Instructions: Dx200 Options

DX200 OPTIONS
INSTRUCTIONS
EtherNet/IP COMMUNICATION FUNCTION
(FOR STANDARD LAN PORT)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR’S MANUAL (for each purpose)
DX200 MAINTENANCE MANUAL
The DX200 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.
Part Number: 165838-1CD

Revision: 3
MANUAL NO.
HW1481985 4
1 of 93
165838-1CD
EtherNet/IP
Communication Function
Copyright © 2017, 2016, 2014, 2013 YASKAWA America, Inc.
Terms of Use and Copyright Notice

All rights reserved. This manual is freely available as a service to
Yaskawa customers to assist in the operation of Motoman robots, related
equipment and software This manual is copyrighted property of Yaskawa
and may not be sold or redistributed in any way. You are welcome to copy
this document to your computer or mobile device for easy access but you
may not copy the PDF files to another website, blog, cloud storage site or
any other means of storing or distributing online content.
Printed in the United States of America
First Printing, 2013
Yaskawa America, Inc.

Motoman Robotics Division
100 Automation Way
Miamisburg, OH 45342
Phone: 937-847-6200
www.motoman.com
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EtherNet/IP
MANDATORY
• This manual explains the EtherNet/IP communication function of the
DX200 system and general operations. Read this manual carefully
and be sure to understand its contents before handling the DX200.
• General items related to safety are listed in Chapter 1: Safety of the
DX200 Instructions. To ensure correct and safe operation, carefully
read the DX200 Instructions before reading this manual.
CAUTION
• Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating this product.
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• Yaskawa may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications.
• If such modification is made, the manual number will also be
revised.
• If your copy of the manual is damaged or lost, contact a Yaskawa
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
• Yaskawa is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your
product's warranty.
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EtherNet/IP
We suggest that you obtain and review a copy of the ANSI/RIA National
Safety Standard for Industrial Robots and Robot Systems (ANSI/RIA
R15.06-2012). You can obtain this document from the Robotic Industries
Association (RIA) at the following address:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: (734) 994-6088
FAX: (734) 994-3338
www.roboticsonline.com
Ultimately, well-trained personnel are the best safeguard against
accidents and damage that can result from improper operation of the
equipment. The customer is responsible for providing adequately trained
personnel to operate, program, and maintain the equipment. NEVER
ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM, OR
REPAIR THE EQUIPMENT!
We recommend approved YASKAWA training courses for all personnel
involved with the operation, programming, or repair of the equipment.
This equipment has been tested and found to comply with the limits for a
Class A digital device, pursuant to part 15 of the FCC rules. These limits
are designed to provide reasonable protection against harmful
interference when the equipment is operated in a commercial
environment. This equipment generates, uses, and can radiate radio
frequency energy and, if not installed and used in accordance with the
instruction manual, may cause harmful interference to radio
communications.
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EtherNet/IP Notes for Safe Operation
Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or
inspection of the DX200.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.
Indicates an imminent hazardous

DANGER situation which, if not avoided, could
result in death or serious injury to
personnel.
Indicates a potentially hazardous

WARNING situation which, if not avoided, could
result in death or serious injury to
personnel.
Indicates a potentially hazardous

CAUTION situation which, if not avoided, could
result in minor or moderate injury to
personnel and damage to
equipment. It may also be used to
alert against unsafe practices.
Always be sure to follow explicitly

MANDATORY the items listed under this heading.
PROHIBITED Must never be performed.
Even items described as “CAUTION” may result in a serious accident in

some situations.
At any rate, be sure to follow these important items.
To ensure safe and efficient operation at all times, be sure to

NOTE follow all instructions, even if not designated as “DANGER”,
“WARNING” and “CAUTION” .
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EtherNet/IP Notes for Safe Operation

WARNING
• Before operating the manipulator, check that servo power is turned
OFF pressing the emergency stop buttons on the front door of the
DX200 and the programming pendant.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop buttons do not function.
Fig. : Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Fig. : Release of Emergency Stop
TURN
• Observe the following precautions when performing teaching

operations within the P-point maximum envelope of the
manipulator:
– Be sure to use a lockout device to the safeguarding when going
inside. Also, display the sign that the operation is being
performed inside the safeguarding and make sure no one closes
the safeguarding.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no person is present in the P-point maximum envelope
of the manipulator and that you are in a safe location before:
– Turning ON the power for the DX200.
– Moving the manipulator with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the
manipulator during operation. Always press an emergency stop button
immediately if there is a problem.
The emergency stop buttons are located on the right of front door of the
DX200 and the programming pendant.
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EtherNet/IP Definition of Terms Used Often in This Manual
CAUTION
• Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately, and be sure that all other necessary processing has
been performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the cabinet
of the DX200 after use.
The programming pendant can be damaged if it is left in the
manipulator's work area, on the floor, or near fixtures.
• Read and understand the Explanation of Warning Labels in the
DX200 Instructions before operating the manipulator:
Definition of Terms Used Often in This Manual

The MOTOMAN is the Yaskawa industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and supply cables.
In this manual, the equipment is designated as follows:
Equipment Manual Designation
DX200 controller DX200
DX200 programming pendant Programming pendant
Cable between the manipulator and the Manipulator cable
controller
Descriptions of the programming pendant keys, buttons, and displays are

shown as follows:
Equipment Manual Designation
Programming Character Keys The keys which have characters or its
Pendant /Symbol Keys symbol printed on them are denoted with [ ].
ex. [ENTER]
Axis Keys [Axis Key] and [Numeric Key] are generic
/Numeric Keys names for the keys for axis operation and
number input.
Keys pressed When two keys are to be pressed
simultaneously simultaneously, the keys are shown with a
“+” sign between them,
ex. [SHIFT]+[COORD]
Displays The menu displayed in the programming
pendant is denoted with { }.
ex. {JOB}
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EtherNet/IP Description of the Operation Procedure

Description of the Operation Procedure

In the explanation of the operation procedure, the expression "Select • • • "
means that the cursor is moved to the object item and the [SELECT] is
pressed, or that the item is directly selected by touching the screen.
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and TM are omitted.
Safeguarding Tips
All operators, programmers, maintenance personnel, supervisors, and
anyone working near the system must become familiar with the operation
of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. General
safeguarding tips are as follows:
• Improper operation can result in personal injury and/or damage to
the equipment. Only trained personnel familiar with the operation of
this equipment, the operator's manuals, the system equipment, and
options and accessories should be permitted to operate this
equipment.
• Improper connections can damage the equipment. All connections
must be made within the standard voltage and current ratings of the
equipment.
• The system must be placed in Emergency Stop (E-Stop) mode
whenever it is not in use.
• In accordance with ANSI/RIA R15.06-2012, section 4.2.5, Sources of
Energy, use lockout/tagout procedures during equipment
maintenance. Refer also to Section 1910.147 (29CFR, Part 1910),
Occupational Safety and Health Standards for General Industry
(OSHA).
Mechanical Safety Devices

The safe operation of this equipment is ultimately the users responsibility.
The conditions under which the equipment will be operated safely should
be reviewed by the user. The user must be aware of the various national
codes, ANSI/RIA R15.06-2012 safety standards, and other local codes
that may pertain to the installation and use of this equipment.
Additional safety measures for personnel and equipment may be required
depending on system installation, operation, and/or location. The following
safety equipment is provided as standard:
• Safety barriers
• Door interlocks
• Emergency stop palm buttons located on operator station
Check all safety equipment frequently for proper operation. Repair or
replace any non-functioning safety equipment immediately.
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EtherNet/IP Programming, Operation, and Maintenance Safety
Programming, Operation, and Maintenance Safety

All operators, programmers, maintenance personnel, supervisors, and
anyone working near the system must become familiar with the operation
of this equipment. Improper operation can result in personal injury and/or
damage to the equipment. Only trained personnel familiar with the
operation, manuals, electrical design, and equipment interconnections of
this equipment should be permitted to program, or maintain the system.
All personnel involved with the operation of the equipment must
understand potential dangers of operation.
• Inspect the equipment to be sure no potentially hazardous conditions
exist. Be sure the area is clean and free of water, oil, debris, etc.
• Be sure that all safeguards are in place. Check all safety equipment
for proper operation. Repair or replace any non-functioning safety
equipment immediately.
• Check the E-Stop button on the operator station for proper operation
before programming. The equipment must be placed in Emergency
Stop (E-Stop) mode whenever it is not in use.
• Back up all programs and jobs onto suitable media before program
changes are made. To avoid loss of information, programs, or jobs, a
backup must always be made before any service procedures are
done and before any changes are made to options, accessories, or
equipment.
• Any modifications to the controller unit can cause severe personal
injury or death, as well as damage to the robot! Do not make any
modifications to the controller unit. Making any changes without the
written permission from Yaskawa will void the warranty.
• Some operations require a standard passwords and some require
special passwords.
• The equipment allows modifications of the software for maximum
performance. Care must be taken when making these modifications.
All modifications made to the software will change the way the
equipment operates and can cause severe personal injury or death,
as well as damage parts of the system. Double check all
modifications under every mode of operation to ensure that the
changes have not created hazards or dangerous situations.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller and other
equipment. Disconnect and lockout/tagout all electrical circuits
before making any modifications or connections.
• Do not perform any maintenance procedures before reading and
understanding the proper procedures in the appropriate manual.
• Use proper replacement parts.
• Improper connections can damage the equipment. All connections
must be made within the standard voltage and current ratings of the
equipment.
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EtherNet/IP Maintenance Safety

Maintenance Safety
Turn the power OFF and disconnect and lockout/tagout all electrical
circuits before making any modifications or connections.
Perform only the maintenance described in this manual. Maintenance
other than specified in this manual should be performed only by Yaskawa-
trained, qualified personnel.
Summary of Warning Information

This manual is provided to help users establish safe conditions for
operating the equipment. Specific considerations and precautions are also
described in the manual, but appear in the form of Dangers, Warnings,
Cautions, and Notes.
It is important that users operate the equipment in accordance with this
instruction manual and any additional information which may be provided
by Yaskawa. Address any questions regarding the safe and proper
operation of the equipment to Yaskawa Customer Support.
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EtherNet/IP Customer Support Information
Customer Support Information

If you need assistance with any aspect of your EtherNet/IP
Communication Function system, please contact Yaskawa Customer
Support at the following 24-hour telephone number:
(937) 847-3200
For routine technical inquiries, you can also contact Yaskawa Customer
Support at the following e-mail address:
[email protected]
When using e-mail to contact Yaskawa Customer Support, please provide

a detailed description of your issue, along with complete contact
information. Please allow approximately 24 to 36 hours for a response to
your inquiry.
Please use e-mail for routine inquiries only. If you have an

