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Ethernet IP

This document provides instructions for the EtherNet/IP communication function of the YRC1000 system. It contains warnings for safe operation of the manipulator, including turning off servo power before operation and ensuring no persons are present in the workspace before turning power on or running the system. The document advises only authorized personnel should perform wiring and to avoid touching any internal components for at least five minutes after turning off power due to residual voltage in capacitors.

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0% found this document useful (0 votes)

386 views126 pages

Ethernet IP

Uploaded by

Nam Cao Huỳnh

We take content rights seriously. If you suspect this is your content, claim it here.

Available Formats

Download as PDF, TXT or read online on Scribd

You are on page 1/ 126

YRC1000 OPTIONS

INSTRUCTIONS
EtherNet/IP COMMUNICATION FUNCTION
(FOR STANDARD LAN PORT)

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.

MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
YRC1000 INSTRUCTIONS
YRC1000 OPERATOR’S MANUAL (GENERAL) (SUBJECT SPECIFIC)
YRC1000 MAINTENANCE MANUAL
YRC1000 ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)

MANUAL NO.

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DANGER
• This manual explains the EtherNet/IP communication function of the
YRC1000 system. Read this manual carefully and be sure to
understand its contents before handling the YRC1000. Any matter,
including operation, usage, measures, and an item to use, not
described in this manual must be regarded as "prohibited" or
"improper".
• General information related to safety are described in "Chapter 1.
Safety" of the YRC1000 INSTRUCTIONS. To ensure correct and
safe operation, carefully read "Chapter 1. Safety" of the YRC1000
INSTRUCTIONS.

CAUTION
• In some drawings in this manual, protective covers or shields are
removed to show details. Make sure that all the covers or shields
are installed in place before operating this product.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids the
product warranty.

NOTICE
• YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications.
• If such modification is made, the manual number will also be
revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. Be sure to tell the
representative the manual number listed on the front cover.

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Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or
inspection of the YRC1000.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, or “NOTICE”.

Indicates an imminently hazardous

DANGER situation which, if not avoided, will
result in death or serious injury.
Safety Signs identified by the signal
word DANGER should be used
sparingly and only for those
situations presenting the most
serious hazards.

Indicates a potentially hazardous

WARNING situation which, if not avoided, will
result in death or serious injury.
Hazards identified by the signal
word WARNING present a lesser
degree of risk of injury or death than
those identified by the signal word
DANGER.

Indicates a hazardous situation,

CAUTION which if not avoided, could result in
minor or moderate injury. It may
also be used without the safety alert
symbol as an alternative to
“NOTICE”.

NOTICE is the preferred signal word

NOTICE to address practices not related to
personal injury. The safety alert
symbol should not be used with this
signal word. As an alternative to
“NOTICE”, the word “CAUTION”
without the safety alert symbol may
be used to indicate a message not
related to personal injury.

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

some situations.
At any rate, be sure to follow these important items.

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

NOTE to follow all instructions, even if not designated as “DAN-
GER”, “WARNING” and “CAUTION".

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DANGER
• Before operating the manipulator, make sure the servo power is
turned OFF by performing the following operations. When the servo
power is turned OFF, the SERVO ON LED on the programming
pendant is turned OFF.
– Press the emergency stop buttons on the front door of the
YRC1000, on the programming pendant, on the external control
device, etc.
– Disconnect the safety plug of the safety fence.
(when in the play mode or in the remote mode)
If operation of the manipulator cannot be stopped in an emergency,
personal injury and/or equipment damage may result.
Fig. : Emergency Stop Button

• Before releasing the emergency stop, make sure to remove the

obstacle or error caused the emergency stop, if any, and then turn
the servo power ON.
Failure to observe this instruction may result in personal injury caused
by unintended manipulator movement.
Fig. : Release of Emergency Stop
TURN

• Observe the following precautions when performing a teaching

operation within the P-point maximum envelope of the manipulator:
– Be sure to perform lockout by putting a lockout device on the
safety fence when going into the area enclosed by the safety
fence. In addition, the operator of the teaching operation must
display the sign that the operation is being performed so that no
other person closes the safety fence.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Always keep in mind emergency response measures against the
manipulator’s unexpected movement toward a person.
– Ensure a safe place to retreat in case of emergency.
Failure to observe this instruction may result in personal injury caused
by improper or unintended manipulator movement.
• Confirm that no person is present in the P-point maximum envelope
of the manipulator and that the operator is in a safe location before:
– Turning ON the YRC1000 power
– Moving the manipulator by using the programming pendant
– Running the system in the check mode
– Performing automatic operations
Injury may result if any person should enter the P-point maximum
envelope of the manipulator during operation. Immediately press an
emergency stop button whenever there is a problem. The emergency
stop buttons are located on the front panel of the YRC1000 and on the
upper right of the programming pendant.
• Read and understand the Explanation of the Warning Labels before
operating the manipulator.

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WARNING
• Do not touch any part inside the YRC1000 for at least five minutes
after turning OFF the power supply.
Failure to observe this instruction may result in electric shock and/or
personal injury due to residual voltage in the capacitor.
• Perform the following inspection procedures prior to conducting
manipulator teaching. If there is any problem, immediately take
necessary steps to solve it, such as maintenance and repair.
– Check for a problem in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the
YRC1000 cabinet after use.
If the programming pendant is left unattented on the manipulator, on a
fixture, or on the floor, the Enable Switch may be activated due to
surface irregularities of where it is left, and the servo power may be
turned ON. In addition, in case the operation of the manipulator starts,
the manipulator or the tool may hit the programming pendant left
unattended, which may result in personal injury and/or equipment
damage.
• Wiring must be performed only by authorized personnel.
Failure to observe this instruction may result in fire and/or electric
shock.

CAUTION
• Make sure that there is no foreign matter such as metal chips on the
board.
In case of malfunction, etc. it may result in an injury or damage the
board.
• Make sure that there is no damage or deflection of parts on the
board.
In case of malfunction, etc. it may result in an injury or damage the
board.
• Correctly connect each cable and connector.
Failure to observe this caution may result in a fire or damage the board.
• Set the switches, etc. correctly.
In case of malfunction, etc. it may result in an injury or damage the
board.
• Never touch the soldered surfaces of the board directly with fingers.
Protrusions on the soldered surface may result in an injury.

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NOTICE
• Never touch the mounting surfaces and the soldered surfaces of the
board parts directly with fingers.
The generated static electricity may damage the IC, and protrusions on
the soldered surface may result in an injury.
• Never give any shock to the board.
The shock may damage the board.

Definition of Terms Used Often in This Manual

The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and supply cables.
In this manual, the equipment is designated as follows.
Equipment Manual Designation
YRC1000 controller YRC1000
YRC1000 programming pendant Programming pendant
Cable between the manipulator and the Manipulator cable
controller

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

shown as follows:
Equipment Manual Designation
Programming Character Keys The keys which have characters or symbols
Pendant /Symbol Keys printed on them are denoted with [ ].
e.g. [ENTER]
Axis Keys [Axis Key] and [Numeric Key] are generic
/Numeric Keys names for the keys for axis operation and
number input.
Keys pressed When two keys are to be pressed
simultaneously simultaneously, the keys are shown with a “+”
sign between them, e.g. [SHIFT]+[COORD].
Mode Switch Mode Switch can select three kinds of modes
that are denoted as follows: REMOTE, PLAY or
TEACH.
(The switch names are denoted as symbols)
Button The three buttons on the upper side of the
programming pendant are denoted as follows:
START, HOLD, or EMERGENCY STOP.
(The button names are denoted as symbols)
Displays The menu displayed in the programming
pendant is denoted with { }.
e.g. {JOB}

Start button* Hold button*

START HOLD

Mode switch*
P
EM

ER
O

T
GENCY S

REMOTE
Emergency stop button
PLAY
TEACH

Page key
Coordinate key
Axis keys

Shift key

Enter key
*The button/switch names
Numeric keys are denoted as symbols.

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Description of the Operation Procedure

In the explanation of the operation procedure, the expression "Select • • • "
means that the cursor is moved to the object item and [SELECT] is
pressed, or that the item is directly selected by touching the screen.

Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and TM are omitted.

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Contents

1 Introductions ................................................................................................................................... 1-1

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

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

1.1.2 Adapter ................................................................................................................. 1-1

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

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

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

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

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

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

3.1 Operating the Front Door of the YRC1000 (Controller) ..................................................... 3-3

3.2 Mounting the EtherNet/IP (CPU board) to YRC1000......................................................... 3-4

3.3 Closing the Front Door of the YRC1000 ............................................................................ 3-5

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

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

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

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

4.2.1 Calling the SETUP Window for the EtherNet/IP (CPU board).............................. 4-3

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

4.2.3 General Setup for the EtherNet/IP (CPU board) .................................................. 4-9

4.2.4 Adapter Setting................................................................................................... 4-11

4.2.4.1 When Using Standard Settings ............................................................. 4-11
4.2.4.2 When Using Extended Adapter Settings ............................................... 4-13

4.2.5 Scanner Setting .................................................................................................. 4-16

4.2.6 IO Module Re-configuration................................................................................ 4-20

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

4.2.8 LAN Interface Setting ........................................................................................ 4-25

4.3 IO Assignment Example .................................................................................................. 4-27

4.3.1 Setting ExclusiveOwner Communication............................................................ 4-27

4.3.2 Setting InputOnly Communication ...................................................................... 4-27

4.4 Communication Data ....................................................................................................... 4-30

4.4.1 YRC1000 IO Data Allocation (For the Handling Purpose).................................. 4-32

4.4.2 YRC1000 IO Data Allocation (For other than Handling Purpose) ...................... 4-36

4.5 Communication Status..................................................................................................... 4-40

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Contents

4.6 Managing Setting Data .................................................................................................... 4-45

4.6.1 How to Save Data............................................................................................... 4-45

4.6.2 How to Load Data ............................................................................................... 4-47

4.7 Creating an EDS File ....................................................................................................... 4-50

4.7.1 Creating Procedures of EDS File........................................................................ 4-50

4.7.2 Maintenance Mode Settings and EDS File Contents.......................................... 4-54

4.8 Communication Monitor Window ..................................................................................... 4-57

4.8.1 Communication Monitor...................................................................................... 4-57

4.8.2 Detailed Communication Status with the Adapter .............................................. 4-61

4.9 Terminal Output Function/Scanner Terminal Output Function ........................................ 4-65

4.10 Terminal Output Setting Function .................................................................................. 4-68

4.11 QuickConnect Function (Specifying a Short Cycle for Reconnection Processing) ........ 4-71

4.11.1 QuickConnect Setting for EtherNet/IP (CPU board) Scanner Setting .............. 4-71

4.11.2 Enabling QuickConnect Setting for Adapter Device ......................................... 4-73

4.12 QuickConnect Function (Specifying Triggers) ............................................................... 4-76

4.13 ExplicitMessage Communication Function .................................................................... 4-79

4.14 Special Settings in the Scanner Settings ....................................................................... 4-82

4.14.1 Advanced Settings............................................................................................ 4-83

4.14.2 Input Range Settings ........................................................................................ 4-86

5 Message Communication................................................................................................................ 5-1

5.1 Conventional Message Communication ............................................................................ 5-1

5.2 Message Communication Using CIP ................................................................................. 5-1

5.2.1 Details on Commands for Message Communication Using CIP .......................... 5-2

5.3 Related Parameters ......................................................................................................... 5-18

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1 Introductions
1.1 System Configuration

1 Introductions
In the YRC1000 system, the EtherNet/IP communication function
(hereinafter referred to as EtherNet/IP (CPU board)) to which a standard
LAN port of the ACP01 board (CN106 connector) is used can be
employed. The Ethernet communication function of the YRC1000
provides the following features: an IO transmission/reception function that
enables to exchange external input/output signals between the YRC1000
and other EtherNet/IP supported devices and a message communication
function that realizes data transmission equal to the one realized by the
YRC1000 Ethernet function. Also, this function makes it possible to carry
out IO communication by InputOnly as well as message communication
using CIP. This manual describes the settings necessary for using this
function and its related information.

1.1 System Configuration

1.1.1 System Configuration Example

A system configuration example when using the EtherNet/IP (CPU board)
is as follows.
EtherNet/IP
Scanner
PLC (sequencer) YRC1000

ACP01
CN106

EtherNet/IP
Adapter/Scanner

HUB

EtherNet/IP
Adapter
I/O unit

1.1.2 Adapter
When the IO transmission/reception function is used, the YRC1000 can
operate as an adapter (communication slave) for the scanner
(communication master). In the system configuration example, IO
communication is carried out with the external PLC being a scanner and
the YRC1000's EtherNet/IP (CPU board) being an adapter.

1.1.3 Scanner
When the IO transmission/reception function is used, the YRC1000 can
operate as a scanner (communication master) for the adapter
(communication slave). In the system configuration example, IO
communications is carried out with YRC1000's EtherNet/IP (CPU board)
being a scanner and the IO unit being an adapter.

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1 Introductions
1.1 System Configuration

1.1.4 Message Communication

Message communication can be carried out in parallel with IO
transmission and reception. In the system configuration example,
message communication with a PC is carried out. The YRC1000 Ethernet
function, the FTP function, and the EtherNet server function (the latter two
are extended functions) can be used for this message communication.
Also, communication using CIP is possible. To use the YRC1000 Ethernet
function and the extended option function, settings need to be made
separately.

1.1.5 IO Communication by InputOnly

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

1.1.6 Message Communication Using CIP

CIP for message communication is used so that communication with
general panel computer is possible.

