MECHATROLINK
Contents
1.2.
3. 2
4. e J A J MECHATROLINK
5. 768 re eas gt gt Sls ISIN PIO x 1 PLC DATA_ RWA 7 xw JH 8 F
6. PMOD ON 5 8 9 10 PEND ON MOVE OFF CSTR ON CSTR CSTR ON tdpf PEND OFF PEND OFF MOVE ON CSTR OFF CSTR OFF PEND OFF MOVE ON 5 8
7. 3 4 1
8. J A J MECHATROLINK J A J MECHATROLINK 1 MECHATROLINK ACON PCON MECHATROLINK MECHATROLINK Intelligent O MECHATROLINK PLC
9. 64 J A J MECHATROLINK 28 SMOD PLC PCON AC SMOD ON SMOD OFF 1 2 1 4 GE
10. iv Gili 0 ON OFF ON OFF 16 PLC CH ON OFF 16 ON OFF 16 74 J A J MECHATROLINK i EE 1 ON OFF ON OFF 16x PLC CH ON OFF 16 ACON PCON ON OFF 16
11. N wo P oa ON ON ON ACON PLC 0 1 0 1 2 2 3 4 5 6 1 1 lo Nu ol on lwolnm oO N CD
12. s J A J MECHATROLINK J A J MECHATROLINK 1 1 TEST PEFC A T E A EE T T r dtgta T T T E E OIRO ae 9 2 ACON POON 10 2 1 PIAA yap since ra iafovai Gia E AE E E ara eine E EEATT AA Bawa somata E tease T 10 3 CPP FPP PP YE 13 4 PPP TP 14 5 MECHATROLINK 15 5 1 FFP 15 5 2 LED 16 6 TP TT 17 6 1 TS ON SEI 17 7 OOTP TO TTT TT PPT 7 18 7 1 RR ware Sams SOUSA Bin eM E NS NMR CON a sigs RR 18 7 2 RRR NR RR RRR GR RR RRR RR ER RRR RARE RN RR 18 7 3
13. ON ON 2 EMGS PLC ON ON OFF 3 ALM PLC ON ON RES ON OFF LED 4 MECHATROLINK
14. 65 J A J MECHATROLINK 29 MOD1 MODO PLC ACON S S Ria r XS No 56 S FEV a VERE CRELET 0 100 100
15. ON bat Xd No 34 No 50 No 51 1 BEI PLC PLC A e
16. 32 0 01mm 32 000003FFi 1023 10 P 10 23mm L 16 2 C 32 Sp hpi 1mA 000003FFh 1023 10 1023mA 50 IAI MECHATROLINK 51 J A J MECHATROLINK 8 6 XON 1 OFF 0 IO IO 2 1 PWR PLC ON Mm
17. OFF 55 J A J MECHATROLINK 10 PEND PLC ON ON a gt e OFF ON ON HOME CSTR DSTR OFF A OFF PEND OFF ON ON CSTR DSTR ON PEND
18. IAI MECHATROLINK 1
19. 16e PM1 10 1 E875 PM512 0 ON R ALM ON b15 EMGS ON 8 6 2 b14 PWR ON 8 6 1 b13 ZONE2 2 ON 8 6 12 b12 ZONE1 1 ON 8 6 12 b PONE ON 880 b10 MODES ON 8 6 16 b9 WEND ON 8 6 17 Sa b8 RMDS AUTO OFF MANU oN 8609 b7 b6 b5 PSFL ON 8 6 23 b4 SV
20. PSFL ON PEND ON PEND PSFL ON PUSH OFF OQO SO ees OFF DSTR OFF PEND ON 8 1 IAI MECHATROLINK PLC gt ACON PCON PLC gt ACON PCON as AE IIE PLC gt ACON PCON A O ax AE IE PLC gt ACON PCON 1 eR I PLC gt ACON PCON PUSH PLC gt ACON PCON OO DIR PLC gt ACON PCON PLC gt ACON PCON PEND PSFL ACON PCON PLC ACON PCON PLC MOVE ACON PCON gt PLC
21. p 2 16 5 6 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 bo 7 8 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 bl bO 2 9 10 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 bl bo N CO CO wa EN Ce la za SS Ss 2 sz T l la LL 11 12 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 bl bO vjvyio alsiaj ujajag vab O a QO LL gt gt zm 2 Z2 2 0 9 4 6 ISISIE S EBI 37 IAI 3 MECHATROLINK o AFJ Wt ON 1 OFF 0 MEO U 32 0 01mm 999999 4 ab 999999 25 40mm 2540 10 1