NOTE urgent or emergency need for service, replacement parts,
or information, you must contact Yaskawa Customer
Support at the telephone number shown above.
Please have the following information ready before you call Customer
Support:
• System EtherNet/IP Communication

Function
• Primary Application ___________________________
• Controller DX200
• Software Version Access this information on the

Programming Pendant’s LCD
display screen by selecting {MAIN
MENU} - {SYSTEM INFO} -
{VERSION}
• Robot Serial Number Located on the robot data plate
• Robot Sales Order Number Located on the DX200 controller

data plate
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EtherNet/IP Table of Contents

Table of Contents
1 Introductions.................................................................................................................................... 1-1
1.1 System Configuration......................................................................................................... 1-1
1.1.1 System Configuration Example ............................................................................ 1-1
1.1.2 Adaptor ................................................................................................................. 1-1
1.1.3 Scanner ................................................................................................................ 1-1
1.1.4 Message Communication ..................................................................................... 1-2
1.1.5 IO Communication by InputOnly........................................................................... 1-2
1.1.6 Message Communication Using CIP .................................................................... 1-2
2 Board Specifications ....................................................................................................................... 2-1
3 How to Connect Communication Cable .......................................................................................... 3-1
3.1 Operating the Front Door of the DX200 (Controller) .......................................................... 3-2
3.2 Mounting the EtherNet/IP (CPU board) to DX200 ............................................................. 3-3
3.3 Closing the Front Door of the DX200................................................................................. 3-4
4 EtherNet/IP Function Setting........................................................................................................... 4-1
4.1 Outline ............................................................................................................................... 4-1
4.1.1 Window Composition ............................................................................................ 4-2
4.2 Setup Procedure ................................................................................................................ 4-3
4.2.1 Calling the SETUP Window for the EtherNet/IP (CPU board) .............................. 4-3
4.2.2 Setting the Device Information List ....................................................................... 4-5
4.2.3 General Setup for the EtherNet/IP (CPU board)................................................... 4-8
4.2.4 Ethernet Setting .................................................................................................... 4-8
4.2.5 Adaptor Setting ................................................................................................... 4-13
4.2.6 Scanner Setting .................................................................................................. 4-15
4.2.7 IO Module Re-configuration................................................................................ 4-19
4.2.8 External I/O Setup .............................................................................................. 4-21
4.2.9 Reset Safety Circuit Board FLASH Data ............................................................ 4-25
4.3 IO Assignment Example .................................................................................................. 4-27
4.3.1 Setting ExclusiveOwner Communication............................................................ 4-27
4.3.2 Setting InputOnly Communication ...................................................................... 4-27
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EtherNet/IP Table of Contents
4.4 Communication Data ....................................................................................................... 4-29
4.4.1 DX200 IO Data Allocation (For the Handling Purpose) ...................................... 4-31
4.4.2 DX200 IO Data Allocation (For other than Handling Purpose) ........................... 4-35
4.5 Communication Status..................................................................................................... 4-39
4.6 Managing Setting Data .................................................................................................... 4-44
4.6.1 How to Save Data .............................................................................................. 4-44
4.6.2 How to Load Data............................................................................................... 4-46
4.7 Creating an EDS File ....................................................................................................... 4-48
4.7.1 Creating Procedures of EDS File ....................................................................... 4-48
4.8 Communication Monitor Window ..................................................................................... 4-51
5 Message Communication ............................................................................................................... 5-1
5.1 Conventional Message Communication ............................................................................ 5-1
5.2 Message Communication Using CIP ................................................................................. 5-1
5.2.1 Details on Commands for Message Communication Using CIP .......................... 5-2
5.3 Related Parameters......................................................................................................... 5-18
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EtherNet/IP 1 Introductions
Communication Function 1.1 System Configuration
1 Introductions
In the DX200 system, the EtherNet/IP communication function (hereinafter
referred to as EtherNet/IP (CPU board)) to which a standard LAN port of
the YPC21 board (CN104 connector) is used can be employed. The
Ethernet communication function of the DX200 provides the following
features: an IO transmission/reception function that enables to exchange
external input/output signals between the DX200 and other EtherNet/IP
supported devices and a message communication function that realizes
data transmission equal to the one realized by the DX200 Ethernet
function. Also, this function makes it possible to carry out IO
communication by InputOnly as well as message communication using
CIP. This manual describes the settings necessary for using this function
and its related information.
1.1 System Configuration
1.1.1 System Configuration Example

A system configuration example when using the EtherNet/IP (CPU board)
is as follows.
EtherNet/IP
Scanner
PLC (sequencer) DX200
YCP21
CN104
EtherNet/IP
Adaptor/Scanner
HUB
EtherNet/IP
Adaptor
I/O unit
PC
1.1.2 Adaptor
When the IO transmission/reception function is used, the DX200 can
operate as an adaptor (communication slave) for the scanner
(communication master). In the system configuration example, IO
communication is carried out with the external PLC being a scanner and
the DX200's EtherNet/IP (CPU board) being an adaptor.
1.1.3 Scanner
When the IO transmission/reception function is used, the DX200 can
operate as a scanner (communication master) for the adaptor
(communication slave). In the system configuration example, IO
communications is carried out with DX200's EtherNet/IP (CPU board)
being a scanner and the IO unit being an adaptor.
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EtherNet/IP 1 Introductions
Communication Function 1.1 System Configuration
1.1.4 Message Communication

Message communication can be carried out in parallel with IO
transmission and reception. In the system configuration example,
message communication with a PC is carried out. The DX200 Ethernet
function, the FTP function, and the EtherNet server function (the latter two
are extended functions) can be used for this message communication.
Also, communication using CIP is possible. To use the DX200 Ethernet
function and the extended option function, settings need to be made
separately.
1.1.5 IO Communication by InputOnly

When communication stations on the network communicate with one
another, in conventional ExlusiveOwner connection, as the number of
communication stations increases, the number of transmitted packets
increases sharply, placing considerable strain on the network band. To
cope with this problem, the multicast communication called InputOnly
connection is introduced to keep the increase in the number of packets
low.
1.1.6 Message Communication Using CIP

CIP for message communication is used so that communication with
general panel computer is possible.
NOTE When this system valid, PCU-ETHIO (EtherNet/IP board

made by Molex) is unavailable.
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EtherNet/IP 2 Board Specifications

2 Board Specifications
Items Specifications
Interface to external devices EtherNet/IP
Transmission I/O points (max.) Input: 4040 points/Output: 4040 points
Processing capacity 3000 packets/sec
(max. number of packets)
Connection type Star (Connection by HUB)
Communication speed 10 Mbps/100 Mbps (Detected automatically
during startup)
Communication media Use category 5 or higher shielded Ethernet
cables.
The above mentioned maximum transmission I/O points

(input: 4040 points/output: 4040 points) is a limitation by
EtherNet/IP communication specification. Because the
upper limit of the I/O points in the DX200 system is 4096
NOTE points when using this board with other board
simultaneously, the upper limit of the total of the I/O points
and the communication status used by this function or other
functions is also 4096 points. The communication status
occupies either 8 points or 16 points per network. For the
details, refer to the instructions of the I/O circuit board.
Use this board within the above mentioned processing

capacity (3000 packets/sec). If it is used process beyond its
NOTE processing capacity, the alarm 100 “COMMUNICATION
ERROR (EAXA#1)” or 500 “SEGMENT PROC NOT
READY” may occur so that it won’t work properly.
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Fig. 2-1: Description of the Processing Capacity
PLC PC
Ethernet
Switching HUB
The total number of sending/receiving packets should be less

than 3000 packets/sec at this position.
Use the packet capture tool, such as Wireshark, to confirm
the packet number.
DX200
Reference: Solution to reduce the packet numbers

A packet carrying the large data in the network might be caused by the
communication station performing a broadcast (a message or signal is
sent to all connected devices) or a multicast (one device communicates
with several devices with a single transmission). Perform the following
measures to reduce the packet numbers in the network.
(1) Limits the packet transmission route by Managed HUB
Install the Managed HUB instead of the Switching HUB, and set it
to send the packets to the necessary route. In addition, refer to a
guide book of installing the Managed HUB for installation
procedures.
Fig. 2-2: Limits the Packet Transmission Route by Managed HUB
PLC PC PLC PC
Ethernet Ethernet
Multicast
Switching HUB Managed HUB
Multicast Multicast
DX200 Communication station DX200 Communication station
Use of the Switching HUB transmits the packets Use of the Managed HUB transmits the packets with
to all devices a single transmission
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(2) Change the packet transmission method
Change the packet transmission method of communication station

from broadcast/ multicast to the unicast (point-to-point
transmission from one device to another). Refer to a guide book
of each device for setup procedures.
Fig. 2-3: Limits the Packet Transmission Route by Unicast
PLC PC PLC PC
Ethernet Ethernet
Unicast
Switching HUB Switching HUB
Multicast Unicast
DX200 DX200
Communication station Communication station
Broadcast/multicast transmits the packets Unicast transmits the packets to a specified device.
to all devices.
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EtherNet/IP 3 How to Connect Communication Cable
3 How to Connect Communication Cable
WARNING
• Before wiring, be sure to turn OFF the power supply and put up a
warning sign, such as “DO NOT TURN ON THE POWER.”
Failure to observe this warning may result in an electric shock or an
injury.
• Do not touch the inside of the panel for 5 minutes after the power is
turned OFF.
The remaining charged voltage in the capacitor may cause an electric
shock or an injury.
• Be sure to close the door and install the protection cover while the
power is turned ON.
Failure to observe this warning may result in a fire or an electric shock.
WARNING
• The wiring and mounting must be performed by authorized and
qualified personnel.
Failure to observe this caution may result in a fire or an electric shock.
• Make sure that there is no foreign matter such as metal chips on the
board.
In case of malfunction, etc. it may result in an injury or damage the
board.
• Make sure that there is no damage or deflection of parts on the
board.
board.
• Correctly connect each cable and connector.
Failure to observe this caution may result in a fire or damage the board.
• Set the switches, etc. correctly.
board.
• Never touch the mounting surfaces and the soldered surfaces of the
board parts directly with fingers.
The generated static electricity may damage the IC, and protrusions on
the soldered surface may result in an injury.
• Never touch the soldered surfaces of the board directly with fingers.
Protrusions on the soldered surface may result in an injury.
• Never give any shock to the board.
The shock may damage the board.
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Communication Function 3.1 Operating the Front Door of the DX200 (Controller)
3.1 Operating the Front Door of the DX200 (Controller)

