DX200 Options Instructions For Cc-Link Communications Function
DX200 Options Instructions For Cc-Link Communications Function
DX200 Options Instructions For Cc-Link Communications Function
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR’S MANUAL (for each purpose)
DX200 MAINTENANCE MANUAL (Volume 1) (Volume2)
The DX200 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.
The DX200 maintenance manual above consists of "Volume1" and "Volume2".
MANUAL NO.
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MANDATORY
• This manual explains the Q80BD-J61BT11N board (manufactured
by Mitsubishi Electric Corporation) of the DX200 system and
general operations. Read this manual carefully and be sure to
understand its contents before handling the DX200.
• General items related to safety are listed in Section 1: Safety of the
DX200 Instructions. To ensure correct and safe operation, carefully
read the DX200 Instruction before reading this manual.
CAUTION
• Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating this product.
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications. If such modification is made, the manual number will
also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your
product’s warranty.
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PROHIBITED
• Do not use or keep the board in the following environmental
conditions.
– Where exposed to direct sunshine
– Where vibration or impact occurs
– Where high humidity exists
– Where a strong magnetic field exists
– Where much dust exists
– Where a sudden change in the temperature occurs
– Where corrosive gases occur
– Where condensation occurs
Improper usage of the board may damage the board.
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WARNING
• Before operating the manipulator, check that servo power is turned
OFF when the emergency stop buttons on the front door of the
DX200 and programming pendant are pressed.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop buttons do not function.
Fig. : Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Fig. : Release of Emergency Stop
TURN
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WARNING
• Do not touch the inside of the panel for 5 minutes after the power is
turned OFF.
The remaining charged voltage in the capacitor may cause an electric
shock or an injury.
• Be sure to close the door and install the protection cover while the
power is turned ON.
Failure to observe this warning may result in a fire or an electric shock.
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CAUTION
• Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately, and be sure that all other necessary processing has
been performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the cabinet
of the DX200 after use.
The programming pendant can be damaged if it is left in the
manipulator's work area, on the floor, or near fixtures.
Read and understand the Explanation of Warning Labels in the DX200
Instructions before operating the manipulator:
• The wiring and mounting must be performed by authorized and
qualified personnel.
Failure to observe this caution may result in a fire or an electric shock.
• Make sure that there is no foreign matter such as metal chips on the
board.
In case of malfunction, etc. it may result in an injury or damage the
board.
• Never touch the mounting surfaces of the board parts directly with
fingers.
The generated static electricity may damage the IC.
• Never touch the soldered surfaces of the board directly with fingers.
Protrusions on the soldered surface may result in an injury.
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Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and TM are omitted.
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Contents
4.3.2 DX200 I/O Allocation Example (For Except Handling) ....................................... 4-14
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1 Outline
1 Outline
This manual describes the CC-Link I/O board Q80BD-J61BT11N
(hereafter J61BT11N) (manufactured by Mitsubishi Electric Corporation)
to be used in the DX200. The application of the J61BT11N board enables
the exchange of general-purpose I/O data and register data between a
CC-link device and the DX200. The J61BT11N board is designed only as
a local station and cannot be used as a master station.
The J61BT11N board conforms to CC-Link Ver 2, however, the DX200
system versions available for functions of Ver 2 (Remote Net Addtional
mode / Remote Net Ver 2 mode) are DN1.10.00A-00 and later versions.
As for the versions earlier than DN1.10.00A-00, only the function of Ver 1
(Remote Net Ver 1 mode) is available.
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1 Outline
1.1 System Configuration
CC-Link
Master Station
External PLC (Sequencer) DX200
CC-Link
Local Station
Terminator J61BT11N
Terminator
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2 Hardware Specifications
2.1 External View of the J61BT11N Board
2 Hardware Specifications
RUN ERR.