22. PLC CH ON OFF 16 77 J A J MECHATROLINK 12 12 1 O VO 2 PM1 PM8 4 9 10 17 18 PLC RC
23. HEND OFF PEND OFF OFF PLC ACON PCON LL CSTR PLC ACON PCON PEND ACON PCON gt PLC 8 DSTR PLC ON PLC HEND OFF PEND OFF OFF PLc ACON PCOD gt L DSTR PLC ACON PCON PEND ACON PCON gt PLC 9 MOVE PLC ON
24. 17 18 PUSH ON DIR 7 6 22 PEND ON MOVE OFF DSTR ON lt DSTR DSTR ON tdpf PEND OFF PEND OFF MOVE ON DSTR OFF DSTR OFF PEND OFF MOVE ON 5 8 X PEND DSTR OFF ON
25. OFF 10 2 22 DIR PLC OFF ON 10 2 u Pipe l DIR OFF _ DIR ON 61 J A J MECHATROLINK 23 PSFL PLC PLC ON
26. 10 2 44 J A J MECHATROLINK ON 1 OFF 0 16 0 0 255 100 16 ON b14 RMOD OFF AUTO ON MANU 8 6 19 b13 DIR OFF 8 6 22 ON b12 PUSH OFF ON 8 6 21 b11 L b10 _ i b9 b8 JOG ON 8 6 13 b7 JOG ON
27. 8 1 J A J MECHATROLINK n1 n2 x n3 PLC ACON PCON a A COON PLC gt ACON PCON P ne lt T1 CSTR PLC ACON PCON PEND ACON PCON gt PLC ACON PCON gt PLC MOVE ACON PCON PLC gt T1 T1 0ms XYt XtStdpfSYt Xt 3 msec 69 J A J MECHATROLINK 70 2 PLC 5 8 9 12 OX 13 14 X 15 16
28. E 1 083 ALARM HOME ABS 54 J A J MECHATROLINK 7 CSTR PLC ON PLC PLC b11 PMOD e PMOD OFF e PMOD ON PLC
29. PLC e 63 J A J MECHATROLINK 27 TRQS PLC PCON ON LE ON OFF
30. 2 16 PLC 0 767 BOX CH PLC 2 16 R 5 6 b15 b14 b13 b12 b11 b10 b9 b8 b7 bE b5 b4 b3 b2 bl bo 7 8 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 bl bo 2 9 10 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 bl bo SN 81818lg a O O O IEDERE ata ae haar ee ae ae 11 12 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 bl bo A Q Lu Lu P YIO olal J Z o o 18 gt 8 2 S 6 16 3 S 1SI8 36 IAI MECHATROLINK PLC
31. JVEL JVEL OFF No 26 PIO Sa JRE JVEL ON No 47 PIO 2 s s JOG JOG ON D JISL ON 1 ON JOG ON JOG ON s JVEL JVEL OFF No 26 PIO JVEL ON No 47 PIO Sa FRE JVEL JVEL
32. ID RES 1 2 See OF2 PT 05 x 04 x 1 ID 2 RES x OF3 12 2 LED LED STATUS 0 1 MECHATROLINK LED ffx STATUS 1
33. EE E eee eee ISO IEC C ISO10218 JISB 8433 59 36 31 32 150 J A J ME
34. 32 is 0 01mm sec 10 2 K il 000003FFi 1023 10 10 23mm sec 16 2 16 P 16 10 2 _ 0 b15 EMGS ON 8 6 2 b14 PWR ON 8 6 1 b13 ZONE2 2 ON 8 6 12 b12 ZONE1 1 ON 8 6 12 b11 b10 b9 P8 RMDS O AUTO OFF MANU ON 59 b7 b6 b5 PSFL ON 8 6 23 b4 SV ON ON 8 6 5 b3 ALM
35. dll Xoe O lt a MINIM TAIT NT A ee T1 T1 0mns X Yt Xt 2 tdpf 2 Yt Xt 3 msec 71 J A J MECHATROLINK 3 DSTR tdpf ON DSTR OFF DSTR ON twcsON twcsOFF 0 n1 PLC ACON PCON twcsON twcsOFF twcsON DSTR PLC ACON PCON PEND ACON PCON gt PLC MOVE ACON PCON gt PLC n2 twcsONZYt Xt 3 msec twcsOFF2Yt Xt 3 msec Yt xXtStpdfSYt Xt 3 msec A 3 1
36. OFF PZONE X PZONE PZONE OFF 57 J A J MECHATROLINK 58 13 JOG PLC JOG PLC JISL OFF JOG ON OFF JOG ON OFF
37. See ee Xt CC YO Xt PLC PLC Xt YU ACON PCON 1 koi Tili 67 J A J MECHATROLINK 10 I O VO 2 IO 2 PLC 1 68 PLC
