MITSUBISHI

Mitsubishi Industrial Robot

CRnD-700 series INSTRUCTION MANUAL
Network Base Card (2D-TZ535)

BFP-A8872
 Safet y Precautions

Always read the following precautions and the separate "Safety

Manual" before starting use of the robot to learn the required
measures to be taken.

CAUTION All teaching work must be carried out by an operator who has received special
training. (This also applies to maintenance work with the power source turned ON.)
→Enforcement of safety training

CAUTION For teaching work, prepare a work plan related to the methods and procedures of
operating the robot, and to the measures to be taken when an error occurs or when
restarting. Carry out work following this plan. (This also applies to maintenance
work with the power source turned ON.)
→Preparation of work plan

WARNING Prepare a device that allows operation to be stopped immediately during teaching
work. (This also applies to maintenance work with the power source turned ON.)
→Setting of emergency stop switch

CAUTION During teaching work, place a sign indicating that teaching work is in progress on
the start switch, etc. (This also applies to maintenance work with the power source
turned ON.)
→Indication of teaching work in progress

CAUTION Provide a fence or enclosure during operation to prevent contact of the operator
and robot.
→Installation of safety fence

CAUTION Establish a set signaling method to the related operators for starting work, and
follow this method.
→Signaling of operation start

CAUTION As a principle turn the power OFF during maintenance work. Place a sign indicating
that maintenance work is in progress on the start switch, etc.
→Indication of maintenance work in progress

CAUTION Before starting work, inspect the robot, emergency stop switch and other related
devices, etc., and confirm that there are no errors.
→Inspection before starting work
The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual
"Safety Manual" for details.

Use the robot within the environment given in the specifications. Failure to do so
could lead to faults or a drop of reliability. (Temperature, humidity, atmosphere,
CAUTION noise environment, etc.)
Transport the robot with the designated transportation posture. Transporting the
robot in a non-designated posture could lead to personal injuries or faults from
CAUTION dropping.
Always use the robot installed on a secure table. Use in an instable posture could
CAUTION lead to positional deviation and vibration.
Wire the cable as far away from noise sources as possible. If placed near a noise
CAUTION source, positional deviation or malfunction could occur.
Do not apply excessive force on the connector or excessively bend the cable. Failure
CAUTION to observe this could lead to contact defects or wire breakage.
Make sure that the workpiece weight, including the hand, does not exceed the rated
CAUTION load or tolerable torque. Exceeding these values could lead to alarms or faults.
Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or flies
WARNING off during operation.
Securely ground the robot and controller. Failure to observe this could lead to
WARNING malfunctioning by noise or to electric shock accidents.
Indicate the operation state during robot operation. Failure to indicate the state could
CAUTION lead to operators approaching the robot or to incorrect operation.
When carrying out teaching work in the robot's movement range, always secure the
priority right for the robot control. Failure to observe this could lead to personal
WARNING injuries or damage if the robot is started with external commands.
Keep the jog speed as low as possible, and always watch the robot. Failure to do so
CAUTION could lead to interference with the workpiece or peripheral devices.
After editing the program, always confirm the operation with step operation before
starting automatic operation. Failure to do so could lead to interference with
CAUTION peripheral devices because of programming mistakes, etc.
Make sure that if the safety fence entrance door is opened during automatic
operation, the door is locked or that the robot will automatically stop. Failure to do so
CAUTION could lead to personal injuries.
Never carry out modifications based on personal judgments, non-designated
CAUTION maintenance parts. Failure to observe this could lead to faults or failures.
When the robot arm has to be moved by hand from an external area, do not place
hands or fingers in the openings. Failure to observe this could lead to hands or
WARNING fingers catching depending on the posture.
Do not stop the robot or apply emergency stop by turning the robot controller's main
power OFF. If the robot controller main power is turned OFF during automatic
CAUTION operation, the robot accuracy could be adversely affected. Also a dropped or
coasted robot arm could collide with peripheral devices.
Do not turn OFF the robot controller's main power while rewriting the robot
controller's internal information, such as a program and parameter. Turning OFF the
CAUTION robot controller's main power during automatic operation or program/parameter
writing could break the internal information of the robot controller.
When using a horizontal multi-joint robot
While the robot’s brake release switch is pressed, pay attention to lowering of the
WARNING hand under its own weight. If it lowers, the hand could collide with peripheral
devices, or the operator’s fingers or hand could get caught.
■ Revision History

Print date Instruction manual No. Revision content

2011-09-20 BFP-A8872 First print
 Introduction
Thank you for purchasing the Mitsubishi Electric industrial robot. The network base card
(2D-TZ535) is an option which realizes various communication interfaces when the HMS
Anybus-CompactCom module is mounted on the card.
Always read this manual thoroughly and understand the contents before starting use of
the network base card (2D-TZ535).
The mountable modules are listed in Chapter 3 for reference.

Note that this instruction manual has been prepared for use by operators who understand
the basic operations and functions of the Mitsubishi industrial robot. Refer to the separate
"Instruction Manual, Detailed Explanation of Functions and Operations" for details on
basic operations.

*Symbols in instruction manual

Precaution indicating cases where there is a risk of operator fatality or
serious injury if handling is mistaken. Always observe these precautions to
DANGER safely use the robot.
Precaution indicating cases where the operator could be subject to fatalities
or serious injuries if handling is mistaken. Always observe these precautions to
WARNING safely use the robot.
Precaution indicating cases where operator could be subject to injury or
physical damage could occur if handling is mistaken. Always observe these
CAUTION precautions to safely use the robot.

・ No part of this document may be reproduced without express permission of Mitsubishi

Electric Corporation.
・ Please note that the information in this manual is subject to change without notice in
the future.
・ The specification values in this manual are obtained with the Mitsubishi standard test
method.
・ Although this manual has been prepared to contain accurate information, please
contact us if you find any errors or have questions.
・ The product names used in this manual are trademarks or registered trademarks of
respective owners.
・ In the body text of this manual, ® and TM marks are omitted.

