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CR800-D series controller

CR750-D/CR751-D series controller

CRnD-700 series controller

PROFIBUS DP-V0 Slave Interface

Instruction Manual

2D-TZ577

Mitsubishi Industrial Robot

BFP-A8741-D

Содержание 2D-TZ577

Страница 1: ...CR800 D series controller CR750 D CR751 D series controller CRnD 700 series controller PROFIBUS DP V0 Slave Interface Instruction Manual 2D TZ577 Mitsubishi Industrial Robot BFP A8741 D ...

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Страница 3: ...ng work This also applies to maintenance work with the power source turned ON Setting of emergency stop switch CAUTION During teaching work place a sign indicating that teaching work is in progress on the start switch etc This also applies to maintenance work with the power source turned ON Indication of teaching work in progress DANGER Provide a fence or enclosure during operation to prevent cont...

Страница 4: ...o not apply excessive force on the connector or excessively bend the cable Failure to observe this could lead to contact defects or wire breakage CAUTION Make sure that the workpiece weight including the hand does not exceed the rated load or tolerable torque Exceeding these values could lead to alarms or faults WARNING Securely install the hand and tool and securely grasp the workpiece Failure to...

Страница 5: ...arameter writing could break the internal information of the robot controller DANGER Do not connect the Handy GOT when using the GOT direct connection function of this product Failure to observe this may result in property damage or bodily injury because the Handy GOT can automatically operate the robot regardless of whether the operation rights are enabled or not DANGER Do not connect the Handy G...

Страница 6: ...e wiring setup is completed CAUTION Use the network equipments personal computer USB hub LAN hub etc confirmed by manufacturer The thing unsuitable for the FA environment related with conformity temperature or noise exists in the equipments connected to USB When using network equipment measures against the noise such as measures against EMI and the addition of the ferrite core may be necessary Ple...

Страница 7: ...Error in writing correction The back cover was corrected Hyper link was corrected 2016 08 08 BFP A8741 B The cover and corporate logo mark of this manual was changed 2017 05 31 BFP A8741 C The CR800 D series controller was added 2018 02 01 BFP A8741 D Safety Precautions was revised The CR800 Q controller was added ...

Страница 8: ... 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 Al...

Страница 9: ...nput Output 13 3 7 Specification Relative to Robot Language 13 3 7 1 Robot System State Variables Relative to 2D TZ577 Card 13 3 8 About Output Signal Reset Patterns 16 3 9 Hardware of 2D TZ577 Card 17 3 9 1 Overall View 17 3 9 2 LED 17 4 Out of the Package 18 4 1 Checking Component Parts 18 4 2 Items To Be Furnished by User 18 5 Hardware Setup 20 5 1 Hardware Setup for 2D TZ577 Card 20 6 Connecti...

Страница 10: ... 7 2 2 Slave Parameters 32 7 3 Parameter Settings on the Side of Robot Controller 35 7 4 Have A Try For It 37 7 4 1 Setting Dedicated Input Output 37 7 4 2 About General purpose Input Output 37 7 4 3 Examples of Robot Program Using General purpose I O 38 7 4 4 A Sample Program for Checking Input Output 39 8 Troubleshooting 40 8 1 A Listing of Errors 40 8 2 At the Occurrence of Error 8570 PROFIBUS ...

Страница 11: ...pment 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 Slave Station A lower level station which communicates with Master Station Repeater A device which provides a link between the segments of a PROFIBUS DP network T...

Страница 12: ...m Carry out each work step exactly as indicated 3 Features and Specification of 2D TZ577 Card This chapter describes the features and specification of the 2D TZ577 Card 4 Out of the Package Upon receipt of the 2D TZ577 Card check to see that all items are in the package and that the version of the Robot Controller is as specified 5 Hardware Setup Hardware setup need not be done in regard to the pr...

Страница 13: ...re setup Install the Card into the Robot Controller as it is 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 ...

Страница 14: ...quencer etc to be furnished by the user Connector with built in terminator resistors to be furnished by the user Equipment from other manufacturer or Mitsubishi associate Robot Controller CRnD 700 Series Master Station unit Slave Station unit Personal computer QXxxxx QJ71E71 100 QJ71E71 100 QJ71E71 100 QJ71E71 100 RUN INIT OPEN SD RUN INIT OPEN SD RUN INIT OPEN SD RUN INIT OPEN SD ERR COM ERR 100M...

Страница 15: ...onnect R type Robot Controller to a PROFIBUS DP network use a MELSEC iQ R 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 w...

Страница 16: ...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 glo...

