Writing Device and File List Device
Read and write files by setting the operating status on the control address.
You can use the USR area only as the control address.
You can run operations on the following file types.
• PacScript source (*.PCS)
• PacScript header (*.H)
• Operation panel source (*.PNS)
• File reading
Reads the specified file to the Display from the External Device.
The file is saved to an internal device or external storage.
To run the read operation, write the control address' start address to the FILEREAD device.
Address Items Description

0: Initial value, 1: Execute, 16: In progress, 256: Complete (No error),
4096: Error
+0000 Status After setting the required parameter, set the status to 1 (Execute), then write the
control address' start address to the FILEREAD device. The operation will not
run if the status is any other value than 1.
The number of rows to read in the file.
+0001 Line number
After receive is complete, the protocol is updated.
+0003 File type 1: Text file
Specify the destination USR area address. The text string that is read-in is stored
+0004 Start address according to the text string mode settings.
This is used for saving to internal devices.
Specify the starting row number (0...4999) of the file to read into the Display's
internal memory. In the file, CRLF indicates a row separator.
+0005 Start line
If you specify a row that does not exist, loads "0x00".
This is used for saving as text data to internal devices.
Specify the maximum number of single-byte characters per row.
When the number of characters is less than the maximum, the character "0x00"
Number of
+0006 is loaded, up to the maximum number of characters.
character
Characters that exceed the maximum number of characters are dropped.
Specify the row number (0...5000) of the file to read into the Display's internal
Output line memory.
+0007
number If you specify a row that does not exist, loads "0x00".
Using up to 256 single-byte characters, specify the file name (including the
extension) to read into the Display's internal memory.
+0008 -
File name When the file name is less than 256 characters, the remaining characters are
+0263
populated with "0x00".
You can also use this for defining the file name when saving to external storage.
Specify the folder name of the External Device with up to 256 single-byte
characters.
+0264 - Controller
When the folder name is less than 256 characters, the remaining characters are
+0519 folder name
Enter backslash "\" as the last character in the folder name.


Specify the destination path name on external storage (CF card/SD card/USB
memory) with up to 256 single-byte characters.
Storage folder Enter "0x00" at the end of a text string.
+0520 -
name CF card default route path: "\CFA00\"
SD card default route path: "\SD\"
USB memory default route path: "\USBHD\00\"
This is used for saving to external storage.
• File writing
Writes the specified file to the External Device from the Display.
The write file is saved to external storage.
To run the write operation, write the control address' start address to the FILEWRITE device.

4096: Error
control address' start address to the FILEWRITE device. The operation will not
run if the status is any other value than 1.
Using up to 256 single-byte characters, specify the file name (including the
extension) to read into the Display's internal memory.
+0001 -
File name When the file name is less than 256 characters, the remaining characters are
+0256
You can also use this for defining the file name when saving to external storage.
characters.
+0257 - Controller
When the folder name is less than 256 characters, the remaining characters are
+0512 folder name
Specify the destination path name on external storage (CF card/SD card/USB
memory) with up to 256 single-byte characters.
Storage folder
+0513 - Enter "0x00" at the end of a text string.
name
CF card default route path: "\CFA00\"
SD card default route path: "\SD\"
USB memory default route path: "\USBHD\00\"

• File list
Outputs the list of files stored on the External Device.
The output list is saved to the specified address.
To run the output operation, write the control address' start address to the FILELIST device.

4096: Error
control address' start address to the FILELIST device. The operation will not run
if the status is any other value than 1.
+0001 Number of list The number of files for each file type.
0: *.*
1:*.PCS PacScript source
+0002 File type
2: *.H PacScript header
4: *.PNS Operation panel source
+0003 Start address Specify the destination USR area address.
Specify the starting row number (0...4999) of the output file list.
+0004 Start line
If you specify a row that does not exist, outputs "0x00".
Specify the maximum number (even number) of single-byte characters in the file
name.
Number of
+0005 When the file name is less than the maximum, the remaining characters are
character
Characters that exceed the maximum number of characters are dropped.
Number of Specifies the number of files to output to the file list in 0 to 5000.
+0006
output If you specify a row that does not exist, outputs "0x00".
Controller characters.
+0007 -
folder name Enter backslash "\" as the last character in the folder name.
Enter "0x00" as the last character in the text string.

