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5. Shift of DeviceNet system connection status and robot controller status
* The signals in the DeviceNet system are not sent or received.
* The "DeviceNet Link Error" is added to the error history in the robot controller.
Chapter
* If the connection to the DeviceNet system shifts from the normal state to the erroneous
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state, the DeviceNet system connection must be returned to the normal state.
* The DeviceNet system will return when the DeviceNet system connection is recovered to
the normal state.
3- DeviceNet system erroneous connection state due to following factors when robot
controller power is turned ON
• Connection to DeviceNet system not possible
• Error in master module
• Emergency stop/interlock signals in DeviceNet system are invalid.
• 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 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.
* The signals on the DeviceNet system cannot be exchanged.
* The "DeviceNet Link Error" has been added to the error history in the robot controller.
(A standby state for up to 10 seconds will occur to check the communication.)
* As opposed to the state given in 2, in this state, the emergency stop state by sI (00) is
not attained in the controller, so the robot can be operated from the programming box.
(The robot controller can be started independently when setting up the system, etc.)
* service mode input signal cannot be invalidated with sI (02) when sAFE mode is
enabled, so change the service mode parameter setting in sYsTEM > PARAM mode.
In this case, take full precautions to prevent improper settings that might lead to a
hazardous situation.
* When the connection to the DeviceNet system is correctly recovered, the system will
automatically return to the DeviceNet system.
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Robot
Master module
controller
Robot
Master module
controller
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