Take the following procedure to mount the EtherNet/IP (CPU board).
1. Using a coin or a flathead screwdriver, rotate the door locks on the
front of the DX200 (two places) 90 degrees to clockwise.
Door lock
Clockwise
90
Flathed screw driver
2. Rotate the main power supply switch to the “OFF” position and open
the door gently.
I ON
D
PE
IP
TR
OFFO T
SE
RE
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Communication Function 3.2 Mounting the EtherNet/IP (CPU board) to DX200
3.2 Mounting the EtherNet/IP (CPU board) to DX200

Category 5 or higher shielded cable to the connector CN104 (RJ-45) for
LAN connection which is mounted on the front of YCP21 board in the CPU
rack.
Two RJ-45 connectors are mounted on the front side of the

YCP21 board.
NOTE Of these connectors, CN104 (the lower connector) is

available in the EtherNet/IP communication function.
Do not use CN105 connector (the upper one) since it is for
the programming pendant.
Fig. 3-1: Front View of CPU Rack (Uncovered)
(CN105)
For programming pendant
(CN104)
For LAN
When a switching hub is used for conneting

commnunication cables, it is highly recommended to use an
industrial switching hub which is recommended by
NOTE YASKAWA.
Recommended switching hub
Type: EDS-205 (MOXA Inc. made)
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Communication Function 3.3 Closing the Front Door of the DX200
3.3 Closing the Front Door of the DX200

1. Close the door gently.
2. Using a coin or a flathead screwdriver, rotate the door locks on the
front of the DX200 (two places) 90 degrees to counterclockwise.
Counterclockwise 90
Flathead screw driver
Door lock
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EtherNet/IP 4 EtherNet/IP Function Setting
Communication Function 4.1 Outline
4 EtherNet/IP Function Setting
4.1 Outline
To use the EtherNet/IP (CPU board) in the DX200 system, settings of the
optional function and I/O module are required.
.
Customer cannot alternate the usage of the EtherNet/IP

(CPU board) function between use and not use, please
contact Yaskawa representative.
NOTE Set the mode to the management mode before performing
the following settings.
The setting cannot be performed in the operation or edit
mode.
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Communication Function 4.1 Outline
4.1.1 Window Composition

Select the maintenance mode to set up the EtherNet/IP (CPU board)
function. The composition of the SETUP window is as follows.
Window Composition Explanation

OPTION FUNCTION Select EtherNet/IP (CPU board) from the list on the
OPTIONFUNCTION window. Detailed settings are
performed on the subsequent windows.
EtherNet/IP (CPU board) Set up the EtherNet/IP (CPU board). Detailed settings
are performed on the subsequent windows.
USED/NOT USED Set whether to use the EtherNet/IP (CPU board).
(Customer cannot change this setting.)
IO SIZE Displays the IO size totally used by the EtherNet/IP
(CPU board) (displays a total of IO sizes set for
adaptor and scanner).
ETHERNET Configure the settings for TCP/IP communication.
Detailed settings should be made on subsequent
windows.
NETWORK Configure the settings for TCP/IP communication.
Detailed settings are performed on the subsequent
windows.
DEVICE Select the device for TCP/IP communication.
When the EtherNet/IP (CPU board) is used, “EtherNet/
IP” is displayed.
Customer cannot change this setting.
HOST NAME For TCP/IP communication, set the name of local
station (this DX200). This name is put and used by the
local station only and cannot be used for access from
other communication stations.
DOMAIN When the DNS setting is enabled, set the name of the
NAME domain the local station belongs to.
HOST SET UP Configure the communication settings for TCP/IP.
Detailed settings are performed on the subsequent
windows.
ADAPTOR Configure the settings for communication with
sequencers. Detailed settings are performed on the
subsequent windows.
SCANNER Configure the settings for communication with lower
level tools. Detailed settings are performed on the
subsequent windows. Note that before configuring
these settings, “Device information list” setting is
required.
DEVICE INFORMATION LIST To configure the scanner settings, definition of a slave
as the communication target station is required on this
window. Detailed settings are performed on the
subsequent windows.
IO MODULE Checks and revises signals used by the DX200 for
input/output from/to outside.
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Communication Function 4.2 Setup Procedure
4.2 Setup Procedure

Followings are the procedures for setting up the EtherNet/IP (CPU board).
4.2.1 Calling the SETUP Window for the EtherNet/IP (CPU board)
First, take the following procedure to display the SETUP window for the
EtherNet/IP (CPU board).
1. Turn ON the power supply while pressing [Main Menu] simultaneously.
– The maintenance mode starts-up.
2. Change the security mode to management mode.

3. Select [SYSTEM] under the main menu.
– The sub menu appears.
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4. Select [SETUP].
– The SETUP window appears.
5. Select {OPTION FUNCTION}.

– The OPTION FUNCTION window appears.
6. Select {DETAIL} on the EtherNet/IP(CPU Board) window.

– The EtherNet/IP(CPU board) DETAIL window appears.
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4.2.2 Setting the Device Information List

To use the EtherNet/IP (CPU board) as a scanner, advanced settings of
the network information such as lower tools is required. This chapter
describes how to register such information into the device information list.
If registration in the device information list is not necessary, move to the
next chapter.
1. Select [DETAIL] in DEVICE INFORMATION LIST.
– The DEVICE INFORMATION LIST window appears.
In the example shown below, no device information has been
registered; only the cursor is displayed on the screen.
2. Press [SELECT].
– The DEVICE INFORMATION setting window appears.
– (Description of each setting item)

(1) REGISTRATION NAME
Enter a name to be registered as a device.
Without this name, registration in the device information list is not
executed.
To delete an already registered device, make this field blank.
(2) COMMENT
Enter a comment as needed.
(3) CONNECTION RPI (O->T)
Set the revision processing interval (RPI) for data to be sent from
the originator to the target.
When setting RPI, set 4 msec or more.
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(4) CONNECTION RPI (T->O)

Set the revision processing interval (RPI) for data to be sent from
the target to the originator.
When setting RPI, set 4 msec or more.
(5) CONNECTION TYPE
Set the connection type for connection. Either ExclusiveOwner or
InputOnly can be used.
(6) INPUT SIZE
Set the size of the IN signal to be input into the DX200 (Unit: Byte).
(7) OUTPUT SIZE
Set the size of the OUT signal to be output from the DX200
(Unit: Byte).
(8) CONFIGURATION SIZE
Set the size of configuration data (Unit: Word).
(9) INPUT INSTANCE
Set the instance number of the IN signal to be input into DX200.
(10) OUTPUT INSTANCE
Set the instance number of the OUT signal to be output from
DX200.
(11) CONFIGURATION INSTANCE
Set the instance number of configuration data.
For the DX200 system software version DN2.06.00A-00 or

later, the item “CONNECTON TIMEOUT” is added.
This is the threshold value to detect the communication
error and can be specified as the multiple numbers of
NOTE CONNECTION RPI. The settable values are 4 (initial
value),8,16,32,64,128,256, or 512.
For the DX2.05.00A-00 of the DX200 or previous versions,
the threshold value is 4 and cannot be changed.
For the EtherNet/IP of the DX100, the threshold value is 8
and cannot be changed
3. Enter the desired values.

– An input example is shown below. (Configure the settings that suits
the actual communication target.)
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4. Press [ENTER].
– The confirmation dialog box appears.
5. Select “Yes”.
– The DEVICE INFORMATION LIST window appears again.
– In the window example, the device information named “TEST” has

been registered. A maximum of 16 devices can be set into the
device information list. Move the cursor over the field where no
string is displayed and press [SELECT] to register new device
information.
6. Press [ENTER].
– The EtherNet/IP (CPU board) SETUP window appears again.
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4.2.3 General Setup for the EtherNet/IP (CPU board)

Indicate the window general setup for the EtherNet/IP (CPU board).
1. Select {EtherNet/IP (CPU board)} in the EtherNet/IP (CPU board)
SETUP window.
– The EtherNet/IP (CPU board) SETUP window appears.

{IO size (IN/OUT)} displayed on this window shows the total of IO sizes
set for adaptor and scanner. The IO size cannot be set on this window.
The detailed settings for the EtherNet/IP (CPU board) are performed at
{EtherNet/IP}, {ADAPTER}, and {SCANNER} line.
4.2.4 Ethernet Setting

For EtherNet/IP communication, settings such as the IP address for
EtherNet communication are required. This chapter describes how to
configure those settings.
1. Select {EtherNet/IP} in the EtherNet/IP (CPU board) general setup
window.
– The NETWORK window appears.
– For details on each setting item, see the last part of this chapter.
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2. Set the host name and the domain name.

– Set the host name and the domain name as needed.
3. Select [DETAIL].
– The HOST SETUP window appears.
– For details on each setting item, see the last part of this sub-chapter.
4. Press [ENTER].
– The NETWORK window appears again.
5. Press [ENTER].
– The EtherNet/IP (CPU board) general setup window appears again.
The meanings and details of setting items described in this sub-chapter

are as follows:
 Host name (Network function setting window)
NOTE The host name is not used for communication.
Set the host name to assign to DX200. This name is put and used by the
local station only and cannot be used for access from other
communication stations. For entry, use single-byte alphanumeric, dash “-”,
and underscore “_” characters. Be sure to include one or more
alphabetical characters in the name.
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 Domain name (Network function setting window)
NOTE The domain name is used when DNS is enabled.
Set the name of the domain the DX200 belongs to.

For entry, use single-byte alphanumeric, dash “-”, underscore “_”, and dot
“.” characters.
 IP address setting (Host setting window)

In “IP ADDRESS SETTING”, specify the method for setting the IP address
for DX200.
Using the pull-down menu, select between “MANUAL SETTING” and
“DHCP SETTING”.
Note that when “MANUAL SETTING” is selected, be sure to set also “IP
ADDRESS” and “SUBNET MASK”.
When “DHCP SETTING” is selected in “DNS SETTING” or

“SNTP SETTING”, “MANUAL SETTING” cannot be
selected in “IP ADDRESS SETTING” (if “MANUAL
NOTE SETTING” is selected, the error “DHCP is already set to use
for another item” occurs). To select “MANUAL SETTING” in
“IP ADDRESS SETTING”, select in advance an option other
than “DHCP SETTING” in “DNS SETTING” and “SNTP
SETTING”.
The DX200 does not support NetBIOS, WINS (Windows

Internet Name Service), or Dynamic DNS. For that reason,
if an IP address is arbitrarily set for the DX200 through
NOTE DHCP, access from outside becomes difficult. To make
access from outside easy even when an IP address is set
by DHCP, take measures on the DHCP server side as
needed such as always creating the same IP address as a
DHCP lease address.
The DX200 supports IPv4 only.

