Connection Parameters Needed for HMI/cMT Products to Communicate with a Yaskawa Electric DX100/DX200/FS100/YRC1000 Robot Controller (Ethernet) using EBPro (EasyBuilder Pro)

Introduction

All Maple Systems HMIs programmed with EBPro (EasyBuilder Pro), including every cMT X Series and cMT Series model, are compatible with a Yaskawa Electric DX100/DX200/FS100/YRC1000 Robot Controller (Ethernet). Configure your Controller and HMI/cMT with the following parameters to establish reliable communication.

Supported Series: YASKAWA controller type DX100, FS100, DX200, YRC1000, YRC100micro

Website: www.yaskawa.com

HMI Settings

Parameters	Recommended	Options
PLC type	YASKAWA DX100/DX200/FS100/YRC1000 Robot Controller (Ethernet)
PLC I/F	Ethernet (UDP)
Port no.	10040
Controller type	DX100	DX100, FS100, DX200, YRC1000, YRC1000micro

The address settings may vary according to the controller type selected. Taking DX200 as an example, after selecting it as the controller, the settings window below opens. In this window, users may select the Command first, then select the appropriate Instance and Attribute to complete the address setting. Command stands for address type, Instance stands for the content of the Command, and Attribute stands for the attribute of the Instance. Instance and Attribute may have further settings to complete.

IP Address Settings dialog showing IP address 192.168.1.111, port 10040, and Controller type dropdown with DX100, FS100, DX200, YRC1000, and YRC1000micro options.

Address Setting Examples

Example 1

As shown in the settings below, the Command is Administration_Hour, which is used to “Control power ON time”, and its attribute is “Operation start time”.

Read/Write address dialog with Command set to Administration_Hour, Instance set to Control power ON time, and Attribute set to Operation start time.

Example 2

As shown in the settings below, the Command is Axis_Composition, which uses R1 of “Robot (Cartesian coordinate)”, and its attribute is “Axis name of the first axis”.

Address settings dialog with Command set to Axis_Composition, Instance set to Robot (cartesian coordinate) with R1 selected, and Attribute set to Axis name of the first axis.

After setting, the following result is shown. The number shown near the Address drop-down list is automatically generated and cannot be changed by users.

Read/Write address dialog showing Device as YASKAWA Robot Controller and Address field with Axis_Composition selected and auto-generated number 1010100.

Address Parameters

1. Command: Administration_Hour

Function: Management Time Acquiring Command (0x88)

Instances (DX100/FS100/DX200/YRC1000):

Instance	Sub Instance	Details
Control power ON time
Servo power ON time	(TOTAL)
	(R1 to R8)
	(S1 to S24)
Play back time	(TOTAL)
	(R1 to R8)
	(S1 to S24)
Motion time	(TOTAL)
	(R1 to R8)
	(S1 to S24)
Operation time	(application 1 to 8)

Instances (YRC1000micro):

Instance	Sub Instance	Details
Control power ON time
Servo power ON time	(TOTAL)
	(R1 to R2)
	(S1 to S3)
Play back time	(TOTAL)
	(R1 to R2)
	(S1 to S3)
Motion time	(TOTAL)
	(R1 to R2)
	(S1 to S3)
Operation time	(application 1 to 2)

Attributes:

Attribute	Sub Attribute	Details
Operation start time		8 Words — Ex. 2019/02/22 15:11
Elapse time		6 Words — Ex. 000000:00’00

2. Command: Alarm

Function: Alarm Data Reading Command (0x70)

Instances:

Instance	Details
The latest alarm	Up to four alarms are displayed on the P.P display at the same time
The second alarm from the latest
The third alarm from the latest
The fourth alarm from the latest

Attributes:

Attribute	Details
Alarm code	Range is from 0x0001 to 0x270F (decimal value: 1~9999)
Alarm data	Setting values vary in accordance with the contents of the alarm type. Also, some alarms are not displayed with the sub code. In this case, the value is zero (0x0).
By alarm type	0 : No alarm 1 : Decimal UNSIGNED SHORT type (display example: [1]) 2 : UNSIGNED CHAR bit pattern (display example: [0000_0001]) 3 : User axis type (display example: [SLURBT]) 4 : Spacial coordinate type (display example: [XYZ]) 5 : Robot coordinate type (display example: [XYZRxRyRz]) 6 : Conveyor characteristic file (display example: [123]) 8 : Control group type (display example: [R1R2S1S2]) — robot & station 9 : Decimal SHORT type (display example: [-1]) 10 : UNSIGNED SHORT bit pattern (display example: [0000_0000_0000_0001]) 11 : Control group type (display example: [R1]) — for robot only 12 : Control group type (display example: [R1S1B1]) — for robot, station and base 20 : Control group LOW/HIGH logical axis (display example: [R1:LOW SLURBT, HIGH SLURBT]) 21 : Control group MIN/MAX logical axis (display example: [R1: MIN SLURBT, MAX SLURBT]) 22 : Control group MIN/MAX spacial coordinate (display example: [R1: MIN XYZ, MAX XYZ]) 23 : Logical axis of both control group 1 and control group 2 (display example: [R1: SLURBT, R2: SLURBT]) 24 : Logical axis 1 and 2 of the control group (display example: [R1: SLURBT, SLURBT]) 25 : Logical axis of the control group and UNSIGNED CHAR type (display example: [R1: SLURBT, 1]) 27 : Control group and UNSIGNED CHAR type (display example: [R1: 1])
Alarm occurring time	8 Words
Alarm character string name	16 Words

3. Command: Alarm_Detailed

Function: Alarm Data Reading Command (0x30A)

Instances:

Instance	Details
The latest alarm	Up to four alarms are displayed on the P.P display at the same time. Specify one out of them.
The second alarm from the latest	Up to four alarms are displayed on the P.P display at the same time. Specify one out of them.
The third alarm from the latest	Up to four alarms are displayed on the P.P display at the same time. Specify one out of them.
The fourth alarm from the latest	Up to four alarms are displayed on the P.P display at the same time. Specify one out of them.

Attributes:

Attribute	Details
Alarm code	Range is from 0x0001 to 0x270F (decimal value: 0~9999)
Alarm data	Setting values vary in accordance with the contents of the alarm type. Also, some alarms are not displayed with the sub code. In this case, the value is zero (0x0).
By alarm type	0 : No alarm 1 : Decimal UNSIGNED SHORT type (display example: [1]) 2 : UNSIGNED CHAR bit pattern (display example: [0000_0001]) 3 : User axis type (display example: [SLURBT]) 4 : Spacial coordinate type (display example: [XYZ]) 5 : Robot coordinate type (display example: [XYZRxRyRz]) 6 : Conveyor characteristic file (display example: [123]) 8 : Control group type (display example: [R1R2S1S2]) — robot & station 9 : Decimal SHORT type (display example: [-1]) 10 : UNSIGNED SHORT bit pattern (display example: [0000_0000_0000_0001]) 11 : Control group type (display example: [R1]) — for robot only 12 : Control group type (display example: [R1S1B1]) — for robot, station and base 20 : Control group LOW/HIGH logical axis (display example: [R1:LOW SLURBT, HIGH SLURBT]) 21 : Control group MIN/MAX logical axis (display example: [R1: MIN SLURBT, MAX SLURBT]) 22 : Control group MIN/MAX spacial coordinate (display example: [R1: MIN XYZ, MAX XYZ]) 23 : Logical axis of both control group 1 and control group 2 (display example: [R1: SLURBT, R2: SLURBT]) 24 : Logical axis 1 and 2 of the control group (display example: [R1: SLURBT, SLURBT]) 25 : Logical axis of the control group and UNSIGNED CHAR type (display example: [R1: SLURBT, 1]) 27 : Control group and UNSIGNED CHAR type (display example: [R1: 1])
Alarm occurring time	8 Words
Alarm character string name	16 Words
Sub code data additional information character strings	8 Words
Sub code data character strings	48 Words
Sub code data character strings reverse display information	48 Words

4. Command: Alarm_History

Function: Alarm History Reading Command (0x71)

Instances:

Instance	Sub Instance	Details
Major failure
Monitor alarm
User alarm	system
	user
OFF line alarm

Attributes:

