CR750-D/CR751-D controller Network Base Card INSTRUCTION

CR750-D/CR751-D controller Network Base Card INSTRUCTION
Mitsubishi Industrial Robot
CR750-D/CR751-D controller
CRnD-700 controller
Network Base Card (Option)
INSTRUCTION MANUAL
(2D-TZ535)
BFP-A8872-A
Safety Precautions
Always read the following precautions and the separate "Safety
Manual" before starting use of the robot to learn the required
measures to be taken.
CAUTION
All teaching work must be carried out by an operator who has received special
training. (This also applies to maintenance work with the power source turned ON.)
→Enforcement of safety training
CAUTION
For teaching work, prepare a work plan related to the methods and procedures of
operating the robot, and to the measures to be taken when an error occurs or when
restarting. Carry out work following this plan. (This also applies to maintenance
work with the power source turned ON.)
→Preparation of work plan
WARNING Prepare a device that allows operation to be stopped immediately during teaching
work. (This also applies to maintenance work with the power source turned ON.)
→Setting of emergency stop switch
CAUTION
During teaching work, place a sign indicating that teaching work is in progress on
the start switch, etc. (This also applies to maintenance work with the power source
turned ON.)
→Indication of teaching work in progress
CAUTION
Provide a fence or enclosure during operation to prevent contact of the operator
and robot.
→Installation of safety fence
CAUTION
Establish a set signaling method to the related operators for starting work, and
follow this method.
→Signaling of operation start
CAUTION
As a principle turn the power OFF during maintenance work. Place a sign indicating
that maintenance work is in progress on the start switch, etc.
→Indication of maintenance work in progress
CAUTION
Before starting work, inspect the robot, emergency stop switch and other related
devices, etc., and confirm that there are no errors.
→Inspection before starting work
The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual
"Safety Manual" for details.
CAUTION
Use the robot within the environment given in the specifications. Failure to do so
could lead to faults or a drop of reliability. (Temperature, humidity, atmosphere,
noise environment, etc.)
CAUTION
Transport the robot with the designated transportation posture. Transporting the
robot in a non-designated posture could lead to personal injuries or faults from
dropping.
CAUTION
Always use the robot installed on a secure table. Use in an instable posture could
lead to positional deviation and vibration.
CAUTION
Wire the cable as far away from noise sources as possible. If placed near a noise
source, positional deviation or malfunction could occur.
CAUTION
Do not apply excessive force on the connector or excessively bend the cable. Failure
to observe this could lead to contact defects or wire breakage.
CAUTION
Make sure that the workpiece weight, including the hand, does not exceed the rated
load or tolerable torque. Exceeding these values could lead to alarms or faults.
WARNING
Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or flies
off during operation.
WARNING
Securely ground the robot and controller. Failure to observe this could lead to
malfunctioning by noise or to electric shock accidents.
CAUTION
Indicate the operation state during robot operation. Failure to indicate the state could
lead to operators approaching the robot or to incorrect operation.
WARNING
When carrying out teaching work in the robot's movement range, always secure the
priority right for the robot control. Failure to observe this could lead to personal
injuries or damage if the robot is started with external commands.
CAUTION
Keep the jog speed as low as possible, and always watch the robot. Failure to do so
could lead to interference with the workpiece or peripheral devices.
CAUTION
After editing the program, always confirm the operation with step operation before
starting automatic operation. Failure to do so could lead to interference with
peripheral devices because of programming mistakes, etc.
CAUTION
Make sure that if the safety fence entrance door is opened during automatic
operation, the door is locked or that the robot will automatically stop. Failure to do so
could lead to personal injuries.
CAUTION
Never carry out modifications based on personal judgments, non-designated
maintenance parts. Failure to observe this could lead to faults or failures.
WARNING
When the robot arm has to be moved by hand from an external area, do not place
hands or fingers in the openings. Failure to observe this could lead to hands or
fingers catching depending on the posture.
CAUTION
Do not stop the robot or apply emergency stop by turning the robot controller's main
power OFF. If the robot controller main power is turned OFF during automatic
operation, the robot accuracy could be adversely affected. Also a dropped or
coasted robot arm could collide with peripheral devices.
CAUTION
Do not turn OFF the robot controller's main power while rewriting the robot
controller's internal information, such as a program and parameter. Turning OFF the
robot controller's main power during automatic operation or program/parameter
writing could break the internal information of the robot controller.
WARNING
When using a horizontal multi-joint robot
While the robot’s brake release switch is pressed, pay attention to lowering of the
hand under its own weight. If it lowers, the hand could collide with peripheral
devices, or the operator’s fingers or hand could get caught.
■ Revision History
Print date
Instruction manual No.
Revision content
2011-09-20
BFP-A8872
First print
2013-08-19
BFP-A8872-A
Addition of PROFINET IO module
Introduction
Thank you for purchasing Mitsubishi Electric industrial robot.
This instruction manual explains network base card (2D-TZ535) option.
The network base card is an option which realizes various communication interfaces
when the HMS Anybus-CompactCom module is mounted on the card.
The mountable modules are listed in Chapter 2-3 for reference.
Always read this manual thoroughly and understand the contents before starting use of
the network base card (2D-TZ535).
The information contained in this document has been written to be accurate as much as
possible. Please interpret that items not described in this document "cannot be
performed."
Note that this instruction manual has been prepared for use by operators who understand
the basic operations and functions of the Mitsubishi industrial robot.
Refer to the separate "Instruction Manual, Detailed Explanation of Functions and
Operations" for details on basic operations.
*Symbols in instruction manual
DANGER
Precaution indicating cases where there is a risk of operator fatality or
serious injury if handling is mistaken. Always observe these precautions to
safely use the robot.
WARNING
Precaution indicating cases where the operator could be subject to fatalities
or serious injuries if handling is mistaken. Always observe these precautions to
safely use the robot.
CAUTION
Precaution indicating cases where operator could be subject to injury or
physical damage could occur if handling is mistaken. Always observe these
precautions to safely use the robot.
・ No part of this document may be reproduced without express permission of Mitsubishi
Electric Corporation.
・ Please note that the information in this manual is subject to change without notice in
the future.
・ The specification values in this manual are obtained with the Mitsubishi standard test
method.
・ Although this manual has been prepared to contain accurate information, please
contact us if you find any errors or have questions.
・ The product names used in this manual are trademarks or registered trademarks of
respective owners.
・ In the body text of this manual, ® and TM marks are omitted.
Copyright© 2011-2013 MITSUBISHI ELECTRIC CORPORATION ALL RIGHTS RESERVED
CONTENTS
1. BEFORE USE ................................................................................................................1-1
1.1. Terminology ..............................................................................................................1-1
1.2. How to Use the Instruction Manual ...........................................................................1-2
2. FLOW OF OPERATIONS...............................................................................................2-3
2.1. Work Procedures ......................................................................................................2-3
3. FEATURES OF NETWORK BASE CARD (2D-TZ535) .................................................3-4
3.1. What is a Network Base Card? .................................................................................3-4
3.2. Mountable Modules...................................................................................................3-4
3.3. Features when Module is Mounted ...........................................................................3-5
3.3.1. Features when EtherNet/IP module is mounted..................................................3-5
3.3.2. Features when PROFINET IO 2-Port module is mounted...................................3-6
3.4. Hardware of the 2D-TZ535 Card...............................................................................3-7
3.4.1. Card overview .....................................................................................................3-7
3.4.2. LED .....................................................................................................................3-7
3.5. Software configuration ..............................................................................................3-9
3.5.1. For the EtherNet/IP module.................................................................................3-9
3.5.2. For the PROFINET IO 2-Port module..................................................................3-9
4. ETHERNET/IP MODULE AND 2D-TZ535 CARD SPECIFICATIONS..........................4-10
4.1. Specifications list ....................................................................................................4-10
4.2. List of robot parameters ..........................................................................................4-11
4.3. Robot controller I/O signals.....................................................................................4-12
4.3.1. I/O signal number map ......................................................................................4-12
4.3.2. Flow of I/O signal ..............................................................................................4-14
4.3.3. Deducated Input/Output ....................................................................................4-14
4.3.4. Output signal Reset pattern...............................................................................4-15
4.3.5. Specifications related to Robot language ..........................................................4-16
5. PROFINET IO 2-PORT MODULE AND 2D-TZ535 CARD SPECIFICATIONS ............5-18
5.1. Specifications list ....................................................................................................5-18
5.2. List of robot parameters ..........................................................................................5-19
5.3. Robot controller I/O signals.....................................................................................5-20
5.3.1. I/O signal number map ......................................................................................5-20
5.3.2. Flow of I/O signal ..............................................................................................5-20
5.3.3. Deducated Input/Output ....................................................................................5-20
5.3.4. Output signal Reset pattern...............................................................................5-21
5.3.5. Specifications related to Robot language ..........................................................5-22
6. ITEMS TO BE CHECKED BEFORE USING THIS PRODUCT ....................................6-24
6.1. Checking the Product..............................................................................................6-24
6.2. Devices to be Prepared by the Customer ...............................................................6-25
6.2.1. For the EherNet/IP module................................................................................6-25
6.2.2. For the PROFINET IO 2-Port module................................................................6-25
7. HARDWARE SETTINGS..............................................................................................7-26
7.1. Module Mounting Procedures .................................................................................7-26
7.2. Setting the 2D-TZ535 Card Hardware ....................................................................7-28
8. CONNECTIONS AND WIRING ....................................................................................8-29
8.1. Mounting 2D-TZ535 Card onto Robot Controller ....................................................8-29
8.1.1. CR750-D/CR751-D controller............................................................................8-29
8.1.2. CR1D-700 controller..........................................................................................8-30
8.1.3. CR2D-700 controller..........................................................................................8-31
8.1.4. CR3D-700 controller..........................................................................................8-32
8.2. Wiring......................................................................................................................8-33
8.2.1. For the EtherNet/IP module...............................................................................8-33
8.2.2. For the PROFINET IO 2-Port module................................................................8-36
9. PROCEDURES FOR STARTING OPERATION ..........................................................9-39
9.1. Setting the Parameters ...........................................................................................9-40
9.1.1. For the EtherNet/IP module...............................................................................9-40
9.1.2. For the PROFINET IO 2-Port module................................................................9-44
9.2. Checking the I/O Signals ........................................................................................9-60
9.2.1. For the EtherNet/IP module...............................................................................9-60
9.2.2. For the PROFINET IO 2-Port module................................................................9-62
9.3. Execution of robot program.....................................................................................9-65
9.3.1. Setting the dedicated input/output.....................................................................9-65
9.3.2. General-purpose input/output............................................................................9-65
9.3.3. Example of robot program creation (using general-purpose input/output).........9-66
9.3.4. Sample program for input/output confirmation ..................................................9-67
10.TROUBLESHOOTING ...............................................................................................10-68
10.1.
