Ethernet Function Instruction Manual: Mitsubishi Electric Industrial Robot

Mitsubishi Electric Industrial Robot
CR800 series controller

CR750/CR751 series controller
Ethernet Function Instruction Manual
BFP-A3379-D
 Revision History
Print Date Instruction Manual No. Revision Content

2015-03-18 BFP-A3379 ・First print
2017-04-28 BFP-A3379-A ・Descriptions about the CR800 controller have been added.
2017-11-10 BFP-A3379-B ・Descriptions about FR Series CC-Link IE Filed Network Basic function have
been added.
2018-02-01 BFP-A3379-C ・The CR800-Q controller was added.
2020-10-30 BFP-A3379-D ・Amended the precautions regarding the prevention of unauthorized access.
・Corrected mistakes in the table in section 3.6.5 "Support of robot I/O
signals and link devices".
・Added precautions regarding subnet masks to section 2.2.2 "Details of
parameters".
Safety Precautions
Always read the following precautions and the separate "Safety

Manual" before starting use of the robot to learn the required
measures to be taken.
CAUTION All teaching work must be carried out by an operator who has received special
training.
(This also applies to maintenance work with the power source turned ON.)
→Enforcement of safety training
CAUTION For teaching work, prepare a work plan related to the methods and procedures
of operating the robot, and to the measures to be taken when an error occurs
or when restarting. Carry out work following this plan.
→Preparation of work plan
WARNING Prepare a device that allows operation to be stopped immediately during

teaching work.
→Setting of emergency stop switch
CAUTION During teaching work, place a sign indicating that teaching work is in progress
on the start switch, etc.
→Indication of teaching work in progress
DANGER Provide a fence or enclosure during operation to prevent contact of the operator
and robot.
→Installation of safety fence
CAUTION Establish a set signaling method to the related operators for starting work,
and follow this method.
→Signaling of operation start
CAUTION As a principle turn the power OFF during maintenance work. Place a sign
indicating that maintenance work is in progress on the start switch, etc.
→Indication of maintenance work in progress
CAUTION Before starting work, inspect the robot, emergency stop switch and other
related devices, etc., and confirm that there are no errors.
→Inspection before starting work
The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
DANGER When automatic operation of the robot is performed using multiple control
devices (GOT, programmable controller, push-button switch), the interlocking
of operation rights of the devices, etc. must be designed by the customer.
CAUTION Use the robot within the environment given in the specifications. Failure to do
so could lead to faults or a drop of reliability.
(Temperature, humidity, atmosphere, noise environment, etc.)
CAUTION Transport the robot with the designated transportation posture. Transporting
the robot in a non-designated posture could lead to personal injuries or faults
from dropping.
CAUTION Always use the robot installed on a secure table. Use in an instable posture
could lead to positional deviation and vibration.
CAUTION Wire the cable as far away from noise sources as possible. If placed near a
noise source, positional deviation or malfunction could occur.
CAUTION Do not apply excessive force on the connector or excessively bend the cable.
Failure to observe this could lead to contact defects or wire breakage.
CAUTION Make sure that the workpiece weight, including the hand, does not exceed the
rated load or tolerable torque. Exceeding these values could lead to alarms or
faults.
WARNING Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or
flies off during operation.
WARNING Securely ground the robot and controller. Failure to observe this could lead to
malfunctioning by noise or to electric shock accidents.
CAUTION Indicate the operation state during robot operation. Failure to indicate the state
could lead to operators approaching the robot or to incorrect operation.
WARNING When carrying out teaching work in the robot's movement range, always secure
the priority right for the robot control. Failure to observe this could lead to
personal injuries or damage if the robot is started with external commands.
CAUTION Keep the jog speed as low as possible, and always watch the robot. Failure to do
so could lead to interference with the workpiece or peripheral devices.
CAUTION After editing the program, always confirm the operation with step operation before
starting automatic operation. Failure to do so could lead to interference with
peripheral devices because of programming mistakes, etc.
CAUTION Make sure that if the safety fence entrance door is opened during automatic
operation, the door is locked or that the robot will automatically stop. Failure to do
so could lead to personal injuries.
CAUTION Never carry out modifications based on personal judgments, non-designated

maintenance parts. Failure to observe this could lead to faults or failures.
WARNING When the robot arm has to be moved by hand from an external area, do not place
hands or fingers in the openings. Failure to observe this could lead to hands or
fingers catching depending on the posture.
CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's
main power OFF. If the robot controller main power is turned OFF during automatic
operation, the robot accuracy could be adversely affected. Also a dropped or
coasted robot arm could collide with peripheral devices.
CAUTION Do not turn OFF the robot controller's main power while rewriting the robot
controller's internal information, such as a program and parameter. Turning OFF
the robot controller's main power during automatic operation or program/parameter
writing could break the internal information of the robot controller.
DANGER Do not connect the Handy GOT when using the GOT direct connection function of
this product. Failure to observe this may result in property damage or bodily injury
because the Handy GOT can automatically operate the robot regardless of whether
the operation rights are enabled or not.
DANGER Do not connect the Handy GOT to a programmable controller when using an iQ
Platform compatible product with the CR750-Q/CR751-Q/CR800-R/CR800-Q
controller. Failure to observe this may result in property damage or bodily injury
because the Handy GOT can automatically operate the robot regardless of whether
the operation rights are enabled or not.
DANGER Do not remove the SSCNET III cable while power is supplied to the multiple CPU
system or the servo amplifier when using an iQ Platform compatible product with the
CR750-Q/CR751-Q/CR800-R/CR800-Q controller. Do not look directly at light emitted
from the tip of SSCNET III connectors or SSCNET III cables of the Motion CPU or the
servo amplifier. Eye discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as
specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)
DANGER Do not remove the SSCNET III cable while power is supplied to the controller.
Do not look directly at light emitted from the tip of SSCNET III connectors or
SSCNET III cables. Eye discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as
specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)
DANGER Attach the cap to the SSCNET III connector after disconnecting the SSCNET III cable.
If the cap is not attached, dirt or dust may adhere to the connector pins, resulting in
deterioration connector properties, and leading to malfunction.
CAUTION Make sure there are no mistakes in the wiring. Connecting differently to the way
specified in the manual can result in errors, such as the emergency stop not
being released. In order to prevent errors occurring, please be sure to check
that all functions (such as the teaching box emergency stop, customer
emergency stop, and door switch) are working properly after the wiring setup
is completed.
CAUTION Use the network equipments (personal computer, USB hub, LAN hub, etc.)
confirmed by manufacturer. The thing unsuitable for the FA environment
(related with conformity, temperature or noise) exists in the equipments connected
to USB. When using network equipment, measures against the noise, such as
measures against EMI and the addition of the ferrite core, may be necessary.
Please fully confirm the operation by customer. Guarantee and maintenance
of the equipment on the market (usual office automation equipment) cannot
be performed.
CAUTION To maintain the security (confidentiality, integrity, and availability) of the robot and the
system against unauthorized access, DoS*1 attacks, computer viruses, and other
cyberattacks from unreliable networks and devices via network, take appropriate
measures such as firewalls, virtual private networks (VPNs), and antivirus solutions.
Mitsubishi Electric shall have no responsibility or liability for any problems involving
robot trouble and system trouble by unauthorized access, DoS attacks, computer
viruses, and other cyberattacks.
*1 DoS: A denial-of-service (DoS) attack disrupts services by overloading systems or
exploiting vulnerabilities, resulting in a denial-of-service (DoS) state.
Contents
1. Before use ....................................................................................................................................................... 1-1
1.1. How to use the instruction manual ......................................................................................................... 1-1
1.1.1. Content of instruction manual ..................................................................................................... 1-1
1.2. Terms used in the instruction manual..................................................................................................... 1-1
1.3. Confirmation of product ......................................................................................................................... 1-2
1.4. Ethernet function ................................................................................................................................... 1-2
1.4.1. Function of Ethernet................................................................................................................... 1-2
2. Preparation before use ..................................................................................................................................... 2-1
2.1. Connection of Ethernet cable................................................................................................................. 2-1
2.2. Parameter setting.................................................................................................................................. 2-3
2.2.1. Parameter list ............................................................................................................................ 2-3
2.2.2. Details of parameters ................................................................................................................. 2-5
2.2.3. Parameter setting example 1 (When the Support Software is used) ............................................. 2-8
2.2.4. Parameter setting example 2-1 (When the data link function is used: When the controller is the server)
........................................................................................................................................................... 2-9
2.2.5. Parameter setting example 2-2 (When the data link function is used: When the controller is the client)
......................................................................................................................................................... 2-10
2.2.6. Parameter setting example 3 (for using the real-time external control function) .......................... 2-11
2.3. Connection confirmation ...................................................................................................................... 2-12
2.3.1. Checking the connection with the Windows ping command ....................................................... 2-12
3. Description of functions .................................................................................................................................... 3-1
3.1. Controller communication function ......................................................................................................... 3-2
3.1.1. Connecting the controller and personal computer........................................................................ 3-2
3.1.2. Setting the personal computer network ....................................................................................... 3-2
3.1.3. Setting the controller parameters ................................................................................................ 3-2
3.1.4. Setting the personal computer support software communication .................................................. 3-3
3.1.5. Communication.......................................................................................................................... 3-4
3.2. Data link function .................................................................................................................................. 3-5
3.2.1. MELFA-BASIC V/VI Commands ................................................................................................. 3-5
3.2.2. Using data link function .............................................................................................................. 3-9
3.2.3. Ending..................................................................................................................................... 3-12
3.3. Real-time external control function ....................................................................................................... 3-13
3.3.1. Explanation of command .......................................................................................................... 3-15
3.3.2. Explanation of communication data packet ............................................................................... 3-17
3.3.3. Using real-time external control function ................................................................................... 3-21
3.3.4. Ending..................................................................................................................................... 3-23
3.4. Real-time monitor function ................................................................................................................... 3-24
3.4.1. Overview ................................................................................................................................. 3-24
3.4.2. Supported version.................................................................................................................... 3-25
3.4.3. Setup ...................................................................................................................................... 3-26
3.4.4. Start of monitor / End of monitor ............................................................................................... 3-28
3.4.5. Explanation of communication data packet ............................................................................... 3-29
3.4.6. Data type ID ............................................................................................................................ 3-32
3.4.7. Parameters.............................................................................................................................. 3-33
3.4.8. Error ........................................................................................................................................ 3-33
3.5. SLMP Connection ............................................................................................................................... 3-34
3.5.1. Function Overview ................................................................................................................... 3-34
3.5.3. Specifications .......................................................................................................................... 3-34
3.5.4. Parameters.............................................................................................................................. 3-34
3.5.5. SLMP Communication Procedure............................................................................................. 3-35
3.5.6. Message Format ...................................................................................................................... 3-37
3.5.7. Commands .............................................................................................................................. 3-45
3.5.8. End Code ................................................................................................................................ 3-80
3.6. CC-Link IE Field Network Basic function .............................................................................................. 3-81
3.6.1. Overview ................................................................................................................................. 3-81
3.6.3. Specifications .......................................................................................................................... 3-82
3.6.4. Parameters.............................................................................................................................. 3-83
3.6.5. Support of robot I/O signals and link devices............................................................................. 3-84
3.6.6. Setup procedure ...................................................................................................................... 3-85
4. Appendix ......................................................................................................................................................... 4-1
4.1. Error list ................................................................................................................................................ 4-1
4.2. Sample program ................................................................................................................................... 4-2
4.2.1. Sample program of data link....................................................................................................... 4-2
4.2.2. Sample program for real-time external control function .............................................................. 4-14
1 Before use
1. Before use
This chapter describes the confirmation items and cautionary items which must be read before practical use of the
Ethernet.
1.1. How to use the instruction manual
1.1.1. Content of instruction manual
Through the following configuration, this document introduces the Ethernet function. As for the functions available in the
standard robot controller and the operation method, please refer to the "Instruction Manual" provided with the robot
controller.
Table 1.1 Content of the instruction manual

Chapter Title Content
In addition to the using method of the instruction manual, the confirmation items
1 Before use
and cautionary items are introduced to use the Ethernet function.
The preparatory work is introduced to use the Ethernet function. Referring to the
2 Preparation before use
chapter, apply the cabling and wiring and confirm the other setting items.
Using the system configured in "2. Preparation before use" in this manual, it
introduces a series of the operating methods from the start-up to the stop.
Referring to each introduction, understand the basic operating method.
The following items will be introduced.
• Controller communication function (connection with computer support software
RT ToolBox2/3)
• Data link function (transmit values/text strings with the robot commands
Open/Print/Input)
3 Description of functions
• Real-time external control function (operation control using motion control cycles
from a computer)
• Real-time monitoring function (monitor the current position and more in real time
via a computer)
• SLMP connection (read from and write to a robot controller device by using
SLMP)
• CC-Link IE Field Network Basic function (send and receive transmissions by
using FA network)
Since the added errors when indexing the terms or using the Ethernet function are
4 Appendix
herein described, refer to this chapter as necessary.
1.2. Terms used in the instruction manual
The following terms are used in this document.

(1) Ethernet function
The robot controller has various network functions that use the Ethernet.
(2) Network personal computer
The personal computer is a commercially available one which provides the network function, integrating the Ethernet
interface card. Windows XP / Windows 7 / Windows 8 / Windows10 are applicable as the operating system.
(3) MELFA-BASIC V/VI command
This is a type of robot language.
1-1
1 Before use
1.3. Confirmation of product
The standard configuration of the product supplied by the customer is as follows. Confirm the configuration.
In addition to the standard robot system configuration, the following is necessary. These devices are separately procured
by the customer.
No. Part name Type Qty.
1) Network personal computer Personal computer operated by Windows 1 or more

(Network interface is necessary.) XP / Windows 7 / Windows 8 /
Windows10.
Computer with TCP/IP network functions,
such as Linux OS (Operation is not
verified.)
2) Ethernet cable Cable 1 or more

(Select the straight cable or cross cable depending on the
connection system.)
Prepare the following as necessary.
3) Hub (Necessary if it is used in the LAN environment.) (Goods on the market) 1
4) Robot controller programming aiding tool corresponding to (An optional) Personal computer Support 1
Windows for Robot controller of our company Software
5) Application for network communication program production (Goods on the market) Microsoft. 1
corresponding to Windows Visual Studio etc.
1.4. Ethernet function
1.4.1. Function of Ethernet
The Ethernet installed as a standard on the robot controller has the following functions.
(1) The connections with 100BASE-TX (for CR750/CR751/CR800-R/CR800-Q) and with 1000BASE-T (for CR800-D) are
supported.
(2) TCP/IP protocol is used to allow the communication with the personal computer on the Ethernet.
(3) The sampling program (corresponding to Microsoft Visual Basic Express 2008/Visual C++ Express 2008) of the
personal computer is equipped.
The following is provided as the samples. (Refer to Chapter 4 Appendix.)
• The data link function is used to transmit and receive the variables of personal computer and robot (characters and
numerical values). (OPEN/INPUT#/PRINT#)
Here, approve that the result of the operation of the application which the customer produces on the basis of the
sample is out of the responsibility with our company.
1-2
1 Before use
(4) The Ethernet functions are described below.

Refer to the section "3. Description of functions" for details on each function.
No. Outline of function Remarks Reference page
1) Controller communication function * Communication with up to Chapter 1 General
Data can be communicated with the robot controller via 16 clients is possible. Chapter 2 General
Ethernet. (Program upload/download, status monitor, etc.) Chapter 3.1
Personal computer support software (optional) is available as Chapter 4.1
an application.
2) Data link function * By changing the Chapter 1 General
The value and position data can be linked between the communication open Chapter 2 General
robot program and personal computer using MELFA-BASIC destination COM No., Chapter 3.2
V/VI language (OPEN/PRINT/INPUT command). communication with Chapter 4.1
applications in up to 8 clients Chapter 4.2.1
is possible.
3) Real-time external control function * The user must create an Chapter 1 General
The position command data can be retrieved and operated at application program on the Chapter 2 General
the robot motion control cycle unit. Joint, XYZ or motor pulse personal computer side to Chapter 3.3
can be designated for the position data. It is also possible to control the robot. Chapter 4.1
monitor the input/output signals or output the signals * Communication is carried Chapter 4.2.2
simultaneously. out one-on-one.
Control is started with the MXT command (MELFA-BASIC * UDP communication is
V/VI language). used.
4) Real-time monitoring function * Use UDP. Chapter 1 General
The current position, speed at the tip of the arm, and other Chapter 2 General
measurements can be monitored by a PLC or computer in Chapter 3.4
real time at the robot motion control cycle unit. Chapter 4.1
5) SLMP connection * Supported by CR800 Chapter 1 General
The server functions of SLMP communications can be used series only. Not supported Chapter 2 General
from the robot controller. Data can be read from and written by CR750/CR751 series. Chapter 3.5
to a robot controller device from a PLC or computer via the Chapter 4.1
Ethernet.
6) CC-Link IE Field Network Basic function * Supported by CR800 Chapter 1 General
CC-Link IE Field Network Basic slave stations are supported, series only. Not supported Chapter 2 General
and the signals and registers of robot controllers can be input by CR750/CR751 series. Chapter 3.6
and output via regular communications (cyclic Chapter 4.1
correspondence) with a PLC, computer, or other master
station.
These functions can all be used simultaneously, but be aware that when the network handles
CAUTION large loads, communications slow down and may not reflect real-time information.
1-3
1 Before use
* The personal computer used to communicate with the robot controller must be located on the same network.
Communication cannot be carried out over firewalls (from internet) or over gateways (from different adjacent network, etc.).
Consider operation with a method that communicates via a server (i.e., HTTP server, etc.) connected to the same network
as the robot controller. Pay special attention to safety and response in this case.
Ethernet
1) Controller communication function 2) Data link function

Program creation, editing Transmission/reception of 3) Real-time external control function
Debugging startup support, value and position data Transmission/reception of real-time
maintenance position data at control cycle
Personal Personal
computer computer
program program
Personal computer support software Data link application Real-time external control application
(Mitsubishi option) (Customer-created) (Customer-created)
Ethernet
1) Controller communication function 2) Data link function

Program creation, editing Transmission/reception of 3) Real-time external control function
Debugging startup support, maintenance value and position data Transmission/reception of real-time
position data at control cycle
Personal Personal
computer computer
program program
Personal computer support software Data link application Real-time external control application
(Mitsubishi option) (Customer-created) (Customer-created)
1-4
2. Preparation before use

What is done before use is described.
Connection of Ethernet cable … Refer to 2.1.
Parameter setting … Refer to 2.2.
2.1. Connection of Ethernet cable

As shown below, connect the Ethernet cable to the connector.
When the hub is used, use the straight cable. Or when the personal computer and controller are connected to each other
one to one, use the cross cable.
<CR800-D controller> CR800-D controller front
LAN connect
<CR800-R controller>
Robot CPU unit front
LAN connect
<CR800-Q controller>
PERIPHERAL I/F connect
2-1
<CR750 controller> CR750 controller back
LAN connect
<CR751 controller>
CR751 controller front
LAN connect
<CR750-Q/CR751-Q controller>
LAN connect
2-2
2.2. Parameter setting
Before use, it is necessary to set the following parameters. The parameters which are set on the robot controller are shown
in the following list. For the method to set the parameter, refer to the instruction manual of the controller.
After changing the parameters, turn the power supply of the controller from OFF to ON. Unless
CAUTION this is done, the changed parameters will not become valid.
2.2.1. Parameter list

