Mitsubishi 2F-DQ535 Instruction Manual
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Mitsubishi 2F-DQ535 Instruction Manual

Mitsubishi 2F-DQ535 Instruction Manual

Network base card
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Mitsubishi Electric Industrial Robot
CR800-D series controller
Network Base Card
Instruction Manual
2F-DQ535
BFP-A3526-A

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Summary of Contents for Mitsubishi 2F-DQ535

  • Page 1 Mitsubishi Electric Industrial Robot CR800-D series controller Network Base Card Instruction Manual 2F-DQ535 BFP-A3526-A...
  • Page 3 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.
  • Page 4 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.
  • Page 5 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.
  • Page 6 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.
  • Page 7 ■ Revision History Print date Instruction manual No. Revision content 2017-05-31 BFP-A3526 First print 2018-02-01 BFP-A3526-A ･Safety Precautions was revised. (The CR800-Q controller was added.)
  • Page 8 ・ 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.

  • Page 9: Table Of Contents

    3.4.2. LED ........................3-6 3.5. Software configuration ....................3-8 3.5.1. For the CC-Link IE Field module ................. 3-8 4. CC-LINK IE FIELD MODULE AND 2F-DQ535 CARD SPECIFICATIONS ....4-9 4.1. Specifications list ...................... 4-9 4.2. List of robot parameters ..................4-10 4.3.
  • Page 10 8.3.2. General-purpose input/output................8-36 8.3.3. Example of robot program creation (using general-purpose input/output) ..8-37 8.3.4. Sample program for input/output confirmation ..........8-38 9. TROUBLESHOOTING ....................9-39 9.1. List of Errors ......................9-39 10. APPENDIX ......................... 10-41 10.1. Displaying the Option Card Information ............10-41 10.1.1.

  • Page 11: Before Use

    1 Before Use Before Use This chapter describes items to be checked and precautions to be taken before start using the network base card (2F-DQ535). 1.1. Terminology Table 1-1 Terminology Term Explanation CC-Link IE Field CC-Link IE Field Network is an all-around field network based on Gigabit Ethernet that integrates the controller-distributed control, I/O control, safety control, and motion control.

  • Page 12: How To Use The Instruction Manual

    1 Before Use 1.2. How to Use the Instruction Manual This manual is organized as follows and describes functions of the 2F-DQ535 card. 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.

  • Page 13: Flow Of Operations

    4 Setting Hardware and Mounting onto Robot Controller ... See Section 6.2 of this manual. The 2F-DQ535 hardware has no settings, so mount the 2F-DQ535 onto the robot controller as it is. 5 Wiring and Connections ..............See Chapter 7 of this manual.

  • Page 14: Features Of Network Base Card (2F-Dq535)

    (RT ToolBox3, etc.) Figure 3-1 Example of configuring CC-Link IE Field with network base card 3.2. Mountable Modules The modules which can be mounted on the network base card (2F-DQ535) are shown below.  Mountable module CC-Link IE Field module (AB6709)

  • Page 15: Features When Module Is Mounted

    3.3. Features when Module is Mounted CC-Link IE Field 3.3.1. Features when CC-Link IE Field module is mounted The following features are enabled when the CC-Link IE Field module is mounted on the 2F-DQ535 card. (1) Connection Connection to CC-Link IE Field Network is enabled.

  • Page 16: Hardware Of The 2F-Dq535 Card

    Figure 3-2 Overall view of 2F-DQ535 card 3.4.2. LED There are three LEDs on the 2F-DQ535 card, and the operating state of the interface card can be confirmed by each on/off. * The shape and specifications of the Anybus-CC module vary depending on its type. (The following figure shows an example of a CC-Link IE Field module.)
  • Page 17 3 Features of Network Base Card (2F-DQ535) The meaning of each LED on, flash and off state is shown below. Please confirm specifications of the HMS Co. about details. Table 3-1 Description of LED Details of Network Status LED LED status Details Power is not ON, or there is no IP address.

