Table of Contents
Advertisement
5. Shift of DeviceNet system connection status and robot controller status
Always start the DeviceNet system specification robot controller in the servo OFF state after the
power is turned ON.
1- Normal state of DeviceNet system connection when robot controller power is turned
ON
• Emergency stop/interlock signals in DeviceNet system are valid.
• When sAFE mode is enabled, service mode input signal is made valid with sI (02) in the
DeviceNet system.
• Emergency stop terminal in sAFETY connector is valid.
• Interlock signal in sTD. DIO connector is valid unless the Board condition (external
24v monitor control) of system parameters is set invalid.
• When the Board condition (external 24v monitor control) of system parameters is left
valid while sAFE mode is enabled, service mode input signal is made valid with DI (02)
in sAFETY connector.
* The signals in the DeviceNet system are sent and received.
2- Shift from DeviceNet system normal connection state to DeviceNet system erroneous
connection state
Robot
controller
• Emergency stop input turns off with sI (00) in the robot controller.
• service mode input turns off with sI (02) in the robot controller.
• Emergency stop terminal in sAFETY connector is valid.
• Interlock signal in sTD. DIO connector is valid when the Board condition (external 24v
monitor control) of system parameters is left valid.
• When the Board condition (external 24v monitor control) of system parameters is left
valid while sAFE mode is enabled, service mode input signal is made valid with DI (02)
in sAFETY connector.
5. Shift of DeviceNet system connection status and robot controller status
Robot
Master module
controller
Master module
or
Robot
Master module
controller
Robot
Master module
controller
Chapter
1
1-7
Advertisement
Table of Contents
