Mitsubishi Electric CR800-D Series User manual

CR800-D series controller
CR750-D/CR751-D series controller
CRnD-700 series controller
CC-Link Interface Instruction Manual
2D-TZ576
BFP-A8701-J
Mitsubishi Electric Industrial Robot

Safety Precautions
Always read the following precautions and the separate "Safety
Manual" before starting use of the robot to learn the required
measures to be taken.
CAUTION All teaching work must be carried out by an operator who has received special
training.
(This also applies to maintenance work with the power source turned ON.)
→Enforcement of safety training
CAUTION For teaching work, prepare a work plan related to the methods and procedures
of operating the robot, and to the measures to be taken when an error occurs
or when restarting. Carry out work following this plan.
(This also applies to maintenance work with the power source turned ON.)
→Preparation of work plan
WARNING Prepare a device that allows operation to be stopped immediately during
teaching work.
(This also applies to maintenance work with the power source turned ON.)
→Setting of emergency stop switch
CAUTION During teaching work, place a sign indicating that teaching work is in progress
on the start switch, etc.
(This also applies to maintenance work with the power source turned ON.)
→Indication of teaching work in progress
DANGER Provide a fence or enclosure during operation to prevent contact of the operator
and robot.
→Installation of safety fence
CAUTION Establish a set signaling method to the related operators for starting work,
and follow this method.
→Signaling of operation start
CAUTION As a principle turn the power OFF during maintenance work. Place a sign
indicating that maintenance work is in progress on the start switch, etc.
→Indication of maintenance work in progress
CAUTION Before starting work, inspect the robot, emergency stop switch and other
related devices, etc., and confirm that there are no errors.
→Inspection before starting work

The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
DANGER When automatic operation of the robot is performed using multiple control
devices (GOT, programmable controller, push-button switch), the interlocking
of operation rights of the devices, etc. must be designed by the customer.
CAUTION Use the robot within the environment given in the specifications. Failure to do
so could lead to faults or a drop of reliability.
(Temperature, humidity, atmosphere, noise environment, etc.)
CAUTION Transport the robot with the designated transportation posture. Transporting
the robot in a non-designated posture could lead to personal injuries or faults
from dropping.
CAUTION Always use the robot installed on a secure table. Use in an instable posture
could lead to positional deviation and vibration.
CAUTION Wire the cable as far away from noise sources as possible. If placed near a
noise source, positional deviation or malfunction could occur.
CAUTION Do not apply excessive force on the connector or excessively bend the cable.
Failure to observe this could lead to contact defects or wire breakage.
CAUTION Make sure that the workpiece weight, including the hand, does not exceed the
rated load or tolerable torque. Exceeding these values could lead to alarms or
faults.
WARNING Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or
flies off during operation.
WARNING Securely ground the robot and controller. Failure to observe this could lead to
malfunctioning by noise or to electric shock accidents.
CAUTION Indicate the operation state during robot operation. Failure to indicate the state
could lead to operators approaching the robot or to incorrect operation.
WARNING When carrying out teaching work in the robot's movement range, always secure
the priority right for the robot control. Failure to observe this could lead to
personal injuries or damage if the robot is started with external commands.
CAUTION Keep the jog speed as low as possible, and always watch the robot. Failure to do
so could lead to interference with the workpiece or peripheral devices.

CAUTION After editing the program, always confirm the operation with step operation before
starting automatic operation. Failure to do so could lead to interference with
peripheral devices because of programming mistakes, etc.
CAUTION Make sure that if the safety fence entrance door is opened during automatic
operation, the door is locked or that the robot will automatically stop. Failure to do
so could lead to personal injuries.
CAUTION Never carry out modifications based on personal judgments, non-designated
maintenance parts. Failure to observe this could lead to faults or failures.
WARNING When the robot arm has to be moved by hand from an external area, do not place
hands or fingers in the openings. Failure to observe this could lead to hands or
fingers catching depending on the posture.
CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's
main power OFF. If the robot controller main power is turned OFF during automatic
operation, the robot accuracy could be adversely affected. Also a dropped or
coasted robot arm could collide with peripheral devices.
CAUTION Do not turn OFF the robot controller's main power while rewriting the robot
controller's internal information, such as a program and parameter. Turning OFF
the robot controller's main power during automatic operation or program/parameter
writing could break the internal information of the robot controller.
DANGER Do not connect the Handy GOT when using the GOT direct connection function of
this product. Failure to observe this may result in property damage or bodily injury
because the Handy GOT can automatically operate the robot regardless of whether
the operation rights are enabled or not.
DANGER Do not connect the Handy GOT to a programmable controller when using an iQ
Platform compatible product with the CR750-Q/CR751-Q/CR800-R/CR800-Q controller.
Failure to observe this may result in property damage or bodily injury because the
Handy GOT can automatically operate the robot regardless of whether the operation
rights are enabled or not.
DANGER Do not remove the SSCNET III cable while power is supplied to the multiple CPU
system or the servo amplifier. Do not look directly at light emitted from the tip of
SSCNET III connectors or SSCNET III cables of the Motion CPU or the servo
amplifier. Eye discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as
specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)
DANGER Do not remove the SSCNET III cable while power is supplied to the controller.
Do not look directly at light emitted from the tip of SSCNET III connectors or
SSCNET III cables. Eye discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as
specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)

