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7.1 Procedure for Running Self-diagnosis
The following subsections explain the procedure used to run self-diagnosis and states which are observed while
the self-diagnosis goes on.
(1)
Procedure for running self-diagnosis
[1]
Turn on power to the Robot Controller.
[2]
Set robot parameter to self-diagnosis mode. (Set robot parameter as "PBMODE = 2." For details,
see "Table 3-4 A Listing of Robot Parameters Used with PROFIBUS".)
[3]
Turn off power to the Robot Controller and turn power back on.
[4]
While self-diagnosis goes on, display on the operation panel of the Robot Controller flashes like
>777< ↔ blank.
[5]
If the results of self-diagnosis are "normal" ····· The Robot Controller will start normally and the
If the results of self-diagnosis are "abnormal" ·· H.8504 Error (error identified in PROFIBUS
* Parameter need be set as "PBMODE = 0" if it is not desired to run self-diagnosis at the subsequent
startup.
(2)
Corrective actions at the occurrence of error
If the results of self-diagnosis are "error," replace the 2D-TZ577 Card.
When replacing the card, contact its manufacturer for advice.
7.2 Parameter Settings on the Side of Master Station
7.2.1
Procedure for Establishing Parameters
Establish parameters listed below on the side of Master Station.
Parameters established on the side of Master Station
Master parameters (parameters for Master Station itself)
Bus parameters (communication parameters for PROFIBUS-DP network)
Slave parameters
(for 2D-TZ577 Card)
(*1)
For information about items of setting, see the instruction manual for the Master Station.
For method to specify parameter settings, refer to the instruction manual for the software that is used.
Table 7-1 Master-side Parameters
Station number (FDL Address)
Communication WDT (Watchdog)
Minimum response time (Min T_sdr)
Group number (group identification number)
Data module setting
Data alignment setting
Swap setting
7 Procedure before Startup
2D-TZ577 Card will stand by for parameters
from the Master Station.
self-diagnosis) will occur.
For details, see "Table 7-2 A Listing
of Slave Parameters."
Procedure for Running Self-diagnosis 7- 31
Reference
-(*1)
-(*1)
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