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2 Board Specifications

2 Board Specifications

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

The above mentioned maximum transmission I/O points

(input: 4040 points/output: 4040 points) is a limitation by
EtherNet/IP communication specification. Because the
upper limit of the I/O points in the YRC1000 system is 4096
NOTE points when using this board with other board simultane-
ously, the upper limit of the total of the I/O points and the
communication status used by this function or other func-
tions is also 4096 points. The communication status occu-
pies either 8points or 16points per network. For the details,
refer to the instructions of the I/O circuit board.

Use this board within the above mentioned processing

capacity (3000 packets/sec). If it is used process beyond its
NOTE processing capacity, the alarm 100 “COMMUNICATION
ERROR (SV#1)” or 500 “SEGMENT PROC NOT READY”
may occur so that it won’t work properly.

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2 Board Specifications

Fig. 2-1: Description of the Processing Capacity

PLC PC

Ethernet

Switching HUB

The total number of sending/receiving packets should be less

than 3000 packets/sec at this position.
Use the packet capture tool, such as Wireshark, to confirm
the packet number.

YRC1000

Reference: Solution to reduce the packet numbers

A packet carrying the large data in the network might be caused by the
communication station performing a broadcast (a message or signal is
sent to all connected devices) or a multicast (one device communicates
with several devices with a single transmission). Perform the following
measures to reduce the packet numbers in the network.
(1) Limits the packet transmission route by Managed HUB

Install the Managed HUB instead of the Switching HUB, and set it
to send the packets to the necessary route. In addition, refer to a
guide book of installing the Managed HUB for installation proce-
dures.
Fig. 2-2: Limits the Packet Transmission Route by Managed HUB
PLC PC PLC PC

Ethernet Ethernet
Multicast
Switching HUB Managed HUB
Multicast Multicast

YRC1000 Communication station YRC1000 Communication station

Use of the Switching HUB transmits the packets Use of the Managed HUB transmits the packets with
to all devices a single transmission

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2 Board Specifications

(2) Change the packet transmission method

Change the packet transmission method of communication station

from broadcast/ multicast to the unicast (point-to-point transmis-
sion from one device to another). Refer to a guide book of each
device for setup procedures.
Fig. 2-3: Limits the Packet Transmission Route by Unicast
PLC PC PLC PC

Ethernet Ethernet
Unicast
Switching HUB Switching HUB
Multicast Unicast

YRC1000 YRC1000
Communication station Communication station

Broadcast/multicast transmits the packets Unicast transmits the packets to a specified device.
to all devices.

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3 How to Connect Communication Cable

WARNING
• Before wiring, be sure to turn OFF the power supply and put up a
warning sign, such as “DO NOT TURN ON THE POWER.”
Failure to observe this warning may result in an electric shock or an
injury.
• Do not touch the inside of the panel for 5 minutes after the power is
turned OFF.
The remaining charged voltage in the capacitor may cause an electric
shock or an injury.
• Be sure to close the door and install the protection cover while the
power is turned ON.
Failure to observe this warning may result in a fire or an electric shock.
• The wiring and mounting must be performed by authorized and
qualified personnel.
Failure to observe this caution may result in a fire or an electric shock.

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3 How to Connect Communication Cable

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3 How to Connect Communication Cable

3.1 Operating the Front Door of the YRC1000 (Controller)

Take the following procedure to mount the EtherNet/IP (CPU board).
1. Open the front door of the YRC1000.
(1) Using a coin or a flathead screwdriver, rotate the door lock on the
front of the YRC1000 (one place) 90 degrees to clockwise.
Fig. 3-1: Door Unlock

Door lock

Clockwise
90

Flathead screwdriver

(2) Rotate the main power supply switch to the “OFF” position and
open the door gently.
Fig. 3-2: Open the Door "OFF" Position (Horizontal)
YRC1000

Main switch

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3 How to Connect Communication Cable
3.2 Mounting the EtherNet/IP (CPU board) to YRC1000

3.2 Mounting the EtherNet/IP (CPU board) to YRC1000

Category 5 or higher shielded cable to the connector CN106 (RJ-45) for
LAN connection which is mounted on the front of ACP01 board in the CPU
rack.

Three RJ-45 connectors are mounted on the front side of

the ACP01 board.

NOTE Among these connectors, CN106 (the middle connector) is

available in the EtherNet/IP communication function.
Do not use CN105 connector (the lower connector) since it
is for the programming pendant.

Fig. 3-3: Front View of CPU Rack (Uncovered)

(CN106)
LAN2
(CN105)
LAN1

When a switching hub is used for conneting commnunica-

tion cables, it is highly recommended to use an industrial
NOTE switching hub which is recommended by YASKAWA.
Recommended switching hub
Type: EDS-205 (MOXA Inc. made)

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3 How to Connect Communication Cable

3.3 Closing the Front Door of the YRC1000

1. Close the front door of the YRC1000.
(1) Close the door gently.
(2) Using a coin or a flathead screwdriver, rotate the door lock on the
front of the YRC1000 (one place) 90 degrees to counterclockwise.
Fig. 3-4: Lock the Door

Counterclockwise 90

Flathead screw driver

Door lock

WARNING
Make sure to close the door and close all the door locks of the
YRC1000 whenever it is used, except for maintenance.
Failure to observe this instruction may cause the ingress of dust, dirt, or
water, which may result in electric shock and/or mechanical failure.

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4 EtherNet/IP Function Setting
4.1 Outline

4 EtherNet/IP Function Setting

4.1 Outline
To use the EtherNet/IP (CPU board) in the YRC1000 system, settings of
the optional function and I/O module are required.
.

Customer cannot alternate the usage of the EtherNet/IP

(CPU board) function between use and not use, please con-
tact YASKAWA representative.
NOTE Set the mode to the management mode before performing
the following settings.
The setting cannot be performed in the operation or edit
mode.

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4 EtherNet/IP Function Setting

4.1 Outline

4.1.1 Window Composition

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

Window Composition Explanation

OPTION FUNCTION Select EtherNet/IP (CPU board) from the list on the
OPTIONFUNCTION window. Detailed settings are
performed on the subsequent windows.
EtherNet/IP (CPU board) Set up the EtherNet/IP (CPU board). Detailed settings
are performed on the subsequent windows.
EtherNet/IP (CPU board) Set up the EtherNet/IP (CPU board). Detailed settings
are performed on the subsequent windows.
USED/NOT USED Set whether to use the EtherNet/IP (CPU board).
(Customer cannot change this setting.)
IO SIZE Displays the IO size totally used by the EtherNet/IP
(CPU board) (displays a total of IO sizes set for
adapter and scanner).
ADAPTER Configure the settings for communication with
sequencers. Detailed settings are performed on the
subsequent windows.
SCANNER Configure the settings for communication with lower
level tools. Detailed settings are performed on the
subsequent windows. Note that before configuring
these settings, “Device information list” setting is
required.
DEVICE INFORMATION LIST To configure the scanner settings, definition of a slave
as the communication target station is required on this
window. Detailed settings are performed on the
subsequent windows.
LAN INTERFACE SETTING Configure the settings for TCP/IP communication. For
details, refer to YRC1000 OPTIONS INSTRUCTION
For Ethernet FUNCTION.
IO MODULE Checks and revises signals used by the YRC1000 for
input/output from/to outside.

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4 EtherNet/IP Function Setting
4.2 Setup Procedure

4.2 Setup Procedure

Followings are the procedures for setting up the EtherNet/IP (CPU board).

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

2. Change the security mode to management mode.

3. Select [SYSTEM] under the main menu.
– The sub menu appears.

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4 EtherNet/IP Function Setting

4.2 Setup Procedure

4. Select [SETUP].
– The SETUP window appears.

5. Select {OPTION FUNCTION}.

– The OPTION FUNCTION window appears.

6. Select {DETAIL} on the EtherNet/IP(CPU Board) window.

– The EtherNet/IP(CPU board) DETAIL window appears.

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4 EtherNet/IP Function Setting
4.2 Setup Procedure

4.2.2 Setting the Device Information List

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

2. Press [SELECT].
– The DEVICE INFORMATION setting window appears.

– (Description of each setting item)

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

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4 EtherNet/IP Function Setting

4.2 Setup Procedure

(4) CONNECTION RPI (T->O)

Set the revision processing interval (RPI) for data to be sent from
the target to the originator.
When setting RPI, set 4 msec or more.
(5) CONNECTION TIME OUT
Set the period of the connection time out.
(6) CONNECTION TYPE
Set the connection type for connection. Either ExclusiveOwner or
InputOnly can be used.

For YAS4.23.00A-00 or later versions, the following items

can be set:
• Exclusive Owner (Unicast): T->O is unicast
• Exclusive Owner (Multicast): T->O is multicast
NOTE
• Input Only: O->T no transmission data
• USER: 0 bytes can be set in Exclusive Owner (Multicast)
Exclusive Owner T->O is multicast in versions earlier than
YAS4.23.00A-00.

(7) INPUT SIZE

Set the size of the IN signal to be input into the YRC1000 (Unit:
Byte).
(8) OUTPUT SIZE
Set the size of the OUT signal to be output from the YRC1000
(Unit: Byte).
(9) CONFIGURATION SIZE
Set the size of configuration data (Unit: Word).
(10) INPUT INSTANCE
Set the instance number of the IN signal to be input into YRC1000.
(11) OUTPUT INSTANCE
Set the instance number of the OUT signal to be output from
YRC1000.
(12) CONFIGURATION INSTANCE
Set the instance number of configuration data.
(13) INSTANCE NO SIZE
Set the size of the instance number in bytes.

The upper limit of the setting value of the input instance,

output instance, and configuration instance varies depend-
ing on the system version.
NOTE Earlier than the YAS2.82.00A-00 version: 0 to 255
The YAS2.82.00A-00 or later version: 0 to 65534
When using the EtherNet/IP Safety, the setting value 768 to
776, 896 to 904, and1024 to 1032 are not available.

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The instance number size can only be set in the

YAS2.82.00A-00 or later versions of the YRC1000 control-
ler.
This item will not be displayed in controllers earlier than the
NOTE YAS2.82.00A-00 version. In earlier versions, the instance
number size is always 1 byte.
When the input instance, output instance, and configuration
instance are set to 256 or more, the size of instance number
can not be set to 1 byte.

For YAS4.23.00A-00 or later versions, the instance number

size can be set to "AUTO".
When set to "AUTO", the instance number size changes
NOTE
according to the instance number. In this case, when the
instance number is set to 0 to 255, the instance number
size is 1 byte. When the instance number is set to 256 to
65534, the instance number size is 2 bytes.

3. Enter the desired values.

– An input example is shown below. (Configure the settings that suits
the actual communication target.)

4. Press [ENTER].
– The confirmation dialog box appears.

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5. Select “Yes”.
– The DEVICE INFORMATION LIST window appears again.

– In the window example, the device information named “TEST” has

been registered. A maximum of 32 devices can be set into the
device information list. Move the cursor over the field where no
string is displayed and press [SELECT] to register new device
information.
6. Press [ENTER].
– The EtherNet/IP (CPU board) SETUP window appears again.

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4.2.3 General Setup for the EtherNet/IP (CPU board)

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

NOTE The content and setting items displayed on the EtherNet/

IP(CPU Board) setup window depend on the version.

– (Description of each item)

{EtherNet/IP(CPU Board)}
One of the following items must be set.
Display Applicable Version Description
USED Earlier than Only one station can be
YAS4.23.00A-00 set for the adapter.
USED(STANDARD) YAS4.23.00A-00 or Only one station can be
later set for the adapter.
USED(EX.ADAPTER) 32 stations can be set for
the adapter.
The "USED(STANDARD)" and "USED(EX.ADAPTER)" settings can be changed
by the customer.

{IO SIZE(IN/OUT)}
Displays the total I/O size used by the adapters and scanners
Display Applicable Version Description
Number of used bytes only Earlier than The I/O size cannot be
YAS4.23.00A-00 changed on this window.
Number of used bytes and YAS4.23.00A-00 or The I/O size to use can
"RECALC" later be entered manually.
Use "RECALC" and the
currently set I/O size can
also be changed.

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{ADAPTER}
Configures detailed settings for adapter communication.

{SCANNER}
Configures detailed settings for scanner communication.

{TERMINAL OUTPUT FUNCTION}/{TERMINAL OUTPUT SETTING}/{M

REGISTER}
These functions allow EtherNet/IP adapters with communication errors to
be identified. EtherNet/IP scanners with communication errors can also be
identified in extended adapter settings. In this case, scanner and adapter
appear side by side for TERMINAL OUTPUT FUNCTION.
For details, refer to chapter 4.9 “Terminal Output Function/Scanner
Terminal Output Function” . For a description of the function that can
specify the adapter and scanner to output communication errors with the
terminal output function/scanner terminal output function, refer to
chapter 4.10 “Terminal Output Setting Function” .
The terminal output function is available in YAS2.43.00A-00 or later
versions. The scanner terminal output function is available in
YAS4.23.00A-00 or later versions.

{QC TRIGGER}/{M REGISTER}

For the EtherNet/IP QuickConnect function, reconnecting communication
at high speed is supported in YAS2.43.00A-00 or later versions.
QuickConnect is also supported using an M register setting value as
triggers in YAS4.23.00A-00 or later versions. For details, refer to
chapter 4.11 “QuickConnect Function (Specifying a Short Cycle for
Reconnection Processing)” and chapter 4.12 “QuickConnect Function
(Specifying Triggers)” .

