Siemens 2D-TZ577 User manual

CR800-D series controller
CR750-D/CR751-D series controller
CRnD-700 series controller
PROFIBUS DP-V0 Slave Interface
Instruction Manual
2D-TZ577
Mitsubishi Industrial Robot
BFP-A8741-D

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
Printing date
Manual No.
Description
2008-03-25
BFP-A8741
Initial edition
2008-04-15
BFP-A8741-A
･
Error in writing correction.
･The back cover was corrected.
･
Hyper link was corrected.
2016-08-08 BFP-A8741-B ･The cover and corporate logo mark of this manual was changed.
2017-05-31 BFP-A8741-C ･The CR800-D series controller was added.
2018-02-01 BFP-A8741-D ･Safety Precautions was revised. (The CR800-Q controller was added.)

Introduction
Thank you for purchasing Mitsubishi Electric Industrial Robot.
The PROFIBUS DP-V0 Slave Interface (2D-TZ577) is an optional device which, installed into the
CRnD-700 series, CR750-D/CR751-D series, or CR800-D series Robot Controller, permits you to connect
the Robot Controller to a PROFIBUS DP-V0 network.
Before using the Interface, read this manual and familiarize yourself with all pages to ensure safe operation
and obtain maximum satisfactory service from the PROFIBUS DP-V0 Slave Interface (2D-TZ577).
Note: All descriptions in this manual assume that the user has an adequate understanding about basic
operating procedures and functions which pertain to the Mitsubishi Industrial Robot. For detailed
information about the basic operating procedures, refer to the "Instruction Manual - Detailed Description of
Functions and Operation" which is separately issued.
Safety notation used in this manual:
DANGER
Indicates an immediately hazardous situation which, if not properly dealt
with, will result in death or serious injury.
WARNING
Indicates a hazardous situation which, if not properly dealt with, could result
in death or serious injury.
CAUTION
Indicates a hazardous situation which, if not properly dealt with, could result
in injury, or property damage alone.
·
This manual or any part thereof may not be reproduced in any form or by any form without permission.
·All the contents of this manual are subject to change without notice.
·Specification values appearing in this manual are based on the tests conducted in accordance with
Mitsubishi Electric's standard procedures.
·Mitsubishi Electric prepared this manual with close attention to every detail. However, in case that you
find any point in this manual which is not quite clear or any information which is not correctly presented
or missing, your local sales representative or Mitsubishi MELFA Telephone Customer Service Center
should be contacted for advice.
·Trade names or trademarks appearing in this manual are the property of their respective owners.
·The notations "®" and "TM" are omitted in this manual.
Copyright(C) 2009-2018 MITSUBISHI ELECTRIC CORPORATION ALL RIGHTS RESERVED

[Table of Contents]
1. Before Using PROFIBUS DP-V0 Slave Interface .......................................................................................... 1
1.1 About Terms Used in This Manual .......................................................................................................... 1
1.2 How to Use This Manual ......................................................................................................................... 2
2. Workflow ......................................................................................................................................................... 3
2.1 Work Procedure ...................................................................................................................................... 3
3. Features and Specification of 2D-TZ577 Card............................................................................................... 4
3.1 What is PROFIBUS DP........................................................................................................................... 4
3.2 Features of 2D-TZ577 Card .................................................................................................................... 5
3.3 Specification of 2D-TZ577 Card .............................................................................................................. 7
3.3.1 General Specification ....................................................................................................................... 7
3.3.2 Transmission Specification .............................................................................................................. 8
3.3.3 Network Configuration ..................................................................................................................... 8
3.3.4 Accommodated Versions ................................................................................................................. 9
3.4 Robot Parameters ................................................................................................................................. 10
3.5 Robot Controller Input/Output Signals .................................................................................................. 12
3.6 About Dedicated Input/Output............................................................................................................... 13
3.7 Specification Relative to Robot Language ............................................................................................ 13
3.7.1 Robot System State Variables Relative to 2D-TZ577 Card ........................................................... 13
3.8 About Output Signal Reset Patterns ..................................................................................................... 16
3.9 Hardware of 2D-TZ577 Card................................................................................................................. 17
3.9.1 Overall View ................................................................................................................................... 17
3.9.2 LED ................................................................................................................................................ 17
4. Out of the Package....................................................................................................................................... 18
4.1 Checking Component Parts .................................................................................................................. 18
4.2 Items To Be Furnished by User............................................................................................................. 18
5. Hardware Setup............................................................................................................................................ 20
5.1 Hardware Setup for 2D-TZ577 Card ..................................................................................................... 20
6. Connection and Wiring ................................................................................................................................. 21
6.1 Installing A 2D-TZ577 Card into Robot Controller................................................................................. 21
6.1.1 CR1D Robot Controller .................................................................................................................. 21
6.1.2 CR2D Robot Controller .................................................................................................................. 22
6.1.3 CR3D Robot Controller .................................................................................................................. 23
6.1.4 CR750-D/CR751-D Robot Controller............................................................................................. 24
6.1.5 CR800-D Robot Controller............................................................................................................. 25
6.2 Connector Pin Configuration (D-SUB9 Pin) .......................................................................................... 26
6.3 Wiring .................................................................................................................................................... 26
6.4 About Noise Control .............................................................................................................................. 27