List of Errors....................................................................................................10-68
11.APPENDIX .................................................................................................................11-70
11.1. Displaying the Option Card Information ..........................................................11-70
11.1.1. For the EtherNet/IP module...........................................................................11-71
11.1.2. For the PROFINET IO 2-Port module............................................................11-71
11.2. Pseudo-input Function ....................................................................................11-72
1 Before Use
1.
Before Use
This chapter describes items to be checked and precautions to be taken before start using the network
base card (2D-TZ535).
1.1. Terminology
Table 1-1 Terminology
Term
ODVA
CIP
EtherNet/IP
DeviceNet
PI
PROFINET
Explanation
Abbreviation of Open DeviceNet Vendor Association. A non-profit organization
in the United States established by development vendors to globally promote
Common Industrial Protocol (CIP) technology and products incorporating this
technology.
Abbreviation of Common Industrial Protocol, a common protocol used in the
OSI application layer for industrial purposes.
This protocol is common for EtherNet/IP which handles information-related
information, DeviceNet which handles device-related information, and
CompoNet which controls sensors and actuators.
An industrial network standard using commercially-available Ethernet
communication chips and physical media.
"IP" is the abbreviation for Industrial Protocol. An open protocol is used in the
application layer.
A connection method promoted by ODVA. It is used to connect control devices
such as personal computers, PLCs, sensors and actuators, and to connect
field devices between controllers.
Abbreviation of PROFIBUS & PROFINET International
This is a communication standard for the automation that PI (PROFIBUS &
PROFINET International) made.
This is provided by International Standard IEC61158 and IEC61784.
There are two kinds of PROFINET about PROFINET CBA and PROFINET IO.
Terminology 1-1
1 Before Use
1.2. How to Use the Instruction Manual
This manual is organized as follows and describes functions of the 2D-TZ535 card. For information about
the functions provided for standard robot controllers and how to operate them, refer to the instruction
manual that comes with the robot controller.
Table 1-2
Chapter
1
Title
Before Use
Contents of the instruction manual
Description
Chapter 1 describes how to use this manual (Network Base Card
Instruction Manual). Please read here before actually starting to
use the 2D-TZ535 card.
Chapter 2 describes the operations required to configure a network
system. Make sure to perform all of the required operations.
2
Flow of Operations
3
Features of Network Base
Card (2D-TZ535)
Chapter 3 describes the features of the TZ535 card and for
mounting the module.
4
5
2D-TZ535 Card and
Ethernet/IP Module
Specifications
Chapter 4 - 5 describes the specifications of the TZ535 card.
6
Items to Be Checked Before
Using This Product
Before purchasing the TZ535 card, check the required devices and
the version of the robot controller.
7
Hardware Settings
This product has no hardware settings.
8
Connections and Wiring
Chapter 8 describes how to connect the TZ535 card and the
master station using cables.
9
Procedures for Starting
Operation
Chapter 9 describes the procedures up to operating the network
system with the module mounted.
10
Troubleshooting
Chapter 10 describes how to resolve problems that may occur
when using the TZ535 card, such as malfunctions and errors.
Please refer to this chapter as needed.
11
Appendix
Chapter 11 describes the methods of displaying the TZ535 card
information with RT ToolBox2.
How to Use the Instruction Manual 1-2
2 Flow of operations
2.
Flow of operations
The flowchart below shows the flow of operations necessary for configuring a network base card system.
Use it as a reference to perform the required operations without any excess or deficiency.
2.1. Work Procedures
1 Determining the Network Specifications ......................................... See Chapters 3 and 5 of this manual.
With an understanding of the network base card and communication module specifications, determine the
interface related to the system signals using the communication module. (For example, assignment of
dedicated I/O signals, specification of general-purpose I/O signals).
2 Checking Products .......................................................................... See Chapter 6 of this manual.
Check the product you have purchased and prepare other products as needed.
3 Mounting Module onto Network Base Card ............................. See Section 7.1 of this manual.
Mount the communication module onto 2D-TZ535.
4 Setting Hardware and Mounting onto Robot Controller ........... See Section 7.2 of this manual.
The 2D-TZ535 hardware has no settings, so mount the 2D-TZ535 onto the robot controller as it is.
5 Wiring and Connections .................................................................. See Chapter 8 of this manual.
Wire the 2D-TZ535 card mounted on the robot controller to the master station using an Ethernet cable.
6 Setting Master Station Parameters ................................................. See Chapter 9 of this manual.
Set the IP address with the master station.
7 Setting Robot Controller Parameters .............................................. See Chapter 9 of this manual.
Set the IP address on the robot controller side.
8 Creating Robot Programs ............................................................... See Section 9.3 of this manual.
Create a robot program, and run it with automatic operation.
9 Troubleshooting ............................................................................... See Chapter 10 of this manual.
10 Completion of Operations
Work Procedures
2-3
3 Features of Network Base Card (2D-TZ535)
3.
Features of Network Base Card (2D-TZ535)
3.1. What is a Network Base Card?
The network base card is an optional card for the robot controller.
By mounting a HMS's Anybus-CompactCom module on the card, various communication interfaces can be
realized.
Personal
computer
PLC
Various communication lines
CR750-D series
controller
Inverter
Touch panel
(Prepared by user)
Equipment by partner
manufacturer
Anybus-ComPactCom
module
Network base card
(2D-TZ535)
Mountable to the
option slot 1, 2 or 3
(Up to one card)
Ethernet
Personal computer
(RT ToolBox2, etc.)
Figure 3-1 Example of configuring EtherNet/IP with network base card
3.2. Mountable Modules
The modules which can be mounted on the network base card (2D-TZ535) are shown below.
EtherNet/IP module (AB6314)
PROFINET IO 2-Port module (AB6489-B)
Mountable module
(*) It is different from the model described in the catalog of the HMS Co.
because of the model that fixes the version of the firmware.
What is a Network Base Card?
3-4
3 Features of Network Base Card (2D-TZ535)
3.3. Features when Module is Mounted
3.3.1. Features when EtherNet/IP module is mounted
EtherNet/IP
The following features are enabled when the EtherNet/IP module is mounted on the 2D-TZ535 card.
(1) Connection
Connection to EtherNet/IP network is possible.
EtherNet/IP is one of the three official network standards (DeviceNet, ControlNet, EtherNet/IP), and
uses the "Common Industrial Protocol" (CIP) application layer.
Control from a field level and direct connection of automation products in the factory level are enabled
by this common application layer, open software, and hardware interfaces.
This is also called "Industrial Ethernet".
(2) Transmission style
10/100Mbps Semi/full duplex transmission supported
(3) Data
Real-time I/O data (max. 2048 points each) transmission/reception is possible using UDP/IP.
(4) The table below shows differences of the functions which are available with the EtherNet/IP module, and
with the Ethernet provided with the robot controller as a standard.
No.
1
2
3
4
Function name
General-purpose I/O signal
Explanation of function
Function which handles up to 2048 I/O
signal points each via Ethernet.
Communication Function which communicates with RT
with RT2
ToolBox2 via Ethernet
Data
link
Function
which communicates with other
TCP/IP
devices,
such
as a network vision
communication
sensor, via Ethernet
Real-time
Function which controls the robot from a
external control personal computer, etc.
EtherNet/IP
module
Standard
Ethernet








Features when Module is Mounted
3-5
3 Features of Network Base Card (2D-TZ535)
3.3.2. Features when PROFINET IO 2-Port module is mounted
PROFINET IO
The following features are enabled when the PROFINET IO 2-Port module is mounted on the 2D-TZ535
card.
(1) Connection
Connection to PROFINET network is possible.
PROFINET is a strong network where a real-time communication and the IT communication are
achieved at the same time as industrial Ethernet by the communication standard for the automation
that PI made.
(2) Transmission style
10/100Mbps Semi/full duplex transmission supported
(3) Data
Real-time I/O data (max. 2040 points each) transmission/reception is possible using UDP/IP.
(4) The table below shows differences of the functions which are available with the PROFINET IO 2-Port
module, and with the Ethernet provided with the robot controller as a standard.
No.
1
2
3
4
Function name
General-purpose I/O signal
Explanation of function
Function which handles up to 2040 I/O
signal points each via Ethernet.
Communication Function which communicates with RT
with RT2
ToolBox2 via Ethernet
Data link
Function which communicates with other
TCP/IP
devices, such as a network vision
communication
sensor, via Ethernet
Real-time
Function which controls the robot from a
external control personal computer, etc.
PROFINET
IO 2-Port
module
Standard
Ethernet








Features when Module is Mounted
3-6
3 Features of Network Base Card (2D-TZ535)
3.4. Hardware of the 2D-TZ535 Card
The 2D-TZ535 card hardware is explained in this section. An Anybus-CC module is mounted on the network
base card.
3.4.1. Card overview
Anybus-CC module
(Prepared by user)
Figure 3-2 Overall view of 2D-TZ535 card
3.4.2. LED
There are three LEDs on the 2D-TZ535 card, and the operating state of the interface card can be
confirmed by each on/off.
LINK/
Activity
(Green)
Network
Status
(Green)
Module
Status
(Red)
(Green)
(Red)
Figure 3-3 Layout of LEDs
Hardware of the 2D-TZ535 Card
3-7
3 Features of Network Base Card (2D-TZ535)
The meaning of each LED on, flash and off state is shown below.
Please confirm specifications of the HMS Co. about details.
Table 3-1
Description of LED
Details of Network Status LED
LED status
Off
Green (on)
Green (flash)
Red (on)
Red (flash)
Details
Power is not ON, or there is no IP address.
Online with one or more connection established (CIP Class 1 or 3).
Online with no connection established.
IP address duplicate, FATAL error.
One or more connection has timed out (CIP Class 1 or 3).
Details of Module Status LED
LED status
Off
Green (on)
Green (flash)
Red (on)
Red (flash)
Details
Power is not ON.
Controlling with RUN state scanner.
Configuration incomplete, or scanner is idle.
Serious error (EXCEPTION state, FATAL error, etc.).
Recoverable error.
Details of LINK/Activity LED [Reference]
LED status
Off
Green (on)
Green (flash)
Details
Link not established, data not exchanged.
Link established.
Exchanging data.
CAUTION
It takes some time for the communication line to be established after the robot controller
power is turned ON.
