Denso RC5 Specifications

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Denso RC5 Specifications | Manualzz

Chapter9 DeviceNet Master Board

9.1 Overview

DeviceNet is a serial communication system that makes it easy to interconnect control devices such as PLCs, computers, sensors, and actuators. DeviceNet sharply cuts cost in wiring and allows connection of DeviceNet-compliant devices of various manufacturers, enabling cost-effective and convenient system construction.

P a r r a l l l l e l l S y s t t e m D e v i i c e N e t t S y s t t e m

Relay Box

2

5

0

9

T

2

5

0

9

T

DeviceNet

2

509 -

509 -

T

T

509 -

T

509 -

T

509 -

T

509 -

T

Robot controller

DeviceNet master board

If the robot controller has a built-in DeviceNet master board and connects with slave units via DeviceNet cables, it can configure a

DeviceNet system.

DeviceNet cable

S l l a v e u n i i t s

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9.1.1 Features

(1) DeviceNet-compliant

The DeviceNet is an internationally open network developed by Allen-Bradley and is designed to allow control devices (e.g., sensors and actuators) to communicate with each other.

(2) Can be networked with control devices of various manufacturers

The robot controller equipped with DeviceNet master board can be networked with

DeviceNet-compliant control devices of various domestic and foreign manufacturers since the communications specifications are open.

(3) Easy wiring and maintenance

The 5-core special cable and detachable connector of the DeviceNet master board make it easy to install wiring between nodes (communications units) and disassembly/restructure the network. This will sharply reduce cost in wiring and maintenance, as well as making replacement of units easy at the time of failure.

(4) Sufficient number of I/Os

This controller is capable of handling a large volume of transmitted and received data, with up to 1024 input contacts and 1024 output contacts.

With the teach pendant, you may scan the network without using a dedicated configurator so as to easily rearrange connected slave units.

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9.1.2 System Configuration Sample

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9.1.3 System Construction Procedure

(1) First, connect the master and slave devices with each other by using DeviceNet cables, referring to the system configuration sample. It is essential to connect terminating resistors. The power supply for communications should not be turned on at this stage.

(More details about wiring and system configuration are described in Subsection

9.2.2 and in Section 9.4, respectively.)

(2) Set the communications speed for master and slave devices. DeviceNet allows selection of 125, 250, or 500 Kbps. The factory default is 500 Kbps.

(Wrong speed setting will make communications impossible.)

(3) Set the addresses of the master and slave devices. In DeviceNet, as shown below, a total of 64 master and slave devices can be connected, and each device must be assigned any of ID addresses ranging from 0 to 63.

(Take care not to double-assign a same address on the same network.)

(4) After setting up the communications speeds and addresses, connect the communication power supply and then turn on the power of each device. This completes the hardware settings.

(5) Register the information about the connected slave devices to the master device. This registration information is called “scanlist.” According to the scanlist, the master device may control those slave devices.

For the procedure on how to create a scanlist, refer to Subsection 9.4.2.

(6) The creation of the scanlist will automatically determine I/O addresses for the connected slave devices. Accordingly, the I/O communication between the master and slave devices becomes possible. The input and output areas of the master device from/to slave devices are IO [1024] to [2047] and IO [2048] to

[3071], respectively.

(For details about I/O addresses, refer to Section 9.3.)

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9.2 Product Specifications

The figure below shows the location of the LEDs, DIP switches, and DeviceNet connector on the DeviceNet master board.

9.2.1 Names and Functions of Master Board Components

Viewed from

X

MS NS

(A)

LEDs

"B"

DIP switch

BR NA

1 2 1 2 6 8 16 32

(C)

DeviceNet connector

SW1

X

(C)

(A)

64

(A) Status indicator LEDs

The status indicators MS and NS ("A" in the figure given on the previous page) can light or flash in green or red. Each of the ON, flashing, and OFF states of those indicators shows the module or network status as listed below.

The flashing interval is once per second (0.5 second of ON and 0.5 second of OFF).

LED Name

Green

MS

(Module

Status)

Red

NS

(Network

Status)

: ON

Color

Green

Red

Status

: Flashing

Status Definition

Normal state

Setup not completed

Fatal error

Recoverable error

No power supplied

Communications link established

Communications link not established

Fatal communications error

Recoverable communications error

Offline

Meaning (Main Errors)

• The device is working normally.