  • Page 18: Software Configuration

    3 Features of Network Base Card (2F-DQ535) 3.5. Software configuration CC-Link IE Field 3.5.1. For the CC-Link IE Field module The software configuration of this product is shown below. Table 3-2 Compatible versions for EtherNet/IP Name Version Robot controller Version A1 and above...

  • Page 19: Cc-Link Ie Field Module And 2F-Dq535 Card Specifications

    Used as general I/O or M_Out/M_OutB/M_OutW/ assigned as dedicated M_Out32/M_Din/M_DOut RT ToolBox3 Option information read (*1) The 2F-DQ535 card can be mounted in the slot 2 only. (*2) An error will occur if CC-Link/PROFIBUS/DeviceNet coexists. (Error 6111) Specifications list 4-9...

  • Page 20: List Of Robot Parameters

    Parameter which sets a dedicated input signal number for 2000 to 4047 stopping the robot program. (Parameter "STOP" is fixed to "0", so "STOP2" is used with the 2F-DQ535 card to define a stop signal from an external source.) ORST6000 00000000,...

  • Page 21: Robot Controller I/O Signals

    4 CC-Link IE Field module and 2F-DQ535 card specifications 4.3. Robot controller I/O signals CC-Link IE Field The maximum data size of I/O signals (bit devices) handled in the robot controller is 2048 bits starting at address 6000 through 8047 for both input and output regardless of the CC-Link IE Field node or station number.

  • Page 22: I/O Signal Number Map (Cc-Link Ie Field)

    4 CC-Link IE Field module and 2F-DQ535 card specifications CC-Link IE Field 4.3.1. I/O signal number map (CC-Link IE Field) For the data size of the I/O signals (bit devices), set the number of bytes (1 byte = 8 bits) in the parameter for both input and output.

  • Page 23: I/O Register Number Map (Cc-Link Ie Field)

    4 CC-Link IE Field module and 2F-DQ535 card specifications CC-Link IE Field 4.3.2. I/O register number map (CC-Link IE Field) The data size for input and output of I/O registers (word device) can be changed with the parameters. It can be set from 8 to 512 points.

  • Page 24: Flow Of I/O Signal

    Figure 4-1 Flow of I/O signal 4.3.4. Deducated Input/Output Dedicated inputs and outputs can be used by assigning the signal numbers of the 2F-DQ535 card to the dedicated I/O signal parameters. Refer to "6 External Input/Output Functions" in the separate "Instruction Manual, Detailed Explanation of Functions and Operations"...

  • Page 25: Output Signal Reset Pattern

    4 CC-Link IE Field module and 2F-DQ535 card specifications CC-Link IE Field 4.3.5. Output signal Reset pattern In the factory setting, all general-purpose output signals start at OFF (0). The status of the general-purpose output signal at power ON can be changed by changing the following parameters. These parameters are also used for the general-purpose output signal reset operation (executed with dedicated input signal, etc.) and for the reset pattern when the “Clr”...

  • Page 26: Specifications Related To Robot Language

    4 CC-Link IE Field module and 2F-DQ535 card specifications CC-Link IE Field 4.3.6. Specifications related to Robot language The robot language (MELFA-BASIC V/VI) used with the 2F-DQ535 card is explained below. Table 4-6 List of system status variables used for data input/output...
  • Page 27 4 CC-Link IE Field module and 2F-DQ535 card specifications Table 4-7 Example of assigning master station and robot I/O signals Meaning Master station (*1) Robot Data send/receive area Data send area Input 6000 to 6015 PLC data write complete flag WRTFLG Input No.

  • Page 28: Items To Be Checked Before Using This Product

    5 Items to Be Checked Before Using This Product Items to Be Checked Before Using This Product 5.1. Checking the Product The product (2F-DQ535) you purchased consists of the following items as standard. Please verify the items. Table 5-1 List of the standard items in the product (2F-DQ535)

  • Page 29: Devices To Be Prepared By The Customer

    5.2.1. For the CC-Link IE Field module The devices which must be prepared by the customer to use the CC-Link IE Field module with the Mitsubishi 2F-DQ535 card are listed below. Table 5-2 List of the standard items in the product...