The parameters are listed below. For details of the parameters, refer to "2.2.2. Details of parameters".
O ... Setting is necessary

- ... Setting is unnecessary
Parameter list
Number Controller Real-time Real-time
Parameter Data link CC-Link
Details of Default value communication control monitoring SLMP
name function IEF Basic
elements function function function
NETIP IP address of robot controller Character “192.168.0.20”
string 1 O O O O O -
NETMSK Sub-net-mask Character “255.255.255.0”

NETPORT Port No. Range 0 to 32767 Numerical

For function expansion (reserved), ---------- value 10
Correspond to OPT 11-19 of COMDEV 10000,
(OPT11) 10001,
(OPT12) 10002,
(OPT13) 10003,
(OPT14) 10004, O O O - - -
(OPT15) 10005,
(OPT16) 10006,
(OPT17) 10007,
(OPT18) 10008,
(OPT19) 10009
Protocol 0: No-procedure Numerical

1: Procedure, 2: Data link value 9
(1: Procedure has currently no function.)
CPRCE11 Correspond to OPT 11-19 of COMDEV
CPRCE12 (OPT11) 0
CPRCE13 (OPT12) 0
CPRCE14 (OPT13) 0
- O - - - -
CPRCE15 (OPT14) 0
CPRCE16 (OPT15) 0
CPRCE17 (OPT16) 0
CPRCE18 (OPT17) 0
CPRCE19 (OPT18) 0
(OPT19) 0
2-3
Number Controller Real-time Real-time

Parameter Data link CC-Link
Details of Default value communication control monitoring SLMP
name function IEF Basic
elements function function function
COMDEV Definition of device corresponding to COM1: to 8 Character
Definition of device corresponding to COM1:, string 8 ,
Definition of device corresponding to COM2:, ,
- O - - - -
Definition of device corresponding to COM8: .
When the data link is applied, setting is
necessary.
OPT11 to OPT19 are allocated.
NETMODE Server designation Numerical
(1: Server, 0: Client) value 9
(OPT11) 1,
(OPT12) 1,
(OPT13) 1,
(OPT14) 1,
- O - - - -
(OPT15) 1,
(OPT16) 1,
(OPT17) 1,
(OPT18) 1,
(OPT19) 1
NETHSTIP The IP address of the data communication Character

destination server. string 9 .
* It is valid if specified as the client by
NETMODE only.
(OPT11) 192.168.0.2 ,
(OPT12) 192.168.0.3 ,
(OPT13) 192.168.0.4 ,
- O - - - -
(OPT14) 192.168.0.5 ,
(OPT15) 192.168.0.6 ,
(OPT16) 192.168.0.7 ,
(OPT17) 192.168.0.8 ,
(OPT18) 192.168.0.9 ,
(OPT19) 192.168.0.10
MXTTOUT Timeout time for executing real-time Value 1 -1

external control command (0-32767)
(CR750/CR751 series: 7.11 msec, CR800
- - O - - -
series: 3.5 msec (*If user mechanical is set,
approx. 7.11 msec), Set -1 to disable
timeout)
NETGW Gateway address Character 192.168.0.254
MONMOD Real-time monitoring function, Numerical 1

E enable/disable value 1 - - - O - -
MONPORT Real-time monitoring function, port number Numerical 12000, 0

(Inbound, outbound) value 2 - - - O - -
2-4
2.2.2. Details of parameters
The parameters are herein described in details.

(1) NETIP (IP address of robot controller)
The IP address of the robot controller is set. IP address is like the address of the mail.
The format of IP address is composed of 4 numbers of 0 to 255 and the dot (.) between the numbers.
For example, it is set as 192.168.0.1 or 10.97.11.31.
If the controller and network personal computer are directly connected to each other one-to-one, it is allowed to set default
value (a random value) but if it is connected to the local area network (LAN), IP address must be set as instructed by the
manager of customer's LAN system.
If any IP addresses are overlapped, the function will not properly operate. Therefore, take care to prevent it from being
overlapped with another during setting.
The personal computer used for communication with the robot controller.
(2) NETMSK (sub-net-mask )

Set the sub-net-mask of the robot controller. Among the IP addresses, the sub-net-mask is set to define the sub-net-work.
The format of the sub-net-mask is composed of 4 numbers of 0 to 255 and the dot (.) between the numbers.
For example, it is set as 255.255.255.0 or 255.255.0.0.
As usual, it is allowed to set default value. If it is connected to the local area network (LAN), the sub-net-mask must be set
as instructed by the manager of customer's LAN system.
If the robot controller subnet mask is not correct, the high-performance teaching pendants
(R56TB/R57TB) will not communicate via Ethernet. Set the subnet mask so that the robot
controller IP address and the high-performance teaching pendant IP address are not on the
same network.
・Robot controller Ethernet IP address: 192.168.0.20 (initial value)
・Robot controller subnet mask: 255.255.255.0 (initial value)
・High-performance teaching pendant communication IP address: 192.168.100.1 (initial value)
CAUTION ・High-performance teaching pendant IP address: 192.168.100.50 (initial value)
Good example: 192.168.0.20 and 192.168.100.1 (on different networks).

・Subnet mask: 255.255.192.0 (network range is 192.168.0 to 192.168.63.255)
Bad example: 192.168.0.20 and 192.168.100.1 (on the same network).

(3) NETPORT (port No.)

The port No. of the robot controller is set. The port No. is like the name of the mail.
For the nine elements, the port numbers are each expressed with a value.
The first element (element No. 1) is used for real-time control.
The second to ninth elements (elements No. 2 to 9) are used for the support software or data link.
Normally, the default value does not need to be changed. Make sure that the port numbers are not duplicated.
(4) CRRCE11 to 19 (protocol)

When using the data link function, the setup is necessary.
Sets the protocol (procedure) for communication. The protocol has three kinds of no-procedure, procedure and data link.
0... No-procedure: The protocol is applied to use the personal computer Support Software .
1... Procedure: Reserved. (Since it is not any function, don't set it by mistake.)
2... Data link: The protocol is used to use OPEN/INPUT/PRINT commands for communication.
2-5
(5) COMDEV (Definition of devices corresponding to COM1: to 8)

When using the data link function, the setup is necessary.
Definition of device corresponding to COM1: to 8 is set. COM1: to 8 is used for OPEN command of the robot program.
Be sure to set it only when the data link is specified on setting of the protocol (CPRCE11 to 19).
The setting values of the Ethernet function correspond to the port Nos. which are set at the parameter NETPORT.
* In the following parameters NETOPORT (n) and COMDEV(n), n indicates the element No. of that parameter.
The device name set
n Port number
up by COMDEV(n)
1 OPT11 The port number specified by NETPORT(2)
For example, if the port No. specified at NETPORT(3) is allocated to the data link of COM:3, the following will be applied.
COMDEV(3) = OPT13 * OPT13 is set at 3rd element of COMDEV.
CPRCE13 = 2 * Set up as a data link.
(6) NETMODE (server specification)

Set up, when using the data link function.
Set the TCP/IP communication in the data link function of the robot controller as the server or the client.
It is necessary to change with the application of the equipment connected to the robot controller.
(7) NETHSTIP (The IP address of the server of the data communication point)
Set up, when using the robot controller as a client by the data link function.
Specify the IP address of the partner server which the robot controller connects by the data link function.
Set up, when only set the robot controller to the client by server specification of NETMODE.
(8) MXTTOUT (Timeout setting for executing real-time external control command)
This is changed when using real-time external control command and setting the timeout time for communication with the
robot controller.
Set a multiple of the control cycle (refer to the following).
Controller Control cycle

CR750/CR751 series Approx. 7.11 msec
CR800 series Approx. 3.5 msec (*If user mechanical is set, approx. 7.11 msec)
When the real-time external control command is executed, the timeout time during which no communication data is
received by the robot controller from the personal computer is counted up. If the count reaches the value set in MXTTOUT,
the operation will stop with the error (#7820). For example, to generate an error when there is no communication for
approx. 7 seconds, set 1000 for the CR750/CR751 series, and 2000 for the CR800 series (1000 when user mechanical is
set).
This setting is set to -1 (timeout disabled) as the default.
(9) NETGW (Gateway address)

Specify the gateway address to communicate with the PC of on other network.
2-6
(10) MONPORT (Real-time monitoring function, port number)

Specify the inbound port number and the outbound port number of the real-time monitoring function. (0 to65535)
First element: Inbound port number
Second element: Outbound port number
Take note that 0 is a special value for the second element, which replies to the sender port number that is set in the UDP
header information of the packet data start that the robot controller has received.
When the Ethernet communication device is a Windows application, if the outbound port number is not designated on the
application side, it remains the initial value of 0.
To explicitly specify the port number to reply to, the value must be set on the Ethernet communication device. (Example:
12000, 12001)
(11) MONMODE (Real-time monitoring function, enable/disable)

Switch to enable or disable real-time monitoring.
0: Disable
1: Enable
If you change a port number from its initial value, be sure that it does not overlap with any
CAUTION other port numbers. If there is any overlap, an error will occur when the controller starts, and
it will not work properly.
2-7
2.2.3. Parameter setting example 1 (When the Support Software is used)
The setting example to use the Support Software is shown below.

Set the parameters for the robot controller, and the network for the personal computer OS being used.
Conditions for example 1

IP address of robot controller 192.168.0.20
IP address of personal computer 192.168.0.10
Port No. of robot controller 10001
Set the robot controller parameters as shown below.

If the default settings are to be used, the parameters do not need to be changed.
Parameter setting for example 1

Before/after
Parameter Parameter value
change
Before 192.168.0.20
NETIP
After 192.168.0.20 (unchanged)
Before 10001
NETPORT
After 10001 (unchanged)
Next, set the personal computer IP address to 192.168.0.10. Set this value on the Network Properties screen.
The personal computer IP address is set with the Windows TCP/IP Property Network setting (property in network
computer). Because the set-up screen differs with versions of Windows, refer to the manuals enclosed with Windows, etc.,
for details on setting this address.
Refer to the instruction manuals enclosed with the personal computer support software for details on setting and using the
personal computer support software.
2-8
2.2.4. Parameter setting example 2-1

(When the data link function is used: When the controller is the server)
Shows the example of the setting, when the controller is server by the data link function.
Conditions for example 2-1
Robot controller IP address 192.168.0.20
Personal computer IP address 192.168.0.10
Robot controller port No. 10003
Communication line No.
<For MELFA-BASIC V/VI>
OPEN command COM No. COM3:
Parameter setting for example 2-1

Before/after
change
Before 192.168.0.20
NETIP
after 192.168.0.20 (unchanged)
Before 10000,10001,10002,10003,10004,10005,10006,10007,10008,10009
NETPORT 10000,10001,10002,10003,10004,10005,10006,10007,10008,10009
after
(unchanged)
Before 0
CPRCE13
after 2
Before ,,,,,,,
COMDEV
after , , OPT13, , , , ,
2-9
2.2.5. Parameter setting example 2-2

(When the data link function is used: When the controller is the client)
Shows the example of the setting, when the controller is client by the data link function.
Conditions for example 2-2
Communication line No.
<For MELFA-BASIC V/VI>
OPEN command COM No. COM3:
Parameter setting for example 2-2

Before/after
change
Before 192.168.0.20
NETIP
Before 10000,10001,10002,10003,10004,10005,10006,10007,10008,10009
NETPORT 10000,10001,10002,10003,10004,10005,10006,10007,10008,10009
After
(unchanged)
Before 0
CPRCE13
After 2
Before ,,,,,,,
COMDEV
After , , OPT13, , , , ,
Before 1,1,1,1,1,1,1,1,1
NETMODE
After 1,1,0,1,1,1,1,1,1
192.168.0.2, 192.168.0.3, 192.168.0.4, 192.168.0.5, 192.168.0.6,
Before
192.168.0.7, 192.168.0.8, 192.168.0.9, 192.168.0.10
NETHSTIP
192.168.0.2, 192.168.0.3, 192.168.0.2, 192.168.0.5, 192.168.0.6,
After
192.168.0.7, 192.168.0.8, 192.168.0.9, 192.168.0.10
2-10
2.2.6. Parameter setting example 3 (for using the real-time external control function)
An example of the settings for using the real-time external control function is shown below.
Conditions for example 3

Parameter setting for example 3

Before/after
change
Before 192.168.0.20
NETIP
after 192.168.0.20 (unchanged)
Before 10000,10001,10002,10003,10004,10005,10006,10007,10008,10009
NETPORT 10000,10001,10002,10003,10004,10005,10006,10007,10008,10009
after
(unchanged)
Before -1
MXTTOUT
after -1 (unchanged)
computer). Refer to the manuals enclosed with Windows, etc., for details on setting this address.
2-11
2.3. Connection confirmation
Before use, confirm the following items again.
Connection confirmation
No. Confirmation item Check
1 Is the teaching pendant securely fixed?
2 Is the Ethernet cable properly connected between the controller and personal computer? (Refer to 2.1 in this
manual.)
3 Is any proper Ethernet cable used?

(This cross cable is used to connect the personal computer and controller one-on-one. When using a hub
with LAN, use a straight cable.)
4 Is the parameter of the controller properly set? (Refer to 2.2 in this manual.)
5 Is the power supply of the controller turned off once after the parameter set?
2.3.1. Checking the connection with the Windows ping command
The method for checking the connection with the Windows ping command is shown below.
Start up the " MS-DOS Prompt " from the Windows " Start " - " Programs " menu, and designate the robot controller IP
address as shown below.
If the communication is normal, " Reply from ... " will appear as shown below.
If the communication is abnormal, " Request time out " will appear.
2-12
3. Description of functions
This chapter explains the methods for using the six Ethernet option functions with a system in which the controller and network
personal computer are connected with a one-on-one cross cable.
(1) Using the controller communication function ... Refer to Chapter 3.1
(2) Using the data link function ... Refer to Chapter 3.2
(3) Using the real-time external control function ... Refer to Chapter 3.3
(4) Using the real-time monitoring function ... Refer to Chapter 3.4
(5) Using SLMP ... Refer to Chapter 3.5
(6) Using the CC-Link IE Field Network Basic function ... Refer to Chapter 3.6
3-1
3.1. Controller communication function
The operations for communicating with the personal computer support software are explained in this section.
Connecting the controller and personal computer. … Refer to section 3.1.1

|
Setting the personal computer network. … Refer to section 3.1.2
|
Setting the controller parameters. … Refer to section 3.1.3
|
Starting the support software. … Refer to section 3.1.4
|
Communication. … Refer to section 3.1.5
|
Ending
3.1.1. Connecting the controller and personal computer
Connect the controller and the personal computer with the following Ethernet cable.
Controller Ethernet cable

CR750/CR751 series 100BASE-TX compatible cable
CR800-R/CR800-Q series 100BASE-TX compatible cable
CR800-D series 1000BASE-TX compatible cable
Refer to the connection described in section "2.1 Ethernet cable".
3.1.2. Setting the personal computer network
Refer to section "2.2.3 Example of setting the parameters 1 (for using the support software)" and set the network.
3.1.3. Setting the controller parameters
Turn ON the robot controller power, and set the parameters as shown below.
Name of parameter Before/after

Parameter value
to change changes
Before 192.168.0.20
NETIP
After 192.168.0.20 (Default value)
Before 10000,10001,10002,10003,10004,10005,10006,10007,10008,10009
NETPORT 10000,10001,10002,10003,10004,10005,10006,10007,10008,10009
After
(Default value)
After setting the parameters, turn the robot controller power OFF and ON.
Refer to the instruction manual enclosed with the robot controller for details on setting the parameters.
3-2
3.1.4. Setting the personal computer support software communication
Start the personal computer support software and make the communication settings. Set the communication method to
TCP/IP, and the IP Address to 192.168.0.20.
Refer to the instruction manual enclosed with the personal computer support software for details on setting the personal
computer support software.
3-3
3.1.5. Communication
Communicate with the personal computer support software.

Communication can be carried out with the Ethernet TCP/IP.
Refer to the instruction manual enclosed with the personal computer support software for details on using the personal
computer support software.
If communication is not possible, refer to section "2.3 Checking the connection" and check the state.
When the robot controller power is turned OFF and ON, the connection will be disconnected
and communication will be disabled.
CAUTION In this case, end the application software on the personal computer once, and then
restart.
3-4
3.2. Data link function

OPEN/PRINT/INPUT of the robot language can be used in the Ethernet.
For each robot language, refer to the instruction manual appended to the robot controller.
[Statement example] To set port No. 10003 as communication destination and open as #1
Set parameter COMDEV (element No. 3) to OPT13, NETPORT to 10003.
1 OPEN “COM3:” AS #1 ’Set port No.
2 INPUT #1, C1$ 'Read
3 PRINT #1, ”Reply”, C1$ ‘Writing
4 CLOSE #1 ‘Line closing
5 HLT ‘Stop
The data link function of the Ethernet has the two kinds shown below.
* Uses the robot controller as the server.
* Uses the robot controller as the client.
192.168.0.20 192.168.0.20 192.168.0.20
(Server) (Server) (Server)
COM2　　COM3 COM2　　COM3 COM2　　COM3

Computer Controller1
Controller
Computer1 Computer2 Controller1 Controller2 Controller2 Controller3

192.168.0.21 192.168.0.22 192.168.0.21 192.168.0.22 192.168.0.21 192.168.0.22
(Client) (Client) (Client) (Client) (Client) (Client)
Two or more clients are not connectable with the one line number COMn.
Change the line number, when using the robot controller as the server and connecting two or more clients.
3.2.1. MELFA-BASIC V/VI Commands

