DX100 OPTIONS

INSTRUCTIONS
EtherNet/IP BOARD
(PCU-ETHIO FOR INPUT ONLY VERSION MADE BY Molex)

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

MOTOMAN INSTRUCTIONS
MOTOMAN-ETHERNET/IP BOARD INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR’S MANUAL
DX100 MAINTENANCE MANUAL
The DX100 operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.

Part Number: 161340-1CD

Revision: 1

MANUAL NO.

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DX100

MANDATORY
• This manual explains MotoPlus of the DX100 system. Read this
manual carefully and be sure to understand its contents before
handling the DX100.
• General items related to safety are listed in the Chapter 1: Safety of
the DX100 Instructions. To ensure correct and safe operation,
carefully read the DX100 Instructions before reading this manual.

CAUTION
• Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating this product.
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications. If such modification is made, the manual number will
also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your
product’s warranty.

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DX100

NOTES FOR SAFE OPERATION

Read this manual carefully before installation, operation, maintenance, or
inspection of the DX100.
In this manual, the Notes for Safe Operation are classified as
“WARNING”, “CAUTION”, “MANDATORY”, or ”PROHIBITED”.

Indicates a potentially hazardous

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

Indicates a potentially hazardous situa-

CAUTION tion which, if not avoided, could result
in minor or moderate injury to person-
nel and damage to equipment. It may
also be used to alert against unsafe
practices.

MANDATORY Always be sure to follow explicitly the

items listed under this heading.

PROHIBITED Must never be performed.

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

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

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

NOTE follow all instructions, even if not designated as “CAUTION”
and “WARNING”.

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DX100

WARNING
• Before operating the manipulator, check that servo power is turned
OFF when the emergency stop buttons on the front door of the
DX100 and the programming pendant are pressed.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop buttons do not function.
Fig. : Emergency Stop Button

• Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Fig. : Release of Emergency Stop
TURN

• Observe the following precautions when performing teaching

operations within the P-point maximum envelope of the
manipulator:
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no person is present in the P-point maximum envelope
of the manipulator and that you are in a safe location before:
– Turning ON the DX100 power
– Moving the manipulator with the programming pendant
– Running the system in the check mode
– Performing automatic operations
Injury may result if anyone enters the P-point maximum envelope of the
manipulator during operation. Always press an emergency stop button
immediately if there is a problem. The emergency stop buttons are
located on the right of the front door of the DX100 and the programming
pendant.

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DX100

CAUTION
• Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately, and be sure that all other necessary processing has
been performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the DX100
cabinet after use.
The programming pendant can be damaged if it is left in the
manipulator’s work area, on the floor, or near fixtures.
• Read and understand the Explanation of the Warning Labels in the
DX100 Instructions before operating the manipulator.

Definition of Terms Used Often in This Manual

MOTOMAN is an YASKAWA industrial robot product.
MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and manipulator cables.
In this manual, the equipment is designated as follows:

Equipment Manual Designation

DX100 Controller DX100
DX100 Programming Pendant Programming Pendant

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DX100

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

shown as follows:

Equipment Manual Designation

Programming Character The keys which have characters printed on
Pendant Keys them are denoted with [ ].
ex. [ENTER]
Symbol The keys which have a symbol printed on them
Keys are not denoted with [ ] but depicted with a
small picture.

GO BACK

ex. page key PAGE

The cursor key is an exception, and a picture
is not shown.
Axis Keys “Axis Keys” and “Numeric Keys” are generic
Numeric names for the keys for axis operation and
Keys number input.
Keys When two keys are to be pressed
pressed simultaneously, the keys are shown with a “+”
simultaneou sign between them, ex. [SHIFT]+[COORD]
sly
Displays The menu displayed in the programming
pendant is denoted with { }.
ex. {JOB}

Description of the Operation Procedure

In the explanation of the operation procedure, the expression “Select • • • “
means that the cursor is moved to the object item and the SELECT key is
pressed.

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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DX100 Table of Contents

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

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

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

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

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

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

1.2 Number of PCU-ETHIO Boards that can be Used............................................................... 1-2

1.3 Upgraded Features in this Version ...................................................................................... 1-2

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

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

1.4 Function Comparison Against Conventional Software ........................................................ 1-3

2 Hardware Specifications ................................................................................................................ 2-1

2.1 Board External View ............................................................................................................ 2-1

2.2 Board Specifications ............................................................................................................ 2-2

2.3 Communication Specifications............................................................................................. 2-2

3 How to Mount the Board ................................................................................................................ 3-1

3.1 Operating the Front Door of DX100 (Controller).................................................................. 3-2

3.2 Mounting the PCU-ETHIO Board to DX100......................................................................... 3-3

3.3 Connecting Cable ................................................................................................................ 3-3

3.4 Closing the Front Door of the DX100................................................................................... 3-4

4 How to Set Up the Board................................................................................................................ 4-1

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

4.1.1 Window Composition.............................................................................................. 4-1

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

4.2.1 Calling the SETUP Window for the PCU-ETHIO Board ......................................... 4-3

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

4.2.3 General Setup for the PCU-ETHIO Board.............................................................. 4-8

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

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

4.2.6 Scanner Setting .................................................................................................... 4-14

