Omron SCARA YRC Series User manual
ZX-T Series
Cat. No. I153E-EN-01
DeviceNet
USER´S MANUAL
Cat. No. I153E-EN-01 Note: Specifications subject to change without notice.
Authorized Distributor:
Printed in Europe
Cat. No. I153E-EN-01 SCARA Robots, YRC Series DeviceNet USER´S MANUAL
SCARA Robots
YRC Series
INTRODUCTION
1
Copyright
Introduction
NOTE
SAFETY PRECAUTIONS (ALWAYS READ BEFORE STARTING USE)
2
3
Disclaimers
CHANGE IN SPECIFICATIONS
DIMENSIONS AND WEIGHTS
PERFORMANCE DATA
ERRORS AND OMISSIONS
2
SAFETY PRECAUTIONS (ALWAYS READ BEFORE STARTING USE)
3
Safety Precautions (Always read before starting use)
WARNING
CAUTION
SAFETY PRECAUTIONS (ALWAYS READ BEFORE STARTING USE)
4
5
[Precautions for design]
WARNING
CAUTION
[Precautions for installation]
WARNING
CAUTION
4
SAFETY PRECAUTIONS (ALWAYS READ BEFORE STARTING USE)
5
[Precautions for wiring]
WARNING
CAUTION
WARRANTY
6
[Precautions for starting and maintenance]
WARNING
CAUTION
[Precautions for disposal]
CAUTION
2010 OMRON EUROPE, B.V.
i
GENERAL CONTENTS
GENERAL CONTENTS
ii
1-1
1-1
Chapter
1
OUTLINE
1. Features
1. Features
Master module
Controls the entire DeviceNet system.
The PLC master module corresponds to this.
Slave module
Controlled by the master module in the DeviceNet
system.
The robot controller corresponds to this.
Slave module
Controlled by the master module
in the DeviceNet system.
[Wiring saving]
[Emulated serialization on parallel DIO]
CAUTION
1-2
Chapter
1
OUTLINE
1-3
2. Mechanism
q
w
ON/OFF information
Master module Robot controller
The robot controller monitors the ON/OFF information at a 10ms cycle.
The ON/OFF information consists of two words each of dedicated I/O words, 14
words each of general-purpose I/O words as word information, and 16 points
each of dedicated I/O points, 96 points each of general-purpose I/O points as bit
information. However, when the number of channels that the DeviceNet compatible
module occupies is set to "Small" (2CH each of I/O) by option board parameter, bit
information consists 16 points each of dedicated I/O points and 16 points each of
general-purpose I/O points, so that word information cannot be handled.
2. Mechanism
1-2
1-3
Chapter
1
OUTLINE
3.
Names of each part on the DeviceNet compatible module
t
r
e
q
w
Front of the unit
1-DeviceNet system cable terminals
2-Transmission monitor LED
3-MAC ID setting switch (LSB: 1st digit)
4-MAC ID setting switch (MSB: 2nd digit)
5-Communication speed switch (BPS)
3. Names of each part on the DeviceNet compatible module
1-4
Chapter
1
OUTLINE
1-5
4. Assignment of DeviceNet compatible I/O
Using Input 24CH / Output 24CH
Serial output
(Robot controller Master module)
Serial input
(Master module Robot controller)
Robot controller Master module Robot controller Master module
Port No. Channel No. Port No. Channel No.
4. Assignment of DeviceNet compatible I/O
1-4
1-5
Chapter
1
OUTLINE
Using Input 2CH / Output 2CH
Serial output
(Robot controller Master module)
Serial input
(Master module Robot controller)
Robot controller Master module Robot controller Master module
Port No. Channel No. Port No. Channel No.
4. Assignment of DeviceNet compatible I/O
1-6
Chapter
1
OUTLINE
1-7
Example
Master module Controller
Channel No. MAC
ID Number of channels Data
4. Assignment of DeviceNet compatible I/O
1-6
1-7
Chapter
1
OUTLINE
5.
Shift of DeviceNet system connection status and robot controller status
1- Normal state of DeviceNet system connection when robot controller power is turned
ON
Robot
controller
Master module
2- Shift from DeviceNet system normal connection state to DeviceNet system erroneous
connection state
or
Robot
controller
Master module
Robot
controller
Master module
Robot
controller
Master module
5. Shift of DeviceNet system connection status and robot controller status
1-8
Chapter
1
OUTLINE
1-9
3- DeviceNet system erroneous connection state due to following factors when robot
controller power is turned ON
Robot
controller
Master module
Robot
controller
Master module
5. Shift of DeviceNet system connection status and robot controller status
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