NOTE
IPv6 is not supported.
IP address
Using single-byte numeric characters and dots “.”, enter the IP address to
set to the DX200 in the format “xx.xx.xx.xx” (xx being a decimal number).
Note that when “DHCP SETTING” is selected in “IP ADDRESS
SETTING”, this setting will not be used.
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Subnet mask
Using single-byte numeric characters and dots “.”, enter the subnet mask
to set to the DX200 in the format “xx.xx.xx.xx” (xx being a decimal
number).
Note that when “DHCP SETTING” is selected in “IP ADDRESS
Default gateway
To communicate with terminals on a different network (or a different
subnet) over TCP/IP, the default gateway must be set. In such cases,
using single-byte numeric characters and dots “.”, enter the default
gateway to set to the DX200 in the format “xx.xx.xx.xx” (xx being a
decimal number). If not using the default gateway, set “0.0.0.0”. Note that
when “DHCP SETTING” is selected in “IP ADDRESS SETTING”, this
setting will not be used.
 DNS setting (Host setting window)

In “DNS setting”, set whether to use the DNS (Domain Name System)
client function, and specify how to set the DNS server when using the
DNS client function.
Using the pull-down menu, select between “NOT USED”, “MANUAL
SETTING”, and “DHCP SETTING”.
Note that when “MANUAL SETTING” is selected, be sure to set also “DNS
SERVER”.
When “MANUAL SETTING” is selected in “IP ADDRESS

SETTING”, “DHCP SETTING” cannot be selected in “DNS
SETTING” (if “DHCP SETTING” is selected, the error
NOTE “DHCP is not set to use” occurs).
To select “DHCP SETTING” in “DNS SETTING”, select in
advance “DHCP SETTING” in “IP ADDRESS SETTING”.
When “MANUAL SETTING” is selected in “SNTP

SETTING” and the host name is set for “SNTP SERVER”,
“NOT USED” cannot be selected in “DNS SETTING” (if
NOTE “NOT USED” is selected, the error “DNS is already set to
use for another item” occurs). To select “NOT USED” in
“DNS SETTING”, confirm in advance that the host name is
not set for any item.
DNS server
Using single-byte numeric characters and dots “.”, enter the IP address of
the DNS server in the format “xx.xx.xx.xx” (xx being a decimal number).
Note that when “NOT USED” or “DHCP SETTING” is selected in “DNS
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 Server (Host PC) (Host setting window)

Specify the server (host PC) when standalone or DCI is used for the data
transmission function. Using single-byte numeric characters and dots “.”,
enter the IP address of the server in the format “xx.xx.xx.xx” (xx being a
decimal number).
 SNTP setting (Host setting window)

In “SNTP SETTING”, set whether to use the SNTP (Simple Network Time
Protocol) client function, and specify how to set the SNTP server when
using the SNTP client function.
Using the pull-down menu, select between “NOT USED”, “MANUAL
SETTING”, “BROADCAST”, and “DHCP SETTING”.
Note that when “MANUAL SETTING” is selected, be sure to set also
“SNTP SERVER”.
When “MANUAL SETTING” is selected in “IP ADDRESS

SETTING”, “DHCP SETTING” cannot be selected in “SNTP
NOTE setting” (if “DHCP SETTING” is selected, the error “DHCP is
not set to use” occurs). To select “DHCP SETTING” in
“SNTP SETTING”, select in advance “DHCP SETTING” in
“IP ADDRESS SETTING”.
SNTP server
Using single-byte numeric characters and dots “.”, enter the IP address of
the SNTP server in the format “xx.xx.xx.xx” (xx being a decimal number).
Note that when the DNS client function is enabled in the settings, a
domain name (or Fully Qualified Domain Name) can be entered. Single-
byte alphanumeric, dash “-”, underscore “_”, and dot “.” characters can be
used to enter a domain name. Be sure to include one or more alphabetical
characters in the name.
Note that when “NOT USED”, “BROADCAST”, or “DHCP SETTING” is
selected in “SNTP SETTING”, this setting will not be used.
Time difference against UTC time

Time that can be obtained with SNTP protocol is UTC time (Coordinated
Universal Time). To match local time with UTC time, enter a time
difference against UTC time. At that time, enter the hour “(-)**” and the
minute “**” separately using single-byte minus “-” and numeric characters.
For example, when using EST (Eastern Standard Time) as local time, set
as -5:00.
Note that when “NOT USED” is selected in “SNTP SETTING”, this setting
will not be used.
Query interval
Enter the interval for sending a query to the SNTP server. Enter the
number of hours “H” using a single-byte numeric character.
Note that when “NOT USED” or “BROADCAST” is selected in “SNTP
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4.2.5 Adaptor Setting

The settings for adaptor are required for IO transmission and reception to
and from the scanner (communication master such as PLC) during
EtherNet/IP IO communication. This chapter describes the adaptor setting
procedure.
1. Select [ADAPTER] in the EtherNet/IP (CPU board) general setup
window.
– The Adaptor setting window appears.

(1) Adaptor
Select this item using a toggle switch to alternately change
between “ENABLE” and “DISABLE”.
For use as an adaptor, set this item as “ENABLE”.
(2) Input size
Set the size of the IN signal to be input into the DX200 (Unit: Byte).
(3) Output size
Set the size of the OUT signal to be output from the DX200 (Unit:
Byte).
(4) Configuration size
Set the size of configuration data (Unit: Word).
(5) Input instance
Set the instance number of the IN signal to be input into DX200.
(6) Output instance
Set the instance number of the OUT signal to be output from
DX200.
(7) Configuration instance
Set the instance number of configuration data.
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2. Enter the desired values.

– An input example is shown below. (Configure the settings that suits
the actual communication target.)
3. Press [ENTER].
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4.2.6 Scanner Setting

The settings for scanner are required for IO transmission and reception to
and from the adaptor (communication slave such as tool) during EtherNet/
IP IO communication. This chapter describes how to configure such
settings.
1. Select [SCANNER] in the EtherNet/IP (CPU board) general setup
window.
– The SCANNER window appears.
2. Press [SELECT].
– When a blank field with no registered name in it is selected,
“MODIFY” appears.
– When a field with a registered name already set to it is selected, the

following appears.
– (Description of each item)
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(1) Insert
Add new settings to the current number. If settings have been
already registered into the current number, such registered
settings shift to the next number.
(2) Modify
Change the target registered name (if there is no registered name,
register a new name).
(3) Delete
Delete the target registered name.
(4) Details
Display the details of the device information list.
– When the details are displayed and some current value is changed,
an asterisk “ ” is displayed as follows.
3. Select [MODIFY].
– The registered device information list appears.
– For details on how to set the device information list, see section
4.2.2 “Setting the Device Information List”.
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4. Select a device to be used.

– Information on the selected device appears in the Scanner setting
window.
5. Enter the IP address.

– Enter the IP address.
6. Press [ENTER].
7. Press [ENTER].
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– The IO module window appears.
The EtherNet/IP (CPU board) setting ends here. Then, re-configuration of

the IO module according to the settings for the board is required. Move on
to the next setting procedure.
If the settings for the optional functions are not matched to

the settings for the IO module, the DX200 will not operate
correctly.
NOTE
To prevent the above, after the option board setting process
is complete, be sure to execute the IO module setting that
appears next.
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4.2.7 IO Module Re-configuration

When changes are made to the settings for the EtherNet/IP (CPU board),
re-configuration of the IO module is also required. Take the following
procedure to reconfigure the IO module.
1. (Continued from the EtherNet/IP (CPU board) setting)
– The IO module window (1st half) appears.
When this window is opened, if the functional safety

function (charged option) is valid, the message “Select
'Functional Safety Board FLASH Reset'” is shown.
NOTE For this case as well, the following setup procedures must
be completed and then perform the necessary steps by
referring to section 4.2.9 “Reset Safety Circuit Board
FLASH Data”.
2. Press [ENTER].
– The IO module window (2nd half) appears.
– Check that the values set as “IO size (unit: bit) plus 8” are assigned
to the DI and DO of the slot is attached (ST#16).
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3. Press [ENTER].
– When the I/O module is appropriately set, select “Yes”. The settings are
updated and the EXTERNAL IO SETUP window appears again.
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4.2.8 External I/O Setup

1. The EXTERNAL IO SETUP window appears.
2. Select “AUTO” or “MANUAL” at {ALLOCATION MODE}.

– A selection menu appears when select either “AUTO” or “MANUAL”.
When “MANUAL” at {ALLOCATION MODE} is changed to

“AUTO”, the already -specified allocation data is deleted
NOTE and allocation at the auto mode starts. In case the already-
specified allocation data is supposed to be saved, save it to
the external memory device before changing the settings to
“AUTO”.
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3. Select an allocation mode.

– Select “AUTO” when performing the automatic allocation.
– Select “MANUAL” when performing the manual allocation.
– The selected allocation mode is specified.
4. Select “DETAIL” at {EXTERNAL IO ALLOCATION}.

– If “AUTO” is already selected at {ALLOCATION MODE}, performing
of the following steps from 5 to 7 is not necessary. Start the
operation from step 8.
– If “MANUAL” is already selected at {ALLOCATION MODE}, perform
the following steps from 5 to 7 in accordance with the items to be
manually specified.
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5. Select a number of an external I/O signal (original) to which

modification is to be performed ({#20060} is used in this explanation as
an example.).
– A selection menu appears.
6. Select “MODIFY” and input a number of an external I/O signal (object)

to which the above mentioned modification is performed ({#20400} is
used in this explanation as an example.)
– The number of the external input signal is modified.
7. Press [SELECT] and “MODIFY” for the external input signal following
the same manners as above.
– Repeat pressing [SELECT] and “MODIFY” till the desired settings of
the allocation is indicated.
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8. Press [ENTER]
– The EXTERNAL IO ALLOCATION(OUTPUT) window appears.
9. Press [SELECT] and “MODIFY” for the external output signal following
the same manners as performed for the external input signal.
– Repeat pressing [SELECT] and “MODIFY” operations till the desired
settings of the allocation is indicated.
10. Press [ENTER]
– A confirmation dialog box appears.
11. Select “YES”

– The settings are fixed and the window returns to the SETUP
window.
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4.2.9 Reset Safety Circuit Board FLASH Data

If the functional safety function (charged option) is valid, when the setting
of the EtherNet/IP (CPU board) is modified, the message “Select
'Functional Safety Board FLASH Reset'” is shown. For this case, after
setting the EtherNet/IP, perform the following procedures to reset the
safety circuit board FLASH data.
1. Set the security mode to the safety mode.