It takes about one minute for the communication line to be established (for the Network Status LED to turn
on) after the robot controller power is turned ON. If automatic operation is started immediately after turning
the power ON, L6130 (network communication error) will occur. Wait for a short time before starting
automatic operation.
CAUTION
It takes some time for the communication line to be established after the
cable is connected.
It takes about one minute for the communication line to be established (for the Network
Status LED to turn on) after the cable is connected to the Anybus-CC module on the TZ535
card.
Hardware of the 2D-TZ535 Card
3-8
3 Features of Network Base Card (2D-TZ535)
3.5. Software configuration
EtherNet/IP
3.5.1. For the EtherNet/IP module
The software configuration of this product is shown below.
Table 3-2
Compatible versions for EtherNet/IP
Name
Robot controller
Teaching pendant
R32TB/R33TB
R56TB/R57TB
Personal
computer RT ToolBox2
support software
RT ToolBox
Version
Version S2 and above
1.0 and above
1.0 and above
1.0 and above
Version G3 and above
PROFINET IO
3.5.2. For the PROFINET IO 2-Port module
The software configuration of this product is shown below.
Table 3-3
Compatible versions for PROFINET IO 2-Port
Name
Robot controller
Teaching pendant
R32TB/R33TB
R56TB/R57TB
Personal computer
RT ToolBox2
support software
RT ToolBox
Version
Version S4b and above
1.0 and above
1.0 and above
1.0 and above
Version G3 and above
Software configuration
3-9
4 EtherNet/IP module and 2D-TZ535 card specifications
4.
EtherNet/IP module and 2D-TZ535 card specifications
EtherNet/IP
4.1. Specifications list
The specifications which apply when the EtherNet/IP card is mounted on the network base card are shown
below.
Table 4-1
2D-TZ535 card specifications
Item
Network base interface card board model
Specification
2D-TZ535
Mountable slot expansion option slot
Slot 1 to 3
Number of 2D-TZ535 cards that can be installed
at the same time
1 card (*1)
Coexistence with other fieldbus options
(CC-Link/PROFIBUS/DeviceNet)
Transmission
specifications
Media access method
Modulation method
Transmission path style
Transmission speed
Transmission medium
Transmission distance
Number of cascaded
modules
Communication function Cyclic communication
Communication instance Input instance
Output instance
Number of I/O
Send
communication points
Receive
per robot controller
Start I/O number of robot controller
MELFA BASIC
I/O signal access
Not possible (*2)
CSMA/CD
Base band
Star type
100Mbit/s (100BASE-TX)
10Mbit/s (10BASE-TX)
Twisted pair cable
100m
Remarks
CR75x-D:Slot 1 – 2
CR1D:Slot 1 only
CR2D/CR3D:Slot 1 - 3
Parallel I/O interface card
(TZ368/TZ378) can
coexist.
100BASE-TX
recommended
Distance between
switching hub and node
No limits when using
switching hub
Yes
100
150
Max. 2048 points
Max. 256 bytes
Max. 2048 points
Max. 256 bytes
Address 2000 and later
Overlapping with
PROFIBUS area and
DeviceNet area
M_In/M_InB/M_InW/M_In32
M_Out/M_OutB/M_OutW/
M_Out32
Handled as
general I/O area
Yes
RT ToolBox
Option information read
(*1) An error will occur if multiple 2D-TZ535 cards are inserted. (Error 6110)
(*2) An error will occur if CC-Link/PROFIBUS/DeviceNet coexists. (Error 6111)
Specifications list
4-10
4 EtherNet/IP module and 2D-TZ535 card specifications
4.2. List of robot parameters
Table 4-2
List of robot parameters related to EtherNet/IP
Parameter
name
STOP2
-1,-1
ORST2000
ORST2032
:
ORST4015
EPSDLN
00000000,000 0/1/*
00000,
00000000,000
00000
8
1 to 256
EPRDLN
8
EPIP
Initial value
Setting range
-1/
2000 to 4047
1 to 256
Explanation
Parameter which sets a dedicated input signal number for
stopping the robot program.
(Parameter "STOP" is fixed to "0", so "STOP2" is used
with the 2D-TZ535 card to define a stop signal from an
external source.)
Set the output transmission data used in the 2D-TZ535
card when resetting the signal output.
Refer to "4.6 Output Signal Reset Pattern" for details.
Set the number of I/O communication transmission bytes
used with EtherNet/IP.
Set the number of I/O communication reception bytes used
with EtherNet/IP.
Designate the IP address for EtherNet/IP. (*1)
192.168.0.200 0.0.0.0 to
255.255.255.255
EPMSK
255.255.255.0 0.0.0.0 to
Designate the sub-net mask for EtherNet/IP. (*1)
255.255.255.255
EPGW
192.168.0.254 0.0.0.0 to
Designate the Gateway IP address for EtherNet/IP. (*1)
255.255.255.255
(*1) Set in the range of Class A to C.
List of robot parameters
4-11
4 EtherNet/IP module and 2D-TZ535 card specifications
4.3. Robot controller I/O signals
The I/O signals handled in the robot controller are the maximum 2048 points between address 2000 and
4047 for input and output regardless of the EtherNet/IP node or station number.
4.3.1. I/O signal number map
The I/O signal data size is set as a byte number with a parameter for input and for output. (Set in the range
of 1 to 256 bytes.)
0
0

to

43
344
2000
to
2343
86
688
2000
to
2687
1
8
2000
to
2007
44
352
2000
to
2351
87
696
2000
to
2695
2
16
2000
to
2015
45
360
2000
to
2359
88
704
2000
to
2703
3
24
2000
to
2023
46
368
2000
to
2367
89
712
2000
to
2711
4
32
2000
to
2031
47
376
2000
to
2375
90
720
2000
to
2719
5
40
2000
to
2039
48
384
2000
to
2383
91
728
2000
to
2727
6
48
2000
to
2047
49
392
2000
to
2391
92
736
2000
to
2735
7
56
2000
to
2055
50
400
2000
to
2399
93
744
2000
to
2743
8
64
2000
to
2063
51
408
2000
to
2407
94
752
2000
to
2751
9
72
2000
to
2071
52
416
2000
to
2415
95
760
2000
to
2759
10
80
2000
to
2079
53
424
2000
to
2423
96
768
2000
to
2767
End
Usable
number
of points
Start
End
Byte
number
Usable
number
of points
Start
Byte
number
EtherNet/IP signal table
Byte
number
Table 4-3
Usable
number
of points
Start
End
11
88
2000
to
2087
54
432
2000
to
2431
97
776
2000
to
2775
12
96
2000
to
2095
55
440
2000
to
2439
98
784
2000
to
2783
13
104
2000
to
2103
56
448
2000
to
2447
99
792
2000
to
2791
14
112
2000
to
2111
57
456
2000
to
2455
100
800
2000
to
2799
15
120
2000
to
2119
58
464
2000
to
2463
101
808
2000
to
2807
16
256
2000
to
2127
59
472
2000
to
2471
102
816
2000
to
2815
17
136
2000
to
2135
60
480
2000
to
2479
103
824
2000
to
2823
18
144
2000
to
2143
61
488
2000
to
2487
104
832
2000
to
2831
19
152
2000
to
2151
62
496
2000
to
2495
105
840
2000
to
2839
20
160
2000
to
2159
63
504
2000
to
2503
106
848
2000
to
2847
21
168
2000
to
2167
64
512
2000
to
2511
107
856
2000
to
2855
22
176
2000
to
2175
65
520
2000
to
2519
108
864
2000
to
2863
23
184
2000
to
2183
66
528
2000
to
2527
109
872
2000
to
2871
24
192
2000
to
2191
67
536
2000
to
2535
110
880
2000
to
2879
25
200
2000
to
2199
68
544
2000
to
2543
111
888
2000
to
2887
26
208
2000
to
2207
69
552
2000
to
2551
112
896
2000
to
2895
27
216
2000
to
2215
70
560
2000
to
2559
113
904
2000
to
2903
28
224
2000
to
2223
71
568
2000
to
2567
114
912
2000
to
2911
29
232
2000
to
2231
72
576
2000
to
2575
115
920
2000
to
2919
30
240
2000
to
2239
73
584
2000
to
2583
116
928
2000
to
2927
31
248
2000
to
2247
74
592
2000
to
2591
117
936
2000
to
2935
32
256
2000
to
2255
75
600
2000
to
2599
118
944
2000
to
2943
33
264
2000
to
2263
76
608
2000
to
2607
119
952
2000
to
2951
34
272
2000
to
2271
77
616
2000
to
2615
120
960
2000
to
2959
35
280
2000
to
2279
78
624
2000
to
2623
121
968
2000
to
2967
36
288
2000
to
2287
79
632
2000
to
2631
122
976
2000
to
2975
37
296
2000
to
2295
80
640
2000
to
2639
123
984
2000
to
2983
38
304
2000
to
2303
81
648
2000
to
2647
124
992
2000
to
2991
39
312
2000
to
2311
82
656
2000
to
2655
125
1000
2000
to
2999
40
320
2000
to
2319
83
664
2000
to
2663
126
1008
2000
to
3007
41
328
2000
to
2327
84
672
2000
to
2671
127
1016
2000
to
3015
42
336
2000
to
2335
85
680
2000
to
2679
128
1024
2000
to
3023
Robot controller I/O signals
4-12
Byte
number
Byte
number
Byte
number
4 EtherNet/IP module and 2D-TZ535 card specifications
Usable
number
of
points
Start
Usable
number
of
points
Start
Usable
number
of
points
Start
129
1032
2000
130
1040
2000
172
1376
2000
173
1384
2000
215
1720
2000
to
3719
216
1728
2000
to
131
1048
3047
174
1392
3727
3391
217
1736
2000
to
132
to
3055
175
3735
to
3399
218
1744
2000
to
2000
to
3063
3743
2000
to
3407
219
1752
2000
to
1072
2000
to
3751
1416
2000
to
3415
220
1760
2000
to
135
1080
2000
3759
178
1424
2000
to
3423
221
1768
2000
to
136
1088
3767
3087
179
1432
2000
to
3431
222
1776
2000
to
137
3775
to
3095
180
1440
2000
to
3439
223
1784
2000
to
3783
2000
to
3103
181
1448
2000
to
3447
224
1792
2000
to
3791
1112
2000
to
3111
182
1456
2000
to
3455
225
1800
2000
to
3799
140
1120
2000
to
3119
183
1464
2000
to
3463
226
1808
2000
to
3807
141
1128
2000
to
3127
184
1472
2000
to
3471
227
1816
2000
to
3815
142
1136
2000
to
3135
185
1480
2000
to
3479
228
1824
2000
to
3823
143
1144
2000
to
3143
186
1488
2000
to
3487
229
1832
2000
to
3831
144
1152
2000
to
3151
187
1496
2000
to
3495
230
1840
2000
to
3839
145
1160
2000
to
3159
188
1504
2000
to
3503
231
1848
2000
to
3847
146
1168
2000
to
3167
189
1512
2000
to
3511
232
1856
2000
to
3855
147
1176
2000