Copyright© 2011 MITSUBISHI ELECTRIC CORPORATION ALL RIGHTS RESERVED

 CONTENTS

1. BEFORE USE ................................................................................................................... 1

1.1 Terminology ................................................................................................................. 1
1.2 How to Use the Instruction Manual .............................................................................. 2
2. FLOW OF OPERATIONS.................................................................................................. 3
2.1 Work Procedures ......................................................................................................... 3
3. FEATURES OF NETWORK BASE CARD (2D-TZ535) .................................................... 4
3.1 What is a Network Base Card? .................................................................................... 4
3.2 Mountable Modules...................................................................................................... 4
3.3 Features when EtherNet/IP Module is Mounted........................................................... 5
4. 2D-TZ535 CARD AND ETHERNET/IP MODULE SPECIFICATIONS............................... 6
4.1 2D-TZ535 Card and EtherNet/IP Card Specifications.................................................. 6
4.1.1 Software configuration ........................................................................................... 7
4.2 List of Robot Parameters ............................................................................................. 7
4.3 Robot Controller I/O Signals ........................................................................................ 8
4.3.1 I/O signal number map........................................................................................... 8
4.3.2 Flow of I/O signal ................................................................................................. 10
4.4 Dedicated Input/Output .............................................................................................. 11
4.5 Specifications Related to Robot Language ................................................................ 11
4.5.1 Robot system status variables for 2D-TZ535 card ............................................... 11
4.6 Output Signal Reset Pattern ...................................................................................... 13
4.7 Hardware of the 2D-TZ535 Card................................................................................ 14
4.7.1 Card overview ...................................................................................................... 14
4.7.2 LED ...................................................................................................................... 14
5. ITEMS TO BE CHECKED BEFORE USING THIS PRODUCT ....................................... 16
5.1 Checking the Product................................................................................................. 16
5.2 Devices to be Prepared by the Customer (For EtherNet/IP module) ......................... 16
6. HARDWARE SETTINGS................................................................................................. 17
6.1 EtherNet/IP Module Mounting Procedures................................................................. 17
6.2 Setting the 2D-TZ535 Card Hardware ....................................................................... 20
7. CONNECTIONS AND WIRING ....................................................................................... 21
7.1 Mounting 2D-TZ535 Card onto Robot Controller ....................................................... 21
7.2 Wiring......................................................................................................................... 24
7.3 Checking Connections ............................................................................................... 25
8. PROCEDURES FOR STARTING OPERATION ............................................................. 26
8.1 Setting the Parameters .............................................................................................. 27
8.1.1 Parameter setting procedures.............................................................................. 27
8.2 Operation (Checking the I/O Signals) ........................................................................ 31
8.3 Operation (Program Operation) ................................................................................. 33
8.3.1 Setting the dedicated input/output........................................................................ 33
8.3.2 General-purpose input/output .............................................................................. 33
8.3.3 Example of robot program creation (using general-purpose input/output) ........... 33
8.3.4 Sample program for input/output confirmation ..................................................... 34
9. TROUBLESHOOTING .................................................................................................... 35
9.1 List of Errors............................................................................................................... 35
10.APPENDIX ...................................................................................................................... 37
10.1 Displaying the Option Card Information................................................................. 37
10.2 Pseudo-input Function .......................................................................................... 38
1. BEFORE USE
This chapter describes items to be checked and precautions to be taken before start using the network
base card (2D-TZ535).

1.1 Terminology
Table 1-1 Terminology

Term Explanation
ODVA Abbreviation of Open DeviceNet Vendor Association. A non-profit organization
in the United States established by development vendors to globally promote
Common Industrial Protocol (CIP) technology and products incorporating this
technology.
CIP Abbreviation of Common Industrial Protocol, a common protocol used in the
OSI application layer for industrial purposes.
This protocol is common for EtherNet/IP which handles information-related
information, DeviceNet which handles device-related information, and
CompoNet which controls sensors and actuators.
EtherNet/IP An industrial network standard using commercially-available Ethernet
communication chips and physical media.
"IP" is the abbreviation for Industrial Protocol. An open protocol is used in the
application layer.
DeviceNet A connection method promoted by ODVA. It is used to connect control devices
such as personal computers, PLCs, sensors and actuators, and to connect
field devices between controllers.

1
1.2 How to Use the Instruction Manual
This manual is organized as follows and describes functions of the 2D-TZ535 card. For information about
the functions provided for standard robot controllers and how to operate them, refer to the instruction
manual that comes with the robot controller.
Table 1-2 Contents of the instruction manual

Chapter Title Description

1 Before Use Chapter 1 describes how to use this manual (Network Base Card
Instruction Manual). Please read here before actually starting to
use the 2D-TZ535 card.
2 Flow of Operations Chapter 2 describes the operations required to configure a network
system. Make sure to perform all of the required operations.
3 Features of Network Base Chapter 3 describes the features of the TZ535 card and for
Card (2D-TZ535) mounting the module.
4 2D-TZ535 Card and Chapter 4 describes the specifications of the TZ535 card.
Ethernet/IP Module
Specifications
5 Items to Be Checked Before Before purchasing the TZ535 card, check the required devices and
Using This Product the version of the robot controller.
6 Hardware Settings This product has no hardware settings.
7 Connections and Wiring Chapter 7 describes how to connect the TZ535 card and the
master station using cables.
8 Procedures for Starting Chapter 8 describes the procedures up to operating the network
Operation system with the module mounted.
9 Troubleshooting Chapter 9 describes how to resolve problems that may occur when
using the TZ535 card, such as malfunctions and errors. Please
refer to this chapter as needed.
10 Appendix Chapter 10 describes the methods of displaying the TZ535 card
information with RT ToolBox2.

2
2. FLOW OF OPERATIONS
The flowchart below shows the flow of operations necessary for configuring a network base card system.
Use it as a reference to perform the required operations without any excess or deficiency.

2.1 Work Procedures

1 Determining the Network Specifications ......................................... See Chapters 3 and 4 of this manual.
With an understanding of the network base card and communication module specifications, determine the
interface related to the system signals using the communication module. (For example, assignment of
dedicated I/O signals, specification of general-purpose I/O signals).

2 Checking Products .......................................................................... See Chapter 5 of this manual.

Check the product you have purchased and prepare other products as needed.

3 Mounting Module onto Network Base Card ............................. See Chapter 6, Section 6.1 of this manual.
Mount the communication module onto 2D-TZ535.

4 Setting Hardware and Mounting onto Robot Controller ........... See Chapter 6, Section 6.2 of this manual.
The 2D-TZ535 hardware has no settings, so mount the 2D-TZ535 onto the robot controller as it is.

5 Wiring and Connections .................................................................. See Chapter 7 of this manual.

Wire the 2D-TZ535 card mounted on the robot controller to the master station using an Ethernet cable.

6 Setting Master Station Parameters ................................................. See Chapter 8 of this manual.

Set the IP address with the master station.

7 Setting Robot Controller Parameters .............................................. See Chapter 8 of this manual.

Set the IP address on the robot controller side.

8 Creating Robot Programs ............................................................... See Section 8.3 of this manual.

Create a robot program, and run it with automatic operation.

9 Troubleshooting ............................................................................... See Chapter 9 of this manual.

10 Completion of Operations

3
3. FEATURES OF NETWORK BASE CARD (2D-TZ535)

3.1 What is a Network Base Card?

The network base card is an optional card for the CRnD-700 series. By mounting a HMS's
Anybus-CompactCom module on the card, various communication interfaces can be realized.