4.2.7 IO Module Reconfiguration................................................................................... 4-17

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DX100 Table of Contents

4.3 IO Assignment Example .................................................................................................... 4-19

4.3.1 Setting ExclusiveOwner Communication.............................................................. 4-19

4.3.2 Setting InputOnly Communication ........................................................................ 4-19

4.3.3 Partial Input Data Assignment .............................................................................. 4-20

4.4 Communication Data ......................................................................................................... 4-22

4.4.1 IO Data ................................................................................................................. 4-24

4.5 Managing Setting Data ...................................................................................................... 4-25

4.5.1 How to Save Data................................................................................................. 4-26

4.5.2 How to Load Data ................................................................................................. 4-27

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 ........................................................................................................... 5-19

6 Error Indication ............................................................................................................................... 6-1

6.1 LED Indicators on the Board................................................................................................ 6-1

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1 Introductions
DX100 1.1 System Configuration

1 Introductions
In DX100, with the PCU-ETHIO board made by Molex, you can use the
EtherNet/IP communication function. The EtherNet/IP communication
function of DX100 provides the following features: an IO transmission/
reception function that enables to exchange external input/output signals
between DX100 and other EtherNet/IP supported devices and a message
communication function that realizes data transmission equal to the one
realized by the DX100 Ethernet function. The present revision further
improved this function to make 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 PCU-ETHIO is as
follows.
EtherNet/IP
Scanner
PLC (sequencer) DX100

EtherNet/IP
Adaptor/Scanner
PCU-ETHIO

HUB

EtherNet/IP
Adaptor
I/O unit

PC

1.1.2 Adaptor
When the IO transmission/reception function is used, DX100 can operate
as an adaptor (communication slave) for the scanner (communication
master). In the system configuration example, IO communication is
carried out with the PLC being a scanner and DX100's PCU-ETHIO being
an adaptor.

1.1.3 Scanner
When the IO transmission/reception function is used, DX100 can operate
as a scanner (communication master) for the adaptor (communication
slave). In the system configuration example, IO communications is carried
out with DX100's PCU-ETHIO being a scanner and the IO unit being an
adaptor.

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1 Introductions
DX100 1.2 Number of PCU-ETHIO Boards that can be Used

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 DX100 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 DX100 Ethernet
function and the extended option function, settings need to be made
separately.

When the settings for use of the PCU-ETHIO board have

NOTE been made, you cannot use the transmission Ethernet port
of the JANCD-YCP01 board.

1.2 Number of PCU-ETHIO Boards that can be Used

Only one PCU-ETHIO board can be used for each DX100 controller unit.
(Co-existence with other IO boards is permitted.)

1.3 Upgraded Features in this Version

1.3.1 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.

1.3.2 Message Communication Using CIP

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

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1 Introductions
DX100 1.4 Function Comparison Against Conventional Software

1.4 Function Comparison Against Conventional Software

Table 1-1: Function Comparison Against Conventional Software

Conventional This Software
Software (InputOnly-supported
version)
Molex board firmware version 3.xx 4.3
IO communication by ExclusiveOwner O O
IO communication by InputOnly X O
Message communication by the O O
Ethernet server function
Message communication by the FTP O O
function
Message communication by the CIP X O
method

InputOnly-supported version software operates only with

NOTE version 4.3 or higher firmware of the Molex PCU-ETHIO
board.

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2 Hardware Specifications
DX100 2.1 Board External View

2 Hardware Specifications
The hardware specifications for the PCU-ETHIO board are as follows.

2.1 Board External View

PCU-ETHIO
EtherNet/IP connector (RJ45)

Discrete I/O allocation connector

*cannot be used with the DX100
LED (Config Port Indicator:Trans ) LED (Config Port Indicator:Recv)

Configuration connector
(RS232C D-Sub 9 pin)
*cannot be used with the DX100

LED (Network Status ) LED (Module Status )

LED (Ethernet Link)

EtherNet/IP connector (RJ45) LED (Transmission speed)

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2 Hardware Specifications
DX100 2.2 Board Specifications

2.2 Board Specifications

Items Specifications
Interface to external devices EtherNet/IP
Board mounting position Option PCI slot in the DX100 controller
Error display LED display
Transmission I/O points (max.) Input: 2000 points/Output: 2000 points

The above maximum I/O points (input: 2000 points/output:

2000 points) are secured on the condition that as an option
NOTE IO module, only this board is mounted to DX100. When any
other option IO module is attached, the above I/O points
cannot be secured.

2.3 Communication Specifications

Items Specifications
Connection type Star (Connection by HUB)
Communication 10 Mbps/100 Mbps (Detected automatically during startup)
speed
Communication Use category 5 or higher shielded Ethernet cables.
media

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3 How to Mount the Board

DX100

3 How to Mount the Board

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.

CAUTION
• The wiring and mounting must be performed by authorized and
qualified personnel.
Failure to observe this caution may result in a fire or an electric shock.
• Make sure that there is no foreign matter such as metal chips on the
board.
In case of malfunction, etc. it may result in an injury or damage the
board.
• Make sure that there is no damage or deflection of parts on the
board.
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 mounting surfaces and the soldered surfaces of the
board parts directly with fingers.
The generated static electricity may damage the IC, and protrusions on
the soldered surface may result in an injury.
• Never touch the soldered surfaces of the board directly with fingers.
Protrusions on the soldered surface may result in an injury.
• Never give any shock to the board.
The shock may damage the board.