to
3175
190
1520
2000
to
3519
233
1864
2000
to
3863
148
1184
2000
to
3183
191
1528
2000
to
3527
234
1872
2000
to
3871
149
1192
2000
to
3191
192
1536
2000
to
3535
235
1880
2000
to
3879
150
1200
2000
to
3199
193
1544
2000
to
3543
236
1888
2000
to
3887
151
1208
2000
to
3207
194
1552
2000
to
3551
237
1896
2000
to
3895
152
1216
2000
to
3215
195
1560
2000
to
3559
238
1904
2000
to
3903
153
1224
2000
to
3223
196
1568
2000
to
3567
239
1912
2000
to
3911
154
1232
2000
to
3231
197
1576
2000
to
3575
240
1920
2000
to
3919
155
1240
2000
to
3239
198
1584
2000
to
3583
241
1928
2000
to
3927
156
1248
2000
to
3247
199
1592
2000
to
3591
242
1936
2000
to
3935
157
1256
2000
to
3255
200
1600
2000
to
3599
243
1944
2000
to
3943
158
1264
2000
to
3263
201
1608
2000
to
3607
244
1952
2000
to
3951
159
1272
2000
to
3271
202
1616
2000
to
3615
245
1960
2000
to
3959
160
1280
2000
to
3279
203
1624
2000
to
3623
246
1968
2000
to
3967
161
1288
2000
to
3287
204
1632
2000
to
3631
247
1976
2000
to
3975
162
1296
2000
to
3295
205
1640
2000
to
3639
248
1984
2000
to
3983
163
1304
2000
to
3303
206
1648
2000
to
3647
249
1992
2000
to
3991
164
1312
2000
to
3311
207
1656
2000
to
3655
250
2000
2000
to
3999
165
1320
2000
to
3319
208
1664
2000
to
3663
251
2008
2000
to
4007
166
1328
2000
to
3327
209
1672
2000
to
3671
252
2016
2000
to
4015
167
1336
2000
to
3335
210
1680
2000
to
3679
253
2024
2000
to
4023
168
1344
2000
to
3343
211
1688
2000
to
3687
254
2032
2000
to
4031
169
1352
2000
to
3351
212
1696
2000
to
3695
255
2040
2000
to
4039
170
1360
2000
to
3359
213
1704
2000
to
3703
256
2048
2000
to
4047
171
1368
2000
to
3367
214
1712
2000
to
3711
End
End
to
3031
to
3039
to
3375
to
3383
2000
to
2000
to
1056
2000
1400
2000
133
1064
176
1408
134
3071
177
to
3079
2000
to
1096
2000
138
1104
139
End
Robot controller I/O signals
4-13
4 EtherNet/IP module and 2D-TZ535 card specifications
4.3.2. Flow of I/O signal
The mapping for the master and slave signals is shown below.
Max. 256 bytes each
Master
(PLC)
Robot 1
Robot 2
Output area
(for robot 1)
Robot input
Input area
(for robot 1)
Robot output
Output area
(for robot 2)
Robot input
Input area
(for robot 2)
Robot output
Figure 4-1 Flow of I/O signal
4.3.3. Deducated Input/Output
Dedicated inputs and outputs can be used by assigning the signal numbers of the 2D-TZ535 card to the
dedicated I/O signal parameters. Refer to "6 External Input/Output Functions" in the separate "Instruction
Manual, Detailed Explanation of Functions and Operations" for details on using the dedicated inputs and
outputs.
Robot controller I/O signals
4-14
4 EtherNet/IP module and 2D-TZ535 card specifications
4.3.4. Output signal Reset pattern
In the factory setting, all general-purpose output signals start at OFF (0). The status of the general-purpose
output signal at power ON can be changed by changing the following parameters. These parameters are
also used for the general-purpose output signal reset operation (executed with dedicated input signal, etc.)
and for the reset pattern when the “Clr” instruction is executed.
The settings are [OFF], [ON] and [Hold]. A list of general-purpose output reset parameters related to the
2D-TZ535 card is given below.
Table 4-4
Parameter
name
ORST2000
ORST2032
ORST2064
ORST2096
ORST2128
ORST2160
ORST2192
ORST2224
ORST2256
ORST2288
ORST2320
ORST2352
ORST2384
ORST2416
ORST2448
ORST2480
ORST2512
ORST2544
ORST2576
ORST2608
ORST2640
ORST2672
ORST2704
ORST2736
ORST2768
ORST2800
ORST2832
ORST2864
ORST2896
ORST2928
ORST2960
ORST2992
List of output signal reset pattern parameters
Start
number
2000
2032
2064
2096
2128
2160
2192
2224
2256
2288
2320
2352
2384
2416
2448
2480
2512
2544
2576
2608
2640
2672
2704
2736
2768
2800
2832
2864
2896
2928
2960
2992
End
number
2031
2063
2095
2127
2159
2191
2223
2255
2287
2319
2351
2383
2415
2447
2479
2511
2543
2575
2607
2639
2671
2703
2735
2767
2799
2831
2863
2895
2927
2959
2991
3023
Parameter
name
ORST3024
ORST3056
ORST3088
ORST3120
ORST3152
ORST3184
ORST3216
ORST3248
ORST3280
ORST3312
ORST3344
ORST3376
ORST3408
ORST3440
ORST3472
ORST3504
ORST3536
ORST3568
ORST3600
ORST3632
ORST3664
ORST3696
ORST3728
ORST3760
ORST3792
ORST3824
ORST3856
ORST3888
ORST3920
ORST3952
ORST3984
ORST4016
Start
number
3024
3056
3088
3120
3152
3184
3216
3248
3280
3312
3344
3376
3408
3440
3472
3504
3536
3568
3600
3632
3664
3696
3728
3760
3792
3824
3856
3888
3920
3952
3984
4016
End
number
3055
3087
3119
3151
3183
3215
3247
3279
3311
3343
3375
3407
3439
3471
3503
3535
3567
3599
3631
3663
3695
3727
3759
3791
3823
3855
3887
3919
3951
3983
4015
4047
Parameter ORST has the initial value "00000000, 00000000, 00000000, 00000000". [OFF], [ON]
and [HOLD] can be set for 32 points using "0", "1" and "*". The start number is assigned from the left side.
For example, if ORST2000 = "*00000001, 00000000, 11110000, 00000000" is set and the general-purpose
output signal is reset, the following state will result:
Output No. 2000: Holds state before output signal reset
Output No. 2007: ON
Output No. 2016 to 2019: ON
Robot controller I/O signals
4-15
4 EtherNet/IP module and 2D-TZ535 card specifications
4.3.5. Specifications related to Robot language
The robot language (MELFA-BASIC V) used with the 2D-TZ535 card is explained below.
Table 4-5
List of system status variables used for data input/output
Item
M_In
M_Out
M_Inb
Type
Integer 1
Integer 1
Integer 1
Function
Reads 1 bit of data from designated input signal
Writes 1 bit of data to designated output signal
Reads 8 bits of data from designated input signal
Read/Write
Read
Write
Read
M_Outb
M_Inw
M_Outw
M_In32
M_Out32
Integer 1
Integer 1
Integer 1
Integer 1
Integer 1
Writes 8 bits of data to designated output signal
Reads 16 bits of data from designated input signal
Writes 16 bits of data to designated output signal
Reads 32 bits of data from designated input signal
Writes 32 bits of data to designated output signal
Write
Read
Write
Read
Write
 Inconsistency of input/output data 
If data read/write is started with the robot program before the master stations finishes data
transmission, data inconsistency (state in which robot controller’s input/output data is not consistent
with master station side’s input/output data) will occur. For example, if an application which
continuously writes data to the same output address is written, in actual cases only the value written
last may be notified to the partner. The following is an example of data inconsistency which occurs if
data reading is executed from the robot controller while transmitting data from the master station to
the buffer memory.
Example of input data inconsistency
2D-TZ535 interface
Buffer memory
Robot controller
Read
Master station
During data
transmission
Area in which data transmission and update from master station are complete
Area in which data transmission and update from master station are incomplete
To prevent data inconsistency, the following type of data read/write interlock must be provided in the
application (robot program or PLC ladder). An example of using the interlock when sending one-word data
from the master station to the robot is given.
Robot controller I/O signals
4-16
4 EtherNet/IP module and 2D-TZ535 card specifications
Table 4-6
Example of assigning master station and robot I/O signals
Meaning
Master station (*1)
Robot
Data send/receive area
Data send area
Input 2000 to 2015
PLC data write complete flag
WRTFLG
Input No. 2016
Robot data read complete flag
RDFLG
Output No. 2020
(*1) Names are given to the master station I/O signal assignments for
convenience. In actual use, refer to the master station instruction manual and
make arbitrary assignments of the I/O signals.
Figure 4-2 Example of using interlock
An example of the robot program corresponding to Figure 4-2 flow chart is given below. Refer to the
instruction manual for the device in use for details on the master station side programs (ladder, etc.).
*Loop1: If M_In(2016) = 0 Then *Loop1
Mdata = M_InW(2000)
M_Out(2020) = 1
*Loop2: If M_In(2016) = 1 Then *Loop2
M_Out(2016) = 0
Robot controller I/O signals
4-17
5 PROFINET IO 2-Port module and 2D-TZ535 card specifications
5.
PROFINET IO 2-Port module and 2D-TZ535 card
specifications
PROFINET IO
5.1. Specifications list
The specifications which apply when the PROFINET IO 2-Port card is mounted on the network base card
are shown below.
Table 5-1
2D-TZ535 card specifications
Item
Network base interface card board model
Specification
2D-TZ535-PN
Mountable slot expansion option slot
Slot 1 to 3
Number of 2D-TZ535 cards that can be installed
at the same time
1 card (*1)
Coexistence with other fieldbus options
(CC-Link/PROFIBUS/DeviceNet)
Transmission
specifications
Not possible (*2)
Media access method
CSMA/CD
Modulation method
Transmission path style
Base band
Star type
Transmission speed
Transmission medium
Transmission distance
Remarks
CR75x-D:Slot 1 – 2
CR1D:Slot 1 only
CR2D/CR3D:Slot 1 - 3
Parallel I/O interface card
(TZ368/TZ378) can
coexist.