6 Device Code and Address Code
Use device code and address code when you select "Device Type & Address" for the address type in objects such
as data displays.
6.1 RC7M Series

Device Code
Device Device Name Address Code
(HEX)
Variable I I 0060 Word address
Variable F F 0061 Word address
Variable V V 0000 Word address x 3
Variable P P 0001 Word address x 7
Variable J J 0002 Word address x 6
Variable T T 0003 Word address x 10
Variable S S 0062 Word address x 128 *1
Variable IO IO 00E0 Word address
TOOL settings TOOL 0005 Word address x 6
WORK settings WORK 0006 Word address x 6
AREA settings AREA 0007 Word address x 13
Using condition parameter SPDCNF 0068 Word address
Special register 1
CREG 0080 Word address
Controller
Error code CODE 006B Word address
Error message ERR 006C Word address x 64 *2
Version string VER 006D Word address x 64 *2
Auto mode AUTO 006E Word address
Error clear ERRCLR 006F Word address
Number of programs PMAX 0070 Word address
Program name PNAME 0071 (Word address - 1) x 128 *1
Current robot position CPOS 0072 Word address x 7
Current robot position
CANG 0073 Word address x 8
(each axis value)
CTRN 0074 Word address x 10
expressed (T type)
Special register 2 Robot RREG 0075 Word address x 10
Change the Tool
TOOLN 0076 Word address
coordinates
Change the Work
WORKN 0077 Word address
coordinates
Special register 3 Program PREG 0078 Word address x 4

Device Code
(HEX)
Program start PSTR 0079 Word address - 1
Program stop PSTP 007A Word address - 1
Motor ON/OFF MTON 007B Word address
Directory name PMAMED 007D (Word address - 1) x 128 *1
File name PNAMEN 007E (Word address - 1) x 128 *1
*1 When the External Device returns more than 256 bytes of text data, the Display stores 256 bytes of
text.
*2 When the External Device returns more than 128 bytes of text data, the Display stores 128 bytes of
text.

6.2 RC8 Series

Device Code
(HEX)
Variable I I 0060 Word address
Variable F F 0061 Word address
Variable V V 0000 Word address x 3
Variable P P 0001 Word address x 7
Variable J J 0002 Word address x 8
Variable T T 0003 Word address x 10
Variable S S 0062 Word address x 128 *1
Variable IO IO 00E0 Word address
TOOL settings TOOL 0005 Word address x 6
WORK settings WORK 0006 Word address x 7
AREA settings AREA 0007 Word address x 34
Special register 1
CREG 0080 Word address
Controller
Error code CODE 006B Word address
Error message ERR 006C Word address x 64 *2
Version string VER 006D Word address x 64 *2
Error clear ERRCLR 006F Word address
Number of programs PMAX 0070 Word address
Program name PNAME 0071 (Word address - 1) x 128 *1
Current robot position CPOS 0072 Word address x 7
CANG 0073 Word address x 8
(each axis value)
CTRN 0074 Word address x 10
expressed (T type)
Special register 2 Robot RREG 0075 Word address x 11
Change the Tool
TOOLN 0076 Word address
coordinates
Change the Work
WORKN 0077 Word address
coordinates
Special register 3 Program PREG 0078 (Word address - 1) x 6
Program start PSTR 0079 Word address - 1
Program stop PSTP 007A Word address - 1
Motor ON/OFF MTON 007B Word address
Directory name PNAMED 007D (Word address - 1) x 128 *1
File name PNAMEN 007E (Word address - 1) x 128 *1
Request to get control
TAKEARM 0090 Word address
authority