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3 How to Mount the Board
DX100 3.1 Operating the Front Door of DX100 (Controller)

3.1 Operating the Front Door of DX100 (Controller)

Take the following procedure to mount the PCU-ETHIO board.
1. Using a coin or a flathead screwdriver, rotate the door locks on the
front of the DX100 (two places) 90 degrees clockwise.

door lock

clockwise
90

flathed screw driver

2. Rotate the main power supply switch to the “OFF” position and open
the door gently.

D I ON
PE
IP
TR
OFFO T
SE
RE

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3 How to Mount the Board

DX100 3.2 Mounting the PCU-ETHIO Board to DX100

3.2 Mounting the PCU-ETHIO Board to DX100

1. Remove the riser card (JANCD-YBB02-E) from the CPU rack.
2. Insert the PCU-ETHIO into the PCI slot of the riser card, and tighten
the support clamps to ensure it does not come lose.
3. Attach the riser card to the CPU rack.

• To mount the PCU-ETHIO board to the riser card, attach it

to slot 1. If the PCU-ETHIO board is attached to slot 2, it
NOTE may fail to be identified and fail to operate correctly.
• Do not use PCU-ETHIO and ETHIO-PN simultaneously.
Controller may fail to operate correctry.

Tighten the screws

CN1 : CPU Optional Slot 1 CN2 : CPU Optional Slot 2

3.3 Connecting Cable

1. Connect a category 5 or higher shielded cable to the RJ45 connector
of the PCU-ETHIO board.

When the settings for use of the PCU-ETHIO board have

NOTE been made, you cannot use the transmission Ethernet port
of the JANCD-YCP01 board.

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3 How to Mount the Board
DX100 3.4 Closing the Front Door of the DX100

3.4 Closing the Front Door of the DX100

1. Close the door gently.
2. Using a coin or a flathead screwdriver, rotate the door locks on the
front of the DX100 (two places) 90 degrees counterclockwise.

counterclockwise 90

flathead screw driver

door lock

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4 How to Set Up the Board

DX100 4.1 Outline

4 How to Set Up the Board

4.1 Outline
To use the PCU-ETHIO board for DX100, you must configure the settings
for option board and I/O module.
Make sure that the PCU-ETHIO is already attached to DX100 and then
configure the settings shown in the subsequent chapters.

To configure the settings, be sure to attach the PCU-ETHIO

board and then select the management mode.
NOTE
You cannot configure the settings when the board is not
attached or when in operation mode or editing mode.

4.1.1 Window Composition

Select the maintenance mode to set up the PCU-ETHIO board. The
composition of the SETUP window is as follows.

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4 How to Set Up the Board
DX100 4.1 Outline

Window Composition Explanation

OPTION BOARD Determine the board of which slot to set up by
selecting #0, #1, or #2. The EtherNet/IP board uses #1
(#0 or #2 cannot be used). Detailed settings should be
made on subsequent windows.
PCU-ETHIO Set up the PCU-ETHIO board. Detailed settings
should be made on subsequent windows.
USED/NOT USED Set whether to use the PCU-ETHIO board.
IO SIZE Displays the IO size totally used by the PCU-ETHIO
board (displays a total of IO sizes set for adaptor and
scanner).
ETHERNET Configure the settings for TCP/IP communication.
Detailed settings should be made on subsequent
windows.
NETWORK Configure the settings for TCP/IP communication.
Detailed settings should be made on subsequent
windows.
DEVICE Select the device for TCP/IP communication.
When the PCU-ETHIO board is used, “EtherNet/IP” is
displayed.
You cannot change this setting.
HOST NAME For TCP/IP communication, set the name of local
station (this DX100). This name is put and used by the
local station only and cannot be used for access from
other communication stations.
DOMAIN When the DNS setting is enabled, set the name of the
NAME domain the local station belongs to.
HOST SET UP Configure the communication settings for TCP/IP.
Detailed settings should be made on subsequent
windows.
ADAPTOR Configure the settings for communication with
sequencers. Detailed settings should be made on
subsequent windows.
SCANNER Configure the settings for communication with tools.
Detailed settings should be made on subsequent
windows. Note that before configuring these settings,
you must set “Device information list”.
DEVICE INFORMATION LIST To configure the scanner settings, you must define the
communication target slave station on this window.
Detailed settings should be made on subsequent
windows.
IO MODULE Checks and revises signals used by DX100 for input/
output from/to outside.

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4 How to Set Up the Board

DX100 4.2 Setup Procedure

4.2 Setup Procedure

Take the following procedure to set up the PCU-ETHIO board.

4.2.1 Calling the SETUP Window for the PCU-ETHIO Board

First, take the following procedure to display the SETUP window for the
PCU-ETHIO board.
1. Turn the power supply ON while pressing [Main Menu] simultaneously.
– The maintenance mode appears.
2. Change security mode to management mode.
3. Select [SYSTEM] under the main menu.
– The sub menu appears.

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

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4 How to Set Up the Board
DX100 4.2 Setup Procedure

5. Select [OPTION BOARD].

– The option board screen appears.

