Chapter 5 I/O Control and Timing Charts

List of Communication Commands for Control

Notes on Command Input/Output

When using non-procedural commands

Command input during operation

Command input is accepted during operation. However, if commands need to be executed in a high-speed operation line, remember that execution of commands may suspend trigger acceptance.
The execution time of a command depends on the amount of load on the controller and the type of operation performed by the controller. For the use in which a program must wait for command execution to be completed before starting the next inspection, be careful of the waiting time fluctuation according to the conditions mentioned above.

Number of characters for command parameters

Any number of parameter characters within the range specified for each command can be entered.

When an error occurs upon command acceptance

An error response “ER, **, nn” will be returned.

The error response consists of the following information:

Received command that caused the error

2-digit error code

02: Command error (The received command is invalid.)
03: Command action disabled (The received command cannot work.)
22: Parameter error (The value of parameter data or the number of data pieces is outside the range.)
91: Timeout error

An example of error output

When the No. 1005 (unavailable number) is specified for program No. changing command (PW), “ER,PW,22” is returned as response data.

When using number-specified commands

Specification and execution of each command number is processed in 1 word.

Command input during operation

Command input is accepted during operation. However, if commands need to be executed in a high-speed operation line, remember that execution of commands may suspend trigger acceptance.

When an error occurs upon command acceptance

The error code is written in the command result address as the execution result. The error response consists of the following information:

0	Success
02	Command error (The received command is invalid.)
03	Command action disabled (The received command cannot work.)
22	The number or range of the parameter is incorrect.

An example of error output

When the No. 1005 (unavailable number) is specified for program No. changing command, “22” is written in the command result address as binary data of 1 word.

Example: Changing the current program No. to program No. 10 stored in SD card 1 using the PLC-Link.

The detailed command assignments for this example is shown below.

List of Operation Modes and Available Input Commands

= Possible

Command type	Function	Command name (No protocol)	Command number (Field network)	I/O terminal command support	Run	Setup	Block*6
Trigger	Trigger	T1	1*1	×*3			×
System control	Switch to run mode	R0	8	×
	Switch to setup mode	S0	9	×			×
	Reset	RS	10*1	×*3		×	x
	Reboot	RB	11	×			x
	Save Program	SS	12				x
	Clear error	CE	13*1				x
	Read run/setup mode	RM	16	×
Change inspection program	Change inspection programs	PW	24				x
Change inspection program	Read program setting	PR	25	×			x
Measurement control	Change recipe	EXW	41*2				x
	Read recipe	EXR	42	×			x
	Timing	TIM	52*1	*4			x
	Auto zero	ZR	53*1	*4			x
	Reset measured value	MRS	54*1	*4			x
	Reset measured value (all templates)	RSA	55*1	*4			x
I/O control	Enable/Disable Trigger Input	TE	56	×*3			x
I/O control	Enable/Disable Output	OE	57	×*3		×	x
Utility	Replace the externally specified string	STW	60	x			x
	Read the externally specified string	STR	61	x			x
	Clear Archived Image	HC	66	×			x
	Change Output File/Folder	OW	69			×	x
	Echo	EC	-	×
System	Write Date & Time	TW	80	×			x
	Read Date & Time	TR	81	×			x
	Read version information	VI	82	×
	Write time zone	TZW	83	×		×	x
	Read time zone	TZR	84	×		×	x
Fetch measurement results	Fetch internal measurement values	GR	104	×		×	x
Fetch measurement results	Fetch measured values	GM	112	×		×	x
Head-to-head Adjustment Execution	Head-to-head Adjustment Execution	HAE	122	×	×	*5	x
Image Composition	Write image composition capture cycle	ICCW	128	x	x		x
Image Composition	Read image composition capture cycle	ICCR	129	x			x
Simple Monitor View	Change simple monitor view strings	AIW	-	x			x
Simple Monitor View	Obtain simple monitor view strings	AIR	-	x			x
Setting change	Write tool settings	TSW	130	x	x		x
	Read tool settings	TSR	131	x			x
	Clear tool settings	TSC	132	x	x		x
Head Adjustment	Obtain optical axis state	OASR	136	x	x		x

*1 In addition to running commands, functions can also be run by operating a bit device with assigned commands.

*2 Recipe numbers can also be changed by changing the recipe number area for the word device.

*3 Can be run from the input terminal.

*4 Can also be run from the input terminal.

*5 Execution is only possible after the head-to-head adjustment start command is issued.

*6 When switching to setup mode with another device, the commands from the previous device will be “Block”.

(Example) The commands from the PLC will be “Block” when using the PLC to control, but then switching [Setup] modes from the dedicated monitor (TM-MP120) or TM-X Navigator.

Trigger

T1: Issue Trigger

This command issues a trigger.

For non-procedural commands

Send

T1 Issue a trigger

Receive

For number-specified commands

The number-specified command No. is “1”.

Send

Word Device	*
	1

* Starting word device (command address)

Receive

Word Device	*
Return value	Execution result

* Starting word device (command result address)

Execution result

0	Success
03	The command was sent when triggers could not be accepted or when trigger input was disabled (when READY is not turned on). When the command was issued in Setup mode.
22	An unnecessary parameter is included.

Real-time performance

The measurement processing time will not be affected.

System control

R0: Switch to run mode

Changes from setup mode to run mode. The operation will finish successfully even if it is executed in run mode.

For non-procedural commands

Send

Receive

For number-specified commands

The number-specified command No. is “8”.

Send

Word Device	*
	8

* Starting word device (command address)

Receive

Word Device	*
Return value	Execution result

* Starting word device (command result address)

Execution result

0	Success
22	An unnecessary parameter is included.

Real-time performance

Executes command data immediately.

S0: Switch to setup mode

This command switches from run mode to setup mode. The operation will finish successfully even if it is executed in setup mode.

For non-procedural commands

Send

Receive

For number-specified commands

The number-specified command No. is “9”.

Send

Word Device	*
	9

* Starting word device (command address)

Receive

Word Device	*
Return value	Execution result

* Starting word device (command result address)

Execution result

0	Success
22	An unnecessary parameter is included.

Real-time performance

If a tool is being executed, the command is executed after the tool completes execution.

RS: Reset

This command performs all of the following:

Clears all buffers including the image buffer.
Creates a new file name for the file used to store data.
Initializes total status output.
Clears OUT_DATA0 to OUT_DATA15.
Clears all of history data.
Clears the measurement count.

For non-procedural commands

Send

Receive

For number-specified commands

The number-specified command No. is “10”.

Send

Word Device	*
	10

* Starting word device (command address)

Receive

Word Device	*
Return value	Execution result

* Starting word device (command result address)

Execution result

0	Success
03	When the command was issued in Setup mode.
22	An unnecessary parameter is included.

Real-time performance

If a tool is being executed, the command is executed after the tool completes execution.

RB: Reboot

This command saves the current program settings and reboots the system.

For non-procedural commands

Send

Receive

For number-specified commands

The number-specified command No. is “11”.

Send

Word Device	*
	11

* Starting word device (command address)

Receive

Word Device	*
Return value	Execution result

* Starting word device (command result address)

Execution result

0	Success
03	When the command was issued in Setup mode.
22	An unnecessary parameter is included.

Real-time performance

If a tool is being executed, the command is executed after the tool completes execution.
When data is being output, the process is synchronized according to the OE command timing, and then the command is executed.

SS: Save Program

This command saves the current program settings and global settings.

For non-procedural commands

Send

Receive

For number-specified commands

The number-specified command No. is “12”.

Send

Word Device	*
	12

* Starting word device (command address)

Receive

Word Device	*
Return value	Execution result

* Starting word device (command result address)

Execution result

0	Success
03	The SD memory card has not been inserted or cannot be accessed. When the command was issued in Setup mode.
22	An unnecessary parameter is included.

Real-time performance

The measurement processing time will not be affected.

CE: Clear error

This command clears the error status. Even when an error status does not exist, the command execution finishes normally.

For non-procedural commands

Send

Receive

For number-specified commands

The number-specified command No. is “13”.

Send

Word Device	*
	13

* Starting word device (command address)

Receive

Word Device	*
Return value	Execution result

* Starting word device (command result address)

Execution result

0	Success
03	When the command was issued in Setup mode.
22	An unnecessary parameter is included.

Real-time performance

The measurement processing time will not be affected.

RM: Read Run/Setup Mode

This command reads the status of the controller (i.e. whether it is in run mode or setup mode).

For non-procedural commands

Send

Receive

RM,n

For number-specified commands

The number-specified command No. is “16”.

Send

Word Device	*
	No. 16

* Starting word device (command address)

Receive

Word Device	*	*+1	*+2	*+3
	Execution result		n

* Starting word device (command result address)

Parameters (common)

n	Controller status 0: Setup mode 1: Run mode

Execution result

0	Success
22	An unnecessary parameter is included.

Real-time performance

The measurement processing time will not be affected.

Change inspection program

PW: Change programs

This command closes all open dialogs and loads the program of the specified number (nnn) from the SD memory card.

Any changes to the setting data is discarded.
To retain the program number after changing programs, save the global setting file with the save program command (SS command).

For non-procedural commands

Send

PW,d,nnn

Receive

For number-specified commands

The number-specified command No. is “24”.

Send

Word Device	*	*+1	*+2	*+3	*+4	*+5
	24		d		nnn

* Starting word device (command address)

Receive

Word Device	*
Return value	Execution result

* Starting word device (command result address)

Parameters (common)

SD memory card No. (1 or 2)

1: SD1
2: SD2

nnn

Program No. (0 to 999)

Execution result

0	Success
03	The program No. does not exist. The SD memory card has not been inserted or cannot be accessed. When the command was issued in Setup mode.
22	The number or the range of the parameter is incorrect.

Real-time performance

If a tool is being executed, the command is executed after the tool completes execution.

PR: Read Programs

This command reads the SD memory card number and the setting number of the program currently being read.

For non-procedural commands

Send

Receive

PR,d,nnn

For number-specified commands

The number-specified command No. is “25”.

Send

Word Device	*
	25

* Starting word device (command address)

Receive

Word Device	*	*+1	*+2	*+3	*+4	*+5
Return value	Execution result		d		nnn

* Starting word device (command result address)

Parameters (common)

SD memory card No. (1 or 2)

1: SD1
2: SD2

nnn

Program No. (0 to 999)

Execution result

0	Success
03	When the command was issued in Setup mode.
22	An unnecessary parameter is included.

Real-time performance

The measurement processing time will not be affected.

Measurement control

EXW: Change Recipe

This command changes to the specified recipe number.

For non-procedural commands

Send

EXW,n

Receive

EXW

For number-specified commands

The number-specified command No. is “41”.

Send

Word Device	*	*+1	*+2	*+3
	41		n

* Starting word device (command address)

Receive

Word Device	*
Return value	Execution result

* Starting word device (command result address)

Parameters (common)

n	1 to 8 (Recipe No.)

Execution result

0	Success
03	When the command was issued in Setup mode.
22	The number or the range of the parameter is incorrect.

Real-time performance

The measurement processing time will not be affected.

EXR: Read Recipe No.

This command reads the active recipe number.

For non-procedural commands

Send

EXR

Receive

EXR,n

For number-specified commands

The number-specified command No. is “42”.

Send

Word Device	*
	42

* Starting word device (command address)

Receive

Word Device	*	*+1	*+2	*+3
	Execution result		n

* Starting word device (command result address)

Parameters (common)

n	1 to 8 (Recipe No.)

Execution result

0	Success
03	When the command was issued in Setup mode.
22	An unnecessary parameter is included.

Real-time performance

The measurement processing time will not be affected.

TIM: Timing

This command issues the timing input for the active recipe number.

For non-procedural commands

Send

TIM

Receive

TIM

For number-specified commands

The number-specified command No. is “52”.

Send

Word Device	*
	52

* Starting word device (command address)

Receive

Word Device	*
Return value	Execution result

* Starting word device (command result address)

Execution result

0	Success
03	When the command was issued in Setup mode.
22	The number or the range of the parameter is incorrect. An unnecessary parameter is included.

Real-time performance

The measurement processing time will not be affected.

ZR: Auto Zero

This command issues an auto zero ON or OFF request for the active recipe number.

The auto zero value (the value that calibrates zero) is not saved. Run the save (SS) command as necessary.

For non-procedural commands

Send

ZR,m,t,nnn,…,nnn

Receive

For number-specified commands

The number-specified command No. is “53”.

Send

Word Device	*	*+1	*+2	*+3	*+4	*+5	*+6	*+7	...
	53		m		t		nnn		...	nnn

* Starting word device (command address)

Receive

Word Device	*
Return value	Execution result

* Starting word device (command result address)

Parameters (common)

0: Auto zero OFF
1: Auto zero ON

No. of tools subject to the command

Specifying 0 makes all tools used with the active recipe number subject to the command.

nnn

ID of the tool subject to the command (200 to 299, 500 to 599)

However, when t = 0 (all tools), this parameter does not need to be specified.

Execution result

Success

When the command was issued in Setup mode.

The number or the range of the parameter is incorrect.

(Error conditions when multiple tools are specified)

At least one value outside of the tool ID range is specified
The tool ID has been duplicated
(For non-procedural commands) The number of targeted tools and the number of sent tool IDs does not match

Real-time performance

The measurement processing time will not be affected.

MRS: Reset Measured Value

This command requests to reset the measured value for the active recipe number.

For non-procedural commands

Send

MSR

Receive

MSR

For number-specified commands

The number-specified command No. is “54”.

Send

Word Device	*
	54

* Starting word device (command address)

Receive

Word Device	*
	Execution result

* Starting word device (command result address)

Execution result

0	Success
03	When the command was issued in Setup mode.
22	An unnecessary parameter is included.

Real-time performance

The measurement processing time will not be affected.

RSA: Reset Measured Value (All Templates)

This command requests to reset the measured value for all recipe numbers (including recipe numbers that are not active).

For non-procedural commands

Send

RSA

Receive

RSA

For number-specified commands

The number-specified command No. is “55”.

Send

Word Device	*
	55

* Starting word device (command address)

Receive

Word Device	*
	Execution result

* Starting word device (command result address)

Execution result

0	Success
03	When the command was issued in Setup mode.
22	An unnecessary parameter is included.

Real-time performance

The measurement processing time will not be affected.

I/O control

TE: Enable/disable trigger input

When “TE,0” is executed, the READY terminal is set to remain off and thus no trigger input will be accepted. When “TE,1” is executed, trigger input will be accepted.

Executing “TE,1” with the trigger enabled and “TE,0” with the trigger input disabled does not result in an error.

The trigger disabled state cannot be saved in the settings. The trigger returns to being able to be input when the power is turned off and on.
The TE command functions are in the same way as the EXT terminal. The trigger disabled state is the OR (logical disjunction) operator of the EXT input terminal and “TE,0” issue state.

For non-procedural commands

Send

TE,n

Receive

For number-specified commands

The number-specified command No. is “56”.

Send

Word Device	*	*+1	*+2	*+3
	56		n

* Starting word device (command address)

Receive

Word Device	*
Return value	Execution result

* Starting word device (command result address)

Parameters (common)

n	0: Trigger input disabled 1: Trigger input enabled

Execution result

0	Success
03	When the command was issued in Setup mode.
22	The number or the range of the parameter is incorrect.

Real-time performance

The measurement processing time will not be affected.

OE: Enable/disable output

This command disables the data/image output to the output buffer and clears the data in the buffer, so that data output to external devices is controlled.

Executing “OE,1” (enabled) when output is enabled and “OE,0” (disabled) when output is disabled does not result in an error.

This command controls the following output functions:

Results output (terminal block, Ethernet, RS-232C, PLC-Link, EtherNet/IP, PROFINET, EtherCAT, SD card, USB HDD, FTP)
Image output (SD card, USB HDD, FTP)

For non-procedural commands

Send

OE,n

Receive

For number-specified commands

The number-specified command No. is “57”.

Send

Word Device	*	*+1	*+2	*+3
	57		n

* Starting word device (command address)

Receive

Word Device	*
Return value	Execution result

* Starting word device (command result address)

Parameters (common)

n	0: Output disabled 1: Output enabled

Execution result

0	Success
03	When the command was issued in Setup mode.
22	The number or the range of the parameter is incorrect.

Real-time performance

The measurement processing time will not be affected.

Details of command behavior when executed

Results output

Output is aborted at the data unit set in results output (even if output is disabled during “one output of results,” that “one output of results” does not stop).
If output is enabled, output is resumed the next time result output is possible (results when output is disabled will be not output and discarded).

Terminal output

Outputs to STO, OUT_DATA0 to 15, OR terminal blocks are immediately shut off and the state is set to normal.
Even while output is disabled, the total status result of OR changes. However, such change is not applied to the terminal blocks.
Even if STO and OUT_DATA0 to 15 output is disabled, the values do not change.
For STO and OUT_DATA0 to 15, output is resumed at the next trigger execution (results when output is disabled will be not output and discarded).

Relationship with TEST

There is no priority setting between OE and TEST terminal. The latest status, enabled or disabled, is reflected to the internal operation.

(Example)

Inputting “OE,1” (enable) when TEST=ON (disable) enables output.

Then, specifying ON (disable) when TEST=OFF (enable) disables output.

Output is enabled or disabled based on the status (level) of TEST immediately after the controller is turned on, reset, or the program is changed.

(Example)

Inputting “OE,1” (enable) when TEST=ON (disable) enables output.

Then, when the program is changed later, output is disabled when TEST=ON (disable).

Utility

STW: Replace the externally specified string

This command replaces the externally specified string.

For non-procedural commands

Send

STW,n,”ssss

Receive

STW

Parameter

n	To specify the externally specified string to be replaced (0 to 9)
ssss	The string used for replacement (number of characters 0 to 64)

For number-specified commands

The number-specified command No. is “60”.

Send

Word Device	*	*+1	*+2	*+3	*+4	*+5	*+6	*+7	...
	60		n		s1		s2		...

* Starting word device (command address)

Receive

Word Device	*
Return value	Execution result

* Starting word device (command result address)

Parameter

To specify the externally specified string to be replace (0 to 9)

ssss

The string used for replacement (number of characters 0 to 64)

In the send data, use two words for one character, the end code is 0 (zero).

Execution result

Success

When the externally specified string is not available

(e.g. settings of old version)

An unnecessary parameter is included.
The parameter range is incorrect

Real-time performance

Executes command data immediately.

STR: Read the externally specified string

This command reads the content of the externally specified string.

For non-procedural commands

Send

STR,n

Receive

STR,ssss

Parameter

n	To specify the externally specified string to be read (0 to 9)
ssss	The externally specified string (number of characters 0 to 64)

For number-specified commands

The number-specified command No. is “61”.

