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ID : 5825
I/O
Set the usage of I/Os and Field bus boards-related parameters.
Setting with the Teach Pendant
Note that the way to set parameters differ depending on the parameter types; field-bus board-specific parameters and I/O general parameters.
In the following Parameter list table, parameters where alphabets are written in the Type of Board column are the field-bus board-specific parameters.
DA conversion boards can be set with the same way as the field-bus parameters.
Field-bus board-specific parameter setting
To set this parameter with a teach pendant, press [F4 I/O]-[F4 Field Bus parameter]. For details about operation, refer to "Displaying and Changing the Field Bus Parameter" of OPERATION GUIDE.
The following shows the correspondence between abbreviations and board names.
CL : CC_Link
DA : CONTEC AIO Board
DN : DeviceNet
EI : EtherNet/IP
EC : EtherCAT
PB : PROFIBUS
PN : PROFINET
I/O general parameter setting
To set this parameter with a teach pendant, press [F4 I/O]-[F5 I/O parameters]. For details about operation, refer to "Displaying and Changing I/O Parameters" of OPERATION GUIDE.
Parameter List
| No. | Item Name | Unit | Default | Description | Type of board |
|---|---|---|---|---|---|
| 2 |
Parity bit (0: Invalid, 1: Valid) |
- | 1 | Specify parity valid/invalid state for I/O command range. | - |
| 7 | PROFIBUS node address (1-125) | - | 1 | Set the node address. | PB |
| 18 | DeviceNet.Node address | - | 0 | Set the node address. | DN |
| 19 | DeviceNet.Bit Rate | - | 2 | Set the communication speed. | |
| 23 | User or System output setting | - | 0 | To use the continue start enable signal, input "1". | - |
| 26 | CC_Link Communication speed (bps) | - | 4 | Set the baud rate. | CL |
| 27 | CC_Link station number | - | 1 | Set the station number. | |
| 47 | EtherNet/IP IP address | - | 192.168.0.2 | Set the IP address. | EI |
| 48 | EtherNet/IP Subnet mask | - | 255.255.255.0 | Set the Subnet mask. | |
| 49 | EtherNet/IP Gateway IP address | - | 0.0.0.0 | Set the Gateway IP address. | |
| 50 | EtherNet/IP Bit Rate | - | 1 | Set the communication speed. | |
| 53 | Field network Timeout | - | 10000 | Set the field network timeout. | - |
| 57 | EtherNet/IP Insensitive time to network error (ms) | ms | 22000 | Set the time to start detecting network error after controller initialization completion. |
EI |
| 58 | EtherNet/IP DHCP Enabled | - | 0 | Set whether to use DHCP. | |
| 59 | I/O Power Mode | - | 0 | Change the internal/external power supply for Mini I/O and Hand I/O. | - |
| 127 | Running Stop Processing IO No | - | -1 |
When the entire program has stopped such as an emergency stop or instantaneously stop and others, the program cannot reboot in a certain period of time. An error message "83501011 Command is not executable during program stop process" is issued. Specify an I/O number which turns ON during program stop process. Available I/O numbers are the number of user outputs. If output is not necessary, input "-1". |
- |
| 128 |
Command-Slave Start (Ver.2.5.* or higher.) |
- | 0 |
To activate the Command-Slave function, add Command-Slave license and set the value to "2". |
- |
| 132 | DeviceNet ErrDisplay | - | 0 |
Set whether the network error detect. 0: EveryTime 1: FirstTime |
DN |
| 133 | DeviceNet Insensitive time to network error | ms | 20000 | Set the time to start detecting network error after controller initialization completion. | |
| 134 | CC-Link ErrDisplay | - | 0 |
Set whether the network error detect. 0: EveryTime 1: FirstTime |
CL |
| 135 | CC-Link Insensitive time to network error | ms | 20000 | Set the time to start detecting network error after controller initialization completion. | |
| 136 | Profibus ErrDisplay | - | 0 |
Set whether the network error detect. 0: EveryTime 1: FirstTime |
PB |
| 137 | Profibus Insensitive time to network error | ms | 20000 | Set the time to start detecting network error after controller initialization completion. | |
| 138 | EtherNet/IP ErrDisplay | - | 0 |
Set whether the network error detect. 0: EveryTime 1: FirstTime |
EI |
| 142 | Digital filter for DETECT | - | 0 | When DETECT function is enabled, the high speed digital filter to detect I/O at high-speed works automatically. When using this function in normal condition, select [0:High speed]. | - |
| 143 | Robot controller startup completed IO No | - | -1 |
Specify an I/O number which turns ON at the time of the controller start-up. The difference between the robot initialization completion signal and this signal is, this signal does not turn OFF even if an error is issued. Available I/O numbers are the number of user outputs. If output is not necessary, input "-1". |
- |
| 145 | DeviceNet Master ErrDisplay | - | 0 |
Set whether the network error detect. 0: EveryTime 1: FirstTime |
DN |
| 146 | DeviceNet Master Insensitive time to network error | ms | 20000 | Set the time to start detecting network error after controller initialization completion. | |
| 147 | MiniI/O All general | - | 0 |
