MITSUBISHI ELECTRIC
Industrial Robot
Instruction Manual
(SD Series)
PROFIBUS DP-V0 Slave Interface
(2D-TZ577)
Art. no. BFP-A8741
15 04 2008
Version A
MITSUBISHI ELECTRIC
INDUSTRIAL AUTOMATION
Safety Instructions
Before attempting to use the robot, carefully read the
following safety instructions and those given in the
"Safety Manual" that accompanies and take necessary
actions.
A. Safety instructions based on the requirements of the Labor Safety and Health Regulations
(Articles 36, 104, 150, and 151) are listed below in abbreviated form.
CAUTION
The robot teaching operation should be performed only by workers trained
specifically in safety practices.
(This applies to maintenance service done without shutting down the power
source as well.)
→ Implementation of safety training
CAUTION
The robot teaching operation should be performed in accordance with established
work rules which cover method or procedure used when operating the robot or
actions taken to deal with all operating conditions including abnormal situations
and subsequent restarting of the equipment.
(This applies to maintenance service done without shutting down the power
source as well.)
→ Establishment of work rules
WARNING
The robot teaching operation must be performed with a means being provided
which permits an immediate shutdown of the robot.
(This applies to maintenance service done without shutting down the power
source as well.)
→ Provision of an emergency shutdown switch
CAUTION
During the performance of the robot teaching operation, an indication to that effect
should be given in the immediate vicinity of the start switch or the like.
(This applies to maintenance service done without shutting down the power
source as well.)
→ Indication of an ongoing robot teaching operation
DANGER
During the operation of the robot, a fence or enclosure must be put around the
robot so that workers are protected from inadvertent contact with the robot.
→ Setting-up of a safety fence
CAUTION
Robot operation should be started on a specific signal given to every worker
concerned according to an established rule.
→ A signal for starting an equipment operation
CAUTION
Maintenance service should in principle be carried out with power being shut off.
Ensure that an indication showing maintenance service being in progress is given
in the immediate vicinity of the start switch or the like.
→ Indication of an ongoing maintenance service
CAUTION
Before starting the operation of the robot, check the robot, emergency stop switch,
and other associated devices for good condition.
→ Checkup before starting robot operation
B. Safety instructions contained in the accompanying "Safety Manual" are listed below in abbreviated form.
For more details, read the main text of the "Safety Manual."
CAUTION
Use the robot in an environment where operational parameters (temperature,
humidity, atmosphere, noise, etc.) are kept within the specified limits.
Otherwise, the robot may diminish in reliability or suffer a breakdown.
CAUTION
When moving the robot, keep it in an attitude specified in the handling instructions
that apply.
Otherwise, the robot may turn over or drop and result in personal injury or
equipment breakdown.
CAUTION
Install the robot securely onto a rigid mount.
Insecure installation may cause the robot to become mispositioned or develop
undue vibration.
CAUTION
Route cables as far away from a noise source as possible.
If allowed to run too close to a noise source, the cable may be a cause for robot
misposition or malfunction.
CAUTION
Avoid placing excessive strain on the connector or bending the cable too abruptly.
A poor connection or a break in the wiring may result.
CAUTION
Ensure that the mass of work including that of the robot hand does not exceed the
rated load and permissible torque.
Excessive work mass may give rise to an alarm condition or mechanical failure.
WARNING
The robot hand and tools must be installed securely and the work must be gripped
firmly in place.
Otherwise, objects may become dangerous projectiles during operation, causing
personal injury or property damage.
WARNING
The robot and controller must be well-grounded.
Otherwise, noise may give rise to malfunction or, in some cases, an electric shock
may be received.
CAUTION
During the operation of the robot, an indication to that effect is put out.
Without such an indication, worker may inadvertently get near the robot or make
an operational mistake.
WARNING
Before attempting to perform a robot teaching operation within its working radius,
worker must make certain that he has acquired a precedence in the control of the
robot.
Otherwise, the robot may be activated by a command from any external source
with a danger of personal injury or property damage.
CAUTION
When applying jog control to the robot, use as low a speed as possible and keep
an eye on the robot.
Otherwise, interference between the robot and the peripheral equipment or
structure may take place.
CAUTION
Before placing the robot in auto operation following a program editing, be sure to
check the robot for proper trajectories by manipulating it in stepwise fashion.
Otherwise, an error in the programming or other glitch may lead to interference
between the robot and the peripheral equipment or structure.
CAUTION
Provision should be such that during the automatic operation of the robot, the
entrance/exit door of the safety fence put around the robot is locked to forestall an
attempt to open it or the robot is automatically placed in a stopped state to permit
the opening of the door.
Otherwise, personal injury may result.
CAUTION
Do not make any modification to the product concerned on your own judgment or
use maintenance/repair parts other than those that are recommended by the
manufacturer.
Otherwise, mechanical failure or malfunction may be experienced.
WARNING
When moving the robot arm manually from outside, do not put your hands or
fingers into any opening provided on the robot.
You may, depending on your posture, get your hands or fingers caught between
the structural members.
CAUTION
Do not attempt to stop the robot, whether in normal operation or in emergency, by
turning off the main power supply on the robot controller.
If the main power supply on the robot controller is turned off while the robot is in
automatic operation, adverse effect may be caused on the precision with which
the robot operates. Also, interference with the peripheral equipment or structure
may result if the robot arm should drop or as it coasts to stop.
CAUTION
Do not turn off the main power supply on the robot controller when internal
information stored on the controller (programs or parameters) is being rewritten.
If the main power supply on the robot controller is turned off during automatic
operation or the loading of programs/parameters, internal information stored on
the controller may be corrupted.
WARNING
If an horizontally-articulated robot is used, take care as the robot hand possibly
sinks under its own weight while the brake release switch is depressed. Sinking of
the robot hand may cause the robot hand to hit the peripheral equipment or
structure or get your hand or finger caught between the structural members.
„
Revision History
Printing date
2008-03-25
2008-04-15
„
Manual No.
BFP-A8741
BFP-A8741A
Description
Initial edition
・Error in writing correction.
・The back cover was corrected.
・Hyper link was corrected.
„
Introduction
Thank you for purchasing Mitsubishi Electric SD Series Industrial Robot.
The PROFIBUS DP-V0 Slave Interface (2D-TZ577) is an optional device which, installed into the SD Series
Robot Controller, permits you to connect the Robot Controller to a PROFIBUS DP-V0 network.
Before using the Interface, read this manual and familiarize yourself with all pages to ensure safe operation
and obtain maximum satisfactory service from the PROFIBUS DP-V0 Slave Interface (2D-TZ577).
Note: All descriptions in this manual assume that the user has an adequate understanding about basic
operating procedures and functions which pertain to the Mitsubishi Industrial Robot SD Series. For detailed
information about the basic operating procedures, refer to the "Instruction Manual - Detailed Description of
Functions and Operation" which is separately issued.
„
Safety notation used in this manual:
·
·
·
·
DANGER
Indicates an immediately hazardous situation which, if not properly dealt
with, will result in death or serious injury.
WARNING
Indicates a hazardous situation which, if not properly dealt with, could result
in death or serious injury.
CAUTION
Indicates a hazardous situation which, if not properly dealt with, could result
in injury, or property damage alone.
This manual or any part thereof may not be reproduced in any form or by any form without permission.
All the contents of this manual are subject to change without notice.
Specification values appearing in this manual are based on the tests conducted in accordance with
Mitsubishi Electric's standard procedures.
Mitsubishi Electric prepared this manual with close attention to every detail. However, in case that you
find any point in this manual which is not quite clear or any information which is not correctly presented
or missing, your local sales representative or Mitsubishi MELFA Telephone Customer Service Center
should be contacted for advice.
<MELFA Telephone Customer Service Center>
Telephone:
052-721-0100 (direct-dial)
Fax:
052-722-0384
Open time:
9:00~12:00 & 13:05-16:30
Monday through Friday
(National holidays and company holidays are excluded.)
·
·
Trade names or trademarks appearing in this manual are the property of their respective owners.
The notations "®" and "TM" are omitted in this manual.
Copyright(C) 2009 MITSUBISHI ELECTRIC CORPORATION ALL RIGHTS RESERVED
[Table of Contents]
1.
2.
Before Using PROFIBUS DP-V0 Slave Interface........................................................................................... 1
1.1
About Terms Used in This Manual .......................................................................................................... 1
1.2
How to Use This Manual ......................................................................................................................... 2
Workflow ......................................................................................................................................................... 3
2.1
3.
Work Procedure ...................................................................................................................................... 3
Features and Specification of 2D-TZ577 Card ............................................................................................... 4
3.1
What is PROFIBUS DP ........................................................................................................................... 4
3.2
Features of 2D-TZ577 Card .................................................................................................................... 5
3.3
Specification of 2D-TZ577 Card .............................................................................................................. 6
3.3.1
General Specification ....................................................................................................................... 6
3.3.2
Transmission Specification............................................................................................................... 7
3.3.3
Network Configuration...................................................................................................................... 7
3.3.4
Accommodated Versions ................................................................................................................. 8
3.4
Robot Parameters ................................................................................................................................... 9
3.5
Robot Controller Input/Output Signals .................................................................................................. 11
3.6
About Dedicated Input/Output............................................................................................................... 12
3.7
Specification Relative to Robot Language ............................................................................................ 12
3.7.1
4.
5.
3.8
About Output Signal Reset Patterns ..................................................................................................... 15
3.9
Hardware of 2D-TZ577 Card................................................................................................................. 16
3.9.1
Overall View ................................................................................................................................... 16
3.9.2
LED ................................................................................................................................................ 16
Out of the Package....................................................................................................................................... 17
4.1
Checking Component Parts .................................................................................................................. 17
4.2
Items To Be Furnished by User ............................................................................................................. 17
Hardware Setup............................................................................................................................................ 19
5.1
6.