6.4.1 CR1D Controller............................................................................................................................. 27
6.4.2 CR2D Controller............................................................................................................................. 27
6.4.3 CR3D Controller............................................................................................................................. 28
6.5 Checking Connections .......................................................................................................................... 29
7. Procedure before Startup ............................................................................................................................. 30
7.1 Procedure for Running Self-diagnosis .................................................................................................. 31
7.2 Parameter Settings on the Side of Master Station ................................................................................ 31
7.2.1 Procedure for Establishing Parameters ......................................................................................... 31
7.2.2 Slave Parameters........................................................................................................................... 32
7.3 Parameter Settings on the Side of Robot Controller............................................................................. 35
7.4 Have A Try For It.................................................................................................................................... 37
7.4.1 Setting Dedicated Input/Output...................................................................................................... 37
7.4.2 About General-purpose Input/Output............................................................................................. 37
7.4.3 Examples of Robot Program (Using General-purpose I/O) ........................................................... 38
7.4.4 A Sample Program for Checking Input/Output............................................................................... 39
8. Troubleshooting ............................................................................................................................................ 40
8.1 A Listing of Errors .................................................................................................................................. 40
8.2 At the Occurrence of Error 8570 (PROFIBUS Communication Timeout) ............................................. 42
9. Appendix....................................................................................................................................................... 43
9.1 Displaying Option Card Information ...................................................................................................... 43

1Before Using PROFIBUS DP-V0 Slave Interface
About Terms Used in This Manual 1- 1
1. Before Using PROFIBUS DP-V0 Slave Interface
This chapter explains checks or precautions that you should perform or take before using the PROFIBUS DP-V0
Slave Interface (2D-TZ577).
1.1 About Terms Used in This Manual
Table 1-1 Terms Used in This Manual
Term
Description
PROFIBUS DP-V0
A basic version of PROFIBUS DP which permits the execution of the following
functions:
·Input/output data communications
·
Others
PROFIBUS DP-V1
A version of PROFIBUS DP which permits the execution of the following functions
in additions to those available from PROFIBUS DP-V0:
·A cyclic communications (asynchronous data communications)
·Alarm notification
·
Others
PROFIBUS DP-V2
A version of PROFIBUS DP which permits the execution of the following functions
in additions to those available from PROFIBUS DP-V1:
·Time stamping
·
Others
2D-TZ577
PROFIBUS DP-V0 Slave Interface (a complete set of products)
2D-TZ577 Card
PROFIBUS DP-V0 Slave Interface Card (TZ577)
Master Station
A station residing in the equipment (typically, PLS or personal computer) which
controls a data link system. There must be at least one Master Station in any
system. As described below, Master Station comes in two varieties: Class 1 and
Class 2.
Class 1 Master Station
Equipment which exchanges input/output data with Slave Stations.
Class 2 Master Station
Equipment which verifies station number settings and operating statuses through
communications with Slave Stations. It serves as a network administration master
station and takes care of such tasks as startup, maintenance service, and
diagnosis.
Slave Station
A lower-level station which communicates with Master Station.
Repeater
A device which provides a link between the segments of a PROFIBUS DP network.
Terminator resistor
Resistor connected to the individual segments of a PROFIBUS DP network at each
end. Actually, terminator resistors built in the connector used with a PROFIBUS
network are enabled to fulfill intended purposes.
Slave parameter
Slave station parameter established by Master Station. Items of parameter
information are stated on a GSD file.
Station number
A number assigned to Master Station or Slave Station. Numbering is in the range of
0 to 125.
I/O configuration
information (data module)
Information about input/output configuration at Slave Station.
Input data
Data which is sent by 2D-TZ577 Card and received by Master Station.
(Data inputted by Master Station)
Output data
Data which is sent by Master Station and received by 2D-TZ577 Card.
(Data outputted by Master Station)
Global control
A function which allows Class 1 Master Station to send an input/output data
synchronization command to Slave Stations.
Communication WDT
A watchdog timer established in the slave parameter at Master Station.
GSD file
An electronic file stating parameter settings at Slave Station. A data setting
software compliant with Master Station, which is used to establish slave parameter
settings.