Personal
PLC Inverter Touch panel
computer

EtherNet/IP
EtherNet/IP compatible PLC, etc. Equipment by partner
(Prepared by user) manufacturer

EtherNet/IP
module CRnD-700 series
controller

Network base card

(2D-TZ535)
CR1D CR2D
Mountable to the
option slot 1, 2 or 3 CR3D
(Up to one card)

Ethernet
Personal computer
(RT ToolBox2, etc.)

Figure 3-1 Example of configuring EtherNet/IP with network base card

3.2 Mountable Modules

The modules which can be mounted on the network base card (2D-TZ535) are shown below.

Mountable module EtherNet/IP module

4
3.3 Features when EtherNet/IP Module is Mounted
The following features are enabled when the EtherNet/IP module is mounted on the 2D-TZ535 card.

(1) Connection
Connection to EtherNet/IP network is possible.
EtherNet/IP is one of the three official network standards (DeviceNet, ControlNet, EtherNet/IP), and
uses the "Common Industrial Protocol" (CIP) application layer.
Control from a field level and direct connection of automation products in the factory level are enabled
by this common application layer, open software, and hardware interfaces.
This is also called "Industrial Ethernet".

(2) Transmission style

10/100Mbps Semi/full duplex transmission supported

(3) Data
Real-time I/O data (max. 2048 points each) transmission/reception is possible using UDP/IP.

(4) The table below shows differences of the functions which are available with the EtherNet/IP module, and
with the Ethernet provided with the robot controller as a standard.
EtherNet/IP Standard
No. Function name Explanation of function
module Ethernet
General-purpose I/O signal Function which handles up to 2048 I/O
1  
signal points each via Ethernet.
Communication Function which communicates with RT
2  
with RT2 ToolBox2 via Ethernet
TCP/IP Data link Function which communicates with other
3 communication devices, such as a network vision  
sensor, via Ethernet
Real-time Function which controls the robot from a
4  
external control personal computer, etc.

5
4. 2D-TZ535 CARD AND ETHERNET/IP MODULE
SPECIFICATIONS

4.1 2D-TZ535 Card and EtherNet/IP Card Specifications

The specifications which apply when the EtherNet/IP card is mounted on the network base card are shown
below.
Table 4-1 2D-TZ535 card specifications

Item Specification Remarks

Network base interface card board model TZ535
Mountable slot expansion option slot Slot 1 to 3
Number of mountable cards in expansion option
1 card (*1)
slot
Coexistence with other fieldbus options
Not possible (*2)
(CC-Link/PROFIBUS/DeviceNet)
Transmission Media access method CSMA/CD
specifications Modulation method Base band
Transmission path style Star type
Transmission speed 100Mbit/s (100BASE-TX) 100BASE-TX
10Mbit/s (10BASE-TX) recommended
Transmission medium Twisted pair cable
Transmission distance Distance between
100m
switching hub and node
Number of cascaded No limits when using
modules switching hub
Communication function Cyclic communication Yes
Communication instance Input instance 100
Output instance 150
Number of I/O Send Max. 2048 points Max. 256 bytes
communication points
per robot controller Receive Max. 2048 points Max. 256 bytes
Start I/O number of robot controller Overlapping with
Address 2000 and later PROFIBUS area and
DeviceNet area
MELFA BASIC I/O signal access M_In/M_InB/M_InW/M_In32
Handled as
M_Out/M_OutB/M_OutW/
general I/O area
M_Out32
RT ToolBox Option information read Yes
(*1) An error will occur if multiple 2D-TZ535 cards are inserted. (Error 6110)
(*2) An error will occur if CC-Link/PROFIBUS/DeviceNet coexists. (Error 6111)

6
4.1.1 Software configuration
The software configuration of this product is shown below.
Table 4-2 Compatible versions
Name Version
Robot controller Version S2 and above
Teaching pendant R32TB 1.0 and above
R56TB 1.0 and above
Personal computer RT ToolBox2 1.0 and above
support software RT ToolBox Version G3 and above

4.2 List of Robot Parameters

Table 4-3 List of robot parameters related to EtherNet/IP

Parameter
Initial value Setting range Explanation
name
STOP2 -1,-1 -1/ Parameter which sets a dedicated input signal number for
2000 to 4047 stopping the robot program.
(Parameter "STOP" is fixed to "0", so "STOP2" is used
with the 2D-TZ535 card to define a stop signal from an
external source.)
ORST2000 00000000,000 0/1/* Set the output transmission data used in the 2D-TZ535
ORST2032 00000, card when resetting the signal output.
: 00000000,000 Refer to "4.6 Output Signal Reset Pattern" for details.
ORST4015 00000
EPSDLN 8 1 to 256 Set the number of I/O communication transmission bytes
used with EtherNet/IP.
EPRDLN 8 1 to 256 Set the number of I/O communication reception bytes used
with EtherNet/IP.
EPIP 192.168.0.200 0.0.0.0 to Designate the IP address for EtherNet/IP. (*1)
255.255.255.255
EPMSK 255.255.255.0 0.0.0.0 to Designate the sub-net mask for EtherNet/IP. (*1)
255.255.255.255
EPGW 192.168.0.254 0.0.0.0 to Designate the Gateway IP address for EtherNet/IP. (*1)
255.255.255.255
(*1) Set in the range of Class A to C.

7
4.3 Robot Controller I/O Signals
The I/O signals handled in the robot controller are the maximum 2048 points between address 2000 and
4047 for input and output regardless of the EtherNet/IP node or station number.

4.3.1 I/O signal number map

The I/O signal data size is set as a byte number with a parameter for input and for output. (Set in the range
of 1 to 256 bytes.)
Table 4-4 EtherNet/IP signal table
number

number

number
Usable Usable Usable
Byte

Byte

Byte
number Start End number Start End number Start End
of points of points of points

