ROBOT

Horizontal articulated
MODEL: HM-40702C-T02
OWNER'S MANUAL (Supplement)
 ROBOT
Horizontal articulated
MODEL: HM-40702C-T02

OWNER'S MANUAL (Supplement)

1
Copyright © DENSO, 2000

All rights reserved. No part of this publication may be reproduced in any form or by any means without permission in writing
from the publisher.

Specifications are subject to change without prior notice.

Microsoft® and Windows® are registered trademarks of Microsoft Corporation.

Denso and WINCAPS are trademarks of Denso Corporation.

2
 Preface
This manual exclusively describes the horizontal articulated robot HM-40702C-
T02. It is a supplement to the "HM-C/HS-C SERIES OWNER'S MANUAL A
(Operation/Installation/Maintenance)" and "OWNER'S MANUAL B (Programming)"
Together with those manuals, use this supplement.

Robot models covered by this manual

HM-40702C-T02

Related publications

• HM-C/HS-C SERIES OWNER'S MANUAL A (Operation/Installation/Maintenance)

• HM-C/HS-C SERIES OWNER'S MANUAL B (Programming)

3
4
How this manual is organized

PART 1. ROBOT CONFIGURATION AND SPECIFICATIONS

PART 2. OPERATING THE ROBOT IN INDIVIDUAL MODE

PART 3. DeviceNet COMMUNICATIONS AND ITS INTERFACE

5
6
PART 1

ROBOT CONFIGURATION AND SPECIFICATIONS

1
PART 1. ROBOT CONFIGURATION AND SPECIFICATIONS

Contents

Chapter 1. Robot Configuration ..............................................................................................................1-1

1.1 Names of robot components................................................................................................................................ 1-1
1.2 Robot controller.................................................................................................................................................... 1-2
[ 1 ] Names of the controller parts.................................................................................................................... 1-2
[ 2 ] Specifications............................................................................................................................................ 1-3
1.3 Brake releaser ......................................................................................................................................................1-4
[ 1 ] Specifications............................................................................................................................................ 1-4
[ 2 ] Using the brake releaser .......................................................................................................................... 1-5
1.4 CALSET Operation ..............................................................................................................................................1-6
[ 1 ] Single Axis CALSET Run Procedure........................................................................................................ 1-6
[ 2 ] All-axes CALSET Run Procedure ............................................................................................................ 1-7
[ 3 ] CALSET Position ...................................................................................................................................... 1-9

2
 Chapter 1. Robot Configuration

Chapter 1. Robot Configuration

1.1 Names of robot components Figure 1-1 shows all components of the robot.

A set of connectors Warning label

WARNING
Moving robot arm can
cause serious injury.

Do not enter this

safety fence during

A Direction automatic operation.

Press emergency stop

button, before entering

indication label this safety fence.

Sequencer
1 Robot unit (user-provided)

Visual monitor
controller µVision-15
5 Power cable (option)
6 Servomotor I/O cable (option)
cable
Encoder signal
cable

BNC coaxial
cable (option)

RS-232C cable
(option)

4 Air pressure 2 Robot Camera and monitor

regulator valve controller (option)

D Brake releaser

3 Teaching
RS-232C cable
pendant
(user-provided)

8 DENSO robot
owner's manuals Printer (user-provided) 0 Floppy disk
(See NOTE 3.) Computer for the
ow
n
ma er'
(user-provided) Offline controller
ow
nu
al
s
9 Spare fuses for
ow
ma
(See NOTE 3.) programming initial
ma the robot controller
software settings
(option)

Figure 1-1. Components of Robot

NOTE 1: Components marked with 1 to D are contained in a robot package.

NOTE 2: The robot unit and the robot controller have been adjusted in pairs before
shipment. Do not break the pair.
NOTE 3: A printer and computer (both of which are user-provided components) share a
same single connector on the robot controller, so you cannot connect both
concurrently.

1-1
PART 1. ROBOT CONFIGURATION AND SPECIFICATIONS

1.2 Robot controller Figure 1-2 shows the names of the controller parts.

[ 1 ] Names of the controller parts

Pilot lamp

Power switch
Fan guards

Mounting holes for

Pilot lamp the operating panel Frame ground terminal

CN3

CN2

CN1

CN11
Power switch
Robot stop signal cable connector
(for the operating panel)

CN8 CN4 CN9

VISION VALVE ENCODER

CN5
Device Net MODULE
MOTOR
Fuse and switch box

DeviceNet communication connector CN10

Figure 1-2. Names of Controller Parts

1-2
 Chapter 1. Robot Configuration

[ 2 ] Specifications Table 1-1 lists the specifications of the robot con-

troller and Figure 1-3 shows the external appearance.

Table 1-1. Specifications of the Robot Controller

Item Description
Robot Horizontal articulated, HM-40702C-T02
Model RC3-HX4AB
Control system PTP (point-to-point) and CP (continuous path)
Number of control axes Concurrently controllable axes: Up to 4
Driving sub system Full–digital AC servomotor for all axes
CPU 80386DX CPU with 32-bit system bus at 20 MHz
Memory capacity Capable of storing 8,000 steps and 2,500 points
Programming language Easy robot program editor
Teaching system 1) Direct teaching 2) Remote teaching 3) Manual data driven
Resolution 0.02 mm for X, Y and Z axes
51 lines for system (including 48 for DeviceNet communications)
Input signals
External and 96 lines for users (including 80 for DeviceNet communications)
signals 8 lines for valve control, 50 lines for system (including
Output signals 48 for DeviceNet communications) and 96 lines for users
(including 80 for DeviceNet communications)
Two RS-232C ports (one for visual monitor controller µVision-
Interface
15 and one for computer or printer)
Timer feature Setting range: 0.01 to 9.99 seconds in increment of 0.01.
Over-running, servo error, memory error, data entry error,
Self diagnostics
etc.
Error indication Error codes on the operating panel or teaching pendant
200 VAC +10%
- 5% , 3-phase wires, 50 or 60 Hz,
Power requirements
1.5 kVA with 3rd grade ground
Environmental conditions Temperature: 0 to 40˚C, Relative humidity: 90% or less
(in operating) without condensation
Cable length To the robot unit: 3 m, To the operating panel: 0.2 m
External dimensions
98 × 440 × 460 mm (excluding rubber feet and fan guards)
(H × W × D)
Weight Approx. 18 kg (excluding cables)

SETPRM setting table

98mm

460mm
440mm

Figure 1-3. External Appearance of the Robot Controller

1-3
PART 1. ROBOT CONFIGURATION AND SPECIFICATIONS

1.3 Brake releaser The brake releaser forces the brake of the "Horizontal
articulated robot HM-40702C-T02" to release its Z axis,
enabling you to move the Z-axis arm by hand.

[ 1 ] Specifications Table 1-2 lists the specifications of the brake releaser

and Figure 1-4 shows the external appearance.

Table 1-2. Specifications of the Brake Releaser

Item Description
Model BK4T
Power requirements 24 VDC, (Fed through the motor cable from the robot controller)
Access Brake release switch and OFF switch
Environmental Temperature: 0 to 40˚C, Relative humidity: 90% or less without
conditions condensation
External dimensions
74 × 111 × 154 mm (excluding handle, rubber feet and cable)
(H × W × D)
Weight Approx. 2 kg
Cable length To the controller: 1 m
NOTE : This brake releaser is exclusively designed for the "Horizontal articulated
robot NM-40702C-T02". Never use it for any other models.

OFF switch

Brake release switch

74mm

154mm

111mm
zs085z

Figure 1-4. External Appearance of the Brake Releaser

1-4
 Chapter 1. Robot Configuration

[ 2 ] Using the brake releaser

Warning: Before releasing the brake, always
check that there is no equipment which will
interfere with the Z-axis arm and its tools
within the working area of the Z-axis arm.
If you release the brake without adjusting the
air balance for the Z axis, the Z-axis arm may
move up or down unexpectedly. It is DANGEROUS.
NOTE : If the motor is powered on, pressing the
Brake release switch or OFF switch will have no
effect since the controller ignores the brake
releaser.

(1) Connect the brake releaser with the related equipment

as shown in Figure 1-5.

(Front view) (Rear view)

OFF To the robot

switch connector CN13
Brake release To
switch (in orange) the controller's
zs082z connector CN10

Motor cable zs086z

Figure 1-5. Connecting the Brake Releaser

(2) To release the Z-axis arm when braked (with the motor
power OFF), press the Brake release switch. The
orange lamp will come on and the Z-axis arm will be
released.
To apply brake to the Z-axis arm again, press the OFF
switch. The orange lamp will go off.

(3) If you turn on the motor power when the Z-axis arm is
not braked (when the orange lamp lights), the robot
controller will ignore the switch status of the brake
releaser and make the robot enter the normal
operation mode. The orange lamp will go off.

1-5
PART 1. ROBOT CONFIGURATION AND SPECIFICATIONS

1.4 CALSET Operation Single axis CALSET is to perform CALSET of only a

particular axis defined.
Follow the given in Table 1-3.

[ 1 ] Single Axis CALSET

Run Procedure Caution: Before performing CALSET of 3rd (Z) axis, make sure that
the air balance is kept. If CALSET is continued without the
air balance kept, the robot may operate rapidly when the
motor brakes of the 3rd axis are released, causing hazard.

Table 1-3. Single Axis CALSET Run

Step Key operation Display Remarks

1 Turn the robot
controller power
switch on. (Note 1)
2 Select the manual [MANUAL]
mode.
3 Change the mode to [CALSET] CALSET-JOINT
the CALSET Command. [JOINT] MODE=?
4 Specify the axis No. [1] CALSET-JOINT e.g., the 1st axis is
for which CALSET is [ENT] JOINT1→ST END specified;
to be run. (Note 2,
Note 3)

5 Move the appropriate See Fig. 1-6 on p.1-9

axis arm by hand to for the CALSET
the mechanical end on position.
the side of its
CALSET initial
position.
6 Verify that the 1st
axis is not deviated
from the mechanical
end to which it has
been brought in q
above.
7 Save the 1st axis While pressing down CALSET OK
CALSET position to the [SURE] key,
memory. (Note 4) press the [REC] key.

NOTE 1: When performing CALSET of Z-axis, press the brake release switch of the brake
releaser. The orange lamp will come on and the Z-axis brake will be released.
NOTE 2: In step 4, enter '2' instead of '1' to run CALSET for the 2nd axis, '3' to run the
CALSET for the 3rd axis, and '4' to run the CALSET for the 4th axis.
NOTE 3: When 3rd (Z) axis have been specified, "AIR BALANCE OK?" is displayed in step 4. At
this time, hold down [SURE] and press [REC]. This operation will release the motor
brake of the 3rd axis.
NOTE 4: If performing CALSET of Z-axis, press the OFF switch of the brake releaser. The
orange lamp will go off and the Z-axis brake will be applied.

1-6
 Chapter 1. Robot Configuration

[ 2 ] All-axes CALSET CALSET for all axes is performed. Follow the steps given
Run Procedure in Table 1-4.

Caution: Before starting CALSET, make sure that the air balance is
kept. If CALSET is continued without the air balance kept,
the robot may operate rapidly when the motor brakes of
the 3rd (Z) axis are released, causing hazard.

Table 1-4. All-Axes CALSET Run

Step Key operation Display Remarks

1 Turn the robot Note:Do not turn the
controller on. motor on.
2 Press the brake
release switch of the
brake releaser.
(The orange lamp will
come on.)
3 Select the manual [MANUAL]
mode.
4 Change the mode to [CALSET] CALSET-JOINT
the CALSET command. [JOINT] MODE=?
5 Specify all-axes [0] CALSET-JOINT
CALSET. [ENT] AIR BALANCE OK?
6 After make sure the Holding down the CALSET-JOINT The motor brake of
air balance, do key [SURE] key, press the JOINT1→ST END the 3rd axis is
operate of right [REC] key. released.
discription.
7 Manually move the 1st See Fig.1-6 on p.1-9
axis to the for the CALSET
mechanical end of the position.
CALSET position.

8 Manually move the 2nd

axis to the
mechanical end of the
CALSET position.

9 Manually move the 3rd

axis to the
mechanical end of the
CALSET position.

0 Manually move the 4th

axis to the
mechanical end of the
CALSET position.
(To be cont'd)

1-7
PART 1. ROBOT CONFIGURATION AND SPECIFICATIONS

(Cont'd) Table 1-4. All-Axes CALSET Run

Step Key operation Display Remarks

A Check that each axis
is not deviated from
the mechanical end
against which it is
pressed in step 7 to
0.
B Store the 1st-axis Holding down the
[SURE] key, press the CALSET-JOINT
CALSET position in JOINT2→ST END
memory. [REC] key.
C Store the 2nd-axis Holding down the
[SURE] key, press the CALSET-JOINT
CALSET position in JOINT3→ST END
memory. [REC] key.
D Store the 3rd-axis Holding down the
[SURE] key, press the CALSET-JOINT
CALSET position in JOINT4→ST END
memory. [REC] key.
E Store the 4th-axis Holding down the
[SURE] key, press the CALSET OK
CALSET position in
memory. [REC] key.
F Press the OFF switch
of the brake
releaser.
(The orange lamp will
go off.)

1-8
 Chapter 1. Robot Configuration

[ 3 ] CALSET Position Figure 1-6 shows CALSET position upon shipping.

1 1st AXIS CALSET POSITION 2 2nd AXIS CALSET POSITION

1st axis arm

2nd axis arm

2nd axis motor

1st axis motor
• Move the 1st axis to the (+) side • Move the 2nd axis to the (-) side
mechanical end. mechanical end.