• The setting is incorrect and must be adjusted.

• A device hardware error has occurred.

• An error from which recovery is possible has occurred.

• Device power is not being supplied.

• The network is normal (communication has been established).

• The network is normal but communication with the slaves has not been established.

• Communication is not possible due to an error such as allocation of the same address to more than one node, or detection of

Busoff.

• Communication is not possible due to an error such as a slave size error.

• The online status cannot be established, e.g. because a CAN send timeout error has occurred.

: OFF

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(B) DIP switch (SW1)

Use the DIP switch for setting the node address and bit rate as shown below.

NA

1 2 4 8 16 32

Viewed from top

NOTE: Always turn off the controller power (including the network power) before setting the DIP switch.

Setting the node address

Set the node address of the robot controller using selectors (NA) of the DIP switch, referring to the table below. You may freely set any of 0 through 63 to a node address unless the address is double-assigned on the same network including the master and slaves. Double assignment will cause an address double-assignment error, disabling the network.

DIP Switch

1

1

0

1

1

0

1

0

0

1

0

1

0

1

0

1

0

0

1

0

1

0

1

(continued on the following page)

2

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Node

Address

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18

19

13

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16

20

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8

5

6

2

3

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DIP Switch

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DIP Switch

Node

Address

DIP Switch

Node

Address

4 8 16 32 1 2 4 8 16 32

0

0

0

1

1

1

1

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1

0: OFF 1: ON

NOTE: The settings must be made with the controller power (including the network power supply) OFF. The factory default of the node address of the controller is “63.”

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55

56

57

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62

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Setting the bit rate

To match the bit rate of the robot controller with that of the network, use selectors

(BR) of the DIP switch, referring to the table below:

BR

1 2

Viewed from top

Bit Rate Setting By DIP Switch

DIP Switch

Selector 1 Selector 2

0

1

0

1

1

1

0

0

Bit Rate

125 Kbps

250 Kbps

500 Kbps

500 Kbps

0: OFF 1: ON

NOTE: This setting must be made with the controller power (including the network power supply) OFF. The factory default of the communications speed is 500 Kbps.

Set the same communications speed at all nodes (master and slave) throughout the network.

If a slave has a different communications speed from the master, the slave will not be able to participate in communications and it will cause communication errors at nodes where the correct communications speed is set.

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(C) DeviceNet connector

The robot controller uses an open screw connector whose pin arrangement is shown below.

NOTE: When the controller power (including the network power) is on, do not disconnect/connect the communication connector or touch its pins. Doing so will result in a failure.

Black

Blue

Shield

White

Red

You are recommended to use solderless terminals of the type shown below on the cables to be connected.

Solderless terminal Communications cable

Crimp the solderless terminal after inserting the communication cable into it.

- Solderless terminals: AI series from Phoenix Contact

- Dedicated tool: ZA3 from Phoenix Contact

Or alternatively:

- Solderless terminals: TC series from Nichifu

For thin cables: TME TC-0.5

For thick cables: TME TC-2-11 (for power supply)

TME TC-1.25-11 (for communications)

- Dedicated tool: NH-32

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9.2.2 General Specifications

(1) Environmental requirements

Item

Power requirements

Operating temperature

Operating humidity

Specifications

5 VDC (supplied via the controller ISA bus)

0 to 40

°

C

90% RH or less (without condensation)

(2) DeviceNet communications specifications

Item

Communications protocol

Connection supported

Connection type (Note 1)

Bit rate

Communications media

Communications cable length

Specifications

DeviceNet–compliant

- Polling I/O function

- Bit strobe function

Compliant with DeviceNet communication rules

Multi-drop type with possible combination of T-branch

(to trunk and branch lines)

500, 250, 125 kbps (selectable by switch)

Special cable consisting of 5 wires

(2 for signals, 2 for power supply, and 1 as a shield wire)

Bit rate

500 kbps

Max. network length Branch length

Total branch length

100 m or less (Note 2) 6 m or less 39 m or less

250 kbps 250 m or less (Note 2) 6 m or less 78 m or less

Power supply for communication

Internal power consumption

125 kbps 500 m or less (Note 2) 6 m or less 156 m or less

External supply of 24 VDC

±10%

Communication power source: 30 mA max.