This section describes the robot language (MELFA-BASIC V/VI).
For more information about OPEN, CLOSE, INPUT# and PRINT# used for data linking, refer to the INSTRUCTION
MANUAL Detailed explanations of functions and operations.
3-5
M_OPEN
[Function]
Indicates whether or not the file has been opened.
[Format]
<Numeric variable> = M_OPEN [(<file number>)]
[Terminology]
<Numeric variable> Specify a numeric variable to be assigned.
<File number> Specify a file number constant between 1 and 8 for the communication line that
was opened by the OPEN instruction. If omitted, 1 is set. If 9 or higher is
specified, an error occurs when executed.
[Reference Program]
1 ' Client Program ----------------
2 M1=0
3 M_TIMER(1)=0 ‘Resets the timer to 0.
4 *LOPEN:OPEN "COM2:" AS #1 ‘Opens the line.
5 IF M_TIMER(1)>10000.0 THEN *LERROR ‘Jumps when 10 seconds elapses.
6 IF M_OPEN(1)<>1 THEN GOTO *LOPEN ‘Loops if no connection is made.
7 DEF ACT 1,M_OPEN(1)=0 GOSUB *LHLT2 ‘Monitors the down state of the server using an interrupt.
8 ACT 1=1 ‘Starts monitoring.
9 *LOOP:M1=M1+1
10 IF M1<10 THEN C1$="MELFA" ELSE C1$="END" ‘Sends END after sending the “MELFA” string nine times.
11 PRINT #1,C1$ ‘Sends a character string.
12 INPUT #1,C2$ ‘Receives a character string.
13 IF C1$="END" THEN *LHLT ‘Jumps to CLOSE after sending “END.”
14 GOTO *LOOP ‘Loops.
15 *LHLT:CLOSE #1 ‘Closes the line.
16 HLT ‘Halts the program.
17 END ‘Ends.
18 *LERROR:ERROR 9100 ‘Generates error 9100 if no connection can be made to the
server.
19 CLOSE #1
20 HLT
21 END
22 ERROR 9101 ‘Generates error 9101 if the server is down during
processing.
23 *LHLT2:CLOSE #1
24 HLT
25 END
3-6
[Explanation]
(1) This command is used in a combination with the OPEN instruction. The following lists the meanings and values for the
types of the files specified by the OPEN instruction.
Type of file to be
Meaning Value
opened
File Indicates whether or not the file has been 1: Already opened.
opened. -1: The file number is undefined (not opened).
1 is always returned after executing the
OPEN instruction.
Communication line Indicates whether For server setting 1: Client is already connected.
Ethernet or not connection 0: Client is not connected.
is made with the -1: The file number is undefined (not opened).
counterpart. For client setting 1: Already connected to the server. (Connection
has been made.)
0: Not connected to the server. (Connection has
not been made. Equivalent to when the server is
down after being opened.)
-1: The file number is undefined. (When the file
has not been opened, or has been opened
while the server is down.)
[Related Instruction]
OPEN
[Related Parameters]
COMDEV, CPRE**, NETMODE
3-7
C_COM
[Function]
Sets the parameters for the line to be opened by the OPEN instruction. This is used when the communication destination
is changed frequently.
* Character string type
* Only for a client with the Ethernet option.
[Format]
C_COM (<communication line number>) = “ETH: <server side IP address> [, <port number>]”
[Terminology]
ETH: An identifier to indicate that the target is an Ethernet
<Communication line number> The number of the COM to be specified by the OPEN instruction (The line type is
assigned by the COMDEV parameter.) Specify 1 through 8.
<Server side IP address> Server side IP address (May be omitted.)
<Port number> Port number on the server side (If omitted, the set value of the NETPORT parameter is
used.)
[Reference Program]
Example when OPT12 is set in the second element of the COMDEV parameter
1 C_COM(2)="ETH:192.168.0.10,10010" ' Set the IP address of the communication destination server

corresponding to communication line COM2
2 *LOPEN1:OPEN "COM2:" AS #1 ' As 192.168.0.10 and the port number as 10010, and then open the line.
3 IF M_OPEN(1)<>1 THEN *LOPEN1 ‘ Loops if unable to connect to the server.
4 PRINT #1, "HELLO" ‘ Sends a character string.
5 INPUT #1, C1$ ‘ Receives a character string.
6 CLOSE #1 ‘ Closes the line.
7 C_COM(2)="ETH:192.168.0.11,10011" ‘ Set the IP address of the communication destination server
corresponding to communication line COM2
8 *LOPEN2:OPEN "COM2:" AS #1 ‘ As 192.168.0.11 and the port number as 10011, and then open the line.
9 IF M_OPEN(1)<>1 THEN *LOPEN2 ‘ Loops if unable to connect to the server.
10 PRINT #1, C1$ ‘ Sends a character string.
11 INPUT #1, C2$ ‘ Receives a character string.
12 CLOSE #1 ‘ Closes the line.
13 HLT ‘ Halts the program.
14 END ‘ Ends.
[Description]
(1) It is not necessary to use this command when the communication counterpart of the robot controller is specified with the
NETHSTIP and NETPORT parameters and the specified communication counterpart will not be changed at all.
(2) Currently, this function is valid only for a client of a data link with the Ethernet.
(3) Because the communication parameters of the OPEN instruction are set, it is necessary to execute this command
before the OPEN instruction.
(4) When the power is turned on, the set values specified by the NETHSTIP and NETPORT parameters are used. When
this command is executed, the values specified by the parameters of this command are changed temporarily. They are
valid until the power is turned off. When the power is turned on again, the values revert to the original values set by the
parameters.
(5) If this command is executed after the OPEN instruction, the current open status will not change. In such a case, it is
necessary to close the line with the CLOSE instruction once, and then execute the OPEN instruction again.
(6) If an incorrect syntax is used, an error occurs when the program is executed, not when the program is edited.
[Related Parameters]
NETHSTIP, NETPORT
3-8
3.2.2. Using data link function
This section explains the operations for starting the sample program given in "4.2.1 Sample program for data link function"
and communicating with a system in which the controller and network personal computer are connected with a one-on-one
cross cable.
Connecting the controller and personal computer. … Refer to section 3.2.2.1

|
Setting the personal computer network. … Refer to section 3.2.2.2
|
Setting the controller parameters. … Refer to Chapter 3.2.2.3 (1)
Refer to Chapter 3.2.2.3 (2)
|
Starting the sample program. … Refer to section 3.2.2.4
|
Communication. … Refer to section 3.2.2.5
|
Ending … Refer to section 3.2.3
3.2.2.1. Connect the controller and personal computer.

Connect the controller and personal computer with a cross cable.
3.2.2.2. Setting the personal computer network.

Set one of the following clauses as reference corresponding to the customer's system configuration. (The controller is the
server or the client)
• 2.2.4 Parameter setting example 2-1 (When the data link function is used: When the controller is the server.)
• 2.2.5 Parameter setting example 2-2 (When the data link function is used: When the controller is the client.)
3-9
3.2.2.3. Setting the controller parameters.

The contents of the setting of parameter differ, when the robot controller is specified as server and client of TCP/IP
connection.
The NETIP/NETPORT parameters do not need to be changed when using the default values.
(1) When the controller is specified as the server
Before/after
change
Before 192.168.0.20
NETIP
Before 10000,10001,10002,10003,10004,10005,10006,10007,10008,10009
NETPORT 10000,10001,10002,10003,10004,10005,10006,10007,10008,10009
After
(unchanged)
Before 0
CPRCE13
After 2
Before ,,,,,,,
COMDEV
After , , OPT13, , , , ,
(2) When the controller is specified as the client
Before/after
change
Before 192.168.0.20
NETIP
Before 10000,10001,10002,10003,10004,10005,10006,10007,10008,10009
NETPORT 10000,10001,10002,10003,10004,10005,10006,10007,10008,10009
After
(unchanged)
Before 0
CPRCE13
After 2
Before ,,,,,,,
COMDEV
After , , OPT13, , , , ,
Before 1,1,1,1,1,1,1,1,1
NETMODE
After 1,1,0,1,1,1,1,1,1
192.168.0.2, 192.168.0.3, 192.168.0.4, 192.168.0.5, 192.168.0.6,
Before
192.168.0.7, 192.168.0.8, 192.168.0.9, 192.168.0.10
NETHSTIP
192.168.0.2, 192.168.0.3, 192.168.0.2, 192.168.0.5, 192.168.0.6,
After
192.168.0.7, 192.168.0.8, 192.168.0.9, 192.168.0.10
3-10
3.2.2.4. Starting the sample program

The test program is an example for establishing a data link between the robot and personal computer. COM3 is used.
(1) Using the teaching pendant or personal computer support software, register the following robot program with an
appropriate program name.
<Robot program>
1) Example for MELFA-BASIC V
1 OPEN "COM3:" AS #1 ' Open as communication line COM3
2 PRINT #1,"START" ' Send START character string
3 *LOOP:INPUT #1,DATA ' Wait for reception of value in DATA variable
4 IF DATA<0 THEN GOTO *LEND ' If DATA is negative, jump to line 7 and end
5 PRINT #1,"DATA=";DATA ' Reply DATA = value
6 GOTO *LOOP ' Jump to line 3 and repeat
7 *LEND:PRINT #1,”END" ' Send END character string
8 END ' End
(2) Start the personal computer data link program

Refer to section "4.2.1 Sample program for data link function" and create the execution file. (The created execution file will
be sample.exe.)
Start Windows Explorer, and double-click on sample.exe.
Set the IP address and port No., click on the connection check box, and open the communication line with the controller.
If the Send button is not validated, check that the IP address matches NETIP set with the controller.
If the button is still not validated, refer to section "2.3 Checking the connection", and check the connection cable or restart
the controller and sample.exe.
(3) Start the robot program.

Press the START button on the robot controller's operating panel, and start the robot program.
3-11
3.2.2.5. Communication
(1) When the robot controller program is started, first the following data will be sent to the personal computer.
"START"(CR) (CR) indicates the CR code.
(2) When the personal computer receives the data, the characters will appear in the received data area.
START•
(3) Send value data from the personal computer.
For example, input the value data 123 in the transmission data area, and click on the Send button with the mouse.
(4) When the robot controller receives the value data in the DATA variable, it will reply data to the personal computer.
DATA=123 will appear in the personal computer's received data area.
If communication cannot be carried out correctly, refer to section "2.3 Checking the connection" in this manual.
restart.
3.2.3. Ending
(1) Press the END button on the robot controller operating panel, and enter cycle operation.
(2) Input the value -1 from the personal computer, and end the program.
(3) End the personal computer's sample program.
(4) Turn OFF the robot controller's power.
3-12
3.3. Real-time external control function

The robot motion movement control can retrieve the position command at real-time in cycle units, and move to the
commanded position. It is also possible to monitor the input/output signals or output the signals simultaneously.
Using the robot language MXT command, real-time communication (command/monitor) is carried out with communication.
Motion movement control cycle (CR750/CR751 series: approx. 7.1 ms,

CR800 series: approx. 3.5 ms (If user mechanical is set, approx. 7.1 ms))
Robot controller
Personal computer
Command position
transmission/reception
Command value calculation
The following table lists the position command data for giving the target move position from the personal computer to the
robot for each hour of the motion operation control cycle, and the monitor data types from the robot.
For more information about communication data, see Section 3.3.1, “Command Explanation” and Section 3.3.2,
“Communication Data Packet Explanation” in this document.
Position command data type Monitor data type

[1] Rectangular coordinate data [1] Rectangular coordinate data
[2] Joint coordinate data [2] Joint coordinate data
[3] Motor pulse coordinate data [3] Motor pulse coordinate data
[4] Rectangular coordinate data (command value after filter processing)
[5] Joint coordinate data (command value after filter processing)
[6] Motor pulse coordinate data (after filter processing)
[7] Rectangular coordinate data (encoder feedback value)
[8] Joint coordinate data (encoder feedback value)
[9] Motor pulse coordinate data (encoder feedback value)
[10] Current command (%)
[11] Current feedback (%)
3-13
* Flow of real-time external control

Robot controller side Personal
Robot program start Application program start
Ethernet initialization, socket

creation, etc.
Creation of transmission
Robot program start
packet data
Robot program start Transmission of packet data
Automatically Execute process only

Communication
repeated until end when command is issued End command received?
packet data
command is received
Packet data
Reception of packet data
transmission
Robot program end Application program end
3-14
3.3.1. Explanation of command
Either the MELFA-BASIC V command languages can be used with the real-time external control function.
Note that the meanings of the arguments differ for the MELFA-BASIC V commands. (Refer to following format and
terminology.)
Refer to section "3.3.2 Explanation of communication data packet" for details on the structure of the communication data
packet used with this function.
MXT (Move External)

[Function]
The absolute position data is retrieved from an external source at each controller control time, and the robot is directly
moved. The controller control time is approx. 7.11 msec with the CR750/CR751 series, and approx. 3.5 msec with the
CR800 series (approx. 7.11 msec when user mechanical is set).
[Format]
MXT <File No.>, <Reply position data type> [, <Filter time constant>]
[Terminology]
<File No.> Describe a number between 1 and 8 assigned with the OPEN command.
If the communication destination is not designated with the OPEN command, an
error will occur, and communication will not be possible.
In addition, data received from a source other than the communication destination
will be ignored.
<Replay position data type> Designate the type of the position data to be received from the personal computer.
A XYZ/joint/motor pulse can be designated.
0: XYZ coordinate data
1: Joint coordinate data
2: Motor pulse coordinate data
<Filter time constant> Designate the filter time constant (msec). If 0 is designated, the filter will not be
applied. (0 will be set when omitted.) A filter is applied on the reception position
data, an obtuse command value is created and output to the servo.
[Reference Program]
1 OPEN "ENET:192.168.0.2" AS #1 ‘Ethernet communication destination IP address
2 MOV P1 ‘Move to P1
3 MXT1,1,50 ‘Move with real-time external control with filter time constant set to
50msec
4 MOV P1 ‘Move to P1
5 HLT ‘Halt program
3-15
[Explanation]
* When the MXT command is executed, the position command for movement control can be retrieved from the personal
computer connected on the network. (One-on-one communication)
* One position command can be retrieved and operated at the operation control time. The operation control time is approx.
7.11 msec with the CR750/CR751 series, and approx. 3.5 msec with the CR800 series (approx. 7.11 msec when user
mechanism is set).
* Operation of MXT command
1) When this command is executed with the controller, the controller enters the command value reception enabled state.
2) When the controller receives the command value from the personal computer, it will output the received command
value to the servo within the next control process cycle.
3) After the command value is sent to the servo, the controller information, such as the current position is sent from the
controller to the personal computer.
4) A reply is made from the controller to the personal computer only when the command value from the personal
computer is sent to the controller.
5) If the data is not received, the current position is maintained.
6) When the real-time external command end command is received from the personal computer, the MXT command is
ended.
7) When the operation is stopped from the operating panel or external input, the MXT command will be halted, and the
transmission/reception will also be halted until restart.
* The timeout is designated with the parameter MXTTOUT.
* One randomly designated (head bit, bit width) input/output signal can be transmitted and received simultaneously with the
position data.
* A personal computer with sufficient processing speed must be used to command movement in the movement control time.
3-16
3.3.2. Explanation of communication data packet
The structure of the communication data packet used with the real-time external control function is explained in this section.
The same communication data packet for real-time external control is used for commanding the position and for monitoring.
The contents differ when transmitting (commanding) from the personal computer to the controller and when receiving
(monitoring) from the controller to the personal computer.
Create an application referring to the communication data packet structure described in the following table and section
"4.2.2. Sample program for real-time external control function". Note that the following table shows the data types in the C
language.
(1) Communication data packet.
Name Data type Explanation

Command unsigned short Designate the validity of the real-time external command, and the end.
(2-byte) 0 // Real-time external command invalid
1 // Real-time external command valid
255 // Real-time external command end
Transmission data type unsigned short 1) When transmitting (commanding) from the personal computer to the
designation (2-byte) controller, designate the type of position data transmitted from the
SendType personal computer.
There is no data at the first transmission.
0 // No data
1 // XYZ data
2 // Joint data
3 // Motor pulse data
2) When receiving (monitoring) from the controller to the personal

computer, indicate the type of position data replied from the controller.
0 // No data
1 // XYZ data
2 // Joint data
4 // XYZ data (Position after filter process)
5 // Joint data (Position after filter process)
6 // Motor pulse data (Position after filter process)
7 // XYZ data (Encoder feedback value)
8 // Joint data (Encoder feedback value)
9 // Motor pulse data (Encoder feedback value)
10 // Current command [%]
11 // Current feedback [%]
* It is the same as RecvType. You may use whichever.
3-17

Reply data type unsigned short 1) When transmitting (commanding) from the personal computer to the
designation (2-byte) controller, designate the type of data replied from the controller.
RecvType 0 // No data
1 // XYZ data
2 // Joint data
3 // pulse data

computer, indicate the type of position data replied from the controller.
0 // No data
1 // XYZ data
2 // Joint data
* It is the same as RecvType. You may use whichever.
Reservation unsigned short

reserve (2byte) Not used.
Position data POSE, JOINT or 1) When transmitting (commanding) from the personal computer to the
Pos / jnt / pls PULSE (40-byte) controller, designate the command position data transmitted from the
personal computer.
* Refer to strdef.h Set this to the same data type as that designated for the transmission data
in the sample type designation.
program for
details on each 2) When receiving (monitoring) from the controller to the personal
data structure. computer, this indicates the position data replied from the controller.
The data type is shown in SendType (= RecvType ) .
The contents of data are common to command/monitor.

POSE // XYZ type [mm/rad]
JOINT // Joint type [rad]
PULSE // Motor pulse type [the pulse] or Current type [%].
3-18

Transmission 1) When transmitting (commanding) from the personal computer to the
input/output signal data controller, designate the data type of the input/output signal transmitted
designation unsigned short from the personal computer.
SendIOType (2-byte) Designate "No data" when not using this function.

computer, this indicates the data type of the input/output signal replied
from the controller.
The contents of the data are common.

0 // No data
1 // Output signal
2 // Input signal
Reply input/output 1) When transmitting (commanding) from the personal computer to the
signal data designation controller, designate the data type of the input/output signal replied from
RecvIOType unsigned short the controller.
(2-byte) Designate "No data" when not using this function.
0 // No data
1 // Output signal
2 // Input signal

computer, Not used.
Input/output signal data 1) When transmitting (commanding) from the personal computer to the
BitTop unsigned short controller, designate the output signal data transmitted from the personal
BitMask unsigned short computer.
IoData unsigned short
(2-byte x 3) 2) When receiving (monitoring) from the controller to the personal
computer, this indicates the input/output signal data replied from the
controller.
The contents of the data are common.

BitTop; // Head bit No. of input or output signal
BitMask; // Bit mask pattern designation (valid only for
commanding)
IoData; // Input or output signal data value (for monitoring)
Output signal data value (for commanding)
* Data is 16-bit data
Timeout time counter 1) When transmitting (commanding) from the personal computer to the
value controller, Not used.
Tcount unsigned short
(2-byte) 2) When receiving (monitoring) from controller to personal computer, if the
timeout time parameter MXTTOUT is a value other than -1, this indicates
the No. of times communication with the controller was not possible. When
the No. of times is counted and reaches the maximum value, the value will
return to the minimum value 0, and the count will be repeated. This is set
to 0 when the MXT command is started.
Counter value for 1) When transmitting (commanding) from the personal computer to the
communication data controller.
Ccount unsigned long
(4-byte) 2) When receiving (monitoring) from controller to personal computer, this
indicates the No. of communication times.
3-19

Reply data-type unsigned short It is the same as reply data-type specification (RecvType).
specification addition (2-byte) Do not use it for instructions.
1
RecvType1
Reservation 1 unsigned short Not used.
reserve1 (2-byte)
Data addition 1 Any of It is the same as data of pos/jnt/pls.
pos / jnt / pls POSE/JOINT/PU Do not use it for instructions.
LSE.
(40-byte)
2
RecvType2
Reserve2 (2-byte)
LSE.
(40-byte)
3
RecvType3
Reserve3 (2-byte)
LSE.
(40-byte)
3-20
3.3.3. Using real-time external control function
This section explains the operations for starting the sample program given in "4.2.2 Sample program for real-time external
control function" and communicating with a system in which the controller and network personal computer are connected with
a one-on-one cross cable.
Connecting the controller and personal computer. … Refer to section 3.3.3.1

|
Setting the personal computer network. … Refer to section 3.3.3.2
|
Setting the controller parameters. … Refer to section 3.3.3.3
|
Starting the sample program. … Refer to section 3.3.3.4
|
Communication. … Refer to section 3.3.3.5
|
Ending … Refer to section 3.3.4
3.3.3.1. Connecting the controller and personal computer

Connect the controller and personal computer with a cross cable.
3.3.3.2. Setting the personal computer network

Refer to section "2.2.6 Example of setting the parameters 3 (for using the real-time external control function)" and set the
network.
3.3.3.3. Setting the controller parameters

Name of parameter Before/after

Parameter value
to change changes
Before 192.168.0.20
NETIP
After 192.168.0.20 (Default value)
Before 10000,10001,10002,10003,10004,10005,10006,10007,10008,10009
NETPORT 10000,10001,10002,10003,10004,10005,10006,10007,10008,10009
After
(Default value)
Before -1
MXTTOUT
After -1 (Default value)
3-21
3.3.3.4. Starting the sample program

The test program is an example of communicating in real-time between the robot and personal computer. The XYZ
position data X axis or joint position data J1 axis is commanded from the personal computer to the robot and controlled.
(1) Using the teaching pendant or personal computer support software, register the following robot program with an
appropriate program name.
<Robot program>
1) Example for MELFA-BASIC V
1 OPEN "ENET:192.168.0. 20" AS #1 ' Designate personal computer side IP address as Ethernet in file No. 1
2 MOV P1 ' Move to default position P1 (teach random position as P1)
3 MXT1,0 ' Move according to command value issued from file No. 1
Current XYZ position is replied from controller to personal computer
4 MOV P1 ' After external control mode ends, move to default position P1 with joint
interpolation
5 HLT ' Halt
6 END ' End
(2) Start the robot program.

