Siemens 2D-TZ577 Instruction Manual

Mitsubishi Industrial Robot

BFP-A8741-D

CR800-D series controller

CR750-D/CR751-D series controller

CRnD-700 series controller

PROFIBUS DP-V0 Slave Interface

Instruction Manual

2D-TZ577

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.

Hyper link was corrected.

2016-08-08 BFP-A8741-B

･
･The back cover was corrected.
･

･The cover and corporate logo mark of this manual was changed.

2017-05-31 BFP-A8741-C

2018-02-01 BFP-A8741-D

･The CR800-D series controller was added.

･Safety Precautions was revised. (The CR800-Q controller was added.)

 Introduction

Indicates an immediately hazardous situation which, if not properly dealt

Indicates a hazardous situation which, if not properly dealt with, could result

Indicates a hazardous situation which, if not properly dealt with, could result

This manual or any part thereof may not be reproduced in any form or by any form without permission.

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

WARNING

CAUTION

·

· 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

with, will result in death or serious injury.

in death or serious injury.

in injury, or property damage alone.

[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

1 Before Using PROFIBUS DP-V0 Slave Interface

Term

Description

PROFIBUS DP-V0

A basic version of PROFIBUS DP which permits the execution of the following

Others

PROFIBUS DP-V1

A version of PROFIBUS DP which permits the execution of the following functions

Others

PROFIBUS DP-V2

A version of PROFIBUS DP which permits the execution of the following functions

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

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

diagnosis.

Slave Station

A lo wer-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

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

settings.

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

functions:

· Input/output data communications

·

in additions to those available from PROFIBUS DP-V0:

· A cyclic communications (asynchronous data communications)

· Alarm notification

·

in additions to those available from PROFIBUS DP-V1:

· Time stamping

·

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

communications with Slave Stations. It serves as a network administration master

station and takes care of such tasks as startup, maintenance service, and

end. Actually, terminator resistors built in the connector used with a PROFIBUS

software compliant with Master Station, which is used to establish slave parameter

About Terms Used in This Manual 1- 1

1 Before Using PROFIBUS DP-V0 Slave Interface

Section

Title

Contents

This section describes how to use this document (PROFIBUS DV-V0

the information contained before attempting to use the 2D-TZ577 Card.

This section describes the work necessary to build a PROFIBUS DP

system. Carry out each work step exactly as indicated.

Features and Specification of
2D-TZ577 Card

This chapter describes the features and specification of the 2D-TZ577
Card.

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.

This section describes the method used to connect the 2D-TZ577 Card to
the Master Station via cables.

This section describes steps you have to take before placing PROFIBUS
DP system into operation.

This section presents information that helps find solutions when

2D-TZ577 Card. Make reference to this section as occasion arises.

The appendix explains the method for displaying information about the
2D-TZ577 Card by means of RT ToolBox2/RT ToolBox3.

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 1-2 Organization of This Instruction Manual

Before Using PROFIBUS

1

DP-V0 Slave Interface

2 Workflow

3

4 Out of the Package

6 Connection and Wiring

Slave Interface Instruction Manual). Read and familiarize yourself with

7 Procedure before Startup

8 Troubleshooting

9 Appendix

operational anomalies or errors are encountered during the use of the

How to Use This Manual 1- 2

2 Workflow

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 PR

OFIBUS 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

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

Work Procedure 2- 3

3 Features and Specification of 2D-TZ577 Card

Robot Controller

CR75n-D

Series

Robot Controller

CR800-D

Series

PROFIBUS DP-VO Slave

Connector with

MELSEC sequencer, etc.

Connector with built

terminator resistors

(to be furnished by the

user)

Equipment from other

Robot Controller

CRnD-700

Series

Master Station unit

Slave Station unit

Personal

computer

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.

100MRD

ERR.
COM.ERR.

100MRD

ERR.
COM.ERR.

100MRD

ERR.
COM.ERR.

100MRD

QXxxxx

QXxxxx

PULL

MITSUBISHI

MEL S EC

POWER

MP

G

R

I

O

FRONT

M

PG

R

IO

B

AT

BA

T

AC

FA

I

LA

CF

A

IL

FRONT

Q173NCCPU

QJ71E71-100

RUN
INIT.
OPEN

SD

ERR.
COM.ERR.

100MRD

QJ71E71-100

RUN
INIT.
OPEN

SD

ERR.
COM.ERR.

100MRD

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.

100MRD

ERR.
COM.ERR.

100MRD

ERR.
COM.ERR.

100MRD

ERR.
COM.ERR.

100MRD

QXxxxx

Q

Xxxxx

PULL

MITSUBISHI

MEL S EC

POWER

MPG

RIO

FRONT

MPG

RIO

BATBAT

ACFAILACFAIL

FRONT

Q173NCCPU

Q

J

71

E7

1

-1

0

0

R

UN
INIT.
O

PE

N

S

D

E

RR

.
COM.ERR.

1

00

MR

D

Q

J7

1E

7

1-

1

00

R

UN
INIT.
O

PE

N

S

D

E

RR

.
COM.ERR.

1

00

MR

D

Varied

devices

3. Features and Specification of 2D-TZ577 Card

3.1 What is PROFIBUS DP

PROFIBUS-compliant

Interface Card (2D-TZ577)

Only one card can be

installed into an option slot

on the Controller*1.

-in
(to be furnished by the user)

CR1D

CR750-D CR751-D

CR2D

manufacturer or

Mitsubishi associate

CR3D

CR800-D

built-in
terminator
resistors
(to be furnished
by the user)

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.

What is PROFIBUS DP 3- 4

Figure 3-1 An Example of PROFIBUS Network Configuration

3 Features and Specification of 2D-TZ577 Card

192 words in combined total

(*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 Vo lume 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.

Features of 2D-TZ577 Card 3- 5

3 Features and Specification of 2D-TZ577 Card

(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.

Features of 2D-TZ577 Card 3- 6

3 Features and Specification of 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

192 words as the combined number

or output data)

Option slot that accepts an

Slot 1/Slop 2/Slot 3

Only one slot is used at any one

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

2000 to 3951

For details about signal alignment,

PROFIBUS Signals."

Terminator resistor

Uninstalled

If the 2D-TZ577 Card is used as a

Be Furnished by User."

Input/output signal access

2D-TZ577 Card send/receive data

signals like parallel I/O signals are.

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)

of pieces of data

interface card

number

of pieces of input/output data (122

words as the total of pieces of input

is assigned to input/output signal

No. 2000 and up. In a
MELFA-BASIC V network, these

signals are treated as input/output

time

(CR1D is provided with Slot 1
only.)
(CR750-D, CR751-D, and
CR800-D are provided with Slot 1

see " Table 3-6 A Listing of

terminal station, terminator resistor
on a dedicated connector should be
enabled. For information about the
connector, see "

Table 4-2 Items To

(*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).

Specification of 2D-TZ577 Card 3- 7