DANGER Attach the cap to the SSCNET III connector after disconnecting the SSCNET III cable.
If the cap is not attached, dirt or dust may adhere to the connector pins, resulting in
deterioration connector properties, and leading to malfunction.
CAUTION Make sure there are no mistakes in the wiring. Connecting differently to the way
specified in the manual can result in errors, such as the emergency stop not
being released. In order to prevent errors occurring, please be sure to check
that all functions (such as the teaching box emergency stop, customer
emergency stop, and door switch) are working properly after the wiring setup
is completed.
CAUTION Use the network equipments (personal computer, USB hub, LAN hub, etc)
confirmed by manufacturer. The thing unsuitable for the FA environment
(related with conformity, temperature or noise) exists in the equipments connected
to USB. When using network equipment, measures against the noise, such as
measures against EMI and the addition of the ferrite core, may be necessary.
Please fully confirm the operation by customer. Guarantee and maintenance
of the equipment on the market (usual office automation equipment) cannot
be performed.
CAUTION To maintain the safety of the robot system against unauthorized access from
external devices via the network, take appropriate measures.
To maintain the safety against unauthorized access via the Internet, take measures
such as installing a firewall.

■Revision History
Print date Instruction manual No. Revision content
2008-08-08 BFP-A8701 ･First print
2009-06-15 BFP-A8701-A
･(Notes) were added in Introduction.
･
The robot system variables (M_In8,M_In16,M_Out8 and
M_Out16) were added.
2011-12-27 BFP-A8701-B ･Dip switch SW1 explanation was added.
･CR751-D/CR750-D was added.
2012-03-13 BFP-A8701-C ･The supplement about CR751-D/CR750-D was added.
(Introduction, Table 3.1 1)
2012-04-11 BFP-A8701-D ･The error in writing was corrected.
2012-11-27 BFP-A8701-E
･
Notes about transmission delay time were added to the
communication cable.
･The signal table was corrected. (Error in writing)
2013-12-20 BFP-A8701-F ･A terminator was added.
･An explanation was added to parameter CCERR.
2016-08-08 BFP-A8701-G
･
The cover and corporate logo mark of this manual was
changed.
･7.4 chapter was corrected. (Error in writing)
2017-05-31 BFP-A8701-H ･The CR800-D series controller was added.
2018-02-01 BFP-A8701-J ･Safety Precautions was revised. (The CR800-Q controller
was added.)

Introduction
Thank you very much for purchasing this product for Mitsubishi Electric Corporation's SD
series industrial robots. CC-Link (Control & Communication Link) interface is an add-on
option that is used in combination with CRnD-700 series controllers to add CC-Link field
network functionality to robot controllers. Please make sure to read this document thoroughly
and understand its information before start using the CC-Link interface.
Notes) In the software version P7th edition or later the updating cycle of the CC-Link
interface was accelerated. (the CR750-D series controller is also included.) Although it
changes with the structure of the user program, the standard of improvement in the speed
is about one to 5 times. Therefore, in the existing robot system or the robot system
constructed by the same specification as existing, the processing timing of the I/O signal
will differ .
If the interlock of the I/O signal is not taken, the gap occurs to the timing of the signal and
it may be impossible for the robot system to operate normally. The accelerated updating
cycle can be returned to the origin by setting up "0" to the parameter: CCREFCYC. This is
effective if the timing of the I/O signal has a bad influence on operation of the robot system.
Refer to " Table 3.2 3 List of Robot Parameters Used in CC-Link " for the details of the
parameter.
*Symbols in instruction manual
DANGER
Precaution indicating cases where there is a risk of operator fatality or
serious injury if handling is mistaken. Always observe these precautions to
safely use the robot.
WARNING
Precaution indicating cases where the operator could be subject to fatalities
or serious injuries if handling is mistaken. Always observe these precautions to
safely use the robot.
CAUTION
Precaution indicating cases where operator could be subject to injury or
physical damage could occur if handling is mistaken. Always observe these
precautions to safely use the robot.
・No part of this document may be reproduced without express permission of Mitsubishi
Electric Corporation.
・Please note that the information in this manual is subject to change without notice in the
future.
・The specification values in this manual are obtained with the Mitsubishi standard test
method.
・Although this manual has been prepared to contain accurate information, please contact
us if you find any errors or have questions.
・The product names used in this manual are trademarks or registered trademarks of
respective owners.
・In the body text of this manual, ®and TM marks are omitted.
Copyright© 2008-2018 MITSUBISHI ELECTRIC CORPORATION ALL RIGHTS RESERVED