{EtherNet/IP Safety}
This function is used with EtherNet/IP Safety, which is a separate optional
function.

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4.2 Setup Procedure

4.2.4 Adapter Setting

The settings for adapter are required for IO transmission and reception to
and from the scanner (communication master such as PLC) during
EtherNet/IP IO communication. This chapter describes the adapter setting
procedure.

4.2.4.1 When Using Standard Settings

When {EtherNet/IP(CPU Board} is set to "USED" or "USED(STANDARD)"
in the EtherNet/IP (CPU board) general settings, configure the following
settings.
1. Select {ADAPTER} in the EtherNet/IP (CPU board) general setup
window.
– The Adapter setting window appears.

– (Description of each setting item)

(1) Adapter
Select this item using a toggle switch to alternately change
between “ENABLE” and “DISABLE”.
For use as an adapter, set this item as “ENABLE”.
(2) Input size
Set the size of the IN signal to be input into the YRC1000 (Unit:
Byte).
(3) Output size
Set the size of the OUT signal to be output from the YRC1000
(Unit: Byte).
(4) Configuration size
Set the size of configuration data (Unit: Word).
(5) Input instance
Set the instance number of the IN signal to be input into YRC1000.
(6) Output instance
Set the instance number of the OUT signal to be output from
YRC1000.
(7) Configuration instance
Set the instance number of configuration data.

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2. Enter the desired values.

– An input example is shown below. (Configure the settings that suits
the actual communication target.)

3. Press [ENTER].
– The EtherNet/IP (CPU board) general setup window appears again.

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4.2.4.2 When Using Extended Adapter Settings

When {EtherNet/IP(CPU Board)} is set to "USED(EX.ADAPTER)" in the
EtherNet/IP (CPU board) general settings, configure the following
settings.
1. Select {ADAPTER} in the EtherNet/IP (CPU board) general setup
window.
– The adapter list window appears.

(Description of each item)

(1) No
Displays the number to allocate. The numbers are 101 to 132.
This number is used in the external IO setup and the communica-
tion monitor.
When this number is selected, the selection dialog box appears
and the following items can be selected.
Item Description
DISABLE Changes the number display to "-" and removes
the settings from the total IO size, IO module
allocations, and external IO setup.
ENABLE Enables the settings.

(2) REGISTRATION NAME

Shows the name of the adapter to allocate.
When this name is selected, the selection dialog box appears and
the following items can be selected.
Item Description
DETAIL Accesses the adapter settings window.
Refer to step 2.
DELETE(PACK) Deletes these settings. The settings for numbers
after the deleted settings move to fill in the empty
space.
DELETE(NOT PACK) Deletes these settings. The settings for numbers
after the deleted settings do not move to fill in the
empty space.

(3) IN
Shows the size (bytes) and number of the input instance (display
only).

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(4) OUT
Shows the size (bytes) and number of the output instance (display
only).
(5) CONFIG
Shows the size (words) and number of the configuration instance
(display only).

2. Select the registration name, and then select {DETAIL} on the

displayed dialog box.
– The adapter settings window appears.

(Description of each item)

(1) REGISTRATION NAME
Set the name to allocate.
(2) INPUT SIZE
Set the size of the IN signal to be input into the YRC1000 (Unit:
Byte).
(3) OUTPUT SIZE
Set the size of the OUT signal to be output from the YRC1000
(Unit: Byte).
(4) CONFIGURATION SIZE
Set the size of configuration data (Unit: Word).
(5) INPUT INSTANCE
Set the instance number of the IN signal to be input into the
YRC1000.
(6) OUTPUT INSTANCE
Set the instance number of the OUT signal to be output from the
YRC1000.
(7) CONFIGURATION INSTANCE
Set the instance number of configuration data.

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3. Enter the desired values.

– An input example is shown below. (Configure the settings for the
actual communication target.)

4. Press [ENTER].
– The adapter list window appears again.

Repeat steps 2 to 4 and configure the necessary adapter settings.

5. Press [ENTER].
– The EtherNet/IP (CPU board) general setup window appears again.

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4.2.5 Scanner Setting

The settings for scanner are required for IO transmission and reception to
and from the adapter (communication slave such as tool) during EtherNet/
IP IO communication. This chapter describes how to configure such
settings.
1. Select [SCANNER] in the EtherNet/IP (CPU board) general setup
window.
– The SCANNER window appears.

2. Press [SELECT].
– When a blank field with no registered name in it is selected, the
following appears.

– When a field with a registered name already set to it is selected, the

following appears.

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– (Description of each item)

(1) Insert
Add new settings to the current number. If settings have been
already registered into the current number, such registered set-
tings shift to the next number.
(2) Modify
Change the target registered name (if there is no registered name,
register a new name).
(3) DELETE(PACK)
Delete the settings. The settings for numbers after the deleted set-
tings move to fill in the empty space.
The behavior is the same as the "Delete" item in versions earlier
than YAS4.23.00A-00.
(4) DELETE(NOT PACK)
Delete the settings. The settings for numbers after the deleted set-
tings do not move to fill in the empty space.
This item is available in YAS4.23.00A-00 or later versions.
(5) DETAIL
Display detailed content of the device information list.
– When the details are displayed and some current value is changed,
an asterisk “ ” is displayed as follows.

– For YAS4.12.00A-00 or later versions, when the number that

corresponds to No is selected, the selection dialog box appears and
the following items can be selected.

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Item Description
DISABLE Changes the number display to "-" and removes
the settings from the total IO size, IO module
allocations, and external IO setup.
ENABLE Enables the settings.

3. Select [MODIFY].
– The registered device information list appears.

– For details on how to set the device information list, see

chapter 4.2.2 “Setting the Device Information List” .
4. Select a device to be used.
– Information on the selected device appears in the Scanner setting
window.

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5. Enter the IP address.

– Enter the IP address.

6. Press [ENTER].
– The EtherNet/IP (CPU board) general setup window appears again.
7. Press [ENTER].
– The confirmation dialog box appears.

8. Select “Yes”.
– The IO module window appears.

The EtherNet/IP (CPU board) setting ends here. Then, re-configuration of

the IO module according to the settings for the board is required. Move on
to the next setting procedure.

If the settings for the optional functions are not matched to

the settings for the IO module, the YRC1000 will not oper-
ate correctly.
NOTE
To prevent the above, after the option board setting process
is complete, be sure to execute the IO module setting that
appears next.

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4.2.6 IO Module Re-configuration

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

2. Press [ENTER].
– The IO module window (2nd half) appears.

– Check that the values set as “IO size (unit: bit) plus 8” are assigned
to the DI and DO of the slot is attached (ST#16).
3. Press [ENTER].
– The confirmation dialog box appears.

4. Select “Yes”.
– When the I/O module is appropriately set, select “Yes”. The settings are
updated and the EXTERNAL IO SETUP window appears again.

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4.2.7 External I/O Setup

1. The EXTERNAL IO SETUP window appears.

2. Select “AUTO” or “MANUAL” at {ALLOCATION MODE}.

– A selection menu appears when select either “AUTO” or “MANUAL”.

When “MANUAL” at {ALLOCATION MODE} is changed to

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

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3. Select an allocation mode.

– Select “AUTO” when performing the automatic allocation.
– Select “MANUAL” when performing the manual allocation.
– The selected allocation mode is specified.

4. Select “DETAIL” at {EXTERNAL IO ALLOCATION}.

– If “AUTO” is already selected at {ALLOCATION MODE}, performing
of the following steps from 5 to 7 is not necessary. Start the
operation from step 8.
– If “MANUAL” is already selected at {ALLOCATION MODE}, perform
the following steps from 5 to 7 in accordance with the items to be
manually specified.

When {EtherNet/IP(CPU Board)} is set to

"USED(EX.ADAPTER)" in the EtherNet/IP (CPU board)
general settings, the initial setting of the external IO alloca-
tions is adapter→scanner order. For this reason, the MAC
IDs are also in 101 to 132→1 to 32 order.
NOTE

Adapter

Scanner

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5. Select a number of an external I/O signal (original) to which

modification is to be performed ({#20060} is used in this explanation as
an example.).
– A selection menu appears.

6. Select “MODIFY” and input a number of an external I/O signal (object)

to which the above mentioned modification is performed ({#20400} is
used in this explanation as an example.)
– The number of the external input signal is modified.

7. Press [SELECT] and “MODIFY” for the external input signal following
the same manners as above.
– Repeat pressing [SELECT] and “MODIFY” till the desired settings of
the allocation is indicated.

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8. Press [ENTER]
– The EXTERNAL IO ALLOCATION(OUTPUT) window appears.

9. Press [SELECT] and “MODIFY” for the external output signal following
the same manners as performed for the external input signal.
– Repeat pressing [SELECT] and “MODIFY” operations till the desired
settings of the allocation is indicated.
10. Press [ENTER]
– A confirmation dialog box appears.

11. Select “YES”

– The settings are fixed and the window returns to the SETUP
window.

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4.2.8 LAN Interface Setting

For the EtherNet/IP communication, settings such as the IP address for
Ethernet communication are required.
This chapter describes how to configure those settings.
1. Select {SYSTEM} - {SETUP} - {OPTION FUNCTION}.
– The OPTION FUNCTION window appears.

2. Select {LAN INTERFACE SETTING}.

– The LAN INTERFACE SETTING window appears.

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3. Set IP address (LAN2).

– At “IP ADDRESS SETTING(LAN2)”, specify the method of setting
the IP address for YRC1000 LAN2 port (CN106).
Using the pull-down menu, select ether "MANUAL SETTING" or
"DHCP SETTING".
Note that when “MANUAL SETTING” is selected, be sure to set also
“IP ADDRESS” and “SUBNET MASK”.

4. Others
For other items, set as needed.
For detail settings, refer to YRC1000 OPTIONS INSTRUCTION FOR
ETHERNET FUNCTION (HW1483358).

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4.3 IO Assignment Example

4.3 IO Assignment Example

4.3.1 Setting ExclusiveOwner Communication

 Adapter setting
An example of settings for ExclusiveOwner connection is as follows:

Scanner (PLC etc.) Adapter (YRC1000)

IP Address 192.168.255.1 IP Address 192.168.255.2
Connection RPI (O->T) 8 msec -> Connection RPI (O->T) Undefined
Connection RPI (T->O) 8 msec <- Connection RPI (T->O) Undefined
Connection type ExclusiveOwner Connection type Undefined
Output size 8 Byte -> Input size 8 Byte
Input size 12 Byte <- Output size 12 Byte
Configuration size 0 Word Configuration size 0 Word
Output instance 101 -> Input instance 101
Input instance 102 <- Output instance 102
Configuration instance 103 Configuration instance 103

4.3.2 Setting InputOnly Communication

 Adapter setting
An example of settings as an adapter (the YRC1000 is the data
transmission side) for InputOnly connection is as follows:

Scanner (PLC etc.) Adapter (YRC1000)

IP Address 192.168.255.1 IP Address 192.168.255.2
Connection RPI (O->T) 64 msec -> Connection RPI (O->T) Undefined
Connection RPI (T->O) 8 msec <- Connection RPI (T->O) Undefined
Connection type InputOnly Connection type Undefined
Output size 0 Byte -> Input size 0 Byte
Input size 12 Byte <- Output size 12 Byte
Configuration size 0 Word Configuration size 0 Word
Output instance 198 -> Input instance 101
Input instance 102 <- Output instance 102
Configuration instance 103 Configuration instance 103

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For InputOnly communication, when {EtherNet/IP(CPU

Board)} is set to "USED(STANDARD)" in the EtherNet/IP
(CPU board) general settings, the YRC1000 (adapter) uses
the dedicated heartbeat instance number 198 as the input
instance number regardless of the input instance settings.
For this reason, set the output (O->T) instance number on
the scanner side to 198.
NOTE
When {EtherNet/IP(CPU Board)} is set to
"USED(EX.ADAPTER)" in the EtherNet/IP (CPU board)
general settings, the instance number 198 cannot be
shared, so use an instance number with the input (O->T)
size set to 0 for the heartbeat. For this reason, set the input
instance number of the YRC1000 and the output instance
number of the scanner side to the same value even in
InputOnly settings.

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 Scanner setting
An example of settings as a scanner (the YRC1000 is the data receiving
side) for InputOnly connection is as follows:

Adapter (PLC etc.) Scanner (YRC1000)

IP Address 192.168.255.1 IP Address 192.168.255.2
Connection RPI (O->T) Undefined <- Connection RPI (O->T) 64 msec
Connection RPI (T->O) Undefined -> Connection RPI (T->O) 8 msec
Connection type Undefined Connection type InputOnly
Output size 8 Byte -> Input size 8 Byte
Input size 0 Byte <- Output size 0 Byte
Configuration size 0 Word Configuration size 0 Word
Output instance 101 -> Input instance 101
Input instance 102 <- Output instance 0
Configuration instance 103 Configuration instance 103
Instance number size 1 Byte Instance number size 1 Byte

In InputOnly communications, only heartbeat data is trans-

mitted as output. There is no output (O->T) data on the
scanner side. For this reason, many devices use a dedi-
NOTE cated instance number for output (O->T). This instance
number depends on the communication device. For the
value to set as the output instance number on the scanner
side of InputOnly communication, refer the user's manual
for the communication target device.

The instance number size can only be set in YAS2.82.00A-

00 or later versions of the YRC1000 controller.
This item will not be displayed in controllers earlier than the
YAS2.82.00A-00 version. In earlier versions, the instance
number size is always 1 byte.