0 0  to  43 344 2000 to 2343 86 688 2000 to 2687

1 8 2000 to 2007 44 352 2000 to 2351 87 696 2000 to 2695
2 16 2000 to 2015 45 360 2000 to 2359 88 704 2000 to 2703
3 24 2000 to 2023 46 368 2000 to 2367 89 712 2000 to 2711
4 32 2000 to 2031 47 376 2000 to 2375 90 720 2000 to 2719
5 40 2000 to 2039 48 384 2000 to 2383 91 728 2000 to 2727
6 48 2000 to 2047 49 392 2000 to 2391 92 736 2000 to 2735
7 56 2000 to 2055 50 400 2000 to 2399 93 744 2000 to 2743
8 64 2000 to 2063 51 408 2000 to 2407 94 752 2000 to 2751
9 72 2000 to 2071 52 416 2000 to 2415 95 760 2000 to 2759
10 80 2000 to 2079 53 424 2000 to 2423 96 768 2000 to 2767
11 88 2000 to 2087 54 432 2000 to 2431 97 776 2000 to 2775
12 96 2000 to 2095 55 440 2000 to 2439 98 784 2000 to 2783
13 104 2000 to 2103 56 448 2000 to 2447 99 792 2000 to 2791
14 112 2000 to 2111 57 456 2000 to 2455 100 800 2000 to 2799
15 120 2000 to 2119 58 464 2000 to 2463 101 808 2000 to 2807
16 256 2000 to 2127 59 472 2000 to 2471 102 816 2000 to 2815
17 136 2000 to 2135 60 480 2000 to 2479 103 824 2000 to 2823
18 144 2000 to 2143 61 488 2000 to 2487 104 832 2000 to 2831
19 152 2000 to 2151 62 496 2000 to 2495 105 840 2000 to 2839
20 160 2000 to 2159 63 504 2000 to 2503 106 848 2000 to 2847
21 168 2000 to 2167 64 512 2000 to 2511 107 856 2000 to 2855
22 176 2000 to 2175 65 520 2000 to 2519 108 864 2000 to 2863
23 184 2000 to 2183 66 528 2000 to 2527 109 872 2000 to 2871
24 192 2000 to 2191 67 536 2000 to 2535 110 880 2000 to 2879
25 200 2000 to 2199 68 544 2000 to 2543 111 888 2000 to 2887
26 208 2000 to 2207 69 552 2000 to 2551 112 896 2000 to 2895
27 216 2000 to 2215 70 560 2000 to 2559 113 904 2000 to 2903
28 224 2000 to 2223 71 568 2000 to 2567 114 912 2000 to 2911
29 232 2000 to 2231 72 576 2000 to 2575 115 920 2000 to 2919
30 240 2000 to 2239 73 584 2000 to 2583 116 928 2000 to 2927
31 248 2000 to 2247 74 592 2000 to 2591 117 936 2000 to 2935
32 256 2000 to 2255 75 600 2000 to 2599 118 944 2000 to 2943
33 264 2000 to 2263 76 608 2000 to 2607 119 952 2000 to 2951
34 272 2000 to 2271 77 616 2000 to 2615 120 960 2000 to 2959
35 280 2000 to 2279 78 624 2000 to 2623 121 968 2000 to 2967
36 288 2000 to 2287 79 632 2000 to 2631 122 976 2000 to 2975
37 296 2000 to 2295 80 640 2000 to 2639 123 984 2000 to 2983
38 304 2000 to 2303 81 648 2000 to 2647 124 992 2000 to 2991
39 312 2000 to 2311 82 656 2000 to 2655 125 1000 2000 to 2999
40 320 2000 to 2319 83 664 2000 to 2663 126 1008 2000 to 3007
41 328 2000 to 2327 84 672 2000 to 2671 127 1016 2000 to 3015
42 336 2000 to 2335 85 680 2000 to 2679 128 1024 2000 to 3023

8
 Usable Usable Usable
number

number

number
Byte

Byte

Byte
number number number
Start End Start End Start End
of of of
points points points
129 1032 2000 to 3031 172 1376 2000 to 3375 215 1720 2000 to 3719
130 1040 2000 to 3039 173 1384 2000 to 3383 216 1728 2000 to 3727
131 1048 2000 to 3047 174 1392 2000 to 3391 217 1736 2000 to 3735
132 1056 2000 to 3055 175 1400 2000 to 3399 218 1744 2000 to 3743
133 1064 2000 to 3063 176 1408 2000 to 3407 219 1752 2000 to 3751
134 1072 2000 to 3071 177 1416 2000 to 3415 220 1760 2000 to 3759
135 1080 2000 to 3079 178 1424 2000 to 3423 221 1768 2000 to 3767
136 1088 2000 to 3087 179 1432 2000 to 3431 222 1776 2000 to 3775
137 1096 2000 to 3095 180 1440 2000 to 3439 223 1784 2000 to 3783
138 1104 2000 to 3103 181 1448 2000 to 3447 224 1792 2000 to 3791
139 1112 2000 to 3111 182 1456 2000 to 3455 225 1800 2000 to 3799
140 1120 2000 to 3119 183 1464 2000 to 3463 226 1808 2000 to 3807
141 1128 2000 to 3127 184 1472 2000 to 3471 227 1816 2000 to 3815
142 1136 2000 to 3135 185 1480 2000 to 3479 228 1824 2000 to 3823
143 1144 2000 to 3143 186 1488 2000 to 3487 229 1832 2000 to 3831
144 1152 2000 to 3151 187 1496 2000 to 3495 230 1840 2000 to 3839
145 1160 2000 to 3159 188 1504 2000 to 3503 231 1848 2000 to 3847
146 1168 2000 to 3167 189 1512 2000 to 3511 232 1856 2000 to 3855
147 1176 2000 to 3175 190 1520 2000 to 3519 233 1864 2000 to 3863
148 1184 2000 to 3183 191 1528 2000 to 3527 234 1872 2000 to 3871
149 1192 2000 to 3191 192 1536 2000 to 3535 235 1880 2000 to 3879
150 1200 2000 to 3199 193 1544 2000 to 3543 236 1888 2000 to 3887
151 1208 2000 to 3207 194 1552 2000 to 3551 237 1896 2000 to 3895
152 1216 2000 to 3215 195 1560 2000 to 3559 238 1904 2000 to 3903
153 1224 2000 to 3223 196 1568 2000 to 3567 239 1912 2000 to 3911
154 1232 2000 to 3231 197 1576 2000 to 3575 240 1920 2000 to 3919
155 1240 2000 to 3239 198 1584 2000 to 3583 241 1928 2000 to 3927
156 1248 2000 to 3247 199 1592 2000 to 3591 242 1936 2000 to 3935
157 1256 2000 to 3255 200 1600 2000 to 3599 243 1944 2000 to 3943
158 1264 2000 to 3263 201 1608 2000 to 3607 244 1952 2000 to 3951
159 1272 2000 to 3271 202 1616 2000 to 3615 245 1960 2000 to 3959
160 1280 2000 to 3279 203 1624 2000 to 3623 246 1968 2000 to 3967
161 1288 2000 to 3287 204 1632 2000 to 3631 247 1976 2000 to 3975
162 1296 2000 to 3295 205 1640 2000 to 3639 248 1984 2000 to 3983
163 1304 2000 to 3303 206 1648 2000 to 3647 249 1992 2000 to 3991
164 1312 2000 to 3311 207 1656 2000 to 3655 250 2000 2000 to 3999
165 1320 2000 to 3319 208 1664 2000 to 3663 251 2008 2000 to 4007
166 1328 2000 to 3327 209 1672 2000 to 3671 252 2016 2000 to 4015
167 1336 2000 to 3335 210 1680 2000 to 3679 253 2024 2000 to 4023
168 1344 2000 to 3343 211 1688 2000 to 3687 254 2032 2000 to 4031
169 1352 2000 to 3351 212 1696 2000 to 3695 255 2040 2000 to 4039
170 1360 2000 to 3359 213 1704 2000 to 3703 256 2048 2000 to 4047
171 1368 2000 to 3367 214 1712 2000 to 3711

9
4.3.2 Flow of I/O signal
The mapping for the master and slave signals is shown below.