Send

Word Device	*	*+1	*+2	*+3
	61		n

* Starting word device (command address)

Receive

Word Device	*	*+1	*+2	*+3	*+4	*+5	*+6	*+7	...
	Execution result		s1		s2		s3		...

* Starting word device (command result address)

Parameter

To specify the externally specified string to be read (0 to 9)

ssss

The externally specified string (number of characters 0 to 64)

In the receive data, use two words for one character, the end code is 0 (zero).

Execution result

0	Success
03	When the externally specified string is not available (e.g. settings of old version)
22	An unnecessary parameter is included. The parameter range is incorrect

Real-time performance

Executes command data immediately.

HC: Clear Archived Images

This command clears the archived images.

For non-procedural commands

Send

Receive

For number-specified commands

The number-specified command No. is “66”.

Send

Word Device	*
	66

* Starting word device (command address)

Receive

Word Device	*
Return value	Execution result

* Starting word device (command result address)

Execution result

0	Success
03	When the command was issued in Setup mode.
22	An unnecessary parameter is included.

Real-time performance

The measurement processing time will not be affected.

OW: Change output file/folder

This command changes the output file/folder.

When changing a data output file, a new result file is created using the latest date and time.
When changing an image output folder, a new image output folder is created using the latest date and time.
When changing a simple monitor image output folder, a new simple monitor image output folder is created using the latest date and time.

For non-procedural commands

Send

OW,n

Receive

For number-specified commands

The number-specified command No. is “69”.

Send

Word Device	*	*+1	*+2	*+3
	69		n

* Starting word device (command address)

Receive

Word Device	*
Return value	Execution result

* Starting word device (command result address)

Parameters (common)

n	Select the target for changing 0: Changes the result output file (SD2/USB HDD/FTP) 1: Changes the image output folder (SD2/ FTP/ FTP) 2: Changes the simple monitor image output folder (SD2/USB HDD/FTP)

Execution result

0	Success
03	When the command was issued in Setup mode.
22	The number or the range of the parameter is incorrect.

Real-time performance

Executes command data immediately.

EC: Echo

This command returns the same character string as the one that was sent from the external device.

The number-specified commands cannot be used.

For non-procedural commands

Send

EC,ssss

Receive

EC,ssss

Parameter

ssss	String Character string of 128 characters or less consisting of alphabets and numbers

Execution result

0	Success
22	The parameter is longer than 128 characters long. The parameter includes other than alphabet or numbers.

Real-time performance

The measurement processing time will not be affected.

System

TW: Write Date/Time

This command sets the date and time of the controller.

For non-procedural commands

Send

TW,yy,mo,dd,hh,mi,ss

TW,yyyy,mo,dd,hh,mi,ss

Receive

For number-specified commands

The number-specified command No. is “80”.

Send

Word device

*+1

*+2

*+3

*+4

*+5

*+6

*+7

*+8

*+9

*+10

*+11

*+12

*+13

Word device

*+1

*+2

*+3

*+4

*+5

*+6

*+7

*+8

*+9

*+10

*+11

*+12

*+13

yyyy

* Starting word device (command address)

Receive

Word Device	*
Return value	Execution result

* Starting word device (command result address)

Parameters (common)

yy	Year (0 to 99, lower two digits of the western calendar (20 for 2020)) When 00 to 99 is specified, 2000 will be added to the value before processing.
yyyy	Year (2000 to 2099)
mo	Month (1 to 12)
dd	Day (1 to 31)
hh	Hour (0 to 23) NB: 24-hour format
mi	Minutes (0 to 59)
ss	Seconds (0 to 59)

Execution result

0	Success
03	The date/time setting failed. When the command was issued in Setup mode.
22	The number or the range of the parameter is incorrect.

Real-time performance

The measurement processing time will not be affected.

TR: Read date/time

This command reads the current date and time on the controller.

For non-procedural commands

Send

Receive

TR,yy,mo,dd,hh,mi,ss

For number-specified commands

The number-specified command No. is “81”.

Send

Word Device	*
	81

* Starting word device (command address)

Receive

Word device

*+1

*+2

*+3

*+4

*+5

*+6

*+7

*+8

*+9

*+10

*+11

*+12

*+13

Return value

Execution result

* Starting word device (command result address)

Parameters (common)

yy	Year (0 to 99, lower two digits of the western calendar (20 for 2020))
mo	Month (1 to 12)
dd	Day (1 to 31)
hh	Hour (0 to 23) NB: 24-hour format
mi	Minutes (0 to 59)
ss	Seconds (0 to 59)

Execution result

0	Success
03	When the command was issued in Setup mode.
22	An unnecessary parameter is included.

Real-time performance

The measurement processing time will not be affected.

VI: Read Version Information

This command reads the controller system information (model number and ROM version).

For non-procedural commands

Send

Receive

VI, nnnn, vvvv

Parameter

nnnn	Model string (e.g.) TM-X5000
vvvv	ROM version (14-character string)

The following is an example of the version that is displayed when the controller system information is x.y.zzzz:

VI,TM-X5000,000x.000y,zzzz

For number-specified commands

The number-specified command No. is “82”.

Send

Word Device	*
	82

* Starting word device (command address)

Receive

Word device

*+1

*+2

*+3

*+4

*+5

*+6

*+7

*+8

*+9

*+10

*+11

Return value

Execution result

* Starting word device (command result address)

Parameter

nn	Model number (4-digits)
r	Reserved area (always 0)
hw	Indicates the first digit of the major version in the ROM version information as a number.
mj	Indicates the second digit of the major version in the ROM version information as a number.
mn	Indicates the minor version in the ROM version information as a number.

The following is an example when the version displayed on the UI is x.y.zzzz.

(When the beginning of the command result address is DM0)

Address	Byte	data
DM0	0-1	0	(ret)
DM1	2-3	0	-
DM2-3	4-7	5000	(nn)
DM4-5	8-11	0	(r)
DM6-7	12-15	x	(hw)
DM8-9	16-19	y	(mj)
DM10-11	20-23	zzzz	(mn)

Execution result

0	Success
22	An unnecessary parameter is included.

Real-time performance

The measurement processing time will not be affected.

TZW: Write Time Zone

This command sets the SNTP time zone.

The time zone will not be saved even if this command is used. To save it, run the save settings (SS) command.

For non-procedural commands

Send

TZW,n

Receive

TZW

For number-specified commands

The number-specified command No. is “83”.

Send

Word Device	*	*+1	*+2	*+3
	83		n

* Starting word device (command address)

Receive

Word Device	*
Return value	Execution result

* Starting word device (command result address)

Parameters (common)

n	Time zone (0 to 33)

Execution result

0	Success
03	When the command was issued in Setup mode.
22	The number or the range of the parameter is incorrect.

Real-time performance

The measurement processing time will not be affected.

TZR: Read Time Zone

This command reads the SNTP time zone.

For non-procedural commands

Send

TZR

Receive

TZR,n

For number-specified commands

The number-specified command No. is “84”.

Send

Word Device	*
	84

* Starting word device (command address)

Receive

Word Device	*	*+1	*+2	*+3
	Execution result		n

* Starting word device (command result address)

Parameters (common)

n	Time zone (0 to 33)

Execution result

0	Success
03	When the command was issued in Setup mode.
22	An unnecessary parameter is included.

Real-time performance

The measurement processing time will not be affected.

Fetching Measurement Results

GR: Fetch Internal Measurement Values

This command fetches the internal measurement values for the latest image.

For non-procedural commands

Send

GR,t,nnn,…,nnn

Receive

GR,t,m,…,m

For number-specified commands

The number-specified command No. is “104”.

Send

Word Device	*	*+1	*+2	*+3	*+4	*+5	...
	104		t		nnn		...	nnn

* Starting word device (command address)

Receive

Word Device	*	*+1	*+2	*+3	*+4	*+5	...
Return value	Execution result		t		m		...	m

* Starting word device (command result address)

Parameters (common)

t	No. of tools subject to fetching (t ≤ 12, all tools when 0 is specified)
nnn	ID of the tool subject to fetching (200 to 299, 500 to 599)
m	Internal measurement value

Execution result

0	Success
03	There is no internal measurement value that can be fetched (a trigger has not been input) When the command was issued in Setup mode.
22	The number or the range of the parameter is incorrect. (When multiple tools are specified) At least one value outside of the tool ID range is specified (When multiple tools are specified) The tool ID has been duplicated (For non-procedural commands) The number of targeted tools and the number of sent tool IDs does not match

Real-time performance

The measurement processing time will not be affected.

GM: Fetch Measured Values

This command fetches measured values and judgment results.

For non-procedural commands

Send

GM,o,t,nnn,…,nnn

Receive

When o = 0 GM,t,m,…,m

When o = 1 GM,t,m,i,…,m,i

When o = 2 GM,t,m,j,…,m,j

When o = 3 GM,t,m,i,j,…,m,i,j

For number-specified commands

The number-specified command No. is “112”.

Send

Word device	*	*+1	*+2	*+3	*+4	*+5	*+6	*+7	...
	112		o		t		nnn		...	nnn

* Starting word device (command address)

Receive

When o = 0

Word device	*	*+1	*+2	*+3	*+4	*+5	...
Return value	Execution result		t		m		...	m

When o = 1

Word device	*	*+1	*+2	*+3	*+4	*+5	*+6	*+7	...
Return value	Execution result		t		m		i		...	m	i

When o = 2

Word device	*	*+1	*+2	*+3	*+4	*+5	*+6	*+7	...
Return value	Execution result		t		m		j		...	m	j

When o = 3

Word device

*+1

*+2

*+3

*+4

*+5

*+6

*+7

*+8

*+9

...

Return value

Execution result

...

* Starting word device (command result address)

Parameters (common)

o	Output items (0: Measured value only, 1: Measured value + measurement result information, 2: Measured value + judgment result, 3: Measured value + measurement result information + judgment result)
t	No. of tools subject to fetching (t ≤ 12, all tools when 0 is specified)
nnn	ID of the tool subject to fetching (200 to 299, 500 to 599)
m	Measured value
i	Measurement result information (0: Unexecuted, 1: Normal value, 2: Position adjustment failure, 3: Invalid data, 4: Judgment standby data)
j	Judgment result (0: OK, 1: NG)

Execution result

0	Success
03	There is no measured value that can be fetched (a trigger has not been input) When the command was issued in Setup mode.
22	The number or the range of the parameter is incorrect. (When multiple tools are specified) At least one value outside of the tool ID range is specified (When multiple tools are specified) The tool ID has been duplicated (For non-procedural commands) The number of targeted tools and the number of sent tool IDs does not match

Real-time performance

The measurement processing time will not be affected.

Head-to-head Adjustment Execution

HAE: Head-to-head Adjustment Execution

Executes head-to-head adjustment.

This command can be used only in setup mode.

To switch between setup and run mode, use S0/R0 command accordingly.

For non-procedural commands

Send

HAE

Receive

HAE,n,x,y,t

For number-specified commands

The number-specified command No. is “122”.

Send

Word Device	*
	122

* Starting word device (command address)

Receive

Word Device	*	*+1	*+2	*+3	*+4	*+5	*+6	*+7	*+8	*+9
Return value	Execution result		n		x		y		t

* Starting word device (command result address)

Parameters (common)

n	Head-to-head adjustment result 1: Success 1: Fail
x	Position alignment result x (The value is -99999.9999 if the operation fails)
y	Position alignment result y (The value is -99999.9999 if the operation fails)
t	Position alignment result θ (The value is -99999.9999 if the operation fails)

Execution result

0	Success
03	Head-to-head adjustment start (HAS) has not executed. The settings to use head-to-head adjustment have not been configured (utility).
22	An unnecessary parameter is included.

Real-time performance

If a tool is being executed, the command is executed after the tool completes execution.

Image Composition

ICCW: Write image composition capture cycle

This command changes the current image composition capture cycle to a specified value.

When the specified capture cycle is shorter than the capture time, the capture time will be set as the cycle.

This command can be used only in setup mode.

To switch between setup and run mode, use S0/R0 command accordingly. This command can only be used with dark or bright image composition.

For non-procedural commands

Send

ICCW,n,m

Receive

ICCW

For number-specified commands

The number-specified command No. is “128”.

Send

Word Device	*	*+1	*+2	*+3	*+4	*+5
	128		n		m

* Starting word device (command address)

Receive

Word Device	*
Return value	Execution result

* Starting word device (command result address)

Parameters (common)

n	Head number (0: Head A, 1: Head B)
m	Image capture cycle (0 to 10000 µsec)

Execution result

03	When the image composition of the specified head is not dark/bright composition.
22	The number or the range of the parameter is incorrect.

Real-time performance

If a tool is being executed, the command is executed after the tool completes execution.

ICCR: Read image composition capture cycle

This command reads the current image composition capture cycle.

This command can only be used with dark or bright image composition.

For non-procedural commands

Send

ICCR,n

Receive

ICCR,m

For number-specified commands

The number-specified command No. is “129”.

Send

Word Device	*	*+1	*+2	*+3
	129		n

* Starting word device (command address)

Receive

Word Device	*	*+1	*+2	*+3
	Execution result		m

* Starting word device (command result address)

Parameters (common)

n	Head number (0: Head A, 1: Head B)
m	Image capture cycle (0 to 10000 µsec)

Execution result

03	When the image composition of the specified head is not dark/bright composition.
22	The number or the range of the parameter is incorrect.

Real-time performance

The measurement processing time will not be affected.

Simple Monitor View

AIW: Change simple monitor view strings

Sets the string to be displayed on the simple monitor screen.

The number-specified commands cannot be used.

For non-procedural commands

Send

AIW,m,N1,S1,…,Nm,Sm

Receive

AIW

Parameter

Number of lines of strings that configure the settings (1 to 10)

A line number and string set is 1.

N1 to Nm

Line number (1 to 10)

If the same line number is set multiple times, the last settings are enabled.

S1 to Sm

Content of a string to be set in the line specified with N

ASCII characters, with the exception of a semi-colon (;) and comma (,) can be used.

If a string is not specified, the string on the applicable line number is deleted.

Execution result

Success

The number or the range of the parameter is incorrect.

The number of set lines and the received line number/number of strings does not match.
The command string is too long (max. 255 characters)

Real-time performance

Executes command data immediately.

AIR: Obtain simple monitor view strings

Obtains the string to be displayed on the simple monitor screen.

The number-specified commands cannot be used.

For non-procedural commands

Send

AIR,m,N1,…,Nm

Receive

AIR,m,N1,S1,…,Nm,Sm

Parameter

m	Number of lines to be obtained (1 to 10)
N1 to Nm	Line number (1 to 10)
S1 to Sm	Content of the string in the line indicated by N

Execution result

0	Success
03	The string could not be obtained.
22	The parameter range is incorrect

Real-time performance

Executes command data immediately.

Setting change

TSW: Write tool settings

This command writes upper limit and lower limit in the tolerance settings of the specified tool.

This command can be used only in setup mode.

To switch between setup and run mode, use S0/R0 command accordingly.

For non-procedural commands

Send

TSW,nnn,i,m

Receive

TSW

For number-specified commands

The number-specified command No. is “130”.

Send

Word Device	*	*+1	*+2	*+3	*+4	*+5	*+6	*+7
	130		nnn		i		m

* Starting word device (command address)

Receive

Word Device	*
Return value	Execution result

* Starting word device (command result address)

For the number-specified commands, specify integer data when using fixed-point as the decimal point.

(Example) To write 12.345, specify 12345.

However, if the number has 3 or more digits after the decimal point, use floating-point.

Parameters (common)

nnn	ID of the tool subject to the command (200 to 399, 500 to 699)
i	Item ID (0: lower value, 1: upper value)
m	Setting value (Effective value: -100,000,000 to 100,000,000)

Execution result

0	Success
03	When the command was issued in run mode. When the command was issued with an unconnected head.
22	The number or the range of the parameter is incorrect. When the specified tool does not exist. When the item ID that does not exist in the specified tool was set.

Real-time performance

If a tool is being executed, the command is executed after the tool completes execution.

TSR: Read tool settings

This command reads upper limit and lower limit in the tolerance settings of the specified tool.

For non-procedural commands

Send

TSR,nnn,i

Receive

TSR,s,m

For number-specified commands

The number-specified command No. is “131”.

Send

Word Device	*	*+1	*+2	*+3	*+4	*+5
	131		nnn		i

* Starting word device (command address)

Receive

Word Device	*	*+1	*+2	*+3	*+4	*+5
Return value	Execution result		s		m

* Starting word device (command result address)

For the number-specified commands, the value will be read without decimal point when using fixed-point as the decimal point.

(Example 1) When 12.3456 is read, the data will be an integer value, which is 123456.

(Example 2) When 1.234 is read, the data will be an integer value, which is 1234.

Parameters (common)

nnn	ID of the tool subject to the command (200 to 399, 500 to 699)
i	Item ID (0: lower value, 1: upper value)
s	When the item ID is 0 or 1 0: Tolerance disabled 1: Tolerance enabled
m	Setting value (Effective value: -100,000,000 to 100,000,000) When the item ID is 0 or 1, and the tolerance have not been set, 0 will be returned.

Execution result

0	Success
22	The number or the range of the parameter is incorrect. When the specified tool does not exist. When the item ID that does not exist in the specified tool was set.

Real-time performance

The measurement processing time will not be affected.

TSC: Clear tool settings

This command clears upper limit and lower limit in the tolerance settings of the specified tool.

This command can be used only in setup mode. To switch between setup and run mode, use S0/R0 command accordingly.

For non-procedural commands

Send

TSC,nnn,i

Receive

TSC

For number-specified commands

The number-specified command No. is “132”.

Send

Word Device	*	*+1	*+2	*+3	*+4	*+5
	132		nnn		i

* Starting word device (command address)

Receive

Word Device	*
Return value	Execution result

* Starting word device (command result address)

Parameters (common)

nnn	ID of the tool subject to the command (200 to 399, 500 to 699)
i	Item ID (0: lower value, 1: upper value)

Execution result

0	Success
03	When the command was issued in run mode. When the command was issued with an unconnected head.
22	The number or the range of the parameter is incorrect. When the specified tool does not exist. When the item ID that does not exist in the specified tool was set.

Real-time performance

If a tool is being executed, the command is executed after the tool completes execution.

Head Adjustment

OASR: Obtain optical axis state

This command obtains optical axis state.

This command can be used only in setup mode. To switch between setup and run mode, use S0/R0 command accordingly.

For non-procedural commands

Send

OASR,n

Receive

OASR,m,x,y

For number-specified commands

The number-specified command No. is “136”.

