User`s manual

Contents
Cautions To Ensure Safety ............................................................1
1-1 Basic safety points ............................................................................. 2
1-2 System design safety points .............................................................. 2
1-3 Installation and wiring safety points ................................................... 3
1-4 Start-up and maintenance safety points............................................. 4
1-5 Precautions when disposing of the unit.............................................. 4
1-6 Warranty ............................................................................................. 4
PROFIBUS Unit...............................................................................5
2-1 PROFIBUS unit features .................................................................... 6
2-2 PROFIBUS system concept ............................................................... 7
2-3 BROFIBUS cable connections ........................................................... 8
2-4 Parallel I/O connector......................................................................... 9
2-5 Controller (slave station) system setting .......................................... 11
2-5-1 Validating the PROFIBUS unit ..................................................... 11
2-5-2 Setting the station address........................................................... 12
2-5-3 Checking the communication speed ............................................ 13
2-6 Sequencer (master station) settings ................................................ 14
2-6-1 Exchanging data with the controller ............................................. 14
2-7 I/O information.................................................................................. 15
2-7-1 Profile (I/O signal table)................................................................ 15
2-7-2 Dedicated command inputs.......................................................... 17
2-7-3 General-purpose inputs (SI200 - SI231) ...................................... 21
2-7-4 Interlock (LOCK) .......................................................................... 22
2-7-5 Emergency stop input (EMG) ....................................................... 22
2-7-6 Service mode (SVCE) .................................................................. 23
2-7-7 Dedicated outputs ........................................................................ 24
2-7-8 General-purpose outputs (SO200 - SO231) ................................ 25
2-8 Timing chart...................................................................................... 26
2-8-1 Right after controller power turns on ............................................ 26
2-8-2 Dedicated input command execution ........................................... 27
2-8-3 When interlock signal is input....................................................... 31
2-8-4 When emergency stop signal is input .......................................... 32
2-8-5 When an alarm is issued .............................................................. 33
2-8-6 When point movement commands are run .................................. 34
2-9 I/O assignment change function....................................................... 35
2-9-1 Changing the I/O assignment....................................................... 35
2-9-2 I/O assignment list........................................................................ 36
2-9-3 I/O assignment selection parameter description .......................... 38
2-9-4 I/O signal descripion..................................................................... 40
2-9-5 Timing chart ................................................................................. 45
2-10 Robot language ................................................................................ 55
2-10-1 MOVF ........................................................................................... 55