Mitsubishi Electric GOT 1000 Series, Connection Manual

Page: 100 / 436

2 - 22
2. CONNECTION TO IAI ROBOT CONTROLLER
2.5 Robot Controller Side Setting
2.5.2 Connecting to SSEL, ASEL,
PSEL

Parameter setting
Enter the following parameters using peripheral
software. When setting parameters, set the mode
switch of the controller to "MANU".
*1 Indicates only the transmission that can be specified on the
GOT side.
Specify the transmission speed to match the baud rate of the
GOT.
*2 Set it only when a wait time is required before the response
and transmission to the GOT request. Normally, the
communication is available using default values.

Mode switch
Set the mode switch to "AUTO" and connect the GOT
to the following teaching connector.
2.5.3 Connecting to PCON, ACON,
SCON

Axis number setting, Mode select
For controllers without the following switches, set from
the setting tool (PC software).

Transmission speed setting
Set the transmission speed from the setting tool (PC
software).
*1 Indicates only the transmission speeds that can be set on
the GOT side.
Set the same transmission speed of the GOT.
Parameter Parameter Name Set Value
I/O parameter 90
Usage of SIO channel 0
opened to user 2: IAI protocol B
(fixed)
I/O parameter 91
Station code of SIO channel 0
opened to user
0 to 255
I/O parameter 92
*1
Baud rate type of SIO
channel 0 opened to user
0: 9600bps
1: 19200bps
2: 38400bps
3: 57600bps
5: 115200bps
I/O parameter 93
Data length of SIO channel 0
opened to user
7bit, 8bit
I/O parameter 94
Stop bit length of SIO
channel 0 opened to user
1bit, 2bit
I/O parameter 95
Parity type of SIO channel 0
opened to user
0: None
1: Odd
2: Even
I/O parameter 97
*2
IAI-protocol minimum
response delay for SIO
channel 0
opened to user
0 to 999(ms)
Other parameter
46
Other setting bit pattern 1
bit0 to 3 = 1
(fixed)
Mode switch
Teaching
connector
Switch Setting details
Axis number setting
rotary switch
0 to 15
Mode selector switch
<Only the monitor>
AUTO
<monitor, data change>
MANU
Item Range
SIO transmission
speed
*1
9600/19200/38400/57600/115200bps
Default: 38400bps
MANU AUTO
Mode
selector switch
Axis number setting
rotary switch