Max. number of connectable nodes

Number of I/Os

64

- Input 1024 points

- Output 1024 points

CRC Error check

(Note 1) Terminator resistors are needed at both ends of the trunk cable.

(Note 2) These values may apply when a special thick cable is used as a trunk line. If a special fine cable is used, the max.

network length is 100 m or less.

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9.3 ALLOCATING I/O AREAS

9.3.1 I/O Allocation When a DeviceNet Master Board is Installed

If a DeviceNet master board is installed to the robot controller, the robot I/O areas will be allocated as listed below.

When the robot controller leaves the factory, both the parallel I/O areas and

DeviceNet master I/O areas are allocated as user-I/O ports, except hand I/Os and

I/Os numbered 72, 73, and 74.

You may enable or disable system-I/Os of parallel I/O areas with the teach pendant.

Robot I/O Areas when a DeviceNet Master Board is Installed

I/O

Number

0

64

128

512 DeviceNet slave input area

768 DeviceNet slave output area

1024

DeviceNet master input area

User inputs

2048

3071

Main group

Parallel input area

Parallel output area

Internal I/O area

DeviceNet master output area

Sub group

User (dedicated) input

User inputs

Hand inputs

User (dedicated) outputs

User outputs

Hand outputs

User inputs

Not for user use

Not for user use

User outputs

Remarks

On shipment from the factory, this area is allocated as user input ports. It can be reallocated as a system input area with the teach pendant.

For details about parallel interface, see the

“RC5 CONTROLLER INTERFACE MANUAL."

On shipment from the factory, this area is allocated as user output ports.

Note that I/Os numbered 72 (“CPU normal”),

73 (“robot running”), and 74 (“robot error”) are reserved as system output areas.

The user output area can be reallocated as a system output area with the teach pendant.

For details about parallel interface, see the

“RC5 CONTROLLER INTERFACE MANUAL."

This is the internal data memory area for the robot controller. It is used for temporary data storage, for flags used during robot internal tasks, and so on. Note that the data will be lost when the power goes off.

This area is not allowed for users when a

DeviceNet master board is connected.

This area is not allowed for users when a

DeviceNet master board is connected.

Signals sent from the slaves connected in the

DeviceNet network will be inputted to this area.

Signals to be sent to the slaves connected in the DeviceNet network will be outputted to this area.

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9.3.2 Allocation of System Ports

When using a DeviceNet master board, you may choose a system port allocation from the following five patterns. For the choosing procedure, refer to Subsection 9.4.6

“Allocating Ports Dedicated to the DeviceNet Master.”

Note that “Allocation of DeviceNet slave system I/Os in compatible mode” and

“Allocation of DeviceNet slave system I/Os in standard mode” are reserved for future expansion, so their allocations are the same as that of “All user ports.”

Input

Output

All user ports

0 System area

User area *

User area* 47

Hand*

Reserved.

64 Hand

55

71

System area

User area 103

User area 127

128

Internal I/O

Input

Output

DeviceNet slave system I/Os in compatible mode

0 System area

User area*20

User area* 47

Hand*

Reserved.

64 Hand

55

71

System area

User area 103

User area 127

128

Internal I/O

Input

Output

DeviceNet slave system I/Os in standard mode

0 System area

User area* 33

User area* 47

Hand*

Reserved.

64 Hand

55

71

System area

User area 103

User area 127

128

Internal I/O

Input

512

Not used.

Input

512

Not used.

Input

512

Not used.

Output

768

Not used.

Input

1024

User area*

Output

768

Not used.

Input

1024

User area*

Output

768

Not used.

Input

1024

User area*

Output

2048

User area Output

2048

User area Output

2048

User area

3071 3071

72:

73:

74:

Other system I/O areas will be used as user areas.

* Dummy I/O settings are only valid in user input and hand input areas.

3071

CPU normal

Robot running These are set by the system output and exist regardless of the mode.

Robot error

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Input

Output

Input

Parallel system

I/Os in compatible mode

0 System area 20

User area* 47

Hand*

Reserved.