Send

Word Device	*	*+1	*+2	*+3
	136		n

* Starting word device (command address)

Receive

Word Device	*	*+1	*+2	*+3	*+4	*+5	*+6	*+7
Return value	Execution result		m		x		y

* Starting word device (command result address)

For the number-specified commands, the value will be 1/10000 when using fixed-point as the decimal point.

(Example) When X=12345 is read, the value of X will be 1.2345.

Parameters (common)

n	Head number (0: Head A, 1: Head B)
m	Optical axis state (0: OK, 1: center point is not at correct location, 2: too many pixels with insufficient light)
x	Illumination center X-Position
y	Illumination center Y-Position

If the obtained values of X and Y are in the circle of radius 10, the state is OK.

Execution result

0	Success
03	When the command was issued in run mode. When the command was issued with an unconnected head.
22	The number or the range of the parameter is incorrect. An unnecessary parameter is included.

Real-time performance

If a tool is being executed, the command is executed after the tool completes execution.

Input/Output and Control Using EtherNet/IP

This system supports communication via EtherNet/IP.

EtherNet/IP is an open communications standard with specifications that are managed by ODVA (Open Device Net Vendor Association, Inc.). Communication is possible with all devices that support it, regardless of the vendor.

The following functions are possible by EtherNet/IP connection.

EtherNet/IP, PROFINET, EtherCAT, and PLC-Link cannot be used at the same time.

Cyclic Communication

Cyclic communication at RPI (Request Packet Interval) communication cycle intervals allows high-speed control at intervals of several ms to several tens of ms (implicit communication). In addition, because it is possible to control the controller by referencing and updating variables and devices in the PLC without considering the communication, it allows programs to be written easily on the PLC side.

Control the controller: The controller can be controlled by using cyclic communication to send the commands for execution.
Output the results data: Data can be output by cyclic communication when the items for output from EtherNet/IP are set in the output settings (Detail).
Change the recipe number: The controller can be controlled by using cyclic communication to specify the recipe number.

Implicit communication settings such as cycle (RPI), data size, time out, transmission trigger, and so on are specified at the PLC. During cyclic communication with the controller, set the RPI value to 5 ms or more. When COS (Change Of State) for the PLC (such as the Keyence KV Series) that allows selection of the communication trigger is selected, set the minimum transmission interval (Inhibit Time) to 5 ms or more.
If RPI is set to 5 ms or more, use of other communications, such as measurement settings, dialog operation, command, and FTP, may place an excessive load on the controller. This may result in delay of processing or temporary time-out of the communication. In such cases, it is necessary to review the cyclic communication settings and service conditions (when this is done, there may be an increase or variation in measurement time.) Be sure to verify that there are no problems with operating performance, including the issues above, prior to operation.
In a network where many devices are connected, including EtherNet/IP devices, if a large load is constantly or temporarily applied to the network, then delays and packet loss may occur. Be sure to perform sufficient verification prior to operation.

Message Communication

Controller EtherNet/IP Communication Specifications

Standard specifications

		Controller Ethernet port	Communication expansion unit (CB-NEP20E)
Cyclic communication*1 (Implicit communication)	Connection count	Max. 32	1 (Exclusive Owner) 4 (Input Only)
	Communication size	As set in the communications settings on the PLC side. Up to 248 bytes (when the Rockwell SLC5/05 is connected) Up to 496 bytes (when the Rockwell ControlLogix/CompactLogix is connected) Up to 1436 bytes (when the Keyence KV Series or Omron SYSMAC CJ2/CJ1/CS1/NJ is connected)
	Send trigger	As set in the communications settings on the PLC side. Cyclic COS*2
	Instance ID	100: Input data (controller send) 101: Output data (controller receive) (254 during Input Only connection)	100: Input data (communication expansion unit send) 150: Output data (communications expansion unit receive) (3 during Input Only)
Message communication (Explicit message)	Connection count	Max. 32	Max. 6
Message communication (Explicit message)	Supported Explicit message type	UCMM/Class3
Conformance test		Compliant with Version.CT17
1: The condition for the cyclic communication status to become [Connected] is when either an Exclusive Owner or Input Only connection is established via the controller’s Ethernet port and only when an Exclusive Owner connection is established for the communication expansion unit. 2: Only a PLC that supports COS (such as Keyence KV-3000/5000/5500/7300/7500/8000 and the KV Nano Series) can be specified. When a COS send trigger is selected, the controller sends data at the time when a change in the data to be sent occurs. (If there is no change in the data to be sent, then data is sent at intervals of the specified RPI (communications cycle)). If the data to be sent continuously changes, data sending is delayed for the InhibitTime (minimum sending interval). Moreover, the part of the data that is subject to modification checks are “Result ready flag” and “Command complete flag” in the case of the controller’s Ethernet port and all data to be sent in the case of the communication expansion unit.

When to use message communication and cyclic communication

Allocation Conditions of Cyclic Communication Data

Example of the send-data settings for this controller (TM-X5000 Series to KV-7000 Series)

Example when 1 TM-X5000 series is connected to a KV-7000 Series, cyclic communication data size is 496 bytes (addresses 0000 - 0495), and the command response output area is set to 24 bytes (B****/W**** in the table are examples of KV-7000 link relay and link register address allocation)

Setting condition	Address (byte)	7bit		6bit		5bit		4bit		3bit		2bit		1bit		0bit
Bit area	0000	B007	Reserved	B006	Reserved	B005	Reserved	B004	Result OR	B003	Result Ready	B002	Cmd Ready	B001	Cmd Error	B000	Cmd Complete
	0001	B00F	MSR_VALID	B00E	RUN	B00D	Reserved	B00C	ERROR	B00B	BUSY	B00A	Reserved	B009	TRG_ack	B008	READY
	0002	B017	Reserved	B016	Reserved	B015	RESET_ALL_ack	B014	MSR_RESET_ack	B013	ZERO_OFF_ack	B012	ZERO_ON_ack	B011	Reserved	B010	TIMING_ack
	0003	B01F	Reserved	B01E	Reserved	B01D	Reserved	B01C	Reserved	B01B	Reserved	B01A	Reserved	B019	Reserved	B018	Reserved
	0004	B027	Tool Judge Value7	B026	Tool Judge Value6	B025	Tool Judge Value5	B024	Tool Judge Value4	B023	Tool Judge Value3	B022	Tool Judge Value2	B021	Tool Judge Value1	B020	Tool Judge Value0
	0005	B02F	Tool Judge Value15	B02E	Tool Judge Value14	B02D	Tool Judge Value13	B02C	Tool Judge Value12	B02B	Tool Judge Value11	B02A	Tool Judge Value10	B029	Tool Judge Value9	B028	Tool Judge Value8
	0006	B037	Tool Judge Value23	B036	Tool Judge Value22	B035	Tool Judge Value21	B034	Tool Judge Value20	B033	Tool Judge Value19	B032	Tool Judge Value18	B031	Tool Judge Value17	B030	Tool Judge Value16
	0007	B03F	Tool Judge Value31	B03E	Tool Judge Value30	B03D	Tool Judge Value29	B03C	Tool Judge Value28	B03B	Tool Judge Value27	B03A	Tool Judge Value26	B039	Tool Judge Value25	B038	Tool Judge Value24
	0008	B047	Tool Judge Value39	B046	Tool Judge Value38	B045	Tool Judge Value37	B044	Tool Judge Value36	B043	Tool Judge Value35	B042	Tool Judge Value34	B041	Tool Judge Value33	B040	Tool Judge Value32
	0009	B04F	Tool Judge Value47	B04E	Tool Judge Value46	B04D	Tool Judge Value45	B04C	Tool Judge Value44	B04B	Tool Judge Value43	B04A	Tool Judge Value42	B049	Tool Judge Value41	B048	Tool Judge Value40
	0010	B057	Tool Judge Value55	B056	Tool Judge Value54	B055	Tool Judge Value53	B054	Tool Judge Value52	B053	Tool Judge Value51	B052	Tool Judge Value50	B051	Tool Judge Value49	B050	Tool Judge Value48
	0011	B05F	Tool Judge Value63	B05E	Tool Judge Value62	B05D	Tool Judge Value61	B05C	Tool Judge Value60	B05B	Tool Judge Value59	B05A	Tool Judge Value58	B059	Tool Judge Value57	B058	Tool Judge Value56
Error code area	0012	W000	Error Code
Error code area	0013	W000	Error Code
Reserved area	0014	W001	Reserved
Reserved area	0015	W001	Reserved
Measurement count area	0016	W002	Total Count
	0017
	0018
	0019
Command output area	0020	W004	Command Result
	0021
	0022
	0023
	0024	W006	Command Data 1
	0025
	0026
	0027
	0028	W008	Command Data 2
	0029
	0030
	0031
	…	…	…
	0044	W010	Command Data 6
	0045
	0046
	0047
Results output area	0048	W012	Result Data 1
	0049
	0050
	0051
	0052	W014	Result Data 2
	0053
	0054
	0055
	…	…	…

Name and behavior of input signals

Allocation area

Name

Remarks

Bit area

Cmd Complete

Turns on when command processing is completed.

Cmd Error

Turns off when command processing is successful and on when command processing fails.

Cmd Ready

Turns on when command processing can be accepted.

Result Ready

Turns on when data transmission is completed.

Result OR

Used to output the OR result for the judged value of tool specified in the output settings.

READY

Turns on when trigger input can be accepted.

TRG_ack

Turns on when the trigger input is accepted. Turns off when trigger input turns off.

BUSY

Output during measurement processing or command processing.

ERROR

Output while a dialog box is displayed on the screen when a system error occurs. For details on typical system errors, see “Error Messages”.

On the [System] screen for [Global] (Detail), error output for SD memory card-related errors and so on can also be specified.

RUN

Output when the controller is in Run mode.

MSR_VALID

Turns on when the internal measurement values for all tools set with the active recipe are no longer in the judgment standby state.

Turns off if measured values are finalized with TIMING or when internal measurement values are cleared with MSR_RESET.

TIMING_ack

Turns on when the input timing is accepted. Turns off when the input timing is turned off.

ZERO_ON_ack

Turns on when zero on input is accepted. Turns off when zero on input is turned off.

ZERO_OFF_ack

Turns on when zero off input is accepted. Turns off when zero off input is turned off.

MSR_RESET_ack

Turns on when reset measured value input is accepted. Turns off when reset measured value input is turned off.

RESET_ALL_ack

Turns on when reset measured value (all recipes) input is accepted. Turns off when reset measured value (all templates) input is turned off.

Tool judgment area

Tool Judge Value0

Returns the judgment value assigned to the bit allocation area (address 0004:bit0).

Tool Judge Value1

Returns the judgment value assigned to the bit allocation area (address 0004:bit1).

. . .

Tool Judge Value63

Returns the judgment value assigned to the bit allocation area (address 0011:bit7).

Error code area

Error Code

Contains error codes for causes of errors.

Measurement count area

Total Count

Indicates the measurement count.

When used with [Hold Mode] set to [ON], change measurement count (increase by 1) of the system variables allocated to the results output area is used as the result output complete signal.

To allocate system variables to the results output area, click [Output Settings] > [Output Results] > [Settings] under [Field Network] > [Byte Allocation Area] > [Display Options], select [System Variables] and add [Measurement count] to [Output items].

Command output area

Command Result

Indicates the command execution results.

Command Data 1

Returns command execution results data 1.

Command Data 2

Returns command execution results data 2.

. . .

Command Data 6

Returns command execution results data 6.

Results output area

Result Data 1

Returns measurement results data 1.

Result Data 2

Returns measurement results data 2.

. . .

Example of the receive-data settings for this controller (KV-7000 Series to TM-X5000 Series)

Example when one TM-X5000 Series model is connected to a KV-7000 Series model and cyclic communication data size is 496 bytes (addresses 0000 - 0495)

(B****/W**** in the table are examples of KV-7000 link relay and link register address allocation)

Setting condition	Address (byte)	7bit		6bit		5bit		4bit		3bit		2bit		1bit		0bit
Bit area	0000	B067	Reserved	B066	Reserved	B065	Reserved	B064	Error reset request	B063	Result ack	B062	Reserved	B061	Reserved	B060	Cmd request
	0001	B06F	Reserved	B06E	Reserved	B06D	Reserved	B06C	Reserved	B06B	Reserved	B06A	Reserved	B069	Reserved	B068	TRG
	0002	B077	Reserved	B076	Reserved	B075	Reserved	B074	Reserved	B073	Reserved	B072	TEST	B071	EXT	B070	RESET
	0003	B07F	Reserved	B07E	Reserved	B07D	RESET_ALL	B07C	MSR_RESET	B07B	ZERO_OFF	B07A	ZERO_ON	B079	Reserved	B078	TIMING
	0004	B087	Reserved	B086	Reserved	B085	Reserved	B084	Reserved	B083	Reserved	B082	Reserved	B081	Reserved	B080	Reserved
	0005	B08F	Reserved	B08E	Reserved	B08D	Reserved	B08C	Reserved	B08B	Reserved	B08A	Reserved	B089	Reserved	B088	Reserved
	0006	B097	Reserved	B096	Reserved	B095	Reserved	B094	Reserved	B093	Reserved	B092	Reserved	B091	Reserved	B090	Reserved
	0007	B09F	Reserved	B09E	Reserved	B09D	Reserved	B09C	Reserved	B09B	Reserved	B09A	Reserved	B099	Reserved	B098	Reserved
	0008	B0A7	Reserved	B0A6	Reserved	B0A5	Reserved	B0A4	Reserved	B0A3	Reserved	B0A2	Reserved	B0A1	Reserved	B0A0	Reserved
	0009	B0AF	Reserved	B0AE	Reserved	B0AD	Reserved	B0AC	Reserved	B0AB	Reserved	B0AA	Reserved	B0A9	Reserved	B0A8	Reserved
	0010	B0B7	Reserved	B0B6	Reserved	B0B5	Reserved	B0B4	Reserved	B0B3	Reserved	B0B2	Reserved	B0B1	Reserved	B0B0	Reserved
	0011	B0BF	Reserved	B0BE	Reserved	B0BD	Reserved	B0BC	Reserved	B0BB	Reserved	B0BA	Reserved	B0B9	Reserved	B0B8	Reserved
Recipe No.	0012	W0F2	ExecCondNo
	0013	W0F2	ExecCondNo
	0014	W0F3	Reserved
	0015	W0F3	Reserved
Command input area	0016	W0F4	Command number
	0017
	0018
	0019
	0020	W0F6	Cmd Parameter1
	0021
	0022
	0023
	0024	W0F8	Cmd Parameter2
	0025
	0026
	0027
	0028	W0FA	Cmd Parameter3
	0029
	0030
	0031
	…	…	…

As ExecCondNo is only loaded by the controller when there are changes, the recipe number can also be overwritten by a command.

Name and behavior of output signals

Allocation area	Name	Remarks
Bit area	Cmd request	Requests command execution when rising from OFF to ON.
	Result ack	Notifies of data acquisition when rising from OFF to ON.
	Error reset request	Clears errors when rising from OFF to ON.
	TRG	Starts capture (measurement) (leading edge synchronization). The input is accepted when READY is ON.
	RESET	Used to reset operation. Result OR output is 0. The measurement count returns to 0. All archived image data is deleted. All data in the output buffer is reset. A file in the measurement result output destination is newly created. A folder in the image output destination is newly created.
	EXT	Used to suspend the occurrence of internal triggers and the acceptance of external triggers. When the input turns on, READY is forcibly turned off to stop the acceptance of all triggers (level synchronization).
	TEST	Used to suspend the status output for trial runs. When this signal is input, the result data that has not been output will be deleted. Result OR output is reset during input. As soon as input turns off, the measurement processing result obtained immediately after that will start being output again.
	TIMING	Requests input timing when rising from OFF to ON.
	ZERO_ON	Requests auto zero on input when rising from OFF to ON.
	ZERO_OFF	Requests auto zero off input when rising from OFF to ON.
	MSR_RESET	Requests reset measured value processing input when rising from OFF to ON.
	RESET_ALL	Requests reset measured value processing for all recipes when rising from OFF to ON.
Recipe No. area	ExecCondNo	Writes recipe numbers (1 to 8). The recipe numbers are loaded by the controller when values in this area change.
Command input area	Command number	Writes a command number.
	Cmd Parameter1	Writes command parameter 1.
	Cmd Parameter2	Writes command parameter 2.
	Cmd Parameter3	Writes command parameter 3.
	…	…

Changing the EtherNet/IP Settings

The settings for controlling data input and output via EtherNet/IP can be changed on the [Field Network] screen under [Communications & I/O] in [Global].

Controller Ethernet settings, such as the IP address and subnet mask, are changed in “Network”.
If the EtherNet/IP settings were changed, it is necessary to restart the controller in order to apply the settings.

Select [Global] → [Communications & I/O] → [Field Network].

Select [EtherNet/IP] or [EtherNet/IP-Unit].

Change the settings as required.

IP address settings (when using the EtherNet/IP unit)

Data Setting

Data Size

Specifies the data size of Assembly Object in the cyclic communication and the message communication (Default: 496 byte). For the cyclic communication, a connecting PLC is given priority to specify data size. Therefore, the data size specified here may differ from that in actual processing. Use a PLC compatible with Large Forward Open in order to transact data exceeding 496 byte.

Connect to Allen-Bradley SLC5/05

Checking the box limits the data size settable up to 248 byte. PLCs specified here do not support the cyclic communication, therefore, the data size of Assembly Object in the message communication should be changed according to the specifications of the PLCs.

Data Configurations

Click [Configuration] which shows the overview of the data allocations in the EtherNet/IP cyclic data communication. For a command returning a text string, the response data may be large. Clicking [View List] shows the detailed allocation statuses of the receive-data and send-data.

Receive-Data of This Machine	Displays an overview of the allocations for data received by the controller from the PLC.
Send-Data of This Machine	Displays an overview of the allocations for data received by the PLC from the controller. The range for the command response output area in the byte allocation area can be specified.

Decimal Point

Selects the data representation type of the result data output.

Fixed-Point (default)

Numbers displayed on each tool are handled as signed 32-bit integer data.

(Example)

If decimal points are set to three digits and the measured value is 123.450 mm, it is handled as 123450 integer data.

Floating-Point

The data is handled as 32-bit single-precision floating decimal point data.

Other Settings

Cyclic Communication Status

Create EDS File

Click [OK].

Outputting Measurement Data Using EtherNet/IP Cyclic Communications (Data Output)

Change the output settings for data output using EtherNet/IP.

Data output flow (example of connection with PLC EtherNet/IP unit)

Set the data and address for output in the output settings.

The controller outputs data via EtherNet/IP in the following manner.

