Mitsubishi Electric GOT2000 Connection Manual page 76

2.5 Robot Controller Side Setting
POINT POINT POINT
IAI Robot Controller
For details of IAI Robot Controller, refer to the following
manuals.
IAI Robot Controller user's Manual
2.5.1 Connecting to X-SEL

Parameter setting
Enter the following parameters using peripheral
software. When setting parameters, set the mode
switch of the controller to "MANU".
Parameter Parameter Name
Usage of SIO channel 1
I/O parameter 90
opened to user
Station code of SIO channel
I/O parameter 91
*1
1 opened to user
Baud rate type of SIO
I/O parameter 92
*1
*2 channel 1
Data length of SIO channel
I/O parameter 93
*1
1 opened to user
Stop bit length of SIO
I/O parameter 94
*1
channel 1
Parity type of SIO channel 1
I/O parameter 95
*1
opened to user
IAI-protocol minimum
response delay for SIO
I/O parameter 97
*1
*3 channel 1
opened to user
Other parameter
Other setting bit pattern 1
46
*1 For X-SEL(P/Q/PX/QX), the parameter becomes the SIO
channel 0 opened to user.
*2 Indicates only the transmission that can be specified on the
GOT side.
Specify the transmission speed to match the baud rate of the
GOT.
*3 Set it only when a wait time is required before the response
and transmission to the GOT request. Normally, the
communication is available using default values.
*4 When using the "MANU" mode, the set value is fixed to the
value with *. Adjust the settings of the GOT side to the *
settings.
However, the communication setting of the PC software
becomes the setting of X-SEL after the PC software for X-
SEL is connected. In this case, adjust the communication
setting of the GOT to the setting of the PC software.
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2. CONNECTION TO IAI ROBOT CONTROLLER
2.5 Robot Controller Side Setting
Set Value
• When used in
"MANU"
Set either of the
following.
*1
0: SEL opened
program
2: IAI protocol B
• When used in
"AUTO"
2: IAI protocol B
0 to 255
153*
0: 9600bps*
1: 19200bps
2: 38400bps
opened to user
3: 57600bps
5: 115200bps
7bit, 8bit*
1bit*, 2bit
opened to user
0: None*
1: Odd
2: Even
0 to 999(ms)
bit0 to 3 = 1
(fixed)

Mode switch
(1) X-SEL K type
(a) When setting the mode switch to "MANU"
Connect the GOT to the following teaching
connector.
(b) When setting the mode switch to "AUTO"
Connect the GOT to the following general RS232C
port connector.
CONTROLLER
RB
POWER
*4
FUSE
*1 The teaching connector and general RS232C port connector
cannot be used at the same time.
(2) Other than X-SEL K type
Set the mode switch to "MANU" or "AUTO" and connect
the GOT to the following teaching connector.
Mode switch
PG1 PG3
CODE
MODE
BK1 BK3
Teaching
TP
I/O1 I/O2 I/O3 I/O4
connector
PG4
General
RS232C
port
BK4
connector
HOST
Mode switch
Teaching
connector
*1
*1