Attribute	Details
Alarm code	Range is from 0x0001 to 0x270F (decimal value: 9999)
Alarm data	Setting values vary in accordance with the contents of the alarm type. Also, some alarms are not displayed with the sub code. In this case, the value is zero (0x0).
Alarm type	0 : No alarm 1 : Decimal UNSIGNED SHORT type (display example: [1]) 2 : UNSIGNED CHAR bit pattern (display example: [0000_0001]) 3 : User axis type (display example: [SLURBT]) 4 : Spacial coordinate type (display example: [XYZ]) 5 : Robot coordinate type (display example: [XYZRxRyRz]) 6 : Conveyor characteristic file (display example: [123]) 8 : Control group type (display example: [R1R2S1S2]) — robot & station 9 : Decimal SHORT type (display example: [-1]) 10 : UNSIGNED SHORT bit pattern (display example: [0000_0000_0000_0001]) 11 : Control group type (display example: [R1]) — for robot only 12 : Control group type (display example: [R1S1B1]) — for robot, station and base 20 : Control group LOW/HIGH logical axis (display example: [R1: LOW SLURBT, HIGH SLURBT]) 21 : Control group MIN/MAX logical axis (display example: [R1: MIN SLURBT, MAX SLURBT]) 22 : Control group MIN/MAX spacial coordinate (display example: [R1: MIN XYZ, MAX XYZ]) 23 : Logical axis of both control group 1 and control group 2 (display example: [R1: SLURBT, R2: SLURBT]) 24 : Logical axis 1 and 2 of the control group (display example: [R1: SLURBT, SLURBT]) 25 : Logical axis of the control group and UNSIGNED CHAR type (display example: [R1: SLURBT, 1]) 27 : Control group and UNSIGNED CHAR type (display example: [R: 1])
Alarm occurring time	8 Words
Alarm character strings name	16 Words

5. Command: Alarm_History_Detailed

Function: Alarm History Reading Command (0x30B)

Instances:

Instance	Sub Instance	Details
Major failure
Monitor alarm
User alarm	System
	User
OFF line alarm

Attributes:

Attribute	Details
Alarm code	Range is from 0x0001 to 0x270F (decimal value: 9999)
Alarm data	Setting values vary in accordance with the contents of the alarm type. Also, some alarms are not displayed with the sub code. In this case, the value is zero (0x0).
Alarm type	0 : No alarm 1 : Decimal UNSIGNED SHORT type (display example: [1]) 2 : UNSIGNED CHAR bit pattern (display example: [0000_0001]) 3 : User axis type (display example: [SLURBT]) 4 : Spacial coordinate type (display example: [XYZ]) 5 : Robot coordinate type (display example: [XYZRxRyRz]) 6 : Conveyor characteristic file (display example: [123]) 8 : Control group type (display example: [R1R2S1S2]) — robot & station 9 : Decimal SHORT type (display example: [-1]) 10 : UNSIGNED SHORT bit pattern (display example: [0000_0000_0000_0001]) 11 : Control group type (display example: [R1]) — for robot only 12 : Control group type (display example: [R1S1B1]) — for robot, station and base 20 : Control group LOW/HIGH logical axis (display example: [R1:LOW SLURBT, HIGH SLURBT]) 21 : Control group MIN/MAX logical axis (display example: [R1: MIN SLURBT, MAX SLURBT]) 22 : Control group MIN/MAX spacial coordinate (display example: [R1: MIN XYZ, MAX XYZ]) 23 : Logical axis of both control group 1 and control group 2 (display example: [R1: SLURBT, R2: SLURBT]) 24 : Logical axis 1 and 2 of the control group (display example: [R1: SLURBT, SLURBT]) 25 : Logical axis of the control group and UNSIGNED CHAR type (display example: [R1: SLURBT, 1]) 27 : Control group and UNSIGNED CHAR type (display example: [R1: 1])
Alarm occurring time	8 Words
Alarm character strings name	16 Words
Sub code data additional information character strings	8 Words
Sub code data character strings	48 Words
Sub code data character strings reverse display information	48 Words

6. Command: Axis_Composition

Function: Axis Configuration Information Reading Command (0x74)

Instances (DX100/FS100/DX200/YRC1000):

Instance	Sub Instance	Details
Robot (pulse value)	R1~R8
Base (pulse value)	B1~B8
Station (pulse value)	S1~S24
Robot (cartesian coordinate)	R1~R8
Base (cartesian coordinate)	B1~B8

Instances (YRC1000micro):