When used with [Hold Mode] set to [ON], selecting [Update Every Timing] (Detail) updates the measurement value by inputting TIMING, ZERO, MSR_RESET, and RESET_ALL (the internal measurement value will not update).

Data output via EtherNet/IP is performed only in run mode. Data is not output in setup mode.
With EtherNet/IP, images and other binary data cannot be output.

*1 When the results output handshake is OFF, output data is overwritten and updated without checking whether the Result ack flag is OFF. To take the rise of Result ready flag as a data reference synchronization signal, turn the Result ack flag ON at each output, which will turn the Result ready flag OFF.

Timing chart

Controlling the Controller with EtherNet/IP Cyclic Communication (Command Control)

The communication control commands can be executed at any time.

Flow of command process using EtherNet/IP (example of connection with PLC EtherNet/IP unit)

The controller performs command control via EtherNet/IP in the following manner.

In the case of a command for which there is no response data, data is not output in response to the Command Data.

When an error occurs, the command execution results are written to Command Result. (0: Success, <Error code>: Failure).

The error cords conform to “Error Messages”.

Timing chart

Controlling the Controller with EtherNet/IP Cyclic Communication (Change Recipe Number)

The recipe number can be changed at any time.

Workflow to change the recipe number

The controller changes the value of the recipe number using EtherNet/IP as shown below.

The changed value is applied at the next measurement.

Troubleshooting

When correct operation does not occur

Checking whether or not the EtherNet/IP connection is correct

From [Global] for the controller, select [Communications & I/O] - [Field Network], and then check [Cyclic Communication Status:] at the bottom of the screen.

If [Not Connected] is displayed here, communication has failed. Check the cable (cross cable when connected directly), IP address, communications settings on the PLC side, and other items again.

When connecting to a Rockwell SLC5/05, because cyclic communication is not performed, [Not Connected] is displayed even when the connection is correct.

Result OR flag is not output.

The “Result OR flag” is updated in coordination with results output with EtherNet/IP as the output destination. When the “Result OR flag” is used, it is necessary to configure the output setting so that 1 or more data item is output via EtherNet/IP.

Result ready flag remains ON and does not change.

There is the possibility that “Result ack flag” control is not being performed correctly. The “Result ready flag” turns OFF when the “Result ack flag” rise is recognized in sending (this controller receiving). This is the same regardless of whether “Enable Handshake” is selected or cleared.

Data cannot be acquired correctly when reading data based on the change in the rise of STO output from an external terminal.

STO is the strobe signal for terminal output. Therefore, it cannot be used as the strobe signal for any other data output.

Refer to the “Result ready flag” for the timing as to when to read data by EtherNet/IP.

Although results data is output beginning from byte address 0048, it is unknown where the data is output to on the PLC (KV Series) side.

With the KV Series, when automatic allocation is used for the first TM-X5000 series, the TM-X5000 series results data is written beginning from link register W0012.

With KV series automatic allocation, allocation byte addresses 0000-0011 are for the link relay (beginning from B0000), and byte addresses beginning from 0012 are for the link register. Allocation begins at the start from W0000, with 1 register used for each 2-byte address.

When the results data byte address is 0048, then (48 - 12)/2 = No. 18→12Hex, and results data is written beginning from W0012.

Error messages

Message	Cause	Corrective Action	Error cause No.
EtherNet/IP communication failed.	Cyclic communication was interrupted. (When recovery is possible, recovery occurs automatically.)	Check that the Ethernet cable is connected correctly. Check whether the controller and PLC were restarted after updating the communication settings. Change the cyclic communication cycle and timeout time on the PLC side. With the factory default, ERROR output is not set. Set it on the [System] screen (Detail).	13601
EtherNet/IP output failed due to a full buffer.	The controller output buffer for outputting via the EtherNet/IP port is full.	Change the RPI setting so the data is output via EtherNet/IP at a faster rate than it builds up. Or, extend the time between triggers. Note: Results data are not written when the buffer is full.	13602
The delay of the handshake control causes skipping of the EtherNet/IP communication result output.	When the EtherNet/IP handshake is ON, delayed handshake caused results output via EtherNet/IP to be skipped.	Change the RPI setting so the data from the tool is output via EtherNet/IP at a faster rate than it builds up. Or, extend the time between triggers. Note: Output does not occur when the output buffer is full.	13603
The EtherNet/IP unit cannot be recognized.	EtherNet/IP unit was not recognized and the controller cannot use EtherNet/IP communication.	Check that the EtherNet/IP unit is attached correctly. Check that the EtherNet/IP unit is not damaged. Do not disconnect the EtherNet/IP unit while the controller and unit are turned on.	13604

Communicating with the Controller Using EtherNet/IP Message Communications

For details of the basic communication specifications, refer to “Controller EtherNet/IP Communication Specifications”.

Object configuration

The controller EtherNet/IP functions include the following objects. These objects can be accessed using message communications.

Class (object name)	Class ID	Instance ID
Identity Object	1 (01Hex)	1 (01Hex)
Message Router Object	2 (02Hex)	1 (01Hex)
Assembly Object	4 (04Hex)	100 (64Hex): Input
		101 (65Hex): Output (when using the controller’s Ethernet port)
		150 (96Hex): Output (when using the EtherNet/IP unit)
Connection Manager Object	6 (06Hex)	1 (01Hex)
Measurement Object	113 (0x71)	1 (01Hex)
Port Object	244 (F4Hex)	1 (01Hex)
TCP/IP Interface Object	245 (F5Hex)	1 (01Hex)
EtherNet Link Object	246 (F6Hex)	1 (01Hex)

For details of the procedure for issuing messages with the PLC device that is used, refer to the PLC instruction manual.
This manual primarily explains the measurement object, which is an object unique to the controller. For details of other objects, refer to the EtherNet/IP specifications that are issued by ODVA (www.odva.org).

Notation in this explanation

The following terms are used when explaining object attributes and services.

Data notation

The bit position in the data is indicated as “Bit n”. (Bit0 is indicated as LSB.)
Array type data is indicated by [ ]. Example: DWORD[10] (DWORD type array, No. of elements: 10)

Data type

The data type is prescribed as follows in the EtherNet/IP specifications.

Data type	Description	Range
Data type	Description	Min.	Max.
BOOL	Boolean	0 : FALSE	1:TRUE
SINT	Short integer	-128	127
INT	Integer	-32768	32767
DINT	Double precision integer	-231	231-1
USINT	Unsigned short integer	0	255
UINT	Unsigned integer	0	65535
UDINT	Unsigned double precision integer	0	232-1
BYTE	Bit string: 8 bits	-	-
WORD	Bit string: 16 bits	-	-
DWORD	Bit string: 32 bits	-	-
REAL	Floating decimal point	Range of single-precision floating decimal points

All values are stored as little endians.

ClassID : 4 (04Hex) Assembly Object

Description

The same data that is sent and received by cyclic communications can be accessed and controlled directly by message communications.

This can be used to perform control using the same data format as with cyclic communication for models that do not support cyclic communication (such as the Rockwell SLC5/05).

Be aware that with message communications, it is not possible to perform time-specific control as it is with cyclic communications.

Instance : 100 (64Hex)

This is information concerning the input assembly and is sent using cyclic communication by the controller.

Attribute

Attribute ID

Access

Name

Data type

Details

3 (03Hex)

Get

data

Byte array

This information is specified by the input data for the cyclic communication data allocation in the global settings. It includes the controller status, command execution results, results data, and other information.

4 (04Hex)

Get

size

UINT

Attribute3 size (bytes)

This is the size that is specified for cyclic communications data size in the cyclic communication data allocation in the global settings.

Example of input assembly data format

The input assembly configuration is as prescribed in the cyclic communication data allocation in the global settings.

For the purpose of explanation, the configuration is shown with the settings listed below.

Cyclic communication data size: 496 bytes (Addresses 0000 - 0495)
Command response output area: 24 bytes

Setting condition	Address (byte)	7bit		6bit		5bit		4bit		3bit		2bit		1bit		0bit
Bit area	0000	B007	Reserved	B006	Reserved	B005	Reserved	B004	Result OR	B003	Result Ready	B002	Cmd Ready	B001	Cmd Error	B000	Cmd Complete
	0001	B00F	MSR_VALID	B00E	RUN	B00D	Reserved	B00C	ERROR	B00B	BUSY	B00A	Reserved	B009	TRG_ack	B008	READY
	0002	B017	Reserved	B016	Reserved	B015	RESET_ALL_ack	B014	MSR_RESET_ack	B013	ZERO_OFF_ack	B012	ZERO_ON_ack	B011	Reserved	B010	TIMING_ack
	0003	B01F	Reserved	B01E	Reserved	B01D	Reserved	B01C	Reserved	B01B	Reserved	B01A	Reserved	B019	Reserved	B018	Reserved
	0004	B027	Tool Judge Value7	B026	Tool Judge Value6	B025	Tool Judge Value5	B024	Tool Judge Value4	B023	Tool Judge Value3	B022	Tool Judge Value2	B021	Tool Judge Value1	B020	Tool Judge Value0
	0005	B02F	Tool Judge Value15	B02E	Tool Judge Value14	B02D	Tool Judge Value13	B02C	Tool Judge Value12	B02B	Tool Judge Value11	B02A	Tool Judge Value10	B029	Tool Judge Value9	B028	Tool Judge Value8
	0006	B037	Tool Judge Value23	B036	Tool Judge Value22	B035	Tool Judge Value21	B034	Tool Judge Value20	B033	Tool Judge Value19	B032	Tool Judge Value18	B031	Tool Judge Value17	B030	Tool Judge Value16
	0007	B03F	Tool Judge Value31	B03E	Tool Judge Value30	B03D	Tool Judge Value29	B03C	Tool Judge Value28	B03B	Tool Judge Value27	B03A	Tool Judge Value26	B039	Tool Judge Value25	B038	Tool Judge Value24
	0008	B047	Tool Judge Value39	B046	Tool Judge Value38	B045	Tool Judge Value37	B044	Tool Judge Value36	B043	Tool Judge Value35	B042	Tool Judge Value34	B041	Tool Judge Value33	B040	Tool Judge Value32
	0009	B04F	Tool Judge Value47	B04E	Tool Judge Value46	B04D	Tool Judge Value45	B04C	Tool Judge Value44	B04B	Tool Judge Value43	B04A	Tool Judge Value42	B049	Tool Judge Value41	B048	Tool Judge Value40
	0010	B057	Tool Judge Value55	B056	Tool Judge Value54	B055	Tool Judge Value53	B054	Tool Judge Value52	B053	Tool Judge Value51	B052	Tool Judge Value50	B051	Tool Judge Value49	B050	Tool Judge Value48
	0011	B05F	Tool Judge Value63	B05E	Tool Judge Value62	B05D	Tool Judge Value61	B05C	Tool Judge Value60	B05B	Tool Judge Value59	B05A	Tool Judge Value58	B059	Tool Judge Value57	B058	Tool Judge Value56
Error code area	0012	W000	Error Code
Error code area	0013	W000	Error Code
Reserved area	0014	W001	Reserved
Reserved area	0015	W001	Reserved
Measurement count area	0016	W002	Total Count
	0017
	0018
	0019
Command output area	0020	W004	Command Result
	0021
	0022
	0023
	0024	W006	Command Data 1
	0025
	0026
	0027
	0028	W008	Command Data 2
	0029
	0030
	0031
	…	…	…
	0044	W010	Command Data 6
	0045
	0046
	0047
Results output area	0048	W012	Result Data 1
	0049
	0050
	0051
	0052	W014	Result Data 2
	0053
	0054
	0055
	…	…	…

Service

Service code	Name	Details
14 (0EHex)	GetAttributeSingle	Acquires the attribute value.

Instance : 101 (65Hex)/150 (96Hex)

This is information concerning the output assembly and is received using cyclic communication by the controller.

When using the Ethernet port on the controller, the instance is 101 (65Hex) and 150 (96Hex) when using the EtherNet/IP unit (CB-NEP20E: Optional).

Attribute

Attribute ID

Access

Name

Data type

Details

3 (03Hex)

Get/Set

data

Byte array

This information is specified by the output data for the cyclic communication data allocation in the global settings. Controller controls, command input, and other data can be written to it.

4 (04Hex)

Get

size

UINT

Attribute3 size (bytes)

This is the size that is specified for cyclic communications data size in the cyclic communication data allocation in the global settings.

Example of output assembly data format

The output assembly configuration is as prescribed in the cyclic communication data allocation in the global settings.

For the purpose of explanation, the configuration is shown with the settings listed below.

Cyclic communication data size: 496 bytes (Addresses 0000 - 0495)

Setting condition	Address (byte)	7bit		6bit		5bit		4bit		3bit		2bit		1bit		0bit
Bit area	0000	B067	Reserved	B066	Reserved	B065	Reserved	B064	Error reset request	B063	Result ack	B062	Reserved	B061	Reserved	B060	Cmd request
	0001	B06F	Reserved	B06E	Reserved	B06D	Reserved	B06C	Reserved	B06B	Reserved	B06A	Reserved	B069	Reserved	B068	TRG
	0002	B077	Reserved	B076	Reserved	B075	Reserved	B074	Reserved	B073	Reserved	B072	TEST	B071	EXT	B070	RESET
	0003	B07F	Reserved	B07E	Reserved	B07D	RESET_ALL	B07C	MSR_RESET	B07B	ZERO_OFF	B07A	ZERO_ON	B079	Reserved	B078	TIMING
	0004	B027	Reserved	B026	Reserved	B025	Reserved	B024	Reserved	B023	Reserved	B022	Reserved	B021	Reserved	B020	Reserved
	0005	B02F	Reserved	B02E	Reserved	B02D	Reserved	B02C	Reserved	B02B	Reserved	B02A	Reserved	B029	Reserved	B028	Reserved
	0006	B037	Reserved	B036	Reserved	B035	Reserved	B034	Reserved	B033	Reserved	B032	Reserved	B031	Reserved	B030	Reserved
	0007	B03F	Reserved	B03E	Reserved	B03D	Reserved	B03C	Reserved	B03B	Reserved	B03A	Reserved	B039	Reserved	B038	Reserved
	0008	B047	Reserved	B046	Reserved	B045	Reserved	B044	Reserved	B043	Reserved	B042	Reserved	B041	Reserved	B040	Reserved
	0009	B04F	Reserved	B04E	Reserved	B04D	Reserved	B04C	Reserved	B04B	Reserved	B04A	Reserved	B049	Reserved	B048	Reserved
	0010	B057	Reserved	B056	Reserved	B055	Reserved	B054	Reserved	B053	Reserved	B052	Reserved	B051	Reserved	B050	Reserved
	0011	B05F	Reserved	B05E	Reserved	B05D	Reserved	B05C	Reserved	B05B	Reserved	B05A	Reserved	B059	Reserved	B058	Reserved
Error code area	0012	W000	ExecCondNo
Error code area	0013	W000	ExecCondNo
Reserved area	0014	W001	Reserved
Reserved area	0015	W001	Reserved
Measurement count area	0016	W002	Command number
	0017
	0018
	0019
Command output area	0020	W004	Cmd Parameter1
	0021
	0022
	0023
	0024	W006	Cmd Parameter2
	0025
	0026
	0027
	0028	W008	Cmd Parameter3
	0029
	0030
	0031
	…	…	…

Service

Service code

Name

Details

14 (0EHex)

GetAttributeSingle

Acquires the attribute value.

16 (10Hex)

SetAttributeSingle

Sets the attribute value.

Whether or not it can be set depends on the attribute access properties.

ClassID: 113 (71Hex) Measurement Object

Description

This object is unique to the controller, and provides the attributes and services that are necessary to control the controller by means of message communications.

For details concerning control by attributes, refer to the control sequence for cyclic communication.

Instance : 1 (01Hex)

Attribute

Attribute ID	Access	Name		Data type		Details
100 (64Hex)	Get	Measurement Object Status		BYTE		Indicates the controller status. Bit 0 : ERROR Bit 1 : Reserved Bit 2 : RUN
101 (65Hex)	Get	Process Status		DWORD		Displays the measurement status.
101 (65Hex)	Get	Process Status		DWORD		Bit 0 : READY Bit 1 : Reserved Bit 2 : Reserved Bit 3 : Reserved Bit 4 : Reserved Bit 5 : Reserved Bit 6 : Reserved Bit 7 : Reserved	Bit 8 : TRG_ack Bit 9 : Reserved Bit 10 : Reserved Bit 11 : Reserved Bit 12 : Reserved Bit 13 : Reserved Bit 14 : Reserved Bit 15 : Reserved	Bit 16 : BUSY Bit 17 : Reserved Bit 18 : Reserved Bit 19 : Reserved Bit 20 : MSR_VALID Bit 21-31 : Reserved
102 (66Hex)	Get/Set	RESET		BOOL		Initializes the measurement process. 0->1: Initialize the measurement process.
103 (67Hex)	Get/Set	TEST		BOOL		Restricts the output. Clears the output buffer when 0->1. 1: Restrict output 0: Permit output
104 (68Hex)	Get/Set	EXT		BOOL		Restricts trigger input. 1: Restrict trigger input. 0: Trigger input enabled
105 (69Hex)	Get/Set	TRG		BYTE		Inputs a trigger. Bit 0 : TRG Bit 1 - 7: Reserved
106 (6AHex)	Get	Results Status		BYTE		Indicates the results output status. Bit 0 : Result ready flag Bit 1 : Result OR flag
107 (6BHex)	Get/Set	Result ack flag		BOOL		Performs results output handshake control.
108 (6CHex)	Get	Inspection Result		DWORD [124]		Displays the results data. The data size is fixed at 248 bytes when the selected PLC type is the Rockwell SLC5/05, and at 496 bytes in other cases. The amount that was specified in the cyclic communication allocations can be acquired from the starting address.
109 (6DHex)	Get/Set	Command request flag		BOOL		Requests the communication control command. 1: Request command execution. 0: Does not request command execution.
110 (6EHex)	Get/Set	Command		Structure		Specifies the communication control command No. and parameters. The data size is 248 bytes when the selected PLC type is the Rockwell SLC5/05, and 496 bytes in all other cases. *At setup, only the size that requires update can be specified (4-byte integer multiple).
			Command Number		DWORD
			Command Param		DWORD
111 (6FHex)	Get	Command Status		BYTE		Indicates the command execution status. Bit 0: Command complete flag Bit 1: Command error flag Bit 2: Command ready flag
112 (70Hex)	Get	Command Result		Structure		Indicates the command execution results. The data size is 248 bytes when the selected PLC type is the Rockwell SLC5/05, and 496 bytes in all other cases. The data size varies depending on the command execution result. The maximum data size is 248 bytes when the selected PLC type is the Rockwell SLC5/05, and 496 bytes in all other cases.
			Command Result		DWORD
			Command Data		DWORD
113 (71Hex)	Get	Total Count		UDINT		Indicates the measurement count. Change measurement count (increase by 1) can also be used as the result output complete signal.
114 (72Hex)	Get/Set	Exec Cond No		UINT		Ignored if a recipe number outside of the range (1 to 8) is specified. The update timing for Set is the same as for EXW however it is different from EXW in that update occurs even when operation is stopped. With Get, an IMMEDIATE recipe number is acquired and returned.
115 (73Hex)	Get	NGCount		UDINT		Indicates the NG count.
116 (74Hex)	Get/Set	Program ID		Structure		Sets and references the program No.
			SD No.		UINT	Specifies the SD memory card number (1 or 2).
			Program No.		UINT	Specifies the program No. (0 - 999).
118 (76Hex)	Get	Program Load Status		UINT		Indicates the status/results of program change by attribute 116. 0: Program change successful 1: Program change failed 2: Program change in progress
For Get access, the GetAttributeSingle service (0EHex) is used. For Set, the SetAttributeSingle service (10Hex) is used.