  • Page 30: Hardware Settings

    CC-Link IE Field 6.1. Module Mounting Procedures The example of installing the CC-Link IE Field module on the network base card (2F-DQ535) is shown below. (1) Prepare the network base card (2F-DQ535), CC-Link IE Field module and module fixing parts.
  • Page 31 6 Hardware Settings (3) Place the EtherNet/IP module onto the fixing parts, and slide it to connect its module connector with pins on the card side. Connector connection Module board (4) Align the protrusions on the module fixing parts (top side) with the slits on the module, and mount the module as if sandwiching it from the left, right and top.

  • Page 32: Setting The 2F-Dq535 Card Hardware

    Fix screw Fix screw 6.2. Setting the 2F-DQ535 Card Hardware The 2F-DQ535 card does not have any hardware settings. All settings are completed with the master station parameters and robot controller parameters. Refer to "8.1 Setting the Parameters" for details.

  • Page 33: Connections And Wiring

    Connections and Wiring CC-Link IE Field 7.1. Mounting 2F-DQ535 Card onto Robot Controller Only one 2F-DQ535 card can be mounted in the option slot 2 of the robot controller. It cannot be mounted in the slot 1. 7.1.1. CR800-D controller Remove one interface cover of the option slots 2 in the robot controller front, and mount the 2F-DQ535 card there.

  • Page 34: Wiring

    An example of connecting the 2F-DQ535 card and Rockwell PLC (MELSEC-Q series, QJ71GF11-T2) one-on-one with an Ethernet cable is explained below. (1) Connect the Ethernet straight cable connector to the 2F-DQ535 card on which the CC-Link IE Field module is mounted.
  • Page 35 Check the following connections again before using the 2F-DQ535 card. Table 7-1 Checking connections Check item Check Is the 2F-DQ535 card securely mounted into the controller slot? Are the Ethernet cables between the 2F-DQ535 card and prepared external devices correctly connected? Wiring 7-25...

  • Page 36: Procedures For Starting Operation

    CC-Link IE Field The procedures for starting operation with the Anybus-CompactCom module are shown below. In this example, the 2F-DQ535 card and the PLC are connected one-on-one with an Ethernet cable, and an operation to confirm the I/O signal is performed.

  • Page 37: Setting The Parameters

    8 Procedures for Starting Operation 8.1. Setting the Parameters CC-Link IE Field 8.1.1. For the CC-Link IE Field module (1) Start GX Works2 and create a new PLC project. (2) Set the CPU module model. Select the model (3) Open the parameter setting of CC-Link IE Field. Setting the Parameters 8-27...
  • Page 38 8 Procedures for Starting Operation (4) Set the network parameters (module 1). · Network Type : CC IE Field (Master Station) · Start I/O No. : 0000 · Network No. · Total Stations (5) Set the network configuration. · Station No. : 1z ·...
  • Page 39 8 Procedures for Starting Operation (6) Set the refresh parameters. Set as follows: 1) Import the 128-point output signals 6000 to 6127 of the robot into the bit devices M0 to M127 of PLC. 2) Import the bit devices M2000 to M2127 of PLC into the input signals 6000 to 6127 of the robot. 3) Import the output registers 6000 to 6063 of the robot into the word devices D0 to D63 of PLC.
  • Page 40 8 Procedures for Starting Operation (7) Press the [End] button to close the window. (8) Create a ladder program of the PLC side. In this program, the input to the PLC is looped back to the output as it is. ·...
  • Page 41 8 Procedures for Starting Operation (9) Write the parameter and program in PLC. After setting the connection destination of the PLC side and personal computer, such as a USB connection, select [Online] - [Write to PLC] and write the parameters and the program. (10) Check the values of the parameters of the robot controller.
  • Page 42 8 Procedures for Starting Operation The parameter settings and the network configuration settings (station No. and number of points of RX/RY and RWr/RWw) must be consistent with those in the PLC described in (5). 8-32 Setting the Parameters...