1Before Using PROFIBUS DP-V0 Slave Interface
How to Use This Manual 1- 2
1.2 How to Use This Manual
This manual discusses the functions of the 2D-TZ577 Card with its constituent sections organized as shown in
the table below. For information about the functions available from the standard Robot Controller and the
operating method thereof, refer to the "Instruction Manual" that is supplied with the Controller.
Table 1-2Organization of This Instruction Manual
Section
Title
Contents
1 Before Using PROFIBUS
DP-V0 Slave Interface
This section describes how to use this document (PROFIBUS DV-V0
Slave Interface Instruction Manual). Read and familiarize yourself with
the information contained before attempting to use the 2D-TZ577 Card.
2Workflow
This section describes the work necessary to build a PROFIBUS DP
system. Carry out each work step exactly as indicated.
3
Features and Specification of
2D-TZ577 Card
This chapter describes the features and specification of the 2D-TZ577
Card.
4 Out of the Package
Upon receipt of the 2D-TZ577 Card, check to see that all items are in the
package and that the version of the Robot Controller is as specified.
5
Hardware Setup
Hardware setup need not be done in regard to the product in question.
6Connection and Wiring
This section describes the method used to connect the 2D-TZ577 Card to
the Master Station via cables.
7 Procedure before Startup
This section describes steps you have to take before placing PROFIBUS
DP system into operation.
8 Troubleshooting
This section presents information that helps find solutions when
operational anomalies or errors are encountered during the use of the
2D-TZ577 Card. Make reference to this section as occasion arises.
9Appendix
The appendix explains the method for displaying information about the
2D-TZ577 Card by means of RT ToolBox2/RT ToolBox3.

2Workflow
Work Procedure 2- 3
2. Workflow
Workflow you should follow to construct a PROFIBUS DP network system is shown below. Carry out each work
step exactly as indicated.
2.1 Work Procedure
1 Deciding a specification for PROFIBUS DP network ･･････････ See Section 3.
Make a decision on interface details in regard to system signals utilizing PROFIBUS DP after gaining an
understanding of PROFIBUS DP specification.
(Such details include alignment of dedicated input/output signals and arrangement pertaining to general-purpose
input/output signals.)
2. Unpacking component parts ･･･････････････････････････････ See Section 4.
Unpack cartons containing your purchase and ensure that all the necessary items are ready for installation.
3. Hardware setup and installation to robot controller ････････････ See Section 5 and Section 6.1.
The 2D-TZ577 Card lets you do without hardware setup. Install the Card into the Robot Controller, as it is.
5. Establishing parameters for Master Station ･･････････････････ See Section 7.2.
Make signal alignment and Slave Station number settings at the Master Station.
6. Establishing parameters for Robot Controller ･････････････････ See Section 7.3.
Make Robot Controller-side station number settings.
Choose a setting to indicate whether the Robot Controller should run a self-diagnosis at power-on.
Carry out signal alignment for dedicated I/O.
7. Making the connection ･･･････････････････････････････････ See Sections 6.2 through 6.5.
Connect the 2D-TZ577 Card installed in the Robot Controller to the Master Station, using the PROFIBUS-specific
cable and connector.
8. Creating a robot program ･････････････････････････････････ See Section 7.4.
Create a robot program compliant with the specification decided in Step 1 above and activate the robot in auto
operation mode.
9. Actions at the occurrence of a trouble ･･･････････････････････ See Chapter 8.
4. Performing self-diagnosis ･････････････････････････････････ See Section 7.1.
Run a self-diagnosis and ensure that the 2D-TZ577 Card has no problems with its hardware.
10. Work complete