38. No 47 2 No 49 2 No 47 2 15 JISL PLC JISL OFF JISL ON JISL ON JISL OFF JISL VEL ON OFF JISL OFF ON No 26 Sa FRE No 26 Ya TRE JVEL OFF No 48 No 47 2 No 47 2 JVEL ON No
39. No 86 FBRS 11 MECHATROLINK I 0 4Mbps 17 MECHATROLINK I 1 10Mbps 17 MECHATROLINK I 10Mbps 32 2 GE PLC I O PLC SW AUTO MANU PLC 18 J A J MECHATROLINK 7 4 MECHATROLINK 7 4 1 ACON PCON MECHATROLINK 11MDS
40. WEND PLC PWRT MODES ON PWRT ON 1 PLC 2 WEND ON PLC WEND ON PWRT OFF WEND ON PWRT OFF WEND ON PWRT OFF WEND OFF 1 20msec ON 20msec 2 MODES mine ACON PCON gt PLC 20msec PWRT PLC ACON PCON WEND ACON PCON PLC 18 BKRL ON J A J MECHATROLINK
41. MECHATROLINK MECHATROLINK ACON PCON PLC ACON PCON PLC PIO MECHATROLINK IA MECHATROLINK 3 MECHATROLINK ACON PCON ACON C CG ML PCON C CG ML rr ACON PCON ACON PCON 13 IAI MECHATROLINK 4 14 Intelligentl O MECHATROLINK I 4Mbps MECHATROLINK I 10Mbps 50m 0 5m MECHATROLINK I 15 MECHATROLINK I 30 17 1 8ms MECHATROLINK I 17 MECHATROLINK I 17 32 61 7F IO MECHATROLINK 1309 USB AR41 T11 DDK IAI MECHATROLINK 5 ME
42. No 84 0 VO PIO 24V MECHATROLINK 1 No 86 0 1 17 VO I O 2 No 85 NADR No 85 61 7Fu 61H No 86 FBRS No 86 No 86 0
43. 0 CDRW 03H ACK 01H 1 ALM_RD 05H ALM_RD 05H 2 0 ALARM 3 0 7 ES i STATUS 5 ALM_RD_MODE ALM_RD_MODE 6 0 _ ALM_DATA O ____ 0 j 15 0 ALM_DATAI9 16 WDT RWDT 17 0 0 31 0 22 IAI MECHATROLINK 3 ID RD ID_RD 03H ID ID DEVICE_CODE ID STATUS CMDRDY 1 ID DEVICE CODE OH ASCII PCON C 50434F4E2D432D4D4C PCON CG 50434F4E2D43472D4D4C ACON C 41434F4E2D432D4D4C ACON CG 41434F4E2D43472D4D4C 1H 2H FH ID ID 202 CAHa IAI 494149 OFFSET 47 0 DEVICE_ CODE SIZE
44. PLC CH ON OFF 16 75 J A J MECHATROLINK Pili 72 ON OFF ON OFF 16 PLC CH ON OFF 16 ACON PCON ON OFF 16 PLC CH ON OFF 16 76 J A J MECHATROLINK liv 3 ON OFF ACON PCON ON OFF 16 PLC CH ON OFF 16
45. X CSTR OFF PEND ON 9 10 X PEND ON PLC CSTR ON CSTR PLO
46. NOP 00H ALARM STATUS STATUS CMDRDY 1 0 CDRW 03H ACK 01H 1 NOP 00H NOP 00H 2 0 ALARM 3 0 4 0 STATUS 5 0 0 0 0 15 0 0 16 WDT RWDT 17 0 0 0 31 0 0 21 MECHATROLINK IAI 2 ALM RD ALM RD 05H a ALM_RD_MODE 0 1 ALM_DATA 9 0 10
47. 16 2 10 2 32 0 01mm 1 999999 25 40mm 2540 2 PUSH 10 2 16 1 0mm sec 0 65535 254 0mm sec 254 cere ean 10 2 16 0 01G 1 300 CT 0 30G 30 0
48. STATUS 0 78 MJ0221 1A 2009 5 IAI Quality and Innovation 424 0103 416 4 TEL 054 364 5105 FAX 054 364 2589 105 0014 3 24 7 4F TEL 03 5419 1601 FAX 03 3455 5707 530 0002 2 5 3 TSS 4F TEL 06 6457 1171 FAX 06 6457 1185 1460 0008 5 28 12 BF TEL 052 269 2931 FAX 052 269 2933 020 0062 6 7 21 7F TEL 019 623 9700 FAX 019 623 9701 980 0802 14 15 4F TEL 022 723 2031 FAX 022 723 2032 940 0082 3 5 17 2F TEL 0258 31 8320 FAX 0258 31 8321 1321 0953 5 1 16 3F A TEL 028 614 3651 FAX 028 614 3653 360 0847