The size of the instance number varies depending on the

communication device.
For details on how to set the size of instance number, refer
to the instruction manual for the target communication
NOTE
device.

If the size of the instance number does not match the target
communication device, the following message will be sent
by the general device in response to the request to start
communication. This message will appear in the ADP
Device Response window of the communication monitor.
Gen STS :0x01
Ext STS :0x315
Message: INVALID SEGMENT IN CONNECTION PATH

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4.4 Communication Data

As IO data transferred into the YRC1000 from the EtherNet/IP (CPU
board), besides input/output data transmitted from external EtherNet/IP-
supported equipment, the status of the EtherNet/IP (CPU board) is also
transferred.
Thus, in addition to the contact data area, an eight-point-worth (1 Byte)
area, for input and output each, for the status of the EtherNet/IP (CPU
board) is secured inside the YRC1000 (the output area cannot be used).

EtherNet/IP (CPU board) communication data are assigned to the

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

EtherNet/IP (CPU board)

Board status

Adapter area (3)

Area for (5) (1)

station #1 (2)

Scanner area Area for (4)

(5)'
station #2

Area for (5)''

station #3

(1) Number of bytes occupied by the YRC1000 as an IO module

Consists of the current value in item (2) below + status 1 byte. A
value displayed in chapter 4.2.6 “IO Module Re-configuration” is
a value obtained by converting this value into a bit count (x8).
(2) Number of bytes set for the EtherNet/IP (CPU board) I/O area
A value displayed as ‘IO size (IN/OUT)’ in chapter 4.2.3 “General
Setup for the EtherNet/IP (CPU board)” .
This value can also be entered manually for YAS4.23.00A-00 or
later versions. However, the following expression must be satis-
fied: (2) ≥ (3) + (4)
(3) Number of bytes set for the adapter I/O area
A greater value between the values set for ‘Input size’/‘Output
size’ in chapter 4.2.4 “Adapter Setting” .
For YAS4.23.00A-00 or later versions, multiple adapters can be
set. In this case, (3) is the total of each adapter setting value.

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(4) Number of bytes set for the scanner I/O area

This value cannot be set.
(5) Number of bytes set for the I/O areas (5), (5)', and (5)" of the sta-
tions (devices) managed by scanner.
The number of bytes is to be set using ‘Input size’ or ‘Output size’
in chapter 4.2.2 “Setting the Device Information List” . Set which
device to use by making a choice from the registered device infor-
mation list in chapter 4.2.5 “Scanner Setting” .

The following chapter shows a concurrent I/O assignment example when

only the EtherNet/IP (CPU board) is installed. In the example,
communication is carried out assuming the quantity of data being 16 bytes
for adapter, 8 bytes for station #1 of scanner, and 8 bytes for station #2 of
scanner (the same number of bytes for IN/OUT). And the 20010 - 20057
and 30010 - 30057 input/output areas are used by the YRC1000 standard
I/O unit.

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4.4 Communication Data

4.4.1 YRC1000 IO Data Allocation (For the Handling Purpose)

Note1: Following is an example when a standard settings are executed.
This allocation is subject to change according to the modification of the
external input/output signal allocations or concurrent ladder programs.
Note2: For the details of the JANCD-AIO01-E (standard I/O board) input/
output data, refer to the “YRC1000 INSTRUCTIONS (RE-CTO-A221)”.
Note3:On the JANCD-AIO01-E (standard I/O board) I/O module setting
window, the ASF01 (the base board of the AIO01) is indicated.

Table 4-1: Example of I/O Data Allocation (For the Handling Purpose)
JANCD- I/O External Input Signal User Input Signal Meaning
AIO01-E Input 20010 20017 Input data (1)
～ No signal (Already allocated by the system)　
(Standard
I/O) 20020 ～ 20027 No signal (Already allocated by the system) Input data (2)
20030 ～ 20037 00010 ～ 00017 (IN0001 ～ IN0008) Input data (3)
20040 ～ 20047 00020 ～ 00027 (IN0009 ～ IN00016) Input data (4)
20050 ～ 20057 No signal (Already allocated by the system) Input data (5)
I/O External Input Signal User Input Signal Meaning
Output 30010
～ 30017 No signal (Already allocated by the system)　 Output data (1)
30020 ～ 30027 No signal (Already allocated by the system) Output data (2)
30030 ～ 30037 10010 ～ 10017 (OT0001 ～ OT0008) Output data (3)
30040 ～ 30047 10020 ～ 10027 (OT0009 ～ OT00016) Output data (4)
30050 ～ 30057 No signal (Already allocated by the system) Output data (5)
EtherNet/IP I/O External Input Signal User Input Signal Meaning
(Standard Input 20060 20067 00030 ～ 00037 (IN00017
～～ IN0024) Communication
LAN port)
Status1)
20070 ～ 20077 00040 ～ 00047 (IN00025 ～ IN0032) Adapter area
input data (1)
20080 ～ 20087 00050 ～ 00057 (IN00033 ～ IN0040) Adapter area
input data (2)
20090 ～ 20097 00060 ～ 00067 (IN00041 ～ IN0048) Adapter area
input data (3)
20100 ～ 20107 00070 ～ 00077 (IN00049 ～ IN0056) Adapter area
input data (4)
20110 ～ 20117 00080 ～ 00087 (IN00057 ～ IN0064) Adapter area
input data (5)
20120 ～ 20127 00090 ～ 00097 (IN00065 ～ IN0072) Adapter area
input data (6)
20130 ～ 20137 00100 ～ 00107 (IN00073 ～ IN0080) Adapter area
input data (7)
20140 ～ 20147 00110 ～ 00117 (IN00081 ～ IN0088) Adapter area
input data (8)
20150 ～ 20157 00120 ～ 00127 (IN00089 ～ IN0096) Adapter area
input data (9)
20160 ～ 20167 00130 ～ 00137 (IN00097 ～ IN0104) Adapter area
input data (10)
20170 ～ 20177 00140 ～ 00147 (IN00105 ～ IN0112) Adapter area
input data (11)
20180 ～ 20187 00150 ～ 00157 (IN00113 ～ IN0120) Adapter area
input data (12)

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4.4 Communication Data

Table 4-1: Example of I/O Data Allocation (For the Handling Purpose)
EtherNet/IP I/O 20190 ～ 20197 00160 ～ 00167 (IN00121 ～ IN0128) Adapter area
(Standard Input input data (13)
LAN port) 20200 20207 00170 ～ 00177 (IN00129
～～ IN0136) Adapter area
input data (14)
20210 ～ 20217 00180 ～ 00187 (IN00137 ～ IN0144) Adapter area
input data (15)
20220 ～ 20227 00190 ～ 00197 (IN00145 ～ IN0152) Adapter area
input data (16)
20230 ～ 20237 00200 ～ 00207 (IN00153 ～ IN0160) Scanner first
area input data
(1)
20240 ～ 20247 00210 ～ 00217 (IN00161 ～ IN0168) Scanner first
area input data
(2)
20250 ～ 20257 00220 ～ 00227 (IN00169 ～ IN0176) Scanner first
area input data
(3)
20260 ～ 20267 00230 ～ 00237 (IN00177 ～ IN0184) Scanner first
area input data
(4)
20270 ～ 20277 00240 ～ 00247 (IN00185 ～ IN0192) Scanner first
area input data
(5)
20280 ～ 20287 00250 ～ 00257 (IN00193 ～ IN0200) Scanner first
area input data
(6)
20290 ～ 20297 00260 ～ 00267 (IN00201 ～ IN0208) Scanner first
area input data
(7)
20300 ～ 20307 00270 ～ 00277 (IN00209 ～ IN0216) Scanner first
area input data
(8)
20310 ～ 20317 00280 ～ 00287 (IN00217 ～ IN0224) Scanner second
area input data
(1)
20320 ～ 20327 00290 ～ 00297 (IN00225 ～ IN0232) Scanner second
area input data
(2)
20330 ～ 20337 00300 ～ 00307 (IN00233 ～ IN0240) Scanner second
area input data
(3)
20340 ～ 20347 00310 ～ 00317 (IN00241 ～ IN0248) Scanner second
area input data
(4)
20350 ～ 20357 00320 ～ 00327 (IN00249 ～ IN0256) Scanner second
area input data
(5)
20360 ～ 20367 00330 ～ 00337 (IN00257 ～ IN0264) Scanner second
area input data
(6)
20370 ～ 20377 00340 ～ 00347 (IN00265 ～ IN0272) Scanner second
area input data
(7)

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Table 4-1: Example of I/O Data Allocation (For the Handling Purpose)
EtherNet/IP I/O 20380 ～ 20387 00350 ～ 00357 (IN00273 ～ IN0280) Scanner second
(Standard Input area input data
LAN port) (8)
EtherNet/IP I/O External Output Signal User Output Signal Meaning
(Standard Output 30060
～ 30067 10030 ～ 10037 (OT0017 ～ OT0024) Reserved1)
LAN port)
30070 ～ 30077 10040 ～ 10047 (OT0025 ～ OT0032) Adapter area
output data (1)
30080 ～ 30087 10050 ～ 10057 (OT0033 ～ OT0040) Adapter area
output data (2)
30090 ～ 30097 10060 ～ 10067 (OT0041 ～ OT0048) Adapter area
output data (3)
30100 ～ 30107 10070 ～ 10077 (OT0049 ～ OT0056) Adapter area
output data (4)
30110 ～ 30117 10080 ～ 10087 (OT0057 ～ OT0064) Adapter area
output data (5)
30120 ～ 30127 10090 ～ 10097 (OT0065 ～ OT0072) Adapter area
output data (6)
30130 ～ 30137 10100 ～ 10107 (OT0073 ～ OT0080) Adapter area
output data (7)
30140 ～ 30147 10110 ～ 10117 (OT0081 ～ OT0088) Adapter area
output data (8)
30150 ～ 30157 10120 ～ 10127 (OT0089 ～ OT0096) Adapter area
output data (9)
30160 ～ 30167 10130 ～ 10137 (OT0097 ～ OT0104) Adapter area
output data (10)
30170 ～ 30177 10140 ～ 10147 (OT0105 ～ OT0112) Adapter area
output data (11)
30180 ～ 30187 10150 ～ 10157 (OT0113 ～ OT0120) Adapter area
output data (12)
30190 ～ 30197 10160 ～ 10167 (OT0121 ～ OT0128) Adapter area
output data (13)
30200 ～ 30207 10170 ～ 10177 (OT0129 ～ OT0136) Adapter area
output data (14)
30210 ～ 30217 10180 ～ 10187 (OT0137 ～ OT0144) Adapter area
output data (15)
30220 ～ 30227 10190 ～ 10197 (OT0145 ～ OT0152) Adapter area
output data (16)
30230 ～ 30237 10200 ～ 00207 (OT0153 ～ OT0160) Scanner first
area output data
(1)
30240 ～ 30247 10210 ～ 10217 (OT0161 ～ OT0168) Scanner first
area output data
(2)
30250 ～ 30257 10220 ～ 10227 (OT0169 ～ OT0176) Scanner first
area output data
(3)
30260 ～ 30267 10230 ～ 10237 (OT0177 ～ OT0184) Scanner first
area output data
(4)
30270 ～ 30277 10240 ～ 10247 (OT0185 ～ OT0192) Scanner first
area output data
(5)

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4.4 Communication Data

Table 4-1: Example of I/O Data Allocation (For the Handling Purpose)
EtherNet/IP I/O 30280 ～ 30287 10250 ～ 10257 (OT0193 ～ OT0200) Scanner first
(Standard Output area output data
LAN port) (6)
30290 ～ 30297 10260 ～ 10267 (OT0201 ～ OT0208) Scanner first
area output data
(7)
30300 ～ 30307 10270 ～ 10277 (OT0209 ～ OT0216) Scanner first
area output data
(8)
30310 ～ 30317 10280 ～ 10287 (OT0217 ～ OT0224) Scanner second
area output data
(1)
30320 ～ 30327 10290 ～ 10297 (OT0225 ～ OT0232) Scanner second
area output data
(2)
30330 ～ 30337 10300 ～ 10307 (OT0233 ～ OT0240) Scanner second
area output data
(3)
30340 ～ 30347 10310 ～ 10317 (OT0241 ～ OT0248) Scanner second
area output data
(4)
30350 ～ 30357 10320 ～ 10327 (OT0249 ～ OT0256) Scanner second
area output data
(5)
30360 ～ 30367 10330 ～ 10337 (OT0257 ～ OT0264) Scanner second
area output data
(6)
30370 ～ 30377 10340 ～ 10347 (OT0265 ～ OT0272) Scanner second
area output data
(7)
30380 ～ 30387 10350 ～ 10357 (OT0273 ～ OT0280) Scanner second
area output data
(8)
1Communication status and Reserved parts are not available to allocate as I/O signals.
Also, this data is not transmitted by the EtherNet/IP (cannot communicate with master PLCs).