CONTENTS
1. BEFORE USE ......................................................................................................................................................................................1
1.1.HOW TO USE THE INSTRUCTION MANUAL............................................................................................... 1
1.2.GENERAL NAME AND ABBREVIATED NAME .............................................................................................. 2
2. FLOW OF OPERATIONS..................................................................................................................................................................3
2.1.FLOWCHART .......................................................................................................................................... 3
3. FUNCTIONS AND SPECIFICATION OF THE CC-LINK INTERFACE...................................................................................... 4
3.1.WHAT IS CC-LINK?................................................................................................................................ 4
3.2.SPECIFICATION OF THE CC-LINK INTERFACE CARD................................................................................ 5
3.3.HARDWARE OF THE CC-LINK INTERFACE CARD................................................................................... 10
3.3.1. CARD OVERVIEW ....................................................................................................................................................................10
3.3.2. DIP SWITCH............................................................................................................................................................................10
3.3.3. LED........................................................................................................................................................................................12
4. ITEMS TO BE CHECKED BEFORE USING THIS PRODUCT.................................................................................................13
4.1.CHECKING THE PRODUCT .................................................................................................................... 13
4.2.DEVICES TO BE FURNISHED BY THE CUSTOMER .................................................................................. 13
5. HARDWARE SETTINGS .................................................................................................................................................................14
5.1.SETTINGS OF THE CC-LINK MASTER STATION ...................................................................................... 14
5.1.1. CR75N-D/CRND-700 SERIES ..............................................................................................................................................14
5.1.2. CR800-D SERIES...................................................................................................................................................................15
6. CONNECTIONS AND WIRING.......................................................................................................................................................16
6.1.MOUNTING THE CC-LINK INTERFACE CARD IN THE CONTROLLER ........................................................ 16
6.1.1. CR800-D CONTROLLER ........................................................................................................................................................16
6.1.2. CR750-D/CR751-D CONTROLLER.......................................................................................................................................17
6.1.3. CR1D-700 CONTROLLER ......................................................................................................................................................18
6.1.4. CR2D-700 CONTROLLER ......................................................................................................................................................19
6.1.5. CR3D-700 CONTROLLER ......................................................................................................................................................20
6.2.CONNECTION BETWEEN CC-LINK INTERFACE CARD AND MASTER STATION ........................................ 21
6.2.1. CONNECTION OF ONE-TOUCH CONNECTOR AND CABLE ONLY FOR CC-LINK........................................................................21
6.2.2. CONNECTION OF CC-LINK MASTER-STATION UNIT AND CABLE ONLY FOR CC-LINK .............................................................22
6.2.3. CONNECTION OF THE ONE-TOUCH CONNECTOR AND THE CC-LINK INTERFACE CARD .........................................................23
6.2.4. CC-LINK COMMUNICATION CABLE WIRING OF TWO OR MORE SET CONNECTION...................................................................24
6.2.5. MEASURE AGAINST NOISE ......................................................................................................................................................25
6.3.CHECKING CONNECTIONS.................................................................................................................... 28
7. BASIC COMMUNICATION PROCEDURE...................................................................................................................................29
7.1.SETTING THE PARAMETER OF CC-LINK MASTER STATION..................................................................... 30
7.2.SET THE PARAMETER OF THE ROBOT CONTROLLER .............................................................................. 32
7.2.1. SETUP OF PARAMETER ABOUT CC-LINK INTERFACE CARD ...................................................................................................32
7.2.2. SETUP OF SPECIAL I/O PARAMETER.......................................................................................................................................33
7.3.CREATING A MASTER STATION CC-LINK PROGRAM ............................................................................ 34
7.3.1. SIGNAL MAP OF MASTER STATION AND ROBOT ......................................................................................................................34
7.3.2. INSTALLATION OF SAMPLE RUDDER PROGRAM ......................................................................................................................34
7.3.3. FLOW CHART OF SAMPLE RUDDER PROGRAM .......................................................................................................................35
7.4.CREATE THE ROBOT PROGRAM NO.1 ................................................................................................... 36
7.5.START THE ROBOT PROGRAM NO.1FROM THE MASTER STATION......................................................... 36
7.6.EXAMPLE OF CHANGE OF SYSTEM CONFIGURATION.............................................................................. 37
7.6.1. ADD THE 2ND ROBOT CONTROLLER.......................................................................................................................................37