3 3rd AXIS CALSET POSITION 4 4th AXIS CALSET POSITION

4th axis flange

• Move the 3rd axis to the (+) side • Move the 4th axis to the (+) side
mechanical end. mechanical end.

Figure 1-6. CALSET Position Upon Shipping

1-9
PART 2

OPERATING THE ROBOT IN INDIVIDUAL MODE

1
 Contents

Chapter 1. Signals Needed for Managing the Robot in Individual Mode ................................................2-1
1.1 Individual mode ....................................................................................................................................................2-2
[ 1 ] What is individual mode? ..........................................................................................................................2-2
[ 2 ] When is the individual mode needed? ......................................................................................................2-2
[ 3 ] Dedicated input signals and their functions ..............................................................................................2-2
[ 4 ] Dedicated output signals and their functions ............................................................................................2-3
1.2 Individual mode signals ........................................................................................................................................2-4
[ 1 ] Pin assignment of the serial input signals on TB1 in the link relay area....................................................2-4
[ 2 ] Pin assignment of the serial output signals on TB1 in the link relay area..................................................2-5
[ 3 ] Pin assignment of parallel input/output signals on CN5 ............................................................................2-6
1.3 Application of dedicated input signals ..................................................................................................................2-7
[ 1 ] Teaching disable (input) ............................................................................................................................2-7
[ 2 ] Switch to individual mode (input) ..............................................................................................................2-8
[ 3 ] Operation ready start (input)......................................................................................................................2-9
[ 4 ] Select axis, +J1 to -J6 (input) ..................................................................................................................2-10
[ 5 ] Step forwards (input), Step backwards (input) ........................................................................................2-11
[ 6 ] Increase speed in individual mode (input), Decrease speed in individual mode (input) ..........................2-12
[ 7 ] Select program number (input) ................................................................................................................2-13
[ 8 ] Start program (input)................................................................................................................................2-14
1.4 Application of dedicated output signals ..............................................................................................................2-18
[ 1 ] Robot on halt (output) ..............................................................................................................................2-18
[ 2 ] Robot in individual mode (output) ............................................................................................................2-19
[ 3 ] Speed in individual mode, tens, 20 to 23 (output) ....................................................................................2-20
[ 4 ] In single-cycle mode (output)..................................................................................................................2-21
[ 5 ] In single-step mode (output) ..................................................................................................................2-22
[ 6 ] In joint mode (output) ..............................................................................................................................2-23
[ 7 ] In X-Y mode (output) ..............................................................................................................................2-24
[ 8 ] In tool mode (output)................................................................................................................................2-25

Chapter 2. Basics for the Individual Mode ............................................................................................2-27

2.1 Entering the individual mode ..............................................................................................................................2-28
[ 1 ] The operation is required when: ............................................................................................................2-28
[ 2 ] How to enter the individual mode ............................................................................................................2-28
2.2 Setting the speed ................................................................................................................................................2-29
[ 1 ] Purpose of this operation ........................................................................................................................2-29
[ 2 ] This operation is required when: ............................................................................................................2-29
[ 3 ] How to change the robot speed ..............................................................................................................2-30
2.3 Powering the motor ON ......................................................................................................................................2-31
[ 1 ] Purpose of this operation ........................................................................................................................2-31
[ 2 ] This operation is required when: ............................................................................................................2-31
[ 3 ] How to power the motor ON ....................................................................................................................2-31
2.4 Inching in the individual mode ............................................................................................................................2-32
[ 1 ] Purpose of this operation ........................................................................................................................2-32
[ 2 ] This operation is required when: ............................................................................................................2-32
[ 3 ] How to inch the robot in joint mode ........................................................................................................2-32

2
2.5 Running the robot by a single program step ......................................................................................................2-34
[ 1 ] Purpose of this operation ........................................................................................................................2-34
[ 2 ] This operation is required when: ............................................................................................................2-34
[ 3 ] Notes for single-step program operation ................................................................................................2-35
[ 4 ] How to run the robot forwards by a single program step ........................................................................2-36
[ 5 ] How to run the robot backwards by a single program step......................................................................2-37
2.6 Running the robot by a single program cycle......................................................................................................2-38
[ 1 ] Purpose of this operation ........................................................................................................................2-38
[ 2 ] This operation is required when: ............................................................................................................2-38
[ 3 ] How to run the robot by a single program cycle ......................................................................................2-39
2.7 Escaping from individual mode ..........................................................................................................................2-40
[ 1 ] Purpose of this operation ........................................................................................................................2-40
[ 2 ] This operation is required when: ............................................................................................................2-40
[ 3 ] How to escape from the individual mode ................................................................................................2-40

3
 Chapter 1. Signals Needed for Managing the Robot in Individual Mode

Chapter 1
Signals Needed for Managing the Robot in Individual Mode

2-1
PART 2. OPERATING THE ROBOT IN INDIVIDUAL MODE

1.1 Individual mode

[1] What is individual mode? The individual mode is a mode where you may manage the robot
with signals sent from external equipment (e.g., user-
provided sequencer), without using the operating panel or
teaching pendant.

[2] When is the individual mode Use this mode if you want to manage the robot with programs
needed? written in your external system controller connected with
the robot system. In the individual mode, you may apply
your programs to inching in the joint mode, X-Y mode, and
tool mode, as well as to the single program step and single
program cycle operation.

[3] Dedicated input signals and their Table 2-1 lists the input signals exclusively used in the
functions individual mode.

Table 2-1. Input Signals and Their Functions

Objectives Signal names Functions

Enables the robot system to switch to the indi-
Teaching disable
vidual mode.
Switch to individual mode
Switches the robot system to the individual
+
Starting up mode.
Operation ready start
Power on motor
+ Powers on the motor.
Operation ready start

Enter joint mode

+ Inches the selected axis.
Select axis (+J1 to -J6)
Enter X-Y mode
Inching + Inches the selected axis.
Inching direction (+X to -T)
Enter tool mode
+ Inches the tool in the selected direction.
Tool moving direction (+TX to -TT)

Enter single-step mode Steps forwards. (You can choose any of your
+ programs by instructing "Select program number
Single-step Step forwards + Reset program" for the step operation.
program
operation Enter single-step mode
Steps backwards. (You can choose any of your
+
programs in the same way as above.)
Step backwards
Enter single-cycle mode
Single-cycle +
Executes the first single cycle of the
program Select program number
selected program.
operation +
Start program

2-2
 Chapter 1. Signals Needed for Managing the Robot in Individual Mode

Objectives Signal names Functions

Increase speed in individual Increases the current robot speed by 10 points
mode per signal. (Max. 100 points)
Speed control
Decrease speed in individual Decreases the current robot speed by 10 points
mode per signal. (Min. 10 points)
Robot stop Stops the robot by opening the signal line.
Stops the program cycle being executed, by
Cycle stop opening the signal line.

Stop Stops the program step being executed, by

Step stop opening the signal line.
Stops the operation being executed imme-
Halt diately and temporarily, by opening the
signal line.

[4] Dedicated output signals and Table 2-2 lists the output signals exclusively used in the
their functions individual mode.

Table 2-2. Output Signals and Their Functions

Objectives Signal names Functions

Tells that the robot operation is interrupted
Robot on halt
in externally controlled automatic mode.

In individual mode Tells that the robot is in individual mode.

Speed setting (20 to 23) in Tells the current speed of the robot in indi-
individual mode vidual mode by 10-point resolution.
Tells that the robot is in single-cycle pro-
In single-cycle mode
Robot status gram mode.
signals
Tells that the robot is in single-step prog-
In single-step mode
ram mode.

In joint mode Tells that the robot is inching in joint mode.

In X-Y mode Tells that the robot is inching in X-Y mode.

In tool mode Tells that the robot is inching in tool mode.

2-3
PART 2. OPERATING THE ROBOT IN INDIVIDUAL MODE

1.2 Individual mode signals

[1] Pin assignment of the serial input Figure 2-1 shows the pin assignment of the serial input
signals on TB1 in the link relay signals on the DeviceNet communications interface terminal
area board TB1 in the controller DeviceNet module.

No. Function No. Function No. Function No. Function

0
1 Select program number 2 9 Power on motor 17 25 Select axis, +J1 (X)
2 Select program number 21 10 Execute CAL 18 Start program 26 Select axis, -J1 (X)
3 Select program number 22 11 Switch to automatic mode 19 Step stop 27 Select axis, +J2 (Y)
4 Select program number 23 12 SP100 20 Cycle stop 28 Select axis, -J2 (Y)
5 Select program number 24 13 Switch to external mode 21 Skip interrupt 29 Select axis, +J3 (Z)
6 Select program number 25 14 Reset program 22 Operation ready start 30 Select axis, -J3 (Z)
7 Select program number 26 15 Clear robot error 23 31 Select axis, +J4 (T)
8 Parity bit 16 24 Halt 32 Select axis, -J4 (T)

No. Function No. Function No. Function No. Function

33 Select axis, +J5 41 Increase speed in individual mode 49 INPUT 17 121 INPUT 89
34 Select axis, -J5 42 Decrease speed in individual mode 50 INPUT 18 122 INPUT 90
35 Select axis, +J6 43 Switch to individual mode 51 INPUT 19 123 INPUT 91
36 Select axis, -J6 44 Enter single-cycle mode 52 INPUT 20 124 INPUT 92
37 Step forwards 45 Enter single-step mode 53 INPUT 21 125 INPUT 93
38 Step backwards 46 Enter joint mode 54 INPUT 22 126 INPUT 94
39 47 Enter X-Y mode 55 INPUT 23 127 INPUT 95
40 48 Enter tool mode 56 INPUT 24 128 INPUT 96
NOTE 1: The "No." indicates the bit order from the first bit in the link relay input.
NOTE 2: INPUTs 1 to 16 are reserved for the parallel I/O connector (CN5).
NOTE 3: The inverse notation means negative truth logic.

Figure 2-1. Serial Output Signals and Their Pin Assignment

2-4
 Chapter 1. Signals Needed for Managing the Robot in Individual Mode

[2] Pin assignment of the serial Figure 2-2 shows the pin assignment of the serial output
output signals on TB1 in the signals on the DeviceNet communications interface terminal
link relay area board TB1 in the controller DeviceNet module.

No. Function No. Function No. Function No. Function

1 9 Robot powering-on complete 17 Work area 1 25 Error code, tens, 21
2 Robot in operation 10 Motor on 18 Work area 2 26 Error code, tens, 22
3 Robot error 11 CAL complete 19 Work area 3 27 Error code, tens, 23
4 In automatic operation mode 12 In teaching 20 Error code, unit, 20 28 Error code, hundreds, 20
5 In external mode 13 Single cycle end 21 Error code, unit, 21 29 Error code, hundreds, 21
6 Program start reset 14 Low battery warning 22 Error code, unit, 22 30 Error code, hundreds, 22
7 End of palletizing single step 15 Power recovered 23 Error code, unit, 23 31 Error code, hundreds, 23
8 End of palletizing all steps 16 Teaching disable switching 24 Error code, tens, 20 32 SS mode

No. Function No. Function No. Function No. Function

33 Robot on halt 41 In joint mode 49 OUTPUT 17 121 OUTPUT 89
34 In individual mode 42 In X-Y mode 50 OUTPUT 18 122 OUTPUT 90
35 Speed in individual mode, tens, 20 43 In tool mode 51 OUTPUT 19 123 OUTPUT 91
36 Speed in individual mode, tens, 21 44 52 OUTPUT 20 124 OUTPUT 92
37 Speed in individual mode, tens, 22 45 53 OUTPUT 21 125 OUTPUT 93
38 Speed in individual mode, tens, 23 46 54 OUTPUT 22 126 OUTPUT 94
39 In single-cycle mode 47 55 OUTPUT 23 127 OUTPUT 95
40 In single-step mode 48 56 OUTPUT 24 128 OUTPUT 96
NOTE 1: The "No." indicates the bit order from the first bit in the link relay output.
NOTE 2: OUTPUTs 1 to 16 are reserved for the parallel I/O connector (CN5).

Figure 2-2. Serial Output Signals and Their Pin Assignment

2-5
PART 2. OPERATING THE ROBOT IN INDIVIDUAL MODE

[3] Pin assignment of parallel Figure 2-3 shows the pin assignment of the parallel input/
input/output signals on CN5 output signals on the parallel I/O connector CN5 in the con-
troller DeviceNet module.

