This document discusses Ethernet communication capabilities between a YRC1000 robot controller and a PC. It describes the high-speed Ethernet server function protocol for developing new communication applications and existing communication functions using RS-232C or an older Ethernet server protocol. It also outlines the MOTOCOM software for PC-based communication, including transmission of jobs, system data, robot control signals, and I/O signals. Customization of transmission applications is supported through provided library functions, sample programs, and documentation.

1. ©2017YASKAWAElectricCorporation31
PE-179Rev.12017/11/17
YRC1000PC
Ethernet
DatacanbetransmittedbetweenYRC1000andPC.MainprotocolofYRC1000isHighSpeedEthernetServer
Function.
DetailsThehigh-speedEthernetserverfunctionisrecommendedwhendevelopingcommunicationapplicationnewly.
Whenyouuseanexistingcommunicationapplication,pleaseuseexistingcommunicationfunctions(DatatransmissionfunctionoroldEthernetserverfunction,etc).
TheRS232Cmediumcanbeusedinexistingcommunicationfunction(ItisnotpossibletoworkRS232CandEthernetsimultaneously).
MOTOCOMisanapplicationsoftwareforcommunicationinPC
ThefollowingdatatransmissionispossiblebyPCoperation.
1.Transmissionofjobs(singleandrelatedjobs)
2.Transmissionofconditionandgeneraldata
(tool,weaving,usercoordinate,welding-related,variabledata)
3.Saveofsystemdata(systeminfo,alarmhistory)
4.Robotcontrol(readofstatus,systemcontrol)
5.Read/writeofI/Osignals
ThefollowingdatatransmissionispossiblebyP.P.
1.Transmission(load,save,andverification)ofjobs
(singleandrelatedjobs)
2.Transmissionofconditionandgeneraldata
(tool,weaving,usercoordinate,welding-related,variabledata)
Saveofsystemdata(systeminfo)
Operation
Operation
UsersthemselvescancustomizetransmissionapplicationsbetweenYRC1000andPC.
Followingitemsareavailableforfacilitatingthecustomization.
Datatransmissionfunction(Motocom32.dll)betweenYRC1000andPC
Applicationcreationprocedurewithsampleprogramsincludingtheabovefunction.
DataTransmission:Stand-alonefunction
DataTransmission:Hostcontrolfunction
Job
Execution
MOTOCOM
<<Hardware>>
・PC(Windows7)orHMIwhichcan
communicatewithYRC1000
・Ethernetcable
・RS232Ccable(whenRS232Cisused)
<<Software>>
・High-SpeedEthernetServerFunction
(whichincludedYRC1000Ethernetfunction)
・DataTransmissionFunction
(whenRS232Cisused)
・MOTOCOM
(whenlibrarymadebyYASKAWAisused)
YRC1000OPTIONSINSTRUCTIONSFORETHERNETFUNCTION(HW1483358)
・YRC1000OPTIONSINSTRUCTIONSFORDATATRANSMISSIONFUNCTION
(HW1484044)(whenRS232Cisused)
・MOTOCOM32OPERATIONMANUAL(HW9482689)
OverviewandMerits
NecessaryequipmentRelateddocument
HighSpeedEthernetServerFunction
Thehigh-speedEthernetserverfunctionisanewcommunicationprotocoltoenable
high-speedEthernetcommunicationbetweentheYRC1000andexternaldevicessuch
asPC,etc.
ItispossibletocreateacommunicationprogramwithoutusingMOTOCOMsince
thisfunctionispublishingitscommunicationprotocol.
Thefollowingdatatransmissionispossiblebyexecutingtheinstructiondescribedinthejob.
1.Transmission(load,save,deletion)ofjobs(singleandrelatedjobs)
2.Transmissionofvariables(BYTE,INTEGER,DOUBLE,REAL,POSITION)
DataTransmission:DCIfunction
Contents(4)