7.6.2. ADD THE ROBOT CONTROLLER TO THE SYSTEM WHICH FOUR SLAVE STATIONS ARE CONNECTED.......................................39
8. TROUBLESHOOTING .....................................................................................................................................................................41
8.1.LIST OF ERRORS.................................................................................................................................. 41
8.2.AN E7730 ERROR HAS OCCURRED AND CC-LINK DOES NOT ESTABLISH A LINK .................................41
8.3.WHEN 7760 ERRORS (ABNORMALITIES IN CC-LINK INITIALIZATION)OCCUR ........................................... 42
9. APPENDIX ..........................................................................................................................................................................................43
9.1.SAMPLE LADDER PROGRAM ................................................................................................................ 43

1
1. Before Use
This chapter describes items to be checked and precautions to be taken before start using the CC-Link
interface.
1.1. How to Use the Instruction Manual
This manual is organized as follows and describes functions that have been added to or changed in the
CC-Link interface. For information about the functions provided for standard robot controllers and how to
operate them, refer to the instruction manual that comes with the robot controller you purchased.
Table 1.1-1 Contents of the Instruction Manual
Chapter Title Description
1
Before Use
Chapter 1 describes how to use this manual (CC-Link Interface
Instruction Manual). Please read this manual thoroughly before
actually starting to use the CC-Link interface.
2
Flow of Operations
Chapter 2 describes the operations required to configure a
CC-Link system. Make sure to perform all of the required
operations.
3
Functions and Specification
of the CC-Link Interface
Chapter 3 describes the functions and specification of the robot
CC-Link interface.
4
Items to Be Checked Before
Using This Product Chapter 4 provides a list of items that come with the CC-Link
interface and the devices that need to be furnished by the
customer. Please verify that the CC-Link interface package you
purchased comes with the standard accessories and is
compatible with your system's robot controller version.
5
Hardware Settings
Chapter 5 describes how to perform hardware settings for
communication between the CC-Link interface and the master
station.
6
Connections and Wiring
Chapter 6 describes how to connect the CC-Link interface and
the master station using cables.
7
Basic Communication
Procedure
Chapter 7 describes a series of operations using the newly
installed CC-Link interface, configured and connected as
described in Chapters 4 to 6, from creating a master station's
CC-Link program to starting robot program No. 1. Learn how to
perform the basic operations following the instructions given for
each step as reference.
8
Troubleshooting
Chapter 8 describes how to resolve problems that may occur
when using the CC-Link interface, such as malfunctions and
errors. Please refer to this chapter as needed.
9
Appendix
Chapter 9 describes a sample ladder program that can be
entered when using the CC-Link interface as well as how to
monitor data with the RT ToolBox2/RT ToolBox3 (personal
computer support software). Please refer to this chapter as
needed.