100Mbit/s (100BASE-TX)
Twisted pair cable
100m
Distance between
switching hub and node
Number of cascaded
modules
No limits when using
switching hub
Communication function
Cyclic communication
Yes
Number of I/O
communication points
per robot controller
Send
Max. 2040 points
Max. 255 bytes
Receive
Max. 2040 points
Max. 255 bytes
Address 2000 and later
Overlapping with
PROFIBUS area,
DeviceNet area and
EtherNet/IP.
M_In / M_InB / M_InW /
M_In8 / M_In16 / M_In32
M_Out / M_OutB / M_OutW /
M_Out8 / M_Out16 /
M_Out32
Handled as
general I/O area
Start I/O number of robot controller
MELFA BASIC
I/O signal access
Yes
RT ToolBox
Option information read
(*1) An error will occur if multiple 2D-TZ535 cards are inserted. (Error 6110)
(*2) An error will occur if CC-Link/PROFIBUS/DeviceNet coexists. (Error 6111)
Specifications list
5-18
5 PROFINET IO 2-Port module and 2D-TZ535 card specifications
5.2. List of robot parameters
Table 5-2
Parameter
name
STOP2
ORST2000
ORST2032
:
ORST4015
PNIOLN
Initial value
-1,-1
List of robot parameters related to PROFINET IO
Setting range
-1/
2000 to 4039
00000000,000 0/1/*
00000,
00000000,000
00000
16
8 / 16 / 32 / 64 /
128 / 255
Explanation
Parameter which sets a dedicated input signal number for
stopping the robot program.
(Parameter "STOP" is fixed to "0", so "STOP2" is used
with the 2D-TZ535 card to define a stop signal from an
external source.)
Set the output transmission data used in the 2D-TZ535
card when resetting the signal output.
Refer to "4.6 Output Signal Reset Pattern" for details.
Set the number of I/O communication transmission bytes
used with PROFINET IO.
List of robot parameters
5-19
5 PROFINET IO 2-Port module and 2D-TZ535 card specifications
5.3. Robot controller I/O signals
The I/O signals handled in the robot controller are the maximum 2040 points between address 2000 and
4039 for input and output regardless of the PROFINET IO station number.
5.3.1. I/O signal number map
The I/O signal data size is set as a byte number with a parameter for input and for output. (Set in the range
of 8 / 16 / 32 / 64 / 128 / 255bytes.)
Table 5-3
Byte
number
PROFINET IO signal table
Usable
number of points
Start
End
8
64
2000
to
2063
16
256
2000
to
2127
32
256
2000
to
2255
64
512
2000
to
2511
128
1024
2000
to
3023
255
2040
2000
to
4039
5.3.2. Flow of I/O signal
The mapping for the master and slave signals is shown below.
Max. 256 bytes each
Master
(PLC)
Robot 1
Robot 2
Output area
(for robot 1)
Robot input
Input area
(for robot 1)
Robot output
Output area
(for robot 2)
Robot input
Input area
(for robot 2)
Robot output
Figure 5-1 Flow of I/O signal
5.3.3. Deducated Input/Output
Dedicated inputs and outputs can be used by assigning the signal numbers of the 2D-TZ535 card to the
dedicated I/O signal parameters. Refer to "6 External Input/Output Functions" in the separate "Instruction
Manual, Detailed Explanation of Functions and Operations" for details on using the dedicated inputs and
outputs.
Robot controller I/O signals
5-20
5 PROFINET IO 2-Port module and 2D-TZ535 card specifications
5.3.4. Output signal Reset pattern
In the factory setting, all general-purpose output signals start at OFF (0). The status of the general-purpose
output signal at power ON can be changed by changing the following parameters. These parameters are
also used for the general-purpose output signal reset operation (executed with dedicated input signal, etc.)
and for the reset pattern when the “Clr” instruction is executed.
The settings are [OFF], [ON] and [Hold]. A list of general-purpose output reset parameters related to the
2D-TZ535 card is given below.
Table 5-4
Parameter
name
ORST2000
ORST2032
ORST2064
ORST2096
ORST2128
ORST2160
ORST2192
ORST2224
ORST2256
ORST2288
ORST2320
ORST2352
ORST2384
ORST2416
ORST2448
ORST2480
ORST2512
ORST2544
ORST2576
ORST2608
ORST2640
ORST2672
ORST2704
ORST2736
ORST2768
ORST2800
ORST2832
ORST2864
ORST2896
ORST2928
ORST2960
ORST2992
List of output signal reset pattern parameters
Start
number
2000
2032
2064
2096
2128
2160
2192
2224
2256
2288
2320
2352
2384
2416
2448
2480
2512
2544
2576
2608
2640
2672
2704
2736
2768
2800
2832
2864
2896
2928
2960
2992
End
number
2031
2063
2095
2127
2159
2191
2223
2255
2287
2319
2351
2383
2415
2447
2479
2511
2543
2575
2607
2639
2671
2703
2735
2767
2799
2831
2863
2895
2927
2959
2991
3023
Parameter
name
ORST3024
ORST3056
ORST3088
ORST3120
ORST3152
ORST3184
ORST3216
ORST3248
ORST3280
ORST3312
ORST3344
ORST3376
ORST3408
ORST3440
ORST3472
ORST3504
ORST3536
ORST3568
ORST3600
ORST3632
ORST3664
ORST3696
ORST3728
ORST3760
ORST3792
ORST3824
ORST3856
ORST3888
ORST3920
ORST3952
ORST3984
ORST4016
Start
number
3024
3056
3088
3120
3152
3184
3216
3248
3280
3312
3344
3376
3408
3440
3472
3504
3536
3568
3600
3632
3664
3696
3728
3760
3792
3824
3856
3888
3920
3952
3984
4016
End
number
3055
3087
3119
3151
3183
3215
3247
3279
3311
3343
3375
3407
3439
3471
3503
3535
3567
3599
3631
3663
3695
3727
3759
3791
3823
3855
3887
3919
3951
3983
4015
4047
Parameter ORST has the initial value "00000000, 00000000, 00000000, 00000000". [OFF], [ON]
and [HOLD] can be set for 32 points using "0", "1" and "*". The start number is assigned from the left side.
For example, if ORST2000 = "*00000001, 00000000, 11110000, 00000000" is set and the general-purpose
output signal is reset, the following state will result:
Output No. 2000: Holds state before output signal reset
Output No. 2007: ON
Output No. 2016 to 2019: ON
Robot controller I/O signals
5-21
5 PROFINET IO 2-Port module and 2D-TZ535 card specifications
5.3.5. Specifications related to Robot language
The robot language (MELFA-BASIC V) used with the 2D-TZ535 card is explained below.
Table 5-5
List of system status variables used for data input/output
Item
M_In
M_Out
M_Inb
Type
Integer 1
Integer 1
Integer 1
Function
Reads 1 bit of data from designated input signal
Writes 1 bit of data to designated output signal
Reads 8 bits of data from designated input signal
Read/Write
Read
Write
Read
M_Outb
M_Inw
M_Outw
M_In32
M_Out32
Integer 1
Integer 1
Integer 1
Integer 1
Integer 1
Writes 8 bits of data to designated output signal
Reads 16 bits of data from designated input signal
Writes 16 bits of data to designated output signal
Reads 32 bits of data from designated input signal
Writes 32 bits of data to designated output signal
Write
Read
Write
Read
Write
 Inconsistency of input/output data 
If data read/write is started with the robot program before the master stations finishes data
transmission, data inconsistency (state in which robot controller’s input/output data is not consistent
with master station side’s input/output data) will occur. For example, if an application which
continuously writes data to the same output address is written, in actual cases only the value written
last may be notified to the partner. The following is an example of data inconsistency which occurs if
data reading is executed from the robot controller while transmitting data from the master station to
the buffer memory.
Example of input data inconsistency
2D-TZ535 interface
Buffer memory
Robot controller
Read
Master station
During data
transmission
Area in which data transmission and update from master station are complete
Area in which data transmission and update from master station are incomplete
To prevent data inconsistency, the following type of data read/write interlock must be provided in the
application (robot program or PLC ladder). An example of using the interlock when sending one-word data
from the master station to the robot is given.
Robot controller I/O signals
5-22
5 PROFINET IO 2-Port module and 2D-TZ535 card specifications
Table 5-6
Example of assigning master station and robot I/O signals
Meaning
Master station (*1)
Robot
Data send/receive area
Data send area
Input 2000 to 2015
PLC data write complete flag
WRTFLG
Input No. 2016
Robot data read complete flag
RDFLG
Output No. 2020
(*1) Names are given to the master station I/O signal assignments for
convenience. In actual use, refer to the master station instruction manual and
make arbitrary assignments of the I/O signals.
Figure 5-2 Example of using interlock
An example of the robot program corresponding to Figure 5-2 flow chart is given below. Refer to the
instruction manual for the device in use for details on the master station side programs (ladder, etc.).
*Loop1: If M_In(2016) = 0 Then *Loop1
Mdata = M_InW(2000)
M_Out(2020) = 1
*Loop2: If M_In(2016) = 1 Then *Loop2
M_Out(2016) = 0
Robot controller I/O signals
5-23
6 Items to Be Checked Before Using This Product
6.
Items to Be Checked Before Using This Product
6.1. Checking the Product
The product (2D-TZ535) you purchased consists of the following items as standard. Please verify the
items.
Table 6-1
List of the standard items in the product (2D-TZ535)
No.
(1)
(2)
Name
Model
Instruction Manual (this CD-ROM)
BFP-A8872
Network base card
TZ535
(2D-TZ535 card)
(3)
Module fixing parts
(module mount, screws)
Note) The numbers in the table correspond with the numbers in the following figure.
(1)
(2)
Quantity
1
1
1 set
(3)
Figure 6-1 Items contained in the delivered product
Checking the Product 6-24
6 Items to Be Checked Before Using This Product
6.2. Devices to be Prepared by the Customer
EtherNet/IP
6.2.1. For the EherNet/IP module
The devices which must be prepared by the customer to use the EtherNet/IP module with the Mitsubishi
2D-TZ535 card are listed below.
Table 6-2
Device to be
prepared
Master station
EtherNet/IP module
Ethernet cable
Switching hub
Driver for hex
lobular (torques)
screw
Cross-point driver
List of the standard items in the product (2D-TZ535)
Condition
Master station compatible with EtherNet/IP
An Anybus-CompactCom module by HMS
Anybus-CC EtherNet/IP module (AB6314)
This cable must conform to the specification of EtherNet/IP.