Operation
Indication LEDs
SD RD
Data link
terminal block
Channel No. DA
setting switch DB
DG
BD
NO. SLD
BD808C
182G51
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2 Hardware Specifications
2.2 J61BT11N Specifications
2-2
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2 Hardware Specifications
2.2 J61BT11N Specifications
Items Specifications
Number of
Number of I/O
transmission I/O
registers
points
Remote Net Ver 1 Input: 4 output: 4 (1 CC-Link station occupied/extended cyclic
mode setting unavailable (1 time))
Input: 16 output: 16 (4 CC-Link stations occupied/extended cyclic
setting unavailable (1 time))
Remote Net Input: 4 output: 4 (1 CC-Link station occupied/1-time setting)
Additional mode Input: 8 output: 8 (1 CC-Link station occupied/2-time setting)
Remote Net Ver Input: 16 output: 16 (1 CC-Link station occupied/4-time setting)
2mode
Input: 32 output: 32 (1 CC-Link station occupied/8-time setting)
Input: 8 output: 8 (2 CC-Link stations occupied/1-time setting)
Input: 16 output: 16 (2 CC-Link stations occupied/2-time setting)
Input: 32 output: 32 (2 CC-Link stations occupied/4-time setting)
Input: 64 output: 64 (2 CC-Link stations occupied/8-time setting)
Input: 12 output: 12 (3 CC-Link stations occupied/1-time setting)
Input: 24 output: 24 (3 CC-Link stations occupied/2-time setting)
Input: 48 output: 48 (3 CC-Link stations occupied/4-time setting)
Input: 96 output: 96 (3 CC-Link stations occupied/8-time setting)
Input: 16 output: 16 (4 CC-Link stations occupied/1-time setting)
Input: 32 output: 32 (4 CC-Link stations occupied/2-time setting)
Input: 64 output: 64 (4 CC-Link stations occupied/4-time setting)
Input: 128 output: 128 (4 CC-Link stations occupied/8-time setting)
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2 Hardware Specifications
2.3 Communication Specifications
Items Specifications
Transmission speed 10 Mbps / 5 Mbps / 2.5 Mbps / 625 kbps / 156 kbps
Communication method Broadcast polling method
Transmission channel Bus type
Number of nodes Maximally 64 Master station: Fixed to 0 Slave station: 1 to 64
Station type Local station
Operation mode Ver 1, Ver 2, Additional
Parameter mode Fixed to Remote Net mode
Extended cyclic Remote Net Ver 1: Fixed to 1 time,
Remote Net Additional/Remote Net Ver 2: 1 time, 2 times, 4 times, 8 times
Number of occupied Remote Net Ver 1: 1 or 4 stations,
stations Remote Net Additional/Remote Net Ver 2: 1 to 4 stations
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WARNING
• Before wiring, be sure to turn OFF the power supply and put up a
warning sign, such as “DO NOT TURN ON THE POWER”.
Failure to observe this warning may result in an electric shock or an
injury.
• Do not touch the inside of the panel for 5 minutes after the power is
turned OFF.
The remaining charged voltage in the capacitor may cause an electric
shock or an injury.
• Be sure to close the door and install the protection cover while the
power is turned ON.
Failure to observe this warning may result in a fire or an electric shock.
CAUTION
• The wiring and mounting must be performed by authorized and
qualified personnel.
Failure to observe this caution may result in a fire or an electric shock.
• Make sure that there is no foreign matter such as metal chips on the
board.
In case of malfunction, etc. it may result in an injury or damage the
board.
• Make sure that there is no damage or deflection of parts on the
board.
In case of malfunction, etc. it may result in an injury or damage the
board.
• Correctly connect each cable and connector.
Failure to observe this caution may result in a fire or damage the board.
• Set the switches, etc. correctly.
Malfunction, caused by an incorrect setting, may result in an injury or
damage the board.
• Never touch the mounting surfaces of the board parts directly with
fingers.
The generated static electricity may damage the IC.
• Never touch the soldered surfaces of the board directly with fingers.
Protrusions on the soldered surface may result in an injury.
• No shock to the board.
The shock may damage the board.
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3 Mounting the J61BT11N Board
3.1 Configuring the J61BT11N Board
RUN ERR.
SD RD
DA
DB
DG
BD
NO. SLD
DA
DB
DG
BD
NO. SLD BD808C
182G51
BD808C
182G51
Channel No. When using two CC-Link boards, change the channel No. switch setting of the board
② setting switch inserted in slot2, to avoid the board numbers overlapping. When using only one CC-
Link board, leave the channel No. switch setting as default.
Slot Switch Channel No. Board Memo
BD 1 2 No.
NO.
Slot 1 OFF OFF 81 0 Default setting
Slot 2 ON OFF 82 1 -
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Door Lock
Clockwise
(2) With the door locks turned clockwise for 90 °, turn the main switch
handle to the “OFF” position, and slowly open the door.