Input/ Input/
No. Signal names ID color No. Signal names ID color
Output Output
1 Common IN (+24V) Input Black 26 Common IN (+24V) Input Lightblue
2 Common IN (+24V) Input Brown 27 Common IN (+24V) Input Lightblue
3 IN 1 Input Red 28 IN 2 Input Lightblue
4 IN 3 Input Black 29 IN 4 Input Pink
5 IN 5 Input Brown 30 IN 6 Input Pink
6 IN 7 Input Red 31 IN 8 Input Pink
7 IN 9 Input Orange 32 IN 10 Input Pink
8 IN 11 Input Yellow 33 IN 12 Input Pink
9 IN 13 Input Green 34 IN 14 Input Pink
10 IN 15 Input Blue 35 IN 16 Input Pink
11 Teaching disable Input Purple 36 0+24V(for Teaching disable) Input Pink
12 Robot stop Input Black 37 0+24V(for Robot stop) Input Gray
13 Robot on halt Output Brown 38 Robot on halt Output Gray
14 +24V Output Red 39 Common OUT (+24V) Output Gray
15 +24V Output Orange 40 Common OUT (+24V) Output Gray
16 OUT 1 Output Yellow 41 OUT 2 Output Gray
17 OUT 3 Output Green 42 OUT 4 Output Gray
18 OUT 5 Output Blue 43 OUT 6 Output Gray
19 OUT 7 Output Purple 44 OUT 8 Output Gray
20 OUT 9 Output Black 45 OUT 10 Output White
21 OUT 11 Output Brown 46 OUT 12 Output White
22 OUT 13 Output Red 47 OUT 14 Output White
23 OUT 15 Output Orange 48 OUT 16 Output White
24 CPU normal Output Yellow 49 White
25 Deadman switch OUT Output Green 50 Deadman switch OUT Output White

Figure 2-3. Serial Input/Output Signals and Their Pin Assignment

2-6
 Chapter 1. Signals Needed for Managing the Robot in Individual Mode

1.3 Application of dedicated This section describes the input signals relating to the
input signals individual mode.
[1] Teaching disable (input) (1) Function
1) Turning this signal line ON (closed) makes the robot
ready to switch to the automatic mode or individual mode.
2) Turning this signal line OFF (open) makes the robot ready
to switch to the manual mode or teaching-check mode.

(2) Port address

Input pin 11 on connector CN5

(3) Application
1) You use this signal to switch the robot operation mode
to the automatic mode, individual mode, manual mode, or
teaching-check mode.
2) You may AND-gate this signal with signals sent from the
safety fence.

(4) Signal operation and conditions

1) As listed in Table 2-3, the available operation modes
will be limited according to this signal status (open or
closed).
2) If this signal line changes from ON (closed) to OFF
(open) when the robot is in operation, the robot
controller stops the current operation and goes out of
the currently selected operation mode.
3) If this signal line changes from OFF (open) to ON
(closed) when the robot is in operation, the robot
controller stops the current operation and goes out of
the currently selected operation mode and displays error
code ERROR483.

Table 2-3. Relationship between the Teaching Disable Input and the Operation Modes
Teaching disable input status
Operation mode Description
ON (closed) OFF (open)
Allows you to operate the robot
Manual mode manually from the operating panel NA A
or teaching pendant.

Allows you to check the programmed

Teaching-check mode NA A
running with the teaching pendant.

Allows you to operate the robot

manually, check the running
Individual mode program, or run the robot in auto- A NA
matic mode from the external
equipment.
Allows you to run the robot in the
Internal automatic mode automatic mode from the operating A NA
panel or teaching pendant.
Allows you to run the robot in the
External automatic mode automatic mode from the external A NA
equipment.
A: Available, NA: Not available

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PART 2. OPERATING THE ROBOT IN INDIVIDUAL MODE

[2] Switch to individual mode (input) (1) Function

1) Turning this signal line ON (closed) makes the robot

ready to switch to the individual mode.
2) Turning this signal line OFF (open) makes the robot ready
to switch to the automatic mode.

(2) Port address

Input pin 43 on terminal board TB1

(3) Application
You use this signal to switch the robot operation mode to
the automatic mode or individual mode.

(4) Signal operation and conditions

1) As listed in Table 2-4, opening or closing this signal
line limits the available operation modes.
2) You can use this signal line effectively only if the
Teaching disable signal line is ON (closed). If OFF
(open), this signal line does not go into effect.
3) If this signal line changes from ON (closed) to OFF
(open) when the robot is in operation, the robot
controller stops the current operation and goes out of
the currently selected operation mode and displays error
code ERROR997.
4) If this signal line changes from OFF (open) to ON
(closed) when the robot is in operation, the robot
controller stops the current operation and goes out of
the currently selected operation mode and displays error
code ERROR998.

Table 2-4. Relationship between the Teaching Disable Input and the Operation Modes
Switch to individual mode input status
Operation mode Description
ON (closed) OFF (open)
Allows you to operate the robot
manually, check the running pro-
Individual mode gram, or run the robot in automatic A NA
mode from the external equipment.
Allows you to run the robot in the
Internal automatic NA A
automatic mode from the operating
mode
panel or teaching pendant.
Allows you to run the robot in the
External automatic NA A
automatic mode from the external
mode
equipment.
A: Available, NA: Not available

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 Chapter 1. Signals Needed for Managing the Robot in Individual Mode

[3] Operation ready start (input) (1) Function

Turning this signal line ON (closed) allows the robot
controller to detect signals shown in the figure below and
switch the robot to the individual mode.

(2) Port address

Input pin 22 on terminal board TB1

(3) Application
Before turning on Operation ready start signal line, turn
the following signal lines ON (closed):
1) Teaching disable signal (input)
If this signal is OFF (open), the robot controller cannot
enter the individual mode.
2) Switch to individual mode signal (input)
If this signal is OFF (open), the robot controller cannot
enter the individual mode.

NOTE: If Switch to individual mode signal is OFF (open) in

powering-on sequence, the robot may start in the default
automatic mode. (Refer to the OWNER'S MANUAL A, p. 5-29.)

Figure 2-4 shows the input timing scheme of these signals.

Teaching disable ON (closed)

OFF (open)

Operation ready start ON (closed)

OFF (open)
Enters the individual mode.
Switch to individual mode ON (closed)
OFF (open)

The motor is turned on.

Power on motor ON (closed)
OFF (open)

:The plain line represents the signal ON/OFF status; :the bold line represents the robot operation.

Figure 2-4. Timing Scheme Example of Operation ready start Signal and Related Signals

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PART 2. OPERATING THE ROBOT IN INDIVIDUAL MODE

[4] Select axis, +J1 to -J6 (input) (1) Function

Each of these signals manually inches the robot in joint
mode, X-Y mode or tool mode from the external control panel.

(2) Port address

Input pins 25 through 36 on terminal board TB1

(3) Application
In the individual mode, turning this signal ON (closed)
inches the corresponding axis, provided that any of the
inching signals (in the joint mode, X-Y mode, or tool mode)
should be turned ON (closed).

J1 axis forwards
Robot on halt in joint mode Robot on halt
Robot status

Switch to ON (closed)
individual mode OFF (open)

Joint mode ON (closed)

OFF (open)

Select axis,+J1 ON (closed)

(input) OFF (open)

Figure 2-5. Inching Signals

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 Chapter 1. Signals Needed for Managing the Robot in Individual Mode

[5] Step forwards (input) (1) Function

Step backwards (input) Step forwards or Step backwards signal runs the robot by a
single step of the currently pointed program or by the imme-
diately preceding program step, respectively.

(2) Port address

Input pins 37 and 38 on terminal board TB1

(3) Application
1) Turning Step forwards or Step backwards signal ON
(closed) in the individual mode executes a single step of
the currently selected program or the immediately
preceding program step, respectively.
2) Even if the robot is in midway of the execution of the
single step, opening the signal line immediately stops
the robot.
3) To make these signals effective, Enter single-step mode
signal should be ON (closed) beforehand.

Shown below is an example of the timing scheme between these

lines.

Ready to start Runs a single step of program. Robot on halt

Robot status

Enter single-step ON (closed)

mode
OFF (open)

Step forwards ON (closed)

OFF (open)

Figure 2-6. Step Forwards (Backwards) Signal Lines

NOTE 1: If Step forwards signal remains ON (closed), the

robot can not start to run the next step. It is needed to
switch the signal OFF and ON for the next step.

NOTE 2: If an ERROR31 error (program number not selected)

occurs, make the robot enter the individual mode again,
select the program number, close the program reset line, and
then turn on Step forwards or Step backwards signal.
NOTE 3: If any program is selected when the "END" line of
a program is executed after repetition of Step forwards
signals, the robot runs from the beginning of the selected
program.

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PART 2. OPERATING THE ROBOT IN INDIVIDUAL MODE

[6] Increase speed in individual (1) Function

mode (input)
Increase speed in individual mode or Decrease speed in
Decrease speed in individual individual mode signal increases or decreases the current
mode (input) robot speed manually from the external equipment,
respectively.

(2) Port address

Input pins 41 and 42 on terminal board TB1

(3) Application
1) Turning Increase speed in individual mode (Decrease speed
in individual mode) signal ON (closed) and OFF (open) in
the individual mode increases (decreases) the current
robot speed by 10 points.
2) The speed change range is from 10 to 100 points in 10
point increments.
3) SP100 in the individual mode is equivalent to SP10 in the
automatic mode.
4) To make these signals effective, all of the mode
selection signal lines should be OFF (open) beforehand.

SP20 SP30 SP40

Preset robot speed

Increase speed in ON (closed)

individual mode OFF (open)

Figure 2-7. Increasing Preset Robot Speed in Individual Mode

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 Chapter 1. Signals Needed for Managing the Robot in Individual Mode

[7] Select program number (1) Function

(input)
Allows you to choose a program to be run from the external
equipment.

(2) Port address

Input pins 1 to 8 on terminal board TB1

(3) Application
1) As shown in the OWNER'S MANUAL A, Table 5-6 on page 5-32,
the program number is defined by 8 bits of 20 to 26 plus a
parity bit.
2) You should interpret a program number in decimal notation
as that in binary notation for entering the program
number.
3) Closing the signal line yields a binary value "1":
opening it yields "0." The parity is odd.
4) As shown in Figure 2-8, you should enter a program number
before at least 1 ms from the start of program (or entry
of Step forwards signal) and keep the signal status until
the robot controller starts the robot. Otherwise,
ERROR33 (parity error in the program number) occurs and
the robot no longer runs.

Ready to start or
in the previous
running cycle A single cycle of operation
Robot status

Start program (input) ON (closed)

or Step forwards (input)
OFF (open)

1 ms or more required
Select program number ON (closed)
20 to 26 and 1 parity bit
OFF (open)

Figure 2-8. Select program number Signal

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PART 2. OPERATING THE ROBOT IN INDIVIDUAL MODE

[8] Start program (input) (1) Function

Starts the program from the external equipment.

(2) Port address

Input pin 18 on terminal board TB1

(3) Application
In the individual mode, turning this signal line from OFF
(open) to ON (closed) with Enter single-cycle mode signal
being ON will control the robot in any of the following four
manners (1 through 4) depending upon the current robot
status. It is mandatory to change this signal line from OFF
to ON once.
1 If you turn Start program signal ON when the robot is
ready to start or on halt after execution of a single
cycle of program, the robot controller reads a program
number preset by Select program number signal, executes
the program by one cycle, then stops.

A single cycle A single cycle

Ready to start of operation Ready to start of operation
Robot status

Enter single- ON (closed)

cycle mode
OFF (open)

Start program ON (closed)

OFF (open)
50 ms or more required

Figure 2-9. Operation 1 by Start program Signal

NOTE : If Start program signal remains ON as shown by a

dotted line in Figure 2-9, the subsequent cycle will not
run. You need to turn this signal OFF and then ON for every
running cycle.

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 Chapter 1. Signals Needed for Managing the Robot in Individual Mode

2 If you turn Start program signal from OFF to ON in the

current execution cycle and keep it ON at the start of
the subsequent cycle, the robot controller executes the
subsequent cycle immediately following the current cycle.
As in operation 1, this requires a new program number
preset by Select program number signal.

Current cycle Subsequent cycle

Ready to start of operation of operation
Robot status

Enter single- ON (closed)

cycle mode
OFF (open)

Start program ON (closed)

OFF (open)

Figure 2-10. Operation 2 by Start program Signal

NOTE 1: In both of operations 1 and 2, you should enter

Select program number signal at least 1 ms before turning
Start program signal ON. If the program number entry
delays, the robot controller detects an abnormal state,
displays error code ERROR33 (Parity error for imported
program selection) on the operating panel or the teaching
pendant, and then stops the robot.
To prevent this type of error, the circuitry for outputting
Start program signal should include an AND-gate in your
sequencer to check that the program number entry has been
ready so that Start program signal will follow Select
program number signal. For details, refer to the OWNER'S
MANUAL A, Subsection 3.4.3, "Selection of program number
(input)," Sequence Circuit (on page 5-32).
NOTE 2: Start program signal should be kept ON until the
start of the subsequent cycle. If the signal is OFF at the
start time of the subsequent cycle as shown by a dotted line
in Figure 2-10, the subsequent cycle will not start. Select
program number signal should also be kept ON until the start
of the subsequent cycle.

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PART 2. OPERATING THE ROBOT IN INDIVIDUAL MODE

3 If you turn Start program signal from OFF to ON when the

robot is on halt due to Step stop signal given during
execution of program, the robot controller restarts the
program from the Halt following the current on-halt step
and then stops upon execution of the end step.
In this operation, no Select program number signal is
required. If you enter any program number different from
the current one, it will be ignored.

A single cycle of operation

Robot status
Steps already Steps not
run Step on halt run yet

Enter single-cycle mode ON (closed)

OFF (open)

Start program ON (closed)

OFF (open)

Step stop ON (closed)

OFF (open)

Robot in operation ON (closed)

(output) OFF (open)

Figure 2-11. Operation 3 by Start program Signal

NOTE : If you want to quit steps following the on-halt step

and start an arbitrary program from the first step, enter
Reset program, Select program number, and Start program
signals. For details, refer to the OWNER'S MANUAL A,
Subsection 3.4.5, "Program reset (input)" (on page 5-40).

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 Chapter 1. Signals Needed for Managing the Robot in Individual Mode

4 If you turn Start program signal from OFF to ON when the

robot is on halt due to Halt signal given during
execution of program, the robot controller restarts the
program from the step immediately following the current
on-halt step and then stops upon execution of the end
step.
In this operation, no Select program number signal is
required. If you enter any program number different from
the current one, it will be ignored.