Master Robot 1 Robot 2

(PLC)
Output area Robot input
(for robot 1)
Max. 256 bytes each
Input area Robot output
(for robot 1)

Output area Robot input

(for robot 2)

Input area Robot output

(for robot 2)

Figure 4-1 Flow of I/O signal

10
4.4 Dedicated Input/Output
Dedicated inputs and outputs can be used by assigning the signal numbers of the 2D-TZ535 card to the
dedicated I/O signal parameters. Refer to "6 External Input/Output Functions" in the separate "Instruction
Manual, Detailed Explanation of Functions and Operations" for details on using the dedicated inputs and
outputs.

4.5 Specifications Related to Robot Language

The robot language (MELFA-BASIC V) used with the 2D-TZ535 card is explained below.

4.5.1 Robot system status variables for 2D-TZ535 card

Table 4-5 List of system status variables used for data input/output

Item Type Function Read/Write

M_In Integer 1 Reads 1 bit of data from designated input signal Read
M_Out Integer 1 Writes 1 bit of data to designated output signal Write
M_Inb Integer 1 Reads 8 bits of data from designated input signal Read
M_Outb Integer 1 Writes 8 bits of data to designated output signal Write
M_Inw Integer 1 Reads 16 bits of data from designated input signal Read
M_Outw Integer 1 Writes 16 bits of data to designated output signal Write
M_In32 Integer 1 Reads 32 bits of data from designated input signal Read
M_Out32 Integer 1 Writes 32 bits of data to designated output signal Write

 Inconsistency of input/output data 

If data read/write is started with the robot program before the master stations finishes data
transmission, data inconsistency (state in which robot controller’s input/output data is not consistent
with master station side’s input/output data) will occur. For example, if an application which
continuously writes data to the same output address is written, in actual cases only the value written
last may be notified to the partner. The following is an example of data inconsistency which occurs if
data reading is executed from the robot controller while transmitting data from the master station to
the buffer memory.

Example of input data inconsistency

EtherNet/IP interface
Robot controller Buffer memory Master station

Read During data

transmission

Area in which data transmission and update from master station are complete
Area in which data transmission and update from master station are incomplete

To prevent data inconsistency, the following type of data read/write interlock must be provided in the
application (robot program or PLC ladder). An example of using the interlock when sending one-word data
from the master station to the robot is given.

11
 Table 4-6 Example of assigning master station and robot I/O signals

Meaning Master station (*1) Robot

Data send/receive area Data send area Input 2000 to 2015
PLC data write complete flag WRTFLG Input No. 2016
Robot data read complete flag RDFLG Output No. 2020
(*1) Names are given to the master station I/O signal assignments for
convenience. In actual use, refer to the master station instruction manual and
make arbitrary assignments of the I/O signals.

Figure 4-2 Example of using interlock

An example of the robot program corresponding to Figure 4-2 flow chart is given below. Refer to the
instruction manual for the device in use for details on the master station side programs (ladder, etc.).

*Loop1: If M_In(2016) = 0 Then *Loop1

Mdata = M_InW(2000)
M_Out(2020) = 1
*Loop2: If M_In(2016) = 1 Then *Loop2
M_Out(2016) = 0

12
4.6 Output Signal Reset Pattern
In the factory setting, all general-purpose output signals start at OFF (0). The status of the general-purpose
output signal at power ON can be changed by changing the following parameters. These parameters are
also used for the general-purpose output signal reset operation (executed with dedicated input signal, etc.)
and for the reset pattern when the Clr instruction is executed.
The settings are [OFF], [ON] and [Hold]. A list of general-purpose output reset parameters related to the
2D-TZ535 card is given below.

Table 4-7 List of output signal reset pattern parameters

Parameter Start End Parameter Start End

name number number name number number
ORST2000 2000 2031 ORST3024 3024 3055
ORST2032 2032 2063 ORST3056 3056 3087
ORST2064 2064 2095 ORST3088 3088 3119
ORST2096 2096 2127 ORST3120 3120 3151
ORST2128 2128 2159 ORST3152 3152 3183
ORST2160 2160 2191 ORST3184 3184 3215
ORST2192 2192 2223 ORST3216 3216 3247
ORST2224 2224 2255 ORST3248 3248 3279
ORST2256 2256 2287 ORST3280 3280 3311
ORST2288 2288 2319 ORST3312 3312 3343
ORST2320 2320 2351 ORST3344 3344 3375
ORST2352 2352 2383 ORST3376 3376 3407
ORST2384 2384 2415 ORST3408 3408 3439
ORST2416 2416 2447 ORST3440 3440 3471
ORST2448 2448 2479 ORST3472 3472 3503
ORST2480 2480 2511 ORST3504 3504 3535
ORST2512 2512 2543 ORST3536 3536 3567
ORST2544 2544 2575 ORST3568 3568 3599
ORST2576 2576 2607 ORST3600 3600 3631
ORST2608 2608 2639 ORST3632 3632 3663
ORST2640 2640 2671 ORST3664 3664 3695
ORST2672 2672 2703 ORST3696 3696 3727
ORST2704 2704 2735 ORST3728 3728 3759
ORST2736 2736 2767 ORST3760 3760 3791
ORST2768 2768 2799 ORST3792 3792 3823
ORST2800 2800 2831 ORST3824 3824 3855
ORST2832 2832 2863 ORST3856 3856 3887
ORST2864 2864 2895 ORST3888 3888 3919
ORST2896 2896 2927 ORST3920 3920 3951
ORST2928 2928 2959 ORST3952 3952 3983
ORST2960 2960 2991 ORST3984 3984 4015
ORST2992 2992 3023 ORST4016 4016 4047

Parameter ORST has the initial value "00000000, 00000000, 00000000, 00000000". [OFF], [ON]
and [HOLD] can be set for 32 points using "0", "1" and "*". The start number is assigned from the left side.

For example, if ORST2000 = "*00000001, 00000000, 11110000, 00000000" is set and the general-purpose
output signal is reset, the following state will result:
Output No. 2000: Holds state before output signal reset
Output No. 2007: ON
Output No. 2016 to 2019: ON

13
4.7 Hardware of the 2D-TZ535 Card
The 2D-TZ535 card hardware is explained in this section. An Anybus-CC module is mounted on the network
base card.