Press the START button on the robot controller's operating panel, and start the robot program.
The robot will move to the default position P1, and real-time external control will be executed with the MXT command.
(3) Start the personal computer's real-time external control sample program.
Refer to section "4.2.2 Sample program for real-time external control function" and create the execution file. (The created
execution file will be sample.exe.)
Start Windows Explorer, and double-click on sample.exe.
3-22
3.3.3.5. Moving the robot

Specify and input the following values for the numerical value displayed on the screen according to the message of the
sample program.
*The IP address (192.168.0.20) of the robot controller of the connection point
*The port number (10001)
*The data type of command
*The data type of monitoring, etc.
Fit the data type of command to the argument of the MXT command of the robot program
Key operation is as follows. For details, refer to the sample program.
Key Contents
Z or X . The robot moves.
C The instruction value is set to 0 and the robot stops.
D Each time the MOVE key is pressed, change the display /
un-displaying of the monitor data
ENTER End the MXT command.
If the amount of instructions becomes too large or the movement range of the robot is exceeded, an error is
generated and the robot controller stops. In this case, reset the robot controller.
If communication cannot be carried out correctly, refer to section "2.3 Checking the connection", and check the connection
cable or restart the controller and sample.exe.
restart.
3.3.4. Ending
(1) Press the END button on the robot controller operating panel, and enter cycle operation.
(2) End the personal computer's sample program.
When the [ENTER] key is pressed, the MXT command will end, the robot will return to the default position, and the robot
program will stop.
The sample program will also end.
(3) Turn OFF the robot controller's power.
3-23
3.4. Real-time monitor function
3.4.1. Overview
In using such communication equipment as PLC and personal computers, this function is used to monitor orthogonal and
joint position data of the current position of the robot controller in real-time using Ethernet UDP communication.
3.4.1.1. CR800 series
iQ-R
MELSEC Series
iQ-R Series *R Type only, or
MELSEC-Q Series
*R Type only*Q Type only
PLC, PC, … Robot
Ethernet communication device FR Series
100BASE-TX(CR800-R/Q)
1000BASE-T(CR800-D)
Controller
CR800
R32TB or R56TB
System configuration (Example)
3-24
3.4.1.2. CR75n series
Q172DRCPU
*Q Type only
Robot
PLC, PC, …
F Series
Ethernet communication device
10BASE-T/100BASE-TX
Ethernet Cable
Controller
CR75ｘ-Q / CR75ｘ-D
R32TB or R56TB
System configuration (Example)
3.4.2. Supported version
Controller type Version Remarks

CR75x-Q Ver.R3n RT2 Oscillograph function corresponding Ver.R4b or later
CR75x-D Ver.S3n RT2 Oscillograph function corresponding Ver.R4b or later
The CR800 controller is supported by all the software versions.
3-25
3.4.3. Setup
It is a set-up procedure of example conditions.

3.4.3.1. CR800 series
List conditional example
IP address of Robot controller 192.168.0.20
IP address of PC 192.168.0.2
Port number for Real-time monitor 12000, 12001 Receive port = 12000 , Send port = 12001
(1) Connecting the controller and personal computer

Connect the Ethernet cable to the connector of the controller. When the hub is used, use the straight cable. Or when the
personal computer and controller are connected to each other one to one, use the cross cable.
MELSEC
iQ-RiQ-R Series (R Type only),
Series
or MELSEC-Q Series (Q Type only)
*R Type only
Robot
PLC, PC, …
FR Series
100BASE-TX(CR800-R/Q)
1000BASE-T(CR800-D)
Controller
CR800
R32TB or R56TB
(2) Setting the controller parameters

Set the parameters of the robot controller as shown in Table. For more information about parameters, see 3.4.7.
Parameter setting example

Parameter Before/after change Parameter value
192.168.0.20 (D type Robot controller)
before
NETIP 192.168.0.10 (R type Robot controller)
after Same as above (unchanged)
before 0
MONMODE
after 1
before 12000, 0
MONPORT
after 12000, 12001* Only when a change is required
(3) Setting the personal computer

To suit your network, please perform the communication settings. Please specify the UDP protocol of Ethernet
communication.
Set the same inbound port number for the Ethernet communication device to receive data as the value of the second
element of the MONPORT parameter set on the robot controller.
3-26
3.4.3.2. CR75n series

Example of conditions
IP address of Robot controller 192.168.0.20 (D type Robot controller)
IP address of PC 192.168.0.2
Port number for Real-time monitor 12000, 12001 Receive port = 12000 , Send port = 12001
(1) Connecting the controller and personal computer

Connect the Ethernet cable to the connector of the controller. When the hub is used, use the straight cable. Or when the
personal computer and controller are connected to each other one to one, use the cross cable.
Q172DRCPU
*Q Type only
Robot
PLC, PC, …
F Series
10BASE-T/100BASE-TX
Ethernet Cable
Controller
CR75ｘ-Q / CR75ｘ-D
R32TB or R56TB
(2) Setting the controller parameters

Set the parameters of the robot controller as shown in Table. For more information about parameters, see 3.4.7.
Parameter setting example

Parameter Before/after change Parameter value
192.168.0.20 (D type Robot controller)
before
NETIP 192.168.100.1 (Q type Robot controller)
after Same as above (Default value)
before 0
MONMODE
after 1
before 12000, 0
MONPORT
after 12000, 12001* Only when a change is required
(3) Setting the personal computer

To suit your network, please perform the communication settings. Please specify the UDP protocol of Ethernet
communication.
Set the same inbound port number for the Ethernet communication device to receive data as the value of the second
element of the MONPORT parameter set on the robot controller.
3-27
3.4.4. Start of monitor / End of monitor
Explain start of monitor and end of the monitor.
(1) Start of monitor

Set the data type ID as a starting packet data, set data output start (1) on the command, you want to monitor the return
data type 1-4 In addition, it sends to the robot controller.
If the start packet data is accepted normally, the robot controller continuously sends reply packet data (output data) to the
Ethernet communication device by every control cycle of the robot controller (refer to the following).
Controller Control cycle (*1)

CR750/CR751 series Approx. 7.11 msec
CR800 series Approx. 3.5 msec (*If user mechanical is set, approx. 7.11 msec)
*1 Because it depends on the performance of the communication path and the communication device, the period is not
guaranteed.
(2) End of monitor

It will be sent to the robot controller by setting the data output end (255) to the command end packet data. If accepted, the
robot controller to exit the sending of the reply packet data.
If you want to change the type of output data on the monitor the way, it sends a start packet data.
Ethernet <Send packet data> Robot

• Command (Start / End)
Communication • Reply data type 1 to 4 Controller
Device (Data type ID)
• Input/Output signal number
<Reply packet data>

• Reply data 1 to 4
• Input/Output signal data
Until the end of monitor
About communication device

• Communication device is the only one. It is not possible to communicate with the other device of two or more.
• It is disconnected from the communication device in communication first, and then communicates with a corresponding later
Caution The data output from the robot, for that is sent (UDP) communication via Ethernet without the
retransmission process, because there is the case that such noise environments, such as the
transmission of data or a wrong data dropout occurs, the guarantee of data is not possible.
Use the data output from the robot only for monitoring. When the data needs to be used for
control, check the data for consistency on the receiving side by comparing the data with the
previous value of the communication data counter or the monitoring counter of the robot
information (refer to section 3.4.4). If the check shows the data is incorrect, take appropriate
measures, such as stopping the equipment safely, before use.
3-28
3.4.5. Explanation of communication data packet
It describes the structure of the communication packet data to be used in real-time monitoring function. To the robot controller,
I will use the same packet structure on both send and receive from Ethernet communication device. Storage method of
data is little-endian. Real data in 32-bit real number is IEEE754 standard method. Data packet size is 196 bytes fixed.
Table 3-1 Data packet
Name Data type Explanation Address
Specifies the start or end of the real-time monitoring function.
unsigned short
Command 1 // Start of the real-time monitor 0-1
2 byes
255 // End of the real-time monitor
Not used(reserve) 2 byes Not used 2-3
1) Communication device → Robot controller
Specifies the <Data type ID> of the data that you want to monitor.
unsigned short
Reply data type 1 2) Robot controller → Communication device 4-5
2 byes
Echo back of send 1)
*Data type ID see [3.4.6 Data type ID]
1) E Communication device → Robot controller
Data structure Not used. Set to zero.
POSE, JOINT, PULSE,
ROBMON, 2) Robot controller → Communication device
FORCE or FLOAT8 The output data sent back from the controller.
40 bytes Data type is seeing in the return data type.
Reply data 1 *Data structure 8-47
* Each data structure is POSE // XYZ type [mm/rad]
described in Table JOINT // Joint type [rad]
Table 3-2, Table 3-3 PULSE // Motor pulse type [pulse] or Current type[%]
Table 3-4, Table 3-5 FORCE // Force sensor type
Table 3-6, Table 3-7 ROBMON // Robot movement information
FLOAT8 // General purpose, float×8
Input signal number of 1) Communication device → Robot controller
the top unsigned short Input signal number of the top (0 to 32767)
48-49
2 byes 2) Robot controller → Communication device
* Ver.R4b/S4b or later Echo back of send 1)
Output signal number 1) Communication device → Robot controller
of the top unsigned short Output signal number of the top (0 to 32767)
50-51
* Ver.R4b/S4b or later Echo back of send 1)
Input signal data Not used. Set to zero.
unsigned long
52-53
* Ver.R4b/S4b or later
Input signal data(0x00000000-0xffffffff)
Output signal data Not used. Set to zero.
unsigned long
56-57
* Ver.R4b/S4b or later
Output signal data(0x00000000-0xffffffff)
Not used. Set to zero.
Communication data unsigned long
2) Robot controller → Communication device 60-63
counter 4 byes
The number of communications. To return to the minimum
value 0 and the maximum value by integrating.
unsigned short
Reply data type 2 Same Reply data type 1 64-65
2 byes
POSE, JOINT, PULSE,
Reply data 2 ROBMON, Same Reply data 1 68-107
FORCE or FLOAT8 40 bytes
unsigned short
Reply data type 3 Same Reply data type 1 108-109
2 byes
Not used (reserve) 2 byes Not used 110-111
POSE, JOINT, PULSE,
Reply data type 4 unsigned short 2 byes Same Reply data type 1 152-153
Not used (reserve) 2 byes Not used 154-155
POSE, JOINT, PULSE,
3-29
Table 3-2 POSE (XYZ) data structure

4 bytes
X element
float
4 bytes
Y element
float
4 bytes
Z element
float
4 bytes
A element
float
4 bytes
B element XYZ data [mm / rad], 40 bytes
float
* Data type 1 and 7 is unit of radians.
4 bytes
C element Data type 1001 and 1007 is unit of degrees.
float
4 bytes
L1 element
float
4 bytes
L2 element
float
4 bytes
FL1(Structure flag 1)
long
4 bytes
FL2(Structure flag 2)
long
Table 3-3 JOINT data structure

4 bytes
J1 element
float
4 bytes
J2 element
float
4 bytes
J3 element
float
4 bytes
J4 element Joint data [rad], 32 bytes
float
* Data type 2 and 8 is unit of radians.
4 bytes
J5 element Data type 1002 and 1008 is unit of degrees.
float
4 bytes
J6 element
float
4 bytes
J7 element
float
4 bytes
J8 element
float
Not used 8 bytes Not used. Value is zero.
Table 3-4 PULSE (Pulse/%) data structure

4 bytes
M1 element
long
4 bytes
M2 element
long
4 bytes
M3 element
long
4 bytes
M4 element
long
Motor pulse data or current data [0.1% rate] , 32 bytes
4 bytes
M5 element
long
4 bytes
M6 element
long
4 bytes
M7 element
long
4 bytes
M8 element
long
3-30
Table 3-5 FORCE (N/Nm) data structure

4 bytes
F1 element
float
4 bytes
F2 element
float
4 bytes
F3 element
float
Force sensor data[N, Nm] , 32 bytes
4 bytes
F4 element
float
4 bytes
F5 element
float
4 bytes
F6 element
float
Table 3-6 ROBMON (Robot information) data structure

Tool point speed 4 bytes
Speed of a tool center point (feedback) [mm/s]
(feedback) float
Remaining distance 4 bytes The remaining distance to the target position (in
(feedback) float mm) while the robot is moving (feedback).
Tool point speed 4 bytes Speed of a tool center point (command)
(command) float Same as status variable values “M_RSpd”
The remaining distance to the target position (in mm) while the robot is moving
Remaining distance 4 bytes
(command).
(command) float
Same as status variable values “M_RDst”.
Gap of command and 4 bytes The gap of a command position and a feedback position.
feedback float Same as status variable values “M_Fbd”.
2 bytes
Transport factor (command) Speed of a tool center point (feedback)
integer
The current acceleration/deceleration status. (command)
Acceleration state 2 bytes
[0=Stopped,1=Accelerating, 2= Constant speed, 3= Decelerating]
(command) integer
Same as status variable values “M_AclSts”.
Step number 2 bytes Step number (Only slot 1), (1-32767)
integer
Program name 6 bytes Program name (Only slot 1)
character Max Program name is 6 characters
Controller temperature 2 bytes Controller temperature [0.1°C]
integer
Not used 2 bytes Not used.
Monitoring counter 4 bytes After power-on, +1 is counted from 0 in an operation control cycle unit (64/9 (*1)).
long The counting repeats in the range of 0 to 4294967295.
(*1) CR750/CR751 series: approx. 7.111 ms, CR800 series: approx. 3.5 ms (If user mechanical is set, approx. 7.1 ms)
Table 3-7 FLOAT8 (short real) data structure

float 1 4 bytes
float
float 2 4 bytes
float
float 3 4 bytes
float
float 4 4 bytes
float
float (short real), 32 bytes
float 5 4 bytes
float
float 6 4 bytes
float
float 7 4 bytes
float
float 8 4 bytes
float
3-31
3.4.6. Data type ID
The type of data that can be monitored in real-time monitor function.
Table 3-8 Data type ID

ID Contents Data structure Ver.
0 no data –
1 XYZ position (Command) *Angle in radians POSE
2 Joint position (Command) *Angle in radians JOINT
3 Motor pulse position (Command) PULSE (Long×8)
7 XYZ position (Feedback) *Angle in radians POSE R3n/S3n or
8 Joint position (Feedback) *Angle in radians JOINT later
9 Motor pulse position (Feedback) PULSE (Long×8)
10 Current command [0.1% rate] PULSE (Long×8)
11 Current feedback [0.1% rate] PULSE (Long×8)
12 Robot information ROBMON
13 Position droop PULSE (Long×8)

14 Speed (Command) [rpm] PULSE (Long×8)
15 Speed (Feedback) [rpm] PULSE (Long×8)
16 Axis load level [%] FLOAT8(Float×8)
17 Encoder temperature [°C] PULSE (Long×8)
R4b/S4b or
18 Encoder misscount PULSE
later
19 Motor voltage [V] PULSE (Long×8)
20 Regeneration level [%] PULSE (Long×8)
21 Tolerable command + [0.1% rate] PULSE (Long×8)
22 Tolerable command - [0.1% rate] PULSE (Long×8)
23 RMS current [0.1% rate] PULSE (Long×8)
101 Force sensor current position xyz[N]abc[Nm] FORCE (Float×8)

102 Force sensor original data (after offset cancel) xyz[N]abc[Nm] FORCE (Float×8)
103 Force sensor original data (before offset cancel) xyz[N]abc[Nm] FORCE (Float×8)
R3n/S3n or
104 Position command of the force sensor correction POSE
later
111 COL presumed torque [0.1% rate] PULSE (Long×8)
112 COL threshold + [0.1% rate] PULSE (Long×8)
113 COL threshold - [0.1% rate] PULSE (Long×8)
1001 XYZ position (Command) *Angle in degrees POSE

1002 Joint position (Command) *Angle in degrees JOINT
1007 XYZ position (Feedback) *Angle in degrees POSE
1008 Joint position (Feedback) *Angle in degrees JOINT
R4b/S4b or
1010 Current command [Arms] FLOAT8 (Float×8)
later
1011 Current feedback [Arms] FLOAT8 (Float×8)
1012 Tolerable command + [Arms] FLOAT8 (Float×8)
1013 Tolerable command - [Arms] FLOAT8 (Float×8)
1014 RMS current [Arms] FLOAT8 (Float×8)
3-32
3.4.7. Parameters
Table 3-9 Parameter

Parameter No. of
Parameter Details explanation Factory setting
name arrays
Switch to enable or disable real-time monitoring
function
MONMODE Integer 1 1
0: Disable
1: Enable
Specify the receive port number and the send port

number of real-time monitor function.
Ethernet (0 to 65535)
real-time
monitor First element: Receive port number
MONPORT Integer 2 Second element: Send port number 12000, 0
Second element:
0 is special value, reply to the sender port number
that is set to UDP header information in the packet
data start the robot controller has received
3.4.8. Error
Table 3-10 Error

Error number Error cause and measures
Error
NETPORT/MONPORT parameter error
message
Cause The element of NETPORT(1) and MONPORT(1/2) overlap.
L.7810
Measures Please set not to overlap to another port number.
UDP port number to be used for real-time monitoring function and real-time
Detail external control is duplicated. That you cannot use the same port number,
please change to a different port number.
3-33
3.5. SLMP Connection
3.5.1. Function Overview
Please note that the functions listed here apply only to the CR800 series, and not the CR750/CR751 series.
SLMP is a common protocol for seamless communication between applications. Users do not have to be concerned with
network layers or boundaries. SLMP communications are available among devices that can transfer messages by SLMP
(programmable controllers, personal computers, HMIs and others). (For the details of the SLMP compatibility of external
devices, refer to the Instruction Manual of external devices.)
The CR800 Series supports the SLMP communication server function.

CR800-R All versions CR75x-Q and CR75x-D are not supported
CR800-D
CR800-Q A2 or later
3.5.3. Specifications
The following section describes the specifications of the SLMP-compatible device and SLMP communication.
3.5.3.1. SLMP Specifications

The SLMP specifications for the message sent by an external device or with the communication protocol support function
are as follows.
Communication data
Item Description Reference
code
SLMP ∙ ASCII code This is the same message format as that for 3.5.6.1 Request Message
∙ Binary code MC protocol QnA-compatible 3E frame and
4E frame.
Compared to communication with ASCII code, communication with binary code involves approximately half the amount of
communication data.
3.5.4. Parameters
Specify settings with the following parameters.