Service

Service code	Name	Details
5 (05Hex)	Reset	Initializes the measurement process.
14 (0EHex)	GetAttributeSingle	Acquires the attribute value.
16 (10Hex)	SetAttributeSingle	Sets the attribute value. Whether or not it can be set depends on the attribute access properties.
75 (4BHex)	Capture	Runs capture (measurement).
76 (4CHex)	Run command	Issues a command request. The command execution results are returned by message response.
77 (4DHex)	GetResultsData	Fetches the measurement results.
78 (4EHex)	Rewrite recipe No.	Rewrites the recipe number.
79 (4FHex)	GetAreaAllocationInfo	Acquires the cyclic communication allocation settings.
80 (50Hex)	Clear error	Clears the error status.

Service details

Reset service (05Hex)

Initializes the measurement process. The executed contents are the same as for I/O control reset control.

Send parameter : None
Response data : None

Capture service (4BHex)

Trigger is input and capture occurs.

Send parameter

Name

Data type

Details

TriggerBit

BYTE

Head information specifying the capture

Bit 0: TRG

Returned error code

Error code	Name	Details
09 (09Hex)	Abnormal parameter value	A parameter value other than 1 was specified.
21 (15Hex)	Parameter size is too large.	A parameter was specified with a size larger than 2 bytes.
19 (13Hex)	Parameter size is too small.	Parameter is missing.
16 (10Hex)	Status error	Ready is OFF (not in run mode, receive trigger disabled, etc.).

Result data: None

In the communication process using messages, a processing delay of several 10s of ms or longer occurs. If this is a problem, use cyclic communication or terminal input for control.

Communication control command execution service (4CHex)

Executes communication control commands.

Send parameter

Name

Data type

Details

Command Number

DWORD

Specifies the communication control command No.

Command Param

DWORD

Specifies the command parameters. A maximum of 492 bytes of parameters can be specified (4-byte integer multiple).

For details on how to specify commands, refer to “List of Communication Commands for Control”.

Returned error code

Error code	Sub code	Name	Details
00 (00Hex)		Command execution completion	Command execution was completed.
19 (13Hex)		Parameter too small error	The parameter was not specified in the send-data.
21 (15Hex)		Parameter too large error	Parameter larger than 496 bytes was specified in the send-data.
31 (1FHex)	2	Command error	The specified command does not exist.
	3	Command operation prohibited	Operation of the received command is not possible.
	5	Command response error	The command results area is insufficient.
	22	Parameter error	The parameter number or range is incorrect.
16 (10Hex)		Status error	The “Command ready flag” is OFF.

Results data: When the execution of a command that includes command results is successful, the results data is returned in the format shown below.

Name	Data type	Details
Command Data	DWORD [ ]	Returns the command execution results. The data contained in this area corresponds to the Command Data part. The maximum size of the returned data is 248 bytes when the selected PLC type is the Rockwell SLC5/05, and 496 bytes in all other cases.

In the communication process using messages, a processing delay of several 10s of ms or longer occurs. If this is a problem, use cyclic communication or terminal input for control.

Results data acquisition service (4DHex)

Fetches the last measurement results.

Send parameter

Name	Data type	Details
Size	UINT	Specify the size of the results data to fetch in bytes (results data is in units of four bytes. Make sure to set a value in multiples of four).
Offset	UINT	Specify the offset of the results data to fetch in bytes (results data is in units of four bytes. Make sure to set a value in multiples of four).

Returned error code

Error code	Name	Details
09 (09Hex)	Abnormal parameter value	Offset or size value is incorrect.
21 (15Hex)	Parameter size is too large.	Parameter size is too large.
19 (13Hex)	Parameter size is too small.	Parameter size is insufficient.

Results data

Name

Data type

Details

Result

BYTE [ ]

Returns results data with the specified offset and size.

The maximum data size is 248 bytes when the selected PLC type is the Rockwell SLC5/05, and 496 bytes in all other cases.

In the communication process using messages, a processing delay of several 10s of ms or longer may occur. If this is a problem, use cyclic communication or terminal input for control.
The results data that can be acquired is up to the size specified in the cyclic communication allocations.
When this command is used, set the handshake to OFF.

Rewrite recipe No. service (4EHex)

This service updates the recipe number.

Send parameter

Name	Data type	Details
No	DWORD	The recipe number to be set.

Returned error code

Error code	Name	Details
09 (09Hex)	Abnormal parameter value	Size value is incorrect.
21 (15Hex)	Parameter size is too large.	Parameter size is too large.
19 (13Hex)	Parameter size is too small.	Parameter size is insufficient.

Result data: None

In the communication process using messages, a processing delay of several 10s of ms or longer occurs. If this is a problem, use cyclic communication or terminal input for control.

Area allocation information acquisition service (4FHex)

Acquires the address and size for the areas allocated to cyclic communication.

Send parameter

Name

Data type

Details

Direction

UINT

Direction

0: Receiving side
1: Sending side

index

UINT

When Direction is 0 (receiving side)

0: Bit area
1: Fixed byte data area
2: CommandParam area

When Direction is 1 (sending side)

0: Bit area
1: Fixed byte data area
2: CommandData area
3: ResultData area

Returned error code

Error code	Name	Details
09 (09Hex)	Abnormal parameter value	A parameter value other than 0,1, 2, or 3 was specified.
21 (15Hex)	Parameter size is too large.	A parameter was specified with a size larger than 2 bytes.
19 (13Hex)	Parameter size is too small.	Parameter is missing.

Results data:

Name	Data type	Details
Size	UINT	Size of specified area
Offset	UINT	Starting address of specified area

Error clear service (50Hex)

Clears the error status.

Send parameter

Name

Data type

Details

index

UINT

Error to be cleared

Bit 0: Error

Returned error code

Error code	Name	Details
09 (09Hex)	Abnormal parameter value	A parameter value other than 1 was specified.
21 (15Hex)	Parameter size is too large.	A parameter was specified with a size larger than 2 bytes.
19 (13Hex)	Parameter size is too small.	Parameter is missing.

Result data: None

In the communication process using messages, a processing delay of several 10s of ms or longer occurs. If this is a problem, use cyclic communication or terminal input for control.

Controlling the Controller Using EtherNet/IP Message Communications

Using message communication

The controller functions as the message communication server. The procedure for issuing message communication varies depending on the device. However, information such as the following must be specified.

For details, refer to “Controller EtherNet/IP Communication Specifications” and the manual of each device.

IP address:

Specify the controller IP address.

Class, instance:

Specify the following classes and instances that are provided by the controller EtherNet/IP function.

Class name	Class ID	Instance ID
Identity Object	1 (01Hex)	1 (01Hex)
Message Router Object	2 (02Hex)	1 (01Hex)
Assembly Object	4 (04Hex)	100 (64Hex): Input
		101 (65Hex): Output (When using the Ethernet port)
		150 (96Hex): Output (When using the EtherNet/IP unit)
Connection Manager Object	6 (06Hex)	1 (01Hex)
Measurement Object	113 (71Hex)	1 (01Hex)
Port Object	244 (F4Hex)	1 (01Hex)
TCP/IP Interface Object	245 (F5Hex)	1 (01Hex)
Ethernet Link Object	246 (F6Hex)	1 (01Hex)

The primary classes that are used for message communication are the following.

Measurement Object: This object is unique to the controller and is tasked with all TM-X5000 Series controls.
Assembly Object: With a PLC that does not support cyclic communication, by directly reading and writing the data of this object, it is possible to achieve control that is the same as cyclic communication.

Attributes

Specify the attributes that exist in the specified class and instance. For details of the attributes of each class, refer to “Controller EtherNet/IP Communication Specifications” and the specifications of the EtherNet/IP functions issued by ODVA.

To obtain the specifications issued by ODVA, refer to the URL below.

ODVA homepage: www.odva.org/

Services

Specify the contents for execution. The primary services that can be used with the controller are the following.

Access to attributes:

GetAttributeSingle/SetAttributeSingle

Object-specific service:

Services that are prepared for individual objects.

Control using message communication

When using messages to control the controller, access Measurement Object.

Measurement Object provides the following services.

Service name	Service ID	Description
Reset	5 (05Hex)	Resets the controller measurement content. It is the same as the reset command in the communications control commands.
GetAttributeSingle	14 (0EHex)	Acquires the specified attribute value.
SetAttributeSingle	16 (10Hex)	Writes a value to the specified attribute.
Capture	75 (4BHex)	Inputs the specified trigger signal and performs image capture (measurement).
ExecuteCommand	76 (4CHex)	Executes communication control commands.
GetResultsData	77 (4DHex)	Fetches the measurement results.
RewriteRecipeNo.	78 (4EHex)	Rewrites the recipe number.
GetArea AllocationInfo	79 (4FHex)	Acquires the allocation information for each area (command response output area, system variable allocation area, results output area, etc.) that were allocated for cyclic communication data.
Clear error	80 (50Hex)	Clears the error status.

For details on individual services, refer to “Controller EtherNet/IP Communication Specifications”.

Resetting the controller using EtherNet/IP message communication

Controller measurement can be reset using message communication by means of the Measurement Object reset service.

Reset service (05Hex) control image

Example of data

Send data

Class ID	71Hex	Measurement Object
Instance ID	01Hex	Fixed value
Service ID	05Hex	Reset service
Attribute ID	-	-
Data	-	-

Response

Execution result	Execution result
Additional code	None

Execution result

0 (00Hex): Service execution was successful.

Controlling image capture with EtherNet/IP message communication

Image capture service (4BHex) control image

Example of data

When a trigger is input, specify 0x01 with bits 0 and 1 of the trigger information as 1.

Send data

Class ID	71Hex	Measurement Object
Instance ID	01Hex	Fixed value
Service ID	4BHex	Image capture service
Attribute ID	-	-
Data in the 0th byte	01Hex	Bit0: Trg enabled

Response

Execution result	Execution result
Additional code	None

Execution result

0 (00Hex) : Service execution was successful.
9 (09Hex) : Data value is not correct (not a valid value).
16 (10Hex) : Service was not available (not in Ready state.)
19 (13Hex) : Incorrect data size (too small)
21 (15Hex) : Incorrect data size (too large)

Command control with EtherNet/IP message communication

Command execution service (4CHex) control image

Example of data

When specifying number specified command 24 (PW) and changing to Program 10 in SD1

Send data

Class ID		71Hex	Measurement Object
Instance ID		01Hex	Fixed value
Service ID		4CHex	Command execution service
Attribute ID		-	-
Data	0th byte	18Hex	Number specified command No. 24 (Change inspection program)
	1st byte	00Hex
	2nd byte	00Hex
	3rd byte	00Hex
	4th byte	01Hex	SD No. 1 (01Hex)
	5th byte	00Hex
	6th byte	00Hex
	7th byte	00Hex
	8th byte	0AHex	Program No. 10 (0AHex)
	9th byte	00Hex
	10th byte	00Hex
	11th byte	00Hex

Response data

Execution result		Execution result
Additional code		Refer below.
Data	0th byte	Execution result byte No. 0
	1st byte	00Hex
	2nd byte	00Hex
	3rd byte	00Hex

Execution result

0 (00Hex) : Service execution was successful.
19 (13Hex) : Incorrect data size (too small)
21 (15Hex) : Incorrect data size (too large)
31 (1FHex) : A vendor-specific error occurred. The detailed reason is indicated in the additional code.

Additional code

Contains command error codes.

2 (02Hex)

Command error

The specified command does not exist.

3 (03Hex)

Command operation prohibited

Operation of the received command is not possible.

22 (16Hex)

Parameter

Error

The parameter number or range is incorrect.

Fetching Measurement Data Using EtherNet/IP Message Communications (Fetch Data)

Results data acquisition service (4DHex) control image

Example of data

Acquiring 20 bytes starting from byte 12 in the results data

Send data

Class ID		71Hex	Measurement Object
Instance ID		01Hex	Fixed value
Service ID		4DHex	Results data acquisition service
Attribute ID		-	-
Data	0th byte	14Hex	Acquire 20 bytes.
	1st byte	00Hex
	2nd byte	0CHex	Acquire results data beginning from byte No. 12
	3rd byte	00Hex
	4th byte	00Hex

Response data

Execution result		Execution result
Additional code		None
Data	0th byte	Results data byte No. 12
	1st byte	Results data byte No. 13
	2nd byte	Results data byte No. 14
	3rd byte	Results data byte No. 15
	(...)
	16th byte	Results data byte No. 28
	17th byte	Results data byte No. 29
	18th byte	Results data byte No. 30
	19th byte	Results data byte No. 31

Execution result

0 (00Hex) : Service execution was successful.
9 (09Hex) : Data value is incorrect. (Offset or size is negative, or value is too large.)
19 (13Hex) : Incorrect data size (too small)
21 (15Hex) : Incorrect data size (too large)

Changing the Recipe Number Using EtherNet/IP Message Communications (Rewrite Recipe No.)

Rewrite recipe number service (4EHex) control image

Example of data

When writing recipe No. 5

Send data

Class ID		71Hex	Measurement Object
Instance ID		01Hex	Fixed value
Service ID		4EHex	Rewrite recipe No. service
Attribute ID		-	-
Data	0th byte	05Hex	Value written as the recipe number
	1st byte	00Hex
	2nd byte	00Hex
	3rd byte	00Hex

Response data

Execution result	Execution result
Additional code	None

Execution result

0 (00Hex) : Service execution was successful.
9 (09Hex) : Data value is not correct (not within valid range).
19 (13Hex) : Incorrect data size (too small)
21 (15Hex) : Incorrect data size (too large)

Overview of Control/Data Output Using PROFINET

This system supports communication via PROFINET.

PROFINET is an open communications standard with specifications that are specified by PI (PROFIBUS & PROFINET International) and communications are possible with all devices that support it, regardless of the vendor. This system conforms to ConformanceClass A.

The Ethernet port complies with Conformance Class A and the PROFINET unit (CB-NPN20E: Optional) complies with Conformance Class C.

The following functions are possible with a PROFINET connection.

EtherNet/IP, PROFINET, EtherCAT, and PLC-Link cannot be used at the same time.

Cyclic communication

Recorded data communication (aperiodic communication)

Controller PROFINET Communication Specifications

Standard specifications

This system’s PROFINET communications supports “periodic communication” and “recorded data communication (aperiodic communication)”.

Cyclic communication

Recorded data communication (aperiodic communication)

This is a communication method that accesses the record of the byte assignment divided into units of 1024 bytes with a specialized command.

There are two commands for the read record and write record, and a response is returned for the executed command.
This function can be used for communications that do not require to be performed in real-time.
It can access areas for which the maximum periodic communication size (1408 bytes).
An index is assigned to each record, the index and size is specified, and data is accessed.

The accessible range of each byte assignment is as follows.

Controller receive-data - read/write

Index	Accessible address
Index	Controller port	PROFINET-Unit
1	0012 to 1035	0012 to 1011
2	1036 to 2059	1012 to 2011
3	(None)	2012 to 2059

Controller send-data - read-only

Index	Accessible address
Index	Controller port	PROFINET-Unit
10	0012 to 1035	0012 to 1011
11	1036 to 2059	1012 to 2011
12	2060 to 3083	2012 to 2059
13	3084 to 4107	3012 to 4011
14	(None)	4012 to 4107

The read record and write record commands are issued using the respective “RDREC” (SFB 52) and “WRREC” (SFB 53) blocks from the PLC.

If the parameter module is being written to when the write record command is issued with periodic communication, a conflict may occur in the memory area. To use the write record command, configure the settings so that periodic communication and the memory area do not conflict.

Allocation Conditions of Periodic Communication Data

Example of the send-data settings for this controller (TM-X5000 Series)

Setting condition	Address (byte)	7bit	6bit	5bit	4bit	3bit	2bit	1bit	0bit
Bit area	0000	Reserved	Reserved	Reserved	Result OR	Result Ready	Cmd Ready	Cmd Error	Cmd Complete
	0001	MSR_VALID	RUN	Reserved	ERROR	BUSY	Reserved	TRG_ack	READY
	0002	Reserved	Reserved	RESET_ALL_ack	MSR_RESET_ack	ZERO_OFF_ack	ZERO_ON_ack	Reserved	TIMING_ack
	0003	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved
	0004	Tool Judge Value 7	Tool Judge Value 6	Tool Judge Value 5	Tool Judge Value 4	Tool Judge Value 3	Tool Judge Value 2	Tool Judge Value 1	Tool Judge Value 0
	0005	Tool Judge Value 15	Tool Judge Value 14	Tool Judge Value 13	Tool Judge Value 12	Tool Judge Value 11	Tool Judge Value 10	Tool Judge Value 9	Tool Judge Value 8
	0006	Tool Judge Value 23	Tool Judge Value 22	Tool Judge Value 21	Tool Judge Value 20	Tool Judge Value 19	Tool Judge Value 18	Tool Judge Value 17	Tool Judge Value 16
	0007	Tool Judge Value 31	Tool Judge Value 30	Tool Judge Value 29	Tool Judge Value 28	Tool Judge Value 27	Tool Judge Value 26	Tool Judge Value 25	Tool Judge Value 24
	0008	Tool Judge Value 39	Tool Judge Value 38	Tool Judge Value 37	Tool Judge Value 36	Tool Judge Value 35	Tool Judge Value 34	Tool Judge Value 33	Tool Judge Value 32
	0009	Tool Judge Value 47	Tool Judge Value 46	Tool Judge Value 45	Tool Judge Value 44	Tool Judge Value 43	Tool Judge Value 42	Tool Judge Value 41	Tool Judge Value 40
	0010	Tool Judge Value 55	Tool Judge Value 54	Tool Judge Value 53	Tool Judge Value 52	Tool Judge Value 51	Tool Judge Value 50	Tool Judge Value 49	Tool Judge Value 48
	0011	Tool Judge Value 63	Tool Judge Value 62	Tool Judge Value 61	Tool Judge Value 60	Tool Judge Value 59	Tool Judge Value 58	Tool Judge Value 57	Tool Judge Value 56
Error code area	0012	Error Code
Error code area	0013	Error Code
Reserved area	0014	Reserved
Reserved area	0015	Reserved
Measurement count area	0016	Total Count
	0017
	0018
	0019
Command output area	0020	Command Result
	0021
	0022
	0023
	0024	Command Data 1
	0025
	0026
	0027
	0028	Command Data 2
	0029
	0030
	0031
	…
	0044	Command Data 6
	0045
	0046
	0047
Results output area	0048	Result Data 1
	0049
	0050
	0051
	0052	Result Data 2
	0053
	0054
	0055
	…	…

Name and behavior of input signals

Allocation area

Name

Remarks

Bit area

Cmd Complete

Turns on when command processing is completed.