2
1.2. General name and abbreviated name
Table 1.2-1 General name and abbreviated name
General / abbreviated name Details
Cyclic transmission
Remote input and output, a transmission means to
communicate the details of the remote register periodically
Transient transmission
A transmission method to specify the partner to any timing
and to communicate by 1:1
Master station
The station which controls the data link system
The one station is required for the one system.
Standby master station
The station for backup which succeeds data link control when
the master disconnected data link faulty by the abnormalities,
such as sequencer CPU and the power supply
Local station
The station which has sequencer CPU and can communicate
with the master station and other local stations
Remote I/O station
The station only treating the information on the bit unit
Remote device station
The station treating the information on the bit unit, and the
information on the word unit
Intelligent device station
The station treating the information on the bit unit, and the
information on the word unit, and also the transient
transmission
Remote I/O net mode
Special mode which transmits and receives the data at the
remote I/O station and the high speed
Remote net mode
The mode which can communicate with all the stations for
CC-Link
SB
（link special relay）
Information on the bit unit which shows the operating state and
data link state of the unit of the master station and the local
station
SW
（link special register）
Information on the 16-bit unit which shows the operating state
and data link state of the unit of the master station and the
local station
RX
（
remote input
）
Information inputted by bit unit into the master station from the
slave station
RY
（
remote output
）
Information outputted by bit unit into the master station from
the slave station
RWw
（remote register for the writing）
Information outputted to the remote device station, the local
station, and the intelligent device station from the master
station by 16 bits unit
RWr
（remote register for reading）
Information inputted to the remote device station, the local
station, and the intelligent device station from the master
station by 16 bits unit

3
2. Flow of Operations
The flowchart below shows the flow of operations necessary for configuring a CC-Link interface system.
Use it as a reference to perform the required operations in the correct order.
2.1. Flowchart
1 Determining Specification for CC-Link Control........................See Chapter 3 of this manual.
Once you understand the CC-Link specification, specify the interfaces required for signals to be
communicated within your system via CC-Link communication (e.g., assignment of dedicated I/O signals,
specification of general-purpose I/O signals).
2 Checking Products .................................................................. See Chapter 4 of this manual.
Check the product you have purchased and prepare other products as needed.
3 Hardware Settings and Wiring................................................. See Chapters 5 and 6 of this manual.
Set up the CC-Link interface card as well as the master station. After you have made the settings, install
the CC-Link interface card in the robot controller, and then wire the installed CC-Link interface card and the
master station.
4 Creating a Ladder Program for the Master Station ................. See Section 7.1 of this manual.
Create a ladder program for the master station so that it can be linked to the robot controller.* If the robot
controller is started without running a ladder program stored in the master station, an E7730 error (CC-Link
local station link error) occurs.
5 Setting Robot Controller Parameters....................................... See Section 7.2 of this manual.
Set dedicated I/O signals for communication between the master station and the robot controller. With this
setting, it becomes possible to control the robot controller from the master station.
6 Creating Robot Programs........................................................ See Section 7.3 of this manual.
Create robot programs according to the specification determined in Operation 1 above.
7 Performing CC-Link Control .................................................... See Section 7.4 of this manual.
Run the ladder program stored in the master station and perform control via the CC-Link communication.
8 Completion of Operations

4
3. Functions and Specification of the CC-Link Interface
3.1. What Is CC-Link?
Table 3.1-1 CC-Link Network Configuration Diagram
CC-Link is a field network (*1) that provides not only simple bit control but also additional functions such as
data control and message transmission/reception in order to accommodate the continuous advances in the
functionality of various control devices. CC-Link supports cyclic transmission of not only bit data but also word
data, facilitating communication with intelligent devices such as inverters, indicators and other I/O devices.
Distributed systems can be built easily by setting up an n:n cyclic transmission network to which a master
station and several local stations are connected. The best communication distance and speed can be selected
in a flexible manner according to your system requirements. The optimal system can be built by selecting the
most suited devices from the rich product lines of the CC-Link partner manufacturers.
This CC-Link interface card operates as an intelligent device station.
(*1) Please visit the Web site of the CC-Link Partner Association (http://www.cc-link.org/) for more information
about CC-Link.
3. Functions and Specification of the CC-Link Interface
Remote device
Remote station
Inverter
GOT
Peripheral
equipment
PC
QXxxxx
QJ71E71-100QJ71E71-100QJ71E71-100QJ71E71-100
RUN
INIT.
OPEN
SD
RUN
INIT.
OPEN
SD
RUN
INIT.
OPEN
SD
RUN
INIT.
OPEN
SD
ERR.
COM.ERR.
100M RD
ERR.
COM.ERR.
100M RD
ERR.
COM.ERR.
100M RD
ERR.
COM.ERR.
100M RD
QXxxxx
QXxxxx
PULL
MITSUBISHI
M E L S E C POWER
MPG
RIO
FRONT
MPG
RIO
BATBAT
ACFAILACFAIL
FRONT
Q173NCCPU
QJ71E71-100
RUN
INIT.
OPEN
SD
ERR.
COM.ERR.
100M RD
QJ71E71-100
RUN
INIT.
OPEN
SD
ERR.
COM.ERR.
100M RD
CC-Link interface board
（
TZ576
）
Option slot 1, 2 or 3
(Up to the one board)
Master station unit
Note) An example of CR3D-700 controller.
CR800-D/CR75n-D/CRnD-700
controller