A single cycle of operation

Robot status
Steps already Step on Steps not
run halt run yet

Enter single-cycle mode ON (closed)

OFF (open)

Stop program ON (closed)

OFF (open)

Halt ON (closed)
OFF (open)

Robot in operation ON (closed)

(output) OFF (open)

Figure 2-12. Operation 4 by Start program Signal

NOTE : If you want to quit steps following the on-halt step

and start an arbitrary program from the first step, enter
Reset program, Select program number, and Start program
signals. For details, refer to the OWNER'S MANUAL A,
Subsection 3.4.5, "Program reset (input)" (on page 5-40).

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PART 2. OPERATING THE ROBOT IN INDIVIDUAL MODE

1.4 Application of dedicated This section describes the output signals relating to the
output signals individual mode.

[1] Robot on halt (output) (1) Function

Tells the external equipment that the robot is on halt.

(2) Port address

Output pin 33 on terminal board TB1

(3) Application
You use this signal to tell the external equipment that the
robot is on halt and ready to start.

(4) Comes ON when:

The robot stops since the running program is interrupted by
some signals such as Halt.

(5) Goes OFF when:

The robot restarts, the current mode is changed, or the
current program number is changed.

Running On halt Running

Robot status

Robot on halt ON (closed)

OFF (open)

Halt (input) ON (closed)

OFF (open)

Start program (input) ON (closed)

OFF (open)

Figure 2-13. Timing Scheme of Robot on halt Signal

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 Chapter 1. Signals Needed for Managing the Robot in Individual Mode

[2] Robot in individual mode (1) Function

(output)
Tells the external equipment that the robot is in the
individual mode.

(2) Port address

Output pin 34 on terminal board TB1

(3) Application
You use this signal to tell the external equipment that the
robot is in the individual mode.

(4) Comes ON when:

The robot enters the individual mode by receiving Teaching
disable, Switch to individual mode, and Operation ready
start input signals.

(5) Goes OFF when:

The robot goes out of operation mode due to Switch to
individual mode signal going OFF or any error detected.

Enters the individual mode by receiving Teaching

disable, Switch to individual mode, and Operation
ready start signals.

Robot in ON (closed)
individual mode OFF (open)
Goes out of operation mode due to Switch
to individual mode signal going OFF or any
error detected.

Figure 2-14. Timing Scheme of Robot in individual mode Signal

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PART 2. OPERATING THE ROBOT IN INDIVIDUAL MODE

[3] Speed in individual mode, (1) Function

tens, 20 to 23 (output)
Tells the external equipment the current speed preset in the
individual mode.

(2) Port address

Output pins 35 through 38 on terminal board TB1

(3) Application
You use these signals to tell the external equipment the
current speed preset in the robot controller.

(4) Comes ON when:

The current speed is preset in the controller. These signal
lines post the current speed in increments of 10 points as
listed in Table 2-5.

Table 2-5. Relationship between the Robot Speed and their Signal Values

Speed in the individual mode (output)

SP (%)
23 22 21 20
10 0 0 0 1
20 0 0 1 0
30 0 0 1 1
40 0 1 0 0
50 0 1 0 1
60 0 1 1 0
70 0 1 1 1
80 1 0 0 0
90 1 0 0 1
100 1 0 1 0
NOTE : "1" denotes ON (binary value 1).

(5) Goes OFF when:

The robot goes out of the individual mode.

When the speed (SP) is set at 50, these four

signal lines are as shown below.
Out of individual mode

Speed in individual ON (closed)

mode, tens, 20 OFF (open)

Speed in individual ON (closed)

mode, tens, 21 OFF (open)

Speed in individual ON (closed)

mode, tens, 22 OFF (open)

Speed in individual ON (closed)

mode, tens, 23 OFF (open)

Figure 2-15. Speed Expressed by Speed in individual mode Signals

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 Chapter 1. Signals Needed for Managing the Robot in Individual Mode

[4] In single-cycle mode (1) Function

(output)
Tells the external equipment that the robot is in the single-
cycle program mode.

(2) Port address

Output pin 39 on terminal board TB1

(3) Application
You use this signal to tell the external equipment that the
robot in the individual mode enters the single-cycle program
mode.

(4) Comes ON when:

The robot enters the single-cycle program mode by receiving
Enter single-cycle mode signal (input) in the individual
mode.

(5) Goes OFF when:

The robot goes out of the single-cycle program mode or
individual mode.

When Enter single-cycle program mode (input) is turned ON

In single-cycle program mode ON (closed)

OFF (open)

When Enter single-cycle mode signal (input) is

turned OFF or the robot goes out of the individual
mode

Figure 2-16. In single-cycle mode Signal

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PART 2. OPERATING THE ROBOT IN INDIVIDUAL MODE

[5] In single-step mode (output) (1) Function

Tells the external equipment that the robot is in the single-
step program mode.

(2) Port address

Output pin 40 on terminal board TB1

(3) Application
You use this signal to tell the external equipment that the
robot in the individual mode enters the single-step program
mode.

(4) Comes ON when:

The robot enters the single-step program mode by receiving
Enter single-step mode signal (input) in the individual
mode.

(5) Goes OFF when:

The robot goes out of the single-step program mode or indi-
vidual mode.

When Enter single-step mode signal (input) is turned ON

In single-step mode ON (closed)

OFF (open)

When Enter single-step mode signal (input) is turn-

ed OFF or the robot goes out of the individual mode

Figure 2-17. In single-step mode Signal

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 Chapter 1. Signals Needed for Managing the Robot in Individual Mode

[6] In joint mode (output) (1) Function

Tells the external equipment that the robot is in the joint
mode.

(2) Port address

Output pin 41 on terminal board TB1

(3) Application
You use this signal to tell the external equipment that the
robot in the individual mode enters the joint mode.

(4) Comes ON when:

The robot enters the joint mode by receiving Enter joint
mode signal (input) in the individual mode.

(5) Goes OFF when:

The robot goes out of the joint mode or individual mode.

When Enter joint mode signal (input) is turned ON

In joint mode ON (closed)

OFF (open)

When Enter joint mode signal (input) is

turned OFF or the robot goes out of the
individual mode

Figure 2-18. In joint mode Signal

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PART 2. OPERATING THE ROBOT IN INDIVIDUAL MODE

[7] In X-Y mode (output) (1) Function

Tells the external equipment that the robot is in the X-Y
mode.

(2) Port address

Output pin 42 on terminal board TB1

(3) Application
You use this signal to tell the external equipment that the
robot in the individual mode enters the X-Y mode.

(4) Comes ON when:

The robot enters the X-Y mode by receiving Enter X-Y mode
signal (input) in the individual mode.

(5) Goes OFF when:

The robot goes out of the X-Y mode or individual mode.

When Enter X-Y mode signal (input) is turned ON

In X-Y mode ON (closed)

OFF (open)

When Enter X-Y mode signal (input) is

turned OFF or the robot goes out of the
individual mode

Figure 2-19. In X-Y mode Signal

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 Chapter 1. Signals Needed for Managing the Robot in Individual Mode

[8] In tool mode (output) (1) Function

Tells the external equipment that the robot is in the tool
mode.

(2) Port address

Output pin 43 on terminal board TB1

(3) Application
You use this signal to tell the external equipment that the
robot in the individual mode enters the tool mode.

(4) Comes ON when:

The robot enters the tool mode by receiving Enter tool mode
signal (input) in the individual mode.

(5) Goes OFF when:

The robot goes out of the tool mode or individual mode.

When Enter tool mode signal (input) is turned ON

In tool mode ON (closed)

OFF (open)

When Enter tool mode signal (input) is

turned OFF or the robot goes out of the
individual mode

Figure 2-20. In tool mode Signal

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PART 2. OPERATING THE ROBOT IN INDIVIDUAL MODE

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 Chapter 2. Basics for the Individual Mode

Chapter 2
Basics for the Individual Mode

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PART 2. OPERATING THE ROBOT IN INDIVIDUAL MODE

2.1 Entering the individual

mode
[1] The operation is required when: You want to handle the robot from the external equipment
(e.g., sequencer).

[2] How to enter the individual mode Manage the signals as shown in Table 2-6.

Table 2-6. Signal Management for Entering the Individual Mode

Step Signal status

1 Turn Teaching disable Teaching disable
signal ON. ON (closed)
OFF (open)

2 Turn Switch to individual Switch to individual mode

mode signal ON. ON (closed)
OFF (open)

3 Turn Power on motor signal Power on motor

ON. ON (closed)
OFF (open)

4 Turn Operation ready Operation ready start

start signal ON. ON (closed)
OFF (open)
The robot enters
the individual mode.

NOTE : If any error is detected in the robot controller before you turn Operation ready
start signal ON, remove the error and then repeat the above steps from the beginning.

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 Chapter 2. Basics for the Individual Mode

2.2 Setting the speed

[1] Purpose of this operation This operation allows you to enter the robot speed to be
applied in the individual mode into the robot controller
from the external control panel. The entry unit is
expressed in percentage of the maximum speed allowed in the
individual mode. Once you set the speed, it remains
effective until any other speed setting is made.
(1) The maximum speed allowed in the individual mode is 10%
of the maximum speed you have set in the automatic mode.
(Refer to Figure 2-21.)
(2) The default speed in the individual mode is 10% of the
maximum speed allowed in the individual mode, that is,
1% of the rated speed.
(3) For every speed setting, the robot controller
automatically sets the acceleration rate that is
obtained by dividing the square of the speed (%) by 100,
that is, (speed)2/100. For instance, if the set speed is
20, then the acceleration rate is 4. The minimum
acceleration rate is 1(%). If the calculation yields an
acceleration rate less than 1, it is rounded up to 1
automatically.

NOTE : If the individual mode is switched to any other

mode, the speed is always set to 10% (SP10).

The speed set at 100% in the individual mode corresponds to 10% of the maximum
speed allowed in the automatic mode.

100% of the rated speed

10% of the rated speed

(= 100% of the maximum speed
allowed in the individual mode)

Automatic Manual Individual

mode mode mode

Figure 2-21. Speed Rates Different in Each Mode

[2] This operation is required when: You want to change the robot speed in the individual mode.

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PART 2. OPERATING THE ROBOT IN INDIVIDUAL MODE

[3] How to change the robot speed Manage the signals as shown in Table 2-7.

Table 2-7. Signal Management for Changing the Robot Speed

Step Signal status

1 Turn OFF all signal lines
relative to the mode selec-
tion. Increase speed in individual
mode
2 Turn Increase speed in indi- ON (closed)
vidual mode or Decrease speed
OFF (open)
in individual mode signal from
OFF to ON.
The speed increases (decreases) SP10 SP20
by 10.

NOTE : If you want to increase or decrease the speed further, repeat step 2. The speed
increases or decreases in increments of 10 per step 2. The speed should be within the
range from 10 to 100.

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 Chapter 2. Basics for the Individual Mode

2.3 Powering the motor ON

[1] Purpose of this operation This operation allows you to power the motor on.

[2] This operation is required when: You want to run the robot in any of the inching, single-step
program operation, and single-cycle program operation.
[3] How to power the motor ON Manage the signals as shown in Table 2-8.

Table 2-8. Signal Management for Powering the Motor ON

Step Signal status

1 Turn Power on motor

signal ON. Power on motor
ON (closed)
OFF (open)

Operation ready start

2 Turn Operation ready ON (closed)
start signal ON. OFF (open)
The servomotor is
powered ON.

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PART 2. OPERATING THE ROBOT IN INDIVIDUAL MODE

2.4 Inching in the individual

mode
[1] Purpose of this operation This operation allows you to run the robot directly from the
external control panel. In this operation are the joint
mode, X-Y mode and tool mode available.
NOTE : The running directions in these three modes are
explained in the OWNER'S MANUAL A, Figures 2-17 through 2-19
on pages 2-14 through 2-16.

[2] This operation is required when: You want to travel the robot to the desired position.

CAUTION
Set the robot speed below 20% of the maximum speed.
Running the robot at high speed may cause the robot to
collide against something, resulting in a damaged robot.

[3] How to inch the robot in joint Manage the signals as shown in Table 2-9.
mode The robot should be placed in the individual mode
beforehand.

Table 2-9. Signal Management for Inching the Robot in Joint Mode

Step Signal status

1 Turn Enter joint mode Enter joint mode

signal ON. ON (closed) 1
OFF (open)
2 Turn Select axis signal
2 Start of 3 End of
ON.
inching inching
(for example, Select axis,
+J1) Select axis, +J1
ON (closed)
3 Turn Select axis signal OFF (open)
OFF.
(for example, Select axis,
+J1) Movement of +J1

NOTE : When running in the + or - direction, the robot will ignore the opposite direction
signal on the same axis if received. If the robot is in +J1 operation, it will ignore
Select axis, -J1 signal if received, so no -J1 operation will take place.

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 Chapter 2. Basics for the Individual Mode

Table 2-10. Signal Definition in Inching for the Axis, Mode and Running Direction

Available modes Axis Inching forward Inching backward

1 Joint mode 1st axis [+J1] [-J1]
2nd axis [+J2] [-J2]
3rd axis [+J3] [-J3]
4th axis [+J4] [-J4]
2 X-Y mode X axis [+J1] [-J1]
Y axis [+J2] [-J2]
Z axis [+J3] [-J3]
T axis [+J4] [-J4]
3 Tool mode TX axis [+J1] [-J1]
TY axis [+J2] [-J2]
TZ axis [+J3] [-J3]
TT axis [+J4] [-J4]

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PART 2. OPERATING THE ROBOT IN INDIVIDUAL MODE

2.5 Running the robot by

a single program step
[1] Purpose of this operation This operation allows you to run the robot forwards or
backwards by a single program step. For details about
forward and backward, refer to Table 2-11. The restrictions
are given in Table 2-12.