Cmd Error

Turns off when command processing is successful and on when command processing fails.

Cmd Ready

Turns on when command processing can be accepted.

Result Ready

Turns on when data transmission is completed.

Result OR

Used to output the OR result for the judged value of tool specified in the output settings.

READY

Turns on when trigger input can be accepted.

TRG_ack

Turns on when the trigger input is accepted. Turns off when trigger input turns off.

BUSY

Output during measurement processing or command processing.

ERROR

Output while a dialog box is displayed on the screen when a system error occurs. For details on typical system errors, see “Error Messages”.

On the [System] screen for [Global] (Detail), error output for SD memory card-related errors and so on can also be specified.

RUN

Output when the controller is in Run mode.

MSR_VALID

Turns on when the internal measurement values for all tools set with the active recipe are no longer in the judgment standby state.

Turns off if measured values are finalized with TIMING or when internal measurement values are cleared with MSR_RESET.

TIMING_ack

Turns on when the input timing is accepted. Turns off when the input timing is turned off.

ZERO_ON_ack

Turns on when zero on input is accepted. Turns off when zero on input is turned off.

ZERO_OFF_ack

Turns on when zero off input is accepted. Turns off when zero off input is turned off.

MSR_RESET_ack

Turns on when reset measured value input is accepted. Turns off when reset measured value input is turned off.

RESET_ALL_ack

Turns on when reset measured value (all recipes) input is accepted. Turns off when reset measured value (all templates) input is turned off.

Tool judgment area

Tool Judge Value0

Returns the judgment value assigned to the bit allocation area (address 0004:bit0).

Tool Judge Value1

Returns the judgment value assigned to the bit allocation area (address 0004:bit1).

. . .

Tool Judge Value63

Returns the judgment value assigned to the bit allocation area (address 0011:bit7).

Error code area

Error Code

Contains error codes for causes of errors.

Measurement count area

Total Count

Indicates the measurement count.

When used with [Hold Mode] set to [ON], change measurement count (increase by 1) of the system variables allocated to the results output area is used as the result output complete signal.

Command output area

Command Result

Indicates the command execution results.

Command Data 1

Returns command execution results data 1.

Command Data 2

Returns command execution results data 2.

. . .

Command Data 6

Returns command execution results data 6.

Results output area

Result Data 1

Returns measurement results data 1.

Result Data 2

Returns measurement results data 2.

. . .

Example of controller receive-data settings

Setting condition	Address (byte)	7bit	6bit	5bit	4bit	3bit	2bit	1bit	0bit
Bit area Reserved area	0000	Reserved	Reserved	Reserved	Error reset request	Result ack	Reserved	Reserved	Cmd request
	0001	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved	TRG
	0002	Reserved	Reserved	Reserved	Reserved	Reserved	TEST	EXT	RESET
	0003	Reserved	Reserved	RESET_ALL	MSR_RESET	ZERO_OFF	ZERO_ON	Reserved	TIMING
	0004	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved
	0005	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved
	0006	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved
	0007	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved
	0008	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved
	0009	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved
	0010	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved
	0011	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved	Reserved
Recipe No.	0012	ExecCondNo
	0013	ExecCondNo
	0014	Reserved
	0015	Reserved
Command input area	0016	Command number
	0017
	0018
	0019
	0020	Cmd Parameter1
	0021
	0022
	0023
	0024	Cmd Parameter2
	0025
	0026
	0027
	0028	Cmd Parameter3
	0029
	0030
	0031
	…

As ExecCondNo is only loaded by the controller when there are changes, the recipe number can also be overwritten by a command.

Name and behavior of signal output

Allocation area	Name	Remarks
Bit area	Cmd request	Requests command execution when rising from OFF to ON.
	Result ack	Notifies of data acquisition when rising from OFF to ON.
	Error reset request	Clears errors when rising from OFF to ON.
	TRG	Starts capture (measurement) (leading edge synchronization). The input is accepted when READY is ON.
	RESET	Used to reset operation. Result OR output is 0. The measurement count returns to 0. All of archived image data are deleted. All of the data in the output buffer are reset. A file in the measurement result output destination is newly created. A folder in the image output destination is newly created.
	EXT	Used to suspend the occurrence of internal triggers and the acceptance of external triggers. When the input turns on, READY is forcibly turned off to stop the acceptance of all triggers (level synchronization).
	TEST	Used to suspend the status output for trial runs. When this signal is input, the result data that have not been output will be deleted. Result OR output is reset during input. As soon as input turns off, the measurement processing result obtained immediately after that will start being output again.
	TIMING	Requests input timing when rising from OFF to ON.
	ZERO_ON	Requests auto zero on input when rising from OFF to ON.
	ZERO_OFF	Requests auto zero off input when rising from OFF to ON.
	MSR_RESET	Requests reset measured value processing input when rising from OFF to ON.
	RESET_ALL	Requests reset measured value processing for all recipes when rising from OFF to ON.
Recipe No. area	ExecCondNo	Writes recipe numbers (1 to 8). The recipe numbers are loaded by the controller when values in this area change.
Command input area	Command number	Writes a command number.
	Cmd Parameter1	Writes command parameter 1.
	Cmd Parameter2	Writes command parameter 2.
	Cmd Parameter3	Writes command parameter 3.
	…	…

Changing PROFINET Settings

The settings for controlling data input and output via PROFINET can be changed on the [Field Network] screen under [Communications & I/O] in [Global].

Controller Ethernet settings, such as the IP address and subnet mask, are changed in “Network”.
If the PROFINET settings were changed, it is necessary to restart the controller in order to apply the settings.

Select [Global] → [Communications & I/O] → [Field Network].

Select [PROFINET] or [PROFINET-Unit].

Change the settings as required.

Connection

IP address settings (when using the PROFINET unit)

Data Settings

Other Setting

Cyclic communication status

Create GSDML File

Click [OK].

Outputting Measurement Data Using PROFINET Periodic Communications (Data Output)

Change the output settings for data output using PROFINET.

Data output flow (example of connection with PLC PROFINET unit)

Set the data and address for output in the output settings.

The controller outputs data via PROFINET in the following manner.

Data output via PROFINET is performed only in run mode. Data is not output in setup mode.
With PROFINET, images and other binary data cannot be output.

Timing chart

Controlling the Controller with PROFINET Periodic Communication (Command Control)

The communication control commands can be executed at any time.

Flow of Command Process using PROFINET (Example of Connection with the PLC’s PROFINET Unit)

The controller performs command control via PROFINET in the following manner.

In the case of a command for which there is no response data, data is not output in response to the Command Data.

When an error occurs, the command execution results are written to Command Result. (0: Success, <Error code>: Failure).

The error cords conform to “Error Messages”.

Timing chart

Controlling the Controller with PROFINET Cyclic Communication (Change Recipe Number)

The recipe number can be changed at any time.

Workflow to change the recipe number

The controller changes the value of the recipe number using PROFINET as shown below.

The changed value is applied at the next measurement.

Troubleshooting

When correct operation does not occur

Checking whether or not the PROFINET connection is correct

From [Global] for the controller, select [Communications & I/O] [Field Network], and then check [Periodic Communication Status:]. If [Not Connected] is displayed here, communication has failed. Check the cable connection, IP address, and communications settings on the PLC again.

Result OR flag is not output.

The Result OR flag is updated in coordination with results output with PROFINET as the output destination. When the “Result OR flag” is used, it is necessary to configure the output setting so that one or more data item is output via PROFINET.

Result ready flag remains ON and does not change.

Data cannot be acquired correctly when reading data based on the change in the rise of STO output from an external terminal.

STO is the data strobe signal for terminal output. Therefore it cannot be used as the strobe signal for any other data output.

Refer to the “Result ready flag” for the timing as to when to read data by PROFINET.

The Ethernet settings (IP address, etc.) unintentionally changed.

For PROFINET, the IP address set for the controller on the PLC overwrites the Ethernet settings (IP address, etc.) configured on the controller when communication starts. Configure the Ethernet settings that are to be set for the controller on the PLC.

Behavior occurs that is different from the module address assigned to the PLC

Deleting the bit module may cause behavior that differs from the address set for the PLC.

Do not delete the bit module.

Error messages

Message	Cause	Corrective Action	Error cause No.
PROFINET communication has failed.	Communication was interrupted. (When recovery is possible, recovery occurs automatically.)	Check that the Ethernet cable is connected correctly. Check whether the controller and master were restarted after updating the communication settings. Review the requested packet interval and timeout settings on the PLC. With the factory default, ERROR output is not set. Set it on the [System] screen (Detail).	13701
PROFINET output failed due to a full buffer.	The output buffer for output via PROFINET is full.	Change the update time on the PLC so the data is output via PROFINET at a faster rate than it builds up. Or, extend the time between triggers. Note: Results data are not written when the buffer is full.	13702
The delay of the handshake causes skipping of the PROFINET communication result output.	When the PROFINET handshake is on, delayed handshake caused results output via PROFINET to be skipped.	Change the update time on the PLC so the data from the tool is output via PROFINET at a faster rate than it builds up. Or, extend the time between triggers. Note: Results data are not written when the buffer is full.	13703
The PROFINET unit cannot be recognized.	The PROFINET unit is not recognized and the controller cannot use PROFINET communication.	Make sure the PROFINET unit is attached correctly. Make sure the PROFINET unit is not damaged. Do not disconnect the PROFINET unit while the controller and module are turned on.	13704

Overview of Control/Data Output Using EtherCAT

EtherCAT is real time Ethernet that is open source developed by Beckhoff.

This system functions as an EtherCAT slave and can perform the below functions when connected to an EtherCAT unit (CB-NEC20E: Optional).

EtherNet/IP, PROFINET, EtherCAT, and PLC-Link cannot be used at the same time.

Process data object (PDO) communications (cyclical communications)

This function provides high-speed control in a cycle of several microseconds to several tens of milliseconds by communicating at the update time interval. In addition, because it is possible to control the controller by referencing and updating variables and devices in the PLC without considering the communication, it allows programs to be written easily on the PLC side.

Control the controller: The controller can be controlled by using cyclic communication to send the commands for execution.
Output the results data: Data can be output by cyclic communication when the items for output from EtherCAT are set in the output settings (Detail).
Change the recipe number: The controller can be controlled by using cyclic communication to specify the recipe number.

Be sure to set an update time of 500 µs or longer for cyclic communication.
Even if you specify the update time of the cyclic communication to 500 µs or longer, the processing may be delayed or the communication may be disconnected by temporary timeout due to the excessive load applied to the controller temporarily or continuously when there are other communication functions being used in the controller, such as measurement settings, dialog operations, commands, FTP, or remote desktop. In cases such as this, review the cyclic communication settings and operating conditions. Be sure to verify that there are no problems with operating performance, including the issues above, prior to operation.
In a network where many devices including an EtherCAT device are connected, delay or packet loss may occur sometimes when a heavy load is applied to the network constantly or temporarily. Be sure to perform sufficient verification prior to operation.

Mailbox communication (non-cyclic communication)

Standard Specifications for the EtherCAT Unit (CB-NEC20E: Optional)

Standard specifications

EtherCAT communication that uses an EtherCAT unit (CB-NEC20E: Optional) supports “Process data object (PDO) communications (cyclical communications)” and “Mailbox communication (non-cyclic communication)”.

Process data object (PDO) communications (cyclical communications)

Mailbox communication (non-cyclic communication)

This is a communication method that accesses the object of the byte assignment divided into units of 1000 bytes with a specialized command.

There are reading (SDO Upload), writing (SDO Download), and other commands, and a response is returned for the executed command.
This function can be used for communications that do not require to be performed in real-time.
It can access areas for which the maximum cyclic communication size (input: 530 bytes, output: 534 bytes) is exceeded.
An index is assigned to each record, the index and size is specified, and data is accessed.

The accessible range of each byte assignment is as follows.

Output data (controller receive) - read/write

Index	Accessible address
2019H	0020 to 1019
201AH	1020 to 2019
201BH	2020 to 2055

Input data (controller send) - read-only

Index	Accessible address
2008H	0024 to 1023
200CH	1024 to 2023
200DH	2024 to 3023
200EH	3024 to 4023
200FH	4024 to 4103

If the parameter module is being written to when the SDO Download command is issued with cyclic communication, a conflict may occur in the memory area. To use the SDO Download command, configure the settings so that cyclic communication and the memory area do not conflict.

Models that Support EtherCAT Connection

For more information on how to set the applicable PLC, refer to the instruction manual provided with the PLC.

Beckhoff PLC

PLC model	EtherCAT communication unit	Firmware version	Software used	Version of the software used
C6920-0050 (TwinCAT)	- (Built in)	Windows 7 Ultimate Service Pack 1	TwinCAT3	v3.1.4020 (Build 4020)

Omron PLC

PLC model	EtherCAT communication unit	Firmware version	Software used	Version of the software used
NJ101-9000	- (Built in)	1.1.521	Sysmac Studio	Ver.1.15
NJ301-1100	- (Built in)	1.1.521	Sysmac Studio	Ver.1.15

Allocation Conditions of Cyclic Communication Data

Example of the send-data settings for this controller (TM-X5000 Series to Beckoff C6920 Series)

The following is an example when the command response output area is set to 24 bytes when one TM-X5000 Series unit is connected and ResultData 128 bytes (Index 2008) is assigned to the process data.

Setting condition	Index	Sub index
Bit area	2001	0x08	Reserved	0x07	Reserved	0x06	Reserved	0x05	Result OR	0x04	Result Ready	0x03	Cmd Ready	0x02	Cmd Error	0x01	Cmd Complete
		0x10	MSR_VALID	0x0F	RUN	0x0E	Reserved	0x0D	ERROR	0x0C	BUSY	0x0B	Reserved	0x0A	TRG_ack	0x09	READY
		0x18	Reserved	0x17	Reserved	0x16	RESET_ALL_ack	0x15	MSR_RESET_ack	0x14	ZERO_OFF_ack	0x13	ZERO_ON_ack	0x12	Reserved	0x11	TIMING_ack
		0x20	Reserved	0x1F	Reserved	0x1E	Reserved	0x1D	Reserved	0x1C	Reserved	0x1B	Reserved	0x1A	Reserved	0x19	Reserved
	2002	0x08	Tool Judge Value7	0x07	Tool Judge Value6	0x06	Tool Judge Value5	0x05	Tool Judge Value4	0x04	Tool Judge Value3	0x03	Tool Judge Value2	0x02	Tool Judge Value1	0x01	Tool Judge Value0
		0x10	Tool Judge Value15	0x0F	Tool Judge Value14	0x0E	Tool Judge Value13	0x0D	Tool Judge Value12	0x0C	Tool Judge Value11	0x0B	Tool Judge Value10	0x0A	Tool Judge Value9	0x09	Tool Judge Value8
		0x18	Tool Judge Value23	0x17	Tool Judge Value22	0x16	Tool Judge Value21	0x15	Tool Judge Value20	0x14	Tool Judge Value19	0x13	Tool Judge Value18	0x12	Tool Judge Value17	0x11	Tool Judge Value16
		0x20	Tool Judge Value31	0x1F	Tool Judge Value30	0x1E	Tool Judge Value29	0x1D	Tool Judge Value28	0x1C	Tool Judge Value27	0x1B	Tool Judge Value26	0x1A	Tool Judge Value25	0x19	Tool Judge Value24
		0x28	Tool Judge Value39	0x27	Tool Judge Value38	0x26	Tool Judge Value37	0x25	Tool Judge Value36	0x24	Tool Judge Value35	0x23	Tool Judge Value34	0x22	Tool Judge Value33	0x21	Tool Judge Value32
		0x30	Tool Judge Value47	0x2F	Tool Judge Value46	0x2E	Tool Judge Value45	0x2D	Tool Judge Value44	0x2C	Tool Judge Value43	0x2B	Tool Judge Value42	0x2A	Tool Judge Value41	0x29	Tool Judge Value40
		0x38	Tool Judge Value55	0x37	Tool Judge Value54	0x36	Tool Judge Value53	0x35	Tool Judge Value52	0x34	Tool Judge Value51	0x33	Tool Judge Value50	0x32	Tool Judge Value49	0x31	Tool Judge Value48
		0x40	Tool Judge Value63	0x3F	Tool Judge Value62	0x3E	Tool Judge Value61	0x3D	Tool Judge Value60	0x3C	Tool Judge Value59	0x3B	Tool Judge Value58	0x3A	Tool Judge Value57	0x39	Tool Judge Value56
Error code area	2003		Error Code
Measurement count area	2004		Total Count
Command execution result	2005		Command Result
Result Data 128 bytes (Default value)	2008	0x01	Command Data 1
		0x02	Command Data 2
		…
		0x06	Command Data 6
		0x07	Result Data 1
		0x08	Result Data 2
		…

Name and behavior of input signals

Allocation area

Name

Remarks

Bit area

Cmd Complete

Turns on when command processing is completed.

Cmd Error

Turns off when command processing is successful and on when command processing fails.

Cmd Ready

Turns on when command processing can be accepted.

Result Ready

Turns on when data transmission is completed.

Result OR

Used to output the OR result for the judged value of tool specified in the output settings.

READY

Turns on when trigger input can be accepted.

TRG_ack

Turns on when the trigger input is accepted. Turns off when trigger input turns off.

BUSY

Output during measurement processing or command processing.

ERROR

Output while a dialog box is displayed on the screen when a system error occurs. For details on typical system errors, see “Error Messages”.

On the [System] screen for [Global] (Detail), error output for SD memory card-related errors and so on can also be specified.