Robot System State Variables Relative to 2D-TZ577 Card ........................................................... 12
Hardware Setup for 2D-TZ577 Card ..................................................................................................... 19
Connection and Wiring ................................................................................................................................. 20
6.1
Installing A 2D-TZ577 Card into Robot Controller ................................................................................. 20
6.1.1
CR1D Robot Controller .................................................................................................................. 20
6.1.2
CR2D Robot Controller .................................................................................................................. 21
6.1.3
CR3D Robot Controller .................................................................................................................. 22
6.2
Connector Pin Configuration (D-SUB9 Pin) .......................................................................................... 23
6.3
Wiring .................................................................................................................................................... 23
6.4
About Noise Control .............................................................................................................................. 24
6.4.1
CR1D Controller............................................................................................................................. 24
6.4.2
CR2D Controller............................................................................................................................. 24
6.4.3
6.5
7.
8.
9.
CR3D Controller............................................................................................................................. 25
Checking Connections .......................................................................................................................... 26
Procedure before Startup ............................................................................................................................. 27
7.1
Procedure for Running Self-diagnosis .................................................................................................. 28
7.2
Parameter Settings on the Side of Master Station ................................................................................ 28
7.2.1
Procedure for Establishing Parameters ......................................................................................... 28
7.2.2
Slave Parameters .......................................................................................................................... 29
7.3
Parameter Settings on the Side of Robot Controller............................................................................. 32
7.4
Have A Try For It ................................................................................................................................... 34
7.4.1
Setting Dedicated Input/Output...................................................................................................... 34
7.4.2
About General-purpose Input/Output............................................................................................. 34
7.4.3
Examples of Robot Program (Using General-purpose I/O) ........................................................... 35
7.4.4
A Sample Program for Checking Input/Output .............................................................................. 36
Troubleshooting............................................................................................................................................ 37
8.1
A Listing of Errors.................................................................................................................................. 37
8.2
At the Occurrence of Error 8570 (PROFIBUS Communication Timeout) ............................................. 39
Appendix....................................................................................................................................................... 40
9.1
Displaying Option Card Information ...................................................................................................... 40
1 Before Using PROFIBUS DP-V0 Slave Interface
1. Before Using PROFIBUS DP-V0 Slave Interface
This chapter explains checks or precautions that you should perform or take before using the PROFIBUS DP-V0
Slave Interface (2D-TZ577).
1.1 About Terms Used in This Manual
Table 1-1 Terms Used in This Manual
Term
PROFIBUS DP-V0
PROFIBUS DP-V1
PROFIBUS DP-V2
2D-TZ577
2D-TZ577 Card
Master Station
Class 1 Master Station
Class 2 Master Station
Slave Station
Repeater
Terminator resistor
Slave parameter
Station number
I/O configuration
information (data module)
Input data
Output data
Global control
Communication WDT
GSD file
Description
A basic version of PROFIBUS DP which permits the execution of the following
functions:
· Input/output data communications
· Others
A version of PROFIBUS DP which permits the execution of the following functions
in additions to those available from PROFIBUS DP-V0:
· A cyclic communications (asynchronous data communications)
· Alarm notification
· Others
A version of PROFIBUS DP which permits the execution of the following functions
in additions to those available from PROFIBUS DP-V1:
· Time stamping
· Others
PROFIBUS DP-V0 Slave Interface for SD Series (a complete set of products)
PROFIBUS DP-V0 Slave Interface Card for SD Series (TZ577)
A station residing in the equipment (typically, PLS or personal computer) which
controls a data link system. There must be at least one Master Station in any
system. As described below, Master Station comes in two varieties: Class 1 and
Class 2.
Equipment which exchanges input/output data with Slave Stations.
Equipment which verifies station number settings and operating statuses through
communications with Slave Stations. It serves as a network administration master
station and takes care of such tasks as startup, maintenance service, and
diagnosis.
A lower-level station which communicates with Master Station.
A device which provides a link between the segments of a PROFIBUS DP network.
Resistor connected to the individual segments of a PROFIBUS DP network at each
end. Actually, terminator resistors built in the connector used with a PROFIBUS
network are enabled to fulfill intended purposes.
Slave station parameter established by Master Station. Items of parameter
information are stated on a GSD file.
A number assigned to Master Station or Slave Station. Numbering is in the range of
0 to 125.
Information about input/output configuration at Slave Station.
Data which is sent by 2D-TZ577 Card and received by Master Station.
(Data inputted by Master Station)
Data which is sent by Master Station and received by 2D-TZ577 Card.
(Data outputted by Master Station)
A function which allows Class 1 Master Station to send an input/output data
synchronization command to Slave Stations.
A watchdog timer established in the slave parameter at Master Station.
An electronic file stating parameter settings at Slave Station. A data setting
software compliant with Master Station, which is used to establish slave parameter
settings.
About Terms Used in This Manual 1- 1
1 Before Using PROFIBUS DP-V0 Slave Interface
1.2 How to Use This Manual
This manual discusses the functions of the 2D-TZ577 Card with its constituent sections organized as shown in
the table below. For information about the functions available from the standard Robot Controller and the
operating method thereof, refer to the "Instruction Manual" that is supplied with the Controller.
Table 1-2 Organization of This Instruction Manual
Section
1
2
3
4
5
6
7
8
9
Title
Contents
This section describes how to use this document (PROFIBUS DV-V0
Before Using PROFIBUS
Slave Interface Instruction Manual). Read and familiarize yourself with
DP-V0 Slave Interface
the information contained before attempting to use the 2D-TZ577 Card.
This section describes the work necessary to build a PROFIBUS DP
Workflow
system. Carry out each work step exactly as indicated.
Features and Specification of This chapter describes the features and specification of the 2D-TZ577
2D-TZ577 Card
Card.
Upon receipt of the 2D-TZ577 Card, check to see that all items are in the
Out of the Package
package and that the version of the Robot Controller is as specified.
Hardware Setup
Hardware setup need not be done in regard to the product in question.
This section describes the method used to connect the 2D-TZ577 Card to
Connection and Wiring
the Master Station via cables.
This section describes steps you have to take before placing PROFIBUS
Procedure before Startup
DP system into operation.
This section presents information that helps find solutions when
Troubleshooting
operational anomalies or errors are encountered during the use of the
2D-TZ577 Card. Make reference to this section as occasion arises.
The appendix explains the method for displaying information about the
Appendix
2D-TZ577 Card by means of RT ToolBox2.
How to Use This Manual 1- 2
2 Workflow
2. Workflow
Workflow you should follow to construct a PROFIBUS DP network system is shown below. Carry out each work
step exactly as indicated.
2.1 Work Procedure
1
Deciding a specification for PROFIBUS DP network ・・・・・・・・・・ See Section 3.
Make a decision on interface details in regard to system signals utilizing PROFIBUS DP after gaining an
understanding of PROFIBUS DP specification.
(Such details include alignment of dedicated input/output signals and arrangement pertaining to general-purpose
input/output signals.)
2.
Unpacking component parts ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ See Section 4.
Unpack cartons containing your purchase and ensure that all the necessary items are ready for installation.
3.
Hardware setup and installation to robot controller ・・・・・・・・・・・・ See Section 5 and Section 6.1.
The 2D-TZ577 Card lets you do without hardware setup. Install the Card into the Robot Controller, as it is.
4.
Performing self-diagnosis ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ See Section 7.1.
Run a self-diagnosis and ensure that the 2D-TZ577 Card has no problems with its hardware.
5.
Establishing parameters for Master Station ・・・・・・・・・・・・・・・・・・ See Section 7.2.
Make signal alignment and Slave Station number settings at the Master Station.
6.
Establishing parameters for Robot Controller ・・・・・・・・・・・・・・・・・ See Section 7.3.
Make Robot Controller-side station number settings.
Choose a setting to indicate whether the Robot Controller should run a self-diagnosis at power-on.
Carry out signal alignment for dedicated I/O.
7.
Making the connection ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ See Sections 6.2 through 6.5.
Connect the 2D-TZ577 Card installed in the Robot Controller to the Master Station, using the PROFIBUS-specific
cable and connector.
8.
Creating a robot program ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ See Section 7.4.
Create a robot program compliant with the specification decided in Step 1 above and activate the robot in auto
operation mode.
9.
Actions at the occurrence of a trouble ・・・・・・・・・・・・・・・・・・・・・・・ See Chapter 8.
10. Work complete
Work Procedure 2- 3
3 Features and Specification of 2D-TZ577 Card
3. Features and Specification of 2D-TZ577 Card
3.1 What is PROFIBUS DP
Personal
computer
Master Station unit
M EL S EC
QJ71E71-100
Q173NCCPU
POWER
RUN
INIT .
OPEN
SD
QXxxxx
QJ71E71-100
ERR.
C OM.ERR.
100M RD
RUN
INIT.
OPEN
SD
QXxxxx
Varied
PROFIBUS-compliant
devices
Slave Station unit
QXxxxx
ERR.
COM.ERR.
M EL S EC
100M RD
QJ71E71-100
Q173NCCPU
POWER
RUN
INIT .
OPEN
SD
QXxxxx
QJ71E71-100
ERR.
C OM.ERR.
100M RD
RUN
INIT.
OPEN
SD
QXxxxx
QXxxxx
ERR.
COM.ERR.
100M RD
PULL
PULL
MITSUBISHI
FRO NT
BAT
MPG
ACF AIL
RIO
MITSUBISHI
Connector with built-in
terminator resistors
(to be furnished by the
user)
MELSEC sequencer, etc.
(to be furnished by the user)
FRO NT
BAT
MPG
ACF AIL
RIO
Connector with
built-in terminator
resistors
Equipment from other
manufacturer or
(to be furnished by
Mitsubishi associate
the user)
Robot Controller
CRnD-700 Series
PROFIBUS DP-VO Slave
Interface Card (2D-TZ577)
Only one card can be installed into
an option slot on the Controller*1.
CR1D
CR2D
CR3D
Figure 3-1 An Example of PROFIBUS Network Configuration
PROFIBUS is one of the recognized fieldbus standards. PROFIBUS comes in three variations: general-purpose
PROFIBUS FMS, PROFIBUS DP for factory automation application, and PROFIBUS PA for process automation
application.
The 2D-TZ577 Card is intended to serve as a slave station which supports PROFIBUS DP-V0 capabilities.
It does not support PRORIBUS DP-V1 or PROFIBUS DP-V2 which is an extension of PROFIBUS DP-V0.