  • Page 43: Checking The I/O Signals

    8 Procedures for Starting Operation 8.2. Checking the I/O Signals CC-Link IE Field 8.2.1. For the CC-Link IE Field module Check the exchange of I/O signals using RT ToolBox3 and the GX Works2 monitor screen. (1) Start the "General Purpose Signal" monitor in RT ToolBox3. Checking the I/O Signals 8-33...
  • Page 44 8 Procedures for Starting Operation (2) Start "Device/Buffer Memory Batch Monitor" in GX Works2. Select [Online] - [Monitor] - [Device/Buffer Memory Batch] to open the window and specify the beginning (M0/M2000/D0/D200) of the device name to be monitored. Multiple monitors can be started at the same time and pressing the [F3] key starts monitoring.
  • Page 45 8 Procedures for Starting Operation (4) Confirm that the output from the robot is looped back in the PLC side and stored in the input of the robot. Checking the I/O Signals 8-35...

  • Page 46: Execution Of Robot Program

    8 Procedures for Starting Operation 8.3. Execution of robot program 8.3.1. Setting the dedicated input/output Set the dedicated input/output as shown below. After changing the parameters, turn the power OFF and ON once. Refer to the separate "Instruction Manual, Detailed Explanation of Functions and Operations" for details on the settings.

  • Page 47: Example Of Robot Program Creation (Using General-Purpose Input/Output)

    8 Procedures for Starting Operation 8.3.3. Example of robot program creation (using general-purpose input/output) *LBL1:If M_In(6008) = 0 Then GoTo *LBL1 Input No. 6008 and output No. 6009 are used as M1 = M_Inb(6000) interlocks. M_Out(6009) = 1 Refer to "4.5.1 Robot system status variables for *LBL2:If M_In(6008) = 1 Then GoTo *LBL2 M_Out(2009) = 0 2D-DQ535 card"...

  • Page 48: Sample Program For Input/Output Confirmation

    8 Procedures for Starting Operation 8.3.4. Sample program for input/output confirmation A sample program for confirming the 2F-DQ535 card input/output is shown below. Use this as necessary for startup adjustment, etc. Table 8-3 Signal assignment conditions Robot side input (master station output)

  • Page 49: Troubleshooting

    9 Troubleshooting Troubleshooting CC-Link IE Field Please read this chapter first if you suspect that some failure has occurred. 9.1. List of Errors ◊◊ The meanings of the error numbers are shown below. ◊◊  0000 * • An error marked with an asterisk (*) requires power resetting. Perform the actions indicated in the countermeasures.
  • Page 50 9 Troubleshooting Error No. Error cause and measures Network communication error n. Error message (n is a number between 1 and 2.) Line error or invalid parameter. This can occur if communication is not established when: (1) The robot program is started, (2) Continuous operation is attempted with direct H.6130 Cause execution from the RT ToolBox3, or (3) An execution program is started...

  • Page 51: Appendix

    In the online state, click "Online" in the work space tree, and click "Slot n (n=1 to 3): Network Base" under "Board". The 2F-DQ535 card information will be read into the properties window. * The option card information in the properties window is not updated automatically. To update the information, go offline and then online and repeat the above steps.

  • Page 52: For The Ethernet/Ip Module

    10 Appendix CC-Link IE Field 10.1.1. For the EtherNet/IP module Table 10-1 2F-DQ535 card information(For CC-Link IE Field module) Display item Display example Meaning Remarks Card name Network Base (DQ535) Card name * CC-Link is displayed as of April 2016.

  • Page 53: Pseudo-Input Function

    10 Appendix CC-Link IE Field 10.2. Pseudo-input Function The pseudo-input function for the CC-Link IE Field network base card allows the pseudo input signals from RT ToolBox3. Usable cases and usage methods are explained below. Network base card (DQ535) status Condition Usability Not mounted...
  • Page 56 Feb., 2018 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.

This manual is also suitable for:

Cr800-d series

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