No. of arrays
Parameter
No. of Description Factory setting
name
characters
SLMPPORT Integer 1 Set the SLMP server communication port No. (1024 to 65535) 45237
Set the SLMP server communication protocol.
SLMPCP Integer 1 0: TCP 1
1: UDP
SLMPNWNO Integer 1 Set the SLMP network number. (1 to 239) 1
SLMPNDID Integer 1 Set the SLMP station number. (1 to 120) 1
3-34
3.5.5. SLMP Communication Procedure
An external device and an SLMP-compatible device communicate as follows.
3.5.5.1. Using TCP/IP

The following is the communication procedure when performing SLMP communication with TCP/IP.
With TCP/IP, connections are established when updating, and whether data is received normally or not is checked to
ensure reliability of data. However, the line load is high as compared to UDP/IP.
External device SLMP-compatible device
The external device issues a connection request

to the robot. (Active open)
Upon establishment of the connection, the external

device sends a request message to the robot.
The external device receives the response message

from the robot and confirms the operation result.
The external device issues a close request The robot accepts the close request from the
to the robot and closes the communication. external device and closes the communication.
3-35
3.5.5.2. Using UDP/IP

The following is the communication procedure when performing SLMP communication with UDP/IP.
With UDP/IP, connections are not established when communication is executed, and whether data is received normally or
not is not checked. Therefore, the line load is low. However, data is less reliable as compared to TCP/IP.
External device SLMP-compatible device
The external device sends a request message

to the robot.
The external device receives the response message

from the robot and confirms the operation result.
3-36
3.5.6. Message Format
The following section describes the SLMP message format.
3.5.6.1. Request Message

The following is the format of a request message sent from an external device to an SLMP-compatible device.
 Header
This is the header for TCP/IP or UDP/IP. The header is added by the external device before transmission. Note that
the header is normally added automatically by the external device.
 Subheader
This will differ depending on whether a serial No. is added.
The serial No. is an arbitrary number for message recognition added at the external device. When a serial No. is
added and a request message sent, the same serial No. is added to the response message. Serial Nos. are used
when multiple request messages are sent from an external device to the same SLMP-compatible device.
When adding a serial No. to the request message

When not adding a serial No. to the request message
(When the serial No. is 1234H)
(Fixed value) (Fixed value) (Fixed value)
ASCII code ASCII code
Serial No. (Fixed value)

(Fixed value) (Fixed value)
Binary code
Binary code
Serial No.
 Use and manage serial Nos. at the external device side.

 When transmitting the message in ASCII code, the serial No. is stored in the order from higher-order byte to
lower-order byte.
 When transmitting the message in binary code, the serial No. is stored in the order from lower-order byte to
higher-order byte.
3-37
 Request destination network No., request destination station No.

Specify the access destination network No. and station No. Specify the network No. and station No. in hexadecimal.
Send the request destination network No. and request destination station No. in the order from higher-order byte to
lower-order byte.
• Network No. range
Host station: 00H
Other station: 01H to EFH (1 to 239)
• Station No. range
Host station: FFH (when the network No. is 00H)
Other station: 01H to 78H (1 to 120)
Example
When 1AH(26) is specified as the request destination network No.
ASCII code
Binary code
When 1AH(26) is specified as the request destination station No.
ASCII code
Binary code
The host station has a network No. of 00H and a station No. of FFH. Other stations have other values.
The request data addressed to the own station is received regardless of the network No. and station
No. settings.
Furthermore, the request data addressed to the other stations is received when the SLMPNWNO and
SLMPNDID settings are the same.
3-38
 Destination unit I/O No.

Specify the access destination unit (fixed to 03FFH).
Example
When 03FFH is specified as the request destination unit I/O No.
ASCII code
Binary code
• When performing data communication in ASCII code

Send data in the order higher-order byte to lower-order byte.
• When performing data communication in binary code
Send data in the order lower-order byte to higher-order byte.
 Request destination multidrop station No.

Specify the access destination multidrop station (fixed to 00H).
Example
When 0 is specified as the request destination multidrop station No.
ASCII code
Binary code
3-39
 Request data length

Specify the data length from the monitoring timer to the request data in hexadecimal. (Units: bytes)
Request data Monitoring Request data

length timer
Hexadecimal (unit: bytes)
Example
When the request data length is 24 bytes
ASCII code
Binary code

Send data in the order from higher-order byte to lower-order byte.
Send data in the order from lower-order byte to higher-order byte.
 Monitoring timer
Not used (fixed to 0000H)
Example
When 10H specified for monitoring timer
ASCII code
Binary code
3-40
3.5.6.2. Response Message Format

The following is the format of a response message sent from an SLMP-compatible device to an external device.
(Normal completion)
(Failed completion)
* The following items contain the same information described in section 3.5.6.1 of this manual.
 Request destination network No.
 Request destination station No.
 Request destination unit I/O No.
 Request destination multidrop station No.
3-41
 Header
Contains the Ethernet header.
 Subheader
Contains the subheader for the request message.
When adding a serial No. to the request message
When not adding a serial No. to the request message
(when the serial No. is 1234H)
(Fixed value) (Fixed value) (Fixed value)
Serial No.
(Fixed value)
(Fixed value) (Fixed value)
Binary code
Binary code
Serial No.

Serial Nos. are stored in the order from higher-order byte to lower-order byte.
Serial Nos. are stored in the order from lower-order byte to higher-order byte.
3-42
 Response data length

The data length from the end code to the response data (successful completion) or error information (failed
completion) is stored in hexadecimal. (Units: bytes)
(Normal completion)
Request data End code Response data

length
(Failed completion)
Request data End code Network Station Destination unit Destinati Command Subcommand
No. No. on
length I/O No.
(respond- (respond- multidrop
ing ing station
station) station) No.
Error information
Example
When the response data length is 22 bytes
ASCII code
Binary code

Send data in the order from higher-order byte to lower-order byte.
Send data in the order from lower-order byte to higher-order byte.
3-43
 End code
The command processing result is stored.
The value "0" is stored for normal completion. An error code is stored for abnormal completion. (See section 3.5.8 of
this manual.)
Successful completion Failed completion (0400H)
Binary code Binary code

The command processing result is stored in the order from higher-order byte to lower-order byte.
The command processing result is stored in the order from lower-order byte to higher-order byte.
 Response data
When the command is completed successfully, data such as the read data corresponding to the command is stored.
Refer to the "Response data" section in the command description for details on response data.
 Error information
The command and the subcommand, etc. for which an error occurred are stored.
3-44
3.5.7. Commands
The following section describes SLMP commands.

Refer to section 3.5.6 of this manual for details on message formats for other than the command sections.
 Request message format

(1) 3.5.6.1 Request Message
(2) Request data contains both commands and subcommands. Refer to section 3.5.7.2 onward in this manual for details.
Header Subheader Destina- Destina- Destination Destina- Request data Monitoring Request data Footer
tion tion tion
unit I/O No. length timer
network station multi-
No. No. drop
station
No.
 Response message format

 Normal completion
(1) 3.5.6.2 Response Message Format
(2) Refer to section 3.5.7.2 onward in this manual.
Header Subheader Destina- Destina- Destination Destina- Response data End code Response data Footer
tion tion tion
unit I/O No. length
network station multi-
No. No. drop
station
No.
 Failed completion
Refer to section 3.5.6.2 onward in this manual.
3-45
3.5.7.1. List of Commands

The following is a list of commands. The following "Subcommands" will differ depending on the device specified. Refer to
section 3.5.7.2 onward in this manual.
Item
Command Subcommand Description Reference
Category Operation
Device Read 0401 001 The value is read in bit devices (with 3.5.7.2.2 Read
003 consecutive device numbers) in 1-bit units.
000 ● The value is read in bit devices (with
● The value is read in word devices (with
consecutive device numbers) in 1-word units.
Write 1401 001 The value is written to bit devices (with 3.5.7.2.3 Write
000 ● The value is written to bit devices (with
● The value is written to word devices (with
consecutive device numbers) in 1-word units.
Read 0403 000 The value is read in the devices with the 3.5.7.2.4 Read
Random 002 specified numbers. The devices with Random
non-consecutive numbers can be specified.
The value is read from the word devices in
1-word or 2-word units.
Write 1402 001 The value is written to the bit devices with the 3.5.7.2.5 Write
Random 003 specified device numbers (each set of 1 bits Random
has a device number). The devices with
000 ● The value is written to the bit devices with the
002 specified device numbers (each set of 16 bits
has a device number). The devices with
● The value is written to the word devices with
the specified device numbers (each word or
each set of two words has a device number).
The devices with non-consecutive numbers
can be specified.
Self Test 0619 0000 Performs a test to determine whether 3.5.7.3 Self Test
communication with external devices is normal. (Loopback Test)
3-46
3.5.7.2. Device (Device Access)

The following section describes commands used to perform device reading and writing.
3.5.7.2.1. Data Used in Commands

 Device code
Access destination devices are specified in request data with the following device codes.
For subcommands 0001 and 0000, specify the device code enclosed in parentheses ( ).
Device code
Device Category ASCII Binary Device No. range Remarks
code *1 code
Special relay Bit SM** 0091H SM0 to Decimal —
(SM) (SM) (91H) SM4095
Special register Word SD** 00A9H SD0 to Decimal —
(SD) (SD) (A9H) SD4095
Input (X) Bit X*** 009CH R type: Hexadecimal —
(X*) (9CH) X0 to XFFF
D type:
X0 to X1FFF
Output (Y) Y*** 009DH R type: Hexadecimal —
(Y*) (9DH) Y0 to YFFF
D type:
Y0 to Y1FFF
Internal relay M*** 0090H M0 to M18431 Decimal Cannot be specified with D
(M) (M*) (90H) type.
Data register (D) Word D*** 00A8H D0 to D5119 Decimal —
(D*) (A8H)
CPU buffer See section 3.5.7.2.6 of this manual. Cannot be specified with D
memory access type.
device
*1: When performing data communication in ASCII code, specify device codes with 4 digits for subcommands 003 and
002. For device codes with 3 digits or less, add an asterisk (*) (ASCII code: 2AH) or a space (ASCII code: 20H) after
the device code.
Specify device codes with 2 digits for subcommands 001 and 000. For device codes with 1 digit, add an asterisk
(*) (ASCII code: 2AH) or a space (ASCII code: 20H) after the device code.
3-47

Use device codes by converting them to ASCII code (2 or 4 digits), and send them in the order higher-order byte to
lower-order byte. Use codes in upper case characters for letters of the alphabet.
With subcommands 0003, 0002 and 0001, 0000, the number of digits converted to ASCII code will differ.
Subcommand Number of digits Example
0003 Conversion to 4 ASCII If input (X) (4 digits) *1
0002 code digits
0001 Conversion to 2 ASCII If input (X) (2 digits) *1

0000 code digits
*1: Send input relay device codes in order from "X". Note that asterisks (*) from the second character onward may
also be specified with a space (code: 20H).

Use numerical values (1 or 2 bytes), and send data in the order lower-order byte to higher-order byte.
With subcommands 0003, 0002 and 0001, 0000, the data size of the numerical values will differ.
0003 2 bytes If input (X) (2 bytes)
0002
0001 1 byte If input (X) (1 byte)

0000
3-48
 First device No. (device No.)

Specify the device No. for reading/writing data. When consecutive devices are specified, specify the first device No.
Specify the first device No. in decimal or hexadecimal depending on the device type.

Use device Nos. by converting them to ASCII code (6 or 8 digits), and send them in the order higher-order byte to
lower-order byte.
With subcommands 0003, 0002 and 0001, 0000, the number of digits converted to ASCII code will differ.
0003 Conversion to 8 ASCII If device No. is 1234 (8 digits) *1
0002 code digits
0001 Conversion to 6 ASCII If device No. is 1234 (6 digits) *1

0000 code digits
*1: Send in order from 0. The higher-order digit 0 can also be specified with a space (code: 20H).

Use numerical values (3 or 4 bytes), and send data in the order from lower-order byte to higher-order byte. When
the device No. is a decimal device, convert it to a hexadecimal value and send.
With subcommands 0003, 0002 and 0001, 0000, the data size of the numerical values will differ.
Number of
Subcommand Example
digits
0003 4 bytes If internal relay M1234, link relay B1234 (4 bytes) *1
0002
0001 3 bytes If internal relay M1234, link relay B1234 (3 bytes) *2
0000
*1: The device number for internal relay M1234 is in decimal, and must therefore be converted to hexadecimal. This
will be 000004D2H, and should be sent in the order D2H, 04H, 00H, 00H. This will be 00001234H for link relay
B1234, and should be sent in the order 34H, 12H, 00H, 00H.
*2: The device number for internal relay M1234 is in decimal, and must therefore be converted to hexadecimal. This
will be 0004D2H, and should be sent in the order D2H, 04H, 00H. This will be 001234H for link relay B1234, and
should be sent in the order 34H, 12H, 00H.
3-49
 Number of devices
Specify the number of devices for reading/writing data.

Use the number of devices by converting them to 4 ASCII code digits (hexadecimal), and send them in the order
from higher-order byte to lower-order byte. Use codes in upper case characters when specifying letters of the
alphabet.
Example
Number of devices: 5 / 20
5 devices 20 devices

Use a 2-byte numerical value to indicate the number of processing devices, and send in the order from lower-order
byte to higher-order byte.
Example
3-50
 Read data / write data

The value read from the device is stored for reading. The value to be written to the device is stored for writing.
The data arrangement will differ depending on the bit unit (subcommand: 001, 003) or word unit (subcommand:
000, 002).
• In bit units (subcommand: 001, 003)

When performing data communication in ASCII code, send data for the number of specified devices from the
specified start device in the order from higher-order byte to lower-order byte. The ON state is denoted as "31H" (1),
and the OFF state is denoted as "30H" (0). Use codes in upper case characters when specifying letters of the
alphabet.
Example
ON/OFF state of five devices starting from M10

Device Number of
code Head device devices Data
When performing data communication in binary code, specify a single device with 4 bits, and send data for the
number of specified devices from the specified start device in the order from higher-order byte to lower-order byte.
The ON state is denoted as "1", and the OFF state is denoted as "0".
Example
ON/OFF state of five devices starting from M10
Head Device Number of

device code devices Data
"0" is shown when the number of

points is an odd number.
3-51
• In word units (subcommand: 000, 002)

When performing data communication in ASCII code, send data with 1 word in 4-bit units in the order from
higher-order byte to lower-order byte. Data is expressed in hexadecimal.
Use codes in upper case characters when specifying letters of the alphabet.
Example
ON/OFF state of 32 devices starting from M16
"0002" is shown for the number of devices because

the word device is specified in 16-bit units.
Device Number of
code Head device devices Data Data
Example
Data stored in D350/D351

Device Number of
code Head device devices Data Data
The data in D350 is The data in D351 is

56ABH (22187 in 170FH (5903 in
decimal). decimal).
When word devices for reading data contain other than integers (real numbers, character strings),
stored values are read as integer values.
● When D0 to D1 contains a real number (0.75), D0 = 0000H, and D1 = 3F40H.
● When D2 to D3 contains a character string ("12AB"), D2 = 3231H, and D3 = 4241H.
3-52
When bit devices are handled in word units when performing data communication in binary code, a single device is
specified with a 1 bit as shown in the following example. Data is stored in the order from lower-order byte (bit 0 to bit 7) to
higher-order byte (bit 8 to bit 15).
Example
ON/OFF state of 32 devices starting from M16

"02" is shown for the number of devices because
the word device is specified in 16-bit units.
Head Device Number of

device code devices Data Data
When word devices are used, 1 word is specified in 16 bits as follows. Data is stored in the order from lower-order byte
(bit 0 to bit 7) to higher-order byte (bit 8 to bit 15).
When reading, do so after replacing values stored in the response data with higher/lower-order bytes at the user side.
When writing, store request data after replacing the values to be written with higher/lower-order bytes at the user side.
Example
Data stored in D350/D351

Number
Head Device of
device code devices Data Data
Stored values for

request or
response data
Values to be read
or written
The data in D350 is 56ABH The data in D351 is 170FH

(22187 in decimal). (5903 in decimal).
3-53
When word devices for reading data contain other than integers (real numbers, character strings),
stored values are read as integer values.
● When D0 to D1 contains a real number (0.75), D0 = 0000H, and D1 = 3F40H.
● When D2 to D3 contains a character string ("12AB"), D2 = 3231H, and D3 = 4241H.
• Precautions
When performing data communication with ASCII data, process as follows when passing character strings from
external devices to the CPU module.
The procedure for converting data received by SLMP-compatible devices from external devices to binary code
data, and writing it to a specified device is described below.
1. Expand character strings sent from external devices to 2-byte code per one character.
2. Rearrange the character strings expanded to 2-byte code per one character, and send them to the
SLMP-compatible device.
3. Write the data sent to the SLMP-compatible device to the specified device.
The following is an example of a case where a character string ("18AF") received from an external device is
converted to binary code data, and written to D0 to D1.
1. Expand the character string ("18AF") sent from the external device to 2-byte code per one character.
All codes
2. Rearrange the character strings expanded to 2-byte code per one character, and send them to the
SLMP-compatible device.
3. Write the "38314641" data sent to the SLMP-compatible device to D0 to D1.

Received data
converted to binary
code and written
Numbers expressing
value for each byte
3-54
 Number of devices for bit access

This is the data required to specify the number of devices accessed in bit units.

Convert the number of devices to 2 ASCII code digits (hexadecimal), and send them in the order from higher-order
byte to lower-order byte. Use codes in upper case characters if specifying letters of the alphabet.
Example

Convert the number of devices to hexadecimal and send.
Example
3-55
3.5.7.2.2. Read (Command: 0401)

Read the data from devices.
 Request data
Device Number of
Subcommand First device No.
code devices
Binary
Sub- First device Device Number
command No. code of devices
• Subcommand
Subcommand *1
Item
ASCII code Binary code
When reading data
in bit units or or
or or
When reading data

in word units or or
or or
*1: Use subcommand 008 if accessing a link direct device, module access device, or CPU buffer memory
access device. When the subcommand is set to 008, the message format will differ. (Reading, writing by
specifying device extension)
• Device code
Specify the type of device to be read.
• First device No.

Specify the first number of the device to be read.
3-56
• Number of devices
Specify the number of devices to be read.
Number of devices
Item
When reading data in bit units 1 to 3584 devices 1 to 7168 devices
When reading data in word units 1 to 960 devices
 Response data
The value read from the device is stored in hexadecimal. The data order will differ depending on whether it is in ASCII
code or binary code.
3-57
 Communication example (when reading data in bit units)

Read M100 to M107.
(Request data)
Device Number of
Subcommand code First device No. devices
(Response data)

(Request data)
Sub- Device
command code
First device Number of
No. devices
(Response data)
3-58
 Communication example (when reading data in word units (bit device))
• Read M100 to M131 (data for two words).

(Request data)
Device Number of
(Response data)

(Request data)
Sub- Device
command code
No. devices
(Response data)
3-59
 Communication example (when reading data in word units (word device))

Read values D100 to D102.
Here D100 = 4660 (1234H), D101 = 2 (2H), and D102 = 7663 (1DEFH).
(Request data)
Device Number of
(Response data)

(Request data)
Sub- Device
command code
No. devices
(Response data)
3-60
3.5.7.2.3. Write (Command: 1401)

Write the data to devices.
 Request data
Device Number of
Subcommand First device No. Write data
code devices
Binary
Number
Sub- First device Device
command No. of Write data
code
devices
• Subcommand
Subcommand *1
Item
When writing data in
bit units or or
or or
When writing values

in word units or or
or or
• Device code
Specify the type of device to be written.
• First device No.