(*1)
Number of the option slots varies with the Controller you use.
CR1D: Provided only with Slot 1.
CR2/3D: Provided with Slots 1 thru 3 (only one of the three slots used to install the Card at any one time)
‘¡‘ Details about PROFIBUS ‘¡‘
To learn more about PROFIBUS, visit a Japan PROFIBUS Association website at http://www.profibus.com/
What is PROFIBUS DP 3- 4
3 Features and Specification of 2D-TZ577 Card
3.2 Features of 2D-TZ577 Card
The 2D-TZ577 Card has the following features:
(1)
Compliance with EN 50170 Volume 2 (Part 1, 2, 3, 4, and 8)
Designed to provide compliance with EN 50170 Volume 2 (Part 1, 2, 3, 4, and 8), the 2D-TZ577 Card
serves only as a slave station in a PROFIBUS DP-V0 network.
(2)
PROFIBUS DP-V0 Slave Interface Card for SD Series
The 2D-TZ577 Card is an optional card for use with SD Series Robot Controller, not usable for SQ Series.
To connect SQ Series Robot Controller to a PROFIBUS DP network, use a MELSEC-Q Series PROFIBUS
DP unit.
(3)
Input/output data communications with Class 1 Master Station
The 2D-TZ577 Card is capable of conducting input/output data communications with PROFIBUS-DP Class
1 Master Station (Master Station which communicates with Slave Stations on a cyclic basis). This card is
intended to serve as a slave station which supports PROFIBUS DP-V0 capabilities. It does not
support PRORIBUS DP-V1 or PROFIBUS DP-V2 which is an extension of PROFIBUS DP-V0.
(a) Communicatable number of pieces of data
A single 2D-TZ577 Card allows communications in the following number:
Input data - 122 words maximum
Output data - 122 words maximum
(4)
192 words in combined total
Communications with Class 2 Mater Station
The 2D-TZ577 Card is capable of conducting communications, as detailed below, with Class 2 Master
Station (Master Station for network administration which takes care of startup, maintenance and diagnosis
services).
•
Reading from input send area/output receive area
•
Reading I/O configuration information
•
Changing station numbers
For instructions on using the each of the listed functions, see instruction manual which is supplied with
Class 2 Master Station being installed.
(5)
Input/output data swapping
The 2D-TZ577 Card permits upper/lower bytes to be swapped at the time when input/output data is sent to
or received from Master Station. In a PROFIBUS DP network, the way the upper/lower bytes of input/output
data is treated differs depending on the type of Master Station, but there is no need for making input/output
data swapping at a program level.
(6)
Global control
The 2D-TZ577 Card supports global control capability, enabling Class 1 Master Station to control
input/output data updating on the 2D-TZ577 Card by commands it transmits (SYNC, UNSYNC, FREEZE,
and UNFREEZE). For instructions on using the global control capability, see instruction manual which is
supplied with Class 1 Master Station being installed.
Features of 2D-TZ577 Card 3- 5
3 Features and Specification of 2D-TZ577 Card
3.3 Specification of 2D-TZ577 Card
The following table shows the specification of the 2D-TZ577 Card.
3.3.1
General Specification
Table 3-1 General Specification (2D-TZ577 Card)
Item
Type name
PROFIBUS specification complied
with
PROFIBUS DP version supported
Transmission rate
Station number
Maximum communicatable number
of pieces of data
Option slot that accepts an
interface card
Number of cards installed
Concurrent use of 2D-TZ577 Card
and other fieldbus option card*2
Robot controller input/output
number
Specification
TZ577
EN50170 Volume2(Part1,2,3,4,8)
DP-V0 only
9.6k/19.2k/45.45k/93.75k/187.5k/5
00k/1.5M/3M/6M/12Mbaud
0 to 125
DP-V1 and DP-V2 not supported
Set by parameters specified on
Master Station
Set by parameters specified on
Robot (default setting: 126*1)
192 words as the combined number
of pieces of input/output data (122
words as the total of pieces of input
or output data)
Slot 1/Slop 2/Slot 3
Only one slot is used at any one
time
(SR1D is provided with Slot 1
only.)
One
Installation of more than one card is
not permitted.
Not permitted
2000 to 3951
Terminator resistor
Uninstalled
Input/output signal access
2D-TZ577 Card send/receive data
is assigned to input/output signal
No. 2000 and up. In a
MELFA-BASIC V network, these
signals are treated as input/output
signals like parallel I/O signals are.
(*1)
Remark
For details about signal alignment,
see " Table 3-6 A Listing of
PROFIBUS Signals."
If the 2D-TZ577 Card is used as a
terminal station, terminator resistor
on a dedicated connector should be
enabled. For information about the
connector, see "Table 4-2 Items To
Be Furnished by User."
Station number 126 causes the interface to be isolated from the PROFIBUS network.
Specify station numbers in the range of 0 to 125 for the purpose of input/output date communications.
(*2)
CC-Link Interface Card and Device Net Interface Card (both under development).
Specification of 2D-TZ577 Card 3- 6
3 Features and Specification of 2D-TZ577 Card
3.3.2
Transmission Specification
Table 3-2 Transmission Specification
Transmission specification
Item
Electrical standard and characteristic
Medium
Network configuration
Communication method
Transmission encoding method
Transmission rate/maximum transmission
range*2
Maximum number of intervening repeaters
Maximum number of units connected
(per segment)
Number of nodes connected/segment
Specification
Compliant with EIA-RS485
Shielded twisted-pair cable (Type A)*1
Bus type (tree type when repeater(s) is (are) used)
Polling
NRZ
Maximum transmission range
Transmission range
Transmission rate
with three repeaters being
[m/segment]
used [m/network]
9.6kbps
19.2kbps
1200
4800
45.45kbps
93.75kbps
187.5kbps
1000
4000
500kbps
400
1600
1.5Mbps
200
800
3Mbps
100
400
6Mbps
12Mbps
3*2
32 (including repeater(s))
32
(*1)
Specified in EN 50170 standard
(*2)
Maximum transmission distance achievable by the use of repeaters:
Maximum transmission distance [m/network] = (number of repeaters + 1) x transmission distance
[m/segment]
3.3.3
Network Configuration
When creating a PROFIBUS DP network, note that the network comes in under the following design limits:
(1)
Number of units that can be connected to the entire network (when repeaters are used)
Master + Slave ≤ 126
(2)
Number of units which can be connected to a segment
Master + Slave + repeater*1 ≤ 32
(3)
Maximum number of intervening repeaters
Up to 3 repeaters are allowed to intervene in the communication path between Master Station and
2D-TZ577 Card
(4)
It is necessary to enable terminator resistors on a dedicated connector installed at the terminal station of
each segment.
(5)
Maximum number of Slave Stations which can be connected to a Master Station depends on the
specification of the Master Station.
(*1)
Repeater is counted in the number of units at each of the segments.
Specification of 2D-TZ577 Card 3- 7
3 Features and Specification of 2D-TZ577 Card
Segment
Mater Station
Slave Station
No. 1
Slave Station
No. 2
…………….
Slave Station
No. 030
Repeater
Slave Station
No. 031
Slave Station
No. 032
…………….
Slave Station
No. 060
Figure 3-2 An Example of Basic PROFIBUS DP Network Configuration
3.3.4
Accommodated Versions
Table 3-3 Accommodated Versions
Name
Robot Controller
Personal computer support
software
Version
P6k or later
RT Tool Box 2: Ver.1.0.1 or later
* Ver. 1.3 or later is provided with a dialog box which can be used for making
PROFIBUS-related settings.
Even versions preceding 1.3 offer parameter a parameter setting screen that
permits you to make PROFIBUS-related settings.
For more information, see Section7.3 Parameter Settings on the Side of
Robot Controller.
Specification of 2D-TZ577 Card 3- 8
3 Features and Specification of 2D-TZ577 Card
3.4 Robot Parameters
Table 3-4 A Listing of Robot Parameters Used with PROFIBUS
Parameter
name
STOP2
-1, -1
-1 /2000 to 3951
ORST2000
ORST2032
:
ORST3920
PBMODE
00000000,
00000000,
00000000,
00000000
0
0/1/*
PBMC
1
1/2
PBNUM
126
-1 to 125
E8500
0
0/1
Initial value
Setting range
0/2
Description
A parameter that specifies a dedicated input signal number to
stop robot programs.
(Because the parameter "STOP" is fixed at "0", 2D-TZ577 Card
uses "STOP2" to define an external stop signal.)
A parameter that specifies value of output send data on the
2D-TZ577 Card at the time of signal output reset.
(For details about related settings, see Section 3.8 Before
Using PROFIBUS DP-V0 Slave Interface.)
A parameter that switches the operating mode of the 2D-TZ577
Card between "normal" and "self-diagnosis."
Normal mode = 0, self-diagnosis mode = 2
· When the self-diagnosis identifies an anomaly, an error
message is displayed.
("H.8504: PROFIBUS self-diagnosis shows occurrence of
an error.")
· Return the operating mode to normal to continue with
normal operation.
A parameter that designates Master Station as Class 1 or Class
2.
Class 1 Master Station is designated at factory default. To use
"Class 2," choose another parameter setting.
1: Class 1 Master (effected when the station number setting
parameter PBNUM shown below is used)
2: Class 2 Master (effected when changes of station numbers
are made from Class 2 Master Station - with PBNUM not
being used)
A parameter that specifies station number for the 2D-TZ577
Card.
0 to 125: Station number setting value (Rewriting of station
number settings takes place within the flash ROM as well.)
-1: Station number clear (Station number settings within the
flash ROM are cleared.)
* After the station numbers are cleared, the value 126 is taken
on.
* If "No_Add_Chg" is specified with "true" when making
station number settings from Class 2 Master Station,
2D-TZ577 Card is disabled for change of station numbers.
To cancel this setting, clear station numbers with "PBNUM
= -1."
A parameter that is used to temporarily reset an error state
when PROFIBUS-related error (indicated by a number in the
8500s) occurred.
(1: Resettable (But no communications are to be carried out.) /
0: Always error during the occurrence of an anomaly in the link)
* This parameter does not require power supply resetting
on the Robot Controller. The initial value of 0 will return if
power supply resetting is done.