Страница 17: ... one time CR1D is provided with Slot 1 only CR750 D CR751 D and CR800 D are provided with Slot 1 and 2 only Number of cards installed One Installation of more than one card is not permitted Concurrent use of 2D TZ577 Card and other fieldbus option card 2 Not permitted Robot controller input output number 2000 to 3951 For details about signal alignment see Table 3 6 A Listing of PROFIBUS Signals Te...

Страница 18: ...repeater s Number of nodes connected segment 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 ...

Страница 19: ...iguration 3 3 4 Accommodated Versions Table 3 3 Accommodated Versions Name Version Robot Controller P6k or later Personal computer support software 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 sett...

Страница 20: ... 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 PBNUM 126 1 to 125 A parameter that specifies station number for the ...

Страница 21: ...allation 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...

Страница 22: ...456 2000to3455 10 160 2000to2159 51 816 2000to2815 92 1472 2000to3471 11 176 2000to2175 52 832 2000to2831 93 1488 2000to3487 12 192 2000to2191 53 848 2000to2847 94 1504 2000to3503 13 208 2000to2207 54 864 2000to2863 95 1520 2000to3519 14 224 2000to2223 55 880 2000to2879 96 1536 2000to3535 15 240 2000to2239 56 896 2000to2895 97 1552 2000to3551 16 256 2000to2255 57 912 2000to2911 98 1568 2000to3567 ...

Страница 23: ...bles Relative to 2D TZ577 Card Table 3 7 A Listing of System State Variables Used for Data Input Output Item Type Function Read write M_In Integer 1 Reads one bit of data from specified input signal Read M_Out Integer 1 Writes one bit of data into specified output signal Write M_Inb Integer 1 Reads 8 bits of data from specified input signal Read M_Outb Integer 1 Writes 8 bits of data into specifie...

Страница 24: ...t signal alignment in accordance with a Master Station instruction manual that governs Start End Write one word data data transmitted Write WRTFLG 1 Input No 2016 1 Read Input Nos 2000 to 2015 data received Write Output No 2020 1 RDFLG 1 Start End Master Robot YES NO NO YES Write WRTFLG 0 Input No 2016 0 Write Output No 2020 0 RDFLG 0 NO YES YES NO Figure 3 3 An Example of Use of Interlock Below i...

Страница 25: ...eout 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 M_PBFRZM Integer 1 FREEZE mode signal a Takes on the value 1 when 2D TZ577 Card goes into FREEZE mode in response to FREEZE request from Master Station b Takes on the value 0 when FREEZE mode ...

Страница 26: ...248 3248 3279 ORST2256 2256 2287 ORST3280 3280 3311 ORST2288 2288 2319 ORST3312 3312 3343 ORST2320 2320 2351 ORST3344 3344 3375 ORST2352 2352 2383 ORST3376 3376 3407 ORST2384 2384 2415 ORST3408 3408 3439 ORST2416 2416 2447 ORST3440 3440 3471 ORST2448 2448 2479 ORST3472 3472 3503 ORST2480 2480 2511 ORST3504 3504 3535 ORST2512 2512 2543 ORST3536 3536 3567 ORST2544 2544 2575 ORST3568 3568 3599 ORST25...

Страница 27: ...here are two LEDs provided on the 2D TZ577 Card each of which indicates the state of the Card by going on or off RUN ERR green red Figure 3 5 Location of LEDs Table 3 11 A Listing of LEDs LED name Color Indications RUN Green On Normal Off Watchdog timer error occurred ERR Red On Parameter setting error or unit error occurred Off Normal PROFIBUS cable connector LED Figure 3 4 Overall View of 2D TZ5...

Страница 28: ...clamp AL6 1 Note Numbers in the table corresponds to those in the figure below 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 Requirement Remark Master Station 1 Master Station which is compatible with PFOFIBUS D...

Страница 29: ...ype 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 1 For more details contact the International PROFIBUS Organization Association website at http www profibus com ...

Страница 30: ...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 ...

Страница 31: ...l 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 CR750 D CR751 D Provided with Option Slots 1 thru 2 CR800 D Provided with Option Slots 1 thru 2 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 Du...

Страница 32: ...erface 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 ...

Страница 33: ...ntroller 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 Figure 6 3 Installing A 2D TZ577 Card in the case of CR3D Controller ...

Страница 34: ...oller front or rear and mount the 2D TZ577 card there Please use the handle of the interface card at mounting of the interface card SLOT1 SLOT2 CR750 controller Rear side CR751 controller Front side Connector Handle Disconnecting lever Other side Interface cover removing lever Interface cover Interface card Figure 6 4 Installing A 2D TZ577 Card in the case of CR750 D CR751 D Controller ...