6. Select [PCU-ETHIO].
– The PCU-ETHIO SETUP window appears.

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4 How to Set Up the Board

DX100 4.2 Setup Procedure

4.2.2 Setting the Device Information List

To use the PCU-ETHIO as a scanner, you must set the network
information such as lower tools in advance. This chapter describes how to
register such information into the device information list. If you do not
need to make registration in the device information list, 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 screen.

2. Press [SELECT].
– The device information setting window appears.

– (Description of each setting item)

(1) Registered name
Enter the name you want to register as a device.
Without this name, you cannot make registration in the device
information list.
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.
(4) Connection RPI (T->O)
Set the revision processing interval (RPI) for data to be sent from
the target to the originator.

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4 How to Set Up the Board
DX100 4.2 Setup Procedure

(5) Connection type

Set the connection type for connection. Either ExclusiveOwner or
InputOnly can be used.
(6) Input size
Set the size of the IN signal to be input into DX100 (Unit: Byte).
(7) Output size
Set the size of the OUT signal to be output from DX100 (Unit:
Byte).
(8) Configuration size
Set the size of configuration data (Unit: Word).
(9) Input instance
Set the instance number of the IN signal to be input into DX100.
(10) Output instance
Set the instance number of the OUT signal to be output from
DX100.
(11) Configuration instance
Set the instance number of configuration data.
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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4 How to Set Up the Board

DX100 4.2 Setup Procedure

5. Select [Yes].
– The Device information list window will appear again.

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

been registered. A maximum of 16 devices can be set into the
device information list. Move the cursor over the field where no
string is displayed and press [SELECT] to register new device
information.
6. Press [ENTER].
– The PCU-ETHIO SETUP window will appear again.

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4 How to Set Up the Board
DX100 4.2 Setup Procedure

4.2.3 General Setup for the PCU-ETHIO Board

Perform general setup for the PCU-ETHIO board. In the general setup, set
whether to use the PCU-ETHIO board.
1. Select [PCU-ETHIO] in the PCU-ETHIO SETUP window.
– The PCU-ETHIO SETUP window appears.

– (Description of each setting item)

(1) PCU-ETHIO
Select this item using a toggle switch to alternately change
between “USED” and “NOT USED”.

Set it to “USED”.
“IO size (IN/OUT)” displayed on this window size shows a total of IO sizes
set for adaptor and scanner. You cannot set the IO size on this window.

The detailed settings for the PCU-ETHIO board should be made using
“EtherNet/IP”, “ADAPTER”, and “SCANNER”.

4.2.4 Ethernet Setting

For EtherNet/IP communication, settings such as the IP address for
Ethernet communication are required. This chapter describes how to
configure such settings.
1. Select [Ethernet/IP] in the PCU-ETHIO general setup window.
– The Network function setting window appears.

– For details on each setting item, see the last part of this chapter.

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4 How to Set Up the Board

DX100 4.2 Setup Procedure

2. Set the host name and the domain name.

– Set the host name and the domain name as needed.
3. Select [DETAIL].
– The Host setting window appears.

– For details on each setting item, see the last part of this sub-chapter.
4. Press [ENTER].
– The Network function setting window will appear again.

5. Press [ENTER].
– The PCU-ETHIO general setup window will appear again.

The meanings and details of setting items described in this sub-chapter

are as follows:

 Host name (Network function setting window)

NOTE The host name is not used for communication.

Set the host name to assign to DX100. This name is put and used by the
local station only and cannot be used for access from other
communication stations. For entry, use single-byte alphanumeric, dash “-”,
and underscore “_” characters. Be sure to include one or more
alphabetical characters in the name.

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4 How to Set Up the Board
DX100 4.2 Setup Procedure

 Domain name (Network function setting window)

NOTE The domain name is used when DNS is enabled.

Set the name of the domain DX100 belongs to.

For entry, use single-byte alphanumeric, dash “-”, underscore “_”, and dot
“.” characters.

 IP address setting (Host setting window)

In “IP ADDRESS SETTING”, specify the method for setting the IP address
for DX100.
Using the pulldown menu, select between “MANUAL SETTING” and
“DHCP SETTING”.
Note that when “MANUAL SETTING” is selected, be sure to set also “IP
ADDRESS” and “SUBNET MASK”.

• When “DHCP SETTING” is selected in “DNS SETTING” or

“SNTP SETTING”, “MANUAL SETTING” cannot be
selected in “IP ADDRESS SETTING” (if “MANUAL
SETTING” is selected, the error “DHCP is already set to
use for another item” occurs). To select “MANUAL
SETTING” in “IP ADDRESS SETTING”, select in advance
an option other than “DHCP SETTING” in “DNS
SETTING” and “SNTP SETTING”.
• DX100 does not support NetBIOS, WINS (Windows
NOTE
Internet Name Service), or Dynamic DNS. For that
reason, if an IP address is arbitrarily set for DX100
through DHCP, access from outside becomes difficult. To
make access from outside easy even when an IP address
is set by DHCP, take measures on the DHCP server side
as needed such as always creating the same IP address
as a DHCP lease address.
• DX100 supports IPv4 only.
• IPv6 is not supported.