Robot Parameters 3- 9
3 Features and Specification of 2D-TZ577 Card
Parameter
name
PBCNT
Initial value
40
Robot Parameters 3- 10
Setting range
0 to 65535
Description
A parameter that specifies an interval at which the 2D-TZ577
Card is checked for error.
Unit interval: msec
In normal condition, use the 2D-TZ577 Card at its factory
default (40).
User may change the setting only when communication errors
are frequently encountered under the undue influence from
noise in his installation environment. Normally, a setting in the
range of 40 to 70msec will do. Increase the setting with great
care as this may result in the inability to generate an error
indication even when one occurs in the 2D-TZ577 Card.
With a value greater than "1" being specified (rounding-up
checked), the Controller generates an error indication only
when it has detected a 2D-TZ577 Card error continuously
during a specified period of time. The Controller does not
generate an error indication unless it has had continuous error
detection.
With "0" being specified, an error indication is generated
immediately upon a 2D-TZ577 Card error being detected by the
Controller.
3 Features and Specification of 2D-TZ577 Card
3.5 Robot Controller Input/Output Signals
Input/output signals processed in the Robot Controller are in the range of 2000 to 3951 maximum (equivalent to
192 words), respectively, irrespective of station numbers.
Table 3-5 PROFIBUS Input/Output Signal Numbers
Number
Input (received from Master Station)
2000 to 3951
Output (sent to Master Station)
2000 to 3951
The data sizes of input/output signal are specified by parameter settings on the side of the Master Station. The
combined number of pieces of input/output data is 192 words maximum while the respective number of pieces
of input/output data is 122 words maximum.
Examples:
(Input - 122 words) + (output - 70 words) = 192 words in total
(Input - 96 words) + (output - 96 words) = 192 words in total
(Input - 10 words) + (output - 10 words) = 20 words in total
Table 3-6 A Listing of PROFIBUS Signals
Number of
words
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
Usable number
of points
0
16
32
48
64
80
96
112
128
144
160
176
192
208
224
240
256
272
288
304
320
336
352
368
384
400
416
432
448
464
480
496
512
528
544
560
576
592
608
624
640
Start End
- to 2000to2015
2000to2031
2000to2047
2000to2063
2000to2079
2000to2095
2000to2111
2000to2127
2000to2143
2000to2159
2000to2175
2000to2191
2000to2207
2000to2223
2000to2239
2000to2255
2000to2271
2000to2287
2000to2303
2000to2319
2000to2335
2000to2351
2000to2367
2000to2383
2000to2399
2000to2415
2000to2431
2000to2447
2000to2463
2000to2479
2000to2495
2000to2511
2000to2527
2000to2543
2000to2559
2000to2575
2000to2591
2000to2607
2000to2623
2000to2639
Number of
words
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
Usable number
of points
656
672
688
704
720
736
752
768
784
800
816
832
848
864
880
896
912
928
944
960
976
992
1008
1024
1040
1056
1072
1088
1104
1120
1136
1152
1168
1184
1200
1216
1232
1248
1264
1280
1296
Start
End
2000to2655
2000to2671
2000to2687
2000to2703
2000to2719
2000to2735
2000to2751
2000to2767
2000to2783
2000to2799
2000to2815
2000to2831
2000to2847
2000to2863
2000to2879
2000to2895
2000to2911
2000to2927
2000to2943
2000to2959
2000to2975
2000to2991
2000to3007
2000to3023
2000to3039
2000to3055
2000to3071
2000to3087
2000to3103
2000to3119
2000to3135
2000to3151
2000to3167
2000to3183
2000to3199
2000to3215
2000to3231
2000to3247
2000to3263
2000to3279
2000to3295
Number of
words
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
Usable number
of points
1312
1328
1344
1360
1376
1392
1408
1424
1440
1456
1472
1488
1504
1520
1536
1552
1568
1584
1600
1616
1632
1648
1664
1680
1696
1712
1728
1744
1760
1776
1792
1808
1824
1840
1856
1872
1888
1904
1920
1936
1952
Start End
2000to3311
2000to3327
2000to3343
2000to3359
2000to3375
2000to3391
2000to3407
2000to3423
2000to3439
2000to3455
2000to3471
2000to3487
2000to3503
2000to3519
2000to3535
2000to3551
2000to3567
2000to3583
2000to3599
2000to3615
2000to3631
2000to3647
2000to3663
2000to3679
2000to3695
2000to3711
2000to3727
2000to3743
2000to3759
2000to3775
2000to3791
2000to3807
2000to3823
2000to3839
2000to3855
2000to3871
2000to3887
2000to3903
2000to3919
2000to3935
2000to3951
Robot Controller Input/Output Signals 3- 11
3 Features and Specification of 2D-TZ577 Card
3.6 About Dedicated Input/Output
Signal numbers are assigned to 2D-TZ577 Cards. Assignment of these numbers to dedicated input/output
parameters permits them to be used as dedicated input/output. For more information about the dedicated
input/output, see Section 6 "Functions of External Input/Output" of the "Instruction Manual - Detailed Description
of Functions and Operation" which is separately issued.
3.7 Specification Relative to Robot Language
The follow subsection explains robot language (MELFA-BASIC V) which pertains to the 2D-TZ577 Card.
3.7.1
Robot System State Variables Relative to 2D-TZ577 Card
Table 3-7 A Listing of System State Variables Used for Data Input/Output
Item
M_In
M_Out
M_Inb
M_Outb
M_Inw
M_Outw
Type
Integer 1
Integer 1
Integer 1
Integer 1
Integer 1
Integer 1
Function
Reads one bit of data from specified input signal.
Writes one bit of data into specified output signal.
Reads 8 bits of data from specified input signal.
Writes 8 bits of data into specified output signal.
Read 16 bits of data from specified input signal.
Write 16 bits of data into specified output signal.
Read/write
Read
Write
Read
Write
Read
Write
‘¡‘ "Data separation" ‘¡‘
If data writing takes place on any of the robot programs before data transfer is completed on the
Master Station, an phenomenon called "tearful parting" (a loss of compatibility between input/output
data on the Robot Controller side and that on the Master Station side) is experienced. For example,
suppose an application program is introduced which involves writing data consecutively into an
identical output address, what may happen is that no values but the one last written are conveyed to
the receiver at the other end. The following diagram shows a typical case of "Data separation" which
results if data reading from the Robot Controller is initiated during the course of data transfer from
the Master Station to the buffer memory.
An Example of "Data separation"
Robot Controller
PROFIBUS Interface
Buffer memory
Read-out
Master Station
Data transfer
in progress
Area where transfer/updating of data from the Master Station is completed
Area where transfer/updating of data from the Master Station is not completed yet
To avoid "Data separation" a read/write interlock as shown below need be provided in the application concerned
(robot program or PLC ladder).
An example of interlock being used where one-word data is sent from the Master Station to the robot is
illustrated in the form of a flowchart below.
About Dedicated Input/Output 3- 12
3 Features and Specification of 2D-TZ577 Card
Table 3-8 An Example of Input/Output Signal Alignment between Master Station and Robot
Meaning
Data send/receive region
PLC data write completed flag
Robot data write completed flag
(*1)
*1
Master Station
Data send region
WRTFLG
RDFLG
Robot
Input: 2000 to 2015
Input No. 2016
Output No. 2020
For the purposes of explanation, a name is given to the Master Station input/output signal alignment.
Actually, you can make any input/output signal alignment in accordance with a Master Station instruction
manual that governs.
Master
Robot
Start
Start
Write one-word data
(data transmitted)
Write WRTFLG = 1
Input No. 2016 = 1?
NO
YES
Read Input Nos. 2000 to
2015 (data received)
NO
RDFLG = 1?
Write Output No. 2020 = 1
YES
Write WRTFLG = 0
Input No. 2016 = 0?
NO
YES
NO
RDFLG = 0?
Write Output No. 2020 = 0
YES
End
End
Figure 3-3 An Example of Use of Interlock
Below is an example of robot program which corresponds to the flowchart shown in Fig. 3-3. For information
about the Master Station-side program (ladder, etc.), refer to the instruction manual for the equipment being
used.
*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
Specification Relative to Robot Language 3- 13
3 Features and Specification of 2D-TZ577 Card
Table 3-9 A Listing of System State Variables Used to Verify Configuration
Variable name
Type
Designation
Function
M_PBNUM
Integer 1 Number of station in Number of station which is currently in action
action
M_PBFNUM
Integer 1 Station number
Number of station which is stored in flash ROM
settings in flash
ROM
M_PBSYNM
Integer 1 SYNC mode signal (a) Takes on the value "1" when 2D-TZ577
Card goes into SYNC mode in response to
SYNC request from Master Station.
(b) Takes on the value "0" when SYNC mode
terminates due to UNSYNC request from
Master Station/stopping of
communications/reset.
(c) Takes on the value "0" when
communications with Master Station are
stopped with "1" being an existing value
and communication timeout error occurs.
However, if communication WDT setting in
Master Station-side parameter is disabled,
the value "0" is not taken on because
communication timeout error does not
occur (output data is retained).
M_PBFRZM
Integer 1 FREEZE mode
(a) Takes on the value "1" when 2D-TZ577
signal
Card goes into FREEZE mode in response
to FREEZE request from Master Station.
(b) Takes on the value "0" when FREEZE
mode terminates due to UNFREEZE
request from Master Station/stopping of
communications/reset.
(d) Takes on the value "0" when
communications with Master Station are
stopped with "1" being an existing value
and communication timeout error occurs.
However, if communication WDT setting in
Master Station-side parameter is disabled,
the value "0" is not taken on because
communication timeout error does not
occur (output data is retained).
Read/write
Read
Read
Read
Read
For information about MELF-BASIC V commands and state variables other than those listed above, refer to the
"Instruction Manual - Detailed Description of Functions and Operation" which is separately issued.
Specification Relative to Robot Language 3- 14
3 Features and Specification of 2D-TZ577 Card
3.8 About Output Signal Reset Patterns
Factory default settings are such that startup takes place with all general-purpose output signals being off (0).