64 Hand

55

71

Input

System area 103 Output

User area 127

128

Internal I/O

512

Not used.

Input

Output

768

Not used.

Output

Input

1024

User area* Input

Parallel system

I/Os in standard mode

0 System area 33

User area* 47

Hand*

Reserved.

64 Hand

55

71

System area 103

User area 127

128

Internal I/O

512

Not used.

768

Not used.

1024

User area*

Output

2048

User area Output

2048

User area

3071 3071

NOTE: For information on signals in the system I/O areas, refer to the RC5

CONTROLLER INTERFACE MANUAL.

* Dummy I/O settings are only valid in the user input and hand input areas.

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9.4 Building Up a DeviceNet Network

9.4.1 Network Configuration Sample and Configurators

Nodes

A DeviceNet network has two kinds of nodes: slaves to which external I/Os are connected, and a master that controls these slaves. Note that their addresses are just network settings, so the master and slaves can be freely arranged on physical sites.

Trunk lines and drop lines

The trunk line is a cable whose both ends are terminated with resistors.

A drop line is a cable that branches off the trunk line.

The trunk line and drop lines can be constructed using DeviceNet thick cables,

DeviceNet thin cables, or both.

Thick cables are used for long-distance trunk lines, strong trunk lines, and drop lines.

Thin cables are used for trunk lines and drop lines, and for easy termination processing.

Terminating resistors

Terminating resistors must be connected at both ends of the trunk line in a DeviceNet system. The specifications of the terminating resistors are listed below.

121

Metal film resistor with resistance error of less than 1%

1/4 W

Never connect a terminating resistor to a node. This may result in a failure.

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Communication power supply

To operate a DeviceNet network, a communication power must be supplied to each node through DeviceNet cables. The communication power supply, internal circuit power supply, and I/O power supply should be supplied separately.

Connection style

As shown below, a variety of connection styles are available for DeviceNet. They include multidrop, star connection, T-ports, daisy chain, and drop line branching.

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Communications speed

125 Kbps

250 Kbps

500 Kbps

Trunk line length

The permissible total length of a trunk line used in a DeviceNet network will differ depending upon the data transmission speed and the type of cables used (thick cable or thin cable).

Maximum cable length when only thin cables are used

Maximum cable length when only thick cables are used

500 m

250 m

100 m

100 m

Communications speed

125 Kbps

250 Kbps

500 Kbps

A DeviceNet network may be constructed with thick and thin cables together. In such a case, the permissible total lengths of thin and thick cables can be obtained according to the calculation formulae below.

Maximum network length

L (thick) + 5

×

L (thin)

500 m

L (thick) + 2.5

×

L (thin)

250 m

L (thick) + L (thin)

100 m

“L (thick)” indicates the length of thick cables.

“L (thin)” indicates the length of thin cables.

Communications speed

125 Kbps

250 Kbps

500 Kbps

Drop line length

The drop line length is cable distance between the trunk line tap and the farthest node on the drop line. The permissible overall length of drop lines throughout the network (“total length”) depends on the communications speed, and must be within the lengths listed in the table below.

Drop line length

Maximum length

6 m

Overall length

156 m

78 m

39 m

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9.4.2 Creating a Scanlist

What is “scanlist”?

A scanlist is a parameter list that allows a DeviceNet master to identify slaves that are under its control during communication. Network communications are not possible without a scanlist.

The scanlist contains the following information:

- Slave I/O allocation information (which slaves have how many input points, and which node addresses they occupy)

- The communication parameter information (remote I/O communications status, communication cycle time setting)

When creating a scanlist with the robot controller, you may choose either of the fixed

I/O allocation mode (default) and free I/O allocation mode.

Scanlist creation procedure

Step 1 On the top screen of the teach pendant, press [F4 I/O].

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F4

Step 2 On the following screen, press [F6 Aux.].

Step 3 Press [F9 SlaveMap].

F6

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Step 4 The latest scanlist will appear.

Press [F4 Scanning] on this screen.

(The default of the slave map is the fixed I/O allocation screen.)

F4

Step 5 Wait for a while when the network is being scanned.

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Step 6 The current scanning results will display.

Screen explanation

In the fixed I/O allocation, each block has 16 input points and 16 output points. The whole screen area represents 16

×

24 = 1024 I/O points.