2. Select {FILE} from the main menu.
– The sub menu is shown.
3. Select {INITIALIZE}.
– The INITIALIZE window is shown.
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4. Select “Functional Safety Board FLASH Reset”.

– The confirmation dialog is shown.
5. Select {YES}.
– The functional safety board FLASH reset is performed and the
INITIALIZE window is shown again.
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Communication Function 4.3 IO Assignment Example
4.3 IO Assignment Example
4.3.1 Setting ExclusiveOwner Communication
 Adaptor setting
An example of settings for ExclusiveOwner connection is as follows:
Scanner (PLC etc.) Adaptor (DX200)

IP Address 192.168.255.1 IP Address 192.168.255.2
Connection RPI (O->T) 8 msec -> Connection RPI (O->T) Undefined
Connection RPI (T->O) 8 msec <- Connection RPI (T->O) Undefined
Connection type ExclusiveOwner Connection type Undefined
Output size 8 Byte -> Input size 8 Byte
Input size 12 Byte <- Output size 12 Byte
Configuration size 0 Word Configuration size 0 Word
Output instance 101 -> Input instance 101
Input instance 102 <- Output instance 102
Configuration instance 103 Configuration instance 103
4.3.2 Setting InputOnly Communication
 Adaptor setting
An example of settings as an adaptor (the DX200 is the data transmission
side) for InputOnly connection is as follows:
Scanner (PLC etc.) Adaptor (DX200)

Connection RPI (O->T) 64 msec -> Connection RPI (O->T) Undefined
Connection RPI (T->O) 8 msec <- Connection RPI (T->O) Undefined
Connection type InputOnly Connection type Undefined
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Communication Function 4.3 IO Assignment Example
 Scanner setting
An example of settings as a scanner (the DX200 is the data receiving
side) for InputOnly connection is as follows:
Adaptor (PLC etc.) Scanner (DX200)

Connection RPI (O->T) Undefined <- Connection RPI (O->T) 64 msec
Connection RPI (T->O) Undefined -> Connection RPI (T->O) 8 msec
Connection type Undefined Connection type InputOnly
For InputOnly communication, no output data exist. To carry

out InputOnly communication using the EtherNet/IP (CPU
board), set “0” for the output instance number.
NOTE Note that the instance number varies depending on the
communication device. For details on how to set the
instance number, see the instruction manual for the target
communication device.
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Communication Function 4.4 Communication Data
4.4 Communication Data

As IO data transferred into the DX200 from the EtherNet/IP (CPU board),
besides input/output data transmitted from external EtherNet/IP-supported
equipment, the status of the EtherNet/IP (CPU board) is also transferred.
Thus, in addition to the contact data area, an eight-point-worth (1 Byte)
area, for input and output each, for the status of the EtherNet/IP (CPU
board) is secured inside the DX200 (the output area cannot be used).
EtherNet/IP (CPU board) communication data are assigned to the

concurrent I/O signal external input/output signals.
Assignments to external input/output signals inside the EtherNet/IP (CPU
board) are made as follows:
EtherNet/IP (CPU board)

Board status
Adaptor area (3)
Area for (5) (1)

station #1 (2)
Scanner area Area for (4)

(5)'
station #2
Area for (5)''

station #3
(1) Number of bytes occupied by the DX200 as an IO module

Consists of the current value in item (2) below + status 1 byte. A
value displayed in section 4.2.7 “IO Module Re-configuration” is a
value obtained by converting this value into a bit count (x8).
(2) Number of bytes set for the EtherNet/IP (CPU board) I/O area
A value displayed as ‘IO size (IN/OUT)’ in section 4.2.3 “General
Setup for the EtherNet/IP (CPU board)”.
(3) Number of bytes set for the adaptor I/O area
A greater value between the values set for ‘Input size’/‘Output
size’ in section 4.2.5 “Adaptor Setting”.
(4) Number of bytes set for the scanner I/O area
This value cannot be set.
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(5) Number of bytes set for the I/O areas (5), (5)', and (5)" of the
stations (devices) managed by scanner.
The number of bytes is to be set using ‘Input size’ or ‘Output size’
in section 4.2.2 “Setting the Device Information List”. Set which
device to use by making a choice from the registered device
information list in section 4.2.6 “Scanner Setting”.
The following chapter shows a concurrent I/O assignment example when

only the EtherNet/IP (CPU board) is installed. In the example,
communication is carried out assuming the quantity of data being 16 bytes
for adaptor, 8 bytes for station #1 of scanner, and 8 bytes for station #2 of
scanner (the same number of bytes for IN/OUT). And the 20010 - 20057
and 30010 - 30057 input/output areas are used by the DX200 standard I/O
unit.
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4.4.1 DX200 IO Data Allocation (For the Handling Purpose)

Note1: Following is an example when a standard settings are executed.
This allocation is subject to change according to the modification of the
external input/output signal allocations or concurrent ladder programs.
Note2: For the details of the JANCD-YIO21-E (standard I/O board) input/
output data, refer to the “DX200 INSTRUCTIONS” (165292-1CD).
Note3:On the JANCD-YIO21-E (standard I/O board) I/O module setting
window, the YSF21 (the base board of the YI021) is indicated.
Table 4-1: Example of I/O Data Allocation (For the Handling Purpose)
JANCD- I/O External Input Signal User Input Signal Meaning
YIO21-E Input 20010 20017 Input data (1)
～ No signal (Already allocated by the system)　
(Standard
I/O) 20020 ～ 20027 No signal (Already allocated by the system) Input data (2)
20030 ～ 20037 00010 ～ 00017 (IN0001 ～ IN0008) Input data (3)
20040 ～ 20047 00020 ～ 00027 (IN0009 ～ IN00016) Input data (4)
20050 ～ 20057 No signal (Already allocated by the system) Input data (5)
I/O External Input Signal User Input Signal Meaning
Output 30010
～ 30017 No signal (Already allocated by the system)　 Output data (1)
30020 ～ 30027 No signal (Already allocated by the system) Output data (2)
30030 ～ 30037 10010 ～ 10017 (OT0001 ～ OT0008) Output data (3)
30040 ～ 30047 10020 ～ 10027 (OT0009 ～ OT00016) Output data (4)
30050 ～ 30057 No signal (Already allocated by the system) Output data (5)
EtherNet/IP I/O External Input Signal User Input Signal Meaning
(Standard Input 20060 20067 00030 ～ 00037 (IN00017
～～ IN0024) Communication
LAN port)
Status1)
20070 ～ 20077 00040 ～ 00047 (IN00025 ～ IN0032) Adapter area
input data (1)
input data (2)
input data (3)
input data (4)
input data (5)
input data (6)
input data (7)
input data (8)
input data (9)
input data (10)
input data (11)
input data (12)
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EtherNet/IP I/O 20190 ～ 20197 00160 ～ 00167 (IN00121 ～ IN0128) Adapter area
(Standard Input input data (13)
LAN port) 20200 20207 00170 ～ 00177 (IN00129
～～ IN0136) Adapter area
input data (14)
input data (15)
input data (16)
20230 ～ 20237 00200 ～ 00207 (IN00153 ～ IN0160) Scanner first
area input data
(1)
area input data
(2)
area input data
(3)
area input data
(4)
area input data
(5)
area input data
(6)
area input data
(7)
area input data
(8)
20310 ～ 20317 00280 ～ 00287 (IN00217 ～ IN0224) Scanner second
area input data
(1)
area input data
(2)
area input data
(3)
area input data
(4)
area input data
(5)
area input data
(6)
area input data
(7)
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EtherNet/IP I/O 20380 ～ 20387 00350 ～ 00357 (IN00273 ～ IN0280) Scanner second
(Standard Input area input data
LAN port) (8)
EtherNet/IP I/O External Output Signal User Output Signal Meaning
(Standard Output 30060
～ 30067 10030 ～ 10037 (OT0017 ～ OT0024) Reserved1)
LAN port)
30070 ～ 30077 10040 ～ 10047 (OT0025 ～ OT0032) Adapter area
output data (1)
output data (2)
output data (3)
output data (4)
output data (5)
output data (6)
output data (7)
output data (8)
output data (9)
output data (10)
output data (11)
output data (12)
output data (13)
output data (14)
output data (15)
output data (16)
30230 ～ 30237 10200 ～ 00207 (OT0153 ～ OT0160) Scanner first
area output data
(1)
area output data
(2)
area output data
(3)
area output data
(4)
area output data
(5)
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EtherNet/IP I/O 30280 ～ 30287 10250 ～ 10257 (OT0193 ～ OT0200) Scanner first
(Standard Output area output data
LAN port) (6)
area output data
(7)
area output data
(8)
30310 ～ 30317 10280 ～ 10287 (OT0217 ～ OT0224) Scanner second
area output data
(1)
area output data
(2)
area output data
(3)
area output data
(4)
area output data
(5)
area output data
(6)
area output data
(7)
area output data
(8)
1Communication status and Reserved parts are not available to allocate as I/O signals.
Also, this data is not transmitted by the EtherNet/IP (cannot communicate with master PLCs).
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4.4.2 DX200 IO Data Allocation (For other than Handling Purpose)