WARNING
Before starting this operation, be sure to make everyone
get out of the robot moving area. Upon start of this
operation, the robot may run.

Table 2-11. Forward or Backward Movement in Single-step Program Operation

Forward or backward Function

1 Step forwards Executes any single step of your program (PR0) forwards.
2 Step backwards Returns to the most recently executed program step (and executes
it if it contains a motion command).
NOTE : You can return execution of your program by a maximum of 100 steps including non-
action program steps.

Table 2-12. Restrictions on Single-step Program Operation

Restrictions
1 The maximum speed is restricted to 10% (SP10) or below of the maximum speed allowed in
the automatic mode.
2 Each run signal should be kept ON until completion of the single-step program
operation; otherwise, the robot will not run.

[2] This operation is required You want to check whether your program is correctly written
when: or taught for positioning (PTP) or continuous path (CP) of
your robot.

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 Chapter 2. Basics for the Individual Mode

[3] Notes for single-step program You should know the following execution rules:
operation
(1) The step backwards operation returns control to a step
executed most recently by step forwards operation. As
shown in Figure 2-22, if you have jumped your program
with a jump command, the step backwards operation
returns control to the most recently executed jump
command.

Step forwards Step backwards

Running at step 20 Cannot return to

0010 ME E step 10
0020 MV E
0030 JI 2–10
0040 ON 1
0050 JMP 20
0060 LABL 10
0070 ON 2
0080 S I0001=I0001+1
0090 LABL 20
0100 MV E
Run
Not run (only indication)

Figure 2-22. Execution Order in Single-step Program Operation

(2) In the step backwards operation, the controller executes

motion commands if any as shown by in Figure 2-22,
but does not execute any other commands including
input/output command and calculation command (except for
tool definition commands) as shown by . The
controller displays those unexecuted commands on the
screen. (For motion commands, refer to the OWNER'S
MANUAL B, Section 8-2, "Motion Commands" (on page 8-6).)
The controller executes tool definition commands and
make them effective. (For tool definition commands,
refer to the OWNER'S MANUAL B, Section 9-2, "Definition
of Tool" (on page 9-19).)
In the step forwards operation following the step
backwards operation, those motion commands and tool
definition commands will be executed as well.
(3) If the robot enters the step forwards operation from the
program step in midway of your program, the step
backwards operation cannot return control to the most
recently executed step. (Refer to Figure 2-22.)
(4) If you set step backwards operation in a subroutine, the
control returns only to the beginning of the subroutine.

2-35
PART 2. OPERATING THE ROBOT IN INDIVIDUAL MODE

[4] How to run the robot forwards by Manage the signals as shown in Table 2-13.
a single program step You should set the robot speed with Increase speed in
individual mode or Decrease speed in individual mode signal
beforehand.

Table 2-13. Signal Management for Running the Robot Forwards by a Single Program Step

Step Signal status

1 Turn Enter single-step Enter single-step mode
mode signal ON. ON (closed)
OFF (open)
2 Select the desired program Select program number 20 to 26
number with Select program ON (closed)
number signals. OFF (open)
Reset program
3 Turn Reset program signal ON (closed)
ON. OFF (open)
Start of step
forwards operation End of step
Step forwards forwards
4 Turn Step forwards signal ON (closed) operation
ON. OFF (open)

Execution
of one step

NOTE : Every time a sequence of step forwards operation is

completed, the robot controller waits for Step forwards
signal to go off. Unless you turn Step forwards signal from
OFF to ON again, the controller cannot advance to the next
step of the program.
NOTE : Even if you repeat the step forwards operation with
keeping Reset program signal ON, the controller can execute
only the beginning step of the program.
NOTE : If the number of a program you want to run next has
been selected before the robot executes the ending step of
the current program by the step forwards operation, the
controller will execute the selected program subsequently.

2-36
 Chapter 2. Basics for the Individual Mode

[5] How to run the robot backwards Manage the signals as shown in Table 2-14.
by a single program step
You should run the robot forwards in the step forwards
operation beforehand.

Table 2-14. Signal Management for Running the Robot Backwards by a Single Program Step

Step Signal status

1 Advance the program with
Step forwards signal. Step forwards ON (closed)
OFF (open)
Execution of Start of step End of step
one step backwards backwards
2 Turn Step forwards signal operation operation
OFF and Step backwards Step backwards ON (closed)
signal ON. OFF (open)

NOTE : Every time a sequence of step backwards operation is

completed, the robot controller waits for Step backwards
signal to go off. Unless you turn Step backwards signal
from OFF to ON again, the controller cannot return to the
previous step of the program.
NOTE : During step backwards operation, Enter single-step
mode signal should be kept ON.

2-37
PART 2. OPERATING THE ROBOT IN INDIVIDUAL MODE

2.6 Running the robot by

a single program cycle

[1] Purpose of this operation This operation allows you to run the robot by a single
program cycle from the external equipment.

WARNING
Before starting this operation, be sure to read the
OWNER'S MANUAL A or B, For Safe Use of Your Robot, Section
3.7, "Precautions during automatic operation" (on page
12). Upon start of this operation, the robot runs.

[2] This operation is required when:

You want to check how your robot runs in your program from
the external equipment (e.g., sequencer).

2-38
 Chapter 2. Basics for the Individual Mode

[3] How to run the robot by a single Manage the signals as shown in Table 2-15.
program cycle
You should set the robot speed beforehand.

CAUTION
Set the robot speed below 20% of the maximum speed.
Running the robot at high speed may cause the robot to
collide against something, resulting in a damaged robot.

Table 2-15. Signal Management for Running the Robot by a Single Program Cycle
(Example: Executing the beginning step of program No. 2)

Step Signal status

1 Turn Enter single-cycle Enter single-cycle mode
mode signal ON. ON (closed)
OFF (open)

Select program number 21

2 Select the desired program ON (closed)
number with Select program OFF (open)
number signals.(Example:
Selecting program No. 2) Parity bit 21
ON (closed)
OFF (open)
3 Turn Reset program signal
ON. Reset program
ON (closed)
OFF (open)
Start program Start of program
4 Turn Start program signal ON (closed)
ON. OFF (open)

Single program
cycle operation

NOTE : To run the program again, repeat 4 above.

2-39
PART 2. OPERATING THE ROBOT IN INDIVIDUAL MODE

2.7 Escaping from individual

mode

[1] Purpose of this operation This operation allows the robot to escape from the
individual mode and become ready to enter any other mode.

[2] This operation is required when: You want to place the robot in any other mode (automatic
mode, external mode or manual mode).

[3] How to escape from the Manage the signals as shown in Table 2-16.
individual mode

Table 2-16. Signal Management for Escaping the Robot from the Individual Mode

Step Signal status

1 Turn Switch to individual Switch to individual mode
mode signal OFF. ON (closed)
OFF (open)
The robot stops and
escapes from the
individual mode.

NOTE : If Switch to individual mode signal goes OFF, the controller tells the external
equipment the mode switching by issuing error code ERROR989.

2-40
 PART 3

DeviceNet COMMUNICATIONS AND ITS INTERFACE

1
 Contents

Chapter 1. Overview .............................................................................................................................. 3-1

1.1 Features ...................................................................................................................................................... 3-2
1.2 Typical system configuration................................................................................................................................ 3-2

Chapter 2. Specifications of the controller .............................................................................................. 3-3

2.1 Appearance and component names .................................................................................................................... 3-3
2.2 Component functions .......................................................................................................................................... 3-4
2.3 Circuits of the parallel I/O port.............................................................................................................................. 3-9
[ 1 ] Non-specific input circuits ........................................................................................................................ 3-9
[ 2 ] Specific input circuits .............................................................................................................................. 3-10
[ 3 ] Non-specific or specific output circuits.................................................................................................... 3-11
[ 4 ] Output circuits for Robot stop signal ...................................................................................................... 3-12
[ 5 ] Output circuits for Deadman switch signal.............................................................................................. 3-13

Chapter 3. Bit Mapping in the Link Relay Area .................................................................................... 3-14

Chapter 4. I/O Commands and I/O Status Display .............................................................................. 3-15

4.1 I/O commands.................................................................................................................................................... 3-15
4.2 I/O status display................................................................................................................................................ 3-16
[ 1 ] How to use the port search & display function........................................................................................ 3-16
[ 2 ] How to use the 1st-slot display function ................................................................................................ 3-17

Chapter 5. Error Code Tables and EDS File ........................................................................................ 3-24

5.1 Error Code Tables .............................................................................................................................................. 3-24
5.2 Monitoring the Network Status .......................................................................................................................... 3-27
5.3 EDS File (Electronic Data Sheet) ...................................................................................................................... 3-28

2
 Chapter 1. Overview

Chapter 1. Overview
This robot controller is a slave unit for serial communications meeting the open
network DeviceNet specification. Use of the robot controller easily enables I/O
data communications with varieties of field units of many makers.

DeviceNet Operational Cautions

(1) Always conduct switch settings and connector terminal
connection after turning the controller power supply
(including communication power supply) OFF.

(2) Install terminators on both ends of the main line.

(3) If the same node address of the network is used to

other nodes, a overlapping node address failure occurs,
interrupting the normal communications.

(4) The baud rate on a network must be identical to all

nodes on that network.

(5) The EDS (Electronic Data Sheet) file is the important

DeviceNet connection information which is needed at
creating the scan list. The master refers to this EDS file
for automatically recognizing the controller.

3-1
PART 3. DeviceNet COMMUNICATIONS AND ITS INTERFACE

1.1 Features
(1) Satisfying requirements of the DeviceNet
The DeviceNet is an internationally open network
developed by the Allen-Bradley Corporation, (herein
abbreviated as AB Corp.) for connecting various field
units (sensors, actuators, etc.).
(2) Connectable of units supplied by many makers
As the communication specifications are open, it can be
connected to varieties of units manufactured by many
makers as long as they meet the DeviceNet
specifications.
(3) Easy wiring and maintenance
Use of the 5-core special cable and communication
connectors permits easy wiring between nodes
(communication units) as well as disconnection and
reconnection with the network, making large cost
reduction in the wiring and maintenance possible. Easy
unit replacement upon failure of the system is an
additional feature.
(4) Sufficient number of I/O's
The controller is capable of handling a vast quantity of
I/O data as listed in Table 3-1. Further, increase or
decrease of the number of non-specific I/O's is possible
in the 8 steps.
Table 3-1. Number of I/O's
Number of I/O's
Specific 32
Transmission
Non-specific 24 to 240
Specific 24
Receive
Non-specific 16 to 232

1.2 Typical System Configuration

Figure 3-1 illustrates a typical system configuration.

PLC (programmable controller)

Trunk line (main line) Tap (relay) (See Note.)

Drop line
(branch line)

Control panel Field unit This controller FA computer

Note : As the shield type connector is used for the controller, install a tap (relay)
before drop lines. Otherwise, correct communications cannot be ensured.
Recommended tap
Maker: AB Corp.
Model: 1485P-P2T5-T5

Figure 3-1. Typical System Configuration

3-2
 Chapter 2. Specifications of the controller

Chapter 2. Specifications of the controller

2.1 Appearance and Component Names
Figure 3-2 shows the appearance of the DeviceNet portion on the controller rear
panel and component names.

Controller Rear Panel

VISION VALVE ENCODER
(CN8) (CN4) (CN9)

DeviceNet PARALLELE I/O

MODULE (CN5) TR1 MS NS

MOTOR
FU2
(0.5A) DIPSW (CN10)

4 6 5 2 1 3
No. Name
1 Status indicator LEDs
2 Dip switches
3 Communication connector
4 Parallel I/O connector
5 CPU normal output protecting fuse
6 Transistor for CPU normal output

Figure 3-2. Appearance of DeviceNet Portion and Component Names

3-3
PART 3. DeviceNet COMMUNICATIONS AND ITS INTERFACE

2.2 Component Functions

Functions of components 1 through 6 shown in Figure 3-2 are explained.

2.2.1 Status indicator LEDs

Each of the MS LED and NS LED have green and red LEDs. Each LED has the status of
ON, flashing and OFF. Table 3-2 lists contents of the LED status.

Table 3-2. Contents of LED Status

LED name Color State Definition Content
MS Normal state • Unit is normal.
Green
( Module
Status ) Non set state • Under reading the Dip switch settings

Error by a failure • Hardware error (Failure of the

Red controller is likely.)
Error by a wrong setting • Wrong Dip switch settings, etc.
• No power is supplied.
− Power OFF • Under data resetting.
• Waiting for initial process.
MS Communication connection Normal network status(Communication line is connected.)
complete
( Network
Status ) Green Non-connection
to network
While network is normal, line is
not connected.
Communication failure (Unit detects
Communication a failure indicating disabled
failure of communications on the network.)
Red entire network • Overlapped node address
• Detection of bus OFF
Communication Communication failure (The unit detected
failure of a part an error on the network, indicating a
of network state where communications are impossible.
Network power • Not connected to the master
supply failure • Open circuit of communication line
:ON :Flashing :OFF
Note 1: Intervals of flashing LED is once every second.
Note 2: For details, see the Error Code Table.