Always use a switching hub when using the I/O signal function.
* I/O signal data collisions will increase if a repeater hub is used.
Driver for module fixing part screws.
Prepare a size "T-10" screwdriver.
Used for card handle fixing screw.
PROFINET IO
6.2.2. For the PROFINET IO 2-Port module
The devices which must be prepared by the customer to use the PROFINET IO 2-Port module with the
Mitsubishi 2D-TZ535 card are listed below.
Table 6-3
Device to be
prepared
Master station
PROFINET IO
2-Port module
Ethernet cable
Switching hub
Driver for hex
lobular (torques)
screw
Cross-point driver
Devices prepared by the customer
Condition
Master station compatible with PROFINET IO
An Anybus-CompactCom module by HMS
Anybus-CC PROFINET IO 2-Port module (AB6321)
This cable must conform to the specification of PROFINET IO 2-Port.
Always use a switching hub when using the I/O signal function.
* I/O signal data collisions will increase if a repeater hub is used.
Driver for module fixing part screws.
Prepare a size "T-10" screwdriver.
Used for card handle fixing screw.
Devices to be Prepared by the Customer
6-25
7 Hardware Settings
7.
Hardware Settings
7.1. Module Mounting Procedures
The example of installing the EtherNet/IP module on the network base card (2D-TZ535) is shown below.
(1) Prepare the network base card (2D-TZ535), EtherNet/IP module and module fixing parts.
Remove the card handle fixing screws from the network base card (2D-TZ535), and separate the card
from the card handle.
EtherNet/IP module
Card handle
Network base card
Fixing part (top side)
Fixing part
(bottom side)
Module fixing parts
(2) Insert the protrusions on the module fixing parts (bottom side) into the holes on the card.
Module fixing parts (bottom side)
Module Mounting Procedures
7-26
7 Hardware Settings
(3) Place the EtherNet/IP module onto the fixing parts, and slide it to connect its module connector with
pins on the card side.
Connector connection
Module board
(4) Align the protrusions on the module fixing parts (top side) with the slits on the module, and mount the
module as if sandwiching it from the left, right and top.
Adjust the position of the module so that the screw holes on the top fixing parts and bottom fixing parts
are aligned. There may be a small opening at the connector section between the module and card, but
this is not a problem.
(5) Fasten the module fixing parts with screws. Use the hex lobular driver.
Module Mounting Procedures
7-27
7 Hardware Settings
(6) Mount the card handle. Fit the handle so that the network connector of the module board fits into the
hole on the card handle plate.
(7) Fasten the card and card handle with screws. This completes the module mounting process. Tighten
the screws with a cross-point driver.
Fix screw
Fix screw
7.2. Setting the 2D-TZ535 Card Hardware
The 2D-TZ535 card does not have any hardware settings.
All settings are completed with the master station parameters and robot controller parameters.
Refer to "9.1 Parameter Settings" for details.
Setting the 2D-TZ535 Card Hardware
7-28
8 Connections and Wiring
8.
Connections and Wiring
8.1. Mounting 2D-TZ535 Card onto Robot Controller
One 2D-TZ535 card can be mounted in the option slot (*1) of the robot controller. If two or more cards are
mounted, the H.6110 error (multiple network base cards mounted) will occur.
8.1.1. CR750-D/CR751-D controller
Remove one interface cover of the option slots 1-2 in the robot controller front or rear, and mount the
2D-TZ535 card there. Please use the handle of the interface card at mounting of the interface card.
Figure 8-1 Mounting of the 2D-TZ535 card (CR750-D/CR751-D controller)
Mounting 2D-TZ535 Card onto Robot Controller
8-29
8 Connections and Wiring
8.1.2. CR1D-700 controller
Remove one interface cover of the option slots 1 in the robot controller rear, and mount the 2D-TZ535
card there. Please use the handle of the interface card at mounting of the interface card.
Controller rear
SLOT1
Interface cover
removal lever
Interface cover
C o n n e c to r
In te rfa c e c a rd
H a n d le
R e m o v a l le v e r
Figure 8-2 Mounting of the 2D-TZ535 card (CR1D controller)
Mounting 2D-TZ535 Card onto Robot Controller
8-30
8 Connections and Wiring
8.1.3. CR2D-700 controller
Remove one interface cover of the option slots 1-3 in the robot controller rear, and mount the 2D-TZ535
card there. Please use the handle of the interface card at mounting of the interface card.
Interface cover removal
インタフェースカバー
lever
取外しレバー
Interface
cover
インタフェースカバー
Connection connector
接続コネクタ
Interface card
インタフェースカード
Lever
取っ手
取外しレバー
Removal
lever
Figure 8-3 Mounting of the 2D-TZ535 card (CR2D controller)
Mounting 2D-TZ535 Card onto Robot Controller
8-31
8 Connections and Wiring
8.1.4. CR3D-700 controller
Open the door of the robot controller.
The R700CPU unit is installed in the right end. Remove one interface cover of the option slots 1-3 in
the CPU unit, and mount the 2D-TZ535 card there.
Please use the handle of the interface card at mounting of the interface card.
Remov
al lever
Interface card
Lever
R700CPU unit
R700CPU unit
Interface cover
Interface cover
removal lever
Removal
lever
Connection connector
Figure 8-4 Mounting of the 2D-TZ535 card (CR3D controller)
Mounting 2D-TZ535 Card onto Robot Controller
8-32
8 Connections and Wiring
8.2. Wiring
EtherNet/IP
8.2.1. For the EtherNet/IP module
An example of connecting the 2D-TZ535 card and Rockwell PLC (CompactLogix L35E) one-on-one with an
Ethernet cable is explained below.
(1) Connect the Ethernet straight cable connector to the 2D-TZ535 card.
(2) Connect the other connector to the hub.
Hub
Ethernet
straight
cable
Controller
Robot
2D-TZ535EIP card
(3) Connect the Ethernet straight cable connector to the EtherNet/IP connector on CompactLogix L35E
(PLC by Rockwell).
(4) Connect the other connector to the hub.
CompactLogix
Ethernet straight
cable
Hub
Controller
Ethernet
straight
cable
2D-TZ535-EIP card
Robot
Wiring
8-33
8 Connections and Wiring
(5) Connect the Ethernet straight cable connector to the personal computer in which RSLogix5000
(Rockwell support software) is installed.
(6) Connect the other connector to the hub.
CompactLogix
Ethernet
straight cable
Ethernet
straight
cable
Hub
Ethernet
straight
cable
Controller
2D-TZ535EIP card
Robot
Personal computer
(RSLogix5000)
The whole image of the connection is shown below. Please refer to it.
Personal
computer
PLC
EtherNet/IP
Inverter
Touch panel
EtherNet/IP compatible PLC, etc.
(Prepared by user)
CR750-D series
controller
Equipment by partner
manufacturer
EtherNet/IP
module
Network base card
(2D-TZ535)
Mountable to the
option slot 1, 2 or 3
(Up to one card)
Ethernet
Personal computer
(RT ToolBox2, etc.)
Wiring
8-34
8 Connections and Wiring
Check the following connections again before using the 2D-TZ535 card.
Table 8-1
No.
Checking connections
Check item
1
Is the 2D-TZ535 card securely mounted into the controller slot?
2
Are the Ethernet cables between the 2D-TZ535 card and prepared external
devices correctly connected?
Check
Wiring
8-35
8 Connections and Wiring
PROFINET IO
8.2.2. For the PROFINET IO 2-Port module
An example of connecting the 2D-TZ535 card and Siemens PLC (SIMATIC) one-on-one with an Ethernet
cable is explained below.
(1) Connect the Ethernet straight cable connector to the 2D-TZ535 card.
(2) Connect the other connector to the hub.
Hub
Ethernet
straight
cable
Controller
Robot
2D-TZ535PN card
(3) Connect the Ethernet straight cable connector to the PROFINET IO connector on SIMATIC PLC (PLC
by Siemens).
SIMATIC
PLC
Ethernet
Straight
cable
(4) Connect the other connector to the hub.
SIMATIC
Ethernet
straight cable
Hub
Controller
Ethernet
straight
cable
2D-TZ535-PN card
Robot
Wiring
8-36
8 Connections and Wiring
(5) Connect the Ethernet straight cable connector to the personal computer in which STEP7 (Siemens
support software) is installed.
(6) Connect the other connector to the hub.
SIMATIC
Ethernet
straight cable
Ethernet
straight
cable
Hub
Ethernet
straight
cable
Controller
2D-TZ535PN card
Robot
Personal computer
(STEP7)
Because the PROFINET IO 2-Port module has two connectors, the following connections are possible.
SIMATIC
PLC
Ethernet
straight
cable
Controller
Robot
2D-TZ535-PN
card
Ethernet
straight
cable
Personal computer
(STEP7)
Wiring
8-37
8 Connections and Wiring
The whole image of the connection is shown below. Please refer to it.
Touch panel
PLC
PRIFINET
PROFINET compatible PLC,
etc. (Prepared by user)
CR750-D series
controller
PROFINET IO
2-Port module
Network base card
(2D-TZ535-PN)
PROFINET IO
Mountable to the
option slot 1, 2 or 3
(Up to one card)
Ethernet
Personal computer
(RT ToolBox2, etc.)
Check the following connections again before using the 2D-TZ535 card.
Table 8-2
No.
Checking connections
Check item
1
Is the 2D-TZ535 card securely mounted into the controller slot?
2
Are the Ethernet cables between the 2D-TZ535 card and prepared external
devices correctly connected?
Check
Wiring
8-38
9 Procedures for Starting Operation
9.
Procedures for Starting Operation
The procedures for starting operation with the Anybus-CompactCom module are shown below.
In this example, the 2D-TZ535 card and the PLC are connected one-on-one with an Ethernet cable, and an
operation to confirm the I/O signal is performed.
For more information on the PLC, refer to the manual enclosed with the PLC.
Start
Set the master side parameters.
Set the robot controller side parameters.
… See Section 9.1.
… See Section 9.1.
Turn the power ON in the following order:
(1) Turn the master side power ON.
(2) Turn the robot controller power ON.
Confirm that a network base card related error is not
occurring in the robot controller.
Create the robot program.
… See Section 9.3.
Start the system
Completed
Figure 9-1 Procedures for starting operation
Wiring
9-39
9 Procedures for Starting Operation
9.1. Setting the Parameters
9.1.1. For the EtherNet/IP module
EtherNet/IP
(1) Set the IP address and upgrade the firmware version as explained in the "Installation Guide" enclosed
with CompactLogix.