Fig. 3-2: Open the door "OFF" position (horizontal)
Main switch
ON
D
PE
IP
TR
OFF
T
SE
RE
DX200
3-3
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3 Mounting the J61BT11N Board
3.3 Mounting the J61BT11N Board on the DX200
3-4
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3-5
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3 Mounting the J61BT11N Board
3.5 Closing Front Door of the DX200
Flat Tip
Screwdriver
Counter
Clockwise
Door Lock
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4-1
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4 I/O Signal Allocation
4.1 Setting of Optional Board and I/O Module
4. Press {SETUP}.
– The SETUP display appears.
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4-3
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4 I/O Signal Allocation
4.1 Setting of Optional Board and I/O Module
REMOTE REGISTER
Sets whether to allocate the CC-Link remote register to the DX200 M-
register.
REMOTE REGISTER (RWw) ALLOCATION
Sets the first numbers of the DX200 M-register when the CC-Link
remote register (RWw) is allocated to the DX200 M-register.
Selects the numbers from 0 to 999. (RWw) is the data sent from the
local station to the master station.
REMOTE REGISTER (RWr) ALLOCATION
Sets the first numbers of the DX200 M-register when the CC-Link
remote register (RWr) is allocated to the DX200 M-register. Selects the
numbers from 0 to 559. (RWr) is the data sent from the master station to
the local station.
7. Press [ENTER].
– The confirmation dialog box appears.
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8. Press "YES".
– The IO MODULE display appears.
9. Press [ENTER].
– The rest of the I/O module display appears, and "J61BT11N
(SLAVE)" is displayed.
– The I/O points is displayed under "DI/DO" according to the number of
the occupied station that is set on the "OPTION BOARD" display.
The DI/DO points can be found using the I/O size on the set
up display in the following equation:
SUPPLE
-MENT DI/DO points = (I/O size × 8) + 8
"+ 8" : the I/O points for status
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4 I/O Signal Allocation
4.1 Setting of Optional Board and I/O Module
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4-7
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4 I/O Signal Allocation
4.2 External I/O Setting
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5. Select the external I/O signal number (at the change source) to be
changed. (In the setting example, select “#20060”.)
– The select menu appears.
6. Select {MODIFY], and input the external input signal number (at the
change destination) to be changed. (In the setting example, enter
“#20200”.)
– The external input signal number is changed.
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4 I/O Signal Allocation
4.2 External I/O Setting
8. Press {ENTER].
– The allocation window of the external output signal appears.
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External Device
Concurrent I/O J61BT11N Board Connected to CC-Link
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4 I/O Signal Allocation
4.3 Transmitting Data
JANCD-YIO21-E I/O Input External input signal User input signal Details
(Standard I/O) 20010 to 20017 None (allocated on the system) Input data (1)
20020 to 20027) None (allocated on the system) Input data (2)
20030 to 20037 00010 to 00017 (IN0001 to IN0008) Input data (3)
20040 to 20047 00020 to 00027 (IN0009 to IN0016) Input data (4)
20050 to 20057 None (allocated on the system) Input data (5)
I/O Output EXternal output signal User output signal Details
30010 to 30017 None (allocated on the system) Output data (1)
30020 to 30027 None (allocated on the system) Output data (2)
30030 to 30037 10010 to 10017 (OT0001 to OT0008) Output data (3)
30040 to 30047 10020 to 10027 (OT0009 to OT0016) Output data (4)
30050 to 30057 None (allocated on the system) Output data (5)
J61BT11N I/O Input External input signal User input signal Details
(CC-Link) 20060 to 20067 00030 to 00037 (IN0017 to IN0024) Board status1)
20070 to 20077 00040 to 00047 (IN0025 to IN0032) Input data (1)
20080 to 20087 00050 to 00057 (IN0033 to IN0040) Input data (2)
20090 to 20097 00060 to 00067 (IN0041 to IN0048) Input data (3)
20100 to 20107 00070 to 00077 (IN0049 to IN0056) Input data (4)
20110 to 20117 00080 to 00087 (IN0057 to IN0064) Input data (5)
20120 to 20127 00090 to 00097 (IN0065 to IN0072) Input data (6)
