User`s manual

Contents
Contents
Cautions To Ensure Safety ............................................................1
1-1 Basic safety points .............................................................................2
1-2 System design safety points ..............................................................2
1-3 Installation and wiring safety points ...................................................3
1-4 Start-up and maintenance safety points.............................................4
1-5 Precautions when disposing of the unit..............................................4
1-6 Warranty.............................................................................................5
DeviceNet Unit ................................................................................7
2-1 DeviceNet unit features ......................................................................8
2-2 How the DeviceNet system works...................................................... 9
2-3 DeviceNet cable connections ........................................................... 10
2-4 Parallel I/O connector....................................................................... 11
2-5 Controller system settings (Slave station) ........................................ 13
2-5-1 Validating the DeviceNet unit ...................................................................13
2-5-2 Setting MAC ID and communication speed .............................................14
2-5-3 How to check MAC ID and communication speed ...................................15
2-6 Sequencer (master station) settings ................................................16
2-6-1 Exchanging data with the controller .........................................................16
2-7 I/O information.................................................................................. 17
2-7-1 Profile (I/O signal table) ...........................................................................17
2-7-2 Dedicated command inputs .....................................................................18
2-7-3 General-purpose inputs (SI200 - SI215) ..................................................22
2-7-4 Interlock (LOCK) ......................................................................................23
2-7-5 Emergency stop input (EMG)...................................................................23
2-7-6 Service mode (SVCE) ..............................................................................24
2-7-7 Custom outputs ........................................................................................25
2-7-8 General-purpose outputs (SO200 - SO215) ............................................26
2-8 Timing chart......................................................................................27
2-8-1 Right after controller power turns on ........................................................27
2-8-2 Custom input command execution...........................................................28
2-8-3 When interlock signal is input ..................................................................32
2-8-4 When emergency stop signal is input ......................................................33
2-8-5 When an alarm is issued..........................................................................34
2-8-6 When point movement commands are run ..............................................35
2-9 I/O assignment change function....................................................... 36
2-9-1 Changing the I/O assignment ..................................................................36
2-9-2 I/O assignment list ...................................................................................37
2-9-3 I/O assignment selection parameter description ......................................39
2-9-4 I/O signal descripion ................................................................................41
2-9-5 Timing chart .............................................................................................46
2-10 Robot language ................................................................................ 56
2-10-1 MOVF.......................................................................................................56
2-10-2 JMPF........................................................................................................57
2-10-3 JMPB .......................................................................................................58
2-10-4 DO............................................................................................................58
2-10-5 WAIT ........................................................................................................59
2-11 Emulated Serialization on parallel DIO ............................................60
2-12 Other operations ..............................................................................62
2-12-1 Serial I/O display ......................................................................................62
2-12-2 Manual control of general-purpose output ...............................................63