4.7.1 Card overview

Anybus-CC module
(Prepared by user)

Figure 4-3 Overall view of 2D-TZ535 card

4.7.2 LED
There are three LEDs on the 2D-TZ535 card, and the operating state of the interface card can be
confirmed by each on/off.

LINK/
Activity
(Green)
Module
Status
(Green)

(Red) Network
Status
(Green)

(Red)

Figure 4-4 Layout of LEDs

14
The meaning of each LED on, flash and off state is shown below.

Table 4-8 Description of LED

Details of Network Status LED
LED status Details
Off Power is not ON, or there is no IP address.
Green (on) Online with one or more connection established (CIP Class 1 or 3).
Green (flash) Online with no connection established.
Red (on) IP address duplicate, FATAL error.
Red (flash) One or more connection has timed out (CIP Class 1 or 3).

Details of Module Status LED

LED status Details
Off Power is not ON.
Green (on) Controlling with RUN state scanner.
Green (flash) Configuration incomplete, or scanner is idle.
Red (on) Serious error (EXCEPTION state, FATAL error, etc.).
Red (flash) Recoverable error.

Details of LINK/Activity LED [Reference]

LED status Details
Off Link not established, data not exchanged.
Green (on) Link established.
Green (flash) Exchanging data.

CAUTION
It takes some time for the communication line to be established after the robot controller
power is turned ON.
It takes about one minute for the communication line to be established (for the Network Status LED to turn
on) after the robot controller power is turned ON. If automatic operation is started immediately after turning
the power ON, L6130 (network communication error) will occur. Wait for a short time before starting
automatic operation.

CAUTION
It takes some time for the communication line to be established after the
cable is connected.
It takes about one minute for the communication line to be established (for the Network
Status LED to turn on) after the cable is connected to the Anybus-CC module on the TZ535
card.

15
5. ITEMS TO BE CHECKED BEFORE USING THIS
PRODUCT

5.1 Checking the Product

The product (2D-TZ535) you purchased consists of the following items as standard. Please verify the
items.

Table 5-1 List of the standard items in the product (2D-TZ535)

No. Name Model Quantity

(1) Instruction Manual (this CD-ROM) BFP-A8872 1
(2) Network base card TZ535 1
(2D-TZ535 card)
(3) Module fixing parts 1 set
(module mount, screws)
Note) The numbers in the table correspond with the numbers in the following figure.

(1) (2) (3)

Figure 5-1 Items contained in the delivered product

5.2 Devices to be Prepared by the Customer (For EtherNet/IP module)

The devices which must be prepared by the customer to use an EtherNet/IP module with the Mitsubishi
2D-TZ535 card are listed below.

Table 5-2 Devices prepared by the customer

Device to be
Condition Remarks
prepared
Master station Master station compatible with EtherNet/IP
EtherNet/IP module An Anybus-CompactCom module by HMS
Anybus-CC EtherNet/IP module
Ethernet cable
Switching hub Always use a switching hub when using the I/O signal
function.
* I/O signal data collisions will increase if a repeater hub
is used.
Driver for hex Driver for module fixing part screws.
lobular (torques) Prepare a size "T-10" screwdriver.
screw
Cross-point driver Used for card handle fixing screw.

16
6. HARDWARE SETTINGS

6.1 EtherNet/IP Module Mounting Procedures

Mount the EtherNet/IP module on the network base card (2D-TZ735).

(1) Prepare the network base card (2D-TZ735), EtherNet/IP module and module fixing parts.
Remove the card handle fixing screws from the network base card (2D-TZ735), and separate the card
from the card handle.

EtherNet/IP module

Card handle
Fixing part (top side) Fixing part
(bottom side)

Network base card Module fixing parts

(2) Insert the protrusions on the module fixing parts (bottom side) into the holes on the card.

Module fixing parts (bottom side)

17
 (3) Place the EtherNet/IP module onto the fixing parts, and slide it to connect its module connector with
pins on the card side.

Connector connection

Module board

(4) Align the protrusions on the module fixing parts (top side) with the slits on the module, and mount the
module as if sandwiching it from the left, right and top.
Adjust the position of the module so that the screw holes on the top fixing parts and bottom fixing parts
are aligned. There may be a small opening at the connector section between the module and card, but
this is not a problem.

(5) Fasten the module fixing parts with screws. Use the hex lobular driver.

18
(6) Mount the card handle. Fit the handle so that the network connector of the module board fits into the
hole on the card handle plate.

(7) Fasten the card and card handle with screws. This completes the module mounting process. Tighten
the screws with a cross-point driver.

Fix screw Fix screw

19
6.2 Setting the 2D-TZ535 Card Hardware
The 2D-TZ535 card does not have any hardware settings.
All settings are completed with the master station parameters and robot controller parameters.
Refer to "8.1 Parameter Settings" for details.

20
7. CONNECTIONS AND WIRING

7.1 Mounting 2D-TZ535 Card onto Robot Controller

One 2D-TZ535 card can be mounted in the option slot (*1) of the robot controller. If two or more cards are
mounted, the H.6110 error (multiple network base cards mounted) will occur.

7.1.1 CR1D-700 controller

Remove one interface cover of the option slots 1 in the robot controller rear, and mount the 2D-TZ535
card there. Please use the handle of the interface card at mounting of the interface card.

Controller rear

SLOT1
Interface cover
Interface cover
removal lever C o n n e c to r

In te rfa c e c a rd

H a n d le

R e m o v a l le v e r

Figure エラー! 指定したスタイルは使われていません。-2 Mounting of the 2D-TZ535 card (CR1D

controller)

21
7.1.2 CR2D-700 controller

Remove one interface cover of the option slots 1-3 in the robot controller rear, and mount the 2D-TZ535
card there. Please use the handle of the interface card at mounting of the interface card.

Interface cover removal

インタフェースカバー
lever
取外しレバー
Interface
インタフェースカバーcover

Connection connector
接続コネクタ

Interface card
インタフェースカード

Lever
取っ手

Re取外しレバー
moval lever

Figure エラー! 指定したスタイルは使われていません。-3 Mounting of the 2D-TZ535 card (CR2D

controller)

22
7.1.3 CR3D-700 controller

Open the door of the robot controller.

The R700CPU unit is installed in the right end. Remove one interface cover of the option slots
1-3 in the CPU unit, and mount the 2D-TZ535 card there.
Please use the handle of the interface card at mounting of the interface card.

Remov R700CPU unit R700CPU unit

al lever Interface cover
Interface card
Lever
Interface cover
removal lever

Removal
lever

Connection connector

Figure エラー! 指定したスタイルは使われていません。-4 Mounting of the 2D-TZ535 card (CR3D

controller)

23
7.2 Wiring
An example of connecting the 2D-TZ535 card and Rockwell PLC (CompactLogix L35E) one-on-one with an
Ethernet cable is explained below.