Instance	Sub Instance	Details
Robot (pulse value)	R1~R2
Base (pulse value)	B1~B2
Station (pulse value)	S1~S3
Robot (cartesian coordinate)	R1~R2
Base (cartesian coordinate)	B1~B2

Attributes:

Attribute	Details
First coordinate name	2 Words
Second coordinate name
Third coordinate name
Fourth coordinate name
Fifth coordinate name
Sixth coordinate name
Seventh coordinate name
Eighth coordinate name

7. Command: B

Function: Byte Variable (B) Reading / Writing Command (0x7A) — Data type: 8 bit

Instances:

Instance	Sub Instance	Details
0~99

Attributes: (none)

8. Command: BP

Function: Base Position Type Variable (Bp) Reading / Writing Command (0x80)

Instances:

Instance	Sub Instance	Details
0~127

Attributes:

Attribute	Details
Data type	0 : Pulse value / 16 : Base coordinated value
Coordinated data of the first axis	2 Words
Coordinated data of the second axis
Coordinated data of the third axis
Coordinated data of the fourth axis
Coordinated data of the fifth axis
Coordinated data of the sixth axis
Coordinated data of the seventh axis
Coordinated data of the eighth axis

9. Command: D

Function: Double Precision Integer Type Variable (D) Reading / Writing Command (0x7C) — Data type: 32 bit

Instances:

Instance	Sub Instance	Details
0~99

Attributes: (none)

10. Command: Axis_Position_Deflection

Function: Position Error Reading Command (0x76)

Instances (DX100/FS100/DX200/YRC1000):

Instance	Sub Instance	Details
Robot axis	R1~R8
Base axis	B1~B8
Station axis	S1~S24

Instances (YRC1000micro):

Instance	Sub Instance	Details
Robot axis	R1~R2
Base axis	B1~B2
Station axis	S1~S3

Attributes:

Attribute	Details
First axis data	Position variable data of each axis can be read out
Second axis data
Third axis data
Fourth axis data
Fifth axis data
Sixth axis data
Seventh axis data
Eighth axis data

11. Command: Each_Shaft_Torque

Function: Torque Data Reading Command (0x77)

Instances (DX100/FS100/DX200/YRC1000):

Instance	Sub Instance	Details
Robot axis	R1~R8
Base axis	B1~B8
Station axis	S1~S24

Instances (YRC1000micro):

Instance	Sub Instance	Details
Robot axis	R1~R2
Base axis	B1~B2
Station axis	S1~S3

Attributes:

Attribute	Details
First axis data	Torque data of each axis can be read out
Second axis data
Third axis data
Fourth axis data
Fifth axis data
Sixth axis data
Seventh axis data
Eighth axis data

12. Command: EX

Function: External Axis Type Variable (Ex) Reading / Writing Command (0x81) — Data type: 32 bit

Instances:

Instance	Sub Instance	Details
0~127

Attributes:

Attribute	Details
Data type	0 : Pulse value
Coordinated data of the first axis
Coordinated data of the second axis
Coordinated data of the third axis
Coordinated data of the fourth axis
Coordinated data of the fifth axis
Coordinated data of the sixth axis
Coordinated data of the seventh axis
Coordinated data of the eighth axis

13. Command: I

Function: Integer Type Variable (I) Reading / Writing Command (0x7B) — Data type: 16 bit

Instances:

Instance	Details
0~99

Attributes: (none)

14. Command: IO_Data

Function: I/O Data Reading / Writing Command (0x78) — Data type: 8 bit

Instances:

Instance	Details
Robot user input signal
Robot user output signal
External input signal
Network input signal	Only network input signal is writable
External output signal
Network output signal
Robot system input signal
Robot system output signal
Interface panel input signal
Auxiliary relay signal
Robot control status signal
Pseudo input signal

Attributes: (none)

15. Command: Job_Information

Function: Executing Job Information Reading Command (0x73)

Instances:

Instance	Details
Master task
Sub task 1~15

Attributes:

Attribute	Details
Job name	16 Words
Line number	0~9999
Step number	1~9998
Speed override value

16. Command: Job_Select

Function: Job Select Command (0x87)

Instances:

Instance	Details
Set the executing job
Set the master job (task 0~15)

Attributes:

Attribute	Details
Job name	16 Words
Line number	2 Words (0~9999)

NOTE: 16 words job name + 2 words line number = 18 words must be written together.