IP address
Using single-byte numeric characters and dots “.”, enter the IP address to
set to DX100 in the format “xx.xx.xx.xx” (xx being a decimal number).
Note that when “DHCP SETTING” is selected in “IP ADDRESS
SETTING”, this setting will not be used.

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4 How to Set Up the Board

DX100 4.2 Setup Procedure

Subnet mask
Using single-byte numeric characters and dots “.”, enter the subnet mask
to set to DX100 in the format “xx.xx.xx.xx” (xx being a decimal number).
Note that when “DHCP SETTING” is selected in “IP ADDRESS
SETTING”, this setting will not be used.

Default gateway
To communicate with terminals on a different network (or a different
subnet) over TCP/IP, the default gateway must be set. In such cases,
using single-byte numeric characters and dots “.”, enter the default
gateway to set to DX100 in the format “xx.xx.xx.xx” (xx being a decimal
number). If not using the default gateway, set “0.0.0.0”. Note that when
“DHCP SETTING” is selected in “IP ADDRESS SETTING”, this setting will
not be used.

 DNS setting (Host setting window)

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

• When “MANUAL SETTING” is selected in “IP ADDRESS

SETTING”, “DHCP SETTING” cannot be selected in “DNS
SETTING” (if “DHCP SETTING” is selected, the error
“DHCP is not set to use” occurs). To select “DHCP
SETTING” in “DNS SETTING”, select in advance “DHCP
SETTING” in “IP ADDRESS SETTING”.
NOTE
• When “MANUAL SETTING” is selected in “SNTP
SETTING” and the host name is set for “SNTP SERVER”,
“NOT USED” cannot be selected in “DNS SETTING” (if
“NOT USED” is selected, the error “DNS is already set to
use for another item” occurs). To select “NOT USED” in
“DNS SETTING”, confirm in advance that the host name is
not set for any item.

DNS server
Using single-byte numeric characters and dots “.”, enter the IP address of
the DNS server in the format “xx.xx.xx.xx” (xx being a decimal number).
Note that when “NOT USED” or “DHCP SETTING” is selected in “DNS
SETTING”, this setting will not be used.

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4 How to Set Up the Board
DX100 4.2 Setup Procedure

 Server (Host PC) (Host setting window)

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

 SNTP setting (Host setting window)

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

When “MANUAL SETTING” is selected in “IP ADDRESS

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

SNTP server
Using single-byte numeric characters and dots “.”, enter the IP address of
the SNTP server in the format “xx.xx.xx.xx” (xx being a decimal number).
Note that when the DNS client function is enabled in the settings, you can
also enter a domain name (or Fully Qualified Domain Name). Single-byte
alphanumeric, dash “-”, underscore “_”, and dot “.” characters can be used
to enter a domain name. Be sure to include one or more alphabetical
characters in the name.
Note that when “NOT USED”, “BROADCAST”, or “DHCP SETTING” is
selected in “SNTP SETTING”, this setting will not be used.

Time difference against UTC time

Time that can be obtained with SNTP protocol is UTC time (Coordinated
Universal Time). To match local time with UTC time, enter a time
difference against UTC time. At that time, enter the hour “(-)**” and the
minute “**” separately using single-byte minus “-” and numeric characters.
For example, when using EST (Eastern Standard Time) as local time, set
as -5:00.
Note that when “NOT USED” is selected in “SNTP SETTING”, this setting
will not be used.

Query interval
Enter the interval for sending a query to the SNTP server. Enter the
number of hours “H” using a single-byte numeric character.
Note that when “NOT USED” or “BROADCAST” is selected in “SNTP
SETTING”, this setting will not be used.

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4 How to Set Up the Board

DX100 4.2 Setup Procedure

4.2.5 Adaptor Setting

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

– (Description of each setting item)

(1) Adaptor
Select this item using a toggle switch to alternately change
between “ENABLE” and “DISABLE”.
For use as an adaptor, set this item as “ENABLE”.
(2) Input size
Set the size of the IN signal to be input into DX100 (Unit: Byte).
(3) Output size
Set the size of the OUT signal to be output from DX100 (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 DX100.
(6) Output instance
Set the instance number of the OUT signal to be output from
DX100.
(7) Configuration instance
Set the instance number of configuration data.

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4 How to Set Up the Board
DX100 4.2 Setup Procedure

2. Enter the desired values.

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

3. Press [ENTER].
– The PCU-ETHIO general setup window will appear again.

4.2.6 Scanner Setting

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

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DX100 4.2 Setup Procedure

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

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

following appears.

– (Description of each item)

(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
Delete the target registered name.
(4) Details
Display the details of the device information list.

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4 How to Set Up the Board
DX100 4.2 Setup Procedure

– When the details are displayed and some current value is changed,
an asterisk “ ” is displayed as follows.

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

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

chapter 4.2.2 “Setting the Device Information List” at page 4-5.
4. Select the device you want to use.
– Information on the selected device appears in the Scanner setting
window.

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DX100 4.2 Setup Procedure

5. Enter the IP address.

– Enter the IP address.

6. Press [ENTER].
– The PCU-ETHIO general setup window will appear again.
7. Press [ENTER].
– The confirmation dialog box appears.