(1) Connect the Ethernet straight cable connector to the 2D-TZ535 card.
(2) Connect the other connector to the hub.

Hub
Ethernet
straight
Controller cable

2D-TZ535-
Robot EIP card

(3) Connect the Ethernet straight cable connector to the EtherNet/IP connector on CompactLogix L35E
(PLC by Rockwell).
(4) Connect the other connector to the hub.

CompactLogix

Ethernet straight
cable

Hub
Ethernet
straight
Controller cable

2D-TZ535-EIP card
Robot

24
 (5) Connect the Ethernet straight cable connector to the personal computer in which RSLogix5000
(Rockwell support software) is installed.
(6) Connect the other connector to the hub.

CompactLogix

Ethernet
straight cable

Hub
Ethernet
straight Ethernet
cable straight
cable
Controller

2D-TZ535-
EIP card Personal computer
Robot
(RSLogix5000)

7.3 Checking Connections

Check the following connections again before using the 2D-TZ535 card.

Table 7-1 Checking connections

No. Check item Check

1 Is the 2D-TZ535 card securely mounted into the controller slot?
2 Are the Ethernet cables between the 2D-TZ535 card and prepared external
devices correctly connected?

25
8. PROCEDURES FOR STARTING OPERATION
The procedures for starting operation with the EtherNet/IP module are shown below.
In this example, the 2D-TZ535 card and Rockwell PLC (CompactLogix L35E) are connected one-one-one
with an Ethernet cable, and an operation to confirm the I/O signal is performed.
For more information on the Rockwell PLC, refer to the manual enclosed with the PLC.

Start

Set the master side parameters. … See Section 8.1.1.

… See Section 8.1.1.

Set the robot controller side parameters.

Turn the power ON in the following order:

(1) Turn the master side power ON.
(2) Turn the robot controller power ON.

Confirm that an EtherNet/IP related error is not

occurring in the robot controller.

Create the robot program. … See Section 8.3.

Start the system

Completed

Figure 8-1 Procedures for starting operation

26
8.1 Setting the Parameters
8.1.1 Parameter setting procedures
(1) Set the IP address and upgrade the firmware version as explained in the "Installation Guide" enclosed
with CompactLogix.
(2) Download the EDS file from the HMS's web site.
a) Start the EDS Hardware Installation Tool.

b) Click the [Add] button.

c) Designate the folder containing the EDS file.

d) Click the [Next] button to complete the process.

(If necessary, the icon which indicates that the PLC has recognized the 2D-TZ535 card can be
changed.)

27
(3) Set the IP address for the robot controller EtherNet/IP in the robot controller parameter "EPIP".
Set the IP address for EtherNet/IP in parameter "EPIP" on the RT ToolBox2 "Parameter list" screen.

(4) Set the system configuration using RSLogix5000.

e) Start RSLogix5000, and click [New] under the [File] menu. Select the PLC type.

Select the PLC revision.

Designate the project name.

f) Click [Who Active] under the [Communications] menu, click "CompactLogix Processor", and then
click [Set Project Path].

Select the Processor.

Click Set Project Path.

28
 g) Right-click [Ethernet] in the project tree [I/O Configuration], and click [New Module].

Select "ETHERNET- Click [OK].

MODULE".

h) Complete the 2D-TZ535 card settings on the "New Module" screen.

Input the name. Input "100" for

Input, "150" for
Output, and "1" for
Configuration.
Select "Data-SINT".

For Size, input the

values set in
parameters
Input the IP address "EPSDLN" and
designated in "EPRDLN".
parameter "EPIP".

i) Set RPI.

Set RPI on the following screen which opens.

Set "10".
１0.0

If the above screen does not open, right-click "ETHERNET-MODULE arbitrary name" in the project
tree, click [Properties], and click the [Connection] tab.

29
 j) Click [Download] under the [Communications] menu, and click the [Download] button.

(7) Confirm that the status for the added "ETHERNET-MODULE" is "Running".
Click "ETHERNET-MODULE arbitrary name" in the project tree, and confirm that the "Status" display is
"Running".
If the status is not "Running" and an error is displayed, refer to the PLC help and remove the cause of
the error.

Confirm this status is "Running".

30
8.2 Operation (Checking the I/O Signals)
Check the exchange of I/O signals using RT ToolBox2 and the RSLogix5000 "Controller Tags" screen.

(1) Start the RT ToolBox2 "General purpose Signal" monitor.

Go to [Online] - [Monitor] - [Signal] -

[General purpose Signal], and double-click.

(2) Open the RSLogix5000 "Controller Tags" screen.

Go to [Controller Sample] -
[Controller Tags], and double-click.

31
(3) Click [Bit Forced Output] button on the RT ToolBox2 "General-purpose OUTPUT signal" monitor, and
test a random output.

(2) Select random signals, and click

[Bit Forced Output] button.

(3) Confirm that robot output

is input into master PLC.

(1) Click [Forced Output]

button.

(4) On the RSLogix5000 "Controller Tags" screen, execute a random output and confirm the input on the
RT ToolBox2 general-purpose monitor.

(1) Input random data in

TZ535_1:O.

(2) Confirm that the robot input

is the data designated from
the master PLC.

32
8.3 Operation (Program Operation)
8.3.1 Setting the dedicated input/output
Set the dedicated input/output as shown below. After changing the parameters, turn the power OFF and
ON once.
Refer to the separate "Instruction Manual, Detailed Explanation of Functions and Operations" for details on
the settings.
Table 8-1 Setting the dedicated input/output

Parameter Input Output

name Meaning No. Meaning No.
IOENA Operation rights enable 2000 Operation rights enabled 2000
START Program start 2001 Program starting 2001
STOP2 Stop 2002 Stopping 2002
SLOTINIT Program reset 2003 Program selection enabled 2003
SRVON Servo power ON 2004 Servo ON 2004
SRVOFF Servo power OFF 2005

8.3.2 General-purpose input/output

The general-purpose inputs and outputs can be accessed with the I/O system variables such as M_In and
M_Out.
Note that when accessing multiple bits with a variable such as M-Inb, M_Inw, M_Outb or M_Outw, the
access cannot extend over an area used by EtherNet/IP, such as the number 1999. Always create the
program to fit within the area between 2000 and 4047.

Correct example) M_In(2000), M_Inb(2010), M_Out(3000), M_Outb(3010), etc.