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4.4.2 YRC1000 IO Data Allocation (For other than Handling Purpose)

Table 4-2: Example of I/O Data Allocation (For other than Handling Purpose)
JANCD- I/O External Input Signal User Input Signal Meaning
AIO01-E Input 20010 20017 Input data (1)
～ No signal (Already allocated by the system)　
(Standard
I/O) 20020 ～ 20027 No signal (Already allocated by the system)　 Input data (2)
20030 ～ 20037 00010 ～ 00017 (IN0001 ～ IN0008) Input data (3)
20040 ～ 20047 00020 ～ 00027 (IN0009 ～ IN00016) Input data (4)
20050 ～ 20057 00030 ～ 00037 (IN0017 ～ IN00024) Input data (5)
I/O External Output Signal User Input Signal Meaning
Output 30010
～ 30017 No signal (Already allocated by the system)　 Output data (1)
30020 ～ 30027 No signal (Already allocated by the system)　 Output data (2)
30030 ～ 30037 10010 ～ 10017 (OT0001 ～ OT0008) Output data (3)
30040 ～ 30047 10020 ～ 10027 (OT0009 ～ OT00016) Output data (4)
30050 ～ 30057 10030 ～ 10037 (OT0017 ～ OT00024) Output data (5)
EtherNet/IP I/O External Input Signal User Input Signal Meaning
(Standard Input 20060 20067 00040 ～ 00047 (IN00025
～～ IN0032) Communica-
LAN port)
tion Status1)
20070 ～ 20077 00050 ～ 00057 (IN00033 ～ IN0040) Adapter area
input data (1)
20080 ～ 20087 00060 ～ 00067 (IN00041 ～ IN0048) Adapter area
input data (2)
20090 ～ 20097 00070 ～ 00077 (IN00049 ～ IN0056) Adapter area
input data (3)
20100 ～ 20107 00080 ～ 00087 (IN00057 ～ IN0064) Adapter area
input data (4)
20110 ～ 20117 00090 ～ 00097 (IN00065 ～ IN0072) Adapter area
input data (5)
20120 ～ 20127 00100 ～ 00107 (IN00073 ～ IN0080) Adapter area
input data (6)
20130 ～ 20137 00110 ～ 00117 (IN00081 ～ IN0088) Adapter area
input data (7)
20140 ～ 20147 00120 ～ 00127 (IN00089 ～ IN0096) Adapter area
input data (8)
20150 ～ 20157 00130 ～ 00137 (IN00097 ～ IN0104) Adapter area
input data (9)
20160 ～ 20167 00140 ～ 00147 (IN00105 ～ IN0112) Adapter area
input data (10)
20170 ～ 20177 00150 ～ 00157 (IN00113 ～ IN0120) Adapter area
input data (11)

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4.4 Communication Data

Table 4-2: Example of I/O Data Allocation (For other than Handling Purpose)
EtherNet/IP I/O 20180 ～ 20187 00160 ～ 00167 (IN00121 ～ IN0128) Adapter area
(Standard Input input data (12)
LAN port) 20190 20197 00170 ～ 00177 (IN00129
～～ IN0136) Adapter area
input data (13)
20200 ～ 20207 00180 ～ 00187 (IN00137 ～ IN0144) Adapter area
input data (14)
20210 ～ 20217 00190 ～ 00197 (IN00145 ～ IN0152) Adapter area
input data (15)
20220 ～ 20227 00200 ～ 00207 (IN00153 ～ IN0160) Adapter area
input data (16)
20230 ～ 20237 00210 ～ 00217 (IN00161 ～ IN0168) Scanner first
area input data
(1)
20240 ～ 20247 00220 ～ 00227 (IN00169 ～ IN0176) Scanner first
area input data
(2)
20250 ～ 20257 00230 ～ 00237 (IN00177 ～ IN0184) Scanner first
area input data
(3)
20260 ～ 20267 00240 ～ 00247 (IN00185 ～ IN0192) Scanner first
area input data
(4)
20270 ～ 20277 00250 ～ 00257 (IN00193 ～ IN0200) Scanner first
area input data
(5)
20280 ～ 20287 00260 ～ 00267 (IN00201 ～ IN0208) Scanner first
area input data
(6)
20290 ～ 20297 00270 ～ 00277 (IN00209 ～ IN0216) Scanner first
area input data
(7)
20300 ～ 20307 00280 ～ 00287 (IN00217 ～ IN0224) Scanner first
area input data
(8)
20310 ～ 20317 00290 ～ 00297 (IN00225 ～ IN0232) Scanner
second area
input data (1)
20320 ～ 20327 00300 ～ 00307 (IN00233 ～ IN0240) Scanner
second area
input data (2)
20330 ～ 20337 00310 ～ 00317 (IN00241 ～ IN0248) Scanner
second area
input data (3)
20340 ～ 20347 00320 ～ 00327 (IN00249 ～ IN0256) Scanner
second area
input data (4)
20350 ～ 20357 00330 ～ 00337 (IN00257 ～ IN0264) Scanner
second area
input data (5)
20360 ～ 20367 00340 ～ 00347 (IN00265 ～ IN0272) Scanner
second area
input data (6)
20370 ～ 20377 00350 ～ 00357 (IN00273 ～ IN0280) Scanner
second area
input data (7)

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4.4 Communication Data

Table 4-2: Example of I/O Data Allocation (For other than Handling Purpose)
EtherNet/IP I/O 20380 ～ 20387 00360 ～ 00367 (IN00281 ～ IN0288) Scanner
(Standard Input second area
LAN port) input data (8)
EtherNet/IP I/O External Output Signal User Output Signal Meaning
(Standard Output 30060
～ 30067 10040 ～ 10047 (OT0025 ～ OT0032) Reserved1)
LAN port)
30070 ～ 30077 10050 ～ 10057 (OT0033 ～ OT0040) Adapter area
output data (1)
30080 ～ 30087 10060 ～ 10067 (OT0041 ～ OT0048) Adapter area
output data (2)
30090 ～ 30097 10070 ～ 10077 (OT0049 ～ OT0056) Adapter area
output data (3)
30100 ～ 30107 10080 ～ 10087 (OT0057 ～ OT0064) Adapter area
output data (4)
30110 ～ 30117 10090 ～ 10097 (OT0065 ～ OT0072) Adapter area
output data (5)
30120 ～ 30127 10100 ～ 10107 (OT0073 ～ OT0080) Adapter area
output data (6)
30130 ～ 30137 10110 ～ 10117 (OT0081 ～ OT0088) Adapter area
output data (7)
30140 ～ 30147 10120 ～ 10127 (OT0089 ～ OT0096) Adapter area
output data (8)
30150 ～ 30157 10130 ～ 10137 (OT0097 ～ OT0104) Adapter area
output data (9)
30160 ～ 30167 10140 ～ 10147 (OT0105 ～ OT0112) Adapter area
output data (10)
30170 ～ 30177 10150 ～ 10157 (OT0113 ～ OT0120) Adapter area
output data (11)
30180 ～ 30187 10160 ～ 10167 (OT0121 ～ OT0128) Adapter area
output data (12)
30190 ～ 30197 10170 ～ 10177 (OT0129 ～ OT0136) Adapter area
output data (13)
30200 ～ 30207 10180 ～ 10187 (OT0137 ～ OT0144) Adapter area
output data (14)
30210 ～ 30217 10190 ～ 10197 (OT0145 ～ OT0152) Adapter area
output data (15)
30220 ～ 30227 10200 ～ 00207 (OT0153 ～ OT0160) Adapter area
output data (16)
30230 ～ 30237 10210 ～ 10217 (OT0161 ～ OT0168) Scanner first
area output
data (1)
30240 ～ 30247 10220 ～ 10227 (OT0169 ～ OT0176) Scanner first
area output
data (2)
30250 ～ 30257 10230 ～ 10237 (OT0177 ～ OT0184) Scanner first
area output
data (3)
30260 ～ 30267 10240 ～ 10247 (OT0185 ～ OT0192) Scanner first
area output
data (4)
30270 ～ 30277 10250 ～ 10257 (OT0193 ～ OT0200) Scanner first
area output
data (5)

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4.4 Communication Data

Table 4-2: Example of I/O Data Allocation (For other than Handling Purpose)
EtherNet/IP I/O 30280 ～ 30287 10260 ～ 10267 (OT0201 ～ OT0208) Scanner first
(Standard Output area output
LAN port) data (6)
30290 ～ 30297 10270 ～ 10277 (OT0209 ～ OT0216) Scanner first
area output
data (7)
30300 ～ 30307 10280 ～ 10287 (OT0217 ～ OT0224) Scanner first
area output
data (8)
30310 ～ 30317 10290 ～ 10297 (OT0225 ～ OT0232) Scanner
second area
output data (1)
30320 ～ 30327 10300 ～ 10307 (OT0233 ～ OT0240) Scanner
second area
output data (2)
30330 ～ 30337 10310 ～ 10317 (OT0241 ～ OT0248) Scanner
second area
output data (3)
30340 ～ 30347 10320 ～ 10327 (OT0249 ～ OT0256) Scanner
second area
output data (4)
30350 ～ 30357 10330 ～ 10337 (OT0257 ～ OT0264) Scanner
second area
output data (5)
30360 ～ 30367 10340 ～ 10347 (OT0265 ～ OT0272) Scanner
second area
output data (6)
30370 ～ 30377 10350 ～ 10357 (OT0273 ～ OT0280) Scanner
second area
output data (7)
30380 ～ 30387 10360 ～ 10367 (OT0281 ～ OT0288) Scanner
second area
output data (8)
1Communication status and Reserved parts are not available to allocate as I/O signals.
Also, this data is not transmitted by the EtherNet/IP (cannot communicate with master PLCs).

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4.5 Communication Status

To the one byte at the head of EtherNet/IP(CPU board) input data which is
allocated to an external input signal (20060 to 20067 in the above
mentioned example) indicates the communication status of EtherNet/IP
(CPU board).

Signal Description
2xxx0 to 2xxx3 Vendor-reserved (not available)
2xxx4 Indicates the existence of an error at the EtherNet/IP adapter
communication.
Normal status: 0
Communication error: 1
2xxx5 Indicates the existence of a non-connected device at the
EtherNet/IP scanner communication.
Connecting to all devices normally: 0
Non-connected device exists: 1
2xxx6 Indicates the status of EtherNet/IP communication.
Normal status: 0
Communication error: 1
2xxx7 Indicates the operating status of the EtherNet/IP (CPU board).
Normal status: 0
Communication error: 1

 Alarming for communication error using a status

By using CIO ladder and universal alarms, an alarm can be generated
when EtherNet/IP(CPU board) detects a communication error.
Following is the example of above mentioned case.
Regard that following two alarms are generated.
• EtherNet/IP operation error
• EtherNet/IP communication error
For the registration of the universal alarms, refer to “Chap. 13.7 I/O
Message and I/O Alarms” in “YRC1000 OPTIONS INSTRUCTIONS FOR
Concurrent I/O (RE-CKI-A467)”.

[Alarm No.] Signal No. Meanings

Alarm name
(Communication status signal
[9065] 20067 EtherNet/IP board Operation
EtherNet/IP operation error (Communication status signal: 2xxx7) status error
[9066] 20066 Communication error
EtherNet/IP (Communication status signal: 2xxx6)
communication error

When the EtherNet/IP(CPU board) detects an error and it is reported by a

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

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4.5 Communication Status

 Register an universal alarm

1. Change the mode to the management mode.
2. Select {I/O ALARM} from {IN/OUT} under the main menu.

3. The I/O ALARM(USER) window appers.

4. Move the cursor to characters of the registering alarm name and press
[SELECT].
– A window for inputting characters appears.

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5. Input the I/O alarm name.

6. Press [ENTER].
– The alarm name is registered.

7. Register other alarm names.

– Register other alarm names in the same manners.

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4.5 Communication Status

 IO allocation and ladder program

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

User Input signal

Signal Meanings
40012 Universal part alarm request
40220 Universal part alarm code d0
40221 Universal part alarm code d1
40222 Universal part alarm code d2
40223 Universal part alarm code d3
40224 Universal part alarm code d4
40225 Universal part alarm code d5

4.7 Creating an EDS File

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

The created EDS file will vary depending on whether the Eth-
erNet/IP Safety function is enabled or disabled. When the Eth-
erNet/IP Safety function is disabled, use the EDS file created
NOTE while the EtherNet/IP Safety function is set to “NOT USED”.
When the EtherNet/IP Safety function is enabled, use the EDS
file created while the EtherNet/IP Safety function is set to
“USED”.

4.7.1 Creating Procedures of EDS File

1. Start the Maintenance mode, and then select {EX. MEMORY} in the
Main Menu.
– The sub menu appears.

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4.7 Creating an EDS File

4.7 Creating an EDS File

<CONFIGURATION INSTANCE>
Param6=
0, $ first field shall equal 0
,, $ path size,path
0x0000, $ descriptor
0xC6, $ data type : 8-bit Unsigned Integer
1, $ data size in bytes
"Configuration Instance", $ name
"", $ units
"Configuration instance of the connection", $ help string
0,255,0, $ min,max,default data values
,,,, $ mult,dev,base,offset scaling not used
,,,, $ mult,dev,base,offset link not used
; $ decimal places not used

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4.8 Communication Monitor Window

4.8 Communication Monitor Window

4.8.1 Communication Monitor

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

2. Select {COMMUNICATION MONITOR}.

– The following window appears.

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3. Select {15}.
– Communication monitor window of the EtherNet/IP is shown.

– Press the up/down cursor key then the window scrolls.

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4.8 Communication Monitor Window

When {EtherNet/IP(CPU Board} is set to "USED(EX.ADAPTER)" in the

EtherNet/IP (CPU board) general settings, the scanners and adapters
appear on separate windows. Use {PAGE} to switch the scanner window
and adapter window.
– The scanners appear as shown below.

YAS2.43.00A-00 or later.

To utilize this function, set the “TERMINAL OUTPUT FUNCTION” to

“ENABLE” on the EtherNet/IP (CPU board) general setting window. Then,
set the “M Register” to the leading number of the M register, which is the
destination of the terminal output function.
The following is an example of the settings for the Terminal Output
Function.