8. Select [Yes].
– The IO module window appears.

The PCU-ETHIO board setting ends here. Then, you must reconfigure the
IO module according to the settings for the board. Move on to the next
setting procedure.

If the settings for the option board are not matched to the
settings for the IO module, DX100 will not operate correctly.
NOTE
To prevent the above, after the option board setting process
is complete, be sure to execute the IO module setting that
appears next.

4.2.7 IO Module Reconfiguration

When changes are made to the settings for the PCU-ETHIO board, you
must reconfigure the IO module too. Take the following procedure to
reconfigure the IO module.

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4 How to Set Up the Board
DX100 4.2 Setup Procedure

1. (Continued from the PCU-ETHIO 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 to which the EtherNet/IP board is
attached (ST#16).
3. Press [ENTER].
– The confirmation dialog box appears.

4. Select [Yes].
– The settings will be registered and the SETUP window will appear
again.

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4 How to Set Up the Board

DX100 4.3 IO Assignment Example

4.3 IO Assignment Example

4.3.1 Setting ExclusiveOwner Communication

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

Scanner (PLC etc.) Adaptor (DX100)

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

4.3.2 Setting InputOnly Communication

 Adaptor setting
An example of settings as an adaptor (DX100 is the data transmission
side) for InputOnly connection is as follows:

Scanner (PLC etc.) Adaptor (DX100)

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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4 How to Set Up the Board
DX100 4.3 IO Assignment Example

 Scanner setting
An example of settings as a scanner (DX100 is the data receiving side) for
InputOnly connection is as follows:

Adaptor (PLC etc.) Scanner (DX100)

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

• For InputOnly communication, no output data exist. To

carry out InputOnly communication using the PCU-ETHIO
board, set “0” for the output instance number.
NOTE
• The instance number varies depending on the
communication device. For details on how to set the
instance number, see the instruction manual for the target
communication device.

4.3.3 Partial Input Data Assignment

In IO communication over EtherNet/IP, instead of all input data, only partial
data can be loaded into DX100 and assigned to external input signals. In
such cases, set as follows:
1. (After displaying the Scanner setting window and selecting the
registered name for which you want to specify the input range,) select
[DETAIL].
– The Device information window appears.

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4 How to Set Up the Board

DX100 4.3 IO Assignment Example

2. Select [DETAIL] for the input range setting.

– The Input range setting window appears.

3. Press [ENTER].
– The Device information window will appear again.
– Follow the same procedure as in the scanner setting up to revision
of the IO module.

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4 How to Set Up the Board
DX100 4.4 Communication Data

4.4 Communication Data

As IO data transferred into DX100 from the PCU-ETHIO board, besides
input/output data transmitted from external EtherNet/IP-supported
equipment, the status of the PCU-ETHIO 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 PCU-ETHIO board is
secured inside DX100 (the output area cannot be used).
PCU-ETHIO board communication data are assigned to the concurrent
I/O signal external input/output signals.
Assignments to external input/output signals inside the PCU-ETHIO board
are made as follows:

PCU-ETHIO board
Board status

Adaptor area (3)

Area for (5) (1)

station #1 (2)

Scanner area Area for (4)

(5)’
station #2

Area for (5)’’

station #3

(1) Number of bytes occupied by DX100 as an IO module

Consists of the current value in item (2) below + board status 1
byte. A value displayed in chapter 4.2.7 “IO Module Reconfigura-
tion” at page 4-17 is a value obtained by converting this value into
a bit count (x8).
(2) Number of bytes set for the PCU-ETHIO board I/O area
A value displayed as ‘IO size (IN/OUT)’ in chapter 4.2.3 “General
Setup for the PCU-ETHIO Board” at page 4-8.
(3) Number of bytes set for the adaptor I/O area
A greater value between the values set for ‘Input size’/‘Output
size’ in chapter 4.2.5 “Adaptor Setting” at page 4-13.
(4) Number of bytes set for the scanner I/O area
This value cannot be set.

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4 How to Set Up the Board

DX100 4.4 Communication Data

(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” at page 4-5.
Set which device to use by making a choice from the registered
device information list in chapter 4.2.6 “Scanner Setting” at
page 4-14.
The following chapter shows a concurrent I/O assignment example when
only the PCU-ETHIO board is installed. In the example, communication is
carried out assuming the quantity of data being 16 bytes for adaptor, 8
bytes for station #1 of scanner, and 8 bytes for station #2 of scanner (the
same number of bytes for IN/OUT). And the 20010 - 20057 and 30010 -
30057 input/output areas are used by the DX100 standard I/O unit.