Specify the first number of the device to be written.
3-61
• Number of devices
Specify the number of devices to be written.
Number of devices
Item
When writing data in bit units 1 to 3584 devices 1 to 7168 devices
When writing data in word units 1 to 960 devices
• Write data
Specify the value to be written to all the devices specified in "Number of devices" in the request data.
 Request data
There is no Write command response data.
 Communication example (when writing data in bit units)

Write values to M100 to M107.
(Request data)
Device
Subcommand code First device No. Number of devices Write data

(Request data)
Sub- Device
command code
No. devices Write data
 Communication example (when writing data in word units (bit device))

Write values to M100 to M131 (data for two words).
(Request data)
Device
3-62

(Request data)
Sub- Device
command code
 Communication example (when writing data in word units (word device))

Write 6549 (1995H) for D100, 4610 (1202H) for D101, and 4400 (1130H) for D102.
(Request data)
Device

(Request data)
Sub- Device
command code
3-63
3.5.7.2.4. Read Random (Command: 0403)

The value is read in the devices with the specified numbers. The devices with non-consecutive numbers can be specified.
 Request data
Specify the devices for the specified number
of devices.
Number of Word access

Number of devices
devices
Subcommand for word
for double-
Device Device
word
access access code Device No. code Device No.
1 1
1 1
Double-word access
Device Device
code Device No. Device No.
code

of devices.

of devices.
Binary
Number of
Number of Word access Double-word access
Sub- devices
command devices for double-
for word word
Device Device Device Device Device Device Device Device
access access No. code No. code No. code No. code
1 1 1 1
3-64
• Subcommand
Subcommand *1
or or
or or
• Number of word access devices, number of double-word access devices

Specify the number of devices to be read with 1 byte (binary code) or 2 bytes (2 digits) (ASCII code).
Subcommand Item Description
0002 Number of devices for Specify the number of devices for 1 word access.
word access The applicable units are 16-bit units for bit devices,
and 1-word units for word devices.
Number of devices for Specify the number of devices for 2 word access.
double-word access The applicable units are 32-bit units for bit devices,
0000 Number of devices for Specify the number of devices for 1 word access.
word access The applicable units are 16-bit units for bit devices,
Number of devices for Specify the number of devices for 2 word access.
double-word access The applicable units are 32-bit units for bit devices,
3-65
• Device code, device number

Specify devices to be read in the order word access, double-word access.
Item Description
Word access Specify devices based on the number set in the request data for word access.
It is not necessary to specify devices when "0" is set.
Double-word access Specify devices based on the number set in the request data for double-word
access. It is not necessary to specify devices when "0" is set.
 Response data
Values for read devices are stored in hexadecimal. The data order will differ depending on whether it is in ASCII code
or binary code.
Data in the devices specified for Data in the devices specified for
word access double-word access
Word access Double-word access
Read data 1 Read data 2 Read data 1 Read data 2
3-66
 Communication example
With word access, read D0, D1, M100 to M115, and X20 to X2F, and with double-word access, read D1500 to D1501,
Y160 to Y17F, and M1111 to M1142.
Here D0 = 6549 (1995H), D1 = 4610 (1202H), D1500 = 20302 (4F4EH), and D1501 = 19540 (4C54H).

(Request data) Number of
Number devices
of for
devices double-
for word word
Subcommand access access
Device Device Device Device

code Device No. code Device No. code Device No. code Device No.
Device Device Device

code Device No. code Device No. code Device No.
(Response data)
Word access Word access Word access Word access
Read data 1 Read data 2 Read data 3 Read data 4
Double-word access Double-word access Double-word access

Read data 1 Read data 2 Read data 3
Word access read data 3 Double-word access read data 2
3-67

(Request data) Number of Number of
devices for devices for
word double-
access word access
Sub-
command
Device Device Device Device Device Device Device Device

No. code No. code No. code No. code
Device Device Device Device Device Device

No. code No. code No. code
(Response data)
Word Word Word Word
access access access access Double-word Double-word Double-word
Read Read Read Read access access access
data 1 data 2 data 3 data 4 Read data 1 Read data 2 Read data 3
3-68
3.5.7.2.5. Write Random (Command: 1402)

The value is written in the devices with the specified numbers. The devices with non-consecutive numbers can be
specified.
 Request data
Writing data in bit units
Specify the devices for the specified number of devices.
Number of
devices Device Set/
Subcommand for bit
Device Device No. Set/ Device No.
access code reset code reset
1 1
Binary
Number of
Sub- devices Device Device Set/ Device Device Set/
command for bit No. code reset No. code reset
access
1 1
Writing data in word units
Number of Word access

Number devices for
of devices
Subcommand double-
for word word Device
access Device No. Write data
access code
Double-word access
Device Device No. Write data

code

1
Binary
Number
Number of
Word access Double-word access
Sub- devices for
of devices
double-
command for word Device Device Write Device Device
word Write data
access
access No. code data No. code
3-69
• Subcommand
Subcommand *1
Item
bit units or or
or or

word units or or
or or
• Number of devices for bit access, Number of devices for word access, Number of devices for double-word access
Specify the number of target devices.
Subcommand Item Description
0003 Number of devices Specify the number of bit devices in 1-bit units.
0002 for bit access
Number of devices Specify the number of devices for 1 word access.
for word access The applicable units are 16-bit units for bit devices, and
1-word units for word devices.
for double-word The applicable units are 32-bit units for bit devices, and
access 2-word units for word devices.
0001 Number of devices Specify the number of bit devices in 1-bit units.
0000 for bit access
for word access The applicable units are 16-bit units for bit devices, and
1-word units for word devices.
for double-word The applicable units are 32-bit units for bit devices, and
access 2-word units for word devices.
3-70
• Device code, Device No., Write data

Specify devices to be written.
When writing data in bit units, specify bit devices.
Specify write data in hexadecimal.
Item Description
Word access Specify devices based on the number set in the request data for word access. It
is not necessary to specify devices when "0" is set.
Double-word access Specify devices based on the number set in the request data for double-word
access. It is not necessary to specify devices when "0" is set.
• Set/reset
Specify ON/OFF for bit devices.
Data to be written
Item Subcommand When When turned Remarks
turned ON OFF
ASCII code 0003 "0001" "0000" Send 4 digits in order from "0"
0002
0001 "01" "00" Send 2 digits in order from "0"
0000
Binary code 0003 0100H 0000H Either of the 2-byte numerical values
0002 on the left is sent.
0001 01H 00H Either of the 1-byte numerical values
0000 on the left is sent.
 Response data
There is no Write Random command response data.
3-71
 Communication example (when writing data in bit units)

Turn M50 OFF, and turn Y2F ON.
(Request data) Number
of
devices
for bit Device Set/ Device Set/
Subcommand access code Device No. reset code Device No. reset

(Request data)
Number of
devices for Device Set/ Device Set/
bit access code reset code reset
Sub-
command Device No. Device No.
3-72
 Communication example (when writing data in word units)

Write values to devices as follows.
Item Device to be written
Word access D0, D1, M100 to M115, X20 to X2F
Double-word access D1500 to D1501, Y160 to Y17F, M1111 to M1142

(Request data) Number of
Number of devices for
devices for double-
word word
Subcommand access access
Device Device
code Device No. Write data code Device No. Write data
Data 1 Data 2
Data 3
Data 4
Data 1 Data 3
Data 2 Data 4
3-73

(Request data)
Number of Number of
devices for devices for
word double-
access word access
Sub-
command
Device Write Device Write Data 1 Data 2

Device No. code data Device No. code data
Data 3 Data 4
Data 1 Data 3
Data 2 Data 4
3-74
3.5.7.2.6. Accessing CPU Buffer Memory Access Devices

Access RCPU buffer memory.
 Request data
For Read (Command: 0401), refer to the following example. For other commands, with the exception of device codes,
start device numbers, and device numbers, access based on the format for each command.
No extension First device No. or Number of

Command Subcommand Device code device No.
specified devices
Extension specified Extension Device code First device No. or

designation device No.
Binary code
Sub- First device No. Device Number
No extension Command command of
specified or device No. code
devices
First device No. Device

Extension specified Extension
or device No. code
designation
CPU module access device and request data compatibility is as follows.
Extension Device code First device

designation No. or device
No.
• Command
Access is possible with the following commands.
Item
Command
Category Operation
Device Read 0401
Write 1401
Read Random 0403
Write Random 1402
3-75
• Subcommand
• Extension designation
Specify the CPU module start I/O number.
Specify the start I/O number in hexadecimal (3 ASCII Specify the start I/O number in hexadecimal (2 bytes).
code digits). When the start I/O number is expressed When the start I/O number is expressed with 4 digits,
with 4 digits, specify with the first 3 digits. specify with the first 3 digits.
The start I/O numbers for the specified CPU modules are as follows.
CPU module CPU No. Start I/O number
CPU No.1 03E0H
CPU No.2 03E1H
CPU No.3 03E2H
CPU No.4 03E3H
3-76
• Device code
Specify the following device codes.
Device code
Device Category Device No. range
ASCII code *1 Binary code
CPU buffer Word G*** 00ABH Specify within the range of Decimal
memory device numbers held by the
CPU buffer HG** *2 002EH access destination unit.
memory fixed
cycle area
*1: For ASCII code, specify device codes with 4 digits. For device codes with 3 digits or less, add an asterisk (*)
(ASCII code: 2AH) or a space (ASCII code: 20H) after the device code.
*2 : When the CR800-Q controller is used, the HG devices cannot be used as SLMP-compatible devices.
• Start device or device number

Specify the start device or device number in decimal.
Specify the subcommand 0032/0082 device number (ASCII code) with 10 bytes (10 digits).
 Response data
The same applies if no extension is specified.
The start I/O number accesses the 03E0H CPU module buffer memory (address: 1).
Show the request data when performing communication with ASCII code.

(Request data)
Extension Device First device No. or

Subcommand designation code device No.

(Request data)
First device No. Device Extension
Subcommand or device No. code designation
3-77
3.5.7.3. Self Test (Loopback Test) (Command: 0619)

Perform a test to determine whether communication between external devices and Ethernet-equipped modules is normal.
By performing a loopback test, it is possible to confirm whether the connection with the external device is correct, and
whether data communication is functioning properly.
* Loopback tests can only be performed for Ethernet-equipped modules connected to external devices. Loopback tests
cannot be used for other station modules connected via a network.
 Request data
Loopback data
Subcommand quantity Loopback data
Binary code
Sub- Loopback
command data Loopback data
quantity
• Subcommand
Subcommand
• Loopback data quantity

Specify the "Loopback data" quantity in bytes. The range that can be specified is 1 to 960 bytes.
Example
When the loopback data quantity is 5 bytes
When using ASCII, convert the number of bytes to 4 ASCII code digits (hexadecimal), and send them in the order
from higher-order byte to lower-order byte.
When using binary code, send the number of 2-byte characters indicating the number of bytes in the order from
lower-order byte to higher-order byte.
• Loopback data
Specify the data sent and received when performing a loopback test.
When performing data communication in ASCII code, specify a 1-byte character string ("0" to "9", "A" to "F") for
data with maximum of 960 characters, and send from the start.
When performing data communication in binary code, convert the 1-byte character ("0" to "9", "A" to "F") code to a
1-byte numerical value, and send data with maximum of 960 bytes from the starting character code.
3-78
 Request data
The same content as that in the "Loopback data quantity" and "Loopback data" specified in the request message is
stored.
Loopback data
Loopback data
quantity
Binary code
Loopback
data Loopback data
quantity
Perform a loopback test with loopback data "ABCDE".
(Request data)
Loopback data
Subcommand quantity Loopback data
(Response data)
Loopback data
quantity Loopback data

(Request data)
Loopback
Sub- data
command quantity Loopback data
(Response data)
Loopback
data
quantity Loopback data
3-79
3.5.8. End Code
The following is a list of stored end codes.

Code category End code Description Processing details
Processing 0000H The request was successfully processed. Indicates that the request was correctly
success processed.
Standard error C059H ● The command or subcommand is specified Review the command and subcommand,
incorrectly. and send again.
● A command other than the prescribed sequence
was received.
C05CH The request message has an error. Review the request content, and send
again.
C061H The request data length is inconsistent with the Review the request data content or
number of data. request data length, and send again.
CEE1H The request message size exceeds the allowable Review the request content, and send
range. again.
CEE2H The response message size exceeds the Review the request content, and send
allowable range. again.
3-80
3.6. CC-Link IE Field Network Basic function
3.6.1. Overview
The CR800 series supports this function. It is not supported by the CR750/CR751 series.
CC-Link IE Field Network Basic is an FA network to which general-purpose Ethernet was applied.
For the MELFA FR series, CC-Link IE Field Network Basic slave stations are supported, and the signals and registers of
robot controllers can be input and output via regular communications (cyclic correspondence) with a PLC, computer, or
other master station.
Master Slave
PLC CPU/computer, etc. Robot controller
Link device Signal

Register
PLC CPUs in the MELSEC iQ-R/iQ-F/Q/L series and robot controllers in the MELFA FR series have Ethernet built-in as
standard, so they do not require dedicated options. This allows system construction with minimal configuration, thereby
saving space and reducing the cost.
Because CC-Link IE Field Network Basic has application software that runs on a general-purpose Ethernet protocol stack,
TCP/IP transmissions can intermingle. Therefore, the products that support CC-Link IE Field Network Basic and the
products that support Ethernet can be connected by a single cable, which makes it easy to construct the system however
you want.
Commercial
switching hub
Wi-Fi Router
Ethernet
Remote I/O Robot Display Inverter Servo Solenoid Label Barcode Weight
valve printer reader checker
3-81

CR800-R A1d or later CR75x-Q and CR75x-D are not supported
CR800-D
CR800-Q A2 or later
Computer support Version Remarks

SW
RT ToolBox3 1.10L or later
3.6.3. Specifications
The communication specifications of CC-Link IE Field Network Basic are described below.
3.6.3.1. Communication specifications

The communication specifications of the robot are as follows.
Item Description
Transmission speed 100Mbps
Communication method UDP/IP
Port number 61450
IP address 192.168.0.20 (initial value, set with NETIP parameters)
Number of occupied stations Up to four slave stations
Connection cable Standard Ethernet cable, category 5e or higher (STP cable)
CC-Link IE Field version 2.00
Maximum Remote input, RX (*1) Number of occupied stations×64 points

number of link
points
Remote output, RY (*2) Number of occupied stations×64 points
Remote register, RWr (*3) Number of occupied stations×32 points
Remote register, RWw (*4) Number of occupied stations×32 points
(*1) Remote input, RX: Information input from slave to master through bitwise operations.
(*2) Remote output, RY: Information output from master to slave through bitwise operations.
(*3) Remote register, RWr: Information input from slave to master through 16-bit (1 word) operations.
(*4) Remote register, RWw: Information output from master to slave through 16-bit (1 word) operations.
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3.6.4. Parameters
Specify settings with the following parameters.

Parameter No. of arrays
Parameter Description Factory setting
name No. of characters
CC-Link IE Field Network CCLBENA Integer 1
Enable the CC-Link IE Field Network Basic function.
Basic function, switch 0 (disable)
0: Disable / 1: Enable
enable/disable
CC-Link IE Field Network CCLBCLR Integer 1 When the data link malfunctions, specify whether
Basic function, setting at the input status of CC-Link IE Field Network Basic
0 (clear input)
data link error is cleared to OFF or 0 or is retained.
0: Clear input / 1: Retain input
3-83
3.6.5. Support of robot I/O signals and link devices
The support of robot I/O signals and link devices for RX/RY and RWr/RWw are indicated here.
As shown below, the link relays RX/RY and link registers RWr/RWw of a master station's link device interacts with the I/O
signals (6000 to max. 6255) and I/O registers (6000 to max. 6127) of each robot. Even if the station number changes, the
I/O signals of the robot are the same. Also, the number of stations occupied by a robot can be set from 1 to 4, designated
by the setting for number of stations occupied by master stations.
Number of Bitwise device 1 word device

stations Input I/O signal I/O register
Link relay Link register
occupied Output Points Points
RX/RY (*1) Start End RWr/RWw (*2) Start End
by robot
RY0 to RWw0 to
Input 64 RY3F 6000 6063 32 RWw1F 6000 6031
1 RX0 to
Output 64 6000 6063 32 RWr0 to RWr1F 6000 6031
RX3F
RY0 to RWw0 to
Input 128 RY7F 6000 6127 64 RWw3F 6000 6063
2 RX0 to
RX7F
RY0 to RWw0 to
Input 192 RYBF 6000 6191 96 RWw5F 6000 6095
3 RX0 to
RXBF
RY0 to RWw0 to
Input 256 RYFF 6000 6255 128 RWw7F 6000 6127
4 RX0 to
RXFF
(*1) Remote input, RX: Information input from slave to master through bitwise operations.
Remote output, RY: Information output from master to slave through bitwise operations.
(*2) Remote register, RWr: Information input from slave to master through 16-bit (1 word) operations.
Remote register, RWw: Information output from master to slave through 16-bit (1 word) operations.
3-84
3.6.6. Setup procedure
The steps up to using the CC-Link IE Field Network Basic function are indicated here.
The system configuration used as an example in this description has MELSEC PLC R16CPU as the master station and FR
series robot FV-4FR-D as the slave station.
Network configuration → Chapter 3.6.6.1
Build the network and then set the necessary parameters.
Network diagnostics → Chapter 3.6.6.2
Run network diagnostics to confirm whether normal communication is possible

with the state of the connection cables and the parameters that were set.
Programming → Chapter 3.6.6.3
Write the program.
Confirm the operation by using the General Purpose Signal window and Register window on RT ToolBox3. Refer to the
instruction manual of RT ToolBox3 for how to use signal monitoring, how to operate the robot program, and so on.
3-85
3.6.6.1. Network configuration

Build the network like in the following figure using 100BASE-TX Ethernet cables, and then set the necessary
parameters.
Here the master station is a PLC, and the slave station is a robot, with one of each.
HUB GX Works3 HUB GX Works3

RT ToolBox3 RT ToolBox3
Master station (PCL, computer, etc.) Master station (PCL, computer, etc.)
192.168.0.39 192.168.0.39
100BASE-TX
100BASE-TX Ethernet
Ethernet
Fiber optic cable
SSCNET III/H
192.168.0.20 192.168.0.20
Slave station (robot CR800-D)
Slave station (robot CR800-R/CR800-Q)
<CR800-D type> <CR800-R/CR800-Q type>
(1) Master station

IP address of PLC R16CPU: 192.168.0.39 / Subnet mask: 255.255.255.0
(2) Slave station
IP address of robot controller: 192.168.0.20 / Subnet mask: 255.255.255.0
CAUTION • For the CR800-R/CR800-Q type, the Ethernet connector is used with the
R16RTCPU/Q172DSRCPU unit. An Ethernet connector cannot be used with the
CR800-R/CR800-Q robot controller.
• The PLC CPU acting as the master station must have a firmware version that supports the
CC-Link IE Field Network Basic function. Refer to the website or manual of each device for
details.
Download the profile (csp+ file) of the robot controllers from the website of the CC-Link Partner Association
(Products).
https://www.cc-link.org/
https://www.cc-link.org/en/products/index.html
3-86
■ Slave station parameter settings

1. In RT ToolBox3, open "Online" → "Parameter" → "Ethernet", and set the IP address of the robot.
Here, the initial value 192.168.0.20 is being used. If you do not change the initial value, it is not necessary to
press Write.
2. Next, open "Online" → "Parameter" → "Field Network Parameter" → "CC-Link IE Field Basic", and change the
function selection to "Enable". Lastly, press "Write" and then reset the power of the robot controller.
3-87
■ Master station parameter settings

Set the parameters as follows.
1. In GX Works3, open "Parameter" → "Module Parameter" → "Own Node Settings". Then set the IP address of
PLC R16CPU under "IP Address", and press "Apply" to finalize the settings. Next, go to "Online" → "Write to
PLC" to write the parameters and establish Ethernet communication. Finally, reset the power and restart.
3-88
2. In GX Works3, go to "CC-Link IEF Basic Setting" in "Module Parameter" and set "Enable" for whether to use or
not to use the CC-Link IEF Basic Setting. Then open "<Detailed Setting>" beside the network configuration
settings. Here select "Detect Now". When the automatic detection is complete, the detected slave stations will be
displayed. In the following example, STA#1 for CR800-R is added.
3-89
3. Press "Close with Reflecting the Setting" and then select "Yes" on the confirmation dialog box that is displayed.
4. Refresh the settings.