Leading number of the register (No. 1 to 16 error information: register 850

in the example above)

No. No. No. No. No. No. No. No. No. No. No. No. No. No. No. No.
16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1

Leading number of the register +1 (No. 17 to 32 error information: register

851 in the example above)

No. No. No. No. No. No. No. No. No. No. No. No. No. No. No. No.
32 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17

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4.9 Terminal Output Function/Scanner Terminal Output Function

The communication status of each adapter is output to 2 registers (32 bits)

starting from the leading number of the M register that is specified on the
setting window.
The bit equivalent to the non communicating adapter number is “1”. The
bit equivalent to the communicating or non-allocated adapter numbers are
“0”.
The following is an example of output to the M register for the terminal
output function.
<Example of EtherNet/IP(CPU board) scanner setting>
No. 1 to 6 : Allocated
No. 7 to 32 : No allocation

No. 32 ... 7 6 5 4 3 2 1
Communication
No ... No Yes Yes Yes Yes Yes Yes
Setting
Communication Not Not
- ... - Error Error Normal Normal
Status connected connected
Terminal
Output
Function 0 ... ... ... ... 0 1 1 1 1 0 0 Output
M Register communication
Output Value status
(Bit) M851 M850

For YAS4.23.00A-00 or later versions, the terminal output function has

been expanded so that scanners with communication errors can also be
checked. This is because communication with multiple scanners was
made possible when using extended adapter settings. The settings for
scanners and the behavior of this function is the same as that for
adapters. Scanner and adapter are set side by side.
An example of these settings is shown below.

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4.9 Terminal Output Function/Scanner Terminal Output Function

Leading number of the register (No. 1 to 16 error information: register 850

in the example above)

No. No. No. No. No. No. No. No. No. No. No. No. No. No. No. No.
16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1

Leading number of the register +1 (No. 17 to 32 error information: register

851 in the example above)

No. No. No. No. No. No. No. No. No. No. No. No. No. No. No. No.
32 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17

Leading number of the register (No. 101 to 116 error information: register
854 in the example above)

No. No. No. No. No. No. No. No. No. No. No. No. No. No. No. No.
116 115 114 113 112 111 110 109 108 107 106 105 104 103 102 101

Leading number of the register +1 (No. 117 to 132 error information:

No. No. No. No. No. No. No. No. No. No. No. No. No. No. No. No.
132 131 130 129 128 127 126 125 124 123 122 121 120 119 118 117

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4 EtherNet/IP Function Setting

4.10 Terminal Output Setting Function

This function enables identifying adapter that are not communicating
when the terminal output function is used as a scanner.

NOTE This function can be used with the YAS2.43.00A-00 or later.

To use this function, select “ENABLE” for “TERMINAL OUTPUT

SETTING” after completing settings for the terminal output function and
enter a leading number of the M register where communication error
output for adapter number is specified in “M Register” (displayed right
under “TERMINAL OUTPUT SETTING”). In the M register for the terminal
output setting, set a bit to “1” for adapter number for which a
communication error will be output.
The following is an example of the settings for the Terminal Output Setting
Function.

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4.10 Terminal Output Setting Function

Leading number of the register

(No. 1 to 16: designation of output terminal: register 852 in the example
above)

No. No. No. No. No. No. No. No. No. No. No. No. No. No. No. No.
16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1

Leading number of the register +1

(No. 17 to 32: designation of output terminal: register 853 in the example
above)

No. No. No. No. No. No. No. No. No. No. No. No. No. No. No. No.
32 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17

Adapter numbers for which a communication error is output can be

specified by using 2 registers (32 bits) starting from the M register’s
leading number specified for the terminal output setting. When a bit for an
adapter number is set to “1”, a communication error will be output to the
corresponding bit in the M register for the terminal output function. When
the bit is set to “0”, a communication error (“1”) will not be output and
output for the terminal output function will always be “0”.

The following is an example of output to the M register for the terminal

output function when “ENABLE” is set for the terminal output setting.
<Example of EtherNet/IP(CPU board) scanner setting>
No. 1 to 6 : Allocated
No. 7 to 32 : No allocation

No. 32 ... 7 6 5 4 3 2 1
Communication
No ... No Yes Yes Yes Yes Yes Yes
Setting
Communication Not Not
- ... - Error Error Normal Normal
Status connected connected
Terminal
Output Setting
M Register 0 ... ... ... ... 0 1 0 1 0 1 0
Setting Value
(Bit)
M853 M852
Terminal
Output Mask
Function communication
M Register 0 ... ... ... ... 0 1 0 1 0 0 0 status with the
Output Value terminal output
(Bit) setting and then
output
M851 M850

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4.10 Terminal Output Setting Function

For YAS4.23.00A-00 or later versions, the terminal output setting function

has been expanded so that scanners with communication errors can also
be specified. This is because communication with multiple scanners was
made possible when using extended adapter settings. The settings for
scanners and the behavior of this function is the same as that for
adapters.

An example of these settings is shown below.

Leading number of the register (No. 1 to 16 designation of output terminal:

No. No. No. No. No. No. No. No. No. No. No. No. No. No. No. No.
16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1

Leading number of the register +1 (No. 17 to 32 designation of output

terminal: register 853 in the example above)

No. No. No. No. No. No. No. No. No. No. No. No. No. No. No. No.
32 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17

Leading number of the register (No. 101 to 116 designation of output

terminal: register 856 in the example above)

No. No. No. No. No. No. No. No. No. No. No. No. No. No. No. No.
116 115 114 113 112 111 110 109 108 107 106 105 104 103 102 101

Leading number of the register +1 (No. 117 to 132 designation of output

terminal: register 857 in the example above)

No. No. No. No. No. No. No. No. No. No. No. No. No. No. No. No.
132 131 130 129 128 127 126 125 124 123 122 121 120 119 118 117

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4 EtherNet/IP Function Setting
4.11 QuickConnect Function (Specifying a Short Cycle for Reconnection
Processing)
4.11 QuickConnect Function (Specifying a Short Cycle for
Reconnection Processing)
The QuickConnect function can be used for EtherNet/IP (CPU board)
scanner setting. This function can perform high speed reconnection when
frequently switching tools etc. This function is achieved by shortening the
cycle for reconnections.

To use the QuickConnect function, you must enable the QuickConnect

function for both the scanner and the adapter.
QuickConnect function cannot be used for EtherNet/IP (CPU board)
adapter setting.

• This function can be used with the YAS2.43.00A-00 or

later.
• To use this function with YAS4.23.00A-00 or later
versions, set the QuickConnect trigger to "DISABLE" in
NOTE chapter 4.12 “QuickConnect Function (Specifying
Triggers)” .
• If the adapter that does not support the QuickConnect
function is connected, EtherNet/IP communication can
be performed, but high-speed communication
connection cannot be performed.

4.11.1 QuickConnect Setting for EtherNet/IP (CPU board) Scanner Setting

1. Scanner Setting
– In the maintenance mode, configure scanner of EtherNet/IP (CPU
board).
Refer to “4.2.5 Scanner Setting”, and execute until the procedure “5.
Enter the IP address”.

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4.11 QuickConnect Function (Specifying a Short Cycle for Reconnection
Processing)
2. Set “” in “QC”.
– Select with "QC" of the device to be set on the scanner setting
window and set it to "".

3. Complete the scanner setting.

– Perform remaining procedure of the "4.2.5 Scanner setting" and
complete the scanner setting.

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4 EtherNet/IP Function Setting
4.11 QuickConnect Function (Specifying a Short Cycle for Reconnection
Processing)
4.11.2 Enabling QuickConnect Setting for Adapter Device
If the adapter device requires QuickConnect setting from the scanner,
follow the procedure below.
1. Turn ON the power to the YRC1000.
2. Set the security mode to management mode.
3. Select {IN/OUT}-{FIELDBUS UTILITY} under the main menu.
– The FIELDBUS UTILITY window appears.

{QuickConnect} is displayed only when one or more “QC” are

NOTE set with "" in the scanner setting of EtherNet/IP (CPU
board). {QuickConnect} will not be displayed if “QC” is not set.

4. Select {QuickConnect}.
– The QuickConnect window appears.

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4 EtherNet/IP Function Setting

4.11 QuickConnect Function (Specifying a Short Cycle for Reconnection
Processing)
5. Set the IP address of the adapter to the “IP Address”.
6. Set “QuickConnect” to “GET”.
7. Select “EXECUTE”.
– The QuickConnect setting information to the adapter device is
requested.
After getting the response from the adapter device, the
QuickConnect setting information is displayed.

– If the QuickConnect setting information is as following, the

QuickConnect setting is valid, and the setting after step 8 is
unnecessary.
Quick Connect Setting SUCCEED (01)
Bus IN Port Setting SUCCEED (02006400)
Bus OUT Port Setting SUCCEED (02006400)
8. Set “QuickConnect” to “VALID”.
9. Select “EXECUTE”.

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4 EtherNet/IP Function Setting
4.11 QuickConnect Function (Specifying a Short Cycle for Reconnection
Processing)
– A QuickConnect setting enable request is sent to the adapter
device.
After getting the response from the adapter device, the
QuickConnect setting information is displayed.

– After the QuickConnect setting is enabled, the result is displayed as

follows.
Quick Connect Setting SUCCEED
Bus IN Port Setting SUCCEED
Bus OUT Port Setting SUCCEED
– If other than the above are displayed, first, check the communication
status with the adapter device. Although the connection status is
OK, if other than the above are displayed, special command setting
may be necessary to validate the QuickConnect setting of the
connected adapter device. In this case, check the instruction manual
of the adapter device and perform necessary command setting,
referring to "4.12 Explicit Message Communication Function".
10. Restart adapter device.

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4 EtherNet/IP Function Setting

4.12 QuickConnect Function (Specifying Triggers)

The QuickConnect function can be used for the EtherNet/IP (CPU board)
scanner setting. This function can perform high speed reconnection when
frequently switching tools etc. This function enables the EtherNet/IP
communication start and communication stop to be executed with triggers.
These triggers are bits that correspond to preset M registers and that can
be turned ON and OFF.

To use the QuickConnect function, QuickConnect function must be enable

for both the scanner and the adapter.

The QuickConnect function cannot be used in the EtherNet/IP (CPU

board) adapter settings.

• This function can be used with the YAS4.23.00A-00 or

later.
• When using this function, the QuickConnect function can-
not be used in chapter 4.11 “QuickConnect Function
NOTE (Specifying a Short Cycle for Reconnection Processing)”
• If the adapter that does not support the QuickConnect
function is connected, EtherNet/IP communication can be
performed, but high-speed communication connection
cannot be performed.

4.12.1 QuickConnect Setting for EtherNet/IP (CPU board) Scanner Setting

1. Enable the QuickConnect trigger.
– Set to "ENABLE" for {QC TRIGGER} in chapter 4.2.3 “General
Setup for the EtherNet/IP (CPU board)” .
The setting is toggled each time "ENABLE" and "DISABLE" is
selected.

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4.12 QuickConnect Function (Specifying Triggers)

2. Specify the M register to use for the QuickConnect trigger.

– When {QC TRIGGER} is set to "ENABLE" in step 1 above, {M
REGISTER (SCN)} appears on the line below it. Set the leading
number of the M registers to use for the QC trigger here.

– Two registers (32 bits) from the M register set on this window
correspond to the adapter number that is triggered by the bit as
shown below.
Leading register (No. 1 to 16 trigger targets: register 300 in the example
above)

No. No. No. No. No. No. No. No. No. No. No. No. No. No. No. No.
16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1

Leading register +1 (No. 17 to 32 trigger targets: register 301 in the

example above)

No. No. No. No. No. No. No. No. No. No. No. No. No. No. No. No.
32 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17

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4 EtherNet/IP Function Setting

4.12 QuickConnect Function (Specifying Triggers)

3. Select "DETAIL" of the scanner.

– The scanner settings window appears.

– (Description of items related to QuickConnect triggers)

(1) QC
Specify whether to use QuickConnect. The setting is toggled each
time "-" and "○" is selected.
- : QuickConnect is not used.
○: Communication start/communication stop with QuickCon-
nect.
(2) QC-T
Set the adapter startup wait time from when the signal that corre-
sponds to the adapter number is turned ON to when the communi-
cation start command is actually transmitted. The unit is msec and
the setting range is 0 to 65535.

Send the communication start command (set corresponding

bit in M registers to 1) and the communication stop com-
mand (set corresponding bit in M registers to 0) when com-
munication is physically possible. If the communication start
NOTE command and communication stop command are sent
when communication is not physically possible, resend pro-
cessing will be performed automatically in the network pro-
cessing section, and it may no longer be possible to
perform high-speed communication reconnection process-
ing.

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4 EtherNet/IP Function Setting
4.13 ExplicitMessage Communication Function

4.13 ExplicitMessage Communication Function

EtherNet/IP (CPU board) can use the ExplicitMessage communication
function of EtherNet/IP.

NOTE This function can be used with the YAS2.43.00A-00 or later.

1. Turn ON the power to the YRC1000.

2. Set the security mode to management mode.
3. Select {IN/OUT} - {FIELDBUS UTILITY} under the main menu.
– The FIELDBUS UTILITY window appears.

