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1. State when robot controller power is turned ON
The DeviceNet system specification robot controller always starts operation in servo OFF
state when the power turned ON.
1- When connection to DeviceNet system is correctly established.
The following conditions must be satisfied to correctly connect to the DeviceNet system:
• The DeviceNet system cable must be physically connected
• The MAC ID and communication speed must be correctly set
• The master module is operating normally.
When the robot controller is correctly connected to the DeviceNet system, the normal state
will be indicated with the LEDs on the DeviceNet compatible module.
At this time, the emergency stop signal and interlock signal in the DeviceNet system
will be validated, so both signals must be turned ON in the connection process.
The emergency stop terminal in sAFETY connector is always kept valid. The interlock
signal in sTD. DIO connector is valid unless the Board condition (external 24v monitor
control) of system parameters is set invalid.
When sAFE mode is enabled, service mode input signal is made valid with sI (02) in the
DeviceNet system. The service mode input signal is made valid with DI (02) in sAFETY
connector unless the Board condition (external 24v monitor control) of system parameters
is set invalid.
2- When connection to DeviceNet system is incorrectly established
The following causes can be considered a correct connection with the DeviceNet system
cannot be established:
• The DeviceNet system cable is not physically connected
• The MAC ID or communication speed is set incorrectly
• The master module is not operating correctly
When incorrectly connected to the DeviceNet system, an abnormal state will be indicated
with the DeviceNet compatible module's LED. This also occurs when the master module is
not operating correctly.
The emergency stop signal and interlock signal in the DeviceNet system are invalid in this
case, so the robot controller can be operated independently. However, if the correct state
has been established even once after the robot controller power was turned ON, the robot
controller's emergency stop state cannot be canceled without correctly connecting to the
DeviceNet system.
The emergency stop terminal in sAFETY connector is always kept valid. The interlock signal
in sTD. DIO connector is valid unless the Board condition (external 24v monitor control) of
system parameters is set invalid.
1. State when robot controller power is turned ON
Chapter
3
3-1
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