Introduction
You can send or retrieve individual files from our controllers using the File Transfer (FTP) protocol. FTP is available on virtually all computers. This document will provide documentation and some tips on using FTP with Yasakawa Motoman controllers.
Connecting the Robot to a Network
Most of our systems support multiple Ethernet LAN connections to the controller. Connections are labelled LAN1, LAN2, and LAN3. LAN1 is reserved to be used by the pendant. LAN 2 and LAN3 connections can be configured in Maintenance Mode (System, Option Function, LAN Interface Settings). Reference material explaining the network capabilities and configuration instructions is included in the “References” section below. You will need to coordinate the network settings for the controller with all other devices on same the network so they can communicate with each other |
Figure 1 - Lan connections on a YRC1000 |
. If this is a new network, the following settings are commonly used and will get you started:
IP ADDRESS: 192.168.1.31 (for the controller)
SUBNET MASK: 255.255.255.0
If your PC will be connecting on the same network use similar settings for your PC but pick something other than 31 for the last part of the IP Address. Every device on the same network subnet (e.g., 192.168.1.*) must have a unique number in the last part of the IP Address.
You can have multiple robot controllers on the same network and access any / all of them from other devices on the network. Make sure each has a unique address.
References – LAN Interface Settings
Controller | Manual Name / Link |
DX100 | Ethernet Function |
DX200 | Ethernet Function |
FS100, FS100L | Controller Operator's |
YRC1000 | General Operator's |
YRC1000micro | YRC1000micro Operator's Manual |
Testing the Network Connection
To verify the correct network settings are in place, there is a “ping” function available on most networked systems. (The name comes from submarine active sonar terminology that sends a pulse of sound and listens for the echo to detect objects under water.) A device can send a “ping” network packet targeting other devices on the network and listen to see if there is a response and how long it takes to return. To issue a ping from your Windows PC, open a command prompt (click on “Start,” type CMD and then press enter.) From the command prompt, enter “ping 192.168.1.31” (or the address of your controller that you entered). A successful response will begin with “Reply from “. Unsuccessful responses are “Request timed out.” |
Figure 2 - Ping from PC |
You can also issue a ping from DX200 or YRC controllers to other devices on the network to check connectivity “outwards” from the controller. The ping command is available under SYSTEM INFO, NETWORK UTILITY if you are at Management Level security. Operation is like on a PC. You provide the target network address and select “EXECUTE” from the bottom of the screen to start the ping. Results will be displayed on the pendant. |
Figure 3 - Ping from Controller |
Figure 4 - FileZilla FTP Session Using FTP
File Transfer Protocol (FTP) is another standard (free) TCP/IP function like ping. It is used to send or receive files from one device to another via the network. In operation, one device is an FTP “Client” which makes requests of a device acting as the FTP “Server” where the files are located. Clients send commands that servers respond to. The client can receive files from the server, send files to the server, request a directory of available files and issue other commands. Our controllers can function as an FTP server. There is an FTP client application that is included with Windows. It runs from the Windows command line. There are also numerous freeware or public domain clients for Windows that can be downloaded. These may be easier to use and configure than the native Windows FTP client. Shown, is an FTP session using the “FileZilla” Windows app.
The FTP Server functions are available on FS100, DX100, DX200 and YRC controllers. Exact features and setup of the server varies slightly. A list of reference documents for enabling FTP on these controllers follows. TIP: Read and follow instructions carefully. Experience has shown it can be tricky to get FTP transfers working with different settings.
References – File Transfer Protocol (FTP)
Controller | Manual Name / Link |
DX100 | FTP Function |
DX200 | FTP Function (Ethernet Advanced Feature Function) |
FS100 | FTP Function |
YRC1000 | Ethernet Function |
YRC1000micro | Ethernet Function |
Tips for Using FTP
In maintenance mode, be sure to check your Network Function settings. There, we recommend FTP be set to STANDARD - not EXPAND to turn off SSL/TLS. Below is a description of the operation of the FTP server in STANDARD vs. EXPAND mode.
X = Feature NOT available
O = Feature IS available
On your FTP client, use rcmaster as the username and then your MANAGEMENT password to connect to the controller. (See the list of valid usernames below.) Once you verify you can transfer files using rcmaster, you can verify other usernames.
We have found third-party FTP clients (e.g., FILEZILLA) are easier to set up and more reliable ways to get connected than just a windows FTP command. Both can work, but you get more features out of the third-party clients.
RS089 set to 1 to allow FTP directory view (if no files or only job files visible)
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