5
3.2. Specification of the CC-Link Interface Card
Table 3.2-1 General Specification (Specification of HR575 Card)
Item
Specification
Remarks
Communication function
Both bit data and word data can be
transmitted.
Word data is used in the
registers.
Type name of CC-Link interface card
TZ576
Mountable option slot 1, 2, or 3
Use one of the slots
Number of mountable cards
1 card
It is not allowed to insert
multiple cards.
Version corresponding to CC-Link
Ver.2
The extended cyclic setup
is possible
Station type
Intelligent device station
Transient transmission is
not supported.
Supported station functionality
Local station
Master station
functionality is not
available.
Station number
Can be set between station numbers
1 and 64
Set using the dip switches
on the card.
If two or more station
occupancy, it becomes
the continuation station
number.
Baud rate
10 M, 5 M, 2.5 M, 625 k, 156 kbps
Number of occupied stations
Can be set to occupy 1, 2, 3, or 4
stations.
Extended cyclic setup
Can be set to 1, 2, 4, or 8 multiple.
Number of I/O
points
Remote input (RX) 896 max. The last two points cannot
be used.
Remote output (RY)
896 max.
Remote register (RWr)
128 max.
One register consists of
16 bits.
Remote register (RWw)
128 max.
Transient transmission
Not supported
Parameter
Initial value
Special
I/O STOP2 -1 , -1
Refer to "Table 3.2 3
List of Robot
Parameters Used in
CC-Link" for details.
DIODATA -1 , -1
Common
CCERR 0
E7730 0
CCINFO 1 , 1 , 1
CCSPD 4
CCCLR 0
CCFIX 1
CCFIL 1000, 200
CCREFCYC 1
MELFA-BASIC
I/O signal access
M_In/ M_Inb/ M_In8 / M_Inw/ M_In16
M_Out/ M_Outb/ M_Out8/ M_Outw/ M_Out16
Register access
M_DIn, M_DOut

6
Table 3.2-2 I/O point per robot controller
Item Extended cyclic setup
Occupancy
station
Signal
1 fold setup
2 fold setup
3 fold setup
4 fold setup
One station
I/O signal
32
point
32
point
64
point
128
point
Register
4
point
8
point
16
point
32
point
Two-station
I/O signal
64
point
96
point
192
point
384
point
Register
8
point
16
point
32
point
64
point
Three-station
I/O signal
96
point
160
point
320
point
640
point
Register
12
point
24
point
48
point
96
point
Four-station
I/O signal
128 point 224 point 448 point 896 point
Register
16
point
32
point
64
point
128
point
Table 3.2-3 List of Robot Parameters Used in CC-Link
Item
Function
STOP2
Set the input number for stopping the robot program from the CC-Link master station to the
1st element.
Set the output number which indicates that the robot program is stopping to the 2nd
element
DIODATA
Set the register input number when specifying the program number and OVRD to the 1st
element.
Set the program number, the error number, and the register output number that outputs the
number of the lines to the 2nd element.
CCERR
If the CC-Link master station is not turned on or if doing the operations of the robot stand
alone before setting the parameter of the master station, the 7750 errors (the cc-Link
master-station parameter is unusual) or the 7730 errors (the cc-Link link is unusual) occur
This parameter enables reset of error temporarily.
0: If the link is abnormal, always error
1: Reset is possible
Although the initial setting is 0, "1" appears when this parameter is read.
While "1" is displayed, press the data setting [F1] key and then the [EXE] key to reset the
error.
*
* T Th
hi is s
p pa ar ra am me et te er r i is s t th he e p po ow we er r s
su up pp pl
ly y r
re es se
et t n ne ee ed dl le es ss sn ne es ss s o of f t th
he e r
ro ob
bo ot t
c co on nt
tr ro ol
ll le er r. .
E7730
This parameter enables reset of 7730 errors (the CC-Link link is unusual) temporarily.
0: If the link is abnormal, always error
1: Reset is possible
*
* T Th hi is s p pa ar ra am me
et te er r
i is s
t th he
e p po
ow we er r s su up pp pl ly y r re es se et t n ne ee ed dl le es ss sn ne es ss s o of f t th he e r ro ob bo ot
t c co
on nt tr
ro ol ll
le er r. .
CCINFO
There are the three elements of this parameter and they set up the number of CC-Link, the
number of occupancy station, and the extended cyclic setup separately.
（Element 1 ＝Number ：1 to 64 stations）
（Element 2 ＝Number of occupancy station ：1 to 4 stations）
（
Element 3
＝
Extended cyclic setup
：
Set up 1, 2, 4, or the 8 fold.
）
CCSPD Set up the transmission speed of CC-Link.
（
0: 156k / 1: 625k / 2: 2.5M / 3: 5M / 4: 10M
）
CCCLR
When the abnormalities in the data link occur, specify whether the input signal is held or it
clears.
1: Hold
0: Clear
CCFIX
Set up whether the CC-Link signal number is fixed or not.
0: Use the signal number of the specified station number.
(Ex.) Set the station number as 3.
I/O signal number = from No. 6064 / Register number = from No. 6008
1: Use the signal number from No. 6000 regardless of the station number.
(Ex.) Set the station number as 3.
I/O signal number = from No. 6000 / Register number = from No. 6000.