4. Select {ExplicitMessage}.
– The ExplicitMessage window appears.

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4.13 ExplicitMessage Communication Function

– Explanation of each setting item

(1) Message
The execution status of the ExplicitMessage communication is dis-
played. This item is displayed only.
(2) IP Address
Set the IP address of the target of ExplicitMessage communica-
tion.
(3) Service
Set the Service number of the ExplicitMessage communication.
Set it in decimal.
(4) Class
Set the Class number of the ExplicitMessage communication.
Set it in decimal.
(5) Instance
Set the Instance number of the ExplicitMessage communication.
Set it in decimal.
(6) Attribute
Set the Attribute number of the ExplicitMessage communication.
Set it in decimal.
(7) Data Size
Set the Data Size of the ExplicitMessage communication.
Set either "BYTE (1)" / "WORD (2)" / "LONG (4)".
This item can be set only when Service is 16.
(8) Data Value (hex)
Set the Data Value of the ExplicitMessage communication.
Set it in hexadecimal.
(9) ForwardClose
Choose whether to send the ForwardClose command.
Set "REQUEST" for transmission and "NOT REQUEST" for not
transmitting.
(10) Message Reply (hex)
After sending the ExplicitMessage command, the contents of the
response are displayed.
This item is displayed only.

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4.13 ExplicitMessage Communication Function

5. Select “EXECUTE”.
– A ExplicitMessage command is sent to the communication target.
After getting the response from the target, message reply is
displayed.

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4 EtherNet/IP Function Setting

4.14 Special Settings in the Scanner Settings

The following special settings can be used when setting a scanner.
These settings should be configured for each adapter station, so the
settings are available only when the device information window appears
with the following procedure. The settings are not available when using
the procedure in chapter 4.2.2 "Setting the Device Information List" (the
setting items are not displayed).
• Real time format
• Electronic key
• Input range settings

NOTE The real time format and electronic key settings are avail-
able in YAS4.23.00A-00 or later versions.

1. Select {SCANNER} in the EtherNet/IP (CPU board) general setup

window.
– The scanner settings window appears.

2. Select the registration name of the adapter number to set or modify.

– The selection dialog box appears.

3. Select {DETAIL} on the displayed selection dialog box.

– The details page of the device information list appears.
– For the setting procedure of each item, refer to the following
sections.

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4 EtherNet/IP Function Setting
4.14 Special Settings in the Scanner Settings

4.14.1 Advanced Settings

Configure the real time format and electronic key settings.
1. Select {DETAIL} for {ADVANCED SETTING} on the device
information.
– The advanced settings window appears.

– (Description of each item)

(1) ADVANCED SETTING
Displays the connection type (display only).
Displays the connection type set on the device information win-
dow.
(2) REAL TIME FORMAT (O->T)
Set the O->T format with the selection dialog box.
The following formats can be selected.

Format Description
32bit header Adds a leading 32-bit header (Run/Idle Header) that provides
notification of the Run/Idle status.
Modeless Does not add a header to provide notification of Run/Idle
information.
Zero length Does not add a header. The data size is 0 bytes for the Idle
status.
Heartbeat Does not add a header to provide notification of Run/Idle
information.
The data size is fixed to 0 bytes.
Used when the connection type is InputOnly.

The formats that can be selected depend on the connection type and data
transmission direction.

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4 EtherNet/IP Function Setting

4.14 Special Settings in the Scanner Settings

Connection Type REAL TIME REAL TIME FORMAT (T->O)

FORMAT (O->T)
Exclusive Owner<Multicast> 32bit header 32bit header
Exclusive Owner<Unicast> Modeless Modeless
USER Zero length Zero length
Input Only Heartbeat (fixed) 32bit header
Modeless
Zero length

(3) REAL TIME FORMAT (T->O)

Set the T->O format with the selection dialog box.
For details, refer to "(2) REAL TIME FORMAT (O->T)".
(4) ELECTRONIC KEY
Set the checking method of the electronic key with the selection
dialog box.
The electronic key sets information, such as the vendor ID, in the
communication start request command from the scanner. The
adapter then performs a consistency check on this information. If
the result of the consistency check is OK, the adapter returns a
normal response to the scanner and establishes communication.
The following checking methods can be selected.
Checking Method Description
EXACT MATCH The adapter returns a normal response to the
scanner and establishes communication when all
items described below from "(5) VENDOR ID" to
"(9) MINOR REVISION" are matched. Items set
to 0 are not checked.
COMPATIBLE MODULE The adapter returns a normal response to the
scanner and establishes communication when
"(5) PRODUCT CODE" is the same and one of
the following conditions is satisfied. Items set to 0
are not checked.
• "(6) MAJOR REVISION" is the same and "(7)
MINOR REVISION" is greater than or equal to
the setting.
• "(6) MAJOR REVISION" is greater than or equal
to the setting.

(5) VENDOR ID
Set the vendor ID registered with ODVA (Open DeviceNet Vendor
Association, Inc.). For the value to set, refer the user's manual for
the communication target device.
The setting range is 0 to 65535.
(6) DEVICE TYPE
Set the device type of the communication target device. For the
value to set, refer the user's manual for the communication target
device.
The setting range is 0 to 65535.
(7) PRODUCT CODE
Set the product code of the communication target device. For the
value to set, refer the user's manual for the communication target
device.
The setting range is 0 to 65535.

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4 EtherNet/IP Function Setting
4.14 Special Settings in the Scanner Settings

(8) MAJOR REVISION

Set the major revision of the communication target device. For the
value to set, refer the user's manual for the communication target
device.
The setting range is 0 to 127.
(9) MINOR REVISION
Set the minor revision of the communication target device. For the
value to set, refer the user's manual for the communication target
device.
The setting range is 0 to 255.
2. Press [ENTER].
– The device information window appears again.
3. Press [ENTER].
– The scanner settings window appears again.
4. Press [ENTER].
– The EtherNet/IP (CPU board) general setup window appears again.
5. Press [ENTER].
– The selection dialog box appears. Select “YES”.
6. Reconfigure the IO module.
– Configure the IO module as described in chapter 4.2.6 "IO Module
Re-configuration".
7. Reconfigure external IO.
– Configure the external IO as described in chapter 4.2.7 "External I/O
Setup".

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4 EtherNet/IP Function Setting

4.14 Special Settings in the Scanner Settings

4.14.2 Input Range Settings

In EtherNet/IP IO communication, a portion of the input data, rather than
the full input data, can be taken into the YRC1000 and allocated to
external input signals.

1. Select {DETAIL} for {INPUT RANGE} on the device information.

– The input range window appears.

– (Description of each item)

(1) CH
The area with which to specify the input range can be set up to two
locations.
These locations are CH1 and CH2.
(2) OFFSET
Set the start of the input range as an offset from the start of the full
input range. Specify this value in bytes.
(3) SIZE
Set the size of the input range area. Specify this value in bytes.
(4) USED/NOT USED
Set whether to use the specified input range.
The setting is toggled each time "USED" and "NOT USED" is
selected.
2. Press [ENTER].
– The device information window appears again.
3. Press [ENTER].
– The scanner settings window appears again.
4. Press [ENTER].
– The EtherNet/IP (CPU board) general setup window appears again.
5. Press [ENTER].
– The selection dialog box appears. Select “YES”.

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4.14 Special Settings in the Scanner Settings

6. Reconfigure the IO module.

– Configure the IO module as described in chapter 4.2.6 "IO Module
Re-configuration".
7. Reconfigure external IO.
– Configure the external IO as described in chapter 4.2.7 "External I/O
Setup".

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5 Message Communication
5.1 Conventional Message Communication

5 Message Communication

5.1 Conventional Message Communication

In the EtherNet/IP (CPU board) message communication, it is possible to
achieve the same level of data transmission/reception as the level
achieved by the YRC1000 Ethernet function. For details, see the following
manuals:
• YRC1000 OPTIONS INSTRUCTIONS FOR ETHERNET FUNCTION

5.2 Message Communication Using CIP

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

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5.2 Message Communication Using CIP

5.2.1 Details on Commands for Message Communication Using CIP

 Read a currently occurring alarm

Table 5-1(a): Required Format

Division Outline Size Data Explanation
Header Class 2 Byte 0x70 Vendor-specific
Instance 2 Byte Specify the read data Specify the alarm
division 1: Latest alarm
1 to 4 2: Alarm immediately
before 1
3: Alarm immediately
before 2
4: Alarm immediately
before 3
Attribute 1 Byte Specify the read data 1: Alarm code
type to
1 to 5 5: Alarm string name
Service 1 Byte Specify the data access
method
0x01: Get Attribute All
0x0E: Get Attribute Single

Table 5-1(b): Response Format (When Reading All Attributes/Omitting Headers)

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

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5 Message Communication
5.2 Message Communication Using CIP

 Read an alarm history

Table 5-2(a): Required Format

Division Outline Size Data Explanation
Header Class 2 Byte 0x71 Vendor-specific
Instance 2 Byte Specify the read data Specify the alarm
division division
1 to 100 1 to 100: major failure
1001 to 1100 1001 to 1100: minor
2001 to 2100 failure
3001 to 3100 2001 to 2100: User
4001 to 4100 (System)
3001 to 3100: User (User)
4001 to 4100: Off-line
Attribute 1 Byte Specify the read data 1: Alarm code
type to
1 to 5 5: Alarm string name
Service 1 Byte Specify the data access
method
0x01: Get Attribute All
0x0E: Get Attribute Single

Table 5-2(b): Response Format (When Reading All Attributes/Omitting Headers)

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

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5 Message Communication
5.2 Message Communication Using CIP

 Read the current status

Table 5-3(a): Required Format

Division Outline Size Data Explanation
Header Class 2 Byte 0x72 Vendor-specific
Instance 2 Byte Specify “1”
Attribute 1 Byte Specify the read data type 1: Data 1
1 to 2 2: Data 2
Service 1 Byte Specify the data access method
0x01: Get Attribute All
0x0E: Get Attribute Single

Table 5-3(b): Response Format (When Reading All Attributes/Omitting Headers)

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

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5 Message Communication
5.2 Message Communication Using CIP

 Read the current active job information

Table 5-4(a): Required Format

Division Outline Size Data Explanation
Header Class 2 Byte 0x73 Vendor-specific
Instance 2 Byte Specify the read task Specify the serial number
series of the task to read
1 to 16 1: Master task
2: Sub task 1
to
16: Sub task 15
Attribute 1 Byte Specify the read data Data number of the
type active job information
1 to 4 1: Job name
to
4: Speed override value
Service 1 Byte Specify the data access
method
0x01: Get Attribute All
0x0E: Get Attribute Single

Table 5-4(b): Response Format (When Reading Al Attributes/Omitting Headers)

Division Outline Size Explanation
Data Job name 32 Byte Output the job name
Line number 4 Byte Output the line number
0 to 9999
Step number 4 Byte Output the step number
1 to 9998
Speed override value 4 Byte Output the speed override value
Unit: 0.01%

5-5 HW1483560 112/126

HW1483560
5 Message Communication
5.2 Message Communication Using CIP

 Read the current axis configuration

Table 5-5(a): Required Format

Division Outline Size Data Explanation
Header Class 2 Byte 0x74 Vendor-specific
Instance 2 Byte Specify the control group Specify the control
to read group and the
1 to 8 coordinates system
11 to 18 1 to 8: Robot (pulse)
21 to 44 11 to 18: Base (pulse)
101 to 108 21 to 44: Station (Pulse)
111 to 118 101 to 108: Robot
(robot coordinate)
(X-Y coordinate)
111 to 118: Base (linear)
Attribute 1 Byte Specify the read data Specify the data
type number of the axis
1 to 8 information
1: 1st axis coordinates
name
to
8: 8th axis coordinates
name
Service 1 Byte Specify the data access
method
0x01: Get Attribute All
0x0E: Get Attribute Single

Table 5-5(b): Response Format (When Reading All Attributes/Omitting Headers)

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

5-6 HW1483560 113/126

HW1483560

5 Message Communication
5.2 Message Communication Using CIP

 Read the current robot position

Table 5-6(a): Required Format

Division Outline Size Data Explanation
Header Class 2 Byte 0x75 Vendor-specific
Instance 2 Byte Specify the control Specify the control
group to read group and the
1 to 8 coordinates system
11 to 18 1 to 8: Robot (Pulse)
21 to 44 11 to 18: Base (Pulse)
101 to 108 21 to 44: Station (Pulse)
101 to 108: Robot (Base)
Attribute 1 Byte Specify the read data Specify the data number
type of the position
1 to 13 information
1: Data type
to
13: 8th axis data
Service 1 Byte Specify the data access
method
0x01: Get Attribute All
0x0E: Get Attribute Single

Table 5-6(b): Response Format (When Reading All Attributes/Omitting Headers)

Division Outline Size Explanation
Data Data type 4 Byte The position data type will be output
0: Pulse
16: Base
Configuration 4 Byte The configuration will be output
bit 0: Back
bit 1: Lower arm
bit 2: No flip
bit 3: R axis ≥ 180°
bit 4: T axis ≥ 180°
bit 5: S axis ≥ 180°
Tool number 4 Byte
Reservation 4 Byte
Extended configuration 4 Byte Output the 7-axis robot extended
configuration
bit 0: θL ≥ 180°
bit 1: θU ≥ 180°
bit 2: θB ≥ 180°
bit 3: θE ≥ 180°
bit 4: θW ≥ 180°
1st axis data 4 Byte The following values will be output:
2nd axis data 4 Byte For pulse:
Each axis’ pulse value
3rd axis data 4 Byte For base:
4th axis data 4 Byte Length (μm)
Angle (0.0001°)
5th axis data 4 Byte
6th axis data 4 Byte Data on each axis is set in
7th axis data 4 Byte ascending order.
The value zero is set to a non-
8th axis data 4 Byte
existing axis.