3Features and Specification of 2D-TZ577 Card
What is PROFIBUS DP 3- 4
3. Features and Specification of 2D-TZ577 Card
3.1 What is PROFIBUS DP
Figure 3-1 An Example of PROFIBUS Network Configuration
PROFIBUS is one of the recognized fieldbus standards. PROFIBUS comes in three variations: general-purpose
PROFIBUS FMS, PROFIBUS DP for factory automation application, and PROFIBUS PA for process automation
application.
The 2D-TZ577 Card is intended to serve as a slave station which supports PROFIBUS DP-V0 capabilities.
It does not support PRORIBUS DP-V1 or PROFIBUS DP-V2 which is an extension of PROFIBUS DP-V0.
CR2D CR3D CR1D
Robot Controller CR75n-D
Series
CR750-D CR751-D
Robot Controller
CR800-D Series
CR800-D
PROFIBUS DP-VO Slave
Interface Card (2D-TZ577)
Only one card can be
installed into an option slot
on the Controller*1.
Connector with
built-in
terminator
resistors
(to be furnished
by the user)
MELSEC sequencer, etc.
(to be furnished by the user)
Connector with built
-in
terminator resistors
(to be furnished by the
user)
Equipment from other
manufacturer or
Mitsubishi associate
Robot Controller
CRnD-700 Series
Master Station unit
Slave Station unit
Personal
computer
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3Features and Specification of 2D-TZ577 Card
Features of 2D-TZ577 Card 3- 5
(*1) Number of the option slots varies with the Controller you use.
CR1D: Provided only with Slot 1.
CR2/3D: Provided with Slots 1 thru 3 (only one of the three slots used to install the Card at any one time)
 Details about PROFIBUS 
To learn more about PROFIBUS, visit a Japan PROFIBUS Association website at http://www.profibus.com/
3.2 Features of 2D-TZ577 Card
The 2D-TZ577 Card has the following features:
(1) Compliance with EN 50170 Volume 2 (Part 1, 2, 3, 4, and 8)
Designed to provide compliance with EN 50170 Volume 2 (Part 1, 2, 3, 4, and 8), the 2D-TZ577 Card
serves only as a slave station in a PROFIBUS DP-V0 network.
(2) PROFIBUS DP-V0 Slave Interface Card for D-Type Robot Controller
The 2D-TZ577 Card is an optional card for use with the stand-alone type (D type) Robot Controller, not
usable for iQ Platform compatible type (Q type or R type). To connect iQ Platform compatible type (Q type
or R type) Robot Controller to a PROFIBUS DP network, use a MELSEC-Q Series PROFIBUS DP unit.
To connect R type Robot Controller to a PROFIBUS DP network, use a MELSEC iQ-R Series PROFIBUS
DP unit.
(3) Input/output data communications with Class 1 Master Station
The 2D-TZ577 Card is capable of conducting input/output data communications with PROFIBUS-DP Class
1 Master Station (Master Station which communicates with Slave Stations on a cyclic basis). This card is
intended to serve as a slave station which supports PROFIBUS DP-V0 capabilities. It does not
support PRORIBUS DP-V1 or PROFIBUS DP-V2 which is an extension of PROFIBUS DP-V0.
(a) Communicatable number of pieces of data
A single 2D-TZ577 Card allows communications in the following number:
Input data - 122 words maximum
Output data - 122 words maximum
(4) Communications with Class 2 Mater Station
The 2D-TZ577 Card is capable of conducting communications, as detailed below, with Class 2 Master
Station (Master Station for network administration which takes care of startup, maintenance and diagnosis
services).
• Reading from input send area/output receive area
• Reading I/O configuration information
• Changing station numbers
For instructions on using the each of the listed functions, see instruction manual which is supplied with
Class 2 Master Station being installed.
192 words in combined total