Here the RX/RY/RWr/RWw devices on the link side are assigned to the desired devices on the CPU side.
In the following example RX0 to RX3F (64 points) is assigned to B0 to B3F; RY0 to RY3F (64 points) is assigned
to B1000 to B103F; RWr0 to RWr1F (32 points) is assigned to W0 to W1F; and RWw0 to RWw1F (32 points) is
assigned to W1000 to W101F.
3-90
5. Finally, go to the menu bar's "Online" → "Write to PLC", and press "Execute" to write the parameters to the PLC
CPU. When the writing is complete, reset the power and restart.
The settings are now complete. Next, run network diagnostics to confirm whether normal communications are
possible.
3-91
3.6.6.2. Network diagnostics

By using CC-Link IEF Basic Diagnostics, confirm whether normal communication is possible with the state of the
connection cables and the parameters that were set.
In GX Works3, select "Diagnostics" → "CC-Link IEF Basic Diagnostics" to open the diagnostics screen.
3-92
After the robot slave station has established proper communication with the master station, if the master station goes
down or the wiring becomes disconnected and communication with the master station is blocked, error 7870 is issued
on the robot controller.
The error number of the robot controller and its details can be checked on the error monitor screen of RT ToolBox3.
For the PLC CPU master station, the station with the error can be confirmed in the network status section of the
CC-Link IEF Basic Diagnostics screen in GX Works3.
3-93
3.6.6.3. Programming
Write the program.
In the following example, the signal and register value output by the robot program of the robot controller is returned
by the PLC CPU's ladder program and reflected in the robot's input signal and register.
<Example>
Robot controller PLC CPU
Output signal 6000 to 6063 RX0 to RX3F Link relay B0 to B3F

Output register 6000 to 6031 RWr0 to RWr1F Link register W0 to W3F
Link Refresh
Scan
Input signal 6000 to 6063 RY0 to RY3F Link relay B1000 to B103F
Input register 6000 to 6031 RWw0 to RWw1F Link register W1000 to W103F
Returns with ladder logic
(1) Robot controller: Robot program example
(2) PLC CPU: Ladder program example
3-94
4 Appendix
4. Appendix
4.1. Error list
The errors which occur only when the Ethernet function is used are listed as follows.
Error No. Error causes and remedies
 Parameter ***** setting error of Ethernet interface parameter.

Cause) ***** parameter is wrongly set. (The parameter name is input in *****.)
7810
Measures) Check the setting content of the parameter.
 MXT Command time out.

Cause) The time set in parameter MXTTOUT was exceeded.
7820
Measures) Check parameter MXTTOUT.
 Received MXT command data illegal.

Cause) The command argument and data type do not match.
7840
Measures) Check the contents of the command and the communication data packet to be transmitted.
 Setting error of SLMP parameter.

Cause) The communication port numbers (parameter: SLMPPORT) overlap with another function.
7860
Measures) Change the parameters so that the communication port numbers to not overlap with another
function.
 CC-Link IE Field Network Basic communication error.

Cause) Communication using CC-Link IE Field Network Basic has been disconnected.
7870
Measures) Check whether the network cable is connected, and check the settings for time out on the
master side and other parameters.
For the other errors except these, refer to the errors list of the instruction manual of the controller.
4-1
4 Appendix
4.2. Sample program
This is the sample program of the Ethernet function.
4.2.1. Sample program of data link
The sample program to do the data link with Microsoft Visual Studio Express Visual Basic (hereafter written as VB) is
herein described.
The program creation is briefly introduced with the following procedure.
For details of VB operation and application producing method, refer to the instruction manual of this software.
(1) Preparation of Winsock control
(2) Production of form screen
(3) Program (Form1.frm)
There is the program following 2 passages. Use either according to the customer's system.
1) Program for the clients (when using the personal computer as the client and using the controller as the server).
2) Program for the server (when using the personal computer as the server and using the controller as the client).
* About the work of 1) 2), the client and the server are the same.
(1) Preparation of project

Create a Windows Forms application with VB.
4-2
4 Appendix
(2) Sample is a form of figure (Created by copying the sample)
Copy files to vbsample folder.

• Form1.Designer.vb
• Form1.vb
Be careful not to confuse the client and the server.
Each text files saved from pdf manual.
■ Form1.Designer.vb (Form for the client)
<Global.Microsoft.VisualBasic.CompilerServices.DesignerGenerated()> _
Partial Class Form1
Inherits System.Windows.Forms.Form
'Form overrides dispose to clean up the component list.

<System.Diagnostics.DebuggerNonUserCode()> _
Protected Overrides Sub Dispose(ByVal disposing As Boolean)
Try
If disposing AndAlso components IsNot Nothing Then
components.Dispose()
End If
Finally
MyBase.Dispose(disposing)
End Try
End Sub
'Required by the Windows Form Designer

Private components As System.ComponentModel.IContainer
'NOTE: The following procedure is required by the Windows Form Designer

'It can be modified using the Windows Form Designer.
'Do not modify it using the code editor.
<System.Diagnostics.DebuggerStepThrough()> _
Private Sub InitializeComponent()
Me.components = New System.ComponentModel.Container
Me.Button1 = New System.Windows.Forms.Button
Me.Check1 = New System.Windows.Forms.CheckBox
Me.Text4 = New System.Windows.Forms.TextBox
4-3
4 Appendix

Me.Label4 = New System.Windows.Forms.Label
Me.Timer1 = New System.Windows.Forms.Timer(Me.components)
Me.SuspendLayout()
'
'Button1
'
Me.Button1.BackColor = System.Drawing.SystemColors.Control
Me.Button1.Cursor = System.Windows.Forms.Cursors.Default
Me.Button1.ForeColor = System.Drawing.SystemColors.ControlText
Me.Button1.Location = New System.Drawing.Point(264, 72)
Me.Button1.Name = "Button1"
Me.Button1.RightToLeft = System.Windows.Forms.RightToLeft.No
Me.Button1.Size = New System.Drawing.Size(49, 25)
Me.Button1.TabIndex = 16
Me.Button1.Text = "Send"
Me.Button1.UseVisualStyleBackColor = False
'
'Check1
'
Me.Check1.BackColor = System.Drawing.SystemColors.Control
Me.Check1.Cursor = System.Windows.Forms.Cursors.Default
Me.Check1.ForeColor = System.Drawing.SystemColors.ControlText
Me.Check1.Location = New System.Drawing.Point(264, 24)
Me.Check1.Name = "Check1"
Me.Check1.RightToLeft = System.Windows.Forms.RightToLeft.No
Me.Check1.Size = New System.Drawing.Size(49, 25)
Me.Check1.TabIndex = 14
Me.Check1.Text = "Connection"
Me.Check1.UseVisualStyleBackColor = False
'
'Text4
'
Me.Text4.AcceptsReturn = True
Me.Text4.AcceptsTab = True
Me.Text4.BackColor = System.Drawing.SystemColors.Window
Me.Text4.Cursor = System.Windows.Forms.Cursors.IBeam
Me.Text4.ForeColor = System.Drawing.SystemColors.WindowText
Me.Text4.Location = New System.Drawing.Point(8, 120)
Me.Text4.MaxLength = 0
Me.Text4.Multiline = True
Me.Text4.Name = "Text4"
Me.Text4.RightToLeft = System.Windows.Forms.RightToLeft.No
Me.Text4.ScrollBars = System.Windows.Forms.ScrollBars.Vertical
Me.Text4.Size = New System.Drawing.Size(305, 121)
Me.Text4.TabIndex = 17
'
'Text3
'
4-4
4 Appendix
'
'Text2
'
Me.Text2.Text = "10003"
'
'Text1
'
Me.Text1.Text = "192.168.0.1"
'
'Label4
'
Me.Label4.BackColor = System.Drawing.SystemColors.Control
Me.Label4.Cursor = System.Windows.Forms.Cursors.Default
Me.Label4.ForeColor = System.Drawing.SystemColors.ControlText
Me.Label4.Location = New System.Drawing.Point(8, 104)
Me.Label4.Name = "Label4"
Me.Label4.RightToLeft = System.Windows.Forms.RightToLeft.No
Me.Label4.Size = New System.Drawing.Size(65, 13)
Me.Label4.TabIndex = 19
Me.Label4.Text = "Receive data"
'
'Label3
'
Me.Label3.Text = "Send data"
'
'Label2
'
4-5
4 Appendix
Me.Label2.Text = "Port No."
'
'Label1
'
Me.Label1.Text = "IP address"
'
'Timer1
'
Me.Timer1.Interval = 50
'
'Form1
'
Me.AutoScaleDimensions = New System.Drawing.SizeF(6.0!, 12.0!)
Me.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font
Me.ClientSize = New System.Drawing.Size(320, 253)
Me.Controls.Add(Me.Button1)
Me.Controls.Add(Me.Check1)
Me.Controls.Add(Me.Text4)
Me.Controls.Add(Me.Label4)
Me.Name = "Form1"
Me.Text = "Data link (client)"
Me.ResumeLayout(False)
Me.PerformLayout()
End Sub
Public WithEvents Button1 As System.Windows.Forms.Button
Public WithEvents Check1 As System.Windows.Forms.CheckBox
Public WithEvents Text4 As System.Windows.Forms.TextBox
Public WithEvents Label4 As System.Windows.Forms.Label
Friend WithEvents Timer1 As System.Windows.Forms.Timer
End Class
4-6
4 Appendix
■ Form1.vb (Program for the client)
Imports System
Imports System.Net.Sockets
Public Class Form1
Private Client As TcpClient
Private Sub Check1_CheckStateChanged(ByVal sender As System.Object, ByVal e As System.EventArgs)

Handles Check1.CheckStateChanged
' Process for Connect or Disconnect
Try
If Check1.CheckState = CheckState.Checked Then
Client = New TcpClient()
Client.Connect(Text1.Text, Convert.ToInt32(Text2.Text)) 'Connect
Button1.Enabled = Client.Connected
Timer1.Enabled = Client.Connected
Else
Timer1.Enabled = False
Button1.Enabled = False
Client.GetStream().Close() 'Disconnect
Client.Close()
End If
Catch ex As Exception
Check1.Checked = False
MessageBox.Show(ex.Message, Me.Text, MessageBoxButtons.OK, MessageBoxIcon.Error,
MessageBoxDefaultButton.Button1)
End Try
End Sub
Private Sub Button1_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button1.Click

'Send process
Try
Dim SendBuf As Byte() = System.Text.Encoding.Default.GetBytes(Text3.Text)
Dim Stream As NetworkStream = Client.GetStream()
Stream.Write(SendBuf, 0, SendBuf.Length)
Client = Nothing
End Try
End Sub
Private Sub Timer1_Tick(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Timer1.Tick

'Receive process
Try
If Stream.DataAvailable Then
Dim bytes(1000) As Byte
Dim strReceivedData As String = ""
Dim datalength = Stream.Read(bytes, 0, bytes.Length)
strReceivedData = System.Text.Encoding.Default.GetString(bytes).Substring(0, datalength)
Text4.AppendText(strReceivedData)
Text4.AppendText(System.Environment.NewLine)
End If
4-7
4 Appendix
Client = Nothing
'
End Try
End Sub
End Class
■ Form1.Designer.vb (Form for the server)
<Global.Microsoft.VisualBasic.CompilerServices.DesignerGenerated()> _
Partial Class Form1
Inherits System.Windows.Forms.Form
'Form overrides dispose to clean up the component list.

<System.Diagnostics.DebuggerNonUserCode()> _
Protected Overrides Sub Dispose(ByVal disposing As Boolean)
Try
If disposing AndAlso components IsNot Nothing Then
components.Dispose()
End If
Finally
MyBase.Dispose(disposing)
End Try
End Sub
'Required by the Windows Form Designer

Private components As System.ComponentModel.IContainer
'NOTE: The following procedure is required by the Windows Form Designer

'It can be modified using the Windows Form Designer.
'Do not modify it using the code editor.
<System.Diagnostics.DebuggerStepThrough()> _
Private Sub InitializeComponent()
Me.components = New System.ComponentModel.Container
Me.Button1 = New System.Windows.Forms.Button
Me.Check1 = New System.Windows.Forms.CheckBox
Me.Timer1 = New System.Windows.Forms.Timer(Me.components)
Me.SuspendLayout()
'
'Button1
'
Me.Button1.BackColor = System.Drawing.SystemColors.Control
Me.Button1.Cursor = System.Windows.Forms.Cursors.Default
Me.Button1.ForeColor = System.Drawing.SystemColors.ControlText
Me.Button1.Location = New System.Drawing.Point(264, 72)
Me.Button1.Name = "Button1"
Me.Button1.RightToLeft = System.Windows.Forms.RightToLeft.No
Me.Button1.Size = New System.Drawing.Size(49, 25)
4-8
4 Appendix
Me.Button1.TabIndex = 26
Me.Button1.Text = "Send"
Me.Button1.UseVisualStyleBackColor = False
'
'Check1
'
Me.Check1.BackColor = System.Drawing.SystemColors.Control
Me.Check1.Cursor = System.Windows.Forms.Cursors.Default
Me.Check1.ForeColor = System.Drawing.SystemColors.ControlText
Me.Check1.Location = New System.Drawing.Point(264, 24)
Me.Check1.Name = "Check1"
Me.Check1.RightToLeft = System.Windows.Forms.RightToLeft.No
Me.Check1.Size = New System.Drawing.Size(49, 25)
Me.Check1.TabIndex = 24
Me.Check1.Text = "Connection"
Me.Check1.UseVisualStyleBackColor = False
'
'Text4
'
Me.Text4.Multiline = True
Me.Text4.ScrollBars = System.Windows.Forms.ScrollBars.Vertical
'
'Text3
'
'
'Text2
'
Me.Text2.Text = "10003"
'
'Text1
'
4-9
4 Appendix
'
'Label4
'
Me.Label4.Text = "Receive data"
'
'Timer1
'
Me.Timer1.Interval = 50
'
'Label3
'
Me.Label3.Text = "Send data"
'
'Label2
'
Me.Label2.Text = "Port No."
'
'Label1
'
4-10
4 Appendix
Me.Label1.Text = "IP address"

'
'Form1
'
Me.AutoScaleDimensions = New System.Drawing.SizeF(6.0!, 12.0!)
Me.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font
Me.ClientSize = New System.Drawing.Size(320, 253)
Me.Controls.Add(Me.Button1)
Me.Controls.Add(Me.Check1)
Me.Name = "Form1"
Me.Text = "Data link (server)"
Me.ResumeLayout(False)
Me.PerformLayout()
End Sub
Public WithEvents Button1 As System.Windows.Forms.Button
Public WithEvents Check1 As System.Windows.Forms.CheckBox
Friend WithEvents Timer1 As System.Windows.Forms.Timer
End Class
■ Form1.vb (Program for the server)
Imports System
Imports System.Net
Imports System.Net.Sockets
Imports System.Net.NetworkInformation
Imports System.Text
Public Class Form1
Private Listener As TcpListener

Private Client As TcpClient
Private Sub Form1_Load(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles MyBase.Load

Text1.Enabled = False 'Disable IP address
Text3.Enabled = False 'Disable Send data
Button1.Enabled = False 'Disable Send button
End Sub
Private Sub Check1_CheckStateChanged (ByVal sender As System.Object, ByVal e As System.EventArgs)

Handles Check1.CheckStateChanged
'Process for Connect
Try
4-11
4 Appendix
If Check1.CheckState = CheckState.Checked Then

Dim interfaces As NetworkInterface()
Dim _currentInterface As NetworkInterface
'Get local IP address

interfaces = NetworkInterface.GetAllNetworkInterfaces
For Each NetworkInterface As NetworkInterface In interfaces
If NetworkInterface.Name = "Local Area Connection" Then
_currentInterface = NetworkInterface
Dim properties As IPInterfaceProperties
properties = _currentInterface.GetIPProperties
If properties.UnicastAddresses.Count > 0 Then

For Each info As UnicastIPAddressInformation In properties.UnicastAddresses
Text1.Text = info.Address.ToString
Next
End If
End If
Next
'Wait connection from client

Listener = New TcpListener(IPAddress.Parse(Text1.Text), Convert.ToInt32(Text2.Text))
Timer1.Start()
Listener.Start()
Else
Client = Nothing
Timer1.Stop()
Button1.Enabled = False 'Disable send button
Text3.Enabled = False
Listener.Stop() 'Stop listen
End If
End Try
End Sub
Private Sub Button1_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button1.Click

'Send text
Try
Dim SendBuf As Byte() = System.Text.Encoding.Default.GetBytes(Text3.Text)
Stream.Write(SendBuf, 0, SendBuf.Length)
'Disconnect
Client = Nothing

End Try
End Sub
Private Sub Timer1_Tick(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Timer1.Tick

'Receive process
Try
'
If Client Is Nothing Then
'
If Listener.Pending = False Then
Text1.Enabled = False 'Disable IP address edit
Text3.Enabled = False 'Disable send text edit
4-12
4 Appendix
Button1.Enabled = False 'Disable send button

Else
Client = Listener.AcceptTcpClient() 'Connect with client
Text1.Enabled = True 'Enable IP address edit
Text3.Enabled = True 'Enable send text edit
Button1.Enabled = True 'Enable send button
End If
Else
'Receive data
Try
Dim Stream As NetworkStream = Client.GetStream
If Stream.DataAvailable Then
Dim bytes(1000) As Byte
Dim strReceivedData As String = ""
Dim datalength = Stream.Read(bytes, 0, bytes.Length)
strReceivedData = System.Text.Encoding.Default.GetString(bytes).Substring(0, datalength)
Text4.AppendText(strReceivedData)
Text4.AppendText(System.Environment.NewLine)
End If
'Disconnect
Client = Nothing
End Try
End If
End Try
End Sub
End Class
4-13
4 Appendix
4.2.2. Sample program for real-time external control function
A sample program that establishes a data link using Microsoft Visual Studio Express Visual C++ (hereinafter VC) is shown
below.
The procedures for creating the program are briefly explained below.
Refer to the software manuals for details on operating VC and creating the application.
(1) Create new project
(2) Create program sample.cpp/strdef.h
(1) Create new project

Start VC, and create a new project. Set the name to Win32 Console Application.
4-14
4 Appendix
Using the project setting, add wsock32.lib to the object/library module.
Copy files to sample folder.