You can change the state of general-purpose output signals at power-on by re-specifying the parameters listed
in the table below. Note that these parameters are intended to serve the following purpose as well: performing
general-purpose output signal reset operation (which is carried out with dedicated input signals) and selection of
reset pattern during the execution of Clr command.
Parameter setting options include "off," "on," and "hold." The following table lists parameters which are used on
the 2D-TZ577 Card for general-purpose output resetting.
Table 3-10 A Listing of Output Signal Reset Pattern Parameters
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
Leading
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
Last
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
ORST3024
ORST3056
ORST3088
Leading
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
3024
3056
3088
Last
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
3055
3087
3119
Parameter ORST○○○○ has the default values of "0000000, 00000000, 00000000, and 00000000", and can be
set to specify "off," "on," and "hold" (= "0," "off," and "1") for 32 points. Leading number is assigned from the left
side.
For example, if ORST2000 is set to "*0000001, 00000000, 11110000, and 00000000," the following will result
when power to the Robot Controller is turned back on:
Output No. 2000: Holds a state in which it was before power to the robot controller has been turned on
Output No. 2007: On
Output Nos. 2016 to 2019: On
About Output Signal Reset Patterns 3- 15
3 Features and Specification of 2D-TZ577 Card
3.9 Hardware of 2D-TZ577 Card
The following subsections explain the hardware of the 2D-TZ577 Card.
3.9.1
Overall View
LED
PROFIBUS
cable connector
Figure 3-4 Overall View of 2D-TZ577 Card
3.9.2
LED
There are two LEDs provided on the 2D-TZ577 Card, each of which indicates the state of the Card by going on
or off.
ERR
(red)
RUN
(green)
Figure 3-5 Location of LEDs
Table 3-11 A Listing of LEDs
LED name
Color
RUN
Green
ERR
Red
Hardware of 2D-TZ577 Card 3- 16
Indications
On: Normal
Off: Watchdog timer error occurred.
On: Parameter setting error or unit error occurred.
Off: Normal
4 Out of the Package
4. Out of the Package
4.1 Checking Component Parts
The 2D-TZ577 Card comes standard with the component parts listed in the table below. Check your 2D-TZ577
Card to ensure that it is complete with these parts.
Table 4-1 2D-TZ577 Component Parts
No.
[1]
[2]
[3]
[4]
[5]
[6]
[7]
Note:
Item name
Instruction manual (CD-ROM)
PROFIBUS DP-V0 Slave Interface Card
Ferrite core
GSD file (CD-ROM)
Icon file for setting softoware(CD-ROM)
Cable clamp
Cable clamp
Type name
BFP-A8740
TZ577
E04SR301334
MLFA0BE4.gsd
2DTZ577ICON.bmp
AL4
AL6
Quantity
1
1
2
1
1
1
1
Numbers in the table corresponds to those in the figure below.
[1] [4] [5]
[2]
[3]
[6] [7]
Figure 4-1 2D-TZ577 Component Parts (Illustrated)
4.2 Items To Be Furnished by User
The following table shows the items that the user is requested to have ready before using the 2D-TZ577 Card.
Table 4-2 Items To Be Furnished by User
Item
Master Station*1
Communication
cable*1
Requirement
Master Station which is compatible with PFOFIBUS DP
Cable specifically designed for use with PROFIBUS DP
* There are limits to maximum total cable length and
inter-segment cable length. For details, see Figure
3-2 An Example of Basic PROFIBUS DP Network
Configuration.
Remark
Mitsubishi Electric disclaims all
guarantees of PROFIBUS
system performance if any cable
or connector other than those
described here are used.
Checking Component Parts 4- 17
4 Out of the Package
Connector*1
(*1)
Connector specifically designed for use with PROFIBUS,
having built-in terminator resistors. Recommended type
name: 6GK1 500-0FC00 *Siemens.
* Use a connector of straight type (180°cable outlet).
When using a connector of right-angle type (90°
cable outlet), note that it may give rise to problems
with the cable run including interference with other
cables or the rear cover (CR2D)
For more details, contact the International PROFIBUS Organization.
Association website at http://www.profibus.com/
Items To Be Furnished by User 4- 18
5 Hardware Setup
5. Hardware Setup
5.1 Hardware Setup for 2D-TZ577 Card
Hardware setup need not be done in regard to the 2D-TZ577 Card.
Entire setup activity is performed by using parameter settings on the side of the Master Station and the Robot
Controller.
For details, see Section 7.2 Parameter Settings on the Side of Master Station and Section 7.3 Parameter
Settings on the Side of Robot Controller.
Hardware Setup for 2D-TZ577 Card 5- 19
6 Connection and Wiring
6. Connection and Wiring
6.1 Installing A 2D-TZ577 Card into Robot Controller
Note that only one 2D-TZ577 Card should be installed into an option slot*1 of the Robot Controller at any one
time. If more than one card are installed into the slots, Error H.8502 "More than one PROFIBUS Card is
installed" will be indicated.
(*1) Number of the option slots varies with the Controller being used.
CR1D: Provided only with Option Slot 1
CR2/3D: Provided with Option Slots 1 thru 3
6.1.1
CR1D Robot Controller
Remove the option slot interface cover on the rear of the Controller and install a 2D-TZ577 Card into the slot.
During installation, use the handle fitted to the Card.
Slot 1
Connector
Interface card
Handle
Disconnecting lever
Figure 6-1 Installing A 2D-TZ577 Card (in the case of CR1D Controller)
Installing A 2D-TZ577 Card into Robot Controller 6- 20
6 Connection and Wiring
6.1.2
CR2D Robot Controller
Remove any one of the interface covers provided for option slots 1 thru 3 on the rear of the Controller and install
a 2D-TZ577 Card into the slot.
During installation, use the handle fitted to the Card.
Cover-removing lever
Interface cover
Connector
Interface card
Handle
Disconnecting lever
Figure 6-2 Installing A 2D-TZ577 Card (in the case of CR2D Controller)
Installing A 2D-TZ577 Card into Robot Controller 6- 21
6 Connection and Wiring
6.1.3
CR3D Robot Controller
Open the door of the Robot Controller and you will see R700 CPU unit installed at the right-hand end. Remove
any one of the option slot interface covers provided for option slot 1 thru 3 on the CPU unit and install a
2D-TZ577 Card into the slot.
During installation, use the handle fitted to the Card.
R700 CPU unit
Interface cover
Interface card
Handle
Interface
cover-removing
lever
Disconnecting
lever
Connector
Figure 6-3 Installing A 2D-TZ577 Card (in the case of CR3D Controller)
Installing A 2D-TZ577 Card into Robot Controller 6- 22
R700 CPU unit
6 Connection and Wiring
6.2 Connector Pin Configuration (D-SUB9 Pin)
Table 6-1 Connector Pin Configuration
Pin No.
1
2
3
4
5
6
7
8
9
Name
Not assigned
Not assigned
RxD/TxD-P
Not assigned
DGND (*1)
VP(*1)
Not assigned
RxD/TxD-N
Not assigned
(*1)
Service
Received/transmitted data-P
Data ground earth (0V)
Voltage + (+5V)
Received/transmitted data-N
-
Signal used when terminator resistors are connected.
6.3 Wiring
The terminal station of each segment on a communication line need be provided with terminator resistors. Use a
connector specifically designed for use with PROFIBUS which has built-in terminator resistors. Note: Terminator
resistors are arranged so as to apply: 220Ω between (+) and (-)、390Ω between 5V and (+), and 390Ω between
0V and (-).
Station 1
Station 2
RxD /TxD-P(3)
RxD /TxD-P(3)
DGND(5)
DGND(5)
VP(6)
VP(6)
RxD /TxDN(8)
RxD /TxD-N(8)
Shield
Protective
ground earth
Protective
ground earth
Figure 6-4 Cable Routing
VP(6)
390Ω
Data line
RxD /TxD-P(3)
220Ω
Data line
RxD /TxD-N(8)
390Ω
DGND(5)
Figure 6-5 Bus Terminator Resistors
Connector Pin Configuration (D-SUB9 Pin) 6- 23
6 Connection and Wiring
6.4 About Noise Control
To avoid an adverse impact from noise, strip off some sheath of the PROFIBUS cable, and attach the cable's
metal blade portion to the controller casing with an earth clamp and install the accompanying ferrite core within
30cm of where the cable is clamped onto the casing.
Connection method is shown below by controller type.
6.4.1
CR1D Controller
Rear Cover
Position where the cable is clamped
for grounding purpose
(earth clamp available as an
*1
attachment to the casing)
PROFIBUS cable
(to be furnish by the user)
30cm or less
Ferrite core
*2
(attachment)
Figure 6-6 Installing PROFIBUS Cable (CR1D Controller)
6.4.2
CR2D Controller
Rear Cover
Position where the cable is
clamped for grounding purpose
(earth clamp available as an
*1
attachment to the casing)
30cm or less
Ferrite core
*2
(attachment)
PROFIBUS cable
(to be furnish by the
user)
Figure 6-7 Installing PROFIBUS Cable (CR2D Controller)
About Noise Control 6- 24
6 Connection and Wiring
6.4.3
CR3D Controller
R700 CPU unit
PROFIBUS cable
(to be furnish by the user)
Position where the cable is clamped for
grounding purpose
(earth clamp available as an attachment to
*1
the casing)
Ferrite core
*2
(attachment)
30cm or less
Figure 6-8 Installing PROFIBUS Cable (CR3D Controller)
(*1)
Position where the cable is clamped
for grounding purpose
Strip off some sheath of the cable and
keep metal blade portion in contact
Sheath
20 to 30mm
Metal blade
portion
Sheath
with the controller casing.
(*2)
When Siemens PROFIBUS FC standard cable (8.0mm O.D.) is used, recommended metal clamps are:
AL4 or AL6 *RICHCO INC
AL4: D = 6.4mm (1/4 in.)
AL6: D = 9.5mm (3/8 in.)
About Noise Control 6- 25
6 Connection and Wiring
6.5 Checking Connections
Before placing the 2D-TZ577 Card in service, go through the following checklist to avoid oversights.