(2) Download the EDS file from the HMS's web site. ([Home]-[PRODUCTS]-[Anybus CompactCom]-[Read
more about the 30-series]-[File/Doc Downloads]-[Ethernet IP IT version Plug-In Module]-[Next] ->
Download the ABCC EIPT EDS file)
a) Start the EDS Hardware Installation Tool.
b) Click the [Add] button.
c) Designate the folder containing the EDS file.
d) Click the [Next] button to complete the process.
(If necessary, the icon which indicates that the PLC has recognized the 2D-TZ535 card can be
changed.)
Setting the Parameters
9-40
9 Procedures for Starting Operation
(3) Set the IP address for the robot controller EtherNet/IP in the robot controller parameter "EPIP".
Set the IP address for EtherNet/IP in parameter "EPIP" on the RT ToolBox2 "Parameter list" screen.
(4) Set the system configuration using RSLogix5000.
e) Start RSLogix5000, and click [New] under the [File] menu.
Select the PLC type.
Select the PLC revision.
Designate the project name.
f) Click [Who Active] under the [Communications] menu, click "CompactLogix Processor", and then
click [Set Project Path].
Select the Processor.
Click Set Project Path.
Setting the Parameters
9-41
9 Procedures for Starting Operation
g) Right-click [Ethernet] in the project tree [I/O Configuration], and click [New Module].
Click [OK].
Select "ETHERNETMODULE".
h) Complete the 2D-TZ535 card settings on the "New Module" screen.
Input the name.
Input "100" for
Input, "150" for
Output, and "1" for
Configuration.
Select "Data-SINT".
For Size, input the
values set in
parameters
"EPSDLN" and
"EPRDLN".
Input the IP address
designated in
parameter "EPIP".
i) Set RPI.
Set RPI on the following screen which opens.
10.0
Set "10".
If the above screen does not open, right-click "ETHERNET-MODULE arbitrary name" in the project
tree, click [Properties], and click the [Connection] tab.
Setting the Parameters
9-42
9 Procedures for Starting Operation
j) Click [Download] under the [Communications] menu, and click the [Download] button.
(7) Confirm that the status for the added "ETHERNET-MODULE" is "Running".
Click "ETHERNET-MODULE arbitrary name" in the project tree, and confirm that the "Status" display is
"Running".
If the status is not "Running" and an error is displayed, refer to the PLC help and remove the cause of
the error.
Confirm this status is "Running".
Setting the Parameters
9-43
9 Procedures for Starting Operation
PROFINET IO
9.1.2. For the PROFINET IO 2-Port module
(1) Make the project of PLC newly.
Start "SIMATIC Manager".
For the wizard, click the [Cancel] button. And, click [File]-[New] from the menu.
Setting the Parameters
9-44
9 Procedures for Starting Operation
Fill in the project name. Then click the [OK] button.
(2) Set the hardware configuration of PLC.
In a left frame with the displayed screen, right-clicking in the icon of the project name, and click the
menu [Insert New Object] – [SIMATIC*** Station] (*** = Series number).
Setting the Parameters
9-45
9 Procedures for Starting Operation
Again, right-clicking in the icon of the project name, and click the menu [Insert New Object] – [Industrial
Ethernet].
Click [SIMATIC ***] in a left frame, and double-click [Hardware] displayed in a right frame.
Setting the Parameters
9-46
9 Procedures for Starting Operation
Drag “Rail" that exists in [SIMATIC***] – [RACK-***] of "HW catalog" frame, and drop to the frame on the
left on the displayed "HW configuration" screen.
Similarly drag other units, and drop to a left frame.
For instance, drag “PS 307 2A" of the power supply unit, and drop to slot 1 of “Rail".
In addition, drag CPU, and drop to slot 2.
Setting the Parameters
9-47
9 Procedures for Starting Operation
When CPU is dropped, the following properties(network setting) screen is displayed.
Set a necessary item.
Select “Ethernet(1)" displayed in the subnet item.
Setting the Parameters
9-48
9 Procedures for Starting Operation
(3) Set the “Size of the process-image area” of PLC.
Double-click dropping CPU. "Properties" screen is displayed.
Click [Cycle/Clock Memory] tab, and change the size of the process image input area and the size of
the process image output area to “512".
After that, Click the [OK] button. The screen is closed.
(4) Install the GSDML file for the robot.
Click [Options] – [Install GSD File…] from the menu.
Setting the Parameters
9-49
9 Procedures for Starting Operation
The GSD file is in CD-ROM of the attachment.
The file name is "GSDML-V"Version" -MITSUBISHI-TZ535_PN -"Update day".xml.
The Bmp file name is "GSDML-021C-3B01-TZ535_PN.bmp".
Select the corresponding GSD file and click [Install] button.
When the installation is completed, the following screens are displayed.
Click the [OK] button. And Click [Close] button on [Install GSD Files] screen.
Setting the Parameters
9-50
9 Procedures for Starting Operation
(5) Add the robot to the H/W configuration.
There is "2D-TZ535-PN(PROFINET IO)" icon for the Mitsubishi robot in the HW catalog frame
([PROFINET IO] – [Additional Field Devices] – [NC/RC] – [2D-TZ535-PN]).
Drag it, and drop to “Ethernet(1)".
Next, click [+] sign of the "2D-TZ535-PN(PROFINET IO)" icon. Then six items are displayed.
Drag the icon of a corresponding number of bytes to robot controller's parameter "PNIOLN", and drop to
slot 1.
The number of I/O bytes that
can be used is the following.
■
■
■
■
■
Input/Output 8byte
Input/Output 16byte
Input/Output 32byte
Input/Output 64byte
Input/Output 128byte
■ Input/Output 256byte
Save the setting clicking [Station] – [Save] from the menu.
Setting the Parameters
9-51
9 Procedures for Starting Operation
(6) Make the program of PLC.
Click the [Blocks] icon of a left frame, and double-click [OB1] icon displayed in a right frame on the
SIMATIC Manager screen.
Set the following content when the following "Properties - Organization Block" screen is displayed.
・Fill in the [Symbol Name] on "General – Part1" tab.
・Change the [Created in Language] to “LAD".
Click the [OK] button.
Setting the Parameters
9-52
9 Procedures for Starting Operation
Drag SFC20 from [Libraries] - [Standard Library] – [System Function Blocks] of a left frame, and drop to
a right frame on the displayed "Program window" screen.
Setting the Parameters
9-53
9 Procedures for Starting Operation
Specify the following content in the displayed “SFC20 block”.
・[SRCBLK]:“P#I256.0 BYTE 255"
・[DSTBLK]:“P#Q256.0 BYTE 255"
・RET_VAL: Arbitrary variable (for instance, “MW10")
This program returns the signal that the robot output to the input signal of the robot as it is.
(7) Specify the Ethernet card of the personal computer to make PLC communicated with the personal
computer.
Click [Options] – [Configure Network] from the menu on "HW Config" screen.
Setting the Parameters
9-54
9 Procedures for Starting Operation
Click [Options] – [Set PG/PC Interface] from the menu on the displayed "NetPro" screen.
Select the Ethernet card of the personal computer that connects PLC with Hub, and click [OK] button.
(8) Set information on Internet Protocol address etc. of PLC and the robot (for TZ535-PN).
Click [PLC] – [Ethernet] – [Edit Ethernet Node] from the menu on "HW Config" screen.
Setting the Parameters
9-55
9 Procedures for Starting Operation
Click [Browse] button on the displayed "Edit Ethernet Node" screen.
Select the node that corresponds to TZ535-PN. And, click [OK] button.
Setting the Parameters
9-56
9 Procedures for Starting Operation
Click the [Assign IP Configuration] button after inputting the “IP address” and ”Subnet mask”.
Click the [Assign Name] button after Inputting the “Device name”.
Similarly, set “IP address” and “Subnet mask” etc. of PLC.
Setting the Parameters
9-57
9 Procedures for Starting Operation
(9) Download the set content to PLC.
Click [PLC] – [Download] from the menu on "HW Config" screen.
Select corresponding PLC and click [OK] button.
Setting the Parameters
9-58
9 Procedures for Starting Operation
(10) Confirm the value of robot controller's parameter "PNIOLN".
Confirm the value of parameter "PNIOLN" by turning on robot controller's power supply, and using RT
ToolBox2.
(11) Confirm LED on PLC.
Change the switch of Siemens PLCfrom [STOP] to [RUN].
Confirm turning off LED SF, BF1, and BF2 on PLC.
The error occurs when LED lights red.
Please correspond according to the content of the error.
Setting the Parameters
9-59
9 Procedures for Starting Operation
9.2. Checking the I/O Signals
EtherNet/IP
9.2.1. For the EtherNet/IP module
Check the exchange of I/O signals using RT ToolBox2 and the RSLogix5000 "Controller Tags" screen.
(1) Start the RT ToolBox2 "General purpose Signal" monitor.
Go to [Online] - [Monitor] - [Signal] [General purpose Signal], and double-click.
(2) Open the RSLogix5000 "Controller Tags" screen.
Go to [Controller Sample] [Controller Tags], and double-click.
Checking the I/O Signals
9-60
9 Procedures for Starting Operation
(3) Click [Bit Forced Output] button on the RT ToolBox2 "General-purpose OUTPUT signal" monitor, and
test a random output.
(2) Select random signals, and click
[Bit Forced Output] button.
(3) Confirm that robot output
is input into master PLC.
(1) Click [Forced Output]
button.
(4) On the RSLogix5000 "Controller Tags" screen, execute a random output and confirm the input on the
RT ToolBox2 general-purpose monitor.
(1) Input random data in
TZ535_1:O.
(2) Confirm that the robot input
is the data designated from
the master PLC.
Checking the I/O Signals
9-61
9 Procedures for Starting Operation
9.2.2. For the PROFINET IO 2-Port module
PROFINET IO
Check the exchange of I/O signals using RT ToolBox2 and the “”screen on SIMATIC Manager.
(1) Start the RT ToolBox2 "General purpose Signal" monitor.
Go to [Online] - [Monitor] - [Signal] [General purpose Signal], and double-click.
(2) Click the [TZ535-PN] on "HW Config" screen.
Click the [TZ535-PN] icon.
Checking the I/O Signals
9-62
9 Procedures for Starting Operation
(3) Right-click in “In/Out **byte" of slot 1, and click [Monitor/Modify] button.
(4) Click [Bit Forced Output] button on the RT ToolBox2 "General-purpose OUTPUT signal" monitor, and
test a random output.
(2) Select random signals, and click
[Bit Forced Output] button.