7
Item
Function
CCFIL
Set up the master-station parameter abnormal detection filter and the data link abnormal
detection filter. The unit is ms.
If only the time specified by each abnormal condition is being continued, the 7750 errors
and the 7730 errors occur.
CCREFCYC
Change the update cycle of the CC-Link interface.
High-speed mode/Compatibility mode = 1/0
In the software version P7th edition or later the updating cycle of the CC-Link interface was
accelerated.
If "0" is set up, it will operate in same updating cycle as before. This is available if the
compatibility with the robot system constructed by the software version prior to P7 edition is
necessary.
The updating cycle of the input-output signal was sped up in the following software versions:
CRnD-700 series controller: Ver.P7 or later
CR750-D/CR751-D series controller: S3 or later
Table 3.2-4 List of Robot Program Commands Used in CC-Link
Item
Function
M_In
Reads 1-bit data of the specified input signal
M_Out
Writes 1-bit data to the specified output signal
M_Inb/ M_In8
Reads 8-bit data from the specified input signal
M_Outb/ M_Out8
Writes 8-bit data to the specified output signal
M_Inw/ M_In16
Reads 16-bit data from the specified input signal
M_Outw/ M_Out16
Writes 16-bit data to the specified output
M_Din
Reads data of the specified input register
M_DOut
Writes data to the specified output register

8
Table 3.2-5 Signal table
(1) In case of the parameter "CCFIX" is "1" in CC-Link Ver.2
Station
number
Occupancy
station
Extended
cyclic setup
Remote signal Remote register
Input Output Input Output
0(Master) - - - - - -
1 to 64
One
station
1 fold 6000 to 6031 6000 to 6031 6000 to 6003 6000 to 6003
2 fold 6000 to 6063 6000 to 6063 6000 to 6007 6000 to 6007
4 fold 6000 to 6095 6000 to 6095 6000 to 6015 6000 to 6015
8 fold 6000 to 6127 6000 to 6127 6000 to 6031 6000 to 6031
Tow station
1 fold 6000 to 6063 6000 to 6063 6000 to 6007 6000 to 6007
2 fold 6000 to 6095 6000 to 6095 6000 to 6015 6000 to 6015
4 fold 6000 to 6191 6000 to 6191 6000 to 6031 6000 to 6031
8 fold 6000 to 6383 6000 to 6383 6000 to 6063 6000 to 6063
Three
station
1 fold 6000 to 6095 6000 to 6095 6000 to 6011 6000 to 6011
2 fold 6000 to 6159 6000 to 6159 6000 to 6023 6000 to 6023
4 fold 6000 to 6319 6000 to 6319 6000 to 6047 6000 to 6047
8 fold 6000 to 6639 6000 to 6639 6000 to 6095 6000 to 6095
Four
station
1 fold 6000 to 6127 6000 to 6127 6000 to 6015 6000 to 6015
2 fold 6000 to 6223 6000 to 6223 6000 to 6031 6000 to 6031
4 fold 6000 to 6447 6000 to 6447 6000 to 6063 6000 to 6063
8 fold 6000 to 6895 6000 to 6895 6000 to 6127 6000 to 6127
*
*T Th he e l la as st t t tw wo o p po oi in nt ts s c ca an nn no ot t b be e u us se ed d. .
(2) In case of the parameter "CCFIX" is "1" in CC-Link Ver.1
Station
number
Occupancy
station
Extended
cyclic setup
Remote signal Remote register
Input Output
0(Master) - - - - - -
1 to 64
One
station
1 fold only
6000 to 6031 6000 to 6031 6000 to 6003 6000 to 6003
Tow station 6000 to 6063 6000 to 6063 6000 to 6007 6000 to 6007
Three
station
6000 to 6095 6000 to 6095 6000 to 6011 6000 to 6011
Four
station
6000 to 6127 6000 to 6127 6000 to 6015 6000 to 6015
*
*T Th he e l la as st t t tw wo o p po oi in nt ts s c ca an nn no ot t b be e u us se ed d. .