3-4
 Chapter 2. Specifications of the controller

2.2.2 Dip switches

Use the Dip switches for setting the node address and baud rate as shown in Figure
3-3.
ON

1 2 3 4 5 6 7 8

Node address setting Baud rate setting

Figure 3-3. Dip Switches Setting
(1) Node address setting
Set a node address of the robot controller using Dip
switches 1 through 6 as instructed in Table 3-3. A
node address may be entered freely to 0 through 63,
unless it overlaps with other nodes within the network
including the master and slaves. If the node address
overlaps with other nodes, a node address overlap error
occurs, causing communications impossible.
Table 3-3. Node Address Setting By Dip Switches
Dip switch Dip switch
Node Node
1 2 3 4 5 6 address 1 2 3 4 5 6 address
(32) (16) (8) (4) (2) (1) (32) (16) (8) (4) (2) (1)
0 0 0 0 0 0 0 0 0 0 0 0 0 32
0 0 0 0 0 1 1 0 0 0 0 0 1 33
0 0 0 0 1 0 2 0 0 0 0 1 0 34
0 0 0 0 1 1 3 0 0 0 0 1 1 35
0 0 0 1 0 0 4 0 0 0 1 0 0 36
0 0 0 1 0 1 5 0 0 0 1 0 1 37
0 0 0 1 1 0 6 0 0 0 1 1 0 38
0 0 0 1 1 1 7 0 0 0 1 1 1 39
0 0 1 0 0 0 8 0 0 1 0 0 0 40
0 0 1 0 0 1 9 0 0 1 0 0 1 41
0 0 1 0 1 0 10 0 0 1 0 1 0 42
0 0 1 0 1 1 11 0 0 1 0 1 1 43
0 0 1 1 0 0 12 0 0 1 1 0 0 44
0 0 1 1 0 1 13 0 0 1 1 0 1 45
0 0 1 1 1 0 14 0 0 1 1 1 0 46
0 0 1 1 1 1 15 0 0 1 1 1 1 47
0 1 0 0 0 0 16 0 1 0 0 0 0 48
0 1 0 0 0 1 17 0 1 0 0 0 1 49
0 1 0 0 1 0 18 0 1 0 0 1 0 50
0 1 0 0 1 1 19 0 1 0 0 1 1 51
0 1 0 1 0 0 20 0 1 0 1 0 0 52
0 1 0 1 0 1 21 0 1 0 1 0 1 53
0 1 0 1 1 0 22 0 1 0 1 1 0 54
0 1 0 1 1 1 23 0 1 0 1 1 1 55
0 1 1 0 0 0 24 0 1 1 0 0 0 56
0 1 1 0 0 1 25 0 1 1 0 0 1 57
0 1 1 0 1 0 26 0 1 1 0 1 0 58
0 1 1 0 1 1 27 0 1 1 0 1 1 59
0 1 1 1 0 0 28 0 1 1 1 0 0 60
0 1 1 1 0 1 29 0 1 1 1 0 1 61
0 1 1 1 1 0 30 0 1 1 1 1 0 62
0 1 1 1 1 1 31 0 1 1 1 1 1 63
Note 1 : Switch OFF and ON are expressed by 0 and 1, respectively. (Before shipment from the factory,
all switches are set to 0.)
Note 2: Always carry out settings with the controller power (including the networkpower) set to OFF.

3-5
PART 3. DeviceNet COMMUNICATIONS AND ITS INTERFACE

(2) Baud rate setting

To match the baud rate with that of the network, use Dip switches 7 and 8 as
instructed in Table 3-4.
Table 3-4 Baud Rate Setting By Dip Switches

Table 3-4. Baud Rate Setting By Dip Switches

Dip switch
Baud rate
7 8
0 0 125Kbps

0 1 250Kbps

1 0 500Kbps

1 1 500Kbps
Note 1: Switch OFF and ON are expressed by 0 and 1, respectively. Both of the Dip
switches are set to 1 (=500 kbps) before shipment from the factory.
Note 2: Always carry out settings with the controller power (including the network
power) set to OFF.
Note 3: The baud rate must be identical to all nodes (master and slaves) within the
same network. Otherwise, slaves set to baud rates different from that of
the master cannot communicate and, further, failures may occur to
communications between correctly set nodes.

3-6
 Chapter 2. Specifications of the controller

2.2.3 Communication connector

The robot controller uses the shield type micro connector as the DeviceNet
communication connector. Figure 3-4 shows the pin assignment and lead colors of
the DeviceNet cable.

Pin No. Name Lead color

1 Drain Shield

2 1 2 V+ Red
5
3 V- Black
3 4
4 CAN_H White
Male type
5 CAN_L Blue

DeviceNet cable
Part No. Name
410141-1540 DeviceNet cable for connector connection (6m)

Note : To connect the connector, align the cutout in the female connector, press in
and turn clockwise. Because of the pin stroke reason, the female connector
cannot be inserted all the way, which is not a problem.

Figure 3-4. Communication Connector and Cable

3-7
PART 3. DeviceNet COMMUNICATIONS AND ITS INTERFACE

2.2.4 Parallel I/O port (CN5)

Figure 3-5 lists the pin assignment of the parallel I/O
ports on the controller.

Input/ Input/
No. Signal names ID Color No. Signal names ID Color
Output Output
1 Common IN (+24V) Input Black 26 Common IN (+24V) Input Lightblue
2 Common IN (+24V) Input Brown 27 Common IN (+24V) Input Lightblue
3 IN 1 Input Red 28 IN 2 Input Lightblue
4 IN 3 Input Black 29 IN 4 Input Pink
5 IN 5 Input Brown 30 IN 6 Input Pink
6 IN 7 Input Red 31 IN 8 Input Pink
7 IN 9 Input Orange 32 IN 10 Input Pink
8 IN 11 Input Yellow 33 IN 12 Input Pink
9 IN 13 Input Green 34 IN 14 Input Pink
10 IN 15 Input Blue 35 IN 16 Input Pink
11 Teaching disable Input Purple 36 0+24V(for Teaching disable) Input Pink
12 Robot stop Input Black 37 0+24V(for Robot stop) Input Gray
13 Robot on halt Output Brown 38 Robot on halt Output Gray
14 +24V Output Red 39 Common OUT (+24V) Output Gray
15 +24V Output Orange 40 Common OUT (+24V) Output Gray
16 OUT 1 Output Yellow 41 OUT 2 Output Gray
17 OUT 3 Output Green 42 OUT 4 Output Gray
18 OUT 5 Output Blue 43 OUT 6 Output Gray
19 OUT 7 Output Purple 44 OUT 8 Output Gray
20 OUT 9 Output Black 45 OUT 10 Output White
21 OUT 11 Output Brown 46 OUT 12 Output White
22 OUT 13 Output Red 47 OUT 14 Output White
23 OUT 15 Output Orange 48 OUT 16 Output White
24 CPU normal Output Yellow 49 White
25 Deadman switch OUT Output Green 50 Deadman switch OUT Output White

Figure 3-5. Pin Assignment of the Parallel I/O Ports (CN5)

3-8
 Chapter 2. Specifications of the controller

2.3 Circuits of the parallel I/O

port
[1] Non-specific input circuits Figure 3-6 shows the input circuits for non-specific signal
lines.

Common IN

Internal
circuits

Photocoupler

Sequencer Robot controller

Power
supply unit

Figure 3-6. Input Circuits for Non-specific Signal Lines

(1) The circuitry should be so wired that +24VDC source is

fed to the common IN pin of the controller’s parallel
port.
(2) The sequencer's output circuit unit can be used with
either internal or external power supply. To use it
with the external power supply, however, you need an
external power supply unit of +24VDC, 15W min.
(3) To make a single sequencer manage more than one robot,
you should attach an output circuit unit to each robot.
(4) To the controller's input pins, you can directly connect
not only a sequencer but also proximity switches or
relay contacts. Those devices require an external power
supply of +24VDC. Two-wire photoelectric switches or
proximity switches are also connectable if their leakage
current is 1 mA or less.
(5) To protect signals from noises coming externally, you
should use a multi-core shielded cable and ground it at
the controller (or at both ends of the shielded cable
depending upon noises).

3-9
PART 3. DeviceNet COMMUNICATIONS AND ITS INTERFACE

[2] Specific input circuits Figure 3-7 shows the input circuits for specific signal
lines.

Robot stop signal

Teaching disable signal

Robot controller

Figure 3-7. Input Circuits for Specific Signal Lines

(1) For Robot stop and Teaching disable signal lines, you
should always use metal contacts.
(2) Unlike other signal lines, Robot stop and Teaching
disable signal lines should be supplied with current
from the internal power source of the controller in the
circuit configuration as shown above.

3-10
 Chapter 2. Specifications of the controller

[3] Non-specific or specific output Figure 3-8 shows the output circuits of the controller for
circuits specific signal lines. These outputs tell the external
equipment that the controller runs normally.

Common OUT

CPU normal

Sequencer

Robot controller

Figure 3-8. Output circuits for Specific Signal Lines

(1) These specific output circuits are current sink circuits

whose components are open collector transistors. To
those transistors, the controller feeds +24V from its
internal power source.
(2) The maximum sink current per circuit is 35 mA. Each of
all components (e.g., sequencer and relay coils) to be
used in your equipment should not consume current
exceeding 35 mA.
(3) If you want to use any inductive components such as
coils, you should choose a diode-integrated one for
absorbing electromotive force. If you use no-diode one,
you should externally mount diode 1S1888 (Toshiba) or
its equivalent near to the component.
NOTE : When mounting the external diode, be careful with
the polarity. Mounting it in wrong polarity will cause an
error (ERROR102) or may damage the valve output circuit.
(4) If you want to connect a hot-wire lamp, you should
always flow pre-heating current through it. Otherwise,
the output circuit will be broken due to rush current at
the start of powering-on since the lamp's resistance in
low temperature is extraordinary low. For details,
refer to the OWNER'S MANUAL A, Section "5.3 Connection
of Lamps" on page 5-70.
(5) The input circuits of the sequencer should not contain
power supply that feeds power to the outputs.
(6) To protect signals from noises coming externally, you
should use a multi-core shielded cable and ground it at
the controller (or at both ends of the shielded cable
depending upon noises).

3-11
PART 3. DeviceNet COMMUNICATIONS AND ITS INTERFACE

[4] Output circuits for Robot stop Figure 3-9 shows an output circuit example where the
signal controller's internal source powers the external circuit.
Figure 3-10 shows an example where the external source does
it.

Common OUT

Cuts off if the

Robot stop signal
line is closed.

Sequencer

Robot controller

Figure 3-9. Circuit Example for the Robot stop output line,
where the controller’s internal source powers the external circuit

Cuts off if the Robot

stop signal line is
closed.

Sequencer
External
power
source Robot controller

Figure 3-10. Circuit Example for the Robot stop output line,
where the external source powers the external circuit

3-12
 Chapter 2. Specifications of the controller

[5] Output circuits for Deadman Figure 3-11 shows an output circuit example where the
switch signal controller's internal source powers the external circuit.
Figure 3-12 shows an example where the external source does
it.

Common OUT

25
Cuts off if the
Robot stop signal
line is closed.
50

36
Sequencer

Robot controller

Figure 3-11. Circuit Example for Deadman switch output line,

where the controller’s internal source powers the external circuit

25
Cuts off if the Robot
stop signal line is
closed.
50

Sequencer
External
power
source Robot controller

Figure 3-12. Circuit Example for Deadman switch output line,

where the external source powers the external circuit

3-13
PART 3. DeviceNet COMMUNICATIONS AND ITS INTERFACE

Chapter 3. Bit Mapping in the The link relay area of the DeviceNet—compliant robot
Link Relay Area controller is mapped as listed in Table 3-5, the upper two
tables for the input relay and the lower two tables for the
output relay.

Table 3-5. Mapping in the Link Relay Area

No. Function No. Function No. Function No. Function

0
1 Select program number 2 9 Power on motor 17 25 Select axis, +J1 (X)
2 Select program number 21 10 Execute CAL 18 Start program 26 Select axis, -J1 (X)
3 Select program number 22 11 Switch to automatic mode 19 Step stop 27 Select axis, +J2 (Y)
4 Select program number 23 12 SP100 20 Cycle step 28 Select axis, -J2 (Y)
5 Select program number 24 13 Switch to external mode 21 Skip interrupt 29 Select axis, +J3 (Z)
6 Select program number 25 14 Reset program 22 Operation ready start 30 Select axis, -J3 (Z)
7 Select program number 26 15 Clear robot error 23 31 Select axis, +J4 (T)
8 Parity bit 16 24 Halt 32 Select axis, -J4 (T)

No. Function No. Function No. Function No. Function

33 Select axis, +J5 41 Increase speed in individual mode 49 INPUT 17 121 INPUT 89
34 Select axis, -J5 42 Decrease speed in individual mode 50 INPUT 18 122 INPUT 90
35 Select axis, +J6 43 Switch to individual mode 51 INPUT 19 123 INPUT 91
36 Select axis, -J6 44 Enter single-cycle mode 52 INPUT 20 124 INPUT 92
37 Step forwards 45 Enter single-step mode 53 INPUT 21 125 INPUT 93
38 Step backwards 46 Enter joint mode 54 INPUT 22 126 INPUT 94
39 47 Enter X-Y mode 55 INPUT 23 127 INPUT 95
40 48 Enter tool mode 56 INPUT 24 128 INPUT 96
NOTE 1: The "No." indicates the bit order from the first bit in the link relay input.
NOTE 2: INPUTs 1 to 16 are reserved for the parallel I/O connector (CN5).
NOTE 3: The inverse notation ＊＊＊＊ means negative truth logic.