Table 6-2 Checklist for Proper Connections
No.
1
2
3
4
Item confirmed
Is the 2D-TZ577 Card securely installed into the Controller's slot?
Is the RPOFIBUS Cable linking the 2D-TZ577 Card to the user's
external equipment properly connected?
Is the special-purpose connector installed at each end of the
PROFIBUS network configured to apply terminal resistance as
specified?
Is the ferrite core is installed in place?
Checking Connections 6- 26
Check
7 Procedure before Startup
7. Procedure before Startup
The following diagram shows the procedure performed to place the 2D-TZ477 Card in operation.
Start
Run self-diagnosis and check to see if the PROFIBUS
Interface Card functions properly as an independent unit.
See Section 7.1
Establish parameters on the side of the Master Station.
See Section 7.2
Establish parameters on the side of the Robot Controller.
See Section 7.3
Link the Master Station to the PROFIBUS Interface with a
cable and enable the terminator resistors in the connector
which is connected to the unit at each end.
Perform the following steps to turn power on:
[1] Turn on power to the Master Station and other slave stations.
[2] Turn on power to the Robot Controller.
Check the Robot Controller to ensure that no PROFIBUSassociated errors have occurred.
See Section 8.
Create a robot program.
Start the system.
End
Figure 7-1 Procedure Before Startup
CAUTION
About setting station numbers from Class 2 Master Station
When setting station numbers from Class 2 Master Station, ensure that cable link is
established between the Master Station and the PROFIBUS Interface Card.
Checking Connections 7- 27
7 Procedure before Startup
7.1 Procedure for Running Self-diagnosis
The following subsections explain the procedure used to run self-diagnosis and states which are observed while
the self-diagnosis goes on.
(1)
Procedure for running self-diagnosis
[1]
Turn on power to the Robot Controller.
[2]
Set robot parameter to self-diagnosis mode. (Set robot parameter as "PBMODE = 2." For details,
see “Table 3-4 A Listing of Robot Parameters Used with PROFIBUS”.)
[3]
Turn off power to the Robot Controller and turn power back on.
[4]
While self-diagnosis goes on, display on the operation panel of the Robot Controller flashes like
>777< ↔ blank.
[5]
If the results of self-diagnosis are "normal" ·······The Robot Controller will start normally and the
2D-TZ577 Card will stand by for parameters
from the Master Station.
If the results of self-diagnosis are "abnormal" ··· H.8504 Error (error identified in PROFIBUS
self-diagnosis) will occur.
*
Parameter need be set as "PBMODE = 0" if it is not desired to run self-diagnosis at the subsequent
startup.
(2)
Corrective actions at the occurrence of error
If the results of self-diagnosis are "error," replace the 2D-TZ577 Card.
When replacing the card, contact its manufacturer for advice.
7.2 Parameter Settings on the Side of Master Station
7.2.1
Procedure for Establishing Parameters
Establish parameters listed below on the side of Master Station.
Table 7-1 Master-side Parameters
Parameters established on the side of Master Station
Master parameters (parameters for Master Station itself)
Bus parameters (communication parameters for PROFIBUS-DP network)
Slave parameters
Station number (FDL Address)
(for 2D-TZ577 Card)
Communication WDT (Watchdog)
Minimum response time (Min T_sdr)
Group number (group identification number)
Data module setting
Data alignment setting
Swap setting
(*1)
Reference
-(*1)
-(*1)
For details, see "Table 7-2 A Listing
of Slave Parameters."
For information about items of setting, see the instruction manual for the Master Station.
For method to specify parameter settings, refer to the instruction manual for the software that is used.
Procedure for Running Self-diagnosis 7- 28
7 Procedure before Startup
<Procedure for establishing 2D-TZ577 Card slave parameters
[1]
to Master Station>
Read GSD file stored in the CD-ROM supplied with the 2D-TZ577 Card into a setting software
which is compatible with the Master Station.
[2]
Establish 2D-TZ577 Card slave parameters, using the setting software.
[3]
Write the parameters into the Master Station.
For information about operating the setting software, refer to the instruction manual for the software that is used.
Setting
software
Write
Master
Station
GSD file for
PROFIBUS
Interface Card
Figure 7-2 Conceptual illustration of GSD file being loaded
7.2.2
Slave Parameters
Parameters other than slave station numbers need be established as slave parameters for use in the Master
Station. The following table shows slave parameters for use in the 2D-TZ577 Card.
Table 7-2 A Listing of Slave Parameters
Item
Station number
(FDL Address)
Setting range
0 to 125
Communication
WDT
(Watchdog)
Minimum response
time
(Min T_sdr)
Group number
(Group identification
number)
Data module settings
(Module
Configuration)
Data alignment
mode settings
(Data Alignment
Mode)
0/2 to 65000
1 to 255
Grp1 to Grp8
-
0
Description
Station number of 2D-TZ577 Card is
defined.
Watchdog timer is defined.
0:
Communication WDT setting
is disabled.
2-65000: Communication WDT setting
is enabled
(set value x 10msec).
A minimum response time lapsed until
response frames are permitted to be sent
to the Master Station is defined.
Group to which a station belongs is
defined.
Any station is allowed to belong to more
than one group (Grp 1 thru 8).
I/O configuration information (defined in
"Cfg_Data" on the Master Station)
· Types of settings: 48 patterns
· Number of settings: 1 - 40
Position of data in the output receive
area/input send area of buffer memory
(defined in "User_Prm_Data" on the Master
Station)
0: Lump alignment mode (LUMP mode)
* This parameter takes on "0" only. No
change is permitted.
Remark
If connection is made to
Class 1 Master, station
number need be set in the
robot parameter
"PBNUM" as well.
-
-
-
-
-
Parameter Settings on the Side of Master Station 7- 29
7 Procedure before Startup
Item
Swap settings
(Word Data Swap)
Setting range
0 to 1
(1)
Description
Indication as to whether there is swapping
of word data sent/received at 2D-TZ577
Card (defined in "User_Prm_Data" on the
Master Station)
0: No swapping takes place.
1: Swapping takes place.
Remark
-
Number of data module settings
Make settings so that the number of data modules per 2D-TZ577 Card falls within the limits shown below:
•
Number of data modules: 40 maximum
•
Combined data size
Input data - 122 words maximum
Output data - 122 words maximum
(2)
192 words in combined total
Data module setting pattern
An appropriate pattern is selected from among 48 patterns which derive from a combination of 3 input/output
options and 16 data sizes. Note that input/output notations are based on the Master Station being the origin. For
more information, see Subsection (3) Data alignment mode settings.
Table 7-3 Data Module Settings
Item
Input/output
designation
Data size
(3)
Type
Input/output/IO
1 to 16 words
Data alignment mode settings
Method by which to align each module in the output receive area/input send area of buffer memory is specified.
The 2D-TZ577 Card comes with a lump alignment mode (lump mode) alone, permitting no changes to these
settings.
(a) Lump alignment mode (lump mode)
Input data/output data is aligned on the front in the input send area/output receive area, respectively, in
the order of data module. The table below shows examples of usage statuses in the output receive
area/input send area which occur on the data module settings shown.
Table 7-4 Examples of Data Module Settings
Data module 0
Data module 1
Data module 2
Data module 3
Data module 4
Data module 5
Data module settings
One-word input (1 word In)
2-word output (2 word Out)
One-word input/output (1 word In, 1 word Out)
One-word output (1 word Out)
2-word input (2 word In)
One-word output (1 word Out)
Parameter Settings on the Side of Master Station 7- 30
Output data
2-word
One-word
One-word
Input data
One-word
One-word
2-word
One-word
7 Procedure before Startup
Output receive area
(robot input)
Input 2000 to 2015
Input 2016 to 2031
Input 2032 to 2047
Input 2048 to 2063
Input 2064 to 2079
Input 2080 to 2095
Input 2096 to 2111
Input 2112 to 2127
Input send area
(robot output)
Output 2000 to 2015
Output 2016 to 2031
Output 2032 to 2047
Output 2048 to 2063
Output 2064 to 2079
Output 2080 to 2095
Output 2096 to 2111
Output 2112 to 2127
Used in data module 1
Used in data module 2
Used in data module 3
Used in data module 4
Used in data module 0
Used in data module 2
Used in data module 4
Figure 7-3 Example of Lump Alignment
Class 1 Master Station
Output area
Input area
Terminator resistor
Terminator resistor
Robot input
Input 2000 - 2015
Input 2016 - 2031
Input 2032-2047
Input 2048-2063
Input 2064-2079
Robot output
Output 2000-2015
Output 2016-2031
Output 2032-2047
Output 2048-2063
CPU
(*1)
(*1)
Output receive area
Data module1
Data module2
Data module3
Data module4
Input receive area
Data module0
Data module2
Data module4
(*1)
Reading and writing take
place automatically at
regular intervals and are
accompanied by
updating.
2D-TZ577 Card (Slave Station)
Robot Controller
Figure 7-4 Flow of Data
Parameter Settings on the Side of Master Station 7- 31
7 Procedure before Startup
7.3 Parameter Settings on the Side of Robot Controller
(1)
Parameter settings under R32TB, R56TB, and RT ToolBox2 (versions earlier than Ver. 1.3)
To place the 2D-TZ577 Card in operation, it is necessary to establish three typical parameters, as listed below,
on the Robot Controller. For information about what to do about other parameters, see Table 3-4 A Listing of
Robot Parameters Used with PROFIBUS.
For information about changing parameters, refer to the "Instruction Manual - Detailed Description of Functions
and Operation" which is separately issued.
Table 7-5 Parameters on the Side of Robot Controller
Parameter name
PBMODE
Initial value
0
Setting range
0/2
PBMC
1
1/2
PBNUM
126
-1 to 125
(2)
Description
A parameter that switches the operating mode of the
2D-TZ577 Card between "normal" and "self-diagnosis."
Normal mode = 0, self-diagnosis mode = 2
· When the self-diagnosis identifies an anomaly, an
error message is displayed.
("H.8504: PROFIBUS Self-diagnosis shows
occurrence of an error.")
· Return the operating mode to normal to continue with
normal operation.
A parameter that designates Master Station as Class 1 or
Class 2.
