Mitsubishi Electric GOT 1000 Series, Connection Manual

Page: 99 / 436

2. CONNECTION TO IAI ROBOT CONTROLLER
2.5 Robot Controller Side Setting
2 - 21
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OMRON PLC
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2.5 Robot Controller Side Setting
POINT POINT POINT
IAI Robot Controller
For details of IAI Robot Controller, refer to the following
manuals.
IAI Robot Controller user's Manual
2.5.1 Connecting to X-SEL

Parameter setting
Enter the following parameters using peripheral
software. When setting parameters, set the mode
switch of the controller to "MANU".
*1 For X-SEL(P/Q/PX/QX), the parameter becomes the SIO
channel 0 opened to user.
*2 Indicates only the transmission that can be specified on the
GOT side.
Specify the transmission speed to match the baud rate of the
GOT.
*3 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.
*4 When using the "MANU" mode, the set value is fixed to the
value with *. Adjust the settings of the GOT side to the *
settings.
However, the communication setting of the PC software
becomes the setting of X-SEL after the PC software for X-
SEL is connected. In this case, adjust the communication
setting of the GOT to the setting of the PC software.

Mode switch
(1) X-SEL K type
(a) When setting the mode switch to "MANU"
Connect the GOT to the following teaching
connector.
(b) When setting the mode switch to "AUTO"
Connect the GOT to the following general RS232C
port connector.
*1 The teaching connector and general RS232C port connector
cannot be used at the same time.
(2) Other than X-SEL K type
Set the mode switch to "MANU" or "AUTO" and connect
the GOT to the following teaching connector.
Parameter Parameter Name
Set Value
*4
I/O parameter 90
Usage of SIO channel 1
*1
opened to user
• When used in
"MANU"
Set either of the
following.
0: SEL opened
program
2: IAI protocol B
• When used in
"AUTO"
2: IAI protocol B
I/O parameter 91
Station code of SIO channel
1
*1
opened to user
0 to 255
153*
I/O parameter 92
*2
Baud rate type of SIO
channel 1
*1
opened to user
0: 9600bps*
1: 19200bps
2: 38400bps
3: 57600bps
5: 115200bps
I/O parameter 93
Data length of SIO channel
1
*1
opened to user
7bit, 8bit*
I/O parameter 94
Stop bit length of SIO
channel 1
*1
opened to user
1bit*, 2bit
I/O parameter 95
Parity type of SIO channel 1
*1
opened to user
0: None*
1: Odd
2: Even
I/O parameter 97
*3
IAI-protocol minimum
response delay for SIO
channel 1
*1
opened to user
0 to 999(ms)
Other parameter
46
Other setting bit pattern 1
bit0 to 3 = 1
(fixed)
CONTROLLER
RB
POWER
FUSE
PG1
BK1
PG3
BK3
PG4
BK4
I/O1 I/O2 I/O3 I/O4
CODE
HOST
TP
MODE
Mode switch
Teaching
connector
*1
General
RS232C
port
connector
*1
Mode switch
Teaching
connector