Device Code
(HEX)
Calculates destination
coordinates TOOL DEVH 0091 Word address
coordinates
Motion skip MSKIP 00AE Word address
Move specified
MOVE 0092 Word address
coordinates
Relative movement
DRAW 0093 Word address
WORK coordinate
Absolute motion each axis DRIVEEX 0094 Word address
Select area interference
SETAREA 0095 Word address
check is performed
Initializes interference
RSTAREA 0096 Word address
check
File read FILEREAD 0099 Word address
File write FILEWRITE 009A Word address
File list FILELIST 009B Word address
VARLEN VARLEN 00AF Word address
RBTNAME RBTNAME 00B7 Word address*1
*1 When the External Device returns more than 256 bytes of text data, the Display stores 256 bytes of text.
*2 When the External Device returns more than 128 bytes of text data, the Display stores 128 bytes of text.

7 Error Messages
Error messages are displayed on the Display screen as follows: "No. : Device Name: Error Message (Error
Occurrence Area)". The description for each error is shown below.
Item Description
No. Error No.
Name of External Device where error occurs. Device name is a title of External Device set
Device Name
with GP-Pro EX. (Initial value [PLC1])
Error Message Displays messages related to the error which occurs.
Displays IP address or device address of External Device where error occurs, or error codes
received from External Device.
Error Occurrence Area

• IP address is displayed such as "IP address (Decimal): MAC address (Hex)".
• Device address is displayed such as "Address: Device address".
• Received error codes are displayed such as "Decimal [Hex]".
Display Examples of Error Messages

"RHAA035: PLC1: Error has been responded for device write command (Error Code: 4 [04H])"
• Refer to your External Device manual for details on received error codes.
• Refer to "Display-related errors" in "Maintenance/Troubleshooting Guide" for details on the
error messages common to the driver.
Error Messages Unique to External Device

Message ID Error Message Description
(Node Name): Error has been responded for
initial communication command(Error Code:
RHxx128 Check the External Device type and version.
[0x80004001] Not implement(Robot
Controller))
initial communication command (Error Code:
RHxx129 Check the External Device program.
[0x80004004] Function abort(Robot
Controller))
[0x80004005] Function fail(Robot
Controller))
RHxx131 initial communication command(Error Code: Check the External Device program.
[0x8000FFFF] Fatal error(Robot Controller))


The External Device received a packet with
invalid data. When this error occurs, the
RHxx132 External Device automatically breaks the
[0x800100001] Invalid receive packet(Robot
connection. Confirm the content of packets
Controller))
sent to the External Device.
RHxx133 Please contact the Digital Customer Center.
[0x800100002] Invalid send packet(Robot
Controller))
[0x800100003] Invalid argument type(Robot
Controller))
RHxx135 Check the operation end and run the PSTR.
[0x800100004] Robot is busy(Robot
Controller))
[0x800100005] Invalid command(Robot
Controller))
[0x800100011] Packet size over(Robot
Controller))
[0x80010012] Argument size over(Robot
Controller))
When occurs in PSTR, the Display's IP
RHxx139 address is not registered in the controller's
[0x80070005] Access denied(Robot
startup authority IP.
Controller))
initial communication command(Error Code: Address may be outside the supported address
RHxx140
[0x80070006] Illegal handle(Robot range. Check the device address.
Controller))
RHxx141 Insufficient memory in RC7M.
[0x8007000E] Out of memory(Robot
Controller))
RHxx142 Data written to a write disabled address.
[0x80070057] Invalid argument(Robot
Controller))
RHxx143 Unknown error. ([0x????????] is undefined)
[0x????????] Unknown Error(Robot
Controller))
RHxx144 (Node Name): Shutdown...(Code: [0x0]) REBOOT device has been run.