Class 1 Master Station is designated at factory default. To
use "Class 2," choose another parameter setting.
1: Class 1 Master (effected when the station
number setting parameter PBNUM shown below
is used)
2: Class 2 Master (effected when changes of station
numbers are made from Class 2 Master Station with PBNUM not being used)
A parameter that specifies station number for the
2D-TZ577 Card.
0~125: Station number setting values (Rewriting of
station number settings takes place within the flash ROM
as well.)
-1: Station number clear (Station number settings
within the flash ROM are cleared.)
* After the station numbers are cleared, the value 126
is taken on.
* If "No_Add_Chg" is specified with "true" when
making station number settings from Class 2
Master Station, 2D-TZ577 Card is disabled for
change of station numbers. To cancel this
setting, clear station numbers with "PBNUM = -1."
Parameter settings under RT ToolBox2 (versions later than Ver. 1.3)
Under RT ToolBox2 versions later than 1.3, a PROFIBUS-specific setting window shown in Figure 7-5 is offered.
You can establish three parameters shown in Table 7-5 on this screen.
In regard to the PROFIBUS Error Detection Filter (PBCNT), you may change its set values only when
communication errors are frequently encountered under the undue influence from noise in your installation
environment. (For more information, see Table 3-4 A Listing of Robot Parameters Used with PROFIBUS.)
Parameter Settings on the Side of Robot Controller 7- 32
7 Procedure before Startup
Figure 7-5 PROFIBUS Setting Screen
You can call up the PFOFIBUS setting screen by expanding the Test tree under the Work Space and going
through "Online" and "Parameter" and double-clicking the "PROFIBUS setting" entry or alternatively
right-clicking this entry and clicking Open on the pull-down menu that appears.
Figure 7-6 Opening PROFIBUS Setting Screen
Parameter Settings on the Side of Robot Controller 7- 33
7 Procedure before Startup
7.4 Have A Try For It
7.4.1
Setting Dedicated Input/Output
Make settings for dedicated input/output as listed in the table. After changing the parameter settings, power the
system off and on again.
For information about making these settings, refer to the "Instruction Manual - Detailed Description of Functions
and Operation" which is separately issued.
Table 7-6 Setting Dedicated Input/Output
Parameter name
IOENA
START
STOP2
SLOTINIT
SRVON
SRVOFF
7.4.2
Input
Meaning
Enable operating right.
Start programs.
Stop.
Program reset.
Servo power on.
Servo power off.
Number
2000
2001
2002
2003
2004
2005
Output
Meaning
Operating right is being enabled.
Programs are being started.
During suspension.
Program selection is permitted.
Servo being turned on.
No.
2000
2001
2002
2003
2004
About General-purpose Input/Output
General-purpose input/output, too, are accessible by using system variables for I/O, such as M_In and M_Out.
However, you are not permitted to make such access as spans beyond the region used in PROFIBUS, like 1999,
by using variables which access a plurality of bits, including M_Inb, M_Inw, M_Outb, and M_Outw. Ensure that
your programming stays within the region ranging from 2000 and 3951.
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.
Have A Try For It 7- 34
7 Procedure before Startup
7.4.3
Examples of Robot Program (Using General-purpose I/O)
*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 an
interlock.
For information about the interlock, see Section 3.7.1 Robot
System State Variables Relative to 2D-TZ577 Card.
If M1*1 is 1, a jump is made to the line labeled "*LOAD."
If M1*1 is 2, a jump is made to the line labeled "*UNLOAD."。
If M1*1 is 3, a jump is made to the line labeled "*GOHOME."。
*1
M1 is byte data received via PROFIBUS DP network.
(See the 2nd line of the program.)
A statement on processing done in the step labeled "*LOAD."
A statement on processing done in the step labeled "*UNLOAD."
A statement on processing done in the step labeled "*GOHOME."
Have A Try For It 7- 35
7 Procedure before Startup
7.4.4
A Sample Program for Checking Input/Output
Shown below is a sample program which can be used for checking input/output on the 2D-TZ577 Card.
Use this program during a checkup at startup or as otherwise required.
Table 7-7 Signal Alignment Conditions
Robot-side input (Master Station output)
Robot-side output (Master Station input)
Input 2000~3535 (equivalent to 96 words)
Output 2000~3535 (equivalent to 96 words)
Robot program specification
Input bits are copied in their entirety onto output bits.
[Robot Program - Example 1]
Input signals to the Robot are looped back in their entirety to output signals (for the purpose of bit check).
For M1 = 2000 To 3535
M_Out(M1) = M_In(M1) ' Copied in the form of a variable for bit
Next M1
End
[Robot Program - Example 2]
Input signals to the Robot are looped back in their entirety to output signals (for the purpose of byte check).
For M1 = 2000 To 3535 Step 8
M_Outb(M1) = M_Inb(M1) ' Copied in the form of a variable for byte
Next M1
End
[Robot Program - Example 3]
Input signals to the Robot are looped back in their entirety to output signals (for the purpose of word check).
For M1 = 2000 To 3535 Step 16
M_Outw(M1) = M_Inw(M1) ' Copied in the form of a variable for word
Next M1
End
Run this program and check the looped-back signals on the side of the Master Station.
Have A Try For It 7- 36
8 Troubleshooting
8. Troubleshooting
Check this section before concluding that your system is out of order.
8.1 A Listing of Errors
‘¡‘ An error number contains information as listed below ‘¡‘
…OOOO ¿
·
·
·
An error marked with an asterisk ¿ requires a power reset.
Take a corrective action which is stated in the "Solutions" section of the table below.
The type of error is indicated by a 4-digit number.
Errors are sorted into three classifications:
H: High-level error ············· Servo mechanism is shut down.
L: Low-level error ·············· Operation is suspended.
C: Caution ························· Operation continues.
Table 8-1 A Listing of PERFIBUS-related Errors
Error No.
H.8500
Causes and Solutions
Error message
Cause
Solution
H.8501
Error message
Cause
Solution
PROFIBUS Initial error
An error was detected in the hardware. The hardware may be at fault.
Replace the 2D-TZ577 Card.
When replacing the card, contact its manufacturer for advice.
PROFIBUS watch dog timer error
An error was detected in the hardware. The hardware may be at fault.
Replace the 2D-TZ577 Card.
When replacing the card, contact its manufacturer for advice.
H.8502*
Error message
Cause
Solution
Plural PROFIBUS cards are set.
Only one card is accepted at any one time.
Install only one card.
H.8503*
Error message
Cause
Solution
PROFIBUS/CC-Link cards are set.
Either PROFIBUS or CC-Link card is accepted at any one time.
Install either a PROFIBUS card or a CC-Link card.
Error message
H.8504
Cause
Solution
Either of the following messages is displayed:
(1) PROFIBUS self-check error n (n = 1~7).
(2) PROFIBUS cannot self-check
An error was detected in the hardware. The hardware may be at fault.
Replace the 2D-TZ577 Card.
When replacing the card, contact its manufacturer for advice.
H.8505
Error message
Cause
Solution
Illegal param (PBMODE)
PBMODE parameters are not defined validly.
Correct PBMODE parameters. (0 - normal, 2 - self-diagnosis)
H.8506
Error message
Cause
Solution
Exchange number cannot be set.
Power the system off and on again.
If the error recurs, contact the manufacturer for advice.
H.8507
Error message
Cause
Solution
Illegal param (PBMC)
PBMC parameters are not defined validly.
Correct PBMODE parameters. (1 - Class 1, 2 - Class 2)
A Listing of Errors 8- 37
8 Troubleshooting
Error No.
Solution
Causes and Solutions
PROFIBUS exchange No. is wrong.
Either of the following causes may be responsible:
(1) Station numbers stored in the flash memory are outside the prescribed range.
(2) An attempt was made to change to a station number being outside the
prescribed range.
Specify PBNUM parameter with numbers in the range of 1 to 125.
Error message
PROFIBUS St.number write error.
Cause
An attempt was made to change station numbers when rewriting was disabled.
Enter "-1" in the "station number" box (robot parameter "PBNUM = -1") so that the
existing station numbers are cleared.
An attempt was made to change station numbers when "No_Add_Chg" had been
specified with "true" during station number setting from Class 2 Master Station.
Error message
H.8510
H.8520
Cause
Solution
Error message
H.8530
Error message
Cause
Solution
H.8540
Error message
Cause
Solution
Error message
H.8550
Cause
Solution
H.8560
Error message
Cause
Solution
H.8570
Error message
Cause
Solution
Error message
H.8580
Cause
Solution
A Listing of Errors 8- 38
PROFIBUS St.number write error.
More than 60 consecutive rewrite attempts were made on the flash ROM.
Replace the 2D-TZ577 Card.
When replacing the card, contact its manufacturer for advice.
PROFIBUS flash ROM access error.
An anomaly in the hardware.
Replace the 2D-TZ577 Card.
When replacing the card, contact its manufacturer for advice.
PROFIBUS master bureau's parameter is illegal
Any one of the following causes may be responsible:
(1) Parameters established at the Master Station are incorrect.
(2) Set value for communication WDT is too long.
(3) Value specified for minimum response time Min_Tsdr is outside the prescribed
range.
Check the slave parameter settings on the Master Station. (Refer to the instruction
manual for Master Station.)
PROFIBUS communication chip ERR
An anomaly in the hardware.
Replace the 2D-TZ577 Card.
When replacing the card, contact its manufacturer for advice.
PROFIBUS communication Time-out
Timeout occurred in the communications with the Master Station.
Check Master Station state and cable connections, and choose a longer
communication WDT setting.
PROFIBUS I/O composition error.
Any one of the following causes may be responsible:
(1) Data module is not of word type.
(2) Swap set value is outside the prescribed range.
(3) Data alignment mode set value is outside the prescribed range.
(4) Number-of-data modules set value is outside the prescribed range.
(5) Data module settings are outside the prescribed range.
(6) Parameter setting station numbers are invalid.
Check the slave parameter settings on the Master Station. (Refer to the instruction
manual for Master Station.)
