Siemens 2D-TZ577 Instruction Manual page 10

6.4.1 CR1D Controller ............................................................................................................................. 27
6.4.2 CR2D Controller ............................................................................................................................. 27
6.4.3 CR3D Controller ............................................................................................................................. 28
6.5 Checking Connections .......................................................................................................................... 29
7. Procedure before Startup ............................................................................................................................. 30
7.1 Procedure for Running Self-diagnosis .................................................................................................. 31
7.2 Parameter Settings on the Side of Master Station ................................................................................ 31
7.2.1 Procedure for Establishing Parameters ......................................................................................... 31
7.2.2 Slave Parameters ........................................................................................................................... 32
7.3 Parameter Settings on the Side of Robot Controller ............................................................................. 35
7.4 Have A Try For It .................................................................................................................................... 37
7.4.1 Setting Dedicated Input/Output ...................................................................................................... 37
7.4.2 About General-purpose Input/Output ............................................................................................. 37
7.4.3 Examples of Robot Program (Using General-purpose I/O) ........................................................... 38
7.4.4 A Sample Program for Checking Input/Output ............................................................................... 39
8. Troubleshooting ............................................................................................................................................ 40
8.1 A Listing of Errors .................................................................................................................................. 40
8.2 At the Occurrence of Error 8570 (PROFIBUS Communication Timeout) ............................................. 42
9. Appendix ....................................................................................................................................................... 43
9.1 Displaying Option Card Information ...................................................................................................... 43