20130 to 20137 00100 to 00107 (IN0073 to IN0080) Input data (7)
20140 to 20147 00110 to 00117 (IN0081 to IN0088) Input data (8)
20150 to 20157 00120 to 00127 (IN0089 to IN0096) Input data (9)
20160 to 20167 00130 to 00137 (IN0097 to IN0104) Input data (10)
20170 to 20177 00140 to 00147 (IN0105 to IN0112) Input data (11)
20180 to 20187 00150 to 00157 (IN0113 to IN0120) Input data (12)
20190 to 20197 00160 to 00167 (IN0121 to IN0128) Input data (13)
20200 to 20207 00170 to 00177 (IN0129 to IN0136) Input data (14)
I/O Output EXternal output signal User output signal Details
30060 to 30067 10030 to 10037 (OT0017 to OT0024) System
reservation1)
30070 to 30077 10040 to 10047 (OT0025 to OT0032) Output data (1)
30080 to 30087 10050 to 10057 (OT0033 to OT0040) Output data (2)
30090 to 30097 10060 to 10067 (OT0041 to OT0048) Output data (3)
30100 to 30107 10070 to 10077 (OT0049 to OT0056) Output data (4)
30110 to 30117 10080 to 10087 (OT0057 to OT0064) Output data (5)
30120 to 30127 10090 to 10097 (OT0065 to OT0072) Output data (6)
30130 to 30137 10100 to 10107 (OT0073 to OT0080) Output data (7)
30140 to 30147 10110 to 10117 (OT0081 to OT0088) Output data (8)
30150 to 30157 10120 to 10127 (OT0089 to OT0096) Output data (9)
30160 to 30167 10130 to 10137 (OT0097 to OT0104) Output data (10)
30170 to 30177 10140 to 10147 (OT0105 to OT0112) Output data (11)
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4-13
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4 I/O Signal Allocation
4.3 Transmitting Data
JANCD-YIO21-E I/O Input External input signal User input signal Details
(Standard I/O) 20010 to 20017 None (allocated on the system) Input data (1)
20020 to 20027) None (allocated on the system) Input data (2)
20030 to 20037 00010 to 00017 (IN0001 to IN0008) Input data (3)
20040 to 20047 00020 to 00027 (IN0009 to IN0016) Input data (4)
20050 to 20057 00030 to 00037 (IN0017 to IN0024) Input data (5)
I/O Output EXternal output signal User output signal Details
30010 to 30017 None (allocated on the system) Output data (1)
30020 to 30027 None (allocated on the system) Output data (2)
30030 to 30037 10010 to 10017 (OT0001 to OT0008) Output data (3)
30040 to 30047 10020 to 10027 (OT0009 to OT0016) Output data (4)
30050 to 30057 10030 to 10037 (OT0017 to OT0024) Output data (5)
J61BT11N I/O Input External input signal User input signal Details
(CC-Link) 20060 to 20067 00040 to 00047 (IN0025 to IN0032) Board status1)
20070 to 20077 00050 to 00057 (IN0033 to IN0040) Input data (1)
20080 to 20087 00060 to 00067 (IN0041 to IN0048) Input data (2)
20090 to 20097 00070 to 00077 (IN0049 to IN0056) Input data (3)
20100 to 20107 00080 to 00087 (IN0057 to IN0064) Input data (4)
20110 to 20117 00090 to 00097 (IN0065 to IN0072) Input data (5)
20120 to 20127 00100 to 00107 (IN0073 to IN0080) Input data (6)
20130 to 20137 00110 to 00117 (IN0081 to IN0088) Input data (7)
20140 to 20147 00120 to 00127 (IN0089 to IN0096) Input data (8)
20150 to 20157 00130 to 00137 (IN0097 to IN0104) Input data (9)
20160 to 20167 00140 to 00147 (IN0105 to IN0112) Input data (10)
20170 to 20177 00150 to 00157 (IN0113 to IN0120) Input data (11)
20180 to 20187 00160 to 00167 (IN0121 to IN0128) Input data (12)
20190 to 20197 00170 to 00177 (IN0129 to IN0136) Input data (13)
20200 to 20207 00180 to 00187 (IN0137 to IN0144) Input data (14)
I/O Output EXternal output signal User output signal Details
30060 to 30067 10040 to 10047 (OT0025 to OT0032) System
reservation1)
30070 to 30077 10050 to 10057 (OT0033 to OT0040) Output data (1)
30080 to 30087 10060 to 10067 (OT0041 to OT0048) Output data (2)
30090 to 30097 10070 to 10077 (OT0049 to OT0056) Output data (3)
30100 to 30107 10080 to 10087 (OT0057 to OT0064) Output data (4)
30110 to 30117 10090 to 10097 (OT0065 to OT0072) Output data (5)
30120 to 30127 10100 to 10107 (OT0073 to OT0080) Output data (6)
30130 to 30137 10110 to 10117 (OT0081 to OT0088) Output data (7)
30140 to 30147 10120 to 10127 (OT0089 to OT0096) Output data (8)
30150 to 30157 10130 to 10137 (OT0097 to OT0104) Output data (9)
30160 to 30167 10140 to 10147 (OT0105 to OT0112) Output data (10)
30170 to 30177 10150 to 10157 (OT0113 to OT0120) Output data (11)
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4 I/O Signal Allocation
4.3 Transmitting Data
Signal Contents
2xxx0 to 2xxx3 Reserved for the manufacturer. The user cannot use these signals.