No. Function No. Function No. Function No. Function

1 9 Robot powering-on complete 17 Work position 1 25 Error code, tens, 21
2 Robot in operation 10 Motor on 18 Work position 2 26 Error code, tens, 22
3 Robot error 11 CAL complete 19 Work position 3 27 Error code, tens, 23
4 In automatic operation mode 12 In teaching 20 Error code, unit, 20 28 Error code, hundreds, 20
5 In external mode 13 Single cycle end 21 Error code, unit, 21 29 Error code, hundreds, 21
6 Program start reset 14 Low battery warning 22 Error code, unit, 22 30 Error code, hundreds, 22
7 End of palletizing single step 15 Power recovered 23 Error code, unit, 23 31 Error code, hundreds, 23
8 End of palletizing all steps 16 Teaching disable switching 24 Error code, tens, 20 32 SS mode

No. Function No. Function No. Function No. Function

33 Robot on halt 41 In joint mode 49 OUTPUT 17 121 OUTPUT 89
34 In individual mode 42 In X-Y mode 50 OUTPUT 18 122 OUTPUT 90
35 Speed in individual mode, tens, 20 43 In tool mode 51 OUTPUT 19 123 OUTPUT 91
36 Speed in individual mode, tens, 21 44 52 OUTPUT 20 124 OUTPUT 92
37 Speed in individual mode, tens, 22 45 53 OUTPUT 21 125 OUTPUT 93
38 Speed in individual mode, tens, 23 46 54 OUTPUT 22 126 OUTPUT 94
39 In single-cycle mode 47 55 OUTPUT 23 127 OUTPUT 95
40 In single-step mode 48 56 OUTPUT 24 128 OUTPUT 96
NOTE 1: The "No." indicates the bit order from the first bit in the link relay output.
NOTE 2: OUTPUTs 1 to 16 are reserved for the parallel I/O connector (CN5).

3-14
 Chapter 4. I/O Commands and I/O Status Display

Chapter 4. I/O Commands and

I/O Status Display
4.1 I/O commands The I/O commands for the robot controller can be grouped
into two categories according to the number of items that an
operand can handle.

■ Commands whose operand can handle up to 96 items (lines)

14243
ON
OFF Programming by using these commands are
INB the same as those in the earlier
ONB version. Refer to the OWNER'S MANUAL
JI B, Chapter 8, "Command Specifications."
JZ

■ Commands whose operand can handle up to 24 items (lines)

ONT

3-15
PART 3. DeviceNet COMMUNICATIONS AND ITS INTERFACE

4.2 I/O status display The controller may display the I/O status information in
bytes or in slots. A byte or slot contains eight successive
bits in the I/O relay.
The following two display functions are available:
- Port search & display function
- 1st-slot display function

[1] How to use the port search & ■ To display non-specific input information on the desired
display function port, press the J1 key, enter the port number whose status
should be displayed, and press the DISP key.
■ To display non-specific output information on the
desired port, press the ON key, enter the port number whose
status should be displayed, and press the DISP key.
Pressing the FWD or BACK key scrolls the display to show
non-specific I/O information on the following or preceding
slot, respectively.

Table 3-6. Displaying the Non-specific Input Information with the Port Search & Display Function

Step Press: On the display Comments

Enter the shift mode. SHIFT The SHIFT LED comes on.

JI, 8, and 5 INPUT 85

IN 73 = 0 0 0 0 0 0 0 0 In the case of IN 85:
DISP Port 81
IN 81 = 0 0 0 0 0 0 0 0
Display info. on Port 88
non-specific input FWD IN 89 = 0 0 0 0 0 0 0 0 ↓ Port 85 ↓
port 85. ↓
INPUT DATA 0 0 0 0 0 0 0 0
FWD
IN 1 = 0 0 0 0 0 0 0 0 0: Open (no input)
BACK IN 89 = 0 0 0 0 0 0 0 0 1: Closed (input)

Clear the display. C The indication disappears.

Table 3-7. Displaying the Non-specific Output Information with the Port Search & Display Function

Step Press: On the display Comments

Enter the shift mode. SHIFT The SHIFT LED comes on.

ON, 8, and 5 INPUT 85 The SHIFT LED comes on.

IN 73 = 0 0 0 0 0 0 0 0 In the case of ON 85:
DISP
IN 81 = 0 0 0 0 0 0 0 0 Port 81
Display info. on Port 88
non-specific output FWD IN 89 = 0 0 0 0 0 0 0 0 ↓ Port 85 ↓
port 85. ↓
INPUT DATA 0 0 0 0 0 0 0 0
FWD
IN 1 = 0 0 0 0 0 0 0 0
0: Open (no output)
BACK IN 89 = 0 0 0 0 0 0 0 0 1: Closed (output)

Clear the display. C The indication disappears.

3-16
 Chapter 4. I/O Commands and I/O Status Display

[2] How to use the 1st-slot display ■ To display non-specific input information on the 1st
function slot (Ports 1 to 8), press the J1 and DISP keys.
Pressing the FWD or BACK key scrolls the display to show
non-specific input information on the following or preceding
slot, respectively.

Table 3-8. Displaying the Non-specific Input Information with the 1st-slot Display Function

Step Press: On the display Comments

Enter the shift mode. SHIFT The SHIFT LED comes on.

JI INPUT

INPUT DATA
DISP
IN 1 = 0 0 0 0 0 0 0 0
IN 9 = 0 0 0 0 0 0 0 0
FWD
IN 17 = 0 0 0 0 0 0 0 0
IN 25 = 0 0 0 0 0 0 0 0
FWD
IN 33 = 0 0 0 0 0 0 0 0
In the case of IN 1:
IN 9 = 0 0 0 0 0 0 0 0 Port 1
Display info. on BACK
IN 17 = 0 0 0 0 0 0 0 0 Port 8
non-specific 1st ↓ ↓
slot. INPUT DATA
BACK 0 0 0 0 0 0 0 0
IN 1 = 0 0 0 0 0 0 0 0
0: Open (no input)
BACK IN 89 = 0 0 0 0 0 0 0 0 1: Closed (input)
IN 73 = 0 0 0 0 0 0 0 0
BACK
IN 81 = 0 0 0 0 0 0 0 0

FWD IN 89 = 0 0 0 0 0 0 0 0

INPUT DATA
FWD
IN 1 = 0 0 0 0 0 0 0 0

Clear the display. C The indication disappears.

3-17
PART 3. DeviceNet COMMUNICATIONS AND ITS INTERFACE

■ To display specific I/O information on the 1st slot

(Ports 1 to 8), press the OFF and DISP keys.
Pressing the DISP key scrolls the display to show specific
I/O information on the subsequent port.
NOTE: Specific I/O signals assigned to the link relay are
displayed with ○ if High and × if Low.

Table 3-9 (1). Displaying the Specific I/O Information with the 1st-slot Display Function

Step Press: On the display Comments

1 Display info. on
CONTROL_INPUT
specific I/O OFF
ports.
Robot stop signal line
CONTROL_INPUT
DISP ○ : Closed
EXT.READY :○
× : Open
Start program signal line
CONTROL_INPUT
DISP ○ : Closed
EXT.START :×
× : Open

CONTROL_INPUT Current program number

DISP
EXT.PROG_NO : 0 (selected)

Step stop signal line

CONTROL_INPUT
DISP ○ : Open
EXT.STEP_STOP : ×
× : Closed
Cycle stop signal line
CONTROL_INPUT
DISP ○ : Open
EXT.CYCLESTOP: ○
× : Closed
Skip interrupt signal line
CONTROL_INPUT
DISP ○ : Closed
EXT.MINTRPT :×
× : Open
Halt signal line
CONTROL_INPUT
DISP ○ : Open
EXT.HALT :×
× : Closed
Enable automatic run signal line
CONTROL_INPUT
DISP ○ : Closed
EXT.AUTO_EN : ×
× : Open
Operation ready start signal line
CONTROL_INPUT
DISP ○ : Closed
AUTO_INITIAL :○
× : Open
Initialize automatically signal line
CONTROL_INPUT
DISP (See the OWNER'S MANUAL A,
AUTOINIT_FUNC : IC
page 3-9.)
Reset program signal line
CONTROL_INPUT
DISP ○ : Closed
EXT.PRO_RESET : ×
× : Open
Clear robot error signal line
CONTROL_INPUT
DISP ○ : Closed
EXT.CANCEL :○
× : Open
NOTE : Status display of each specific I/O port is real-time.

3-18
 Chapter 4. I/O Commands and I/O Status Display

Table 3-9 (2). Displaying the Specific I/O Information with the 1st-slot Display Function

Step Press: On the display Comments

1 Display info. on CONTROL_INPUT Parity bit signal line
specific I/O DISP
EXT.PROG_CHK : ○ ○ : Closed ×: Open
ports.

CONTROL_INPUT Select axis, +J1 (X) signal line

DISP
ROB.J1 ( + ) :○ ○ : Closed ×: Open

CONTROL_INPUT Select axis, –J1 (X) signal line

DISP
ROB.J1 ( – ) :○ ○ : Closed × : Open

CONTROL_INPUT Select axis, +J2 (Y) signal line

DISP
ROB.J2 ( + ) :○ ○ : Closed ×: Open

CONTROL_INPUT Select axis, –J2 (Y) signal line

DISP
ROB.J2 ( – ) :○ ○ : Closed ×: Open

CONTROL_INPUT Select axis, +J3 (Z) signal line

DISP
ROB.J3 ( + ) :○ ○ : Closed ×: Open

CONTROL_INPUT Select axis, –J3 (Z) signal line

DISP
ROB.J3 ( – ) :○ ○ : Closed ×: Open

CONTROL_INPUT Select axis, +J4 (T) signal line

DISP
ROB.J4 ( + ) :○ ○ : Closed ×: Open

CONTROL_INPUT Select axis, –J4 (T) signal line

DISP
ROB.J4 ( – ) :○ ○ : Closed ×: Open

CONTROL_INPUT Select axis, +J5 signal line

DISP
ROB.J5 ( + ) :○ ○ : Closed ×: Open

CONTROL_INPUT Select axis, –J5 signal line

DISP
ROB.J5 ( – ) :○ ○ : Closed ×: Open

CONTROL_INPUT Select axis, +J6 signal line

DISP
ROB.J6 ( + ) :○ ○ : Closed ×: Open

CONTROL_INPUT Select axis, –J6 signal line

DISP
ROB.J6 ( – ) :○ ○ : Closed ×: Open

NOTE : Status display of each specific I/O port is real-time.

3-19
PART 3. DeviceNet COMMUNICATIONS AND ITS INTERFACE

Table 3-9 (3). Displaying the Specific I/O Information with the 1st-slot Display Function

Step Press: On the display Comments

1 Display info. on CONTROL_INPUT Step forwards signal line
specific I/O DISP
ROB.STEPFWD : ○ ○ : Closed ×: Open
ports.

CONTROL_INPUT Step backwards signal line

DISP
ROB.STEPBACK : ○ ○ : Closed ×: Open

Increase speed in individual

CONTROL_INPUT
DISP mode signal line
ROB.SPUP :○
○ : Closed ×: Open
Decrease speed in individual
CONTROL_INPUT
DISP mode signal line
ROB.SPDOWN : ○
○ : Closed ×: Open
Switch to individual mode
CONTROL_INPUT
DISP signal line
ROB.INDIVON : ○
○ : Closed ×: Open
Enter single-cycle mode signal
CONTROL_INPUT
DISP line
ROB.PROEN :○
○ : Closed ×: Open
Enter single-step mode signal
CONTROL_INPUT
DISP line
ROB.STEPEN :○
○ : Closed ×: Open

CONTROL_INPUT Enter joint mode signal line

DISP
ROB.AXISIN :○ ○ : Closed ×: Open

CONTROL_INPUT Enter X-Y mode signal line

DISP
ROB.X-YIN :○ ○ : Closed ×: Open

CONTROL_INPUT Enter tool mode signal line

DISP
ROB.TOOLIN :○ ○ : Closed ×: Open

Robot powering-on complete

CONTROL_OUTPUT
DISP signal line
ROB.READY_OK : ○
○ : Closed ×: Open

CONTROL_OUTPUT Motor on signal line

DISP
ROB.MOTOR_ON : ○ ○ : Closed ×: Open

CONTROL_OUTPUT Robot in operation signal line

DISP
ROB.RUNNING : ○ ○ : Closed ×: Open

NOTE : Status display of each specific I/O port is real-time.