Blue bar

Green bar

In the figure shown at left, the blue bar indicates the number of input points at node 8 and the green bar, the number of output points.

This slave has the following numbers of points:

Inputs = 3.5 blocks

×

16 = 56 points

Outputs = 4.0 blocks

×

16 = 64 points

Since the number of I/O points increases in 8-point increments, the bar indications increase or decrease in 0.5-block units.

The left display shows the I/O number of the selected node.

By default, the information for node 0 is displayed.

To change the node, press the node number whose information you want to display.

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Displaying and changing node (slave) setting information

Step 1 To display or change node information, press the relevant node number on the screen below.

Step 2 On the screen below, only the communication method and I/O data length can be changed: the other parameters are displayed but cannot be changed.

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Step 3 As an example, let's change node 0 to the bit strobe mode here. Note that when the communication method is changed, an error will occur if the specified slave lacks the chosen communication function.

Step 4 If the displayed communication method is OK, press [OK].

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Step 5 The DeviceNet master changes the interface with the slave.

Step 6 Node 0 has been changed to the bit strobe mode.

NOTE: You may change the I/O data length also on this screen but you need to make the same setting change for slaves at the same time, which makes the setting difficult. If you change the slave parameters, therefore, you are recommended to scan the network again.

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Changing the I/O allocation mode

The procedure for switching from the fixed I/O allocation mode to the free I/O allocation mode is explained here.

Step 1 Press [F11 DevAssign] on the Auxiliary Function (I/O) screen.

Step 2 Change the setting from “Fixed I/O assign” to “Free I/O assign” and press [OK].

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Step 3 In accordance with the change of the allocation mode, the DeviceNet master scans the network and changes the I/O allocation.

Step 4 When the following screen appears, the scan is completed. Press [F9 SlaveMap] and confirm the new setting.

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Step 5 The input area in the free I/O allocation mode will display.

Step 6 Press [F2 OutArea] to display the output area.

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Explanation about screen

Input area display screen

This indicates the address pointed out to the left [1024] plus 07, i.e. address [1031].

This is the starting address of the DeviceNet master I/O input area.

The display above indicates that slave ID4 is allocated to input areas 1024 to 1039.

Output area display screen

This indicates the address pointed out to the left [2048] plus 07, i.e. address [2055].

This is the starting address of the DeviceNet master I/O output area.

The display above indicates that the following allocations have been made:

Output areas 2048 to 2055: Output to slave ID0

Output areas 2056 to 2063: Output to slave ID3

Output areas 2064 to 2071: Output to slave ID4

[Scan] and [Change] keys

The functions of these keys are equivalent to the fixed allocation mode.

[Scan] recreates the scanlist.

[Change] changes the slave settings.

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9.4.3 Changing Master Parameters

Usually there is no need to change these parameters. This is because the DeviceNet master automatically detects the network status and writes the typical parameters.

Only when you need to change the EPR or ISD, change these parameters. For example, you need to decrease the EPR value in order to shorten the disconnection detection time.

To make master parameters revert to the original after change, enter “0.”

Do not change serial numbers.

What is “EPR” (Expected Packet Rate)?

This value is the basis for judging a “timeout” when the slaves communicate with the master (polling or bit strobe). If there is no access from the master during the set time, then the slave times out and an error status is established. For the master, this value is the setting for the disconnection detection time.

The relationship is: Detection time = EPR value

×

4 (ms)

Note that if a too small value is entered, the “No response from slave” error will occur even in normal status.

What is “ISD” (Inter Scan Delay)?

This is the interval between the scan cycles in which the master scans the slave devices.

Step 1 On the Auxiliary Function (I/O) screen, press [F8 MasterPrm].

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Step 2 As an example, assume that the EPR should be changed.

Step 3 On the SYSTEM PARAM screen, enter a new value and press [OK].

Step 4 In this example, enter “2000” here. Check the entered value. If it is normal, press

[OK].

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Step 5 The data will be written to the memory of the DeviceNet master.

Step 6 Based on the new values, the network is being constructed.

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Step 7 After parameter writing is normally completed, the following screen will display.

NOTE: You may change the ISC value in the same procedure.