RUN

Output when the controller is in Run mode.

MSR_VALID

Turns on when the internal measurement values for all tools set with the active recipe are no longer in the judgment standby state.

Turns off if measured values are finalized with TIMING or when internal measurement values are cleared with MSR_RESET.

TIMING_ack

Turns on when the input timing is accepted. Turns off when the input timing is turned off.

ZERO_ON_ack

Turns on when zero on input is accepted. Turns off when zero on input is turned off.

ZERO_OFF_ack

Turns on when zero off input is accepted. Turns off when zero off input is turned off.

MSR_RESET_ack

Turns on when reset measured value input is accepted. Turns off when reset measured value input is turned off.

RESET_ALL_ack

Turns on when reset measured value (all recipes) input is accepted. Turns off when reset measured value (all templates) input is turned off.

Tool judgment area

Tool Judge Value0

Returns the judgment value assigned to the bit allocation area (address 0004:bit0).

Tool Judge Value1

Returns the judgment value assigned to the bit allocation area (address 0004:bit1).

. . .

Tool Judge Value63

Returns the judgment value assigned to the bit allocation area (address 0011:bit7).

Error code area

Error Code

Contains error codes for causes of errors.

Measurement count area

Total Count

Indicates the measurement count.

When used with [Hold Mode] set to [ON], change measurement count (increase by 1) of the system variables allocated to the results output area is used as the result output complete signal.

Command output area

Command Result

Indicates the command execution results.

Command Data 1

Returns command execution results data 1.

Command Data 2

Returns command execution results data 2.

. . .

Command Data 6

Returns command execution results data 6.

Results output area

Result Data 1

Returns measurement results data 1.

Result Data 2

Returns measurement results data 2.

. . .

Example of the send-data settings for this controller (TM-X5000 Series to Beckoff C6920 Series)

Example when one TM-X5000 Series model is connected to a C6920 Series model and Parameter 128 bytes (Index 2017) is assigned to process data.

Setting condition	Index	Sub index
Bit area	2011	0x08	Reserved	0x07	Reserved	0x06	Reserved	0x05	Error reset request	0x04	Result ack	0x03	Reserved	0x02	Reserved	0x01	Cmd request
		0x10	Reserved	0x0F	Reserved	0x0E	Reserved	0x0D	Reserved	0x0C	Reserved	0x0B	Reserved	0x0A	Reserved	0x09	TRG
		0x18	Reserved	0x17	Reserved	0x16	Reserved	0x15	Reserved	0x14	Reserved	0x13	TEST	0x12	EXT	0x11	RESET
		0x20	Reserved	0x1F	Reserved	0x1E	RESET_ALL	0x1D	MSR_RESET	0x1C	ZERO_OFF	0x1B	ZERO_ON	0x1A	Reserved	0x19	TIMING
	2012	0x08	Reserved	0x07	Reserved	0x06	Reserved	0x05	Reserved	0x04	Reserved	0x03	Reserved	0x02	Reserved	0x01	Reserved
		0x10	Reserved	0x0F	Reserved	0x0E	Reserved	0x0D	Reserved	0x0C	Reserved	0x0B	Reserved	0x0A	Reserved	0x09	Reserved
		0x18	Reserved	0x17	Reserved	0x16	Reserved	0x15	Reserved	0x14	Reserved	0x13	Reserved	0x12	Reserved	0x11	Reserved
		0x20	Reserved	0x1F	Reserved	0x1E	Reserved	0x1D	Reserved	0x1C	Reserved	0x1B	Reserved	0x1A	Reserved	0x19	Reserved
		0x28	Reserved	0x27	Reserved	0x26	Reserved	0x25	Reserved	0x24	Reserved	0x23	Reserved	0x22	Reserved	0x21	Reserved
		0x30	Reserved	0x2F	Reserved	0x2E	Reserved	0x2D	Reserved	0x2C	Reserved	0x2B	Reserved	0x2A	Reserved	0x29	Reserved
		0x38	Reserved	0x37	Reserved	0x36	Reserved	0x35	Reserved	0x34	Reserved	0x33	Reserved	0x32	Reserved	0x31	Reserved
		0x40	Reserved	0x3F	Reserved	0x3E	Reserved	0x3D	Reserved	0x3C	Reserved	0x3B	Reserved	0x3A	Reserved	0x39	Reserved
Recipe No.	2013		ExecCondNo
Execution command No.	2014		Command number
Parameter 128 bytes (Default value)	2017	0x01	Cmd Parameter1
	2017	0x02	Cmd Parameter2
	…	…	…

As ExecCondNo is only loaded by the controller when there are changes, the recipe number can also be overwritten by a command.

Name and behavior of output signals

Allocation area	Name	Remarks
Bit area	Cmd request	Requests command execution when rising from OFF to ON.
	Result ack	Notifies of data acquisition when rising from OFF to ON.
	Error reset request	Clears errors when rising from OFF to ON.
	TRG	Starts capture (measurement) (leading edge synchronization). The input is accepted when READY is ON.
	RESET	Used to reset operation. Result OR output is 0. The measurement count returns to 0. All of archived image data are deleted. All of the data in the output buffer are reset. A file in the measurement result output destination is newly created. A folder in the image output destination is newly created.
	EXT	Used to suspend the occurrence of internal triggers and the acceptance of external triggers. When the input turns on, READY is forcibly turned off to stop the acceptance of all triggers (level synchronization).
	TEST	Used to suspend the status output for trial runs. When this signal is input, the result data that have not been output will be deleted. Result OR output is reset during input. As soon as input turns off, the measurement processing result obtained immediately after that will start being output again.
	TIMING	Requests input timing when rising from OFF to ON.
	ZERO_ON	Requests auto zero on input when rising from OFF to ON.
	ZERO_OFF	Requests auto zero off input when rising from OFF to ON.
	MSR_RESET	Requests reset measured value processing input when rising from OFF to ON.
	RESET_ALL	Requests reset measured value processing for all recipes when rising from off to on.
Recipe No. area	ExecCondNo	Writes recipe numbers (1 to 8). The recipe numbers are loaded by the controller when values in this area change.
Command input area	Command number	Writes a command number.
	Cmd Parameter1	Writes command parameter 1.
	Cmd Parameter2	Writes command parameter 2.
	Cmd Parameter3	Writes command parameter 3.
	…	…

Changing EtherCAT Settings

The settings for controlling data input and output via EtherCAT can be changed on the [Field Network] screen under [Communications & I/O] in [Global].

Controller Ethernet settings, such as the IP address and subnet mask, are changed in “Network”.
If the EtherCAT settings were changed, it is necessary to restart the controller in order to apply the settings.

Select [Global] → [Communications & I/O] → [Field Network].

Select [EtherCAT-Unit].

Change the settings as required.

Data setting

Other Settings

Cyclic Communication Status

Create ESI File

Click [OK].

Outputting Measurement Data Using EtherCAT Cyclic Communications (Data Output)

Change the output settings for data output using EtherCAT.

Data output flow (example of connection with a PLC EtherCAT unit)

Set the data and address for output in the output settings.

The controller outputs data via EtherCAT in the following manner.

When used with [Hold Mode] set to [ON], selecting [Update Every Timing] “Field Network” updates the measurement value by inputting TIMING, ZERO, MSR_RESET, and RESET_ALL (the internal measurement value will not update).

Data is only output via EtherCAT in run mode. Data is not output in setup mode.
With EtherCAT, images and other binary data cannot be output.

Timing chart

Controlling the Controller with EtherCAT Cyclic Communication (Command Control)

The communication control commands can be executed at any time.

Flow of Command Process using EtherCAT (Example of Connection with the PLC’s EtherCAT Unit)

The controller performs command control via EtherCAT in the following manner.

In the case of a command for which there is no response data, data is not output in response to the Command Data.

When an error occurs, the command execution results are written to Command Result. (0: Success, <Error code>: Failure).

The error cords conform to “Error Messages”.

Timing chart

Controlling the Controller with EtherCAT Cyclic Communication (Change Recipe Number)

The recipe number can be changed at any time.

Workflow to change the recipe number

The controller changes the value of the recipe number using EtherCAT as shown below.

The changed value is applied at the next measurement.

Troubleshooting

When correct operation does not occur

To check whether or not the EtherCAT connection is correct

From [Global] for the controller, select [Communications & I/O] - [Field Network], and then check [Cyclic Communication Status:]. If [Not Connected] is displayed here, communication has failed. Check the cable connection and communications settings on the PLC again.

Result OR flag is not output.

The Result OR flag is updated in coordination with results output with EtherCAT as the output destination. When the “Result OR flag” is used, it is necessary to configure the output setting so that one or more data item is output via EtherCAT.

Result ready flag remains ON and does not change.

Data cannot be acquired correctly when reading data based on the change in the rise of STO output from an external terminal.

STO is the data strobe signal for terminal output. Therefore it cannot be used as the strobe signal for any other data output.

Refer to the “Result ready flag” for the timing as to when to read data by EtherCAT.

Error messages

Message	Cause	Corrective Action	Error cause No.
EtherCAT communication has failed.	Communication was interrupted. (When recovery is possible, recovery occurs automatically.)	Check that the Ethernet cable is connected correctly. Check whether the controller and master were restarted after updating the communication settings. Review the requested packet interval and timeout settings on the PLC. With the factory default, ERROR output is not set. Set it on the [System] screen (Detail).	13801
EtherCAT output failed due to a full buffer.	The controller output buffer for outputting via EtherCAT is full.	Change the update time on the PLC so the data is output via EtherCAT at a faster rate than it builds up. Or, extend the time between triggers. Note: Results data are not written when the buffer is full.	13802
The delay of the handshake causes skipping of the EtherCAT communication result output.	When the EtherCAT handshake is on, a delayed handshake caused results output via EtherCAT to be skipped.	Change the update time on the PLC so the data from the tool is output via EtherCAT at a faster rate than it builds up. Or, extend the time between triggers. Note: Results data are not written when the buffer is full.	13803
EtherCAT unit is not recognized.	The EtherCAT unit is not recognized and the controller cannot use EtherCAT communication.	Make sure the EtherCAT unit is attached correctly. Make sure the EtherCAT unit is not damaged. Do not disconnect the EtherCAT unit while the controller and module are powered on.	13804

Control/Data Output via the PLC-Link

Using the PLC-Link with the Ethernet interface enables the following operations:

Output data via PLC-Link: Enables the controller measurement data to be output directly to the data register (D) within the PLC.
Controlling the Controller via PLC-Link: Enables the controller to be controlled by reading the command in the PLC data register (D).

EtherNet/IP, PROFINET, EtherCAT, and PLC-Link cannot be used at the same time.

Models that Support the PLC Link Connection

The PLCs of which this unit supports for the PLC link connection is as follows:

PLC produced by Mitsubishi Electric Corporation

Series name	Target system	Link unit	PLC type
MELSEC-Q	Q00CPU, Q01CPU, Q02CPU, Q02HCPU, Q02UCPU, Q03UDECPU, Q04UDEHCPU, Q06UDEHCPU, Q10UDEHCPU, Q13UDEHCPU, Q20UDEHCPU, Q26UDEHCPU, Q06HCPU, Q12HCPU, Q25HCPU, Q03UDVCPU, Q04UDVCPU, Q06UDVCPU, Q13UDVCPU, Q26UDVCPU	QJ71E71 QJ71E71-100	MELSEC Q/L Series
MELSEC-L	L02CPU, L26CPU-BT	None **	MELSEC Q/L Series
MELSEC iQ-R	R04CPU, R04ENCPU	RJ71EN71	MELSEC Q/L Series
MELSEC iQ-F	FX5U/FX5UC	None **	MELSEC Q/L Series
* Also compatible with the built-in Ethernet interface on the system. ** Does not support the connection via the link unit.

Preparing the PLC

1. Wiring overview

The PLC is wired to the controller in the following way.

When the controller is not receiving commands from the PLC or when it is polling, the PLC does not need to be connected to the terminal block (PLC terminal).

2. Wire connection at PLC link and settings on the PLC side (Ethernet)

Connecting with MELSEC (link unit)

Connecting to a Mitsubishi MELSEC PLC with built-in Ethernet port

Do not set more than one controller to the same port number. When connecting multiple controllers via a hub, set each controller with a different communication port number, and set multiple local port numbers that correspond to them.

Q/L series

Change settings using the PC parameters in GX Developer or GX Works 2.

Built-in Ethernet port settings
- IP Address: Set the IP address specified for the destination address in the controller’s PLC-Link.
- Communication Data Code Setting: Select [Binary code communication].
- Authorize writing during RUN: Select this check box.
Open settings:add the following settings:
- Protocol: Select [UDP].
- Open method: Select [MC protocol].
- Local node port number: Specify a hexadecimal value within the range 0401 to 1387, and 1392 to FFFE. Numbers from 1388 to 1391 (5000 to 5009 in decimal) are reserved.
Specify the [Port] setting in the controller with the decimal notation of the hexadecimal value specified here. (For example, if the local node port number is 1387, specify 4999 in the controller.)

iQ-R/iQ-F series

Set it by the unit parameter of GX Works 3.

Self node settings
- IP Address: Set the IP address specified for the destination address in the controller’s PLC-Link.
- Communication Data Code Setting: Select [Binary].
- Authorize/prohibit writing during RUN setting: Select [Authorize all (SLMP)] (for iQ-R only).
Destination Device Connection Configuration Settings: From the [Basic Settings] > [Destination Device Connection Configuration Settings] > [Details] unit list, add [SLMP Connection Device] to the Ethernet configuration and configure the following settings:
- Protocol: Set [UDP].
- Sequencer (Port Number)/Sensor/Device (Port Number): Set the PLC port number for both (setting range: 1025 - 4999, 5010 - 65534).
- Sensor/Device (IP Address): Specify the IP address for this unit.

Changing the PLC-Link Settings

The settings for controlling data input and output via the PLC link can be changed on the [Field Network] screen under [Communications & I/O] in [Global].

Controller Ethernet settings, such as the IP address and subnet mask, are changed in “Network”.
If the PLC-Link settings were changed, it is necessary to restart the controller in order to apply the settings.

Select [Global] → [Communications & I/O] → [Field Network].

Select [PLC Link].

Change the settings as required.

PLC Type

Communication Settings

Common Setting

Command Control

Command Execute Event

Choose the method used for executing commands sent via PLC-Link.

PLC Terminal

A command is executed at a rising edge of the PLC terminal (a terminal to which the PLC command readout request signal is assigned).

Polling (default)

Monitors (polls) the value of data memory specified to [Command Execute Address (bit)]. The command is executed when the value changes from 0 to 1.

Depending on the communication status, polling may result in slower command execution when compared to the PLC terminal method.

Command Execute Address (bit)

This option is used when [Command Execute Event] is set to [Polling] (Default: 00002). The used data memory is one word. The command is executed when the value of this address data memory changes from 0 to 1.

Command Complete Address (bit)

Specifies the address of the data memory to acknowledge the completion of writing to [Command Result Address] after completion of an instruction execution by the controller (default: 00003). The used data memory is one word.

Command Address

Specifies the leading address of the data memory storing the command code and parameter which are issued to the controller (default: 00100).

The command code and parameter are specified by 2 words each.

Command Result Address

Specifies the initial address of the data memory storing the results of commands which are executed by the controller (default: 00200). If command execution fails, an error code is stored. The used data memory is two words.

Result Output Settings

Measurement Result Output Address

Specifies the initial address of the data memory storing the measured results (Default: 00500). The data memory to be used is two words for each item.

Acknowledge Result Output Completion

When enabled, 1 is written to the data memory specified by [Result Ready Address (bit)] when measured result output completes (default: Enabled). Disabling this setting shortens the time to write 1 to [Result Ready Address (bit)], however, be careful of data reception timing.

Result Ready Address (bit)

Set when enabling acknowledge result output completion.

Specifies the data memory address to notify PLC of the writing completion of the measured result data (default: 00000) on the controller. The used data memory is one word. When the result data output for one time of measurement is normally completed, the controller writes 1.

Result Ack Address (bit)

Set when enabling acknowledge result output completion.

Acknowledges that PLC has confirmed the measured result data stored in the data memory that is specified by the result ack address, and specifies the data memory address used at a write request of the next measurement result data to the controller (default: 00001). The used data memory is one word. PLC writes 1 to the result ack address (bit) and the controller writes back the result ready address (bit) to 0. For the next write request to the controller, 0 is written.

Enable Handshake

After checking that the PLC received the measurement data output, select whether to write the result of the next data. (Default: Disabled)

If it is enabled, the controller will write 1 to the Result Ready Address (bit) when output of the measurement result is complete. Upon reception of this, the PLC checks the result output area and writes 1 to the Result Ack Address (bit). The controller detects this and writes 0 to the Result Ready Address (bit). The PLC writes 0 to the Result Ready Address (bit) to request the controller to load next output data.

Click [OK].

Outputting the Measurement Data with PLC-Link

Data output procedure (Data Output Flow)

This unit outputs data by PLC link with the following procedure.

Set the output items and order for the field network settings in the [Output Settings] results output in advance.

For processing with the [Acknowledge result output completion] and [Enable Handshake] options enabled, all result data can be retrieved on the PLC side.

If not all result data is necessary and it is only needed to retrieve the latest result data on the PLC side, the following settings can reduce the time required to output the results.

If [Enable Handshake] is disabled, the Result Ack Address (bit) value confirmation can be restricted in steps 2 and 5 (in this case, the controller outputs the result data regardless of whether data has been completely read or not on the PLC side). Also, if [Acknowledge result output completion] is disabled, writing to Result Ready Address (bit) can be restricted in steps 4 and 6 (in this case, it cannot be determined on the PLC side whether the result data has been updated).

Timing chart

Controlling the Controller via PLC-Link

Set the controller to perform constant monitoring (polling) on the bit changes in the command execute address (bit) or turn the PLC terminal on or off to read and execute a command.

To execute a command with the PLC terminal method, the PLC terminal must be wired.

Command execution procedure (Command Processing Flow)

*1 The returned data varies depending on the commands. For details, refer to “List of Communication Commands for Control” and confirm the received data of each command.

Timing chart

Troubleshooting

When correct operation does not occur

When a trigger command is issued by PLC-Link, the capture timing is later compared with trigger signal input from the terminal block.

When a command is executed from PLC-Link, more time is required before execution starts and variation is larger compared with when the terminal block is used (in particular with polling control).

If the timing variation is a problem when capturing an object moving at a high speed, input the trigger from the terminal block.

Data cannot be acquired correctly when reading data based on the change in the rise of STO output from an external terminal.

STO is the data strobe signal for the terminal output unit. Therefore, it cannot be used as the strobe signal for any other data output.