3-20
 Chapter 4. I/O Commands and I/O Status Display

Table 3-9 (4). Displaying the Specific I/O Information with the 1st-slot Display Function

Step Press: On the display Comments

1 Display info. on CONTROL_OUTPUT Robot error signal line
specific I/O DISP
ROB.FAULT :× ○ : Closed ×: Open
ports.
In automatic operation mode
CONTROL_OUTPUT
DISP signal line
ROB.AUTOMODE : ○
○ : Closed ×: Open

CONTROL_OUTPUT In external mode signal line

DISP
ROB.EXT_MODE : ○ ○ : Closed ×: Open

CONTROL_OUTPUT Program start reset signal line

DISP
ROB.START :○ ○ : Closed ×: Open

End of palletizing single step

CONTROL_OUTPUT
DISP signal line
ROB.PALT_1 :○
○ : Closed ×: Open
End of palletizing all steps
CONTROL_OUTPUT
DISP signal line
ROB.PALT_ALL : ○
○ : Closed ×: Open

CONTROL_OUTPUT CAL complete signal line

DISP
ROB.CAL_OK :○ ○ : Closed ×: Open

CONTROL_OUTPUT Power recovered signal line

DISP
ROB.RESUME :× ○ : Closed ×: Open

CONTROL_OUTPUT Single cycle end signal line

DISP
ROB.CYCLE :○ ○ : Closed ×: Open

CONTROL_OUTPUT Low battery warning signal line

DISP
ROB.BATT ALM : ○ ○ : Closed ×: Open

CONTROL_OUTPUT In teaching signal line

DISP
ROB.TEACHING : ○ ○ : Closed ×: Open

CONTROL_OUTPUT Work area 1 signal line

DISP
ROB.AREA1 :× ○ : Closed ×: Open

CONTROL_OUTPUT Work area 2 signal line

DISP
ROB.AREA2 :× ○ : Closed ×: Open

NOTE : Status display of each specific I/O port is real-time.

3-21
PART 3. DeviceNet COMMUNICATIONS AND ITS INTERFACE

Table 3-9 (5). Displaying the Specific I/O Information with the 1st-slot Display Function

Step Press: On the display Comments

1 Display info. on CONTROL_OUTPUT Work area 3 signal line
specific I/O DISP
ROB.AREA3 :× ○ : Closed ×: Open
ports.
2 Clear the display.
C

NOTE : Status display of each specific I/O port is real-time.

3-22
 Chapter 4. I/O Commands and I/O Status Display

■ To display non-specific output information on the 1st

slot (Ports 1 to 8), press the ON and DISP keys.
Pressing the FWD or BACK key scrolls the display to show
non-specific input information on the following or preceding
slot, respectively.

Table 3-10. Displaying the Non-specific Output Information with the 1st-slot Display Function

Step Press: On the display Comments

Enter the shift mode. SHIFT The SHIFT LED comes on.

ON OUTPUT

OUTPUT DATA
DISP
ON 1 = 0 0 0 0 0 0 0 0
ON 9 = 0 0 0 0 0 0 0 0
FWD
ON 17 = 0 0 0 0 0 0 0 0
ON 25 = 0 0 0 0 0 0 0 0
FWD
ON 33 = 0 0 0 0 0 0 0 0
In the case of ON 1:
ON 9 = 0 0 0 0 0 0 0 0
Display info. on BACK Port 1 Port 8
ON 17 = 0 0 0 0 0 0 0 0
non-specific 1st
OUTPUT DATA ↓ ↓
slot. BACK 0 0 0 0 0 0 0 0
ON 1 = 0 0 0 0 0 0 0 0
0: Open (no output)
BACK ON 89 = 0 0 0 0 0 0 0 0
1: Closed (output)
ON 73 = 0 0 0 0 0 0 0 0
BACK
ON 81 = 0 0 0 0 0 0 0 0

FWD ON 89 = 0 0 0 0 0 0 0 0

OUTPUT DATA
FWD
ON 1 = 0 0 0 0 0 0 0 0

Clear the display. C The indication disappears.

3-23
PART 3. DeviceNet COMMUNICATIONS AND ITS INTERFACE

Chapter 5. Error Code Tables and

EDS File
5.1 Error Code Tables

[1] DeviceNet Error Code Table

Here, only the error codes relative to DeviceNet communication errors are described
in the table below. For other error codes, refer to the "OWNER'S MANUAL A".

Table 3-11. DeviceNet Error Code Table

Error LEDs
What has happened: What to do:
code MS NS
Preparing for communications Establish the link from the
(link not established) master device.
201 · The DeviceNet module is working
normally, but has not G G
established link with the
master device.
Preparing for communications Establish the I/O link from the
(link not established) master device.
· The DeviceNet module is working
202 normally and has established
explicit link with the master G G
device, but not established an
I/O link.
Preparing for communications Check the contents of I/O data
(communications idling) that the master device sends.
203 · The DeviceNet module is working
normally, but cannot receive G G
data except empty data from the
master device.
Preparing for communications Check that the DeviceNet cable is
(I/O timeout) not broken or its connector is
· The DeviceNet module is working firmly plugged in.
204 normally, but cannot receive Check the DeviceNet cable length G R
data from the master device and that a terminator resistor is
within the specified time. attached to each end of the trunk
line.
Initial setting error in the Turn the controller power off and
communications processor then on, and do the same
205 · Failed to establish the initial operation again. – –
link with the DeviceNet
communication processor.
A DeviceNet internal Turn the controller power off and
210 communications error has then on, and do the same – –
occurred. operation again.
The network is broken or "bus Check whether the DeviceNet cable
off." is connected with the robot
· The DeviceNet cable is broken controller. If this error occurs
213 or not connected. after you change the DIP switch
setting, check whether the bit G R
rate setting made with the DIP
switch matches the network's bit
rate.
Preparing for communications Check whether the bit rate
215 (Initial setting error) setting made with the DIP switch
· No initial settings have been matches the network's bit rate..
received from the robot. G
Data length setting error Turn the controller power off and
216 · DeviceNet INSLOT or OUTSLOT is then on. Then, set correct
not 32 or less. DeviceNet INSLOT and OUTSLOT
values. R

:ON :Flashing :OFF –:Indefinite G:Green R:Red

3-24
 Chapter 5. Error Codes Tables and EDS File

Error LEDs
What has happened: What to do:
code MS NS
Node address double-assign error Assign an exclusive node address
· The same node address is double to each node (including the robot
217 assigned to the robot controller) on the same
controller and any other online DeviceNet.
node. G R
Retry error in the DPRAM built Turn the controller power off and
230 in the robot controller then on, and do the same – –
operation again.
Reset command received Turn the controller power off and
· The robot controller has then on, and do the same
232 received a reset command from operation again.
the master device. G G
DeviceNet internal RAM error Turn the controller power off and
234 then on, and do the same
operation again. R
Reserved for System
235 –
R
DeviceNet internal DPRAM error Turn the controller power off and
236 then on, and do the same
operation again. R
DeviceNet EEPROM error Turn the controller power off and
237 then on, and do the same
operation again. R
Retry error in the DeviceNet Turn the controller power off and
238 DPRAM then on, and do the same
operation again. R

:ON :Flashing :OFF –:Indefinite G:Green R:Red

3-25
PART 3. DeviceNet COMMUNICATIONS AND ITS INTERFACE

[2] Individual Mode Related Error

Codes
Table 3-12. Individual Mode Related Error Codes

Error Motor Error

Problems in individual mode What to do: output
codes power signal
Any of the switching conditions
After turning Teaching disable
to the individual mode is not
987 ON, turn Switch to individual ON
satisfied. (Teaching disable
mode ON again.
signal is still OFF.)
Any of the switching conditions
Turn OFF all specific input
to the individual mode is not
signals for the individual mode
988 satisfied. (Any specific input ON
and then turn Switch to indi-
signal(s) for the individual
vidual mode signal ON.
mode is already ON.)
When the robot was running in
Always keep the operation mode
the individual mode, the opera- Turns
989 selection signal ON when running ON
tion mode selection signal has OFF.
the robot.
been turned OFF.
The controller cannot execute
more than one operation mode at
More than one operation mode
one time. When switching any
990 selection signal for the Turns
operation mode, first turn OFF ON
individual mode has been turned OFF.
all operation mode selection
ON at the same time.
signals and then turn the desired
operation mode signal ON.
You have set any of servomotors
991- with wrong ABS encoders onto Replace the servomotor with one
ON
996 the robot that is compliant to equipped with a full ABS encoder.
full ABS encoders.
1) For safety purposes, this
error code is displayed. To
switch from the individual mode
to any other mode (e.g.,
When the robot was running in automatic mode), first clear the
the individual mode, Switch to error and then change the mode. Turns
997 ON
individual mode signal has been OFF.
turned OFF. 2) To make the robot continue in
the individual mode, first turn
Switch to individual mode signal
ON and then turn Operation ready
start signal ON.
1) For safety purposes, this
error code is displayed. To
switch from the individual mode
to any other mode (e.g., auto-
When the robot was running in matic mode), first clear the
the automatic mode (internal or error and then change the mode. Turns
998 ON
external), Switch to individual OFF.
mode signal has been turned ON. 2) To run the robot in the indi-
vidual mode, first turn Switch to
individual mode signal ON and
then turn Operation ready start
signal ON.
When no mode was selected and To switch to the automatic mode,
Switch to individual mode first turn Switch to individual Turns
999 ON
signal was ON, the AUTO key has mode signal OFF and then change OFF.
been pressed. the mode.

3-26
 Chapter 5. Error Codes Tables and EDS File

5.2 Monitoring the Network Status

The controller has the function to check if the current network status are normal
or not. The operation procedure is instructed in Table 3-13.

Table 3-13. Operation Procedure for Monitoring Network Status

Step Press: On the display Comments

1 Select SETPRM. 「SETPRM」 SETPRM

「ENT」 SETPRM: Value 165.997

flashes.
PLIM1=165.997

2 Display the 「BACK」 SETPRM: In the case of

network status. no error
MNET NO ERROR

SETPRM: In the case of

with error (The
MNET ERROR232 respective error
is indicated.)

3 Exit the 「ENT」

monitor mode.

3-27
PART 3. DeviceNet COMMUNICATIONS AND ITS INTERFACE

5.3 EDS File (Electronic Data Sheet)

［File］

Desctext = "FOR WRITE IDENTITY PARAMETERS";

CreateDate = 11-14-97;
CreateTime = 15:00:00;
ModDate = 11-14-97;
ModTime 15:30:00;
Revision = 1.0;

[Device]

VendCode = 0;
VendName = "NOT INITIALIZED";
ProdType = 0;
ProdTypeStr = "NOT INITIALIZED";
ProdCode = 0;
MajRev = 0;
MinRev = 0;
ProdName = "Denso_New";
Catalog = "11S-001";

[IO_Info]

Default = 0 x 0001;
Polllnfo = 0 x 0001;
30;
32;

[Param Class]

Maxlnst = 15;
Descriptor = 0 x 0001;
CfgAssembly = 0

[Params]

Param 1 = 0,
6,
"",
0 x 0000,
9,
4,
"Enter Password",
"",
"",
0 x 4c47494e, 0 x 4c47494e, 0 x 4c4749e;
Param 2 = 0,
6,
"",
0 x 0000,
2,
2,
"Vendor ID",
"",
"",
171,171,171;

(to be continued)

3-28
 Chapter 5. Error Codes Tables and EDS File

(continued)

Param 3 = 0,
6,
"",
0 x 0000,
2,
2,
"Product Type",
"",
"",
12, 12, 12;
Param 4 = 0,
6,
"",
0 x 0000,
2,
2,
"Product Code",
"",
"",
1,1,1;
Param 5 = 0,
6,
"",
0 x 0000,
2,
2,
"Revision",
"",
"",
0 x 0000,0 x fff,0 x 0101;
Param 6 = 0,
6,
"",
0 x 0000,
9,
4,
"Serial Number",
"",
"",
0 x 00000000,0 x FFFFFFFF,0 x 00000000;
Param 7 = 0,
6,
"",
0 x 0000,
9,
4,
"Product Name1",
"",
"",
0 x 00000000,0 x FFFFFFFF,0 x 52433300;

(to be continued)

3-29
PART 3. DeviceNet COMMUNICATIONS AND ITS INTERFACE

(continued)

Param 8 = 0,
6,
"",
0 x 0000,
9,
4,
"Product Name2",
"",
"",
0 x 00000000,0 x FFFFFFFF,0 x 00000000;
Param 9 = 0,
6,
"",
0 x 0000,
9,
4,
"Product Name3",
"",
"",
0 x 00000000,0 x FFFFFFFF,0 x 00000000;
Param 10 = 0,
6,
"",
0 x 0000,
9,
4,
"Product Name4",
"",
"",
0 x 00000000,0 x FFFFFFFF,0 x 000000000;
Param 11 = 0,
6,
"",
0 x 0000,
9,
4,
"Product Name5",
"",
"",
0 x 00000000,0 x FFFFFFFF,0 x 00000000;
Param 12 = 0,
6,
"",
0 x 0000,
9,
4,
"Product Name6",
"",
"",
0 x 00000000,0 x FFFFFFFF,0 x 00000000;

(to be continued)

3-30
 Chapter 5. Error Codes Tables and EDS File

(continued)

Param 13 = 0,
6,
"",
0 x 0000,
9,
4,
"Product Name7",
"",
"",
0 x 00000000,0 x FFFFFFFF,0 x 000000000;
Param 14 = 0,
6,
"",
0 x 0000,
9,
4,
"Product Name8",
"",
"",
0 x 00000000,0 x FFFFFFFF,0 x 00000000;
Param 15 = 0,
6,
"",
0 x 0000,
9,
4,
"Exit Password",
"",
"",
0 x 4c4f4646,0 x 4c4f4646,0 x 4c4f4646;

[Groups]

[EnumPar]

3-31
 Horizontal Articulated Robot
HM-40702C-T02
OWNER'S MANUAL (Supplement)
First Edition, August 2000

DENSO CORPORATION
Industrial Systems Product Division

The purpose of this manual is to provide accurate information in the handling and operating of
the robot. Please feel free to send your comments regarding any errors or omissions you may
have found, or any suggestions you may have for generally improving the manual.

In no event will DENSO be liable for any direct or indirect damages resulting from the application
of the information in this manual.

1
Industrial Systems Product Division

410002-6070