Note1: Following is an example when a standard settings are executed.
This allocation is subject to change according to the modification of the
external input/output signal allocations or concurrent ladder programs.
Note2: For the details of the JANCD-YIO21-E (standard I/O board) input/
output data, refer to the “DX200 INSTRUCTIONS” (165292-1CD).
Note3:On the JANCD-YIO21-E (standard I/O board) I/O module setting
window, the YSF21 (the base board of the YI021) is indicated.
Table 4-2: Example of I/O Data Allocation (For other than Handling Purpose)
JANCD- I/O External Input Signal User Input Signal Meaning
YIO21-E Input 20010 20017 Input data (1)
～ No signal (Already allocated by the system)　
(Standard
I/O) 20020 ～ 20027 No signal (Already allocated by the system)　 Input data (2)
20030 ～ 20037 00010 ～ 00017 (IN0001 ～ IN0008) Input data (3)
20040 ～ 20047 00020 ～ 00027 (IN0009 ～ IN00016) Input data (4)
20050 ～ 20057 00030 ～ 00037 (IN0017 ～ IN00024) Input data (5)
I/O External Output Signal User Input Signal Meaning
Output 30010
～ 30017 No signal (Already allocated by the system)　 Output data (1)
30020 ～ 30027 No signal (Already allocated by the system)　 Output data (2)
30030 ～ 30037 10010 ～ 10017 (OT0001 ～ OT0008) Output data (3)
30040 ～ 30047 10020 ～ 10027 (OT0009 ～ OT00016) Output data (4)
30050 ～ 30057 10030 ～ 10037 (OT0017 ～ OT00024) Output data (5)
EtherNet/IP I/O External Input Signal User Input Signal Meaning
(Standard Input 20060 20067 00040 ～ 00047 (IN00025
～～ IN0032) Communica-
LAN port)
tion Status1)
input data (1)
input data (2)
input data (3)
input data (4)
input data (5)
input data (6)
input data (7)
input data (8)
input data (9)
input data (10)
input data (11)
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EtherNet/IP I/O 20180 ～ 20187 00160 ～ 00167 (IN00121 ～ IN0128) Adapter area
(Standard Input input data (12)
LAN port) 20190 20197 00170 ～ 00177 (IN00129
～～ IN0136) Adapter area
input data (13)
input data (14)
input data (15)
input data (16)
area input data
(1)
area input data
(2)
area input data
(3)
area input data
(4)
area input data
(5)
area input data
(6)
area input data
(7)
area input data
(8)
20310 ～ 20317 00290 ～ 00297 (IN00225 ～ IN0232) Scanner
second area
input data (1)
20320 ～ 20327 00300 ～ 00307 (IN00233 ～ IN0240) Scanner
second area
input data (2)
20330 ～ 20337 00310 ～ 00317 (IN00241 ～ IN0248) Scanner
second area
input data (3)
20340 ～ 20347 00320 ～ 00327 (IN00249 ～ IN0256) Scanner
second area
input data (4
20350 ～ 20357 00330 ～ 00337 (IN00257 ～ IN0264) Scanner
second area
input data (5)
20360 ～ 20367 00340 ～ 00347 (IN00265 ～ IN0272) Scanner
second area
input data (6)
20370 ～ 20377 00350 ～ 00357 (IN00273 ～ IN0280) Scanner
second area
input data (7)
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EtherNet/IP I/O 20380 ～ 20387 00360 ～ 00367 (IN00281 ～ IN0288) Scanner
(Standard Input second area
LAN port) input data (8)
EtherNet/IP I/O External Output Signal User Output Signal Meaning
(Standard Output 30060
～ 30067 10040 ～ 10047 (OT0025 ～ OT0032) Reserved1)
LAN port)
output data (1)
output data (2)
output data (3)
output data (4)
output data (5)
output data (6)
output data (7)
output data (8)
output data (9)
output data (10)
output data (11)
output data (12)
output data (13)
output data (14)
output data (15)
output data (16)
area output
data (1)
area output
data (2)
area output
data (3)
area output
data (4)
area output
data (5)
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EtherNet/IP I/O 30280 ～ 30287 10260 ～ 10267 (OT0201 ～ OT0208) Scanner first
(Standard Output area output
LAN port) data (6)
area output
data (7)
area output
data (8)
30310 ～ 30317 10290 ～ 10297 (OT0225 ～ OT0232) Scanner
second area
output data (1)
30320 ～ 30327 10300 ～ 10307 (OT0233 ～ OT0240) Scanner
second area
output data (2)
30330 ～ 30337 10310 ～ 10317 (OT0241 ～ OT0248) Scanner
second area
output data (3)
30340 ～ 30347 10320 ～ 10327 (OT0249 ～ OT0256) Scanner
second area
output data (4)
30350 ～ 30357 10330 ～ 10337 (OT0257 ～ OT0264) Scanner
second area
output data (5)
30360 ～ 30367 10340 ～ 10347 (OT0265 ～ OT0272) Scanner
second area
output data (6)
30370 ～ 30377 10350 ～ 10357 (OT0273 ～ OT0280) Scanner
second area
output data (7)
30380 ～ 30387 10360 ～ 10367 (OT0281 ～ OT0288) Scanner
second area
output data (8)
1Communication status and Reserved parts are not available to allocate as I/O signals.
Also, this data is not transmitted by the EtherNet/IP (cannot communicate with master PLCs).
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Communication Function 4.5 Communication Status
4.5 Communication Status

To the one byte at the head of EtherNet/IP(CPU board) input data which is
allocated to an external input signal (20060 to 20067 in the above
mentioned example) indicates the communication status of EtherNet/IP
(CPU board).
Signal Description
2xxx0 to 2xxx3 Vendor-reserved (not available)
2xxx4 Indicates the existence of an error at the EtherNet/IP adaptor
communication.
Normal status: 0
Communication error: 1
2xxx5 Indicates the existence of a non-connected device at the
EtherNet/IP scanner communication.
Connecting to all devices normally: 0
Non-connected device exists: 1
2xxx6 Indicates the status of EtherNet/IP communication.
Normal status: 0
2xxx7 Indicates the operating status of the EtherNet/IP (CPU board).
Normal status: 0
 Alarming for communication error using a status

By using CIA ladder and universal alarms, an alarm can be generated
when EtherNet/IP(CPU board) detects a communication error.
Following is the example of above mentioned case.
Regard that following two alarms are generated.
• EtherNet/IP operation error
• EtherNet/IP communication error
For the registration of the universal alarms, refer to section 13.7 “I/O
Message and I/O Alarms” in the “DX200 OPTIONS INSTRUCTION FOR
CONCURRENT I/O”.
[Alarm No.] Signal No. Meanings

Alarm name
(Communication status signal
[9065] 20067 EtherNet/IP board Operation
EtherNet/IP operation error (Communication status signal: 2xxx7) status error
[9066] 20066 Communication error
EtherNet/IP (Communication status signal: 2xxx6)
communication error
When the EtherNet/IP(CPU board) detects an error and it is reported by a

communication status error, a ladder program in which an alarm is
generated in accordance with an error signal is created.
Followings are the procedures for registering the above mentioned alarms
by universal alarms. Also, a ladder program which generates the error is
indicated.
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 Register an universal alarm

1. Change the mode to the management mode.
2. Select {I/O ALARM} from {IN/OUT} under the main menu.
3. The I/O ALARM(SYSTEM) window appers.
4. Press [PAGE].
– The I/O ALARM(USER) window appears.
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5. Move the cursor to characters of the registering alarm name and press
[SELECT].
– A window for inputting characters appears.
6. Input the I/O alarm name.
7. Press [ENTER].
– The alarm name is registered.
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8. Register other alarm names.

– Register other alarm names in the same mannners.
 IO allocation and ladder program

Create a ladder program to generate an alarm when the EtherNet/IP
detects an error using the following signals.
External Input
Signal Meanings
20066 Communication status
(EtherNet/IP communication status)
20067 Communication status
(EtherNet/IP operation status)
User Input signal

Signal Meanings
40012 Universal part alarm request
40220 Universal part alarm code d0
Auxiliary relay
Signal Meanings
70017 Power supply to the DX200 is
turned ON (always ON)
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Ladder program (figure)

By creating the following ladder program, alarms can be generated in
accordance with the status error signal of the EtherNet/IP(CPU board).
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Communication Function 4.6 Managing Setting Data
4.6 Managing Setting Data

EtherNet/IP (CPU board) setting information can be saved and loaded
using an external storage device. The procedure is shown below. For
general instructions on how to operate an external storage device, see
chapter 7 “External memory device” in “DX200 OPERATOR'S MANUAL”.
The data saved on the EtherNet/IP (CPU board) cannot be loaded as

PCU-ETHIO board setting information and vice versa.
4.6.1 How to Save Data

1. Turn on the DX200 power supply.
2. Select [EXTERNAL MEMORY DEVICE] under the main menu.
3. Select [SAVE].
– The SAVE window appears.
4. Select [SYSTEM DATA].

– The System data selection window appears.
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5. Select [ETHERNET/IP CONFIG DATA].

– “ ” is marked to the selected system data.
6. Press [ENTER].
– The file saving process will start and the transmission window
appears. Press [STOP] to stop the saving process.
– When the saving process is complete or cancelled, the file selection
window appears again.
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4.6.2 How to Load Data

1. Turn on the DX200 power supply.
2. The security mode is changed to the management mode.
3. Select [EXTERNAL MEMORY DEVICE] under the main menu.
4. Select [LOAD].
– The LOAD window appears.
5. Select [SYSTEM DATA].

– The System data selection window appears.
6. Select [ETHERNET/IP CONFIG DATA].

– “ ” is marked to the selected system data.
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7. Press [ENTER].
– The file loading process will start and the transmission window
appears.
– When the loading process is complete, the file selection window
appears again.
9. After the loading process becomes complete, turn the power ON

again.
The ETHERNET/IP setting data “ETHERIP.DAT” is the

back-up data of the EtherNet/IP communication setting.
For the IO points used for the EtherNet/IP communication,
the data can be loaded only when the IO points set in the
“ETHERIP.DAT” file to be loaded and in the DX200 as the
load destination are the same.
Even if the total IO points are the same, when
NOTE “ETERRIP.DAT” is loaded while the contents of the IO data
allocation is different from the setting of the DX200, the
external IO allocation data must be updated.
Perform either of the following procedures to update.
• Load the external IO allocation data “EIOALLOC.DAT” for
which the IO data is correctly allocated.
• Perform the reset ting of the external IO allocation under
the maintenance mode.
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Communication Function 4.7 Creating an EDS File
4.7 Creating an EDS File

Performing the communication settings of EtherNet/IP Safety needs an
EDS file (Electronic Data Sheet). Use the EDS file created by the
following procedures.
For the details of the configurator and EDS file, refer to the Ethernet/IP
specifications. For how to use the communication master and the created
EDS file, refer to the instructions of the communication master.
4.7.1 Creating Procedures of EDS File

1. Start the Maintenance mode, and then select {EX. MEMORY} in the
Main Menu.
– The sub menu appears.
2. Select {SAVE}.
– The SAVE window appears.
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3. Select "EDS FILE SAVE".

– The EDS FILE LIST window appears.
4. Select “Ethernet/IP CPU (Safety)”.

– " " appears to the selected board.
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5. Press [Enter].
6. Select {YES}.
– An EDS file is created in the valid device (CompactFlash or USB
memory).
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Communication Function 4.8 Communication Monitor Window
4.8 Communication Monitor Window

The status of I/O communication with each communication target of the
EtherNet/IP can be checked by the communication monitor window.
1. Select {IN/OUT} under the main menu.
2. Select {COMMUNICATION MONITOR}.