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4 How to Set Up the Board
DX100 4.4 Communication Data

4.4.1 IO Data

Table 4-1: PCU-ETHIO Board IO Assignment Example

Input Output
1)
Status 20060 to 20067 Board status 30060 to 30067 Not available
Adaptor area 20070 to 20077 Input data (1) 30070 to 30077 Output data (1)
20080 to 20087 Input data (2) 30080 to 30087 Output data (2)
20090 to 20097 Input data (3) 30090 to 30097 Output data (3)
20100 to 20107 Input data (4) 30100 to 30107 Output data (4)
20110 to 20117 Input data (5) 30110 to 30117 Output data (5)
20120 to 20127 Input data (6) 30120 to 30127 Output data (6)
20130 to 20137 Input data (7) 30130 to 30137 Output data (7)
20140 to 20147 Input data (8) 30140 to 30147 Output data (8)
20150 to 20157 Input data (9) 30150 to 30157 Output data (9)
20160 to 20167 Input data (10) 30160 to 30167 Output data (10)
20170 to 20177 Input data (11) 30170 to 30177 Output data (11)
20180 to 20187 Input data (12) 30180 to 30187 Output data (12)
20190 to 20197 Input data (13) 30190 to 30197 Output data (13)
20200 to 20207 Input data (14) 30200 to 30207 Output data (14)
20210 to 20217 Input data (15) 30210 to 30217 Output data (15)
20220 to 20227 Input data (16) 30220 to 30227 Output data (16)
Scanner: 20230 to 20237 Input data (1) 30230 to 30237 Output data (1)
Area for
station #1
20240 to 20247 Input data (2) 30240 to 30247 Output data (2)
20250 to 20257 Input data (3) 30250 to 30257 Output data (3)
20260 to 20267 Input data (4) 30260 to 30267 Output data (4)
20270 to 20277 Input data (5) 30270 to 30277 Output data (5)
20280 to 20287 Input data (6) 30280 to 30287 Output data (6)
20290 to 20297 Input data (7) 30290 to 30297 Output data (7)
20300 to 20307 Input data (8) 30300 to 30307 Output data (8)
Scanner: 20310 to 20317 Input data (1) 30310 to 30317 Output data (1)
Area for
station #2
20320 to 20327 Input data (2) 30320 to 30327 Output data (2)
20330 to 20337 Input data (3) 30330 to 30337 Output data (3)
20340 to 20347 Input data (4) 30340 to 30347 Output data (4)
20350 to 20357 Input data (5) 30350 to 30357 Output data (5)
20360 to 20367 Input data (6) 30360 to 30367 Output data (6)
20370 to 20377 Input data (7) 30370 to 30377 Output data (7)
20380 to 20387 Input data (8) 30380 to 30387 Output data (8)

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4 How to Set Up the Board

DX100 4.5 Managing Setting Data

1 [PCU-ETHIO board status]

The table below shows the meanings of
the PCU-ETHIO board statuses (the
first 8 points of the assigned area). The
“xxx” value in each assigned signal
(input) in the table corresponds to part
of each top assigned number. (Since
20060 - 20067 are assigned first (top
assigned numbers), “xxx” in the
following example is “006”.)

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

4.5 Managing Setting Data

PCU-ETHIO board setting information can be saved and loaded using an
external storage device. The procedure is shown below. For general
instructions on how to operate an external storage device, see “7 External
memory device” in “DX100 OPERATOR'S MANUAL”.

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4 How to Set Up the Board
DX100 4.5 Managing Setting Data

4.5.1 How to Save Data

1. DX100 Power supply turn on.
2. Select [EXTERNAL MEMORY DEVICE] under the main menu.
3. Select [SAVE].
– The SAVE window appears.

4. Select [SYSTEM DATA].

– The System data selection window appears.

5. Select [APPLICOM EIP CONFIG DATA].

– “ ” appears for the selected system data.

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DX100 4.5 Managing Setting Data

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

7. Select [Yes].
– The file saving process will start and the transmission window
appears. If you want to stop the saving process, press [STOP].
– When the saving process is complete or cancelled, the file selection
window will appear again.

4.5.2 How to Load Data

1. DX100 Power supply turn on.
2. The security mode is changed to the management mode.
3. Select [EXTERNAL MEMORY DEVICE] under the main menu.

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DX100 4.5 Managing Setting Data

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

5. Select [SYSTEM DATA].

– The System data selection window appears.

6. Select [APPLICOM EIP CONFIG DATA].

– “ ” appears for the selected system data.

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DX100 4.5 Managing Setting Data

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

8. Select [Yes].
– The file loading process will start and the transmission window
appears.
– When the loading process is complete, the file selection window will
appear again.

9. After the loading process becomes complete, turn the power ON

again.

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5 Message Communication
DX100 5.1 Conventional Message Communication

5 Message Communication

5.1 Conventional Message Communication

In PCU-ETHIO board message communication, it is possible to achieve
the same level of data transmission/reception as the level achieved by the
DX100 Ethernet function. For details, see the following manuals:
• DX100 OPTIONS INSTRUCTIONS FOR DATA TRANSMISSION
FUNCTION and DX100 OPTIONS INSTRUCTIONS FOR
ETHERNET FUNCTION
• DX100 OPTIONS INSTRUCTIONS FOR ETHERNET SERVER
FUNCTION
• DX100 OPTIONS INSTRUCTIONS FOR FTP FUNCTION

5.2 Message Communication Using CIP

The following commands are available in message communication using
CIP:
Class number Function outline
0x70 Read a currently occurring alarm
0x71 Read an alarm history
0x72 Read the current status
0x73 Read the current active job information
0x74 Read the current axis configuration
0x75 Read the current robot position
0x76 Read the deviation of each axis position
0x77 Read the torque of each axis
0x78 Read and write IO data
0x79 Read and write register data
0x7A Read and write a byte-type variable (B)
0x7B Read and write an integer-type variable (I)
0x7C Read and write a double precision integer-type variable (D)
0x7D Read and write a real-type variable (R)
0x7E 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 Message Communication
DX100 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
DX100 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
DX100 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
DX100 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
series number of the task to
1 to 16 read
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%

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5 Message Communication
DX100 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
111 to 118 (Pulse)
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
8th axis coordinates name 4 Byte
non-existing axis.