17. Command: On_Off

Write only — 1 = ON, 2 = OFF

Function: Hold / Servo On/Off Command (0x83)

Instances:

Instance	Details
HOLD
Servo ON
HLOCK

Attributes: (none)

18. Command: P

Function: Robot Position Type Variable (P) Reading / Writing Command (0x7F)

Instances:

Instance	Sub Instance	Details
0~127

Attributes:

Attribute	Details
Data type	0 : Pulse value / 16 : Base coordinated value / 17 : Robot coordinated value / 18 : User coordinated value / 19 : Tool coordinated value
Form	For the form, refer to “Details of data”.
Tool number
User coordinate number
Extended form	For the extended form, refer to “Details of data”.
Coordinated data of the first axis
Coordinated data of the second axis
Coordinated data of the third axis
Coordinated data of the fourth axis
Coordinated data of the fifth axis
Coordinated data of the sixth axis
Coordinated data of the seventh axis
Coordinated data of the eighth axis

Details of data: Form

Bit	Value 0	Value 1
Bit0	Front	Back
Bit1	Upper arm	Lower arm
Bit2	Flip	No flip
Bit3	θR < 180	θR ≥ 180
Bit4	θT < 180	θT ≥ 180
Bit5	θS < 180	θS ≥ 180
Bit6	Redundant front	Redundant back
Bit7	Previous step regarded	Form regarded reverse

Details of data: Extend Form

Bit	Value 0	Value 1
Bit0	θL < 180	θL ≥ 180
Bit1	θU < 180	θU ≥ 180
Bit2	θB < 180	θB ≥ 180
Bit3	θE < 180	θE ≥ 180
Bit4	θW < 180	θW ≥ 180
Bit5	Reserve
Bit6
Bit7

19. Command: R

Function: Real Type Variable (R) Reading / Writing Command (0x7D) — 32 bit data

Instances:

Instance	Sub Instance	Details
0~99

Attributes: (none)

20. Command: Register_Data

Function: Register Data Reading / Writing Command (0x79) — 16 bit data

Instances:

Instance	Sub Instance	Details
0~999

Attributes: (none)

21. Command: Reset_Cancellation

Write only — write 1 to reset

Function: Alarm Reset / Error Cancel Command (0x82)

Instances:

Instance	Details
Resetting of alarm
Cancelling of error

Attributes: (none)

22. Command: Robot_Position

Function: Robot Position Data Reading Command (0x75)

Instances (DX100/FS100/DX200/YRC1000):

Instance	Sub Instance	Details
Robot (pulse value)	R1~R8
Base (pulse value)	B1~B8
Station (pulse value)	S1~S24
Robot (cartesian coordinate)	R1~R8

Instances (YRC1000micro):

Instance	Sub Instance	Details
Robot (pulse value)	R1~R2
Base (pulse value)	B1~B2
Station (pulse value)	S1~S3
Robot (cartesian coordinate)	R1~R2

Attributes:

Attribute	Details
Data type	0 : pulse value / 16 : base coordinate value
Form	For the form, refer to “Details of data”.
Tool number
User coordinate number
Extended form	For the extended form, refer to “Details of data”.
First axis data
Second axis data
Third axis data
Fourth axis data
Fifth axis data
Sixth axis data
Seventh axis data
Eighth axis data

Details of data: Form

Bit	Value 0	Value 1
Bit0	Front	Back
Bit1	Upper arm	Lower arm
Bit2	Flip	No flip
Bit3	θR < 180	θR ≥ 180
Bit4	θT < 180	θT ≥ 180
Bit5	θS < 180	θS ≥ 180
Bit6	Redundant front	Redundant back
Bit7	Previous step regarded reverse conversion specified	Form regarded reverse conversion specified

Details of data: Extend Form

Bit	Value 0	Value 1
Bit0	θL < 180	θL ≥ 180
Bit1	θU < 180	θU ≥ 180
Bit2	θB < 180	θB ≥ 180
Bit3	θE < 180	θE ≥ 180
Bit4	θW < 180	θW ≥ 180
Bit5	Reserve
Bit6
Bit7

23. Command: S

Function: 16 Byte Character Type Variable (S) Reading / Writing Command (0x7E) — 8 Words

Instances:

Instance	Sub Instance	Details
0~99

Attributes: (none)

24. Command: Start

Write only — write 1 to start

Function: Start-up (Job Start) Command (0x86)

25. Command: State_Switch

Write only — 1 : STEP / 2 : 1 CYCLE / 3 : CONTINUE

Function: Step / Cycle / Continuous Switching Command (0x84)

26. Command: Status

Function: Status Information Reading Command (0x72)

Attributes:

Attribute	Details
Data 1	Specify the status data number. For the details of Data 1 and Data 2, refer to “Details of data”.
Data 2

Details of data: Data 1

Bit	Details
Bit0	Step
Bit1	1 cycle
Bit2	Automatic and continuous
Bit3	Running
Bit4	In-guard safe operation
Bit5	Teach
Bit6	Play
Bit7	Command remote

Details of data: Data 2

Bit	Details
Bit0
Bit1	In hold status (by programming pendant)
Bit2	In hold status (externally)
Bit3	In hold status (by command)
Bit4	Alarming
Bit5	Error occurring
Bit6	Servo ON
Bit7

27. Command: String_Display_To_Pendant

Write only — 15 words

Function: Character String Display Command To The Programming Pendant (0x85)

28. Command: System_Information

Function: System Information Acquiring Command (0x89)

Instances (DX100/FS100/DX200/YRC1000):

Instance	Sub Instance	Details
Type information	R1~R8
Type information	S1~S24
Application information	1~8

Instances (YRC1000micro):

Instance	Sub Instance	Details
Type information	R1~R2
Type information	S1~S3
Application information	1~2

Attributes:

Attribute	Details
System software version	12 Words
Model name / application	8 Words
Parameter version	4 Words

29. Command: S_32BYTE

Function: 32 Byte Character Type Variable (S) Reading / Writing Command (0x8E) — 16 words

Instances:

Instance	Sub Instance	Details
0~99

30. Command: Move_Instruction_Cartesian

Write only — data must be written all at once.

Function: Move Instruction Command (Type Cartesian coordinates) (0x8A)

Instances:

Instance	Details
Link absolute position operation
Straight absolute position operation
Straight increment value operation

Data:

Data	Details
Specifying control group (Robot)	1 to 8 (Robot No.)
Specifying control group (Station)	1 to 24 (Station No.)
Specifying the classification in speed	Specify the classification of operations: 0 : % (Link operation) / 1 : V (Cartesian operation) / 2 : VR (Cartesian operation)
Specifying a speed	Specify the rate — Link operation : 0.01% / Cartesian operation V speed : 0.1 mm/s / Cartesian operation VR speed : 0.1 degree/s
Specifying the operation coordinate	16 : Base coordinate / 17 : Robot coordinate / 18 : User coordinate / 19 : Tool coordinate
X coordinate value
Y coordinate value
Z coordinate value
Tx coordinate value	unit: 0.0001 degree
Ty coordinate value	unit: 0.0001 degree
Tz coordinate value	unit: 0.0001 degree
Reservation
Reservation	Only supported in YRC1000micro
Type	Refer to “Details of data” below
Expanded type
Tool No.	0 to 63
User coordinate No.	1 to 63
Base 1st axis position
Base 2nd axis position
Base 3rd axis position
Station 1st axis position
Station 2nd axis position
Station 3rd axis position
Station 4th axis position
Station 5th axis position
Station 6th axis position

Details of data: Form

Bit	Value 0	Value 1
Bit0	Front	Back
Bit1	Upper arm	Lower arm
Bit2	Flip	No flip
Bit3	θR < 180	θR ≥ 180
Bit4	θT < 180	θT ≥ 180
Bit5	θS < 180	θS ≥ 180
Bit6	Reserve
Bit7

Details of data: Extend Form

Bit	Value 0	Value 1
Bit0	θL < 180	θL ≥ 180
Bit1	θU < 180	θU ≥ 180
Bit2	θB < 180	θB ≥ 180
Bit3	θE < 180	θE ≥ 180
Bit4	θW < 180	θW ≥ 180
Bit5	Reserve
Bit6
Bit7

31. Command: Move_Instruction_Pulse

Write only — data must be written all at once.