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9.4.4 Displaying the Master Status

The MasterState screen allows you to check the current communication status of the

DeviceNet master and the flag statuses.

It is intended for reference, for example when a network error has occurred.

Step 1 Press [F12 MastrStat].

Step 2 Out of the 18 statuses, the heading five will display.

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Step 3 The next statuses will display.

Step 4 The following statuses will display.

Step 5 The last statuses will display.

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Details of errors and the meanings of flags are given below.

0x31

0x32

0x33

0x34

0x35

0x36

0x37

0x41

Error No.

0x01

0x02

0x10

0x11

0x20

0x21

0x30

0x03

0x04

0x05

0x06

Configuration error

Error Details

I/O area duplicated

Out of I/O area

Unsupported slave detected

No registered slave

Collation error

Slave I/O size mismatch

Communication error (communication timeout)

Node address double-assigned

Busoff detected

Transmission error

Network power supply error

Transmission timeout

RAM error

Memory error

Flash ROM error

ROM error

DPRAM error

DPRAM retry error

Serial number error

EPR error

ISD error

Scanlist error

Robot setting bit error

Scanlist make failure:

Shows that an error has occurred during creation of a scanlist.

Scanlist/SerialNo operation failure:

Shows that there is an error in the scanlist/serial number data.

Scanlist preparation not finished:

Shows that the scanlist is still being created.

I/O Communication is up:

Shows that the master is normally communicating with the slaves.

Scanlist already set up:

Shows that a scanlist already exists in the memory of the master.

Serial No determined:

Shows that a serial number already exists in the memory of the master.

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SerialNo change complete:

This is a flag used by the system in serial number overwriting. Normally, 0 is written here.

Scanlist change complete:

This is a flag used by the system in scanlist overwriting. Normally, 0 is written here.

EPR change complete:

This is a flag used by the system in EPR overwriting. Normally, 0 is written here.

ISD change complete:

This is a flag used by the system in ISD overwriting. Normally, 0 is written here.

Master Software Version:

Shows the version of the software running on the master board.

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9.4.5 Network Error Indication on DeviceNet Master

The network error display parameter is set to "0: Every Time" by default. It means that a network error will display every time if it occurs at execution of each I/O command.

The default is for safe operation of the facilities and is ideal for practical operation.

However, during checking of program operations with dummy I/Os for adjusting facilities, you need to set this parameter to "1: First Time." Doing so will not display errors once detected, allowing you to check program operations.

NOTE: After completion of adjustment, be sure to set this parameter back to "0."

Changing the FieldNetwork ErrDisplay parameter

Access: [F4: I/O]—[F6 Aux.]—[F1 Set H/W]

Step 1 In the Auxiliary Function (I/O) window, press [F1 Set H/W].

Step 2 Select "10: FieldNetwork ErrDisplay" and press [F5 Change].

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F5

Step 3 Enter “1” in this example and press [OK].

Step 4 Check the newly entered value and press [OK].

Step 5 Following this system message, switch the controller power OFF and then ON.

NOTE: If this message appears, you must switch the controller power OFF.

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9.4.6 Allocating Ports Dedicated to the DeviceNet Master

In the DeviceNet master allocation mode, parallel and DeviceNet master I/O areas are basically allocated to user ports, except that I/O numbers 72 (Normal robot CPU),

73 (robot-in-operation), and 74 (robot failure) are allocated to system output ports.

Pattern A Pattern B

Master of the robot controller master

Master of the robot controller

Parallel connection

Master

DeviceNet connection

Master

DeviceNet DeviceNet

Extended-joints Extended-joints

The robot controller can be configured to the DeviceNet networks as shown above.

To configure the robot controller to any of those networks, you need to change the

I/O allocation according to the procedure given on the following pages.

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Changing allocation of ports dedicated to the DeviceNet master

Step 1 On the top screen of the teach pendant, press [F4 I/O] and then press [F6 Aux.].

The following screen will appear. Press [F2 AlocMode].

F2

Step 2 Using the jog dial or the cursor keys, select the desired allocation mode. Next, press [OK].

To cancel the changes made, press [Cancel].

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Step 3 Following the system message, switch the controller power OFF and then ON.

NOTE: If this message appears, you must switch the controller power OFF.

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