This option is used when you would like to use all I/O ports of the Mini I/O as the user I/O, in the Mini I/O dedicated mode. If "-1" (enabled) is selected, system input ports number #0 to #7 will be used as user input ports, and the system output ports number #17 to #23 will be used as user output ports. |
- |
| 148 | DA0 Device number | - | 0 | Specify a device name of the channel 0. | DA |
| 149 | DA0 Output channel | - | 0 | Set the channel 0. | |
| 150 | DA0 Output range | - | 0 | Specify a output range of the channel 0. | |
| 151 | DA1 Device number | - | 0 | Set the channel 1. Setting items are the same as that of the channel 0. | |
| 152 | DA1 Output channel | - | 1 | ||
| 153 | DA1 Output range | - | 0 | ||
| 154 | DA2 Device number | - | 0 | Set the channel 2. Setting items are the same as that of the channel 0. | |
| 155 | DA2 Output channel | - | 2 | ||
| 156 | DA2 Output range | - | 0 | ||
| 157 | PROFINET IP address | - | 0 | Set the IP address. | PN |
| 160 | EtherNet/IP Input Run/Idle Header | - | 0 | Set this parameter to "1" when the top of of the I/O input from the EtherNet/IP Master shifts 32bits from the IO512. | EI |
| 161 | EtherNet/IP Output Run/Idle Header | - | 0 | Set this parameter to "1" when the I/O output of EtherNet/IP Master shifts by 32bit on the master side. | |
| 162 | TP-less mode, enable linkage of external mode output (Ver.1.9.* or higher.) |
- | 0 | If the controller is pendant-less state, this signal turns ON/OFF according to the switching ON/OFF of the Enable Auto. |
- |
| 168 | Robot Calc BackTraceLog IO No | - | -1 |
This parameter is used for the Home Position Guidance function. A signal can be output to the I/O, indicating whether the robot controller is calculating a home position guidance path or not. This parameter determines the I/O port number. (More precisely, it is IPC set for RC8 extension function that calculates a home position guidance path.) The I/O determined by the parameter turns ON when the robot controller is calculating the path. If you select "-1", the calculation status is not output to any of the I/O ports. For details, refer to "this page". |
- |
| 169 | Robot Move BackTraceLog IO No | - | -1 |
This parameter is used for the Home Position Guidance function. A signal can be output to the I/O, indicating whether the robot is performing the Home Position Guidance or not. This parameter determines the I/O port number. The I/O determined by the parameter turns ON when the robot is performing the Home Position Guidance. If you select "-1", the operation status is not output to any of the I/O ports. For details, refer to "this page". |
- |
| 430 | Robot Running IO No (position designation) | - | -1 |
Specify an I/O number which turns ON while a command to move the robot is issued from the controller. Available I/O numbers are the number of user outputs. If output is not necessary, input "-1". |
- |
| 431 | Robot Running IO No (Encoder) | - | -1 |
Specify an I/O number which turns ON when the encoder value indicates "robot running state" (when the robot is actually running). Available I/O numbers are the number of user outputs. If output is not necessary, input "-1". |
- |
| 440 | PROFINET ErrDisplay | - | 0 |
Set whether the network error detect. 0: EveryTime 1: FirstTime |
PN |
| 441 | PROFINET Insensitive time to network error | ms | 20000 | Set the time to start detecting network error after controller initialization completion. | |
| 442 | Switch IO Little/Big Endian | - | 0 | Switch big-endian and little-endian of data declared by DefIO. | - |
| 443 | Change Battery IO No | - | -1 |
Specify a user output number that turns ON if the encoder battery maintenance date has passed. To invalid this signal, set -1. Encoder battery maintenance date can be checked with the teach pendant. From the top screen of the teach pendant, press [F6 Setting] - [F7 Date and Maintenance] - [F3 Encoder Battery]. |
- |
| 444 | Process of Stopping Motor IO No | - | -1 |
Specify a user output number that turns ON while the motor status is changing from ON to OFF. During the motor OFF processing (when this signal is ON), the motor cannot be turned ON. (Example: Switching from the manual mode to the auto mode) To invalid this signal, set "-1". |
- |
| 445 | 32bit Error Code Output IO No | - | -1 |
Specify a user output number that outputs error code of 32-bits. Starting from the specified output port number, the following 31-ports are used for user outputs. To invalid this signal, set -1. |
- |
| 451 | EtherCAT Insensitive time to network error | ms | 20000 | Set the time to start detecting network error after controller initialization completion. | EC |
| 452 | EtherCAT ErrDisplay | - | 0 |
Set whether the network error detect. 0: EveryTime 1: FirstTime |
|
| 453 |
EtherCAT Station Address (0: Auto, 1: Fixed) |
- |
0 |
Set the node address. | |
| 460 |
Command-Slave polling cycle [ms] (Ver. 2.5.* or higher.) |
ms | 8 | The smaller this value is, the more frequently the I/O area for the Command-Slave will be checked. | - |
| 461 | Field Network Cache Enabled (Ver.1.8.* or higher.) |
- | 1 | Enable/Disable the field network cache. Set "0" if you do not use this signal. |
- |
| 462 | Field Network Cache Available Time (Ver.1.8.* or higher.) |
ms | 1 | Set the cache valid time while the field network cache is enabled. | - |
ID : 5825