Refer to the result ready address for the timing as to when to read data by PLC-Link.

PLC-Link is established, however, data cannot be written to the connected PLC.

There is a limit to the range of data memory that can be written to. Check the range that can be written to at the connected PLC.

Error messages

Message	Cause	Corrective Action	Error cause No.
Failed to establish a link with the PLC.	An error occurred in the connection with the PLC when the [PLC-Link] function was enabled.	Check the connection with the PLC and the settings of the PLC. If PLC-Link is not used, change the field network settings to [Disable]. If the error message displayed after a trigger input, check that the data memory destination specified is in the range that meets the PLC format.	13301
Unable to output to the PLC-Link due to a full output buffer.	The controller output buffer for outputting via PLC-Link is full. (When handshake is off)	Reduce the amount of data to be output so the data is output via PLC-Link at a faster rate than it builds up. Or, extend the time between triggers. Note: Results data are not written when the buffer is full.	13302
The delay of the handshake control causes skipping of the PLC communication result output.	The controller output buffer for outputting via PLC-Link is full. (When handshake is on)	Reduce the amount of data to be output so the data is output via PLC-Link at a faster rate than it builds up. Or, extend the time between triggers. Note: When the output buffer is full, measurement waits until the buffer is emptied.	13303

Input/Output and Control Using the I/O Terminal

Functions available with the I/O terminal on the controller

The controller has the following ports that act as an I/O terminal:

Parallel I/O interface: Uses a specialized parallel connection cable (3 m) OP-51657 (sold separately).
Terminal block interface (OUT/IN): Detachable terminal block included with the controller.

Main functions available with the I/O terminal

Input

Output

Terminal Block Interface (OUT)

Standard specifications

Terminal block (OUT) specifications for the TM-X5000 Series are as follows.

Tightening above the specified torque may cause damage to the terminal block.

OUTPUT connector

Suitable wiring

AWG 16 to 28

Terminal block screw torque

0.25 N·m or less

Terminal Layout

No.	Terminal name	Terminal block display at time of shipment	Signal	Signal Description *2	Circuit diagram
1	OUT22	OUT22	RUN *1	Run mode output *1	A
2	OUT23	OUT23	BUSY *1	In-process output *1	A
3	F_OUT2	F_OUT2	OR	Total status output	A
4	F_OUT3	F_OUT3	STO *1	Synchronous signal for output *1	A
5	COMOUT1	COM OUT	-	Common for terminal block outputs	-
6	F_OUT0	F_OUT0	READY *1	Trigger input permission output *1	A
7	F_OUT1	F_OUT1	ERROR *1	Error output *1	A
8	N.C.	NC	-	-	-
9	COMOUT_F	COM F	-	Common for F_OUT terminal	-
1 It is the default assigned value on the terminal where the signal assignment can be changed. These assignments may vary if the Global settings have been changed. 2 For details on the signal description, refer to “I/O Terminal Function List”

Power source 0V and COMOUT1 and COMOUT_F are all isolated.
COMOUT1 is a common terminal exclusively used for terminal outputs No.1 and No.2.
COMOUT_F is a common terminal exclusively used for terminal outputs No.3 to No.4 and No.6 to No.7.

Output circuit diagram

Connection example

Terminal Block Interface (IN)

Standard specifications

Terminal block (IN) specifications for the TM-X5000 Series are as follows.

Tightening above the specified torque may cause damage to the terminal block.

INPUT connector

Suitable wiring

AWG 16 to 28

Terminal block screw torque

0.25 N·m or less

Terminal Layout

No.	Terminal name	Terminal block display at time of shipment	Signal	Signal Description *2	Circuit diagram
1	COMIN1	COM IN1	-	Common for terminal block inputs	-
2	IN15	IN15	ZERO_ON *1	Auto zero ON input *1	C
3	F_IN0	F_IN0	TRG *1	Trigger input *1	B
4	F_IN1	F_IN1	EXT *1	Trigger acceptance cancel input *1	B
5	F_IN2	F_IN2	TIMING *1	Timing input *1	B
6	F_IN3	F_IN3	MSR_RESET *1	Measured value reset process *1	B
1 It is the default assigned value on the terminal where the signal assignment can be changed. These assignments may vary if the Global settings have been changed. 2 For details on the signal description, refer to “I/O Terminal Function List”

Power source 0V and COMIN1 are all isolated.
COMIN1 is the common terminal for input No.2 to No.6.

Input circuit diagram

Connection example

Parallel I/O Interface

Standard specifications

Parallel I/O Interface specifications for the TM-X5000 Series are as follows.

Terminal Layout

No.	Terminal name	Signal	Signal Description	Circuit diagram	Cable color
1	COMIN2	-	Connector input common terminal	-	Brown
2	IN0	CMD_PARAM0	Command parameter bit 0	C	Red
3	IN1	CMD_PARAM1	Command parameter bit 1	C	Orange
4	IN2	CMD_PARAM2	Command parameter bit 2	C	Yellow
5	IN3	CMD_PARAM3	Command Parameter bit 3	C	Green
6	IN4	CMD_PARAM4	Command parameter bit 4	C	Blue
7	IN5	CMD_PARAM5	Command parameter bit 5	C	Purple
8	IN6	CMD_PARAM6	Command parameter bit 6	C	Gray
9	IN7	CMD_PARAM7	Command parameter bit 7	C	White
10	IN8	CMD_CODE0	Command input bit 0	C	Black
11	IN9	CMD_CODE1	Command input bit 1	C	Brown
12	IN10	CMD_CODE2	Command input bit 2	C	Red
13	IN11	CMD_CODE3	Command input bit 3	C	Orange
14	IN12	CST	Command confirmation input	C	Yellow
15	IN13	RESET *1	Reset input *1	C	Green
16	IN14	ZERO_OFF *1	Auto zero OFF input *1	C	Blue
17	COMOUT2	-	Common for connector output terminal	-	Purple
18	OUT0	ACK	Verification of successfully executed command input	A	Gray
19	OUT1	NACK	Verification of unsuccessfully executed command input	A	White
20	OUT2	CMD_READY	Command input permission	A	Black
21	OUT3	MSR_VALID *1	Measured value valid output *1	A	Brown
22	OUT4	- *1	(Unallocated) *1	A	Red
23	OUT5	- *1	(Unallocated) *1	A	Orange
24	OUT6	OUT_DATA0	Data output bit 0	A	Yellow
25	OUT7	OUT_DATA1	Data output bit 1	A	Green
26	OUT8	OUT_DATA2	Data output bit 2	A	Blue
27	OUT9	OUT_DATA3	Data output bit 3	A	Purple
28	OUT10	OUT_DATA4	Data output bit 4	A	Gray
29	OUT11	OUT_DATA5	Data output bit 5	A	White
30	OUT12	OUT_DATA6	Data output bit 6	A	Black
31	OUT13	OUT_DATA7	Data output bit 7	A	Brown
32	OUT14	OUT_DATA8	Data output bit 8	A	Red
33	OUT15	OUT_DATA9	Data output bit 9	A	Orange
34	OUT16	OUT_DATA10	Data output bit 10	A	Yellow
35	OUT17	OUT_DATA11	Data output bit 11	A	Green
36	OUT18	OUT_DATA12	Data output bit 12	A	Blue
37	OUT19	OUT_DATA13	Data output bit 13	A	Purple
38	OUT20	OUT_DATA14	Data output bit 14	A	Gray
39	OUT21	OUT_DATA15	Data output bit 15	A	White
40	COMOUT2	-	Common for connector output terminal	-	Black

*1 It is the default assigned value on the terminal where the signal assignment can be changed. These assignments may vary if the Global settings have been changed.

I/O Terminal Function List

Input Terminals

Category	Signal	Signal Description	Overview
System	RESET	Reset	Used to reset operation.
System	TEST	Trial run input	Used to suspend the status output for trial run or any other reasons. When this signal is input, the result data that have not been output will be deleted. While this signal is on, OR output, STO output, and data output of OUT_DATA0 to 15 is forcibly set to normal state (level synchronization). The data output from the communication port is also canceled and stopped during the input. As soon as input turns off, the measurement processing result obtained immediately after that will start being output again.
Capture control	EXT	Disable trigger input	Used to suspend the occurrence of internal triggers and the acceptance of external triggers. When the input turns on, READY terminal is forced to turn off to stop the acceptance of all triggers (level synchronization).
Capture control	TRG	Trigger input	Inputs a trigger. The input is accepted when READY is ON.
Command	CMD_PARAM0 CMD_PARAM1 CMD_PARAM2 CMD_PARAM3 CMD_PARAM4 CMD_PARAM5 CMD_PARAM6 CMD_PARAM7	Command parameter input bit 0 (LSB) Command parameter input bit 1 Command parameter input bit 2 Command parameter input bit 3 Command parameter input bit 4 Command parameter input bit 5 Command parameter input bit 6 Command parameter input bit 7 (MSB)	Used to input parameters necessary for commands from the parallel I/O interface in binary.
	CMD_CODE0 CMD_CODE1 CMD_CODE2 CMD_CODE3	Command input bit 0 (LSB) Command input bit 1 Command input bit 2 Command input bit 3 (MSB)	Used to input command codes from the parallel I/O interface in binary.
	CST	Command confirmation input	Executes commands and parameters from the parallel I/O interface. (leading edge synchronization) When an acceptance check of CST is performed, check that CMD_READY has fallen after the CST input. When confirmation of command execution completion is performed, check that ACK (success) or NACK(failure) has risen after the CST input.
	PLC	PLC command readout request	Used to execute command control via the PLC terminal using the PLC-Link (leading edge synchronization). As the request acceptance may be delayed depending on other process conditions, hold the ON state for input until the command complete address (bit) on the PLC unit changes to 1 (the command execution is confirmed).
Measurement control	TIMING	Timing input	This command inputs the timing.
	ZERO_ON	Auto zero ON input	This command inputs auto zero ON.
	ZERO_OFF	Auto zero OFF input	This command inputs auto zero OFF.
	MSR_RESET	Measurement reset input	This command is used for measurement reset processing.
	RESET_ALL	Measurement reset input for all templates	All recipes are processed with measurement reset.

Output terminal

Category	Signal	Signal Description	Overview
System	ERROR	Error output	This signal is output while any of system errors occur with the dialog displayed on the screen. On the [System] screen for [Global] (Detail) , error output for SD card-related errors and so on can be specified.
System	RUN	Run mode output	Output when the controller is in Run mode.
For measurement control	READY	Trigger input enabled output	Output when trigger input is acceptable.
For measurement control	BUSY	BUSY signal output	Output during measurement processing. While BUSY is on, some delays may occur with start of the execution for the next measurement processing.
Judgment result	OUT_DATA0 OUT_DATA1 OUT_DATA2 OUT_DATA3 OUT_DATA4 OUT_DATA5 OUT_DATA6 OUT_DATA7 OUT_DATA8 OUT_DATA9 OUT_DATA10 OUT_DATA11 OUT_DATA12 OUT_DATA13 OUT_DATA14 OUT_DATA15	Data output bit 0 (LSB) Data output bit 1 Data output bit 2 Data output bit 3 Data output bit 4 Data output bit 5 Data output bit 6 Data output bit 7 Data output bit 8 Data output bit 9 Data output bit 10 Data output bit 11 Data output bit 12 Data output bit 13 Data output bit 14 Data output bit 15 (MSB)	Tool judgment or logic judgment for measurement results is output according to the output settings.
	OR	Total status output	Used to output the OR result for the judged value of tool specified in the output settings.
	STO	Output timing indicator	Used to read the data of the total status output and OUT_DATA0 to OUT_DATA15, based on leading edge synchronization.
Command	ACK	Execution success confirmation output for command inputs	The signal is output when the commands from the parallel I/O interface successfully finish.
	NACK	Execution failure confirmation output for command inputs	The signal is output when the commands from the parallel I/O interface unsuccessfully finish.
	CMD_READY	Permission output for command input	The signal is output when execution of commands from the parallel I/O interface is acceptable. When CST is input with CMD_READY turned off, CST is ignored.
For measurement control	MSR_VALID	Measured value valid output	Output when the internal measurement values for all tools set with the active recipe are no longer in the judgment standby state. Output turns off if measured values are finalized with TIMING or when internal measurement values are cleared with MSR_RESET.

Using command inputs via I/O terminals

Command input timing

Command input via the I/O terminal is only available in Run mode.

Basic flow (an example of real-time command execution)

Timing of commands which are not based on real-time execution

I/O command inputs available on the controller

The I/O command inputs available on the controller series are shown below.

Value	Command name	Command detail	CMD_CODE (IN8 to IN11)				CMD_PARAM (IN0 to IN7)
Value	Command name	Command detail	3	2	1	0	7	6	5	4	3	2	1	0
0	Save Program	The same function as the SS command (Detail).	0	0	0	0	None
1	Specify parameter in upper 8 bits	Used to change the existing Program to above No. 256.	0	0	0	1	0 to 255
2	Change inspection program (SD Card 1)	The same function as PW command (Detail) (fixed to SD1)	0	0	1	0	Program number
3	Change inspection program (SD Card 2)	The same function as PW command (Detail) (fixed to SD2)	0	0	1	1	Program number
7	Write recipe No.	The same function as the EXW command (Detail).	0	1	1	1	1 to 8: Recipe No.
8	Clear error	The same function as the CE command (Detail).	1	0	0	0	None
9	Change Output File/Folder	The same function as the OW command (Detail).	1	0	0	1	IN0: Changes data output files when set to 1 IN1: Changes image output folders when set to 1 IN2: Changes simple monitor image output folders when set to 1
12	Timing	The same function as the TIM command (Detail).	1	1	0	0	None
13	Auto zero	The same function as the ZR command (Detail).	1	1	0	1	IN0: Requests auto zero OFF when set to 0 and requests auto zero ON when set to 1
14	Reset measured value	The same function as the MRS command (Detail).	1	1	1	0	None
15	Reset measured value (All templates)	The same function as the RSA command (Detail).	1	1	1	1	None

1: ON (short), 0: OFF (open)

Commands No. 4, 5, 6, 10, and 11 do not exist.
To confirm a command, input the command to CMD_PARAM0 to 7, CMD_CODE0 to 3 and then turn the CST input on (recognition of the leading edge).
ACK output and NACK output ON time is of the same duration as STO output time.
As the commands based on real-time execution are executed along with the measurement process, execution of that kind of command does not affect the measurement processing. However, command execution time for this case will take longer than when the command alone is solely executed.

0. Save program

1. Specify parameter in upper 8 bits

2. Change programs (SD card 1)

3. Change programs (SD card 2)

7. Write recipe numbers

8. Clear error

9. Change output file/folder

12. Timing

13: Auto zero

14. Reset measured value

15. Reset measured value (all templates)

I/O command control procedures

Use the following procedures to operate the controller via the I/O commands.

Example of changing to the program 15 on the SD card 1 using the I/O commands.

(1)	Enter the command codes of the change program (SD card 1) command in CMD_CODE0 to 3. CMD_CODE3: 0 (OFF) CMD_CODE2: 0 (OFF) CMD_CODE1: 1 (ON) CMD_CODE0: 0 (OFF)
(2)	Enter the codes of program 15 to which the setting is changed in CMD_PARAM7 to 0. CMD_PARAM7: 0 (OFF) CMD_PARAM6: 0 (OFF) CMD_PARAM5: 0 (OFF) CMD_PARAM4: 0 (OFF) CMD_PARAM3: 1 (ON) CMD_PARAM2: 1 (ON) CMD_PARAM1: 1 (ON) CMD_PARAM0: 1 (ON)
(3)	Turn the input of CST on.
(4)	CMD_READY turns off and program change starts.
(5)	When the setting is changed to program 15, ACK turns on for a certain time, and then CMD_READY turns on after ACK falls.

ACK output and NACK output duration time is the same as the time set with STO (default: 10ms).

Outputting judgment values via I/O terminals

Output order

The data specified in the output settings is output from OUT_DATA0 to 15.

The items and order for output can be specified in “Terminal” of [Output Settings].

STO output is generated one time even when none of the output settings is specified.
When the controller is operating in [Setup] mode or TEST terminal (Detail) is ON, the judgment values are not output.
Only the judgment values are output from the I/O terminals (measured values or other values cannot be output).

Example of output

If the output settings are as shown below in a mode other than hold mode, the timing chart is as follows.

On the output device, read OUT_DATA0 to 15 in synchronization with the leading edge of STO.

	(1)
OUT6	[Outer diameter] judged value
OUT7	[Circle diameter] judged value
OUT8	[Logic1] judged value
OUT9	0
OUT10	0
OUT11	0
OUT12	0
OUT13	0
OUT14	0
OUT15	0
OUT16	0
OUT17	0
OUT18	0
OUT19	0
OUT20	0
OUT21	0

For details on how to set A and B in the diagram above, refer to “External Terminal” (Page 4-4).

If the duration of output cycle via the I/O is longer than the trigger input cycle, priority is given to measurement processing. Therefore, output delay may be caused, which will lead to the data being omitted. To avoid this, set the output cycle time (A + B time) shorter than the trigger input cycle time.

Timing chart

This section describes at what timing the terminal operates with detailed examples.

Standard operation at startup

To input a trigger after startup, check READY (READY is ON with trigger input enabled).
To execute a command after startup, check CMD_READY (CMD_READY is ON with command acceptance enabled).

(1) When the system enters [Run] mode, the RUN terminal turns on (when the [Startup mode] is [RUN MODE]).

(2) The CMD_READY terminal turns ON and then OFF after startup. After that when it turns ON, command inputs will be accepted.

(3) When READY is ON, trigger input is possible (when [Trigger mode] is [External]).

Standard operation at trigger input

Standard operation at external trigger input (image buffer OFF)

Standard operation at internal trigger input (image buffer OFF)

Image Buffer

If [Image Buffer] is ON and the image buffer is empty, READY turns ON and the next trigger can be input even if measurement is being processed.

If the image buffer does not become full (external trigger, image buffer ON (once))

If the image buffer becomes full (external trigger, image buffer ON (once))

Measurement control (Hold mode)

When Hold is OFF

When Hold mode is ON (Peak hold/Bottom hold/Peak-to-peak hold/Average hold/Sample hold/Nearest hold)

When Hold mode is ON (Other Tool Reference Hold)

About the TIMING, ZERO_ON/OFF, MSR_RESET, and RESET_ALL terminal responsiveness

Results output terminal

TEST terminal operations for the total status output (OR) when the “OR terminal output mode” is set to “Hold Status”

Output operations of the total status output (OR) when “OR terminal output mode” is set to “One Shot Output”

Other control terminals

RESET terminal operation

TEST terminal operation

EXT terminal operation