Function: Move Instruction Command (Type Pulse) (0x8B)

Instances:

Instance	Details
Link absolute position operation
Straight absolute position operation

Data:

Data	Details
Specifying control group (Robot)	1 to 8 (Robot No.)
Specifying control group (Station)	1 to 24 (Station No.)
Specifying the classification in speed	Specify the classification of operations: 0 : % (Link operation) / 1 : V (Cartesian operation) / 2 : VR (Cartesian operation)
Specifying a speed	Specify the rate — Link operation : 0.01% / Cartesian operation V speed : 0.1 mm/s / Cartesian operation VR speed : 0.1 degree/s
Robot 1st axis pulse value
Robot 2nd axis pulse value
Robot 3rd axis pulse value
Robot 4th axis pulse value
Robot 5th axis pulse value
Robot 6th axis pulse value
Robot 7th axis pulse value
Robot 8th axis pulse value
Tool No.	0 to 63
Base 1st axis position (pulse value)	Up to three axes
Base 2nd axis position (pulse value)
Base 3rd axis position (pulse value)
Station 1st axis position (pulse value)
Station 2nd axis position (pulse value)
Station 3rd axis position (pulse value)
Station 4th axis position (pulse value)
Station 5th axis position (pulse value)
Station 6th axis position (pulse value)

Device Address

Bit/Word	Device type (Command)	Format	Range
B	Status_Bit	DDDDDDDdd	0 ~ 163836331
B	Robot_Position_Bit	DDDDDDDdd	0 ~ 163836331
B	IO_Data_Bit	DDDDDo	0 ~ 163837
B	Register_Data_Bit	DDDDDdd	0 ~ 1638315
B	B_Bit	DDDDDo	0 ~ 163837
B	I_Bit	DDDDDdd	0 ~ 1638315
B	D_Bit	DDDDDdd	0 ~ 1638331
B	R_Bit	DDDDDdd	0 ~ 1638331
B	P_Bit	DDDDDDDdd	0 ~ 163836331
W	Administration_Hour	DDDDDDDDD	0 ~ 163836300
W	Alarm	DDDDDDDDD	0 ~ 163836300
W	Alarm_Detailed	DDDDDDDDD	0 ~ 163836300
W	Alarm_History	DDDDDDDDD	0 ~ 163836300
W	Alarm_History_Detailed	DDDDDDDDD	0 ~ 163836300
W	Axis_Composition	DDDDDDDDD	0 ~ 163836300
W	B	DDDDD	0 ~ 16383
W	BP	DDDDDDD	0 ~ 163363
W	D	DDDDD	0 ~ 16383
W	Axis_Position_Deflection	DDDDDDD	0 ~ 1638363
W	Each_Shaft_Torque	DDDDDDD	0 ~ 1638363
W	EX	DDDDDDD	0 ~ 1638363
W	I	DDDDD	0 ~ 16383
W	IO_Data	DDDDD	0 ~ 16383
W	Job_Information	DDDDDDDDD	0 ~ 163836300
W	Job_Select	DDDDDDDDD	0 ~ 163836300
W	On_Off	DDDDD	0 ~ 16383
W	P	DDDDDDD	0 ~ 1638363
W	R	DDDDD	0 ~ 16383
W	Register_Data	DDDDD	0 ~ 16383
W	Reset_Cancellation	DDDDD	0 ~ 16383
W	Robot_Position	DDDDDDD	0 ~ 1638363
W	S	DDDDDDD	0 ~ 1638300
W	Start	DDDDDDD	0 ~ 1638363
W	State_Switch	DDDDD	0 ~ 16383
W	DDDDDDD	0 ~ 1638363	Status
W	String_Display_To_Pendant	DDDDDDD	0 ~ 1638300
W	System_Information	DDDDDDDDD	0 ~ 163836300
W	S_32BYTE	DDDDDDD	0 ~ 1638300
W	Move_Instruction_Cartesian	DDDDDDD	0 ~ 1638300
W	Move_Instruction_Pulse	DDDDDDD	0 ~ 1638300

Wiring Diagram

NOTE: Use a straight-through Ethernet cable (CAT5e or higher) to connect the HMI to the Yaskawa robot controller.

The diagram below shows the Ethernet cable wiring.

Straight-through Ethernet cable wiring diagram showing all 8 pairs: W/Orange, Orange, W/Green, Blue, W/Blue, Green, W/Brown, and Brown connected pin-to-pin on both ends.