49. OF TEL 078 913 6333 FAX 078 913 6339 700 0945 1105 1 TEL 086 801 3544 FAX 086 225 7781 730 0802 2 1 9 5F TEL 082 532 1750 FAX 082 532 1751 790 0905 4 9 22 21 IF TEL 089 986 8562 FAX 089 986 8563 812 0013 3 13 21 WING 7F TEL 092 415 4466 FAX 092 415 4467 870 0823 1 11 1 2F TEL 097 543 7745 FAX 097 543 7746 862 0954 1 38 33 1F TEL 096 386 5210 FAX 096 386 5112 8 OOAM 8 00PM 9 OOAM 5 00PM 2 0800 888 0088 FAX 0800 888 0099 http www iai robot co jp IAI America Inc Head Office 2690W 237th Street Torrance CA 90505 TEL 310 891 6015 FAX 310 891 0815 Chicago Office 1261 Hamilton Parkway Itasca IL 60143 TEL 630 467 9900 FAX 630 467 9912 Atlanta Office 1220 E Kennestone Circle Marrietta GA 30066 TEL 678 354 9470 FAX 678 35
50. 2 16 PLC 0 0 255 100 0 127 255 0 50 100 4 32 1mA TH 4 32 0 01mm sec 2 16 41 IAI MECHATROLINK PLC a p 2 16 5 6 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 bl bo 7 8 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 bl bo 2 9 10 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 bl bo C CO lt 6 xX S 1 A SN Lolr lrvl FEI E a Slo Sila st
51. 1 312 OF TEL 048 530 6555 FAX 048 530 6556 300 1207 5 3 2 2F TEL 029 830 8312 FAX 029 830 8313 190 0023 3 14 2B0SEN 2F TEL 042 522 9881 FAX 042 522 9882 243 0014 1 10 6 3F TEL 046 226 7131 FAX 046 226 7133 390 0877 2 15 23 2F TEL 0263 37 5160 FAX 0263 37 5161 400 0031 2 12 1 3F TEL 055 230 2626 FAX 055 230 2636 424 0103 416 4 TEL 054 364 6293 FAX 054 364 2589 430 7718 111 2 18F TEL 053 459 1780 FAX 053 458 1318 446 0056 1 9 2 3F TEL 0566 71 1888 FAX 0566 71 1877 920 0024 3 1 32 A 2F TEL 076 234 3116 FAX 076 234 3107 612 8401 22 11 3F TEL 075 646 0757 FAX 075 646 0758 673 0898 8 34
52. 256 1 A 3 512 512 4 1 7 2 No No 5 2 3 2 PIO 2 3 256 512 PIO O IOlx1OIO IO x r OIO O1OIOIOIOIOIOI OIO O1OIOIOIOIOIO O TIOIOI O1OIOIOIO1IOIO O IOIO O1OIOIOIOIOIO O OIX O O O x X1 No 27
53. 3 D 3 4
54. 10 J A J MECHATROLINK No 768 ATT 100 00mm g mam war in o immi Il 146 No 0 MECHATROLINK ACON PCON 17 100 00mm 0 10mm 100 0mmys 0 30G 50 MECHATROLINK ACON PCON 11 J A J MECHATROLINK 12 I O 2 PIO 24V MECHATROLINK
55. IAI MECHATROLINK 2 24V
56. 0 S No 55 0 1msec 0 0 100 0 CFT 0 66 J A J MECHATROLINK PLC ON PLC msec YrXt 3 Yt
57. ON ON 8 6 5 b3 ALM ON 8 6 3 b2 MOVE ON 8 6 9 b1 HEND ON 8 6 6 b0 PEND ON 8 6 10 39 IAI 8 4 17 MECHATROLINK PLC No 1 2 23 24 O A x 2 OIOIOIOIO O x 7 PIO
58. PLC J A J MECHATROLINK 2 ACON PCON 2 1 MECHATROLINK ACON PCON 4 MECHATROLINK ACON PCON MECHATROLINK I I MECHATROLINK 1I O I O 2 2 No No 1 No 2 17 I O PIO 24V MECHATROLINK MECHATROLINK MECHATROLINK ACON PCON _ PLC ACON PCON PLC gt PIO MECHATROLINK
59. 10 2 24 INC PLC ON PLC OFF PLC 25 PUSHS PLC ON PUSHS ON OFF OFF 10 2 62 J A J MECHATROLINK 26 LOAD PLC PCON ARE REMA PLC RIES