– The following window appears.
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Communication Function 4.8 Communication Monitor Window
3. Select {15}.
– Communication monitor window of the EtherNet/IP is shown.
In the communication monitor window, the following contents are shown.
Item Contents
NO “00”: Scanner.
“01” to “10”: Adapter.
In the line of No.00, the setting information and the I/O
communication status of the scanner are shown.
In the line of No.01 to 10, the setting information and the I/O
communication status of the adapter which is registered with
each number in chapter 4.2.6 “Scanner Setting” are shown.
S/A The station type of the device is shown in this area.
“SCN”: The communication target is the scanner.
“ADP”: The communication target is the adapter.
TYPE The communication type is shown in this area.
“IONLY”: The connection type is InputOnly.
“EXOWN”: The connection type is ExclusiveOwner.
“-”: No setting of the device.
STS The I/O communication status is shown in this area.
“OK”: The communication with the communication target is
established.
“NG”: The communication with the communication target is
not established.
“-”: No setting of the device.
IPAddress The IP Address of the device which communicates with the
DX200 is shown in this area.
Until the communication with the scanner is established,
“0.0.0.0” is shown in the line of No.00’s IP Address.
REGISTRATION The registration name of the device which communicates with
NAME the DX200 is shown in this area.
In the line of No.00, “MasterDevice” is shown.
In the line of No.01 to 10, the registration names of the
adapter which is registered with each number in chapter 4.2.6
“Scanner Setting” are shown.
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EtherNet/IP 5 Message Communication
Communication Function 5.1 Conventional Message Communication
5 Message Communication
5.1 Conventional Message Communication

In the EtherNet/IP (CPU board) message communication, it is possible to
achieve the same level of data transmission/reception as the level
achieved by the DX200 Ethernet function. For details, see the following
manuals:
• DX200 OPTIONS INSTRUCTIONS FOR DATA TRANSMISSION
FUNCTION and the DX200 OPTIONS INSTRUCTIONS FOR
ETHERNET FUNCTION
• DX200 OPTIONS INSTRUCTIONS FOR ETHERNET SERVER
FUNCTION
• DX200 OPTIONS INSTRUCTIONS FOR FTP FUNCTION
5.2 Message Communication Using CIP

The following commands are available in message communication using
CIP:
Class number Function outline
0x70 Read a currently occurring alarm
0x71 Read an alarm history
0x72 Read the current status
0x73 Read the current active job information
0x74 Read the current axis configuration
0x75 Read the current robot position
0x76 Read the deviation of each axis position
0x77 Read the torque of each axis
0x78 Read and write IO data
0x79 Read and write register data
0x7A Read and write a byte-type variable (B)
0x7B Read and write an integer-type variable (I)
0x7C Read and write a double precision integer-type variable (D)
0x7D Read and write a real-type variable (R)
0x8C Read and write a character-type variable (S)
0x7F Read and write a robot position-type variable (P)
0x80 Read and write a base position-type variable (BP)
0x81 Read and write an external axis position-type variable (EX)
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Communication Function 5.2 Message Communication Using CIP
5.2.1 Details on Commands for Message Communication Using CIP
 Read a currently occurring alarm
Table 5-1(a): Required Format

Division Outline Size Data Explanation
Header Class 2 Byte 0x70 Vendor-specific
Instance 2 Byte Specify the read data Specify the alarm
division 1: Latest alarm
1 to 4 2: Alarm immediately
before 1
3: Alarm immediately
before 2
4: Alarm immediately
before 3
Attribute 1 Byte Specify the read data 1: Alarm code
type to
1 to 5 5: Alarm string name
Service 1 Byte Specify the data access
method
0x01: Get Attribute All
0x0E: Get Attribute Single
Table 5-1(b): Response Format (When Reading All Attributes/Omitting Headers)

Division Outline Size Explanation
Data Alarm code 4 Byte Output the alarm code
0 to 9999
Alarm data 4 Byte Output the alarm data
Alarm data type 4 Byte Output the alarm data type
0: No supplementary indication
1: USHORT type decimal data
2: UCHAR type bit pattern
3: General-purpose axis type
4: Space coordinates type
5: Robot coordinates type
6: Servo axis type
8: Control group type
9: SHORT type decimal data
10: USHORT type bit pattern
Alarm 16 Byte Output the alarm occurrence date/time as
occurrence strings
date/time Example of display: 2010/10/10 10:10
Alarm string 32 Byte Output the alarm name as strings
The same language as the one used for
display on the pendant is used.
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 Read an alarm history

Instance 2 Byte Specify the read data Specify the alarm
division division
1 to 100 1 to 100: major failure
1001 to 1100 1001 to 1100: minor
2001 to 2100 failure
3001 to 3100 2001 to 2100: User
4001 to 4100 (System)
3001 to 3100: User (User)
4001 to 4100: Off-line
Attribute 1 Byte Specify the read data 1: Alarm code
type to
1 to 5 5: Alarm string name
method

Data Alarm code 4 Byte Output the alarm code
0 to 9999
Alarm data 4 Byte Output the alarm data
Alarm data type 4 Byte Output the alarm data type
0: No supplementary indication
1: USHORT type decimal data
2: UCHAR type bit pattern
3: General-purpose axis type
4: Space coordinates type
5: Robot coordinates type
6: Servo axis type
8: Control group type
9: SHORT type decimal data
10: USHORT type bit pattern
Alarm occurrence 16 Byte Output the alarm occurrence date/time
date/time as strings
Example of display: 2010/10/10 10:10
Alarm string 32 Byte Output the alarm name as strings
The same language as the one used for
display on the pendant is used.
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 Read the current status

Instance 2 Byte Specify “1”
Attribute 1 Byte Specify the read data type 1: Data 1
1 to 2 2: Data 2
Service 1 Byte Specify the data access method

Data Data 1 4 Byte Output one of the following statuses:
bit 0: Step
bit 1: 1 cycle
bit 2: Auto
bit 3: Running
bit 4: Safety speed operation
bit 5: Teach
bit 6: Play
bit 7: Command remote
Data 2 4 Byte Output one of the following statuses:
bit 0: System-reserved
bit 1: Hold (Programming pendant)
bit 2: Hold (external)
bit 3: Hold (Command)
bit 4: Alarm
bit 5: Error
bit 6: Servo on
bit 7: System-reserved
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 Read the current active job information

Instance 2 Byte Specify the read task Specify the serial number
series of the task to read
1 to 16 1: Master task
2: Sub task 1
to
16: Sub task 15
Attribute 1 Byte Specify the read data Data number of the
type active job information
1 to 4 1: Job name
to
4: Speed override value
method
Table 5-4(b): Response Format (When Reading Al Attributes/Omitting Headers)

Data Job name 32 Byte Output the job name
Line number 4 Byte Output the line number
0 to 9999
Step number 4 Byte Output the step number
1 to 9998
Speed override value 4 Byte Output the speed override value
Unit: 0.01%
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 Read the current axis configuration

Instance 2 Byte Specify the control group Specify the control
to read group and the
1 to 8 coordinates system
11 to 18 1 to 8: Robot (pulse)
21 to 44 11 to 18: Base (pulse)
101 to 108 21 to 44: Station (Pulse)
111 to 118 101 to 108: Robot
(robot coordinate)
(X-Y coordinate)
111 to 118: Base (linear)
Attribute 1 Byte Specify the read data Specify the data
type number of the axis
1 to 8 information
1: 1st axis coordinates
name
to
8: 8th axis coordinates
name
method

Data 1st axis coordinates name 4 Byte The following will be output:
2nd axis coordinates 4 Byte For robot (pulse):
name ‘S’, ‘L’, …‘T’
For robot/base (X-Y coordinate):
3rd axis coordinates name 4 Byte ‘X’, ‘Y’, …‘Rz’
4th axis coordinates name 4 Byte For base/station (pulse):
‘1', ‘2’, …‘6’
5th axis coordinates name 4 Byte
6th axis coordinates name 4 Byte Data on each axis is set in
7th axis coordinates name 4 Byte ascending order.
The value zero is set to a non-
8th axis coordinates name 4 Byte
existing axis.
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 Read the current robot position

Instance 2 Byte Specify the control Specify the control
group to read group and the
1 to 8 coordinates system
11 to 18 1 to 8: Robot (Pulse)
21 to 44 11 to 18: Base (Pulse)
101 to 108 21 to 44: Station (Pulse)
101 to 108: Robot (Base)
Attribute 1 Byte Specify the read data Specify the data number
type of the position
1 to 13 information
1: Data type
to
13: 8th axis data
method

Data Data type 4 Byte The position data type will be output
0: Pulse
16: Base
Configuration 4 Byte The configuration will be output
bit 0: Back
bit 1: Lower arm
bit 2: No flip
bit 3: R axis ≥ 180°
bit 4: T axis ≥ 180°
bit 5: S axis ≥ 180°
Tool number 4 Byte
Reservation 4 Byte
Extended configuration 4 Byte Output the 7-axis robot extended
configuration
bit 0: θL ≥ 180°
bit 1: θU ≥ 180°
bit 2: θB ≥ 180°
bit 3: θE ≥ 180°
bit 4: θW ≥ 180°
1st axis data 4 Byte The following values will be output:
2nd axis data 4 Byte For pulse:
Each axis’ pulse value
3rd axis data 4 Byte For base:
4th axis data 4 Byte Length (μm)
Angle (0.0001°)
5th axis data 4 Byte
6th axis data 4 Byte Data on each axis is set in
7th axis data 4 Byte ascending order.
existing axis.
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 Read the deviation of each axis position

group to read group
1 to 8 1 to 8: Robot
11 to 18 11 to 18: Base
21 to 44 21 to 44: Station
type of the position deviation
1 to 8 information
1: 1st axis data
to
8: 8th axis data
method

Data 1st axis data 4 Byte The pulse value of each axis will be output:
2nd axis data 4 Byte
Data on each axis is set in ascending order.
3rd axis data 4 Byte The value zero is set to a non-existing axis.
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 Read the torque of each axis

group to read group
1 to 8 1 to 8: Robot
11 to 18 11 to 18: Base
21 to 44 21 to 44: Station
type of each axis torque
1 to 8 1: 1st axis data
to
8: 8th axis data
method

Data 1st axis data 4 Byte The value for the torque of each axis is output
2nd axis data 4 Byte as a percentage when the nominal value is
100%.
3rd axis data 4 Byte
4th axis data 4 Byte Data on each axis is set in ascending order.
The value zero is set to a non-existing axis.
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165838-1CD

 Read and write IO data
Table 5-9(a): Required Format/Data Omitted When Writing

Instance 2 Byte Specify the signal to read/ Specify the value
write obtained by dividing
1 to 256 the logical number of
1001 to 1256 the signal by 10
2001 to 2256 1 to 256: General
3001 to 3256 input
4001 to 4160 1001 to 1256:
5001 to 5200 General output
6001 to 6064 2001 to 2256:
7001 to 7999 External input
2501 to 2756 2501 to 2756:
3501 to 3756 Network input
8001 to 8064 * Writable
8201 to 8220 3001 to 3256:
External output
3501 to 3756:
Network output
4001 to 4160: Specific
input
5001 to 5200: Specific
output
6001 to 6064:
Interface panel input
7001 to 7999:
Auxiliary relay
8001 to 8064: Control
status
8201 to 8220: Pseudo
input
Attribute 1 Byte Specify “1”
method
0x10: Set Attribute Single