5-7 HW1483560 114/126

HW1483560
5 Message Communication
5.2 Message Communication Using CIP

 Read the deviation of each axis position

Table 5-7(a): Required Format

Division Outline Size Data Explanation
Header Class 2 Byte 0x76 Vendor-specific
Instance 2 Byte Specify the control Specify the control
group to read group
1 to 8 1 to 8: Robot
11 to 18 11 to 18: Base
21 to 44 21 to 44: Station
Attribute 1 Byte Specify the read data Specify the data number
type of the position deviation
1 to 8 information
1: 1st axis data
to
8: 8th axis data
Service 1 Byte Specify the data access
method
0x01: Get Attribute All
0x0E: Get Attribute Single

Table 5-7(b): Response Format (When Reading All Attributes/Omitting Headers)

Division Outline Size Explanation
Data 1st axis data 4 Byte The pulse value of each axis will be output:
2nd axis data 4 Byte
Data on each axis is set in ascending order.
3rd axis data 4 Byte The value zero is set to a non-existing axis.
4th axis data 4 Byte
5th axis data 4 Byte
6th axis data 4 Byte
7th axis data 4 Byte
8th axis data 4 Byte

5-8 HW1483560 115/126

HW1483560

5 Message Communication
5.2 Message Communication Using CIP

 Read the torque of each axis

Table 5-8(a): Required Format

Division Outline Size Data Explanation
Header Class 2 Byte 0x77 Vendor-specific
Instance 2 Byte Specify the control Specify the control
group to read group
1 to 8 1 to 8: Robot
11 to 18 11 to 18: Base
21 to 44 21 to 44: Station
Attribute 1 Byte Specify the read data Specify the data number
type of each axis torque
1 to 8 1: 1st axis data
to
8: 8th axis data
Service 1 Byte Specify the data access
method
0x01: Get Attribute All
0x0E: Get Attribute Single

Table 5-8(b): Response Format (When Reading All Attributes/Omitting Headers)

Division Outline Size Explanation
Data 1st axis data 4 Byte The value for the torque of each axis is output
2nd axis data 4 Byte as a percentage when the nominal value is
100%.
3rd axis data 4 Byte
4th axis data 4 Byte Data on each axis is set in ascending order.
The value zero is set to a non-existing axis.
5th axis data 4 Byte
6th axis data 4 Byte
7th axis data 4 Byte
8th axis data 4 Byte

5-9 HW1483560 116/126

HW1483560
5 Message Communication
5.2 Message Communication Using CIP

 Read and write IO data

Table 5-9(a): Required Format/Data Omitted When Writing

Division Outline Size Data Explanation
Header Class 2 Byte 0x78 Vendor-specific
Instance 2 Byte Specify the signal to read/ Specify the value
write obtained by dividing
1 to 512 the logical number of
1001 to 1512 the signal by 10
2001 to 2512 1 to 512: General
3001 to 3512 input
4001 to 4256 1001 to 1512:
5001 to 5512 General output
6001 to 6064 2001 to 2512:
7001 to 7999 External input
2701 to 2956 2701 to 2956:
3701 to 3956 Network input
8001 to 8512 * Writable
8701 to 8720 3001 to 3512:
External output
3701 to 3956:
Network output
4001 to 4256: Specific
input
5001 to 5512: Specific
output
6001 to 6064:
Interface panel input
7001 to 7999:
Auxiliary relay
8001 to 8512: Control
status
8701 to 8720: Pseudo
input
Attribute 1 Byte Specify “1”
Service 1 Byte Specify the data access
method
0x10: Set Attribute Single
0x0E: Get Attribute Single

Table 5-9(b): Response Format (When Reading All Attributes/Omitting Headers)

Division Outline Size Explanation
Data IO data 1 Byte When parameter:RS023=1 is set, the data will be
treated as 2 byte data (only the 1 byte portion is
treated as valid data).

5-10 HW1483560 117/126

HW1483560

5 Message Communication
5.2 Message Communication Using CIP

 Read and write register data

Table 5-10(a): Required Format/Data Omitted When Writing

Division Outline Size Data Explanation
Header Class 2 Byte 0x79 Vendor-specific
Instance 2 Byte Specify the register to Specify the register
read/write number
0 to 999 or 1 to 1000 (Parameter: RS022=1)

Specify the register

number +1
(Parameter: RS022=0)
Attribute 1 Byte Specify “1”
Service 1 Byte Specify the data access
method
0x0E: Get Attribute Single
0x10: Set Attribute Single

Table 5-10(b): Response Format (When Reading All Attributes/Omitting Headers)

Division Outline Size Explanation
Data Register data 2 Byte

 Read and write a byte-type variable (B)

Table 5-11(a): Required Format/Data Omitted When Writing

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

Specify the variable B

number +1
(Parameter: RS022=0)
Attribute 1 Byte Specify “1”
Service 1 Byte Specify the data access
method
0x0E: Get Attribute Single
0x10: Set Attribute Single

Table 5-11(b): Response Format (When Reading All Attributes/Omitting Headers)

Division Outline Size Explanation
Data (B) variable data 1 Byte When parameter: RS023=1 is set, the data
will be treated as 2 byte data (only the 1 byte
portion is treated as valid data).

5-11 HW1483560 118/126

HW1483560
5 Message Communication
5.2 Message Communication Using CIP

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

Table 5-12(a): Required Format/Data Omitted When Writing

Division Outline Size Data Explanation
Header Class 2 Byte 0x7B Vendor-specific
Instance 2 Byte Specify the variable I to Specify the variable I
read/write number
From 0 or from 1 (Parameter: RS022=1)

Specify the variable I

number +1
(Parameter: RS022=0)
Attribute 1 Byte Specify “1”
Service 1 Byte Specify the data access
method
0x0E: Get Attribute Single
0x10: Set Attribute Single

Table 5-12(b): Response Format (When Reading All Attributes/Omitting Headers)

Division Outline Size Explanation
Data (I) variable data 2 Byte

 Read and write a double precision integer-type variable (D)

Table 5-13(a): Required Format/Data Omitted When Writing

Division Outline Size Data Explanation
Header Class 2 Byte 0x7C Vendor-specific
Instance 2 Byte Specify the variable D to Specify the variable D
read/write number
From 0 or from 1 (Parameter: RS022=1)

Specify the variable D

number +1
(Parameter: RS022=0)
Attribute 1 Byte Specify “1”
Service 1 Byte Specify the data access
method
0x0E: Get Attribute Single
0x10: Set Attribute Single

Table 5-13(b): Response Format (When Reading All Attributes/Omitting Headers)

Division Outline Size Explanation
Data (D) variable data 4 Byte

5-12 HW1483560 119/126

HW1483560

5 Message Communication
5.2 Message Communication Using CIP

 Read and write a real-type variable (R)

Table 5-14(a): Required Format/Data Omitted When Writing

Division Outline Size Data Explanation
Header Class 2 Byte 0x7D Vendor-specific
Instance 2 Byte Specify the variable D to Specify the variable R
read/write number
From 0 or from 1 (Parameter: RS022=1)

Specify the variable R

number +1
(Parameter: RS022=0)
Attribute 1 Byte Specify “1”
Service 1 Byte Specify the data access
method
0x0E: Get Attribute Single
0x10: Set Attribute Single

Table 5-14(b): Response Format (When Reading All Attributes/Omitting Headers)

Division Outline Size Explanation
Data (R) variable data 4 Byte A real value is output

 Read and write a string-type variable (S)

Table 5-15(a): Required Format/Data Omitted When Writing

Division Outline Size Data Explanation
Header Class 2 Byte 0x8C Vendor-specific
Instance 2 Byte Specify the variable S to Specify the variable S
read/write number
From 0 or from 1 (Parameter: RS022=1)

Specify the variable S

number +1
(Parameter: RS022=0)
Attribute 1 Byte Specify “1”
Service 1 Byte Specify the data access
method
0x0E: Get Attribute Single
0x10: Set Attribute Single

Table 5-15(b): Response Format (When Reading All Attributes/Omitting Headers)

Division Outline Size Explanation
Data (S) variable data 32 Byte

The conventional command (Class=0x7E) is no longer used

NOTE because the size of the S variable is expanded to 32 byte in
the YRC1000 system.

5-13 HW1483560 120/126

HW1483560
5 Message Communication
5.2 Message Communication Using CIP

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

Table 5-16(a): Required Format

Division Outline Size Data Explanation
Header Class 2 Byte 0x7F Vendor-specific
Instance 2 Byte Specify the variable P to Specify the variable P
read/write number
From 0 or from 1 (Parameter: RS022=1)

Specify the variable P

number +1
(Parameter: RS022=0)
Attribute 1 Byte Specify the read data Specify the data
type number of the position
1 to 13 information
1: Data type
to
13: 8th axis data
Service 1 Byte Specify the data access
method
0x01: Get Attribute All
0x0E: Get Attribute Single
0x02: Set Attribute All
0x10: Set Attribute Single

5-14 HW1483560 121/126

HW1483560

5 Message Communication
5.2 Message Communication Using CIP

Table 5-16(b): Response Format (When Reading All Attributes/Omitting Headers)

Division Outline Size Explanation
Data Data type 4 Byte The position data type will be
output
0: Pulse
16: Base
17: Robot
18: Tool
19: User coordinates
Configuration 4 Byte The configuration will be output
bit 0: Back
bit 1: Lower arm
bit 2: No flip
bit 3: R axis ≥ 180°
bit 4: T axis ≥ 180°
bit 5: S axis ≥ 180°
Tool number 4 Byte
User coordinate number 4 Byte
Extended configuration 4 Byte Output the 7-axis robot extended
configuration
bit 0: θL ≥ 180°
bit 1: θU ≥ 180°
bit 2: θB ≥ 180°
bit 3: θE ≥ 180°
bit 4: θW ≥ 180°
1st axis data 4 Byte The following values will be output:
2nd axis data 4 Byte For pulse:
Each axis’ pulse value
3rd axis data 4 Byte For base:
4th axis data 4 Byte Length (μm)
Angle (0.0001°)
5th axis data 4 Byte
6th axis data 4 Byte Data on each axis is set in
7th axis data 4 Byte ascending order.
The value zero is set to a non-
8th axis data 4 Byte
existing axis.

5-15 HW1483560 122/126

HW1483560
5 Message Communication
5.2 Message Communication Using CIP

 Read and write a base position-type variable (BP)

Table 5-17(a): Required Format

Division Outline Size Data Explanation
Header Class 2 Byte 0x80 Vendor-specific
Instance 2 Byte Specify the variable BP Specify the variable BP
to read/write number
From 0 or from 1 (Parameter: RS022=1)

Specify the variable BP

number +1
(Parameter: RS022=0)
Attribute 1 Byte Specify the read data Specify the data
type number of the position
1 to 9 information
1: Data type
to
9: 8th axis data
Service 1 Byte Specify the data access
method
0x01: Get Attribute All
0x0E: Get Attribute Single
0x02: Set Attribute All
0x10: Set Attribute Single

Table 5-17(b): Response Format (When Reading All Attributes/Omitting Headers)

Division Outline Size Explanation
Data Data type 4 Byte The position data type will be output
0: Pulse
16: Base
1st axis data 4 Byte The following values will be output:
2nd axis data 4 Byte For pulse:
Each axis’ pulse value
3rd axis data 4 Byte For base:
4th axis data 4 Byte Length (μm)
Angle (0.0001°)
5th axis data 4 Byte
6th axis data 4 Byte Data on each axis is set in ascending order.
7th axis data 4 Byte The value zero is set to a non-existing axis.
8th axis data 4 Byte

5-16 HW1483560 123/126

HW1483560

5 Message Communication
5.2 Message Communication Using CIP

 Read and write an external axis position-type variable (EX)

Table 5-18(a): Required Format

Division Outline Size Data Explanation
Header Class 2 Byte 0x81 Vendor-specific
Instance 2 Byte Specify the variable BP Specify the variable EX
to read/write number
From 0 or from 1 (Parameter: RS022=1)

Specify the variable EX

Table 5-18(b): Response Format (When Reading All Attributes/Omitting Headers)

Division Outline Size Explanation
Data Data type 4 Byte The position data type will be output
0: Pulse
1st axis data 4 Byte The following values will be output:
2nd axis data 4 Byte For pulse:
Each axis’ pulse value
3rd axis data 4 Byte
4th axis data 4 Byte Data on each axis is set in ascending order.
The value zero is set to a non-existing axis.
5th axis data 4 Byte
6th axis data 4 Byte
7th axis data 4 Byte
8th axis data 4 Byte

5-17 HW1483560 124/126

HW1483560
5 Message Communication
5.3 Related Parameters

5.3 Related Parameters

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

Some equipment capable of CIP

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

Some equipment capable of CIP

message communication cannot
input or output one-byte data. To
communicate with such a device, set
this parameter to “1”.
By setting this parameter to “1”, data
whose size is originally one byte can
be transmitted/received as byte.
(Also in this case, only the one-byte
portion is treated as valid data.)

5-18 HW1483560 125/126

YRC1000 OPTIONS
INSTRUCTIONS
EtherNet/IP COMMUNICATION FUNCTION (FOR STANDARD LAN PORT)

C 2016 YASKAWA ELECTRIC CORPORATION

Published by YASKAWA

March 2021 16-09

MANUAL NO.

HW1483560 5
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