60. J A J MECHATROLINK 2 16 ON OFF 4 32 PLC 999999 999999 0 01mm 0 4 32 PLC 1 999999 0 01mm 2 16 PLC 0 65535 1 0mm sec 2 16 PLC 1 300 0 01G
61. ON 8 6 3 b2 MOVE ON 8 6 9 b1 HEND ON 8 6 6 b0 PEND ON 8 6 10 J A J MECHATROLINK 8 5 I O 2 PIO 24V No RC No 25 PIO IO PIO No 25 I O 0 64 2 1 64 1 2 256
62. 5 2 3 2 A PIO O IOlx1O1O1O x 74 Oo O O OIO O O O jaar O IOIO OIOIOIOIOIO1O z 6 Jojo 1 91 1 19 9 O JOJO O O 0 0 0 0 O 74 2 O 1OI O O x K1 No 27 0 OFF 29 IAI MECHATROLINK 1 PLC DATA_ RWA IACON PCON DI PLC ACON PCON DO
63. a oa a ON ON OFF 32 IAI MECHATROLINK PCON No 25 256 0 1 2 aN e p a a HA 0 PC1 PC1 PC1 1 PC2 PC2 PC2 2 PC4 PC4 PC4 c 3 PC8 PC8 PC8 4 PC16 PC16 PC16 5 PC32 PC32 6 MODE 7 JISL PLC g JOG PCON TT 5 9 BKRL JOG 10 RMOD RMOD RMOD 11 HOME HOME HOME 12
64. e PLC HA gt ACON PCON PLC DATA_RWA ACON PCON DI 1 O r 1 O 2 0 15 0 15 7 8 9 eS 10 1 12 13 14 15 eas i6 19 fae 20 GE e ACON PCON gt PLC PLC DATA_ RWA ACON PCON DO Cs I O 1 O 2 0 15 0 15 ID mk me 1 FT Dill
65. 0 1 2 2 3 4 5 6 1 1 olool ID oO N CD a P oa ON ON OFF 34 IAI MECHATROLINK 8 3 No PMOD
66. 16 5 6 F E D C B A 9 8 7 6 5 4 3 2 1 0 48 IAI MECHATROLINK PLC 2 16 4 gt 5 6 F E D C B A 9 8 7 6 5 4 3 2 1 0 o slv al o oolrk ol1w lr lolaul o 7 8 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 bl bO 9 10 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 bl bO 11 12 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 bl bO 2 13 14 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 bl bo CO L Sl SS SS g gigly elole al SS aad vee cer 15 16 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 bl bo P N all 524 288 262 144 131 072 65 536 49 IAI MECHATROLINK 3 PIO 1 A Bat 8 2 3 VO
67. ON No 50 ON ON as No 34 No 50 No 51 0 BBR HIS PLC BEI PLC
68. SYNCMOD 1 0 COM TIME MECHATROLINK I VER 10H MECHATROLINK I 10H BIT7 BIT6 BIT5 BIT4 BIT3 BIT2 BIT1 BITO 0 0 0 0 DTMOD SYNCMOD EXMOD DTMOD 1 COM_MODE 0 SYNCMOD 1 0 EXMOD 1 SYNCMOD 0 COM_TIME IAI MECHATROLINK 0 CDRW 03H ACK 01H 1 CONNECT OEH CONNECT OEH 2 0 ALARM 3 0 4 0 STATUS 5 VER VER 6 COM_MODE COM_MODE 7 COM_TIME COM_TIME 8 0 0 0 0 15 0 0 16 WDT RWDT 17 0 0 0 0 31 0 25 IAI MECHATROLINK 5 DISCONNECT DISCONNECT OFH MECHATROLINK STATUS
69. CMDRDY 1 2 by 0 CDRW 03H ACK 01H 1 DISCONNECT 0FH DISCONNECT 0FH 2 0 ALARM 3 0 a ie STATUS 5 0 0 0 0 17 0 0 0 31 0 26 IAI MECHATROLINK 6 DATA_RWA DATA_RWA 50H READ WRITE I O OPTION 2 0 0 OUTPUT 11 0 17 OUTPUT 26 0 32 INPUT 11 0 17 INPUT 26 0 32 17 0 CDRW
70. GE 28 J A J MECHATROLINK 8 2 I O PIO 24V No RC No 25 PIO PIO 1 O No 25 I O 0 64 2 1 64 1 2 256 256 1 A 3 512 512 4 1 7 2 A No No