Data IO data 1 Byte When parameter:RS023=1 is set, the data will be
treated as 2 byte data (only the 1 byte portion is
treated as valid data).
5-10 HW1481985 84 of 93
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 Read and write register data

Instance 2 Byte Specify the register to Specify the register
read/write number
0 to 999 or 1 to 1000 (Parameter: RS022=1)
Specify the register

number +1
(Parameter: RS022=0)
method

Data Register data 2 Byte
 Read and write a byte-type variable (B)

Header Class 2 Byte 0x7A Vendor-specific
Instance 2 Byte Specify the variable B to Specify the variable B
read/write number
From 0 or from 1 (Parameter: RS022=1)
Specify the variable B

number +1
method

Data (B) variable data 1 Byte When parameter: RS023=1 is set, the data
will be treated as 2 byte data (only the 1 byte
portion is treated as valid data).
5-11 HW1481985 85 of 93
165838-1CD

 Read and write an integer-type variable (I)

Header Class 2 Byte 0x7B Vendor-specific
Instance 2 Byte Specify the variable I to Specify the variable I
read/write number
Specify the variable I

number +1
method

Data (I) variable data 2 Byte
 Read and write a double precision integer-type variable (D)

Header Class 2 Byte 0x7C Vendor-specific
Instance 2 Byte Specify the variable D to Specify the variable D
read/write number
Specify the variable D

number +1
method

Data (D) variable data 4 Byte
5-12 HW1481985 86 of 93
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 Read and write a real-type variable (R)

Header Class 2 Byte 0x7D Vendor-specific
Instance 2 Byte Specify the variable D to Specify the variable R
read/write number
Specify the variable R

number +1
method

Data (R) variable data 4 Byte A real value is output
 Read and write a string-type variable (S)

Header Class 2 Byte 0x8C Vendor-specific
Instance 2 Byte Specify the variable S to Specify the variable S
read/write number
Specify the variable S

number +1
method

Data (S) variable data 32 Byte
The conventional command (Class=0x7E) is no longer used

NOTE because the size of the S variable is expanded to 32 byte in
the DX200 system.
5-13 HW1481985 87 of 93
165838-1CD

 Read and write a robot position-type variable (P)

Header Class 2 Byte 0x7F Vendor-specific
Instance 2 Byte Specify the variable P to Specify the variable P
read/write number
Specify the variable P

number +1
type number of the position
1 to 13 information
1: Data type
to
13: 8th axis data
method
0x02: Set Attribute All
5-14 HW1481985 88 of 93
165838-1CD

Data Data type 4 Byte The position data type will be
output
0: Pulse
16: Base
17: Robot
18: Tool
19: User coordinates
Configuration 4 Byte The configuration will be output
bit 0: Back
bit 1: Lower arm
bit 2: No flip
bit 3: R axis ≥ 180°
bit 4: T axis ≥ 180°
bit 5: S axis ≥ 180°
Tool number 4 Byte
User coordinate number 4 Byte
Extended configuration 4 Byte Output the 7-axis robot extended
configuration
bit 0: θL ≥ 180°
bit 1: θU ≥ 180°
bit 2: θB ≥ 180°
bit 3: θE ≥ 180°
bit 4: θW ≥ 180°
Angle (0.0001°)
6th axis data 4 Byte Data on each axis is set in
7th axis data 4 Byte ascending order.
existing axis.
5-15 HW1481985 89 of 93
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 Read and write a base position-type variable (BP)

Instance 2 Byte Specify the variable BP Specify the variable BP
to read/write number
Specify the variable BP

number +1
1 to 9 information
1: Data type
to
9: 8th axis data
method

0: Pulse
16: Base
Angle (0.0001°)
7th axis data 4 Byte The value zero is set to a non-existing axis.
5-16 HW1481985 90 of 93
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 Read and write an external axis position-type variable (EX)

Instance 2 Byte Specify the variable BP Specify the variable EX
to read/write number
Specify the variable EX

number +1
1 to 9 information
1: Data type
to
9: 8th axis data
method

0: Pulse
3rd axis data 4 Byte
The value zero is set to a non-existing axis.
5-17 HW1481985 91 of 93
165838-1CD

Communication Function 5.3 Related Parameters
5.3 Related Parameters

For CIP message communication, according to the function of the
communication target, set the following parameters:
Parameter No. Description Set Value Initial Value
RS022 Specify permission of Instance 0 1 0
Some equipment capable of CIP

message communication treats
instance 0 as a regular instance
number. To communicate with such
a device, set this parameter to “1”.
By setting this parameter to “1”, the
variable or register number as is can
be specified as an instance number.
(When this parameter is set to “0”,
specify the value by adding “1” to the
variable or the register number.)
RS023 Specify prohibition of 1 byte input/ 1 0
output
Some equipment capable of CIP

message communication cannot
input or output one-byte data. To
communicate with such a device, set
this parameter to “1”.
By setting this parameter to “1”, data
whose size is originally one byte can
be transmitted/received as byte.
(Also in this case, only the one-byte
portion is treated as valid data.)
5-18 HW1481985 92 of 93
DX200 OPTIONS
INSTRUCTIONS
EtherNet/IP COMMUNICATION FUNCTION
HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan
Phone +81-93-645-7703 Fax +81-93-645-7802
YASKAWA America Inc. (Motoman Robotics Division)

100 Automation Way, Miamisburg, OH 45342, U.S.A.
Phone +1-937-847-6200 Fax +1-937-847-6277
YASKAWA Europe GmbHRobotics Divsion )

Yaskawastrasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100 Fax +49-8166-90-103
YASKAWA Nordic AB
Verkstadsgatan 2, Box 504 ,SE-385 25 Torsas, Sweden
Phone +46-480-417-800 Fax +46-486-414-10
YASKAWA Electric (China) Co., Ltd.

22F, One Corporate Avenue, No.222, Hubin Road, Huangpu District, Shanghai 200021, China
Phone +86-21-5385-2200 Fax 㸩86-21-5385-3299
YASKAWA SHOUGANG ROBOT Co. Ltd.
No7 Yongchang North Road, Beijing E&T Development AreaChina 100176
Phone +86-10-6788-2858 Fax +86-10-6788-2878
YASKAWA India Private Ltd. (Robotics Division)

#426, Udyog Vihar, Phase- IV,Gurgaon, Haryana, India
Phone +91-124-475-8500 Fax +91-124-475-8542
YASKAWA Electric Korea Corporation

35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, Korea 07326
Phone +82-2-784-7844 Fax +82-2-784-8495
YASKAWA Electric Taiwan Corporation

12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan
Phone +886-2-8913-1333 Fax +886-2-8913-1513
YASKAWA Electric (Singapore) PTE Ltd.

151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone +65-6282-3003 Fax +65-6289-3003
YASKAWA Electric (Thailand) Co., Ltd.

59,1st-5th Floor, Flourish Building, Soi Ratchadapisek 18,Ratchadapisek Road,
Huaykwang, Bangkok 10310, THAILAND
Phone +66-2-017-0099 Fax +66-2-017-0199
PT. YASKAWA Electric Indonesia

Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma,
Jakarta 13610, Indonesia
Phone +62-21-2982-6470 Fax +62-21-2982-6741
Specifications are subject to change without notice

for ongoing product modifications and improvements.
MANUAL NO.
HW1481985 4 93 of 93

Instructions: Dx200 Options

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DX200 OPTIONS

Part Number: 165838-1CD

Copyright © 2017, 2016, 2014, 2013 YASKAWA America, Inc.

Terms of Use and Copyright Notice

Printed in the United States of America

First Printing, 2013

Yaskawa America, Inc.

Notes for Safe Operation

Indicates an imminent hazardous

Indicates a potentially hazardous

Indicates a potentially hazardous

Always be sure to follow explicitly

PROHIBITED Must never be performed.

Even items described as “CAUTION” may result in a serious accident in

To ensure safe and efficient operation at all times, be sure to

EtherNet/IP Notes for Safe Operation

• Observe the following precautions when performing teaching

Definition of Terms Used Often in This Manual

Descriptions of the programming pendant keys, buttons, and displays are

EtherNet/IP Description of the Operation Procedure

Description of the Operation Procedure

Mechanical Safety Devices

Programming, Operation, and Maintenance Safety

EtherNet/IP Maintenance Safety

Summary of Warning Information

Customer Support Information

When using e-mail to contact Yaskawa Customer Support, please provide

Please use e-mail for routine inquiries only. If you have an

• System EtherNet/IP Communication

• Primary Application ___________________________

• Software Version Access this information on the

• Robot Serial Number Located on the robot data plate

• Robot Sales Order Number Located on the DX200 controller

EtherNet/IP Table of Contents

1.1 System Configuration......................................................................................................... 1-1

1.1.1 System Configuration Example ............................................................................ 1-1

1.1.2 Adaptor ................................................................................................................. 1-1

1.1.3 Scanner ................................................................................................................ 1-1

1.1.4 Message Communication ..................................................................................... 1-2

1.1.5 IO Communication by InputOnly........................................................................... 1-2

1.1.6 Message Communication Using CIP .................................................................... 1-2

2 Board Specifications ....................................................................................................................... 2-1

3 How to Connect Communication Cable .......................................................................................... 3-1

3.2 Mounting the EtherNet/IP (CPU board) to DX200 ............................................................. 3-3

3.3 Closing the Front Door of the DX200................................................................................. 3-4

4 EtherNet/IP Function Setting........................................................................................................... 4-1

4.1 Outline ............................................................................................................................... 4-1

4.1.1 Window Composition ............................................................................................ 4-2

4.2 Setup Procedure ................................................................................................................ 4-3

4.2.2 Setting the Device Information List ....................................................................... 4-5

4.2.3 General Setup for the EtherNet/IP (CPU board)................................................... 4-8

4.2.4 Ethernet Setting .................................................................................................... 4-8

4.2.5 Adaptor Setting ................................................................................................... 4-13

4.2.6 Scanner Setting .................................................................................................. 4-15

4.2.7 IO Module Re-configuration................................................................................ 4-19

4.2.8 External I/O Setup .............................................................................................. 4-21

4.2.9 Reset Safety Circuit Board FLASH Data ............................................................ 4-25