Incorrect example) M_Inb(1999), M_Inw(5070), M_Outb(1999), M_Outw(1999), etc.
8.3.3 Example of robot program creation (using general-purpose input/output)

*LBL1:If M_In(2008) = 0 Then GoTo *LBL1 Input No. 2008 and output No. 2009 are used as
M1 = M_Inb(2000) interlocks.
M_Out(2009) = 1 Refer to "4.5.1 Robot system status variables for
*LBL2:If M_In(2008) = 1 Then GoTo *LBL2 2D-TZ535 card" for details on the interlock.
M_Out(2009) = 0
Select M1
Case 1
GoSub *LOAD When M1(*1) is 1, jumps to the label *LOAD line.
break
Case 2
GoSub *UNLOAD When M1(*1) is 2, jumps to the label *UNLOAD line.
break
Case 3
GoSub *GOHOME When M1(*1) is 3, jumps to the label *GOHOME line.
break
(*1) M1 is byte data received via EtherNet/IP.
End Select (Refer to the second line of the program.)
End
*LOAD
： Describe the process in the label *LOAD.
Return
*UNLOAD
： Describe the process in the label *UNLOAD.
Return
*GOHOME
： Describe the process in the label *GOHOME.
Return

33
8.3.4 Sample program for input/output confirmation
A sample program for confirming the 2D-TZ535 card input/output is shown below.
Use this as necessary for startup adjustment, etc.

Table 8-2 Signal assignment conditions

Robot side input (master station output) Input 2000 to 4047 (256 bytes)
Robot side output (master station input) Output 2000 to 4047 (256 bytes)

Robot program specifications

Copy all input bits to the output bits.

[Program example 1]
'Loop the input signal to the robot back to the output signal. (For bit checking)
For M1 = 2000 To 4047
M_Out(M1) = M_In(M1) 'Copy with bit variable
Next M1
End

[Program example 2]
'Loop the input signal to the robot back to the output signal. (For byte checking)
For M1 = 2000 To 4040 Step 8
M_Outb(M1) = M_Inb(M1) 'Copy with byte variable
Next M1
End

[Program example 3]
'Loop the input signal to the robot back to the output signal. (For word checking)
For M1 = 2000 To 4032 Step 16
M_Outw(M1) = M_Inw(M1) 'Copy with word variable
Next M1
End

Execute this program and check the signals looped back to the master station side.

34
9. TROUBLESHOOTING
Please read this chapter first if you suspect that some failure has occurred.

9.1 List of Errors

 The meanings of the error numbers are shown below. 
 0000 *
 An error marked with an asterisk (*) requires power resetting.
Perform the actions indicated in the countermeasures.
 The error type is shown with a 4-digit number.
 The errors are categorized into three types.
H: High-level error .......... Servo-OFF is performed.
L: Low-level error .......... Operation stops.
C: Warning ..................... Operation continues.

Table 9-1 List of errors related to the network base card

Error No. Error cause and measures

Error message Module is not mounted.
H.6100 A module board by HMS must be mounted in the network base card.
Cause
A module board is not mounted in the network base card.
Measures Mount a module suitable for the network base card.
Error message Unsupported module mounted error
H.6101 Cause An unsupported HMS module board is mounted in the network base card.
Measures Replace the module.
Error message Multiple network base cards are mounted.
H.6110 Only one network base card can be mounted.
Cause
Two or more are currently mounted in the option slot.
Measures Mount only one network base card.
Error message Another fieldbus card is mounted.
H.6111 Only one fieldbus card can be mounted.
Cause
A CC-Link card, PROFIBUS card or DeviceNet card is mounted.
Measures Mount only one fieldbus card.
Network base card error n.
Error message
(n is a number between 1 and 4.)
A network base card error has been detected.
n=1: A watch dog timeout has occurred with the communication module.
n=2: An unsupported object, instance or command has been issued.
H.6120 n=3: The received form is incorrect.
Cause
n=4: The I/O offset amount is incorrect.
n=5: IP address is incorrect.
n=6: Subnet mask IP address is incorrect.
n=7: Gateway IP address is incorrect.
Replace the network base card.
Measures
Contact the manufacturer when replacing the card.

35
Error No. Error cause and measures
Network communication error n.
Error message
(n is a number between 1 and 2.)
Line error or invalid parameter.
This can occur if communication is not established when: (1) The robot
H.6130 program is started, (2) Continuous operation is attempted with direct
Cause execution from the RT ToolBox2, or (3) An execution program is started
while an error is occurring.
n=1: Ethernet cable is disconnected.
n=2: IP address is not established.
Measures Check the cable and parameters.
Error message Parameter error (parameter name)
The parameter setting is invalid.
H.6140 Cause The parameter value is not within range, or the data is invalid and cannot be
read.
Measures Check the parameter setting value.
Error message Network error occurrence (error code)
A network error has occurred.
H.6190 Cause (Error code) indicates an error code which occurs between the Anybus-CC
Module.
Measures Check the details of the network error.

36
10. APPENDIX

10.1 Displaying the Option Card Information

The option card information can be displayed with the RT ToolBox2 (option).
In the online state, click "Online" in the work space tree, and click "Slot n (n=1 to 3): Network Base" under
"Board". The 2D-TZ535 card information will be read into the properties window.
* The option card information in the properties window is not updated automatically. To update the
information, go offline and then online and repeat the above steps.

Attributes are displayed.

Figure 10-1 Example of displaying option card information with RT ToolBox2

Table 10-1 2D-TZ535 card information

Display item Display example Meaning Remarks

Card name Network Base (TZ535) Card name
[Kind] EtherNet/IP Name of Anybus-CC module
on network base card
[LED_1] Green Module Status LED status
[LED_2] Green Network Status LED status
[Input] 8 (2000 - 2063) Number of received bytes 1( - ) to 256 (2000 – 4047)
(signal number)
Card information

[Output] 8 (2000 - 2063) Number of send bytes 1( - ) to 256 (2000 - 4047)

(signal number)
[Network 0003 Network status bit 0: Linked
Status] bit 1: IP address established
[Speed] Auto Ethernet speed
[MAC Address] **-**-**-**-**-** MAC address
[Info] 0000 Error information Error code
[H/W Ver] 0 Card group number 0: G51
to
6: G57
7: Use prohibited

37
10.2 Pseudo-input Function
The pseudo-input function for the EtherNet/IP network base card allows the pseudo input signals from RT
ToolBox2.
Usable cases and usage methods are explained below.

No. Network base card (TZ535) status Condition Usability

1 Not mounted ×
2 Network cable not connected 
Mounted Network cable connected, but a
3 
communication error occurring
4 In normal communication 
 indicates usable, and × indicates not usable.
* A pseudo-input is not possible while an error is occurring.

<Usage method>
(1) Start RT ToolBox2.
(2) Click [Online] - [Monitor] - [Signal Monitor] - [General Signals] in the work space tree, and start the
general-purpose signal monitor.

(3) Click the [Pseudo-input] button.

(4) Input the signal number (2000 or higher) in the "Head signal #" field and click the [Set] button.
(5) Select the check box for the signal to be input, and click the [Bit pseudo INPUT] button.

38
Sep. 2011 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.