(3) Confirm that robot output
is input into master PLC.
(1) Click [Forced Output]
button.
Checking the I/O Signals
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9 Procedures for Starting Operation
(5) Confirm the output signal has returned to the input as it is on the RT ToolBox2 general-purpose monitor.
(1) Confirm the output signal is
the same as the input signal.
Checking the I/O Signals
9-64
9 Procedures for Starting Operation
9.3. Execution of robot program
9.3.1. Setting the dedicated input/output
Set the dedicated input/output as shown below. After changing the parameters, turn the power OFF and
ON once.
Refer to the separate "Instruction Manual, Detailed Explanation of Functions and Operations" for details on
the settings.
Table 9-1
Parameter
name
IOENA
START
STOP2
SLOTINIT
SRVON
SRVOFF
Setting the dedicated input/output
Input
Meaning
Operation rights enable
Program start
Stop
Program reset
Servo power ON
Servo power OFF
No.
2000
2001
2002
2003
2004
2005
Output
Meaning
Operation rights enabled
Program starting
Stopping
Program selection enabled
Servo ON
No.
2000
2001
2002
2003
2004
9.3.2. General-purpose input/output
The general-purpose inputs and outputs can be accessed with the I/O system variables such as M_In and
M_Out.
Note that when accessing multiple bits with a variable such as M-Inb, M_Inw, M_Outb or M_Outw, the
access cannot extend over an area used by EtherNet/IP, such as the number 1999. Always create the
program to fit within the area between 2000 and 4047.
Correct example) M_In(2000), M_Inb(2010), M_Out(3000), M_Outb(3010), etc.
Incorrect example) M_Inb(1999), M_Inw(5070), M_Outb(1999), M_Outw(1999), etc.
Execution of robot program
9-65
9 Procedures for Starting Operation
9.3.3. Example of robot program creation (using general-purpose input/output)
*LBL1:If M_In(2008) = 0 Then GoTo *LBL1
M1 = M_Inb(2000)
M_Out(2009) = 1
*LBL2:If M_In(2008) = 1 Then GoTo *LBL2
M_Out(2009) = 0
Select M1
Case 1
GoSub *LOAD
break
Case 2
GoSub *UNLOAD
break
Case 3
GoSub *GOHOME
break
End Select
End
*LOAD
:
Return
*UNLOAD
:
Return
*GOHOME
:
Return
Input No. 2008 and output No. 2009 are used as
interlocks.
Refer to "4.5.1 Robot system status variables for
2D-TZ535 card" for details on the interlock.
When M1(*1) is 1, jumps to the label *LOAD line.
When M1(*1) is 2, jumps to the label *UNLOAD line.
When M1(*1) is 3, jumps to the label *GOHOME line.
(*1) M1 is byte data received via EtherNet/IP.
(Refer to the second line of the program.)
Describe the process in the label *LOAD.
Describe the process in the label *UNLOAD.
Describe the process in the label *GOHOME.
Execution of robot program
9-66
9 Procedures for Starting Operation
9.3.4. Sample program for input/output confirmation
A sample program for confirming the 2D-TZ535 card input/output is shown below.
Use this as necessary for startup adjustment, etc.
Table 9-2
Robot side input (master station output)
Robot side output (master station input)
Signal assignment conditions
Input 2000 to 4047 (256 bytes)
Output 2000 to 4047 (256 bytes)
Robot program specifications
Copy all input bits to the output bits.
[Program example 1]
'Loop the input signal to the robot back to the output signal. (For bit checking)
For M1 = 2000 To 4047
M_Out(M1) = M_In(M1) 'Copy with bit variable
Next M1
End
[Program example 2]
'Loop the input signal to the robot back to the output signal. (For byte checking)
For M1 = 2000 To 4040 Step 8
M_Outb(M1) = M_Inb(M1) 'Copy with byte variable
Next M1
End
[Program example 3]
'Loop the input signal to the robot back to the output signal. (For word checking)
For M1 = 2000 To 4032 Step 16
M_Outw(M1) = M_Inw(M1) 'Copy with word variable
Next M1
End
Execute this program and check the signals looped back to the master station side.
Execution of robot program
9-67
10 Troubleshooting
10. Troubleshooting
Please read this chapter first if you suspect that some failure has occurred.
10.1. List of Errors
 The meanings of the error numbers are shown below. 
 0000 *
 An error marked with an asterisk (*) requires power resetting.
Perform the actions indicated in the countermeasures.
 The error type is shown with a 4-digit number.
 The errors are categorized into three types.
H: High-level error .......... Servo-OFF is performed.
L: Low-level error .......... Operation stops.
C: Warning ..................... Operation continues.
Table 10-1
Error No.
Error cause and measures
Error message
H.6100
H.6101
H.6110
Measures
Module is not mounted.
A module board by HMS must be mounted in the network base card.
A module board is not mounted in the network base card.
Mount a module suitable for the network base card.
Error message
Cause
Measures
Unsupported module mounted error
An unsupported HMS module board is mounted in the network base card.
Replace the module.
Error message
Multiple network base cards are mounted.
Only one network base card can be mounted.
Two or more are currently mounted in the option slot.
Mount only one network base card.
Cause
Cause
Measures
Error message
H.6111
Cause
Measures
Error message
H.6120
List of errors related to the network base card
Cause
Measures
Another fieldbus card is mounted.
Only one fieldbus card can be mounted.
A CC-Link card, PROFIBUS card or DeviceNet card is mounted.
Mount only one fieldbus card.
Network base card error n.
(n is a number between 1 and 4.)
A network base card error has been detected.
n=1: A watch dog timeout has occurred with the communication module.
n=2: An unsupported object, instance or command has been issued.
n=3: The received form is incorrect.
n=4: The I/O offset amount is incorrect.
n=5: IP address is incorrect.
n=6: Subnet mask IP address is incorrect.
n=7: Gateway IP address is incorrect.
Replace the network base card.
Contact the manufacturer when replacing the card.
List of Errors
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10 Troubleshooting
Error No.
Error cause and measures
Error message
H.6130
Cause
Measures
Error message
H.6140
Cause
Measures
Error message
H.6190
Cause
Measures
Network communication error n.
(n is a number between 1 and 2.)
Line error or invalid parameter.
This can occur if communication is not established when: (1) The robot
program is started, (2) Continuous operation is attempted with direct
execution from the RT ToolBox2, or (3) An execution program is started
while an error is occurring.
n=1: Ethernet cable is disconnected.
n=2: IP address is not established.
Check the cable and parameters.
Parameter error (parameter name)
The parameter setting is invalid.
The parameter value is not within range, or the data is invalid and cannot be
read.
Check the parameter setting value.
Network error occurrence (error code)
A network error has occurred.
(Error code) indicates an error code which occurs between the Anybus-CC
Module.
Check the details of the network error.
List of Errors
10-69
11 Appendix
11. Appendix
11.1. Displaying the Option Card Information
The option card information can be displayed with the RT ToolBox2 (option).
In the online state, click "Online" in the work space tree, and click "Slot n (n=1 to 3): Network Base" under
"Board". The 2D-TZ535 card information will be read into the properties window.
* The option card information in the properties window is not updated automatically. To update the
information, go offline and then online and repeat the above steps.
Figure 11-1 Example of displaying option card information with RT ToolBox2
Displaying the Option Card Information
11-70
11 Appendix
EtherNet/IP
11.1.1. For the EtherNet/IP module
Table 11-1
Display item
Card name
[Kind]
Display example
Meaning
[Status]
Network Base (TZ535) Card name
EtherNet/IP
Name of Anybus-CC module
on network base card
Green
Module Status LED status
Green
Network Status LED status
8 (2000 - 2063)
Number of received bytes
(signal number)
8 (2000 - 2063)
Number of send bytes
(signal number)
0003
Network status
[MAC Address]
[IP]
[Subnet]
[Gateway]
**-**-**-**-**-**
***.***.***.***
***.***.***.***
***.***.***.***
MAC address
IP address
Subnet Mask
Gateway
[H/W Ver]
0
Card group number
[LED_1]
[LED_2]
[Input]
Card information
2D-TZ535 card information(For EtherNet/IP module)
[Output]
11.1.2. For the PROFINET IO 2-Port module
Table 11-2
Display item
Card name
[Kind]
[Status]
[MAC Address]
[IP]
[Subnet]
[Gateway]
**-**-**-**-**-**
***.***.***.***
***.***.***.***
***.***.***.***
MAC address
IP address
Subnet Mask
Gateway
[H/W Ver]
0
Card group number
Card information
[Output]
1( - ) to 256 (2000 – 4047)
1( - ) to 256 (2000 - 4047)
bit 0: Linked
bit 1: IP address established
Parameter [EPIP]
Parameter [EPMSK]
Parameter [EPGW]
0: G51
to
6: G57
7: Use prohibited
PROFINET IO
2D-TZ535 card information(For PROFINET IO 2-Port module)
Display example
Meaning
Network Base (TZ535) Card name
PROFINET IO 2-Port
Name of Anybus-CC module
on network base card
Green
Module Status LED status
Green
Network Status LED status
16 (2000 - 2127)
Number of received bytes
(signal number)
16 (2000 - 2127)
Number of send bytes
(signal number)
0003
Network status
[LED_1]
[LED_2]
[Input]
Remarks
Remarks
8 / 16 / 32 / 64 / 128 / 255
8 / 16 / 32 / 64 / 128 / 255
bit 0: Linked
bit 1: IP address established
bit 3: Link port1
bit 4: Link port2
Set address from PLC
Set address from PLC
Set address from PLC
0: G51
to
6: G57
7: Use prohibited
Displaying the Option Card Information
11-71
11 Appendix
11.2. Pseudo-input Function
The pseudo-input function for the EtherNet/IP network base card allows the pseudo input signals from RT
ToolBox2.
Usable cases and usage methods are explained below.
No.
1
2
Network base card (TZ535) status
Not mounted
3
Mounted
4
Condition
Network cable not connected
Network cable connected, but a
communication error occurring
In normal communication
Usability
×



 indicates usable, and × indicates not usable.
* A pseudo-input is not possible while an error is occurring.
<Usage method>
(1) Start RT ToolBox2.
(2) Click [Online] - [Monitor] - [Signal Monitor] - [General Signals] in the work space tree, and start the
general-purpose signal monitor.
(3) Click the [Pseudo-input] button.
(4) Input the signal number (2000 or higher) in the "Head signal #" field and click the [Set] button.
(5) Select the check box for the signal to be input, and click the [Bit pseudo INPUT] button.
Pseudo-input Function
11-72
Sep. 2013 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.
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