(Node Name): It was not possible to execute it Out of range data was written to DEVH,
RHxx145
by out of range data MOVE, DRAW, DRIVEEX devices.
device read command(Error Code:
Controller))
Controller))
Controller))
RHxx149 device read command(Error Code: Check the External Device program.
Controller))
Controller))
Controller))
device read command(Error Code: Confirm the operation has ended, then run
RHxx153
[0x800100004] Robot is busy(Robot PSTR.
Controller))
Controller))
Controller))
Controller))
Controller))


device read command(Error Code: Address may be outside the supported address
RHxx158
Controller))
Controller))
RHxx160 Data written to a write disabled address.
Controller))
Controller))
device write command(Error Code:
Controller))
Controller))
Controller))
RHxx165 device write command(Error Code: Check the External Device program.
Controller))
Controller))
Controller))
device write command(Error Code: Confirm the operation has ended, then run
RHxx169
[0x800100004] Robot is busy(Robot PSTR.
Controller))


Controller))
Controller))
Controller))
Controller))
device write command(Error Code: Address may be outside the supported address
RHxx174
Controller))
Controller))
RHxx176 Data written to write disabled address.
Controller))
Controller))

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2 External Device Selection

GP-Pro EX Device/PLC Connection Manual 2

Series Controller Link I/F SIO Type Setting Example

GP-Pro EX Device/PLC Connection Manual 3

2 External Device Selection

Select the External Device to be connected to the Display.

Setup Items Setup Description

GP-Pro EX Device/PLC Connection Manual 4

3.1 Setting Example 1

• Check with a network administrator about IP address.

GP-Pro EX Device/PLC Connection Manual 5

 Settings of External Device

1 Change the External Device to manual mode.

Setup Items Setup Description

GP-Pro EX Device/PLC Connection Manual 6

3.2 Setting Example 2

• Check with a network administrator about IP address.

GP-Pro EX Device/PLC Connection Manual 7

 Settings of External Device

1 Change the External Device to manual mode.

Setup Items Setup Description

6 Press [Executable Token F1].

8 Set the IP address (192.168.0.2) to Display, and press [OK].

GP-Pro EX Device/PLC Connection Manual 8

Cf. Maintenance/Troubleshooting Guide "Ethernet Settings"

4.1 Setup Items in GP-Pro EX

Setup Items Setup Description

GP-Pro EX Device/PLC Connection Manual 9

Setup Items Setup Description

GP-Pro EX Device/PLC Connection Manual 10

4.2 Setup Items in Offline Mode

Setup Items Setup Description

GP-Pro EX Device/PLC Connection Manual 11

Setup Items Setup Description

GP-Pro EX Device/PLC Connection Manual 12

5 Supported Device Addresses

5.1 RC7M Series

Device Bit Address Word Address 32bits Notes

Variable T - T00000.0 - T32765.9 *1 *5

TOOL settings - TOOL00.0 - TOOL63.5 *1 *8

Error message - ERR0 *11 *14

GP-Pro EX Device/PLC Connection Manual 13

Device Bit Address Word Address 32bits Notes

*1 Read / write in word units.

Element Register Size Attribute Type

GP-Pro EX Device/PLC Connection Manual 14

*3 The address structure of Variable P is as follows.

*4 The address structure of Variable J is as follows.

Element Register Size Attribute Type

GP-Pro EX Device/PLC Connection Manual 15

*5 The address structure of Variable T is as follows.

Element Register Size Attribute Type

*6 You can write up to 254 single-byte characters to the S device.

Element Register Size Attribute Type

GP-Pro EX Device/PLC Connection Manual 16

*9 The address structure of WORK settings is as follows.

Element Register Size Attribute Type

*10 The address structure of AREA settings is as follows.

Element Register Size Attribute Type

Settings of External Device

Settings of External Device

Variable T - T00000.0 - T32765.9 1 5

TOOL settings - TOOL00.0 - TOOL63.5 1 8

Error message - ERR0 11 14

WORK settings - WORK0.0 - WORK7.6 1 8 *10

Error message - ERR0 12 15

Current robot position 8 12 *20

Move specified 31 33

File write - FILEWRITE0 - 17 38 *39

RBTNAME - RBTNAME0 12 41