Страница 35: ...n the robot controller front and mount the 2D TZ577 card there Please use the handle of the interface card at mounting of the interface card Connector Handle Disconnecting lever Other side SLOT1 Interface cover removing lever SLOT2 Interface cover Interface card CR800 controller Front side Figure 6 5 Installing A 2D TZ577 Card in the case of CR800 D Controller ...

Страница 36: ...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 RxD TxD P 3 DGND 5 VP 6 RxD TxD N 8 Protective ground earth ...

Страница 37: ... by controller type 6 4 1 CR1D Controller PROFIBUS cable to be furnish by the user Ferrite core attachment 2 Position where the cable is clamped for grounding purpose earth clamp available as an attachment to the casing 1 Rear Cover 30cm or less Figure 6 8 Installing PROFIBUS Cable CR1D Controller 6 4 2 CR2D Controller 30cm or less Ferrite core attachment 2 Position where the cable is clamped for ...

Страница 38: ...e as an attachment to the casing 1 Figure 6 10 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 with the controller casing Sheath Sheath 20 to 30mm Metal blade portion 2 When Siemens PROFIBUS FC standard cable 8 0mm O D is used recommended metal clamps are AL4 or AL6 RICH...

Страница 39: ...for Proper Connections No Item confirmed Check 1 Is the 2D TZ577 Card securely installed into the Controller s slot 2 Is the RPOFIBUS Cable linking the 2D TZ577 Card to the user s external equipment properly connected 3 Is the special purpose connector installed at each end of the PROFIBUS network configured to apply terminal resistance as specified 4 Is the ferrite core is installed in place ...

Страница 40: ...de of the Robot Controller 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 Check the Robot Controller to ensure that no PROFIBUS associated errors have occurred Create a robot program Start the system Start End See Section 7 1 See Section 7 2 See Section 8 Perform the following steps to t...

Страница 41: ... 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 l...

Страница 42: ...range Description Remark Station number FDL Address 0 to 125 Station number of 2D TZ577 Card is defined If connection is made to Class 1 Master station number need be set in the robot parameter PBNUM as well Communication WDT Watchdog 0 2 to 65000 Watchdog timer is defined 0 Communication WDT setting is disabled 2 65000 Communication WDT setting is enabled set value x 10msec Minimum response time ...

Страница 43: ...settings Table 7 3 Data Module Settings Item Type Input output designation Input output IO Data size 1 to 16 words 3 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...

Страница 44: ... 2095 Output 2080 to 2095 Input 2096 to 2111 Output 2096 to 2111 Input 2112 to 2127 Output 2112 to 2127 Figure 7 3 Example of Lump Alignment Class 1 Master Station Output receive area Robot Controller 2D TZ577 Card Slave Station 1 Reading and writing take place automatically at regular intervals and are accompanied by updating Output area Input area Input receive area Input 2000 2015 Input 2016 20...

Страница 45: ...ted 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 PBNUM 126 1 to 125 A parameter that specifies station number for the 2D TZ577 Card 0 125 Station number setting va...

Страница 46: ...n 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 ...

Страница 47: ...grams 2001 Programs are being started 2001 STOP2 Stop 2002 During suspension 2002 SLOTINIT Program reset 2003 Program selection is permitted 2003 SRVON Servo power on 2004 Servo being turned on 2004 SRVOFF Servo power off 2005 7 4 2 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 permitt...

Страница 48: ...8 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 A statement on processing done in the step labeled LOAD 1 M1 is byte data received...

Страница 49: ... 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 th...

Страница 50: ...time Solution Install either a PROFIBUS card or a CC Link card H 8504 Error message Either of the following messages is displayed 1 PROFIBUS self check error n n 1 7 2 PROFIBUS cannot self check Cause An error was detected in the hardware The hardware may be at fault Solution Replace the 2D TZ577 Card When replacing the card contact its manufacturer for advice H 8505 Error message Illegal param PB...

Страница 51: ...manufacturer for advice H 8550 Error message PROFIBUS master bureau s parameter is illegal Cause 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 Solution Check the slave parameter settings on the Master St...

Страница 52: ... 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 conta...

Страница 53: ...layed Meaning Remark Designation of card PROFIBUS Card name Card information PBNUM 1 Number of station in action Station number 0 to 125 Default setting 126 1 WDT 5 Watchdog timer Ready ON or OFF Unit being in Ready state RUN ON or OFF Run state ON normal OFF WDT error occurred BF ON or OFF BF state ON Before data communications or communications error detected OFF Communications proceeding normal...

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Страница 56: ...Feb 2018 MEE Printed in Japan on recycled paper Specifications are subject to change without notice ...

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