71. MECHATROLINK I 4Mbps 1 MECHATROLINK I 10Mbps 2 MECHATROLINK I 10Mbps 17 32 73 IAI MECHATROLINK No 87 NTYP No 87 No 90 FMIO PLC 16 1CH No 90 PLC 2 No 90 PLC i ii il iii SFR 3
72. PLC 0 15 5 6 GE 2 0 15 2 e PLC ON OFF PLC 5 6 2 16 X 5 6 F E D C A 9 8 7 6 5 4 3 2 1 0 REG 4 2 16 5 6 F E D C B A 9 8 7 6 5 4 3 2 1 0 30 J A MECHATROLINK 3 No 25 ACON No 25 0 1 0 PC1 PC1 PC1 1 PC2 PC2 PC2 2 Se PC4 sa
73. ACON PCON ACON PCON oe No 84 5 5 6 6 7 8 9 10 9 11 12 GE 1 FT m 10 11 12 35 J A J MECHATROLINK 2 8 ON OFF 4 32 PLC 999999 999999 0 01mm 0
74. 0 2 0 3 4 72 J A J MECHATROLINK 11 MECHATROLINK MECHATROLINK No 84 No 85 No 90 CF C 1 No 1 No 83 83 84 C FMOD 0 85 C NADR 97 86 C FBRS 2 87 C NTYP 5 90 c FMO 3 No 84 FMOD No 84 0 4 3
75. RMDS RMDS RMDS 10 HEND HEND HEND PEND 11 PEND WEND PEND 12 SV SV SV 13 EMGS EMGS EMGS 14 ALM ALM ALM ON ON OFF 31 IAI MECHATROLINK ACON No 25 3 4 5 PLC ACON OJJ AJOJN 0 0 1 2 1 2 3 4 5 6 lt oo
76. 3 DATA 2 DATA 3 DATA MECHATROLINK JEPMC W6002 JEPMC W6003 JEPMC W6022 17 J A J MECHATROLINK 7 Ast KE 7 1 SW MANU RC V6 00 08 00 No 84 FMOD 11 1 O 1 O 2 7 2 RC No 85 NADR 11 61 7F 61H 7 3 RC
77. RS 18 7 4 MECHATROLINK SG SR RR 19 7 5 MECHATROLINK NN E E a a a 19 8 HPE FPP 28 8 1 PLC EEEE EE E E T E E E AET 28 8 2 I O Re 29 8 3 35 8 4 asia 40 8 5 IO NPE 47 8 6 PE PERTE OEA A AE AET AEAT O A CR EN RRR RR RR RR 52 9 67 10 68 11 MECHATROLINK FPP HFP 73 12 78 12 1 I 78 12 2 LED PR REP TT nisin wis ata DO PP 78 J A J MECHATROLINK J A J MECHATROLINK ISO DIS12100 4 REAR KARERE
78. 0 2mm 0 2mm 16 2 16 BOX 16 PC1 10 1 PC512 ice 0 767 ON b15 BKRL ON 8 6 18 b14 RMOD OFF AUTO ON MANU 8 6 19 b13 _ b12 P PMOD OFF ON b10 MODE OFF ON b9 PWRT Jon b8 JOG
79. 11 12 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 bl bo 8 Rlo 11111111111111111SISISIg RIE LO N 13 14 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 bl bo 15 16 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 bl bo 2 17 18 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 bl bo 19 20 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 bl bo ad tu Q QO 2 2 2 2 1 1 1S 3 16 BOIS 43 IAI MECHATROLINK 3 ON 1 OFF 0 MEO U 32 0 01mm 999999 999999 25 41mm 2541 0 2mm 0 2mm
80. 4 RES PLC 2 OFF ON ALM OFF ON 52 A J MECHATROLINK 5 ON SON PLC SV PLC SON ON ON ON LED 4 MECHATROLINK SV LED SON ON OFF SV ON ON SON
81. BOW 2 X Y Z 300mm 300mm 3 Z 300mm 1 RCS2 RCS2CR SS8 300mm 2 300mm 80W ISA ISPA ISDA ISPDA ISWA ISPWA IF FS NS 3 300mm 4 1 3 1 5 IX IX NNN NNW NNC 3515 IX NNN NNW NNC 5000 6000 7000 8000 IX NSN5016 6016 IX TNN UNN 3015 3515 IX HNN INN 500060007000 78000 J A J MECHATROLINK No 1
82. STP STP STP Gary 13 CSTR PWRT CSTR 14 RES RES RES 15 ON SON ON SON ON 0 PM1 PM1 1 PM2 PM2 2 Saso PM4 CERS PM4 3 PM8 PM8 4 PM16 PM16 5 PM32 PM32 6 MOVE MOVE 7 1 ZONE1 MODES PCON 8 PZONE PZONE PLC y RMDS RMDS 10 HEND HEND HEND PENDI 11 PEND WEND PEND 12 SV SV SV 13 EMGS EMGS 14 ALM ALM LOAD 5 15 TRQS