3Features and Specification of 2D-TZ577 Card
Features of 2D-TZ577 Card 3- 6
(5) Input/output data swapping
The 2D-TZ577 Card permits upper/lower bytes to be swapped at the time when input/output data is sent to
or received from Master Station. In a PROFIBUS DP network, the way the upper/lower bytes of input/output
data is treated differs depending on the type of Master Station, but there is no need for making input/output
data swapping at a program level.
(6) Global control
The 2D-TZ577 Card supports global control capability, enabling Class 1 Master Station to control
input/output data updating on the 2D-TZ577 Card by commands it transmits (SYNC, UNSYNC, FREEZE,
and UNFREEZE). For instructions on using the global control capability, see instruction manual which is
supplied with Class 1 Master Station being installed.

3Features and Specification of 2D-TZ577 Card
Specification of 2D-TZ577 Card 3- 7
3.3 Specification of 2D-TZ577 Card
The following table shows the specification of the 2D-TZ577 Card.
3.3.1 General Specification
Table 3-1 General Specification (2D-TZ577 Card)
Item
Specification
Remark
Type name
TZ577
PROFIBUS specification complied
with
EN50170 Volume2(Part1,2,3,4,8)
PROFIBUS DP version supported
DP-V0 only
DP-V1 and DP-V2 not supported
Transmission rate
9.6k/19.2k/45.45k/93.75k/187.5k/5
00k/1.5M/3M/6M/12Mbaud
Set by parameters specified on
Master Station
Station number
0 to 125
Set by parameters specified on
Robot (default setting: 126
*1
)
Maximum communicatable number
of pieces of data
192 words as the combined number
of pieces of input/output data (122
words as the total of pieces of input
or output data)
Option slot that accepts an
interface card
Slot 1/Slop 2/Slot 3
Only one slot is used at any one
time
(CR1D is provided with Slot 1
only.)
(CR750-D, CR751-D, and
CR800-D are provided with Slot 1
and 2 only.)
Number of cards installed
One
Installation of more than one card is
not permitted.
Concurrent use of 2D-TZ577 Card
and other fieldbus option card
*2
Not permitted
Robot controller input/output
number
2000 to 3951
For details about signal alignment,
see " Table 3-6A Listing of
PROFIBUS Signals."
Terminator resistor
Uninstalled
If the 2D-TZ577 Card is used as a
terminal station, terminator resistor
on a dedicated connector should be
enabled. For information about the
connector, see "Table 4-2Items To
Be Furnished by User."
Input/output signal access
2D-TZ577 Card send/receive data
is assigned to input/output signal
No. 2000 and up. In a
MELFA-BASIC V network, these
signals are treated as input/output
signals like parallel I/O signals are.
(*1) Station number 126 causes the interface to be isolated from the PROFIBUS network.
Specify station numbers in the range of 0 to 125 for the purpose of input/output date communications.
(*2) CC-Link Interface Card and Device Net Interface Card (both under development).

3Features and Specification of 2D-TZ577 Card
Specification of 2D-TZ577 Card 3- 8
3.3.2 Transmission Specification
Table 3-2Transmission Specification
Item
Specification
Transmission specification
Electrical standard and characteristic
Compliant with EIA-RS485
Medium
Shielded twisted-pair cable (Type A)*1
Network configuration
Bus type (tree type when repeater(s) is (are) used)
Communication method
Polling
Transmission encoding method
NRZ
Transmission rate/maximum transmission
range*2
Transmission rate Transmission range
[m/segment]
Maximum transmission range
with three repeaters being
used [m/network]
9.6kbps
1200 4800
19.2kbps
45.45kbps
93.75kbps
187.5kbps
1000
4000
500kbps
400
1600
1.5Mbps
200
800
3Mbps
100 400
6Mbps
12Mbps
Maximum number of intervening repeaters
3*2
Maximum number of units connected
(per segment)
32 (including repeater(s))
Number of nodes connected/segment
32
(*1) Specified in EN 50170 standard
(*2) Maximum transmission distance achievable by the use of repeaters:
Maximum transmission distance [m/network] = (number of repeaters + 1) x transmission distance
[m/segment]
3.3.3 Network Configuration
When creating a PROFIBUS DP network, note that the network comes in under the following design limits:
(1) Number of units that can be connected to the entire network (when repeaters are used)
Master + Slave ≤126
(2) Number of units which can be connected to a segment
Master + Slave + repeater*1 ≤32
(3) Maximum number of intervening repeaters
Up to 3 repeaters are allowed to intervene in the communication path between Master Station and
2D-TZ577 Card
(4) It is necessary to enable terminator resistors on a dedicated connector installed at the terminal station of
each segment.
(5) Maximum number of Slave Stations which can be connected to a Master Station depends on the
specification of the Master Station.
(*1) Repeater is counted in the number of units at each of the segments.