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5 Message Communication
DX100 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

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5 Message Communication
DX100 5.2 Message Communication Using CIP

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
8th axis data 4 Byte
non-existing axis.

 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

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5 Message Communication
DX100 5.2 Message Communication Using CIP

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

 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

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5 Message Communication
DX100 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 256 the logical number of
1001 to 1256 the signal by 10
2001 to 2256 1 to 256: General
3001 to 3256 input
4001 to 4160 1001 to 1256:
5001 to 5200 General output
6001 to 6064 2001 to 2256:
7001 to 7999 External input
2501 to 2756 2501 to 2756:
3501 to 3756 Network input
8001 to 8064 * Writable
8201 to 8220 3001 to 3256:
External output
3501 to 3756:
Network output
4001 to 4160: Specific
input
5001 to 5200: Specific
output
6001 to 6064:
Interface panel input
7001 to 7999:
Auxiliary relay
8001 to 8064: Control
status
8201 to 8220: Pseudo
input
Attribute 1 Byte Specify “1”
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).

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5 Message Communication
DX100 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

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5 Message Communication
DX100 5.2 Message Communication Using CIP

 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).

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5 Message Communication
DX100 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

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5 Message Communication
DX100 5.2 Message Communication Using CIP

 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

 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

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5 Message Communication
DX100 5.2 Message Communication Using CIP

 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 0x7E 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 16 Byte

 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

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5 Message Communication
DX100 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.

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5 Message Communication
DX100 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

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5 Message Communication
DX100 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

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 5-18(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

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5 Message Communication
DX100 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.)

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6 Error Indication
DX100 6.1 LED Indicators on the Board

6 Error Indication

6.1 LED Indicators on the Board

There are six LEDs on the PCU-ETHIO board. Each LED indication
means as follows:
• Configuration port Indicator: Trans
The status displayed when a serial cable is connected for setting up
the board (not used in DX100).
• Configuration port Indicator: Recv
The status displayed when a serial cable is connected for setting up
the board (not used in DX100).
• Network Status
Displays the EtherNet/IP communication status.
• Module Status
Displays the PCU-ETHIO board status.
• Ethernet Link
Displays the Ethernet Link status.
• Transmission speed
Displays the Ethernet transmission speed.

The location and details of each LED is described as follows.

Configuration port Indicator: Trans Configuration port Indicator: Recv

Network Status Module Status

Ethernet Link

Transmission speed

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6 Error Indication
DX100 6.1 LED Indicators on the Board

 Network Status

Network Status Status Details and Solutions

Off The communication The presence of the station
target cannot be specified as the communication
identified. target cannot be identified.
• Check the Ethernet cable,
HUB, connector wiring and
connection status.
• Check the communication
speed of each device.
• Check the operating status
of the target
communication station.
Green light The communication The device is online, however
flashing target was identified, communication cannot be
however a CIP established.
connection could not be • Check the Ethernet cable,
established. HUB, connector wiring and
connection status.
• Check the communication
speed of each device.
• Check the operating status
of the target communica-
tion station.
• Check that the number of
I/O allocation matches that
set at the communication
target station.
Green light on CIP connection was Normal status
established.
Red light flashing One or more CIP Communications have been
connections have timed established with online status,
out. however there are stations with
a communication error.
• Check the operating status
of the target communica-
tion station.
• Check that the number of
I/O allocation matches that
set at the communication
target station.

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6 Error Indication
DX100 6.1 LED Indicators on the Board

 Module Status

Module Status Status Details and Solutions

Off The power has not been This board has not been
turned on, or this board installed correctly, or settings
has not started. may mean this board cannot be
used.
• Check the installation
status of this board.
• Check the setting status of
this board.
Green light This board settings could Cannot start normally as this
flashing not be changed correctly. board has not been set
correctly.
• Check the connection sta-
tus of this board.
• Check the setting status of
this board.
Green light on This board is operating Normal status
normally.
Red light flashing A minor problem has Check whether the alarm has
occurred. been output by the DX100 side.
Red light on A major problem has Replace the PCU-ETHIO board.
occurred.

 Ethernet Link

Ethernet Link Status Details and Solutions

Off The Ethernet (Physical) signals are not being
communication link has sent or received at the Ethernet
not been established. level.
• Check the installation
status of this board.
• Check the Ethernet cable,
HUB, connector wiring and
connection status.
• Check the communication
speed of each device.
Light on The Ethernet Normal status
communication link is
operating normally.

 Transmission Speed

Transmission Speed Status

Light on Communication at 100 Mbps
Off Communication at 10 Mbps

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DX100 OPTIONS
INSTRUCTIONS
EtherNet/IP BOARD
(PCU-ETHIO FOR INPUTONLY VERSION MADE BY Molex)

Specifications are subject to change without notice

for ongoing product modifications and improvements.

MANUAL NO.

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