83. 19 RMOD PLC RMDS PLC RMOD MODE AUTO MANU RMDS RMOD MODE MODE MODE AUTO MANU RMOD OFF AUTO MANU AUTO RMDS OFF RMDS ON RMOD ON MANU MANU MANU RMDS ON RMDS ON G MANU PLC 20 PMOD PLC PLC PMOD OFF PMOD ON 21 PUSH PLC ON
84. 8 6 13 OFF No 26 be Ee ae 2 ra ge ee 2 a No 49 2 Sa Pe ee 99 JSL ee EN alee NR b4 SON ON ON ON 8 6 5 b3 RES ON 8 6 4 b2 STP ON 8 6 11 b1 HOME ON 8 6 6 b0 DSTR ON 8 6 8 45 IAI MECHATROLINK ON 1 OFF 0 46 32 0 01mm 32 000003FF1023 10 10 2 10 23mm 16 2 32 siege E mA 10 2 000003FF 1023 10 1023mA 32
85. ON ON OFF 33 IAI MECHATROLINK PCON No 25 3 4 5 PLC PCON OJJ AJOJN 0 0 1 2 1 2 3 4 5 6 lt oo N wo P oa ON ON ON 0 1
86. SV SON PLC ACON PCON SV ACON PCON PLC 53 J A J MECHATROLINK 6 HOME PLC HEND PLC GHMS PLC HOME ON ON GHMS ON HEND ON GHMS OFF HEND ON HOME OFF HEND ON OFF HOME OFF HOME ON HOME PLC ACON PCON GHMS ACON PCON gt PLC HEND ACON PCON gt PLC PEND ACON PCON gt PLC MOVE ACON PCON gt PLC A I O IO 2
87. 0 OFF 47 J A J MECHATROLINK 1 PLC PLC PLC ACON PCON No 84 DI ACON PCON po 5 5 8 T EROS 6 AT F 7 8 9 10 11 12 13 7 16 14 15 16 GE 2 12 ON OFF 4 32 0 01mm 4 32 1mA CF PLC 2
88. 49 2 JOG JOG ON JOG JOG A ON 59 60 J A J MECHATROLINK 16 MODE PLC MODES PLC MODE ON MODES ON PLC MODES ON GE e s JOG JOG OFF e PWRT CSTR OFF PWRT OFF 17 PWRT PLC
89. ACON PCON amp Intelligent O 0 MDS 04H S 0 90H 1 0 ID_L OH 2 0 ID_H 80H 3 0 0 4 0 0 0 0 15 0 0 16 0 0 17 0 0 0 0 31 0 0 7 5 MECHATROLINK 7 5 1 MECHATROLINK 0 CDRW 03H ACK 01H 1 CMD RCMD 2 ALARM 3 a STATUS 5 15 16 17 i 7 31 19 IAI MECHATROLINK 7 5 2 ALARM ALARM HE STATUS ALM WARNG 00H E 01H Invalid Command P1 2 4 WARNG 02H Command Not Allowed P2 WARNG 03H Invaild
90. Data P2 WARNG 7 5 3 STATUS STATUS BIT15 BIT14 BIT13 BIT12 BIT11 BIT10 BIT9 BIT8 ERR_CODE BIT7 BIT6 BIT4 BIT3 BIT2 BIT1 BITO ERR CMDRDY WARNG ALARM ERR CODE ERR 1 ERR CODE 0 CMDRDY 1 0 Busy WARNG 1 0 ALARM an ee 0 20 J A J MECHATROLINK 7 54 ACON PCON MECHATROLINK 1 NOP
91. OFF No 48 PIO JVEL ON No 49 PIO 2 s ON ON GE J A J MECHATROLINK 14 JVEL PLC JISL OFF JISL ON No 26 Sa JRE No 26 Va THRE No 48
92. ON 11 STP PLC ON OFF 56 J A J MECHATROLINK 12 1 ZONE1 PLC 2 ZONE2 PLC PZONE PLC ON OFF 1 2 ZONE1 No 1 1 SKU 2 1 ZONE2 No 23 2 24 2 ZONE1 ZONE2