3Features and Specification of 2D-TZ577 Card
Specification of 2D-TZ577 Card 3- 9
Segment
Mater Station
Repeater
…………….
…………….
Slave Station
No. 1
Slave Station
No. 2
Slave Station
No. 030
Slave Station
No. 031
Slave Station
No. 032
Slave Station
No. 060
Figure 3-2An Example of Basic PROFIBUS DP Network Configuration
3.3.4 Accommodated Versions
Table 3-3 Accommodated Versions
Name
Version
Robot Controller
P6k or later
Personal computer support
software
RT Tool Box 2: Ver.1.0.1 or later
* Ver. 1.3 or later is provided with a dialog box which can be used for making
PROFIBUS-related settings.
Even versions preceding 1.3 offer parameter a parameter setting screen that
permits you to make PROFIBUS-related settings.
For more information, see Section7.3 Parameter Settings on the Side of
Robot Controller.

3Features and Specification of 2D-TZ577 Card
Robot Parameters 3- 10
3.4 Robot Parameters
Table 3-4 A Listing of Robot Parameters Used with PROFIBUS
Parameter
name
Initial value Setting range Description
STOP2
-1, -1
-1 /2000 to 3951
A parameter that specifies a dedicated input signal number to
stop robot programs.
(Because the parameter "STOP" is fixed at "0", 2D-TZ577 Card
uses "STOP2" to define an external stop signal.)
ORST2000
ORST2032
:
ORST3920
00000000,
00000000,
00000000,
00000000
0/1/*
A parameter that specifies value of output send data on the
2D-TZ577 Card at the time of signal output reset.
(For details about related settings, see Section 3.8 Before
Using PROFIBUS DP-V0 Slave Interface.)
PBMODE
0
0/2
A parameter that switches the operating mode of the 2D-TZ577
Card between "normal" and "self-diagnosis."
Normal mode = 0, self-diagnosis mode = 2
·When the self-diagnosis identifies an anomaly, an error
message is displayed.
("H.8504: PROFIBUS self-diagnosis shows occurrence of
an error.")
·Return the operating mode to normal to continue with
normal operation.
PBMC
1
1/2
A parameter that designates Master Station as Class 1 or Class
2.
Class 1 Master Station is designated at factory default. To use
"Class 2," choose another parameter setting.
1: Class 1 Master (effected when the station number setting
parameter PBNUM shown below is used)
2: Class 2 Master (effected when changes of station numbers
are made from Class 2 Master Station - with PBNUM not
being used)
PBNUM
126
-1 to 125
A parameter that specifies station number for the 2D-TZ577
Card.
0 to 125: Station number setting value (Rewriting of station
number settings takes place within the flash ROM as well.)
-1: Station number clear (Station number settings within the
flash ROM are cleared.)
* After the station numbers are cleared, the value 126 is taken
on.
* If "No_Add_Chg" is specified with "true" when making
station number settings from Class 2 Master Station,
2D-TZ577 Card is disabled for change of station numbers.
To cancel this setting, clear station numbers with "PBNUM
= -1."
E8500
0
0/1
A parameter that is used to temporarily reset an error state
when PROFIBUS-related error (indicated by a number in the
8500s) occurred.
(1: Resettable (But no communications are to be carried out.) /
0: Always error during the occurrence of an anomaly in the link)
* This parameter does not require power supply resetting
on the Robot Controller. The initial value of 0 will return if
power supply resetting is done.