2xxx4 Unavailable (Fixed to 0)
2xxx5 (Slave mode) Unavailable (Fixed to 0)
2xxx6 Indicates the CC-Link communication status. Normal: 0 Error: 1
2xxx7 Indicates the operation status of the J61BT11N board. Normal: 0 Error: 1
[The Alarm when Communications Error Occurs Using the Board Status]
When the optional board detects the communication error, by using the
CIO ladder or the user alarm allows to occur the alarm.
The examples of the method are described in below.
There are two alarms of the occurrence alarms.
• IO Board operation error
• IO Communication error
As for the user alarm registration, refer to Chapter 13.7 I/O Messages and
I/O Alarms on ”Dx200 OPTIONS INSTRUCTIONS FOR CONCURRENT I/
O” (RE-CKI-A465) for more details.
When the optional board detects and alerts the error by the board status
signal, the ladder program, which raises an alarm, is created according to
the error signal.
The procedures to register the alarms above as the user alarm and the
ladder program, which alert an alarm, are described below.
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4-17
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4 I/O Signal Allocation
4.3 Transmitting Data
5. Move the cursor over the desired No. to register, and press [SELECT].
– The window changes to the character string entry window.
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7. Press [ENTER].
– The entered alarm is registered.
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4 I/O Signal Allocation
4.3 Transmitting Data
Assistant relay
Signal Description
70017 Turned ON the control power supply
(continuously ON)
4-20
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#20067 #40220
#70017 #40222
#70017 #40223
#70017 #40224
#70017 #40225
#20067 䋤40012
#20066
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5 Network Specifications
5.1 CC-Link Terminal Units
5 Network Specifications
5-1
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5 Network Specifications
5.2 Number of Connected Stations of Each Terminal Unit
5-2
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5 Network Specifications
5.2 Number of Connected Stations of Each Terminal Unit
5-3
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5 Network Specifications
5.3 Construction and Specifications of Network System
5-4
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6 Error Indication
6.1 LED Indicators
6 Error Indication
Name Contents
Operation Indicates the CC-Link status or CC-Link communication status.
indication LEDs The LED lightning indicates two kinds of mode: Normal mode and Error mode.
RUN ERR. (1) Normal mode
LED Status Contents
name
RUN Unlit A WDT error has occurred, or the board is being reset.
Lit Operated normally.
SD RD ERR. Unlit No communication errors have occurred, or the board
is being reset.
Lit An error has occurred in the communication between
all stations.
Flashing A communication error has occurred in a station, or
some station numbers overlap with each other.
SD Unlit Data have not been sent, the board is being reset.
Lit Data are being sent.
RD Unlit Data have not been received, the board is being reset.
Lit Data are being received.
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6 Error Indication
6.1 LED Indicators
RUN ERR.
SD RD
RUN ERR.
SD RD
DA
DB
BD
DG LED indications during normal
NO. SLD
CC-Link communications
RUN: Lit
BD808C ERR: Unlit
182G51
SD : Lit
RD : Lit
6-2
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DX200 OPTIONS
CC-Link COMMUNICATIONS FUNCTION
INSTRUCTIONS
FOR Q80BD-J61BT11N MADE BY MITSUBISHI ELECTRIC Co., Ltd.
HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan
Phone +81-93-645-7703 Fax +81-93-645-8140
YASKAWA Nordic AB
Bredbandet 1 vån. 3 varvsholmen 392 30 Kalmar, Sweden
Phone +46-480-417-800 Fax +46-480-417-999
MANUAL NO.
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