9
Table 3.2-6 Table of CC-Link Signals
(The numbers in the table indicate the numbers of the I/O signals handled by the robot controller.)
Station number
Remote signal
Remote register
Input
Output
Input
Output
0 (master)
1
6000 to 6031
6000 to 6031
6000 to 6003
6000 to 6003
2
6032 to 6063
6032 to 6063
6004 to 6007
6004 to 6007
3
6064 to 6095
6064 to 6095
6008 to 6011
6008 to 6011
4
6096 to 6127
6096 to 6127
6012 to 6015
6012 to 6015
5
6128 to 6159
6128 to 6159
6016 to 6019
6016 to 6019
6
6160 to 6191
6160 to 6191
6020 to 6023
6020 to 6023
7
6192 to 6223
6192 to 6223
6024 to 6027
6024 to 6027
8
6224 to 6255
6224 to 6255
6028 to 6031
6028 to 6031
9
6256 to 6287
6256 to 6287
6032 to 6035
6032 to 6035
10
6288 to 6319
6288 to 6319
6036 to 6039
6036 to 6039
11
6320 to 6351
6320 to 6351
6040 to 6043
6040 to 6043
12
6352 to 6383
6352 to 6383
6044 to 6047
6044 to 6047
13
6384 to 6415
6384 to 6415
6048 to 6051
6048 to 6051
14
6416 to 6447
6416 to 6447
6052 to 6055
6052 to 6055
15
6448 to 6479
6448 to 6479
6056 to 6059
6056 to 6059
16
6480 to 6511
6480 to 6511
6060 to 6063
6060 to 6063
17
6512 to 6543
6512 to 6543
6064 to 6067
6064 to 6067
18
6544 to 6575
6544 to 6575
6068 to 6071
6068 to 6071
19
6576 to 6607
6576 to 6607
6072 to 6075
6072 to 6075
20
6608 to 6639
6608 to 6639
6076 to 6079
6076 to 6079
: : : : :
63
7984 to 8015
7984 to 8015
6248 to 6251
6248 to 6251
64
8016 to 8047
8016 to 8047
6252 to 6255
6252 to 6255
CAUTION In case of the inside signal point of the robot is exceeded, be careful of the point
decreasing.
If the parameter "CCFIX" is set as "0" in CC-Link Ver.2, access from the signal number
corresponding to the station number. For this reason, the following cares are required if the
station number becomes large.
In the 8 fold setup by four-station occupancy of the robot, the signal point number of I/O
signal is 896, and for registers is 128 words.
However, when the number is set as the 64 stations, the permissible signal points in the
robot are the remaining 32 points (8016-8047) and the 4 words (6252-6255).
For this reason, since the set-up point cannot be used, be careful.

10
3.3. Hardware of the CC-Link Interface Card
This section describes the settings that are performed by using the rotary switches and DIP switches on the
CC-Link interface card.
3.3.1. Card overview
(1) General Layout of the Card
Figure 3.3-1 General Layout of the Card
3.3.2. DIP switch
There are the three DIP switches (SW1 / SW2 / SW3) on the CC-Link interface card (TZ576).
The item which can be set up with each DIP switch is shown in the following.
Table 3.3-1 Function of DIP switch (SW1)
Switch OFF ON
Factory
setting
Description
SW1
1
ON (fixation)
ON
2 Ver.1 mode Ver.2 mode ON
Specify the version of CC-Link.
In case of the Ver.2 mode, the
extended cyclic setup is possible.
3
OFF (fixation)
OFF
4
OFF (fixation)
OFF
ＬＥＤ
CC-Link cable
connection connector
DIP switch（SW1/SW2/SW3）