• strdef.h
･ sample.cpp
Each text files saved from pdf manual.
4-15
4 Appendix
■ Header file strdef.h

//************************************************************************************
// Real-time control sample program
// Communication packet data structure definition header file
//************************************************************************************
// strdef.h
#define VER_H7
/*************************************************************************/
/* Joint coordinate system (Set unused axis to 0) */
/* Refer to the instruction manual enclosed */
/* with each robot for details on each element. */
/************************************************************************/
typedef struct{
float j1; // J1 axis angle (radian)
float j7; // Additional axis 1 (J7 axis angle) (radian)
float j8; // Additional axis 2 (J8 axis angle) (radian)
} JOINT;
/*************************************************************************/
/* XYZ coordinate system (Set unused axis to 0) */
/* Refer to the instruction manual enclosed */
/* with each robot for details on each element. */
/************************************************************************/
typedef struct{
float x; // X axis coordinate value (mm)
float y; // Y axis coordinate value (mm)
float z; // Z axis coordinate value (mm)
float a; // A axis coordinate value (radian)
float b; // B axis coordinate value (radian)
float c; // C axis coordinate value (radian)
float l1; // Additional axis 1 (mm or radian)
float l2; // Additional axis 2 (mm or radian)
} WORLD;
typedef struct{
WORLD w;
unsigned int sflg1; // Structural flag 1
unsigned int sflg2; // Structural flag 2
} POSE;
/*************************************************************************/
/* Pulse coordinate system (Set unused axis to 0) */
/* These coordinates express each joint */
/* with a motor pulse value. */
/*************************************************************************/
typedef struct{
long p1; // Motor 1 axis
long p7; // Additional axis 1 (Motor 7 axis)
4-16
4 Appendix
long p8; // Additional axis 2 (Motor 8 axis)

} PULSE;
/************************************************************/
/* Real-time function communication data packet */
/************************************************************/
typedef struct enet_rtcmd_str {
unsigned short Command; // Command
#define MXT_CMD_NULL 0 // Real-time external command invalid
#define MXT_CMD_MOVE 1 // Real-time external command valid
#define MXT_CMD_END 255 // Real-time external command end
unsigned short SendType; // Command data type designation

unsigned short RecvType; // Monitor data type designation
//////////// Command or monitor data type ///
#define MXT_TYP_NULL 0 // No data
// For the command and monitor ////////////////////
#define MXT_TYP_POSE 1 // XYZ data
#define MXT_TYP_JOINT 2 // Joint data
#define MXT_TYP_PULSE 3 // pulse data
///////////// For position related monitor ///
#define MXT_TYP_FPOSE 4 // XYZ data (after filter process)
#define MXT_TYP_FJOINT 5 // Joint data (after filter process)
#define MXT_TYP_FPULSE 6 // Pulse data (after filter process)
#define MXT_TYP_FB_POSE 7 // XYZ data (Encoder feedback value)
#define MXT_TYP_FB_JOINT 8 // Joint data (Encoder feedback value)
#define MXT_TYP_FB_PULSE 9 // Pulse data (Encoder feedback value)
// For current related monitors ////////////////////
#define MXT_TYP_CMDCUR 10 // Electric current command
#define MXT_TYP_FBKCUR 11 // Electric current feedback
union rtdata { // Command data

POSE pos; // XYZ type [mm/rad]
JOINT jnt; // Joint type [rad]
PULSE pls; // Pulse type [pls]
long lng1[8]; // Integer type [% / non-unit]
} dat;
unsigned short SendIOType; // Send input/output signal data designation

unsigned short RecvIOType; // Return input/output signal data designation
#define MXT_IO_NULL 0 // No data

#define MXT_IO_OUT 1 // Output signal
#define MXT_IO_IN 2 // Input signal
unsigned short BitTop; // Head bit No.

unsigned short BitMask; // Transmission bit mask pattern designation (0x0001-0xffff)
unsigned short IoData; // Input/output signal data (0x0000-0xffff)
unsigned short TCount; // Timeout time counter value

unsigned long CCount; // Transmission data counter value
unsigned short RecvType1; // Reply data-type specification 1

union rtdata1 { // Monitor data 1
POSE pos1; // XYZ type [mm/rad]
JOINT jnt1; // JOINT type [mm/rad]
PULSE pls1; // PULSE type [mm/rad]
} dat1;
4-17
4 Appendix

PULSE pls2; // PULSE type [mm/rad] or Integer type [% / non-unit]
} dat2;

PULSE pls3; // PULSE type [mm/rad] or Integer type [% / non-unit]
} dat3;
} MXTCMD;
■ Source file sample.cpp

// sample.cpp
// Change the definition in the "strdef.h" file by the S/W version of the controller.
// Refer to the "strdef.h" file for details.
//
#define _CRT_SECURE_NO_WARNINGS
#include <windows.h>
#include <iostream>
#include <winsock.h>
#include <stdio.h>
#include <conio.h>
#include <string.h>
#include <math.h>
#include "strdef.h"
#define NO_FLAGS_SET 0
#define MAXBUFLEN 512
using namespace std;
INT main(VOID)
{
WSADATA Data;
SOCKADDR_IN destSockAddr;
SOCKET destSocket;
unsigned long destAddr;
int status;
int numsnt;
int numrcv;
char sendText[MAXBUFLEN];
char recvText[MAXBUFLEN];
char dst_ip_address[MAXBUFLEN];
unsigned short port;
char msg[MAXBUFLEN];
char buf[MAXBUFLEN];
char type,type_mon[4];
unsigned short IOSendType=0; // Send input/output signal data designation
unsigned short IORecvType=0; // Reply input/output signal data designation
unsigned short IOBitTop=0;
4-18
4 Appendix
unsigned short IOBitMask=0xffff;

unsigned short IOBitData=0;
cout << " Input connection destination IP address (192.168.0.20) ->";

cin.getline(dst_ip_address, MAXBUFLEN);
if(dst_ip_address[0]==0) strcpy(dst_ip_address, "192.168.0.20");
cout << " Input connection destination port No. (10000) -> ";
cin.getline(msg, MAXBUFLEN);
if(msg[0]!=0) port=atoi(msg);
else port=10000;
cout << " Use input/output signal?([Y] / [N])-> ";

if(msg[0]!=0 && (msg[0]=='Y' || msg[0]=='y')) {
cout << " What is target? Input signal/output signal([I]nput / [O]utput)-> ";
switch(msg[0]) {
case 'O': // Set target to output signal
case 'o':
IOSendType = MXT_IO_OUT;
IORecvType = MXT_IO_OUT;
break;
case 'I': // Set target to input signal
case 'i':
default:
IOSendType = MXT_IO_NULL;
IORecvType = MXT_IO_IN;
break;
}
cout << " Input head bit No. (0 to 32767)-> ";

if(msg[0]!=0) IOBitTop = atoi(msg);
else IOBitTop = 0;
if(IOSendType==MXT_IO_OUT) { // Only for output signal

cout << " Input bit mask pattern for output as hexadecimal (0000 to FFFF)-> ";
if(msg[0]!=0) sscanf(msg,"%4x",&IOBitMask);
else IOBitMask = 0;
cout << " Input bit data for output as hexadecimal (0000 to FFFF)-> ";
if(msg[0]!=0) sscanf(msg,"%4x",&IOBitData);
else IOBitData = 0;
}
}
cout << "--- Input the data type of command. ---¥n";
cout << "[0: None / 1: XYZ / 2:JOINT / 3: PULSE]¥n";
cout << "-- please input the number -- [0] - [3]-> ";
type = atoi(msg);
for(int k=0; k<4; k++) {

sprintf(msg,"--- input the data type of monitor ( %d-th ) ---¥n", k);
cout << msg;
cout << "[0: None]¥n";
cout << "[1: XYZ / 2:JOINT / 3: PULSE] .......... Command value¥n";
cout << "[4: XYZ/ 5: JOINT/ 6: PULSE] ........... Command value after the filter process¥n";
cout << "[7: XYZ/ 5:JOINT/ 6:PULSE] ............. Feedback value.¥n";
cout << "[10: Electric current value / 11: Electric current feedback] ... Electric current value.¥n";
4-19
4 Appendix
cout << "Input the numeral [0] to [11] -> ";

type_mon[k] = atoi(msg);
}
sprintf(msg, "IP=%s / PORT=%d / Send Type=%d / Monitor Type0/1/2/3=%d/%d/%d/%d", dst_ip_address, port , type,
type_mon[0], type_mon[1], type_mon[2], type_mon[3]);
cout << msg << endl;
cout << "[Enter]= End / [d]= Monitor data display";

cout << "[z/x]= Increment/decrement first command data transmitted by the delta amount. ";
cout << " Is it all right? [Enter] / [Ctrl+C] ";

// Windows Socket DLL initialization

status=WSAStartup(MAKEWORD(1, 1), &Data);
if (status != 0)
cerr << "ERROR: WSAStartup unsuccessful" << endl;
// IP address, port, etc., setting

memset(&destSockAddr, 0, sizeof(destSockAddr));
destAddr=inet_addr(dst_ip_address);
memcpy(&destSockAddr.sin_addr, &destAddr, sizeof(destAddr));
destSockAddr.sin_port=htons(port);
destSockAddr.sin_family=AF_INET;
// Socket creation
destSocket=socket(AF_INET, SOCK_DGRAM, 0);
if (destSocket == INVALID_SOCKET) {
cerr << "ERROR: socket unsuccessful" << endl;
status=WSACleanup();
if (status == SOCKET_ERROR)
cerr << "ERROR: WSACleanup unsuccessful" << endl;
return(1);
}
MXTCMD MXTsend;
MXTCMD MXTrecv;
JOINT jnt_now;
POSE pos_now;
PULSE pls_now;
unsigned long counter = 0;

int loop = 1;
int disp = 0;
int disp_data = 0;
int ch;
float delta=(float)0.0;
long ratio=1;
int retry;
fd_set SockSet; // Socket group used with select
timeval sTimeOut; // For timeout setting
memset(&MXTsend, 0, sizeof(MXTsend));
memset(&jnt_now, 0, sizeof(JOINT));
memset(&pos_now, 0, sizeof(POSE));
memset(&pls_now, 0, sizeof(PULSE));
while(loop) {
memset(&MXTsend, 0, sizeof(MXTsend));
4-20
4 Appendix
memset(&MXTrecv, 0, sizeof(MXTrecv));
// Transmission data creation

if(loop==1) { // Only first time
MXTsend.Command = MXT_CMD_NULL;
MXTsend.SendType = MXT_TYP_NULL;
MXTsend.RecvType = type;
MXTsend.SendIOType = MXT_IO_NULL;
MXTsend.RecvIOType = IOSendType;
MXTsend.CCount = counter = 0;
}
else { // Second and following times
MXTsend.Command = MXT_CMD_MOVE;
MXTsend.SendType = type;
MXTsend.RecvType = type_mon[0];
MXTsend.RecvType1= type_mon[1];
switch(type) {
case MXT_TYP_JOINT:
memcpy(&MXTsend.dat.jnt, &jnt_now, sizeof(JOINT));
MXTsend.dat.jnt.j1 += (float)(delta*ratio*3.141592/180.0);
break;
case MXT_TYP_POSE:
memcpy(&MXTsend.dat.pos, &pos_now, sizeof(POSE));
MXTsend.dat.pos.w.x += (delta*ratio);
break;
case MXT_TYP_PULSE:
memcpy(&MXTsend.dat.pls, &pls_now, sizeof(PULSE));
MXTsend.dat.pls.p1 += (long)((delta*ratio)*10);
break;
default:
break;
}
MXTsend.SendIOType = IOSendType;
MXTsend.RecvIOType = IORecvType;
MXTsend.BitTop = IOBitTop;
MXTsend.BitMask =IOBitMask;
MXTsend.IoData = IOBitData;
MXTsend.CCount = counter;
}
// Keyboard input
// [Enter]=End / [d]= Display the monitor data, or none / [0/1/2/3]= Change of monitor data display
// [z/x]=Increment/decrement first command data transmitted by the delta amount
while(_kbhit()!=0) {
ch=_getch();
switch(ch) {
case 0x0d:
MXTsend.Command = MXT_CMD_END;
loop = 0;
break;
case 'Z':
case 'z':
delta += (float)0.1;
break;
case 'X':
case 'x':
delta -= (float)0.1;
break;
case 'C':
4-21
4 Appendix
case 'c':
delta = (float)0.0;
break;
case 'd':
disp = ~disp;
break;
case '0': case '1': case '2': case '3':
disp_data = ch - '0';
break;
}
}
memset(sendText, 0, MAXBUFLEN);
memcpy(sendText, &MXTsend, sizeof(MXTsend));
if(disp) {
sprintf(buf, "Send (%ld):",counter);
cout << buf << endl;
}
numsnt=sendto(destSocket, sendText, sizeof(MXTCMD), NO_FLAGS_SET, (LPSOCKADDR) &destSockAddr,
sizeof(destSockAddr));
if (numsnt != sizeof(MXTCMD)) {
cerr << "ERROR: sendto unsuccessful" << endl;
status=closesocket(destSocket);
cerr << "ERROR: closesocket unsuccessful" << endl;
return(1);
}
memset(recvText, 0, MAXBUFLEN);
retry = 1; // No. of reception retries

while(retry) {
FD_ZERO(&SockSet); // SockSet initialization
FD_SET(destSocket, &SockSet); // Socket registration
sTimeOut.tv_sec = 1; // Transmission timeout setting (sec)
sTimeOut.tv_usec = 0; // (micro sec)
status = select(0, &SockSet, (fd_set *)NULL, (fd_set *)NULL, &sTimeOut);
if(status == SOCKET_ERROR) {
return(1);
}
if((status > 0) && (FD_ISSET(destSocket, &SockSet) != 0)) { // If it receives by the time-out
numrcv=recvfrom(destSocket, recvText, MAXBUFLEN, NO_FLAGS_SET, NULL, NULL);
if (numrcv == SOCKET_ERROR) {
cerr << "ERROR: recvfrom unsuccessful" << endl;
return(1);
}
memcpy(&MXTrecv, recvText, sizeof(MXTrecv));
char str[10];
if(MXTrecv.SendIOType==MXT_IO_IN) sprintf(str,"IN%04x", MXTrecv.IoData);
else if(MXTrecv.SendIOType==MXT_IO_OUT) sprintf(str,"OT%04x", MXTrecv.IoData);
else sprintf(str,"------");
4-22
4 Appendix
int DispType;
void *DispData;
switch(disp_data) {
case 0:
DispType = MXTrecv.RecvType;
DispData = &MXTrecv.dat;
break;
case 1:
DispType = MXTrecv.RecvType1;
DispData = &MXTrecv.dat1;
break;
case 2:
break;
case 3:
break;
default:
break;
}
switch(DispType) {
case MXT_TYP_JOINT:
case MXT_TYP_FJOINT:
case MXT_TYP_FB_JOINT:
if(loop==1) {
memcpy(&jnt_now, DispData, sizeof(JOINT));
loop = 2;
}
if(disp) {
JOINT *j=(JOINT*)DispData;
sprintf(buf, "Receive (%ld): TCount=%d
Type(JOINT)=%d¥n %7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f (%s)"
,MXTrecv.CCount,MXTrecv.TCount,DispType
,j->j1, j->j2, j->j3 ,j->j4, j->j5, j->j6, j->j7, j->j8, str);
}
break;
case MXT_TYP_POSE:
case MXT_TYP_FPOSE:
case MXT_TYP_FB_POSE:
if(loop==1) {
memcpy(&pos_now, &MXTrecv.dat.pos, sizeof(POSE));
loop = 2;
}
if(disp) {
POSE *p=(POSE*)DispData;
Type(POSE)=%d¥n %7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f, %04x,%04x (%s)"
,p->w.x, p->w.y, p->w.z, p->w.a, p->w.b, p->w.c, p->sflg1, p->sflg2, str);
}
break;
case MXT_TYP_PULSE:
case MXT_TYP_FPULSE:
case MXT_TYP_FB_PULSE:
case MXT_TYP_CMDCUR:
case MXT_TYP_FBKCUR:
4-23
4 Appendix
if(loop==1) {
memcpy(&pls_now, &MXTrecv.dat.pls, sizeof(PULSE));
loop = 2;
}
if(disp) {
PULSE *l=(PULSE*)DispData;
Type(PULSE/OTHER)=%d¥n %ld,%ld,%ld,%ld,%ld,%ld,%ld,%ld (%s)"
,l->p1, l->p2, l->p3, l->p4, l->p5, l->p6, l->p7, l->p8, str);
}
break;
case MXT_TYP_NULL:
if(loop==1) {
loop = 2;
}
if(disp) {
sprintf(buf, "Receive (%ld): TCount=%d Type(NULL)=%d¥n (%s)"
,MXTrecv.CCount,MXTrecv.TCount, DispType, str);
}
break;
default:
cout << "Bad data type.¥n" << endl;
break;
}
counter++; // Count up only when communication is successful
retry=0; // Leave reception loop
}
else { // Reception timeout
cout << "... Receive Timeout! <Push [Enter] to stop the program>" << endl;
retry--; // No. of retries subtraction
if(retry==0) loop=0; // End program if No. of retries is 0
}
} /* while(retry) */
} /* while(loop) */
// End
cout << "/// End /// ";
sprintf(buf, "counter = %ld", counter);
// Close socket
return 0;
}
4-24
Oct. 2020 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.

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Mitsubishi Electric Industrial Robot

CR800 series controller

Ethernet Function Instruction Manual

Print Date Instruction Manual No. Revision Content

Always read the following precautions and the separate "Safety

WARNING Prepare a device that allows operation to be stopped immediately during

CAUTION Never carry out modifications based on personal judgments, non-designated

1.1. How to use the instruction manual

1.1.1. Content of instruction manual

Table 1.1 Content of the instruction manual

1.2. Terms used in the instruction manual

The following terms are used in this document.

1.3. Confirmation of product

No. Part name Type Qty.

1) Network personal computer Personal computer operated by Windows 1 or more

2) Ethernet cable Cable 1 or more

Prepare the following as necessary.

3) Hub (Necessary if it is used in the LAN environment.) (Goods on the market) 1

1.4. Ethernet function

1.4.1. Function of Ethernet

(4) The Ethernet functions are described below.

1) Controller communication function 2) Data link function

1) Controller communication function 2) Data link function

2. Preparation before use

Connection of Ethernet cable … Refer to 2.1.

Parameter setting … Refer to 2.2.

2.1. Connection of Ethernet cable

<CR800-D controller> CR800-D controller front

PERIPHERAL I/F connect

<CR750 controller> CR750 controller back

2.2. Parameter setting

2.2.1. Parameter list

O ... Setting is necessary

NETMSK Sub-net-mask Character “255.255.255.0”

NETPORT Port No. Range 0 to 32767 Numerical

Protocol 0: No-procedure Numerical

Number Controller Real-time Real-time

NETHSTIP The IP address of the data communication Character

MXTTOUT Timeout time for executing real-time Value 1 -1

MONMOD Real-time monitoring function, Numerical 1

MONPORT Real-time monitoring function, port number Numerical 12000, 0

2.2.2. Details of parameters

The parameters are herein described in details.

(2) NETMSK (sub-net-mask )

Good example: 192.168.0.20 and 192.168.100.1 (on different networks).

Bad example: 192.168.0.20 and 192.168.100.1 (on the same network).

(3) NETPORT (port No.)

(4) CRRCE11 to 19 (protocol)

(5) COMDEV (Definition of devices corresponding to COM1: to 8)

(6) NETMODE (server specification)

Controller Control cycle

(9) NETGW (Gateway address)

(10) MONPORT (Real-time monitoring function, port number)

(11) MONMODE (Real-time monitoring function, enable/disable)

2.2.3. Parameter setting example 1 (When the Support Software is used)

The setting example to use the Support Software is shown below.

Conditions for example 1

IP address of personal computer 192.168.0.10

Port No. of robot controller 10001

COM2　　COM3 COM2　　COM3 COM2　　COM3