93. e s q 11 12 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 bl bo 8 Rl 1111111111111111SISISI Qs LO N 13 14 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 bl bo CO ST Sl SIN ggglalele ae SSO ee a 15 16 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 bl bo 1 1 1S8S 1SISlel Ql 17 18 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 bl bo alal ea bass N no et Nie 19 20 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 bl bo j O T J gt fe Lu X F Q2 2 2 olol Dlals M ls e S fe EAE a SIo 18 42 J A J MECHATROLINK PLC p 2 16 5 6 b15 b14 b13 b12 b11 b10 b9 b8 b7 bE b5 b4 b3 b2 bl bo 7 8 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 bl bo 2 9 10 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 bl bO CO ST EREN 8 X SIBIAN IIa TL olr inte 7 N eS eg sl fe nN oe
94. 03H ACK 01H 1 DATA_RWA 50H DATA_RWA 50H 2 ALARM 3 OPTION Sue lt a 5 OUTPUT O INPUT O 6 OUTPUT 1 __ INPUT 1 H 8 1 15 OUTPUT 10 INPUT 10 i 0 PE E Be ote O E 3 16 OUTPUT 11 INPUT 11 5 8 4 K OUTPUTO 3 IZIt 0 32 5 8 INPUT0 3 0 CDRW 03H ACK 01H 1 DATA_RWA 50H DATA_RWA 50H E ALARM OPTION erate 5 OUTPUT O INPUT O 6 OUTPUT 1 __ INPUT 1 7 OUTPUT 2 INPUT 2 29 OUTPUT 24 INPUT 24 30 OUTPUT 25 INPUT 25 34 OUTPUT 26 INPUT 26 8 1 9 12 OUTPUT4 7 9 12 INPUT4 7 27 IAI MECHATROLINK 8 8 1 PLC
95. 1 PLC DATA_ RWA ACON PCON PLC ACON PCON PLC 5 6 7 8 9 10 11 12 5 6 7 8 9 10 11 12 13 14 5 13 14 16 15 16 17 18 19 20 GE 40 17 18 19 15 20
96. 4 9471 IAI Industrieroboter GmbH Ober der R th 4 D 65824 Schwalbach am Taunus Germany TEL 06196 88950 FAX 06196 889524 Copyright 2009 May IAI Corporation All rights reserved 09 05
97. 8 1 0 CDRW 03H ACK 01H 1 ID_RD 03H ID_RD 03H 2 0 ALARM 3 0 i 0 STATUS 5 DEVICE_ CODE DEVICE_CODE 6 OFFSET OFFSET 7 SIZE SIZE 8 0 IDIO 0 15 0 IDI7 16 WDT RWDT 17 0 0 31 0 23 IAI 24 MECHATROLINK 4IJCONNECT CONNECT OEH MECHATROLINK 2 3 STATUS CMDRDY 1 MECHATROLINK II VER 21H MECHATROLINK I 21H BIT7 BIT6 BIT5 BIT4 BIT3 BIT2 BIT1 BITO DATA_EXP 0 0 0 DTMOD SYNCMOD 0 DATA_EXP 1 32 COM MODE 0 17 DTMOD 1 0
98. CHATROLINK E 104 A 150 4 lt Af a 150 3 150 3 pal 150 3 150 3 36 31 151 il 150 5 150 5 150 5 150 5 oo 150 5 Pa J A J MECHATROLINK 51 340 1
99. CHATROLINK 5 1 MECHATROLINK LED 2 LED MECHATROLINK 2 2 1 NC 2 DATA 3 DATA 4 SH 15 J A J MECHATROLINK 52 LED 2 LED CONNECT STATUS 1 STATUS 0 16 J A J MECHATROLINK 6 6 1 PLC MECHATROLINK 41 PCON ACON 2 ACON
100. MECHATROLINK sek ACON PCON T YT J A J MECHATROLINK CD s
101. ON b7 JOG ON OFF No 26 No 48 BP JVEL on No 47 2 No 49 2 b5 JISL OFF ON b4 SON ON ON ON b3 RES ON b2 STP ON 8 6 11 b1 HOME ON 8 6 6 bO CSTR ON 8 6 7 38 IAI MECHATROLINK ON 1 OFF 0 Y gt oOrv 32 0 01mm ZE i MAE 32 D eee 1023 10 10 1 16 2 16 2
102. ge PC4 PC4 3 PC8 PC8 _ pcg 4 PC16 PC16 PC16 5 PC32 PC32 PC32 6 MODE PC64 7 JISL PC128 PLC ss ae 8 JOG ACON 9 BKRL JOG BKRL 10 RMOD RMOD RMOD 11 HOME HOME HOME 12 STP STP STP ES 13 CSTR PWRT CSTR 14 RES RES RES 15 ON SON ON SON ON SON 0 PM1 PM1 1 PM2 PM2 2 eer PM4 PM4 4 3 PM8 pus 4 PM16 PM16 5 PM32 PM32 6 MOVE MOVE 7 1 ZONE1 MODES ees 8 PZONE PZONE PZONE 9
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