8 Troubleshooting
8.2 At the Occurrence of Error 8570
(PROFIBUS Communication Timeout)
When this error occurred, take the corrective action suggested in the troubleshooting chart in Section 8.1. If the
error still persists, check to see the following:
(1)
Is power to the Master Station unit on?
(2)
Is the Master Station functioning properly?
* H.8570 occurs unless the Master Station is up and running before power is turned on to the Robot
Controller.
(3)
Is the Master Station properly connected?
(4)
Are the parameter settings on the Master Station consistent with those on the Robot Controller?
(5)
Doesn't any of the peripheral equipment contain a noise emission source?
(6)
If it is desired to ignore Error 8570, change E8570 parameter setting.
At the Occurrence of Error 8570
(PROFIBUS Communication Timeout) 8- 39
9 Appendix
9. Appendix
9.1 Displaying Option Card Information
You can call up information about the option card on the screen using the RT ToolBox2 (Option) screen.
Clicking Slotn(n=1~3):PROFIBUS under the Option Card entry on the Work Space tree lets you have
information about the 2D-TZ577 Card displayed on a property window.
Attributes are displayed.
Figure 9-1 An Example of Option Card Information Displayed on RT ToolBox2 Window
Table 9-1 Information about 2D-TZ577 Card
Item of display
Card information
Designation of card
[PBNUM]
(*1)
Example of information
displayed
PROFIBUS
1
[WDT]
[Ready]
5
ON or OFF
[RUN]
[BF]
ON or OFF
ON or OFF
[ERR.]
ON or OFF
[SYNC]
[FREEZE]
ON or OFF
ON or OFF
[H/W Ver]
0
Meaning
Card name
Number of station
in action
Watchdog timer
Unit being in Ready
state
Run state
BF state
Error-occurred
state
SYNC-mode state
FREEZE-mode
state
Hardware version
Remark
Station number: 0 to 125
(Default setting: 126(*1))
ON = normal, OFF = WDT error occurred
ON = Before data communications or
communications error detected
OFF = Communications proceeding normally
ON = Parameter setting error or unit error
OFF = Communications proceeding normally
ON = SYNC-mode state
ON = FREEZE-mode state
Station Number 126 gets the card isolated from a PROFIBUS network.
Displaying Option Card Information 9- 40
MITSUBISHI ELECTRIC
HEADQUARTERS
EUROPEAN REPRESENTATIVES
EUROPEAN REPRESENTATIVES
MITSUBISHI ELECTRIC EUROPE B.V.
EUROPE
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Gothaer Straße 8
D-40880 Ratingen
Phone: +49 (0)2102 / 486-0
Fax: +49 (0)2102 / 486-1120
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Czech Branch
Avenir Business Park, Radlická 714/113a
CZ-158 00 Praha 5
Phone: +420 (0)251 551 470
Fax: +420 (0)251-551-471
MITSUBISHI ELECTRIC EUROPE B.V.
FRANCE
French Branch
25, Boulevard des Bouvets
F-92741 Nanterre Cedex
Phone: +33 (0)1 / 55 68 55 68
Fax: +33 (0)1 / 55 68 57 57
MITSUBISHI ELECTRIC EUROPE B.V.
IRELAND
Irish Branch
Westgate Business Park, Ballymount
IRL-Dublin 24
Phone: +353 (0)1 4198800
Fax: +353 (0)1 4198890
MITSUBISHI ELECTRIC EUROPE B.V.
ITALY
Italian Branch
Viale Colleoni 7
I-20041 Agrate Brianza (MI)
Phone: +39 039 / 60 53 1
Fax: +39 039 / 60 53 312
MITSUBISHI ELECTRIC EUROPE B.V.
SPAIN
Spanish Branch
Carretera de Rubí 76-80
E-08190 Sant Cugat del Vallés (Barcelona)
Phone: 902 131121 // +34 935653131
Fax: +34 935891579
MITSUBISHI ELECTRIC EUROPE B.V.
UK
UK Branch
Travellers Lane
UK-Hatfield, Herts. AL10 8XB
Phone: +44 (0)1707 / 27 61 00
Fax: +44 (0)1707 / 27 86 95
MITSUBISHI ELECTRIC CORPORATION
JAPAN
Office Tower “Z” 14 F
8-12,1 chome, Harumi Chuo-Ku
Tokyo 104-6212
Phone: +81 3 622 160 60
Fax: +81 3 622 160 75
MITSUBISHI ELECTRIC AUTOMATION, Inc.
USA
500 Corporate Woods Parkway
Vernon Hills, IL 60061
Phone: +1 847 478 21 00
Fax: +1 847 478 22 53
GEVA
AUSTRIA
Wiener Straße 89
AT-2500 Baden
Phone: +43 (0)2252 / 85 55 20
Fax: +43 (0)2252 / 488 60
Koning & Hartman b.v.
BELGIUM
Woluwelaan 31
BE-1800 Vilvoorde
Phone: +32 (0)2 / 257 02 40
Fax: +32 (0)2 / 257 02 49
INEA BH d.o.o.
BOSNIA AND HERZEGOVINA
Aleja Lipa 56
BA-71000 Sarajevo
Phone: +387 (0)33 / 921 164
Fax: +387 (0)33 / 524 539
AKHNATON
BULGARIA
4 Andrej Ljapchev Blvd. Pb 21
BG-1756 Sofia
Phone: +359 (0)2 / 817 6004
Fax: +359 (0)2 / 97 44 06 1
AutoCont C.S. s.r.o.
CZECH REPUBLIC
Technologická 374/6
CZ-708 00 Ostrava-Pustkovec
Phone: +420 595 691 150
Fax: +420 595 691 199
B:TECH A.S.
CZECH REPUBLIC
U Borové 69
CZ-58001 Havlíčkův Brod
Phone: +420 (0)569 777 777
Fax: +420 (0)569-777 778
Beijer Electronics A/S
DENMARK
Lykkegårdsvej 17, 1.
DK-4000 Roskilde
Phone: +45 (0)46/ 75 76 66
Fax: +45 (0)46 / 75 56 26
Beijer Electronics OY
FINLAND
Jaakonkatu 2
FIN-01620 Vantaa
Phone: +358 (0)207 / 463 500
Fax: +358 (0)207 / 463 501
UTECO A.B.E.E.
GREECE
5, Mavrogenous Str.
GR-18542 Piraeus
Phone: +30 211 / 1206 900
Fax: +30 211 / 1206 999
AXICONT AUTOMATIKA KFT.
HUNGARY
(ROBOT CENTER) Reitter F. U. 132
HU-1131 Budapest
Phone: +36 1 / 412-0882
Fax: +36 1 / 412-0883
ALFATRADE Ltd.
MALTA
99, Paola Hill
Malta- Paola PLA 1702
Phone: +356 (0)21 / 697 816
Fax: +356 (0)21 / 697 817
HIFLEX AUTOM.TECHNIEK B.V.
NETHERLANDS
Wolweverstraat 22
NL-2984 CD Ridderkerk
Phone: +31 (0)180 – 46 60 04
Fax: +31 (0)180 – 44 23 55
Koning & Hartman b.v.
NETHERLANDS
Haarlerbergweg 21-23
NL-1101 CH Amsterdam
Phone: +31 (0)20 / 587 76 00
Fax: +31 (0)20 / 587 76 05
Beijer Electronics AS
NORWAY
Postboks 487
NO-3002 Drammen
Phone: +47 (0)32 / 24 30 00
Fax: +47 (0)32 / 84 85 77
MPL Technology Sp. z o.o.
POLAND
Ul. Krakowska 50
PL-32-083 Balice
Phone: +48 (0)12 / 630 47 00
Fax: +48 (0)12 / 630 47 01
SIRIUS TRADING & SERVICES SRL
ROMANIA
Aleea Lacul Morii Nr. 3
RO-060841 Bucuresti, Sector 6
Phone: +40 (0)21 / 430 40 06
Fax: +40 (0)21 / 430 40 02
INEA SR d.o.o.
SERBIA
Izletnicka 10
SER-113000 Smederevo
Phone: +381 (0)26 / 617 163
Fax: +381 (0)26 / 617 163
CS MTrade Slovensko, s.r.o
SLOVAKIA
Vajanskeho 58
SK-92101 Piestany
Phone: +421 (0)33 / 7742 760
Fax: +421 (0)33 / 7735 144
INEA d.o.o.
SLOVENIA
Stegne 11
SI-1000 Ljubljana
Phone: +386 (0)1 / 513 8100
Fax: +386 (0)1 / 513 8170
Beijer Electronics Automation AB
SWEDEN
Box 426
SE-20124 Malmö
Phone: +46 (0)40 / 35 86 00
Fax: +46 (0)40 / 35 86 02
Robotronic AG
SWITZERLAND
Schlachthofstrasse 8
CH-8406 Winterthur
Phone: +41 52 203 35 65
Fax: +41 52 203 35 66
GTS
TURKEY
Bayraktar Bulvari Nutuk Sok. No:5
TR-34775 Yukari Dudullu-Umraniye-ISTANBUL
Phone: +90 (0)216 526 39 90
Fax: +90 (0)216 526 3995
CSC Automation Ltd.
UKRAINE
4-B, M. Raskovoyi St.
UA-02660 Kiev
Phone: +380 (0)44 / 494 33 55
Fax: +380 (0)44 / 494-33-66
MITSUBISHI
ELECTRIC
FACTORY AUTOMATION
MIDDLE EAST REPRESENTATIVE
ILAN & GAVISH Ltd.
24 Shenkar St., Kiryat Arie
IL-49001 Petah-Tiqva
Phone: +972 (0)3 / 922 18 24
Fax: +972 (0)3 / 924 0761
ISRAEL
AFRICAN REPRESENTATIVE
CBI Ltd.
Private Bag 2016
ZA-1600 Isando
Phone: + 27 (0)11 / 928 2000
Fax: + 27 (0)11 / 392 2354
SOUTH AFRICA
Mitsubishi Electric Europe B.V. /// FA - European Business Group /// Gothaer Straße 8 /// D-40880 Ratingen /// Germany
Tel.: +49(0)2102-4860 /// Fax: +49(0)2102-4861120 /// info@mitsubishi-automation.com /// www.mitsubishi-automation.com
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